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Merge branch 'master' into 8107-osd-profile-names

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pkruger 2019-05-21 21:22:50 +10:00 • committed by GitHub
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100 changed files with 3297 additions and 342 deletions
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13
.github/no-response.yml vendored Normal file
View file

@ -0,0 +1,13 @@
# Configuration for probot-no-response - https://github.com/probot/no-response
# Number of days of inactivity before an Issue is closed for lack of response
daysUntilClose: 1
# Label requiring a response
responseRequiredLabel: Missing Information
# Comment to post when closing an Issue for lack of response. Set to `false` to disable
closeComment: >
This issue has been automatically closed because there has been no response
to our request for more information from the original author. With only the
information that is currently in the issue, we don't have enough information
to take action. Please reach out if you have or find the answers we need so
that we can investigate further.

30
Makefile
View file

@ -16,7 +16,7 @@
#
# The target to build, see VALID_TARGETS below
TARGET ?= BETAFLIGHTF3
TARGET ?= OMNIBUSF4
# Compile-time options
OPTIONS ?=
@ -35,7 +35,7 @@ DEBUG ?=
DEBUG_HARDFAULTS ?=
# Serial port/Device for flashing
SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
SERIAL_DEVICE ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
# Flash size (KB). Some low-end chips actually have more flash than advertised, use this to override.
FLASH_SIZE ?=
@ -427,14 +427,32 @@ clean_all: $(CLEAN_TARGETS)
## all_clean : clean all valid targets (alias for above)
all_clean: $(TARGETS_CLEAN)
FLASH_TARGETS = $(addprefix flash_,$(VALID_TARGETS) )
flash_$(TARGET): $(TARGET_HEX)
## flash_<TARGET> : build and flash a target
$(FLASH_TARGETS):
ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
$(V0) $(MAKE) -j hex TARGET=$(subst flash_,,$@)
$(V0) $(MAKE) tty_flash TARGET=$(subst flash_,,$@)
else
$(V0) $(MAKE) -j binary TARGET=$(subst flash_,,$@)
$(V0) $(MAKE) dfu_flash TARGET=$(subst flash_,,$@)
endif
## tty_flash : flash firmware (.hex) onto flight controller via a serial port
tty_flash:
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
$(V0) echo -n 'R' >$(SERIAL_DEVICE)
$(V0) echo -n 'R' > $(SERIAL_DEVICE)
$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## flash : flash firmware (.hex) onto flight controller
flash: flash_$(TARGET)
## dfu_flash : flash firmware (.bin) onto flight controller via a DFU mode
dfu_flash:
ifneq (no-port-found,$(SERIAL_DEVICE))
# potentially this is because the MCU already is in DFU mode, try anyway
$(V0) echo -n 'R' > $(SERIAL_DEVICE)
$(V0) sleep 1
endif
$(V0) dfu-util -a 0 -D $(TARGET_BIN) -s 0x08000000:leave
st-flash_$(TARGET): $(TARGET_BIN)
$(V0) st-flash --reset write $< 0x08000000

1
make/source.mk
View file

@ -364,6 +364,7 @@ ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
SRC += \
drivers/flash.c \
drivers/flash_m25p16.c \
drivers/flash_w25n01g.c \
drivers/flash_w25m.c \
io/flashfs.c \
pg/flash.c \

24
src/main/blackbox/blackbox.c
View file

@ -1225,6 +1225,10 @@ static bool blackboxWriteSysinfo(void)
char buf[FORMATTED_DATE_TIME_BUFSIZE];
#ifdef USE_RC_SMOOTHING_FILTER
rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
#endif
const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
switch (xmitState.headerIndex) {
BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s", "Cleanflight");
@ -1377,16 +1381,16 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE("features", "%d", featureConfig()->enabledFeatures);
#ifdef USE_RC_SMOOTHING_FILTER
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d", rxConfig()->rc_smoothing_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rxConfig()->rc_smoothing_debug_axis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d", rxConfig()->rc_smoothing_input_cutoff,
rxConfig()->rc_smoothing_derivative_cutoff);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d", rxConfig()->rc_smoothing_auto_factor);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d", rxConfig()->rc_smoothing_input_type,
rxConfig()->rc_smoothing_derivative_type);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE),
rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME));
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d", rcSmoothingData->inputFilterType);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d", rcSmoothingData->debugAxis);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d", rcSmoothingData->inputCutoffSetting,
rcSmoothingData->derivativeCutoffSetting);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d", rcSmoothingData->autoSmoothnessFactor);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d", rcSmoothingData->inputFilterType,
rcSmoothingData->derivativeFilterType);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingData->inputCutoffFrequency,
rcSmoothingData->derivativeCutoffFrequency);
BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d", rcSmoothingData->averageFrameTimeUs);
#endif // USE_RC_SMOOTHING_FILTER

131
src/main/cli/cli.c
View file

@ -508,11 +508,11 @@ static void printValuePointer(const clivalue_t *var, const void *valuePointer, b
switch (var->type & VALUE_MODE_MASK) {
case MODE_DIRECT:
if ((var->type & VALUE_TYPE_MASK) == VAR_UINT32) {
cliPrintf("%d", value);
if ((uint32_t) value > var->config.u32Max) {
cliPrintf("%u", (uint32_t)value);
if ((uint32_t)value > var->config.u32Max) {
valueIsCorrupted = true;
} else if (full) {
cliPrintf(" 0 %d", var->config.u32Max);
cliPrintf(" 0 %u", var->config.u32Max);
}
} else {
int min;
@ -697,7 +697,7 @@ static void cliPrintVarRange(const clivalue_t *var)
case (MODE_DIRECT): {
switch (var->type & VALUE_TYPE_MASK) {
case VAR_UINT32:
cliPrintLinef("Allowed range: %d - %d", 0, var->config.u32Max);
cliPrintLinef("Allowed range: 0 - %u", var->config.u32Max);
break;
case VAR_UINT8:
@ -2209,16 +2209,36 @@ static void cliSdInfo(char *cmdline)
#endif
#ifdef USE_FLASHFS
#ifdef USE_FLASH_CHIP
static void cliFlashInfo(char *cmdline)
{
const flashGeometry_t *layout = flashfsGetGeometry();
const flashGeometry_t *layout = flashGetGeometry();
UNUSED(cmdline);
cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u, usedSize=%u",
layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize, flashfsGetOffset());
cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u",
layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize);
for (uint8_t index = 0; index < FLASH_MAX_PARTITIONS; index++) {
const flashPartition_t *partition;
if (index == 0) {
cliPrintLine("Paritions:");
}
partition = flashPartitionFindByIndex(index);
if (!partition) {
break;
}
cliPrintLinef(" %d: %s %u %u", index, flashPartitionGetTypeName(partition->type), partition->startSector, partition->endSector);
}
#ifdef USE_FLASHFS
const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
cliPrintLinef("FlashFS size=%u, usedSize=%u",
FLASH_PARTITION_SECTOR_COUNT(flashPartition) * layout->sectorSize,
flashfsGetOffset()
);
#endif
}
@ -2239,7 +2259,6 @@ static void cliFlashErase(char *cmdline)
bufWriterFlush(cliWriter);
flashfsEraseCompletely();
flashfsInit();
while (!flashfsIsReady()) {
#ifndef MINIMAL_CLI
@ -2260,6 +2279,18 @@ static void cliFlashErase(char *cmdline)
#ifdef USE_FLASH_TOOLS
static void cliFlashVerify(char *cmdline)
{
UNUSED(cmdline);
cliPrintLine("Verifying");
if (flashfsVerifyEntireFlash()) {
cliPrintLine("Success");
} else {
cliPrintLine("Failed");
}
}
static void cliFlashWrite(char *cmdline)
{
const uint32_t address = atoi(cmdline);
@ -4066,7 +4097,7 @@ STATIC_UNIT_TESTED void cliSet(char *cmdline)
switch (val->type & VALUE_MODE_MASK) {
case MODE_DIRECT: {
if ((val->type & VALUE_TYPE_MASK) == VAR_UINT32) {
uint32_t value = strtol(eqptr, NULL, 10);
uint32_t value = strtoul(eqptr, NULL, 10);
if (value <= val->config.u32Max) {
cliSetVar(val, value);
@ -4422,10 +4453,11 @@ static void cliVersion(char *cmdline)
static void cliRcSmoothing(char *cmdline)
{
UNUSED(cmdline);
rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
cliPrint("# RC Smoothing Type: ");
if (rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_FILTER) {
cliPrintLine("FILTER");
uint16_t avgRxFrameMs = rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME);
uint16_t avgRxFrameMs = rcSmoothingData->averageFrameTimeUs;
if (rcSmoothingAutoCalculate()) {
cliPrint("# Detected RX frame rate: ");
if (avgRxFrameMs == 0) {
@ -4435,20 +4467,20 @@ static void cliRcSmoothing(char *cmdline)
}
}
cliPrint("# Input filter type: ");
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rxConfig()->rc_smoothing_input_type]);
cliPrintf("# Active input cutoff: %dhz ", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE));
if (rxConfig()->rc_smoothing_input_cutoff == 0) {
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rcSmoothingData->inputFilterType]);
cliPrintf("# Active input cutoff: %dhz ", rcSmoothingData->inputCutoffFrequency);
if (rcSmoothingData->inputCutoffSetting == 0) {
cliPrintLine("(auto)");
} else {
cliPrintLine("(manual)");
}
cliPrint("# Derivative filter type: ");
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rxConfig()->rc_smoothing_derivative_type]);
cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rcSmoothingData->derivativeFilterType]);
cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingData->derivativeCutoffFrequency);
if (rcSmoothingData->derivativeFilterType == RC_SMOOTHING_DERIVATIVE_OFF) {
cliPrintLine("off)");
} else {
if (rxConfig()->rc_smoothing_derivative_cutoff == 0) {
if (rcSmoothingData->derivativeCutoffSetting == 0) {
cliPrintLine("auto)");
} else {
cliPrintLine("manual)");
@ -4876,7 +4908,7 @@ static void printTimerDmaoptDetails(const ioTag_t ioTag, const timerHardware_t *
}
}
static const char *printTimerDmaopt(const timerIOConfig_t *currentConfig, const timerIOConfig_t *defaultConfig, unsigned index, dumpFlags_t dumpMask, bool defaultIsUsed[], const char *headingStr)
static const char *printTimerDmaopt(const timerIOConfig_t *currentConfig, const timerIOConfig_t *defaultConfig, unsigned index, dumpFlags_t dumpMask, bool tagsInUse[], const char *headingStr)
{
const ioTag_t ioTag = currentConfig[index].ioTag;
@ -4888,18 +4920,22 @@ static const char *printTimerDmaopt(const timerIOConfig_t *currentConfig, const
const dmaoptValue_t dmaopt = currentConfig[index].dmaopt;
dmaoptValue_t defaultDmaopt = DMA_OPT_UNUSED;
bool equalsDefault = defaultDmaopt == dmaopt;
if (defaultConfig) {
for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
if (defaultConfig[i].ioTag == ioTag) {
defaultDmaopt = defaultConfig[index].dmaopt;
defaultIsUsed[index] = true;
defaultDmaopt = defaultConfig[i].dmaopt;
// We need to check timer as well here to get 'default' DMA options for non-default timers printed, because setting the timer resets the DMA option.
equalsDefault = (defaultDmaopt == dmaopt) && (defaultConfig[i].index == currentConfig[index].index || dmaopt == DMA_OPT_UNUSED);
tagsInUse[index] = true;
break;
}
}
}
const bool equalsDefault = defaultDmaopt == dmaopt;
headingStr = cliPrintSectionHeading(dumpMask, !equalsDefault, headingStr);
if (defaultConfig) {
@ -4934,14 +4970,14 @@ static void printDmaopt(dumpFlags_t dumpMask, const char *headingStr)
defaultConfig = NULL;
}
bool defaultIsUsed[MAX_TIMER_PINMAP_COUNT] = { false };
bool tagsInUse[MAX_TIMER_PINMAP_COUNT] = { false };
for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
headingStr = printTimerDmaopt(currentConfig, defaultConfig, i, dumpMask, defaultIsUsed, headingStr);
headingStr = printTimerDmaopt(currentConfig, defaultConfig, i, dumpMask, tagsInUse, headingStr);
}
if (defaultConfig) {
for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
if (!defaultIsUsed[i] && defaultConfig[i].ioTag && defaultConfig[i].dmaopt != DMA_OPT_UNUSED) {
if (!tagsInUse[i] && defaultConfig[i].ioTag && defaultConfig[i].dmaopt != DMA_OPT_UNUSED) {
const timerHardware_t *timer = timerGetByTagAndIndex(defaultConfig[i].ioTag, defaultConfig[i].index);
headingStr = cliPrintSectionHeading(dumpMask, true, headingStr);
printTimerDmaoptDetails(defaultConfig[i].ioTag, timer, defaultConfig[i].dmaopt, false, dumpMask, cliDefaultPrintLinef);
@ -5218,11 +5254,22 @@ static void printTimerDetails(const ioTag_t ioTag, const unsigned timerIndex, co
const char *emptyFormat = "timer %c%02d NONE";
if (timerIndex > 0) {
printValue(dumpMask, equalsDefault, format,
const bool printDetails = printValue(dumpMask, equalsDefault, format,
IO_GPIOPortIdxByTag(ioTag) + 'A',
IO_GPIOPinIdxByTag(ioTag),
timerIndex - 1
);
if (printDetails) {
const timerHardware_t *timer = timerGetByTagAndIndex(ioTag, timerIndex);
printValue(dumpMask, false,
"# pin %c%02d: TIM%d CH%d%s (AF%d)",
IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag),
timerGetTIMNumber(timer->tim),
CC_INDEX_FROM_CHANNEL(timer->channel) + 1,
timer->output & TIMER_OUTPUT_N_CHANNEL ? "N" : "",
timer->alternateFunction
);
}
} else {
printValue(dumpMask, equalsDefault, emptyFormat,
IO_GPIOPortIdxByTag(ioTag) + 'A',
@ -5246,7 +5293,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
defaultConfig = NULL;
}
bool defaultIsUsed[MAX_TIMER_PINMAP_COUNT] = { false };
bool tagsInUse[MAX_TIMER_PINMAP_COUNT] = { false };
for (unsigned int i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
const ioTag_t ioTag = currentConfig[i].ioTag;
@ -5261,7 +5308,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
if (defaultConfig[i].ioTag == ioTag) {
defaultTimerIndex = defaultConfig[i].index;
defaultIsUsed[i] = true;
tagsInUse[i] = true;
break;
}
@ -5279,7 +5326,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
if (defaultConfig) {
for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
if (!defaultIsUsed[i] && defaultConfig[i].ioTag) {
if (!tagsInUse[i] && defaultConfig[i].ioTag) {
headingStr = cliPrintSectionHeading(DO_DIFF, true, headingStr);
printTimerDetails(defaultConfig[i].ioTag, defaultConfig[i].index, false, dumpMask, cliDefaultPrintLinef);
@ -5354,16 +5401,35 @@ static void cliTimer(char *cmdline)
/* output the list of available options */
const timerHardware_t *timer;
for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++) {
cliPrintLinef("# %d: TIM%d CH%d",
cliPrintLinef("# %d: TIM%d CH%d%s (AF%d)",
index,
timerGetTIMNumber(timer->tim),
CC_INDEX_FROM_CHANNEL(timer->channel) + 1
CC_INDEX_FROM_CHANNEL(timer->channel) + 1,
timer->output & TIMER_OUTPUT_N_CHANNEL ? "N" : "",
timer->alternateFunction
);
}
return;
} else if (strcasecmp(pch, "none") == 0) {
timerIndex = TIMER_INDEX_UNDEFINED;
} else if (strncasecmp(pch, "af", 2) == 0) {
unsigned alternateFunction = atoi(&pch[2]);
const timerHardware_t *timer;
for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++) {
if (timer->alternateFunction == alternateFunction) {
timerIndex = index;
break;
}
}
if (!timer) {
cliPrintErrorLinef("INVALID ALTERNATE FUNCTION FOR %c%02d: '%s'", IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag), pch);
return;
}
} else {
timerIndex = atoi(pch);
@ -5779,6 +5845,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
#ifdef USE_FLASH_TOOLS
CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
CLI_COMMAND_DEF("flash_scan", "scan flash device for errors", NULL, cliFlashVerify),
CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
#endif
#endif
@ -5857,7 +5924,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
#endif
#ifdef USE_TIMER_MGMT
CLI_COMMAND_DEF("timer", "show/set timers", "<> | <pin> list | <pin> [<option>|none] | list | show", cliTimer),
CLI_COMMAND_DEF("timer", "show/set timers", "<> | <pin> list | <pin> [<option>|af<altenate function>|none] | list | show", cliTimer),
#endif
CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
#ifdef USE_VTX_CONTROL

13
src/main/cli/settings.c
View file

@ -325,7 +325,7 @@ static const char * const lookupTableGyroOverflowCheck[] = {
#endif
static const char * const lookupTableRatesType[] = {
"BETAFLIGHT", "RACEFLIGHT"
"BETAFLIGHT", "RACEFLIGHT", "KISS"
};
#ifdef USE_OVERCLOCK
@ -356,6 +356,9 @@ static const char * const lookupTableThrottleLimitType[] = {
static const char * const lookupTableRescueSanityType[] = {
"RESCUE_SANITY_OFF", "RESCUE_SANITY_ON", "RESCUE_SANITY_FS_ONLY"
};
static const char * const lookupTableRescueAltitudeMode[] = {
"MAX_ALT", "FIXED_ALT", "CURRENT_ALT"
};
#endif
#ifdef USE_MAX7456
@ -472,6 +475,7 @@ const lookupTableEntry_t lookupTables[] = {
LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
#ifdef USE_GPS_RESCUE
LOOKUP_TABLE_ENTRY(lookupTableRescueSanityType),
LOOKUP_TABLE_ENTRY(lookupTableRescueAltitudeMode),
#endif
#endif
#ifdef USE_BLACKBOX
@ -904,10 +908,11 @@ const clivalue_t valueTable[] = {
{ "gps_rescue_throttle_min", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMin) },
{ "gps_rescue_throttle_max", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMax) },
{ "gps_rescue_throttle_hover", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleHover) },
{ "gps_rescue_sanity_checks", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
{ "gps_rescue_sanity_checks", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_SANITY_CHECK }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
{ "gps_rescue_min_sats", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
{ "gps_rescue_min_dth", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 50, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
{ "gps_rescue_allow_arming_without_fix", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
{ "gps_rescue_alt_mode", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_ALT_MODE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, altitudeMode) },
#ifdef USE_MAG
{ "gps_rescue_use_mag", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
#endif
@ -1154,7 +1159,7 @@ const clivalue_t valueTable[] = {
{ "osd_rssi_alarm", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_OSD_CONFIG, offsetof(osdConfig_t, rssi_alarm) },
#ifdef USE_RX_LINK_QUALITY_INFO
{ "osd_link_quality_alarm", VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_OSD_CONFIG, offsetof(osdConfig_t, link_quality_alarm) },
{ "osd_link_quality_alarm", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 300 }, PG_OSD_CONFIG, offsetof(osdConfig_t, link_quality_alarm) },
#endif
{ "osd_cap_alarm", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 20000 }, PG_OSD_CONFIG, offsetof(osdConfig_t, cap_alarm) },
{ "osd_alt_alarm", VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 10000 }, PG_OSD_CONFIG, offsetof(osdConfig_t, alt_alarm) },
@ -1285,7 +1290,9 @@ const clivalue_t valueTable[] = {
#endif
// PG_SYSTEM_CONFIG
#if defined(STM32F4)
{ "system_hse_mhz", VAR_UINT8 | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 30 }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, hseMhz) },
#endif
#if defined(USE_TASK_STATISTICS)
{ "task_statistics", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) },
#endif

3
src/main/cli/settings.h
View file

@ -34,7 +34,8 @@ typedef enum {
TABLE_GPS_SBAS_MODE,
#endif
#ifdef USE_GPS_RESCUE
TABLE_GPS_RESCUE,
TABLE_GPS_RESCUE_SANITY_CHECK,
TABLE_GPS_RESCUE_ALT_MODE,
#endif
#ifdef USE_BLACKBOX
TABLE_BLACKBOX_DEVICE,

6
src/main/cms/cms_menu_blackbox.c
View file

@ -126,9 +126,11 @@ static void cmsx_Blackbox_GetDeviceStatus(void)
if (storageDeviceIsWorking) {
tfp_sprintf(cmsx_BlackboxStatus, "READY");
const flashGeometry_t *geometry = flashfsGetGeometry();
const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
const flashGeometry_t *flashGeometry = flashGetGeometry();
storageUsed = flashfsGetOffset() / 1024;
storageFree = (geometry->totalSize / 1024) - storageUsed;
storageFree = ((FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize) / 1024) - storageUsed;
} else {
tfp_sprintf(cmsx_BlackboxStatus, "FAULT");
}

4
src/main/cms/cms_menu_osd.c
View file

@ -159,6 +159,7 @@ CMS_Menu menuOsdActiveElems = {
};
static uint8_t osdConfig_rssi_alarm;
static uint16_t osdConfig_link_quality_alarm;
static uint16_t osdConfig_cap_alarm;
static uint16_t osdConfig_alt_alarm;
static uint8_t batteryConfig_vbatDurationForWarning;
@ -167,6 +168,7 @@ static uint8_t batteryConfig_vbatDurationForCritical;
static long menuAlarmsOnEnter(void)
{
osdConfig_rssi_alarm = osdConfig()->rssi_alarm;
osdConfig_link_quality_alarm = osdConfig()->link_quality_alarm;
osdConfig_cap_alarm = osdConfig()->cap_alarm;
osdConfig_alt_alarm = osdConfig()->alt_alarm;
batteryConfig_vbatDurationForWarning = batteryConfig()->vbatDurationForWarning;
@ -180,6 +182,7 @@ static long menuAlarmsOnExit(const OSD_Entry *self)
UNUSED(self);
osdConfigMutable()->rssi_alarm = osdConfig_rssi_alarm;
osdConfigMutable()->link_quality_alarm = osdConfig_link_quality_alarm;
osdConfigMutable()->cap_alarm = osdConfig_cap_alarm;
osdConfigMutable()->alt_alarm = osdConfig_alt_alarm;
batteryConfigMutable()->vbatDurationForWarning = batteryConfig_vbatDurationForWarning;
@ -192,6 +195,7 @@ const OSD_Entry menuAlarmsEntries[] =
{
{"--- ALARMS ---", OME_Label, NULL, NULL, 0},
{"RSSI", OME_UINT8, NULL, &(OSD_UINT8_t){&osdConfig_rssi_alarm, 5, 90, 5}, 0},
{"LINK QUALITY", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_link_quality_alarm, 5, 300, 5}, 0},
{"MAIN BAT", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_cap_alarm, 50, 30000, 50}, 0},
{"MAX ALT", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_alt_alarm, 1, 200, 1}, 0},
{"VBAT WARN DUR", OME_UINT8, NULL, &(OSD_UINT8_t){ &batteryConfig_vbatDurationForWarning, 0, 200, 1 }, 0 },

23
src/main/drivers/bus_quadspi_hal.c
View file

@ -1,18 +1,21 @@
/*
* This file is part of Cleanflight.
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*
* Author: Dominic Clifton
*/

27
src/main/drivers/bus_spi_hal.c
View file

@ -1,22 +1,25 @@
/*
* This file is part of Cleanflight.
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*
* HAL version resurrected from v3.1.7 (by jflyper)
*/
// HAL version resurrected from v3.1.7
#include <stdbool.h>
#include <stdint.h>
#include <strings.h>

236
src/main/drivers/flash.c
View file

@ -20,6 +20,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#include "platform.h"
@ -30,8 +31,10 @@
#include "flash.h"
#include "flash_impl.h"
#include "flash_m25p16.h"
#include "flash_w25n01g.h"
#include "flash_w25m.h"
#include "drivers/bus_spi.h"
#include "drivers/bus_quadspi.h"
#include "drivers/io.h"
#include "drivers/time.h"
@ -39,16 +42,52 @@ static busDevice_t busInstance;
static busDevice_t *busdev;
static flashDevice_t flashDevice;
static flashPartitionTable_t flashPartitionTable;
static int flashPartitions = 0;
#define FLASH_INSTRUCTION_RDID 0x9F
#ifdef USE_QUADSPI
static bool flashQuadSpiInit(const flashConfig_t *flashConfig)
{
QUADSPI_TypeDef *quadSpiInstance = quadSpiInstanceByDevice(QUADSPI_CFG_TO_DEV(flashConfig->quadSpiDevice));
quadSpiSetDivisor(quadSpiInstance, QUADSPI_CLOCK_INITIALISATION);
uint8_t readIdResponse[4];
bool status = quadSpiReceive1LINE(quadSpiInstance, FLASH_INSTRUCTION_RDID, 8, readIdResponse, sizeof(readIdResponse));
if (!status) {
return false;
}
flashDevice.io.mode = FLASHIO_QUADSPI;
flashDevice.io.handle.quadSpi = quadSpiInstance;
// Manufacturer, memory type, and capacity
uint32_t chipID = (readIdResponse[0] << 16) | (readIdResponse[1] << 8) | (readIdResponse[2]);
#ifdef USE_FLASH_W25N01G
quadSpiSetDivisor(quadSpiInstance, QUADSPI_CLOCK_ULTRAFAST);
if (w25n01g_detect(&flashDevice, chipID)) {
return true;
}
#endif
return false;
}
#endif // USE_QUADSPI
#ifdef USE_SPI
void flashPreInit(const flashConfig_t *flashConfig)
{
spiPreinitRegister(flashConfig->csTag, IOCFG_IPU, 1);
}
// Read chip identification and send it to device detect
bool flashInit(const flashConfig_t *flashConfig)
static bool flashSpiInit(const flashConfig_t *flashConfig)
{
// Read chip identification and send it to device detect
busdev = &busInstance;
if (flashConfig->csTag) {
@ -84,27 +123,29 @@ bool flashInit(const flashConfig_t *flashConfig)
#endif
#endif
flashDevice.busdev = busdev;
flashDevice.io.mode = FLASHIO_SPI;
flashDevice.io.handle.busdev = busdev;
const uint8_t out[] = { SPIFLASH_INSTRUCTION_RDID, 0, 0, 0 };
const uint8_t out[] = { FLASH_INSTRUCTION_RDID, 0, 0, 0, 0 };
delay(50); // short delay required after initialisation of SPI device instance.
/* Just in case transfer fails and writes nothing, so we don't try to verify the ID against random garbage
* from the stack:
/*
* Some newer chips require one dummy byte to be read; we can read
* 4 bytes for these chips while retaining backward compatibility.
*/
uint8_t in[4];
in[1] = 0;
uint8_t readIdResponse[5];
readIdResponse[1] = readIdResponse[2] = 0;
// Clearing the CS bit terminates the command early so we don't have to read the chip UID:
#ifdef USE_SPI_TRANSACTION
spiBusTransactionTransfer(busdev, out, in, sizeof(out));
spiBusTransactionTransfer(busdev, out, readIdResponse, sizeof(out));
#else
spiBusTransfer(busdev, out, in, sizeof(out));
spiBusTransfer(busdev, out, readIdResponse, sizeof(out));
#endif
// Manufacturer, memory type, and capacity
uint32_t chipID = (in[1] << 16) | (in[2] << 8) | (in[3]);
uint32_t chipID = (readIdResponse[1] << 16) | (readIdResponse[2] << 8) | (readIdResponse[3]);
#ifdef USE_FLASH_M25P16
if (m25p16_detect(&flashDevice, chipID)) {
@ -112,7 +153,22 @@ bool flashInit(const flashConfig_t *flashConfig)
}
#endif
#ifdef USE_FLASH_W25M
#ifdef USE_FLASH_W25M512
if (w25m_detect(&flashDevice, chipID)) {
return true;
}
#endif
// Newer chips
chipID = (readIdResponse[2] << 16) | (readIdResponse[3] << 8) | (readIdResponse[4]);
#ifdef USE_FLASH_W25N01G
if (w25n01g_detect(&flashDevice, chipID)) {
return true;
}
#endif
#ifdef USE_FLASH_W25M02G
if (w25m_detect(&flashDevice, chipID)) {
return true;
}
@ -122,6 +178,27 @@ bool flashInit(const flashConfig_t *flashConfig)
return false;
}
#endif // USE_SPI
bool flashDeviceInit(const flashConfig_t *flashConfig)
{
#ifdef USE_SPI
bool useSpi = (SPI_CFG_TO_DEV(flashConfig->spiDevice) != SPIINVALID);
if (useSpi) {
return flashSpiInit(flashConfig);
}
#endif
#ifdef USE_QUADSPI
bool useQuadSpi = (QUADSPI_CFG_TO_DEV(flashConfig->quadSpiDevice) != QUADSPIINVALID);
if (useQuadSpi) {
return flashQuadSpiInit(flashConfig);
}
#endif
return false;
}
bool flashIsReady(void)
{
@ -185,4 +262,137 @@ const flashGeometry_t *flashGetGeometry(void)
return &noFlashGeometry;
}
/*
* Flash partitioning
*
* Partition table is not currently stored on the flash, in-memory only.
*
* Partitions are required so that Badblock management (inc spare blocks), FlashFS (Blackbox Logging), Configuration and Firmware can be kept separate and tracked.
*
* XXX FIXME
* XXX Note that Flash FS must start at sector 0.
* XXX There is existing blackbox/flash FS code the relies on this!!!
* XXX This restriction can and will be fixed by creating a set of flash operation functions that take partition as an additional parameter.
*/
static void flashConfigurePartitions(void)
{
const flashGeometry_t *flashGeometry = flashGetGeometry();
if (flashGeometry->totalSize == 0) {
return;
}
flashSector_t startSector = 0;
flashSector_t endSector = flashGeometry->sectors - 1; // 0 based index
const flashPartition_t *badBlockPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_BADBLOCK_MANAGEMENT);
if (badBlockPartition) {
endSector = badBlockPartition->startSector - 1;
}
#if defined(FIRMWARE_SIZE)
const uint32_t firmwareSize = (FIRMWARE_SIZE * 1024);
flashSector_t firmwareSectors = (firmwareSize / flashGeometry->sectorSize);
if (firmwareSize % flashGeometry->sectorSize > 0) {
firmwareSectors++; // needs a portion of a sector.
}
startSector = (endSector + 1) - firmwareSectors; // + 1 for inclusive
flashPartitionSet(FLASH_PARTITION_TYPE_FIRMWARE, startSector, endSector);
endSector = startSector - 1;
startSector = 0;
#endif
#if defined(EEPROM_IN_EXTERNAL_FLASH)
const uint32_t configSize = EEPROM_SIZE;
flashSector_t configSectors = (configSize / flashGeometry->sectorSize);
if (configSize % flashGeometry->sectorSize > 0) {
configSectors++; // needs a portion of a sector.
}
startSector = (endSector + 1) - configSectors; // + 1 for inclusive
flashPartitionSet(FLASH_PARTITION_TYPE_CONFIG, startSector, endSector);
endSector = startSector - 1;
startSector = 0;
#endif
#ifdef USE_FLASHFS
flashPartitionSet(FLASH_PARTITION_TYPE_FLASHFS, startSector, endSector);
#endif
}
flashPartition_t *flashPartitionFindByType(uint8_t type)
{
for (int index = 0; index < FLASH_MAX_PARTITIONS; index++) {
flashPartition_t *candidate = &flashPartitionTable.partitions[index];
if (candidate->type == type) {
return candidate;
}
}
return NULL;
}
const flashPartition_t *flashPartitionFindByIndex(uint8_t index)
{
if (index >= flashPartitions) {
return NULL;
}
return &flashPartitionTable.partitions[index];
}
void flashPartitionSet(uint8_t type, uint32_t startSector, uint32_t endSector)
{
flashPartition_t *entry = flashPartitionFindByType(type);
if (!entry) {
if (flashPartitions == FLASH_MAX_PARTITIONS - 1) {
return;
}
entry = &flashPartitionTable.partitions[flashPartitions++];
}
entry->type = type;
entry->startSector = startSector;
entry->endSector = endSector;
}
// Must be in sync with FLASH_PARTITION_TYPE
static const char *flashPartitionNames[] = {
"UNKNOWN ",
"PARTITION",
"FLASHFS ",
"BBMGMT ",
"FIRMWARE ",
"CONFIG ",
};
const char *flashPartitionGetTypeName(flashPartitionType_e type)
{
if (type < ARRAYLEN(flashPartitionNames)) {
return flashPartitionNames[type];
}
return NULL;
}
bool flashInit(const flashConfig_t *flashConfig)
{
memset(&flashPartitionTable, 0x00, sizeof(flashPartitionTable));
bool haveFlash = flashDeviceInit(flashConfig);
flashConfigurePartitions();
return haveFlash;
}
#endif // USE_FLASH_CHIP

37
src/main/drivers/flash.h
View file

@ -36,8 +36,10 @@ typedef enum {
FLASH_TYPE_NAND
} flashType_e;
typedef uint16_t flashSector_t;
typedef struct flashGeometry_s {
uint16_t sectors; // Count of the number of erasable blocks on the device
flashSector_t sectors; // Count of the number of erasable blocks on the device
uint16_t pageSize; // In bytes
uint32_t sectorSize; // This is just pagesPerSector * pageSize
uint32_t totalSize; // This is just sectorSize * sectors
@ -59,3 +61,36 @@ void flashPageProgram(uint32_t address, const uint8_t *data, int length);
int flashReadBytes(uint32_t address, uint8_t *buffer, int length);
void flashFlush(void);
const flashGeometry_t *flashGetGeometry(void);
//
// flash partitioning api
//
typedef struct flashPartition_s {
uint8_t type;
flashSector_t startSector;
flashSector_t endSector;
} flashPartition_t;
#define FLASH_PARTITION_SECTOR_COUNT(partition) (partition->endSector + 1 - partition->startSector) // + 1 for inclusive, start and end sector can be the same sector.
// Must be in sync with flashPartitionTypeNames[]
// Should not be deleted or reordered once the code is writing a table to a flash.
typedef enum {
FLASH_PARTITION_TYPE_UNKNOWN = 0,
FLASH_PARTITION_TYPE_PARTITION_TABLE,
FLASH_PARTITION_TYPE_FLASHFS,
FLASH_PARTITION_TYPE_BADBLOCK_MANAGEMENT,
FLASH_PARTITION_TYPE_FIRMWARE,
FLASH_PARTITION_TYPE_CONFIG,
FLASH_MAX_PARTITIONS
} flashPartitionType_e;
typedef struct flashPartitionTable_s {
flashPartition_t partitions[FLASH_MAX_PARTITIONS];
} flashPartitionTable_t;
void flashPartitionSet(uint8_t index, uint32_t startSector, uint32_t endSector);
flashPartition_t *flashPartitionFindByType(flashPartitionType_e type);
const flashPartition_t *flashPartitionFindByIndex(uint8_t index);
const char *flashPartitionGetTypeName(flashPartitionType_e type);

18
src/main/drivers/flash_impl.h
View file

@ -28,8 +28,23 @@
struct flashVTable_s;
typedef enum {
FLASHIO_NONE = 0,
FLASHIO_SPI,
FLASHIO_QUADSPI
} flashDeviceIoMode_e;
typedef struct flashDeviceIO_s {
union {
busDevice_t *busdev; // Device interface dependent handle (spi/i2c)
#ifdef USE_QUADSPI
QUADSPI_TypeDef *quadSpi;
#endif
} handle;
flashDeviceIoMode_e mode;
} flashDeviceIO_t;
typedef struct flashDevice_s {
busDevice_t *busdev;
const struct flashVTable_s *vTable;
flashGeometry_t geometry;
uint32_t currentWriteAddress;
@ -38,6 +53,7 @@ typedef struct flashDevice_s {
// for writes. This allows us to avoid polling for writable status
// when it is definitely ready already.
bool couldBeBusy;
flashDeviceIO_t io;
} flashDevice_t;
typedef struct flashVTable_s {

34
src/main/drivers/flash_m25p16.c
View file

@ -126,7 +126,7 @@ static void m25p16_performOneByteCommand(busDevice_t *bus, uint8_t command)
*/
static void m25p16_writeEnable(flashDevice_t *fdevice)
{
m25p16_performOneByteCommand(fdevice->busdev, M25P16_INSTRUCTION_WRITE_ENABLE);
m25p16_performOneByteCommand(fdevice->io.handle.busdev, M25P16_INSTRUCTION_WRITE_ENABLE);
// Assume that we're about to do some writing, so the device is just about to become busy
fdevice->couldBeBusy = true;
@ -145,7 +145,7 @@ static uint8_t m25p16_readStatus(busDevice_t *bus)
static bool m25p16_isReady(flashDevice_t *fdevice)
{
// If couldBeBusy is false, don't bother to poll the flash chip for its status
fdevice->couldBeBusy = fdevice->couldBeBusy && ((m25p16_readStatus(fdevice->busdev) & M25P16_STATUS_FLAG_WRITE_IN_PROGRESS) != 0);
fdevice->couldBeBusy = fdevice->couldBeBusy && ((m25p16_readStatus(fdevice->io.handle.busdev) & M25P16_STATUS_FLAG_WRITE_IN_PROGRESS) != 0);
return !fdevice->couldBeBusy;
}
@ -219,7 +219,7 @@ bool m25p16_detect(flashDevice_t *fdevice, uint32_t chipID)
if (fdevice->geometry.totalSize > 16 * 1024 * 1024) {
fdevice->isLargeFlash = true;
m25p16_performOneByteCommand(fdevice->busdev, W25Q256_INSTRUCTION_ENTER_4BYTE_ADDRESS_MODE);
m25p16_performOneByteCommand(fdevice->io.handle.busdev, W25Q256_INSTRUCTION_ENTER_4BYTE_ADDRESS_MODE);
}
fdevice->couldBeBusy = true; // Just for luck we'll assume the chip could be busy even though it isn't specced to be
@ -250,7 +250,7 @@ static void m25p16_eraseSector(flashDevice_t *fdevice, uint32_t address)
m25p16_writeEnable(fdevice);
m25p16_transfer(fdevice->busdev, out, NULL, sizeof(out));
m25p16_transfer(fdevice->io.handle.busdev, out, NULL, sizeof(out));
}
static void m25p16_eraseCompletely(flashDevice_t *fdevice)
@ -259,7 +259,7 @@ static void m25p16_eraseCompletely(flashDevice_t *fdevice)
m25p16_writeEnable(fdevice);
m25p16_performOneByteCommand(fdevice->busdev, M25P16_INSTRUCTION_BULK_ERASE);
m25p16_performOneByteCommand(fdevice->io.handle.busdev, M25P16_INSTRUCTION_BULK_ERASE);
}
static void m25p16_pageProgramBegin(flashDevice_t *fdevice, uint32_t address)
@ -280,18 +280,18 @@ static void m25p16_pageProgramContinue(flashDevice_t *fdevice, const uint8_t *da
m25p16_writeEnable(fdevice);
#ifdef USE_SPI_TRANSACTION
spiBusTransactionBegin(fdevice->busdev);
spiBusTransactionBegin(fdevice->io.handle.busdev);
#else
m25p16_enable(fdevice->busdev);
m25p16_enable(fdevice->io.handle.busdev);
#endif
spiTransfer(fdevice->busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
spiTransfer(fdevice->busdev->busdev_u.spi.instance, data, NULL, length);
spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, data, NULL, length);
#ifdef USE_SPI_TRANSACTION
spiBusTransactionEnd(fdevice->busdev);
spiBusTransactionEnd(fdevice->io.handle.busdev);
#else
m25p16_disable(fdevice->busdev);
m25p16_disable(fdevice->io.handle.busdev);
#endif
fdevice->currentWriteAddress += length;
@ -345,18 +345,18 @@ static int m25p16_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *b
}
#ifdef USE_SPI_TRANSACTION
spiBusTransactionBegin(fdevice->busdev);
spiBusTransactionBegin(fdevice->io.handle.busdev);
#else
m25p16_enable(fdevice->busdev);
m25p16_enable(fdevice->io.handle.busdev);
#endif
spiTransfer(fdevice->busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
spiTransfer(fdevice->busdev->busdev_u.spi.instance, NULL, buffer, length);
spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, NULL, buffer, length);
#ifdef USE_SPI_TRANSACTION
spiBusTransactionEnd(fdevice->busdev);
spiBusTransactionEnd(fdevice->io.handle.busdev);
#else
m25p16_disable(fdevice->busdev);
m25p16_disable(fdevice->io.handle.busdev);
#endif
return length;

15
src/main/drivers/flash_w25m.c
View file

@ -84,7 +84,7 @@ static bool w25m_isReady(flashDevice_t *fdevice)
for (int die = 0 ; die < dieCount ; die++) {
if (dieDevice[die].couldBeBusy) {
w25m_dieSelect(fdevice->busdev, die);
w25m_dieSelect(fdevice->io.handle.busdev, die);
if (!dieDevice[die].vTable->isReady(&dieDevice[die])) {
return false;
}
@ -115,8 +115,9 @@ bool w25m_detect(flashDevice_t *fdevice, uint32_t chipID)
dieCount = 2;
for (int die = 0 ; die < dieCount ; die++) {
w25m_dieSelect(fdevice->busdev, die);
dieDevice[die].busdev = fdevice->busdev;
w25m_dieSelect(fdevice->io.handle.busdev, die);
dieDevice[die].io.handle.busdev = fdevice->io.handle.busdev;
dieDevice[die].io.mode = fdevice->io.mode;
m25p16_detect(&dieDevice[die], JEDEC_ID_WINBOND_W25Q256);
}
@ -147,7 +148,7 @@ void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
{
int dieNumber = address / dieSize;
w25m_dieSelect(fdevice->busdev, dieNumber);
w25m_dieSelect(fdevice->io.handle.busdev, dieNumber);
dieDevice[dieNumber].vTable->eraseSector(&dieDevice[dieNumber], address % dieSize);
}
@ -155,7 +156,7 @@ void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
void w25m_eraseCompletely(flashDevice_t *fdevice)
{
for (int dieNumber = 0 ; dieNumber < dieCount ; dieNumber++) {
w25m_dieSelect(fdevice->busdev, dieNumber);
w25m_dieSelect(fdevice->io.handle.busdev, dieNumber);
dieDevice[dieNumber].vTable->eraseCompletely(&dieDevice[dieNumber]);
}
}
@ -168,7 +169,7 @@ void w25m_pageProgramBegin(flashDevice_t *fdevice, uint32_t address)
UNUSED(fdevice);
currentWriteDie = address / dieSize;
w25m_dieSelect(fdevice->busdev, currentWriteDie);
w25m_dieSelect(fdevice->io.handle.busdev, currentWriteDie);
currentWriteAddress = address % dieSize;
dieDevice[currentWriteDie].vTable->pageProgramBegin(&dieDevice[currentWriteDie], currentWriteAddress);
}
@ -210,7 +211,7 @@ int w25m_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, in
uint32_t dieAddress = address % dieSize;
tlen = MIN(dieAddress + rlen, dieSize) - dieAddress;
w25m_dieSelect(fdevice->busdev, dieNumber);
w25m_dieSelect(fdevice->io.handle.busdev, dieNumber);
rbytes = dieDevice[dieNumber].vTable->readBytes(&dieDevice[dieNumber], dieAddress, buffer, tlen);

927
src/main/drivers/flash_w25n01g.c Normal file
View file

@ -0,0 +1,927 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*
* Author: jflyper
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "build/debug.h"
#ifdef USE_FLASH_W25N01G
#include "flash.h"
#include "flash_impl.h"
#include "flash_w25n01g.h"
#include "drivers/bus_spi.h"
#include "drivers/bus_quadspi.h"
#include "drivers/io.h"
#include "drivers/time.h"
//#define FLASH_W25N01G_DPRINTF
#ifdef FLASH_W25N01G_DPRINTF
#include "common/printf.h"
#include "common/utils.h"
#include "io/serial.h"
serialPort_t *debugSerialPort = NULL;
#define DPRINTF_SERIAL_PORT SERIAL_PORT_USART3
#define DPRINTF(x) tfp_printf x
#else
#define DPRINTF(x)
#endif
// JEDEC ID
#define JEDEC_ID_WINBOND_W25N01GV 0xEFAA21
// Device size parameters
#define W25N01G_PAGE_SIZE 2048
#define W25N01G_PAGES_PER_BLOCK 64
#define W25N01G_BLOCKS_PER_DIE 1024
// BB replacement area
#define W25N01G_BB_MARKER_BLOCKS 1
#define W25N01G_BB_REPLACEMENT_BLOCKS 20
#define W25N01G_BB_MANAGEMENT_BLOCKS (W25N01G_BB_REPLACEMENT_BLOCKS + W25N01G_BB_MARKER_BLOCKS)
// blocks are zero-based index
#define W25N01G_BB_REPLACEMENT_START_BLOCK (W25N01G_BLOCKS_PER_DIE - W25N01G_BB_REPLACEMENT_BLOCKS)
#define W25N01G_BB_MANAGEMENT_START_BLOCK (W25N01G_BLOCKS_PER_DIE - W25N01G_BB_MANAGEMENT_BLOCKS)
#define W25N01G_BB_MARKER_BLOCK (W25N01G_BB_REPLACEMENT_START_BLOCK - W25N01G_BB_MARKER_BLOCKS)
// Instructions
#define W25N01G_INSTRUCTION_RDID 0x9F
#define W25N01G_INSTRUCTION_DEVICE_RESET 0xFF
#define W25N01G_INSTRUCTION_READ_STATUS_REG 0x05
#define W25N01G_INSTRUCTION_READ_STATUS_ALTERNATE_REG 0x0F
#define W25N01G_INSTRUCTION_WRITE_STATUS_REG 0x01
#define W25N01G_INSTRUCTION_WRITE_STATUS_ALTERNATE_REG 0x1F
#define W25N01G_INSTRUCTION_WRITE_ENABLE 0x06
#define W25N01G_INSTRUCTION_DIE_SELECT 0xC2
#define W25N01G_INSTRUCTION_BLOCK_ERASE 0xD8
#define W25N01G_INSTRUCTION_READ_BBM_LUT 0xA5
#define W25N01G_INSTRUCTION_BB_MANAGEMENT 0xA1
#define W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD 0x02
#define W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD 0x84
#define W25N01G_INSTRUCTION_PROGRAM_EXECUTE 0x10
#define W25N01G_INSTRUCTION_PAGE_DATA_READ 0x13
#define W25N01G_INSTRUCTION_READ_DATA 0x03
#define W25N01G_INSTRUCTION_FAST_READ 0x1B
#define W25N01G_INSTRUCTION_FAST_READ_QUAD_OUTPUT 0x6B
// Configu/status register addresses
#define W25N01G_PROT_REG 0xA0
#define W25N01G_CONF_REG 0xB0
#define W25N01G_STAT_REG 0xC0
// Bits in config/status register 2 (W25N01G_CONF_REG)
#define W25N01G_CONFIG_ECC_ENABLE (1 << 4)
#define W25N01G_CONFIG_BUFFER_READ_MODE (1 << 3)
// Bits in config/status register 3 (W25N01G_STATREG)
#define W25N01G_STATUS_BBM_LUT_FULL (1 << 6)
#define W25N01G_STATUS_FLAG_ECC_POS 4
#define W25N01G_STATUS_FLAG_ECC_MASK ((1 << 5)|(1 << 4))
#define W25N01G_STATUS_FLAG_ECC(status) (((status) & W25N01G_STATUS_FLAG_ECC_MASK) >> 4)
#define W25N01G_STATUS_PROGRAM_FAIL (1 << 3)
#define W25N01G_STATUS_ERASE_FAIL (1 << 2)
#define W25N01G_STATUS_FLAG_WRITE_ENABLED (1 << 1)
#define W25N01G_STATUS_FLAG_BUSY (1 << 0)
#define W25N01G_BBLUT_TABLE_ENTRY_COUNT 20
#define W25N01G_BBLUT_TABLE_ENTRY_SIZE 4 // in bytes
// Bits in LBA for BB LUT
#define W25N01G_BBLUT_STATUS_ENABLED (1 << 15)
#define W25N01G_BBLUT_STATUS_INVALID (1 << 14)
#define W25N01G_BBLUT_STATUS_MASK (W25N01G_BBLUT_STATUS_ENABLED | W25N01G_BBLUT_STATUS_INVALID)
// Some useful defs and macros
#define W25N01G_LINEAR_TO_COLUMN(laddr) ((laddr) % W25N01G_PAGE_SIZE)
#define W25N01G_LINEAR_TO_PAGE(laddr) ((laddr) / W25N01G_PAGE_SIZE)
#define W25N01G_LINEAR_TO_BLOCK(laddr) (W25N01G_LINEAR_TO_PAGE(laddr) / W25N01G_PAGES_PER_BLOCK)
#define W25N01G_BLOCK_TO_PAGE(block) ((block) * W25N01G_PAGES_PER_BLOCK)
#define W25N01G_BLOCK_TO_LINEAR(block) (W25N01G_BLOCK_TO_PAGE(block) * W25N01G_PAGE_SIZE)
// The timeout values (2ms minimum to avoid 1 tick advance in consecutive calls to millis).
#define W25N01G_TIMEOUT_PAGE_READ_MS 2 // tREmax = 60us (ECC enabled)
#define W25N01G_TIMEOUT_PAGE_PROGRAM_MS 2 // tPPmax = 700us
#define W25N01G_TIMEOUT_BLOCK_ERASE_MS 15 // tBEmax = 10ms
#define W25N01G_TIMEOUT_RESET_MS 500 // tRSTmax = 500ms
// Sizes (in bits)
#define W28N01G_STATUS_REGISTER_SIZE 8
#define W28N01G_STATUS_PAGE_ADDRESS_SIZE 16
#define W28N01G_STATUS_COLUMN_ADDRESS_SIZE 16
typedef struct bblut_s {
uint16_t pba;
uint16_t lba;
} bblut_t;
// These will be gone
#define DISABLE(busdev) IOHi((busdev)->busdev_u.spi.csnPin); __NOP()
#define ENABLE(busdev) __NOP(); IOLo((busdev)->busdev_u.spi.csnPin)
// XXX remove - add a forward declaration to keep git diff small while this is work-in-progress.
bool w25n01g_waitForReady(flashDevice_t *fdevice, uint32_t timeoutMillis);
/**
* Send the given command byte to the device.
*/
static void w25n01g_performOneByteCommand(flashDeviceIO_t *io, uint8_t command)
{
if (io->mode == FLASHIO_SPI) {
busDevice_t *busdev = io->handle.busdev;
ENABLE(busdev);
spiTransferByte(busdev->busdev_u.spi.instance, command);
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (io->mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
quadSpiTransmit1LINE(quadSpi, command, 0, NULL, 0);
}
#endif
}
static void w25n01g_performCommandWithPageAddress(flashDeviceIO_t *io, uint8_t command, uint32_t pageAddress)
{
if (io->mode == FLASHIO_SPI) {
busDevice_t *busdev = io->handle.busdev;
const uint8_t cmd[] = { command, 0, (pageAddress >> 8) & 0xff, (pageAddress >> 0) & 0xff};
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (io->mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
quadSpiInstructionWithAddress1LINE(quadSpi, command, 0, pageAddress & 0xffff, W28N01G_STATUS_PAGE_ADDRESS_SIZE + 8);
}
#endif
}
static uint8_t w25n01g_readRegister(flashDeviceIO_t *io, uint8_t reg)
{
if (io->mode == FLASHIO_SPI) {
busDevice_t *busdev = io->handle.busdev;
ENABLE(busdev);
const uint8_t cmd[3] = { W25N01G_INSTRUCTION_READ_STATUS_REG, reg, 0 };
uint8_t in[3];
spiTransfer(busdev->busdev_u.spi.instance, cmd, in, sizeof(cmd));
DISABLE(busdev);
return in[2];
}
#ifdef USE_QUADSPI
else if (io->mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
uint8_t in[1];
quadSpiReceiveWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_READ_STATUS_REG, 0, reg, W28N01G_STATUS_REGISTER_SIZE, in, sizeof(in));
return in[0];
}
#endif
return 0;
}
static void w25n01g_writeRegister(flashDeviceIO_t *io, uint8_t reg, uint8_t data)
{
if (io->mode == FLASHIO_SPI) {
busDevice_t *busdev = io->handle.busdev;
const uint8_t cmd[3] = { W25N01G_INSTRUCTION_WRITE_STATUS_REG, reg, data };
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (io->mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
quadSpiTransmitWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_WRITE_STATUS_REG, 0, reg, W28N01G_STATUS_REGISTER_SIZE, &data, 1);
}
#endif
}
static void w25n01g_deviceReset(flashDevice_t *fdevice)
{
flashDeviceIO_t *io = &fdevice->io;
w25n01g_performOneByteCommand(io, W25N01G_INSTRUCTION_DEVICE_RESET);
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_RESET_MS);
// Protection for upper 1/32 (BP[3:0] = 0101, TB=0), WP-E on; to protect bad block replacement area
// DON'T DO THIS. This will prevent writes through the bblut as well.
// w25n01g_writeRegister(busdev, W25N01G_PROT_REG, (5 << 3)|(0 << 2)|(1 << 1));
uint8_t value = (0 << 3)|(0 << 2); // No protection
if (io->mode == FLASHIO_SPI) {
value |= (1 << 1); // WP-E on
}
#ifdef USE_QUADSPI
else if (io->mode == FLASHIO_QUADSPI) {
value |= (0 << 1); // WP-E off, WP-E prevents use of IO2
}
#endif
w25n01g_writeRegister(io, W25N01G_PROT_REG, value);
// Buffered read mode (BUF = 1), ECC enabled (ECC = 1)
w25n01g_writeRegister(io, W25N01G_CONF_REG, W25N01G_CONFIG_ECC_ENABLE|W25N01G_CONFIG_BUFFER_READ_MODE);
}
bool w25n01g_isReady(flashDevice_t *fdevice)
{
// XXX Study device busy behavior and reinstate couldBeBusy facility.
#if 0
// If couldBeBusy is false, don't bother to poll the flash chip for its status
fdevice->couldBeBusy = fdevice->couldBeBusy && ((w25n01g_readRegister(fdevice->handle.busdev, W25N01G_STAT_REG) & W25N01G_STATUS_FLAG_BUSY) != 0);
return !couldBeBusy;
#else
uint8_t status = w25n01g_readRegister(&fdevice->io, W25N01G_STAT_REG);
if (status & W25N01G_STATUS_PROGRAM_FAIL) {
DPRINTF(("*** PROGRAM_FAIL\r\n"));
}
if (status & W25N01G_STATUS_ERASE_FAIL) {
DPRINTF(("*** ERASE_FAIL\r\n"));
}
uint8_t eccCode;
if ((eccCode = W25N01G_STATUS_FLAG_ECC(status))) {
DPRINTF(("*** ECC %x\r\n", eccCode));
}
return ((status & W25N01G_STATUS_FLAG_BUSY) == 0);
#endif
}
bool w25n01g_waitForReady(flashDevice_t *fdevice, uint32_t timeoutMillis)
{
uint32_t time = millis();
while (!w25n01g_isReady(fdevice)) {
if (millis() - time > timeoutMillis) {
DPRINTF(("*** TIMEOUT %d\r\n", timeoutMillis));
return false;
}
}
return true;
}
/**
* The flash requires this write enable command to be sent before commands that would cause
* a write like program and erase.
*/
static void w25n01g_writeEnable(flashDevice_t *fdevice)
{
w25n01g_performOneByteCommand(&fdevice->io, W25N01G_INSTRUCTION_WRITE_ENABLE);
// Assume that we're about to do some writing, so the device is just about to become busy
fdevice->couldBeBusy = true;
}
/**
* Read chip identification and geometry information (into global `geometry`).
*
* Returns true if we get valid ident, false if something bad happened like there is no M25P16.
*/
const flashVTable_t w25n01g_vTable;
static void w25n01g_deviceInit(flashDevice_t *flashdev);
bool w25n01g_detect(flashDevice_t *fdevice, uint32_t chipID)
{
#ifdef FLASH_W25N01G_DPRINTF
// Setup debugSerialPort
debugSerialPort = openSerialPort(DPRINTF_SERIAL_PORT, FUNCTION_NONE, NULL, NULL, 115200, MODE_RXTX, 0);
if (debugSerialPort) {
setPrintfSerialPort(debugSerialPort);
DPRINTF(("debug print init: OK\r\n"));
}
#endif
switch (chipID) {
case JEDEC_ID_WINBOND_W25N01GV:
fdevice->geometry.sectors = 1024; // Blocks
fdevice->geometry.pagesPerSector = 64; // Pages/Blocks
fdevice->geometry.pageSize = 2048;
break;
default:
// Unsupported chip
fdevice->geometry.sectors = 0;
fdevice->geometry.pagesPerSector = 0;
fdevice->geometry.sectorSize = 0;
fdevice->geometry.totalSize = 0;
return false;
}
fdevice->geometry.flashType = FLASH_TYPE_NAND;
fdevice->geometry.sectorSize = fdevice->geometry.pagesPerSector * fdevice->geometry.pageSize;
fdevice->geometry.totalSize = fdevice->geometry.sectorSize * fdevice->geometry.sectors;
flashPartitionSet(FLASH_PARTITION_TYPE_BADBLOCK_MANAGEMENT,
W25N01G_BB_MANAGEMENT_START_BLOCK,
W25N01G_BB_MANAGEMENT_START_BLOCK + W25N01G_BB_MANAGEMENT_BLOCKS - 1);
fdevice->couldBeBusy = true; // Just for luck we'll assume the chip could be busy even though it isn't specced to be
w25n01g_deviceReset(fdevice);
// Upper 4MB (32 blocks * 128KB/block) will be used for bad block replacement area.
// Blocks in this area are only written through bad block LUT,
// and factory written bad block marker in unused blocks are retained.
// When a replacement block is required,
// (1) "Read BB LUT" command is used to obtain the last block mapped,
// (2) blocks after the last block is scanned for a good block,
// (3) the first good block is used for replacement, and the BB LUT is updated.
// There are only 20 BB LUT entries, and there are 32 replacement blocks.
// There will be a least chance of running out of replacement blocks.
// If it ever run out, the device becomes unusable.
#if 0
// Protection to upper 1/32 (BP[3:0] = 0101, TB=0), WP-E on
//w25n01g_writeRegister(fdevice->handle.busdev, W25N01G_PROT_REG, (5 << 3)|(0 << 2)|(1 << 1));
// No protection, WP-E on
w25n01g_writeRegister(fdevice->handle, W25N01G_PROT_REG, (0 << 3)|(0 << 2)|(1 << 1));
// Continuous mode (BUF = 0), ECC enabled (ECC = 1)
w25n01g_writeRegister(fdevice->handle, W25N01G_CONF_REG, W25N01G_CONFIG_ECC_ENABLE);
#endif
#if 0
// XXX Should be gone in production
uint8_t sr1, sr2, sr3;
sr1 = w25n01g_readRegister(fdevice->handle.busdev, W25N01G_PROT_REG);
sr2 = w25n01g_readRegister(fdevice->handle.busdev, W25N01G_CONF_REG);
sr3 = w25n01g_readRegister(fdevice->handle.busdev, W25N01G_STAT_REG);
debug[1] = sr1;
debug[2] = sr2;
debug[3] = sr3;
DPRINTF(("Detect: PROT 0x%x CONF 0x%x STAT 0x%x\r\n", sr1 & 0xff, sr2 & 0xff, sr3 & 0xff));
#endif
w25n01g_deviceInit(fdevice);
fdevice->vTable = &w25n01g_vTable;
return true;
}
/**
* Erase a sector full of bytes to all 1's at the given byte offset in the flash chip.
*/
void w25n01g_eraseSector(flashDevice_t *fdevice, uint32_t address)
{
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_BLOCK_ERASE_MS);
w25n01g_writeEnable(fdevice);
w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_BLOCK_ERASE, W25N01G_LINEAR_TO_PAGE(address));
}
//
// W25N01G does not support full chip erase.
// Call eraseSector repeatedly.
void w25n01g_eraseCompletely(flashDevice_t *fdevice)
{
for (uint32_t block = 0; block < fdevice->geometry.sectors; block++) {
w25n01g_eraseSector(fdevice, W25N01G_BLOCK_TO_LINEAR(block));
}
}
static void w25n01g_programDataLoad(flashDevice_t *fdevice, uint16_t columnAddress, const uint8_t *data, int length)
{
//DPRINTF((" load WaitForReady\r\n"));
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
//DPRINTF((" load Issuing command\r\n"));
if (fdevice->io.mode == FLASHIO_SPI) {
busDevice_t *busdev = fdevice->io.handle.busdev;
const uint8_t cmd[] = { W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD, columnAddress >> 8, columnAddress & 0xff };
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
spiTransfer(busdev->busdev_u.spi.instance, data, NULL, length);
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (fdevice->io.mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
quadSpiTransmitWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD, 0, columnAddress, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, data, length);
}
#endif
//DPRINTF((" load Done\r\n"));
}
static void w25n01g_randomProgramDataLoad(flashDevice_t *fdevice, uint16_t columnAddress, const uint8_t *data, int length)
{
const uint8_t cmd[] = { W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD, columnAddress >> 8, columnAddress & 0xff };
//DPRINTF((" random WaitForReady\r\n"));
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
//DPRINTF((" random Issuing command\r\n"));
if (fdevice->io.mode == FLASHIO_SPI) {
busDevice_t *busdev = fdevice->io.handle.busdev;
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
spiTransfer(busdev->busdev_u.spi.instance, data, NULL, length);
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (fdevice->io.mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
quadSpiTransmitWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD, 0, columnAddress, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, data, length);
}
#endif
//DPRINTF((" random Done\r\n"));
}
static void w25n01g_programExecute(flashDevice_t *fdevice, uint32_t pageAddress)
{
//DPRINTF((" execute WaitForReady\r\n"));
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
//DPRINTF((" execute Issuing command\r\n"));
w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_PROGRAM_EXECUTE, pageAddress);
//DPRINTF((" execute Done\r\n"));
}
//
// Writes are done in three steps:
// (1) Load internal data buffer with data to write
// - We use "Random Load Program Data", as "Load Program Data" resets unused data bytes in the buffer to 0xff.
// - Each "Random Load Program Data" instruction must be accompanied by at least a single data.
// - Each "Random Load Program Data" instruction terminates at the rising of CS.
// (2) Enable write
// (3) Issue "Execute Program"
//
/*
flashfs page program behavior
- Single program never crosses page boundary.
- Except for this characteristic, it program arbitral size.
- Write address is, naturally, not a page boundary.
To cope with this behavior.
pageProgramBegin:
If buffer is dirty and programLoadAddress != address, then the last page is a partial write;
issue PAGE_PROGRAM_EXECUTE to flash buffer contents, clear dirty and record the address as programLoadAddress and programStartAddress.
Else do nothing.
pageProgramContinue:
Mark buffer as dirty.
If programLoadAddress is on page boundary, then issue PROGRAM_LOAD_DATA, else issue RANDOM_PROGRAM_LOAD_DATA.
Update programLoadAddress.
Optionally observe the programLoadAddress, and if it's on page boundary, issue PAGE_PROGRAM_EXECUTE.
pageProgramFinish:
Observe programLoadAddress. If it's on page boundary, issue PAGE_PROGRAM_EXECUTE and clear dirty, else just return.
If pageProgramContinue observes the page boundary, then do nothing(?).
*/
static uint32_t programStartAddress;
static uint32_t programLoadAddress;
bool bufferDirty = false;
bool isProgramming = false;
#define DEBUG_PAGE_PROGRAM
//#define PAGEPROG_DPRINTF(x) DPRINTF(x)
#define PAGEPROG_DPRINTF(x)
void w25n01g_pageProgramBegin(flashDevice_t *fdevice, uint32_t address)
{
PAGEPROG_DPRINTF(("pageProgramBegin: address 0x%x\r\n", address));
if (bufferDirty) {
if (address != programLoadAddress) {
PAGEPROG_DPRINTF((" Buffer dirty and address != programLoadAddress (0x%x), flushing\r\n", programLoadAddress));
PAGEPROG_DPRINTF((" Wait for ready\r\n"));
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
isProgramming = false;
PAGEPROG_DPRINTF((" Write enable\r\n"));
w25n01g_writeEnable(fdevice);
PAGEPROG_DPRINTF((" PROGRAM_EXECUTE PA 0x%x\r\n", W25N01G_LINEAR_TO_PAGE(programStartAddress)));
w25n01g_programExecute(fdevice, W25N01G_LINEAR_TO_PAGE(programStartAddress));
bufferDirty = false;
isProgramming = true;
} else {
PAGEPROG_DPRINTF((" Continuation\r\n"));
}
} else {
PAGEPROG_DPRINTF((" Fresh page\r\n"));
programStartAddress = programLoadAddress = address;
}
}
void w25n01g_pageProgramContinue(flashDevice_t *fdevice, const uint8_t *data, int length)
{
PAGEPROG_DPRINTF(("pageProgramContinue: length 0x%x (programLoadAddress 0x%x)\r\n", length, programLoadAddress));
// Check for page boundary overrun
if (W25N01G_LINEAR_TO_PAGE(programLoadAddress + length - 1) != W25N01G_LINEAR_TO_PAGE(programStartAddress)) {
PAGEPROG_DPRINTF((" **** PAGE BOUNDARY OVERRUN **** (page 0x%x)\r\n", W25N01G_LINEAR_TO_PAGE(programLoadAddress)));
}
PAGEPROG_DPRINTF((" Wait for ready\r\n"));
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
PAGEPROG_DPRINTF((" Write enable\r\n"));
w25n01g_writeEnable(fdevice);
isProgramming = false;
if (!bufferDirty) {
PAGEPROG_DPRINTF((" DATA_LOAD CA 0x%x length 0x%x\r\n", W25N01G_LINEAR_TO_COLUMN(programLoadAddress), length));
w25n01g_programDataLoad(fdevice, W25N01G_LINEAR_TO_COLUMN(programLoadAddress), data, length);
} else {
PAGEPROG_DPRINTF((" RANDOM_DATA_LOAD CA 0x%x length 0x%x\r\n", W25N01G_LINEAR_TO_COLUMN(programLoadAddress), length));
w25n01g_randomProgramDataLoad(fdevice, W25N01G_LINEAR_TO_COLUMN(programLoadAddress), data, length);
}
// XXX Test if write enable is reset after each data loading.
bufferDirty = true;
programLoadAddress += length;
}
static uint32_t currentPage = UINT32_MAX;
void w25n01g_pageProgramFinish(flashDevice_t *fdevice)
{
PAGEPROG_DPRINTF(("pageProgramFinish: (loaded 0x%x bytes)\r\n", programLoadAddress - programStartAddress));
if (bufferDirty && W25N01G_LINEAR_TO_COLUMN(programLoadAddress) == 0) {
currentPage = W25N01G_LINEAR_TO_PAGE(programStartAddress); // reset page to the page being written
PAGEPROG_DPRINTF((" PROGRAM_EXECUTE PA 0x%x\r\n", W25N01G_LINEAR_TO_PAGE(programStartAddress)));
w25n01g_programExecute(fdevice, W25N01G_LINEAR_TO_PAGE(programStartAddress));
bufferDirty = false;
isProgramming = true;
programStartAddress = programLoadAddress;
} else {
PAGEPROG_DPRINTF((" Ignoring\r\n"));
}
}
/**
* Write bytes to a flash page. Address must not cross a page boundary.
*
* Bits can only be set to zero, not from zero back to one again. In order to set bits to 1, use the erase command.
*
* Length must be smaller than the page size.
*
* This will wait for the flash to become ready before writing begins.
*
* Datasheet indicates typical programming time is 0.8ms for 256 bytes, 0.2ms for 64 bytes, 0.05ms for 16 bytes.
* (Although the maximum possible write time is noted as 5ms).
*
* If you want to write multiple buffers (whose sum of sizes is still not more than the page size) then you can
* break this operation up into one beginProgram call, one or more continueProgram calls, and one finishProgram call.
*/
void w25n01g_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *data, int length)
{
w25n01g_pageProgramBegin(fdevice, address);
w25n01g_pageProgramContinue(fdevice, data, length);
w25n01g_pageProgramFinish(fdevice);
}
void w25n01g_flush(flashDevice_t *fdevice)
{
PAGEPROG_DPRINTF(("close:\r\n"));
if (bufferDirty) {
PAGEPROG_DPRINTF((" Buffer is partially loaded (0x%x bytes)\r\n", programLoadAddress - programStartAddress));
PAGEPROG_DPRINTF((" PROGRAM_EXECUTE PA 0x%x\r\n", W25N01G_LINEAR_TO_PAGE(programStartAddress)));
currentPage = W25N01G_LINEAR_TO_PAGE(programStartAddress); // reset page to the page being written
w25n01g_programExecute(fdevice, W25N01G_LINEAR_TO_PAGE(programStartAddress));
bufferDirty = false;
isProgramming = true;
} else {
PAGEPROG_DPRINTF((" Buffer is clean\r\n"));
isProgramming = false;
}
}
void w25n01g_addError(uint32_t address, uint8_t code)
{
UNUSED(address);
UNUSED(code);
DPRINTF(("addError: PA %x BA %x code %d\r\n", W25N01G_LINEAR_TO_PAGE(address), W25N01G_LINEAR_TO_BLOCK(address), code));
}
/**
* Read `length` bytes into the provided `buffer` from the flash starting from the given `address` (which need not lie
* on a page boundary).
*
* Waits up to W25N01G_TIMEOUT_PAGE_READ_MS milliseconds for the flash to become ready before reading.
*
* The number of bytes actually read is returned, which can be zero if an error or timeout occurred.
*/
// Continuous read mode (BUF = 0):
// (1) "Page Data Read" command is executed for the page pointed by address
// (2) "Read Data" command is executed for bytes not requested and data are discarded
// (3) "Read Data" command is executed and data are stored directly into caller's buffer
//
// Buffered read mode (BUF = 1), non-read ahead
// (1) If currentBufferPage != requested page, then issue PAGE_DATA_READ on requested page.
// (2) Compute transferLength as smaller of remaining length and requested length.
// (3) Issue READ_DATA on column address.
// (4) Return transferLength.
//#define READBYTES_DPRINTF DPRINTF
#define READBYTES_DPRINTF(x)
int w25n01g_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, int length)
{
READBYTES_DPRINTF(("readBytes: address 0x%x length %d\r\n", address, length));
uint32_t targetPage = W25N01G_LINEAR_TO_PAGE(address);
if (currentPage != targetPage) {
READBYTES_DPRINTF(("readBytes: PAGE_DATA_READ page 0x%x\r\n", targetPage));
if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
return 0;
}
currentPage = UINT32_MAX;
w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_PAGE_DATA_READ, targetPage);
if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
return 0;
}
currentPage = targetPage;
}
uint16_t column = W25N01G_LINEAR_TO_COLUMN(address);
uint16_t transferLength;
if (length > W25N01G_PAGE_SIZE - column) {
transferLength = W25N01G_PAGE_SIZE - column;
} else {
transferLength = length;
}
READBYTES_DPRINTF(("readBytes: READ_DATA column 0x%x transferLength 0x%x\r\n", column, transferLength));
if (fdevice->io.mode == FLASHIO_SPI) {
busDevice_t *busdev = fdevice->io.handle.busdev;
uint8_t cmd[4];
cmd[0] = W25N01G_INSTRUCTION_READ_DATA;
cmd[1] = (column >> 8) & 0xff;
cmd[2] = (column >> 0) & 0xff;
cmd[3] = 0;
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
spiTransfer(busdev->busdev_u.spi.instance, NULL, buffer, length);
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (fdevice->io.mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
//quadSpiReceiveWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_READ_DATA, 8, column, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, buffer, length);
quadSpiReceiveWithAddress4LINES(quadSpi, W25N01G_INSTRUCTION_FAST_READ_QUAD_OUTPUT, 8, column, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, buffer, length);
}
#endif
// XXX Don't need this?
if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
return 0;
}
// Check ECC
uint8_t statReg = w25n01g_readRegister(&fdevice->io, W25N01G_STAT_REG);
uint8_t eccCode = W25N01G_STATUS_FLAG_ECC(statReg);
switch (eccCode) {
case 0: // Successful read, no ECC correction
break;
case 1: // Successful read with ECC correction
case 2: // Uncorrectable ECC in a single page
case 3: // Uncorrectable ECC in multiple pages
w25n01g_addError(address, eccCode);
w25n01g_deviceReset(fdevice);
break;
}
READBYTES_DPRINTF(("readBytes: transfered 0x%x bytes\r\n", transferLength));
return transferLength;
}
int w25n01g_readExtensionBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, int length)
{
w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_PAGE_DATA_READ, W25N01G_LINEAR_TO_PAGE(address));
if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
return 0;
}
uint32_t column = 2048;
if (fdevice->io.mode == FLASHIO_SPI) {
busDevice_t *busdev = fdevice->io.handle.busdev;
uint8_t cmd[4];
cmd[0] = W25N01G_INSTRUCTION_READ_DATA;
cmd[1] = (column >> 8) & 0xff;
cmd[2] = (column >> 0) & 0xff;
cmd[3] = 0;
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
spiTransfer(busdev->busdev_u.spi.instance, NULL, buffer, length);
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (fdevice->io.mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
quadSpiReceiveWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_READ_DATA, 8, column, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, buffer, length);
}
#endif
return length;
}
/**
* Fetch information about the detected flash chip layout.
*
* Can be called before calling w25n01g_init() (the result would have totalSize = 0).
*/
const flashGeometry_t* w25n01g_getGeometry(flashDevice_t *fdevice)
{
return &fdevice->geometry;
}
const flashVTable_t w25n01g_vTable = {
.isReady = w25n01g_isReady,
.waitForReady = w25n01g_waitForReady,
.eraseSector = w25n01g_eraseSector,
.eraseCompletely = w25n01g_eraseCompletely,
.pageProgramBegin = w25n01g_pageProgramBegin,
.pageProgramContinue = w25n01g_pageProgramContinue,
.pageProgramFinish = w25n01g_pageProgramFinish,
.pageProgram = w25n01g_pageProgram,
.flush = w25n01g_flush,
.readBytes = w25n01g_readBytes,
.getGeometry = w25n01g_getGeometry,
};
void w25n01g_readBBLUT(flashDevice_t *fdevice, bblut_t *bblut, int lutsize)
{
uint8_t in[4];
if (fdevice->io.mode == FLASHIO_SPI) {
busDevice_t *busdev = fdevice->io.handle.busdev;
uint8_t cmd[4];
cmd[0] = W25N01G_INSTRUCTION_READ_BBM_LUT;
cmd[1] = 0;
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, 2);
for (int i = 0 ; i < lutsize ; i++) {
spiTransfer(busdev->busdev_u.spi.instance, NULL, in, 4);
bblut[i].pba = (in[0] << 16)|in[1];
bblut[i].lba = (in[2] << 16)|in[3];
}
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (fdevice->io.mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
// Note: Using HAL QuadSPI there doesn't appear to be a way to send 2 bytes, then blocks of 4 bytes, while keeping the CS line LOW
// thus, we have to read the entire BBLUT in one go and process the result.
uint8_t bblutBuffer[W25N01G_BBLUT_TABLE_ENTRY_COUNT * W25N01G_BBLUT_TABLE_ENTRY_SIZE];
quadSpiReceive1LINE(quadSpi, W25N01G_INSTRUCTION_READ_BBM_LUT, 8, bblutBuffer, sizeof(bblutBuffer));
for (int i = 0, offset = 0 ; i < lutsize ; i++, offset += 4) {
if (i < W25N01G_BBLUT_TABLE_ENTRY_COUNT) {
bblut[i].pba = (in[offset + 0] << 16)|in[offset + 1];
bblut[i].lba = (in[offset + 2] << 16)|in[offset + 3];
}
}
}
#endif
}
void w25n01g_writeBBLUT(flashDevice_t *fdevice, uint16_t lba, uint16_t pba)
{
if (fdevice->io.mode == FLASHIO_SPI) {
busDevice_t *busdev = fdevice->io.handle.busdev;
uint8_t cmd[5] = { W25N01G_INSTRUCTION_BB_MANAGEMENT, lba >> 8, lba, pba >> 8, pba };
ENABLE(busdev);
spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
DISABLE(busdev);
}
#ifdef USE_QUADSPI
else if (fdevice->io.mode == FLASHIO_QUADSPI) {
QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
uint8_t data[4] = { lba >> 8, lba, pba >> 8, pba };
quadSpiInstructionWithData1LINE(quadSpi, W25N01G_INSTRUCTION_BB_MANAGEMENT, 0, data, sizeof(data));
}
#endif
w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
}
static void w25n01g_deviceInit(flashDevice_t *flashdev)
{
UNUSED(flashdev);
}
#endif

25
src/main/drivers/flash_w25n01g.h Normal file
View file

@ -0,0 +1,25 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*
* Author: jflyper
*/
#pragma once
bool w25n01g_detect(flashDevice_t *fdevice, uint32_t chipID);

14
src/main/fc/config.c
View file

@ -41,6 +41,7 @@
#include "fc/rc.h"
#include "fc/rc_adjustments.h"
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/failsafe.h"
#include "flight/imu.h"
@ -72,6 +73,8 @@
static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
static bool rebootRequired = false; // set if a config change requires a reboot to take effect
pidProfile_t *currentPidProfile;
#ifndef RX_SPI_DEFAULT_PROTOCOL
@ -742,3 +745,14 @@ bool isSystemConfigured(void)
return true;
#endif
}
void setRebootRequired(void)
{
rebootRequired = true;
setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
}
bool getRebootRequired(void)
{
return rebootRequired;
}

3
src/main/fc/config.h
View file

@ -55,6 +55,7 @@ PG_DECLARE(systemConfig_t, systemConfig);
struct pidProfile_s;
extern struct pidProfile_s *currentPidProfile;
void initEEPROM(void);
void resetEEPROM(void);
bool readEEPROM(void);
@ -86,3 +87,5 @@ void targetConfiguration(void);
void targetValidateConfiguration(void);
bool isSystemConfigured(void);
void setRebootRequired(void);
bool getRebootRequired(void);

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

@ -27,6 +27,7 @@
typedef enum {
RATES_TYPE_BETAFLIGHT = 0,
RATES_TYPE_RACEFLIGHT,
RATES_TYPE_KISS,
} ratesType_e;
typedef enum {

6
src/main/fc/init.c
View file

@ -716,11 +716,9 @@ void init(void)
#endif
#ifdef USE_FLASH_CHIP
bool haveFlash = flashInit(flashConfig());
flashInit(flashConfig());
#ifdef USE_FLASHFS
if (haveFlash) {
flashfsInit();
}
flashfsInit();
#endif
#endif

66
src/main/fc/rc.c
View file

@ -148,6 +148,17 @@ float applyRaceFlightRates(const int axis, float rcCommandf, const float rcComma
return angleRate;
}
float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
const float rcCurvef = currentControlRateProfile->rcExpo[axis] / 100.0f;
float kissRpyUseRates = 1.0f / (constrainf(1.0f - (rcCommandfAbs * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));
float kissRcCommandf = (power3(rcCommandf) * rcCurvef + rcCommandf * (1 - rcCurvef)) * (currentControlRateProfile->rcRates[axis] / 1000.0f);
float kissAngle = constrainf(((2000.0f * kissRpyUseRates) * kissRcCommandf), -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
return kissAngle;
}
static void calculateSetpointRate(int axis)
{
float angleRate;
@ -286,10 +297,10 @@ FAST_CODE uint8_t processRcInterpolation(void)
#ifdef USE_RC_SMOOTHING_FILTER
// Determine a cutoff frequency based on filter type and the calculated
// average rx frame time
FAST_CODE_NOINLINE int calcRcSmoothingCutoff(int avgRxFrameTimeUs, bool pt1)
FAST_CODE_NOINLINE int calcRcSmoothingCutoff(int avgRxFrameTimeUs, bool pt1, uint8_t autoSmoothnessFactor)
{
if (avgRxFrameTimeUs > 0) {
const float cutoffFactor = (100 - rxConfig()->rc_smoothing_auto_factor) / 100.0f;
const float cutoffFactor = (100 - autoSmoothnessFactor) / 100.0f;
float cutoff = (1 / (avgRxFrameTimeUs * 1e-6f)) / 2; // calculate the nyquist frequency
cutoff = cutoff * cutoffFactor;
@ -316,15 +327,15 @@ FAST_CODE_NOINLINE void rcSmoothingSetFilterCutoffs(rcSmoothingFilter_t *smoothi
const float dT = targetPidLooptime * 1e-6f;
uint16_t oldCutoff = smoothingData->inputCutoffFrequency;
if (rxConfig()->rc_smoothing_input_cutoff == 0) {
smoothingData->inputCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (rxConfig()->rc_smoothing_input_type == RC_SMOOTHING_INPUT_PT1));
if (smoothingData->inputCutoffSetting == 0) {
smoothingData->inputCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (smoothingData->inputFilterType == RC_SMOOTHING_INPUT_PT1), smoothingData->autoSmoothnessFactor);
}
// initialize or update the input filter
if ((smoothingData->inputCutoffFrequency != oldCutoff) || !smoothingData->filterInitialized) {
for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
if ((1 << i) & interpolationChannels) { // only update channels specified by rc_interp_ch
switch (rxConfig()->rc_smoothing_input_type) {
switch (smoothingData->inputFilterType) {
case RC_SMOOTHING_INPUT_PT1:
if (!smoothingData->filterInitialized) {
@ -349,12 +360,12 @@ FAST_CODE_NOINLINE void rcSmoothingSetFilterCutoffs(rcSmoothingFilter_t *smoothi
// update or initialize the derivative filter
oldCutoff = smoothingData->derivativeCutoffFrequency;
if ((rxConfig()->rc_smoothing_derivative_cutoff == 0) && (rxConfig()->rc_smoothing_derivative_type != RC_SMOOTHING_DERIVATIVE_OFF)) {
smoothingData->derivativeCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_PT1));
if ((smoothingData->derivativeCutoffSetting == 0) && (smoothingData->derivativeFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
smoothingData->derivativeCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (smoothingData->derivativeFilterType == RC_SMOOTHING_DERIVATIVE_PT1), smoothingData->autoSmoothnessFactor);
}
if (!smoothingData->filterInitialized) {
pidInitSetpointDerivativeLpf(smoothingData->derivativeCutoffFrequency, rxConfig()->rc_smoothing_debug_axis, rxConfig()->rc_smoothing_derivative_type);
pidInitSetpointDerivativeLpf(smoothingData->derivativeCutoffFrequency, smoothingData->debugAxis, smoothingData->derivativeFilterType);
} else if (smoothingData->derivativeCutoffFrequency != oldCutoff) {
pidUpdateSetpointDerivativeLpf(smoothingData->derivativeCutoffFrequency);
}
@ -395,13 +406,13 @@ FAST_CODE_NOINLINE bool rcSmoothingAutoCalculate(void)
bool ret = false;
// if the input cutoff is 0 (auto) then we need to calculate cutoffs
if (rxConfig()->rc_smoothing_input_cutoff == 0) {
if (rcSmoothingData.inputCutoffSetting == 0) {
ret = true;
}
// if the derivative type isn't OFF and the cutoff is 0 then we need to calculate
if (rxConfig()->rc_smoothing_derivative_type != RC_SMOOTHING_DERIVATIVE_OFF) {
if (rxConfig()->rc_smoothing_derivative_cutoff == 0) {
if (rcSmoothingData.derivativeFilterType != RC_SMOOTHING_DERIVATIVE_OFF) {
if (rcSmoothingData.derivativeCutoffSetting == 0) {
ret = true;
}
}
@ -421,12 +432,18 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
initialized = true;
rcSmoothingData.filterInitialized = false;
rcSmoothingData.averageFrameTimeUs = 0;
rcSmoothingData.autoSmoothnessFactor = rxConfig()->rc_smoothing_auto_factor;
rcSmoothingData.debugAxis = rxConfig()->rc_smoothing_debug_axis;
rcSmoothingData.inputFilterType = rxConfig()->rc_smoothing_input_type;
rcSmoothingData.inputCutoffSetting = rxConfig()->rc_smoothing_input_cutoff;
rcSmoothingData.derivativeFilterType = rxConfig()->rc_smoothing_derivative_type;
rcSmoothingData.derivativeCutoffSetting = rxConfig()->rc_smoothing_derivative_cutoff;
rcSmoothingResetAccumulation(&rcSmoothingData);
rcSmoothingData.inputCutoffFrequency = rxConfig()->rc_smoothing_input_cutoff;
rcSmoothingData.inputCutoffFrequency = rcSmoothingData.inputCutoffSetting;
if (rxConfig()->rc_smoothing_derivative_type != RC_SMOOTHING_DERIVATIVE_OFF) {
rcSmoothingData.derivativeCutoffFrequency = rxConfig()->rc_smoothing_derivative_cutoff;
if (rcSmoothingData.derivativeFilterType != RC_SMOOTHING_DERIVATIVE_OFF) {
rcSmoothingData.derivativeCutoffFrequency = rcSmoothingData.derivativeCutoffSetting;
}
calculateCutoffs = rcSmoothingAutoCalculate();
@ -511,7 +528,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
if (rcSmoothingData.filterInitialized && (debugMode == DEBUG_RC_SMOOTHING)) {
// after training has completed then log the raw rc channel and the calculated
// average rx frame rate that was used to calculate the automatic filter cutoffs
DEBUG_SET(DEBUG_RC_SMOOTHING, 0, lrintf(lastRxData[rxConfig()->rc_smoothing_debug_axis]));
DEBUG_SET(DEBUG_RC_SMOOTHING, 0, lrintf(lastRxData[rcSmoothingData.debugAxis]));
DEBUG_SET(DEBUG_RC_SMOOTHING, 3, rcSmoothingData.averageFrameTimeUs);
}
@ -519,7 +536,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
for (updatedChannel = 0; updatedChannel < PRIMARY_CHANNEL_COUNT; updatedChannel++) {
if ((1 << updatedChannel) & interpolationChannels) { // only smooth selected channels base on the rc_interp_ch value
if (rcSmoothingData.filterInitialized) {
switch (rxConfig()->rc_smoothing_input_type) {
switch (rcSmoothingData.inputFilterType) {
case RC_SMOOTHING_INPUT_PT1:
rcCommand[updatedChannel] = pt1FilterApply((pt1Filter_t*) &rcSmoothingData.filter[updatedChannel], lastRxData[updatedChannel]);
break;
@ -711,6 +728,10 @@ void initRcProcessing(void)
case RATES_TYPE_RACEFLIGHT:
applyRates = applyRaceFlightRates;
break;
case RATES_TYPE_KISS:
applyRates = applyKissRates;
break;
}
@ -749,18 +770,9 @@ bool rcSmoothingIsEnabled(void)
}
#ifdef USE_RC_SMOOTHING_FILTER
int rcSmoothingGetValue(int whichValue)
rcSmoothingFilter_t *getRcSmoothingData(void)
{
switch (whichValue) {
case RC_SMOOTHING_VALUE_INPUT_ACTIVE:
return rcSmoothingData.inputCutoffFrequency;
case RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE:
return rcSmoothingData.derivativeCutoffFrequency;
case RC_SMOOTHING_VALUE_AVERAGE_FRAME:
return rcSmoothingData.averageFrameTimeUs;
default:
return 0;
}
return &rcSmoothingData;
}
bool rcSmoothingInitializationComplete(void) {

4
src/main/fc/rc.h
View file

@ -20,6 +20,8 @@
#pragma once
#include "fc/rc_controls.h"
typedef enum {
INTERPOLATION_CHANNELS_RP,
INTERPOLATION_CHANNELS_RPY,
@ -40,6 +42,6 @@ void resetYawAxis(void);
void initRcProcessing(void);
bool isMotorsReversed(void);
bool rcSmoothingIsEnabled(void);
int rcSmoothingGetValue(int whichValue);
rcSmoothingFilter_t *getRcSmoothingData(void);
bool rcSmoothingAutoCalculate(void);
bool rcSmoothingInitializationComplete(void);

12
src/main/fc/rc_controls.h
View file

@ -77,12 +77,6 @@ typedef enum {
RC_SMOOTHING_DERIVATIVE_BIQUAD
} rcSmoothingDerivativeFilter_e;
typedef enum {
RC_SMOOTHING_VALUE_INPUT_ACTIVE,
RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE,
RC_SMOOTHING_VALUE_AVERAGE_FRAME
} rcSmoothingInfoType_e;
#define ROL_LO (1 << (2 * ROLL))
#define ROL_CE (3 << (2 * ROLL))
#define ROL_HI (2 << (2 * ROLL))
@ -125,10 +119,16 @@ typedef union rcSmoothingFilterTypes_u {
typedef struct rcSmoothingFilter_s {
bool filterInitialized;
rcSmoothingFilterTypes_t filter[4];
rcSmoothingInputFilter_e inputFilterType;
uint8_t inputCutoffSetting;
uint16_t inputCutoffFrequency;
rcSmoothingDerivativeFilter_e derivativeFilterType;
uint8_t derivativeCutoffSetting;
uint16_t derivativeCutoffFrequency;
int averageFrameTimeUs;
rcSmoothingFilterTraining_t training;
uint8_t debugAxis;
uint8_t autoSmoothnessFactor;
} rcSmoothingFilter_t;
typedef struct rcControlsConfig_s {

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

@ -53,8 +53,9 @@ const char *armingDisableFlagNames[]= {
"MSP",
"PARALYZE",
"GPS",
"RESCUE SW",
"RESCUE_SW",
"RPMFILTER",
"REBOOT_REQD",
"ARMSWITCH",
};

3
src/main/fc/runtime_config.h
View file

@ -61,7 +61,8 @@ typedef enum {
ARMING_DISABLED_GPS = (1 << 18),
ARMING_DISABLED_RESC = (1 << 19),
ARMING_DISABLED_RPMFILTER = (1 << 20),
ARMING_DISABLED_ARM_SWITCH = (1 << 21), // Needs to be the last element, since it's always activated if one of the others is active when arming
ARMING_DISABLED_REBOOT_REQUIRED = (1 << 21),
ARMING_DISABLED_ARM_SWITCH = (1 << 22), // Needs to be the last element, since it's always activated if one of the others is active when arming
} armingDisableFlags_e;
#define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)

25
src/main/flight/gps_rescue.c
View file

@ -116,6 +116,12 @@ typedef struct {
bool isAvailable;
} rescueState_s;
typedef enum {
MAX_ALT,
FIXED_ALT,
CURRENT_ALT
} altitudeMode_e;
#define GPS_RESCUE_MAX_YAW_RATE 180 // deg/sec max yaw rate
#define GPS_RESCUE_RATE_SCALE_DEGREES 45 // Scale the commanded yaw rate when the error is less then this angle
#define GPS_RESCUE_SLOWDOWN_DISTANCE_M 200 // distance from home to start decreasing speed
@ -150,6 +156,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
.useMag = GPS_RESCUE_USE_MAG,
.targetLandingAltitudeM = 5,
.targetLandingDistanceM = 10,
.altitudeMode = MAX_ALT,
);
static uint16_t rescueThrottle;
@ -165,6 +172,7 @@ bool magForceDisable = false;
static bool newGPSData = false;
rescueState_s rescueState;
altitudeMode_e altitudeMode;
/*
If we have new GPS data, update home heading
@ -486,6 +494,7 @@ void updateGPSRescueState(void)
static float_t lineSlope;
static float_t lineOffsetM;
static int32_t newSpeed;
static uint32_t newAltitude;
if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
rescueStop();
@ -536,6 +545,18 @@ void updateGPSRescueState(void)
newDescentDistanceM = gpsRescueConfig()->descentDistanceM;
}
switch (altitudeMode) {
case MAX_ALT:
newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
break;
case FIXED_ALT:
newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
break;
case CURRENT_ALT:
newAltitude = rescueState.sensor.currentAltitudeCm;
break;
}
//Calculate angular coefficient and offset for equation of line from 2 points needed for RESCUE_LANDING_APPROACH
lineSlope = ((float)gpsRescueConfig()->initialAltitudeM - gpsRescueConfig()->targetLandingAltitudeM) / (newDescentDistanceM - gpsRescueConfig()->targetLandingDistanceM);
lineOffsetM = gpsRescueConfig()->initialAltitudeM - lineSlope * newDescentDistanceM;
@ -549,7 +570,7 @@ void updateGPSRescueState(void)
}
rescueState.intent.targetGroundspeed = 500;
rescueState.intent.targetAltitudeCm = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
rescueState.intent.targetAltitudeCm = newAltitude;
rescueState.intent.crosstrack = true;
rescueState.intent.minAngleDeg = 10;
rescueState.intent.maxAngleDeg = 15;
@ -562,7 +583,7 @@ void updateGPSRescueState(void)
// We can assume at this point that we are at or above our RTH height, so we need to try and point to home and tilt while maintaining alt
// Is our altitude way off? We should probably kick back to phase RESCUE_ATTAIN_ALT
rescueState.intent.targetGroundspeed = gpsRescueConfig()->rescueGroundspeed;
rescueState.intent.targetAltitudeCm = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
rescueState.intent.targetAltitudeCm = newAltitude;
rescueState.intent.crosstrack = true;
rescueState.intent.minAngleDeg = 15;
rescueState.intent.maxAngleDeg = gpsRescueConfig()->angle;

1
src/main/flight/gps_rescue.h
View file

@ -39,6 +39,7 @@ typedef struct gpsRescue_s {
uint8_t useMag;
uint16_t targetLandingAltitudeM; //meters
uint16_t targetLandingDistanceM; //meters
uint8_t altitudeMode;
} gpsRescueConfig_t;
PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);

6
src/main/flight/pid.c
View file

@ -185,11 +185,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
.dterm_lowpass2_hz = 100, // second Dterm LPF ON by default
.dterm_lowpass2_hz = 150, // second Dterm LPF ON by default
.dterm_filter_type = FILTER_BIQUAD,
.dterm_filter2_type = FILTER_PT1,
.dyn_lpf_dterm_min_hz = 150,
.dyn_lpf_dterm_max_hz = 250,
.dyn_lpf_dterm_min_hz = 70,
.dyn_lpf_dterm_max_hz = 170,
.launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
.launchControlThrottlePercent = 20,
.launchControlAngleLimit = 0,

2
src/main/io/asyncfatfs/asyncfatfs.c
View file

@ -58,7 +58,7 @@
#define ONLY_EXPOSE_FOR_TESTING static
#endif
#define AFATFS_NUM_CACHE_SECTORS 8
#define AFATFS_NUM_CACHE_SECTORS 10
// FAT filesystems are allowed to differ from these parameters, but we choose not to support those weird filesystems:
#define AFATFS_SECTOR_SIZE 512

23
src/main/io/displayport_hott.c
View file

@ -1,18 +1,21 @@
/*
* This file is part of Cleanflight.
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>

23
src/main/io/displayport_hott.h
View file

@ -1,18 +1,21 @@
/*
* This file is part of Cleanflight.
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once

105
src/main/io/flashfs.c
View file

@ -38,10 +38,15 @@
#include "platform.h"
#include "common/printf.h"
#include "drivers/flash.h"
#include "io/flashfs.h"
static const flashPartition_t *flashPartition = NULL;
static const flashGeometry_t *flashGeometry = NULL;
static uint32_t flashfsSize = 0;
static uint8_t flashWriteBuffer[FLASHFS_WRITE_BUFFER_SIZE];
/* The position of our head and tail in the circular flash write buffer.
@ -73,7 +78,10 @@ static void flashfsSetTailAddress(uint32_t address)
void flashfsEraseCompletely(void)
{
flashEraseCompletely();
for (flashSector_t sectorIndex = flashPartition->startSector; sectorIndex <= flashPartition->endSector; sectorIndex++) {
uint32_t sectorAddress = sectorIndex * flashGeometry->sectorSize;
flashEraseSector(sectorAddress);
}
flashfsClearBuffer();
@ -86,24 +94,23 @@ void flashfsEraseCompletely(void)
*/
void flashfsEraseRange(uint32_t start, uint32_t end)
{
const flashGeometry_t *geometry = flashGetGeometry();
if (geometry->sectorSize <= 0)
if (flashGeometry->sectorSize <= 0)
return;
// Round the start down to a sector boundary
int startSector = start / geometry->sectorSize;
int startSector = start / flashGeometry->sectorSize;
// And the end upward
int endSector = end / geometry->sectorSize;
int endRemainder = end % geometry->sectorSize;
int endSector = end / flashGeometry->sectorSize;
int endRemainder = end % flashGeometry->sectorSize;
if (endRemainder > 0) {
endSector++;
}
for (int i = startSector; i < endSector; i++) {
flashEraseSector(i * geometry->sectorSize);
for (int sectorIndex = startSector; sectorIndex < endSector; sectorIndex++) {
uint32_t sectorAddress = sectorIndex * flashGeometry->sectorSize;
flashEraseSector(sectorAddress);
}
}
@ -119,12 +126,12 @@ bool flashfsIsReady(void)
bool flashfsIsSupported(void)
{
return flashfsGetSize() > 0;
return flashfsSize > 0;
}
uint32_t flashfsGetSize(void)
{
return flashGetGeometry()->totalSize;
return flashfsSize;
}
static uint32_t flashfsTransmitBufferUsed(void)
@ -151,11 +158,6 @@ uint32_t flashfsGetWriteBufferFreeSpace(void)
return flashfsGetWriteBufferSize() - flashfsTransmitBufferUsed();
}
const flashGeometry_t* flashfsGetGeometry(void)
{
return flashGetGeometry();
}
/**
* Write the given buffers to flash sequentially at the current tail address, advancing the tail address after
* each write.
@ -191,7 +193,7 @@ static uint32_t flashfsWriteBuffers(uint8_t const **buffers, uint32_t *bufferSiz
uint32_t bytesTotalRemaining = bytesTotal;
uint16_t pageSize = flashfsGetGeometry()->pageSize;
uint16_t pageSize = flashGeometry->pageSize;
while (bytesTotalRemaining > 0) {
uint32_t bytesTotalThisIteration;
@ -481,9 +483,9 @@ int flashfsReadAbs(uint32_t address, uint8_t *buffer, unsigned int len)
int bytesRead;
// Did caller try to read past the end of the volume?
if (address + len > flashfsGetSize()) {
if (address + len > flashfsSize) {
// Truncate their request
len = flashfsGetSize() - address;
len = flashfsSize - address;
}
// Since the read could overlap data in our dirty buffers, force a sync to clear those first
@ -527,7 +529,7 @@ int flashfsIdentifyStartOfFreeSpace(void)
} testBuffer;
int left = 0; // Smallest block index in the search region
int right = flashfsGetSize() / FREE_BLOCK_SIZE; // One past the largest block index in the search region
int right = flashfsSize / FREE_BLOCK_SIZE; // One past the largest block index in the search region
int mid;
int result = right;
int i;
@ -570,12 +572,12 @@ int flashfsIdentifyStartOfFreeSpace(void)
*/
bool flashfsIsEOF(void)
{
return tailAddress >= flashfsGetSize();
return tailAddress >= flashfsSize;
}
void flashfsClose(void)
{
switch(flashfsGetGeometry()->flashType) {
switch(flashGeometry->flashType) {
case FLASH_TYPE_NOR:
break;
@ -583,7 +585,7 @@ void flashfsClose(void)
flashFlush();
// Advance tailAddress to next page boundary.
uint32_t pageSize = flashfsGetGeometry()->pageSize;
uint32_t pageSize = flashGeometry->pageSize;
flashfsSetTailAddress((tailAddress + pageSize - 1) & ~(pageSize - 1));
break;
@ -595,9 +597,58 @@ void flashfsClose(void)
*/
void flashfsInit(void)
{
// If we have a flash chip present at all
if (flashfsGetSize() > 0) {
// Start the file pointer off at the beginning of free space so caller can start writing immediately
flashfsSeekAbs(flashfsIdentifyStartOfFreeSpace());
flashfsSize = 0;
flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
flashGeometry = flashGetGeometry();
if (!flashPartition) {
return;
}
flashfsSize = FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize;
// Start the file pointer off at the beginning of free space so caller can start writing immediately
flashfsSeekAbs(flashfsIdentifyStartOfFreeSpace());
}
#ifdef USE_FLASH_TOOLS
bool flashfsVerifyEntireFlash(void)
{
flashfsEraseCompletely();
flashfsInit();
uint32_t address = 0;
flashfsSeekAbs(address);
const int bufferSize = 32;
char buffer[bufferSize + 1];
const uint32_t testLimit = flashfsGetSize();
for (address = 0; address < testLimit; address += bufferSize) {
tfp_sprintf(buffer, "%08x >> **0123456789ABCDEF**", address);
flashfsWrite((uint8_t*)buffer, strlen(buffer), true);
}
flashfsFlushSync();
flashfsClose();
char expectedBuffer[bufferSize + 1];
flashfsSeekAbs(0);
int verificationFailures = 0;
for (address = 0; address < testLimit; address += bufferSize) {
tfp_sprintf(expectedBuffer, "%08x >> **0123456789ABCDEF**", address);
memset(buffer, 0, sizeof(buffer));
int bytesRead = flashfsReadAbs(address, (uint8_t *)buffer, bufferSize);
int result = strncmp(buffer, expectedBuffer, bufferSize);
if (result != 0 || bytesRead != bufferSize) {
verificationFailures++;
}
}
return verificationFailures == 0;
}
#endif // USE_FLASH_TOOLS

3
src/main/io/flashfs.h
View file

@ -54,3 +54,6 @@ bool flashfsIsSupported(void);
bool flashfsIsReady(void);
bool flashfsIsEOF(void);
bool flashfsVerifyEntireFlash(void);

26
src/main/msc/usbd_storage.h
View file

@ -1,20 +1,22 @@
/*
* This file is part of Cleanflight.
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*
* Author: Chris Hockuba (https://github.com/conkerkh)
*/

24
src/main/msc/usbd_storage_emfat.h
View file

@ -1,21 +1,23 @@
/*
* This file is part of Cleanflight.
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*
* Author: jflyper (https://github.com/jflyper)
*
*/
#pragma once

32
src/main/msp/msp.c
View file

@ -241,6 +241,14 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
}
#endif //USE_SERIAL_4WAY_BLHELI_INTERFACE
static void configRebootUpdateCheckU8(uint8_t *parm, uint8_t value)
{
if (*parm != value) {
setRebootRequired();
}
*parm = value;
}
static void mspRebootFn(serialPort_t *serialPort)
{
UNUSED(serialPort);
@ -337,10 +345,12 @@ static void serializeDataflashSummaryReply(sbuf_t *dst)
if (flashfsIsSupported()) {
uint8_t flags = MSP_FLASHFS_FLAG_SUPPORTED;
flags |= (flashfsIsReady() ? MSP_FLASHFS_FLAG_READY : 0);
const flashGeometry_t *geometry = flashfsGetGeometry();
const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
sbufWriteU8(dst, flags);
sbufWriteU32(dst, geometry->sectors);
sbufWriteU32(dst, geometry->totalSize);
sbufWriteU32(dst, FLASH_PARTITION_SECTOR_COUNT(flashPartition));
sbufWriteU32(dst, flashfsGetSize());
sbufWriteU32(dst, flashfsGetOffset()); // Effectively the current number of bytes stored on the volume
} else
#endif
@ -860,6 +870,10 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
// 4 bytes, flags
const uint32_t armingDisableFlags = getArmingDisableFlags();
sbufWriteU32(dst, armingDisableFlags);
// config state flags - bits to indicate the state of the configuration, reboot required, etc.
// other flags can be added as needed
sbufWriteU8(dst, (getRebootRequired() << 0));
}
break;
@ -2342,7 +2356,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
#ifdef USE_FLASHFS
case MSP_DATAFLASH_ERASE:
flashfsEraseCompletely();
flashfsInit();
break;
#endif
@ -2431,11 +2445,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
// Added in MSP API 1.40
rxConfigMutable()->rcInterpolationChannels = sbufReadU8(src);
#if defined(USE_RC_SMOOTHING_FILTER)
rxConfigMutable()->rc_smoothing_type = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_input_cutoff = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_derivative_cutoff = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_input_type = sbufReadU8(src);
rxConfigMutable()->rc_smoothing_derivative_type = sbufReadU8(src);
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_type, sbufReadU8(src));
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_cutoff, sbufReadU8(src));
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_cutoff, sbufReadU8(src));
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_type, sbufReadU8(src));
configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_type, sbufReadU8(src));
#else
sbufReadU8(src);
sbufReadU8(src);

11
src/main/osd/osd.c
View file

@ -345,7 +345,7 @@ static void osdResetStats(void)
stats.max_g_force = 0;
stats.max_esc_temp = 0;
stats.max_esc_rpm = 0;
stats.min_link_quality = 99; // percent
stats.min_link_quality = (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) ? 300 : 99; // CRSF : percent
}
static void osdUpdateStats(void)
@ -436,8 +436,11 @@ static void osdGetBlackboxStatusString(char * buff)
#ifdef USE_FLASHFS
case BLACKBOX_DEVICE_FLASH:
if (storageDeviceIsWorking) {
const flashGeometry_t *geometry = flashfsGetGeometry();
storageTotal = geometry->totalSize / 1024;
const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
const flashGeometry_t *flashGeometry = flashGetGeometry();
storageTotal = ((FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize) / 1024);
storageUsed = flashfsGetOffset() / 1024;
}
break;
@ -614,7 +617,7 @@ static uint8_t osdShowStats(uint16_t endBatteryVoltage, int statsRowCount)
#ifdef USE_RX_LINK_QUALITY_INFO
if (osdStatGetState(OSD_STAT_MIN_LINK_QUALITY)) {
itoa(stats.min_link_quality, buff, 10);
tfp_sprintf(buff, "%d", stats.min_link_quality);
strcat(buff, "%");
osdDisplayStatisticLabel(top++, "MIN LINK", buff);
}

5
src/main/osd/osd.h
View file

@ -195,6 +195,7 @@ typedef enum {
typedef enum {
OSD_TIMER_PREC_SECOND,
OSD_TIMER_PREC_HUNDREDTHS,
OSD_TIMER_PREC_TENTHS,
OSD_TIMER_PREC_COUNT
} osd_timer_precision_e;
@ -251,8 +252,8 @@ typedef struct osdConfig_s {
uint8_t ahInvert; // invert the artificial horizon
uint8_t osdProfileIndex;
uint8_t overlay_radio_mode;
uint8_t link_quality_alarm;
char profile[OSD_PROFILE_COUNT][OSD_PROFILE_NAME_LENGTH + 1];
uint16_t link_quality_alarm;
} osdConfig_t;
PG_DECLARE(osdConfig_t, osdConfig);
@ -268,7 +269,7 @@ typedef struct statistic_s {
float max_g_force;
int16_t max_esc_temp;
int32_t max_esc_rpm;
uint8_t min_link_quality;
uint16_t min_link_quality;
} statistic_t;
extern timeUs_t resumeRefreshAt;

22
src/main/osd/osd_elements.c
View file

@ -286,6 +286,12 @@ void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time)
tfp_sprintf(buff, "%02d:%02d.%02d", minutes, seconds, hundredths);
break;
}
case OSD_TIMER_PREC_TENTHS:
{
const int tenths = (time / 100000) % 10;
tfp_sprintf(buff, "%02d:%02d.%01d", minutes, seconds, tenths);
break;
}
}
}
@ -850,13 +856,17 @@ static void osdElementHorizonSidebars(osdElementParms_t *element)
#ifdef USE_RX_LINK_QUALITY_INFO
static void osdElementLinkQuality(osdElementParms_t *element)
{
// change range to 0-9 (two sig. fig. adds little extra value, also reduces screen estate)
uint8_t osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
if (osdLinkQuality >= 10) {
osdLinkQuality = 9;
uint16_t osdLinkQuality = 0;
if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) { // 0-300
osdLinkQuality = rxGetLinkQuality() / 3.41;
tfp_sprintf(element->buff, "%3d", osdLinkQuality);
} else { // 0-9
osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
if (osdLinkQuality >= 10) {
osdLinkQuality = 9;
}
tfp_sprintf(element->buff, "%1d", osdLinkQuality);
}
tfp_sprintf(element->buff, "%1d", osdLinkQuality);
}
#endif // USE_RX_LINK_QUALITY_INFO

10
src/main/pg/flash.c
View file

@ -26,6 +26,7 @@
#ifdef USE_FLASH_CHIP
#include "drivers/bus_spi.h"
#include "drivers/bus_quadspi.h"
#include "drivers/io.h"
#include "pg/pg.h"
@ -33,11 +34,20 @@
#include "flash.h"
#ifndef FLASH_CS_PIN
#define FLASH_CS_PIN NONE
#endif
PG_REGISTER_WITH_RESET_FN(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
void pgResetFn_flashConfig(flashConfig_t *flashConfig)
{
flashConfig->csTag = IO_TAG(FLASH_CS_PIN);
#if defined(USE_SPI) && defined(FLASH_SPI_INSTANCE)
flashConfig->spiDevice = SPI_DEV_TO_CFG(spiDeviceByInstance(FLASH_SPI_INSTANCE));
#endif
#if defined(USE_QUADSPI) && defined(FLASH_QUADSPI_INSTANCE)
flashConfig->quadSpiDevice = QUADSPI_DEV_TO_CFG(quadSpiDeviceByInstance(FLASH_QUADSPI_INSTANCE));
#endif
}
#endif

1
src/main/pg/flash.h
View file

@ -29,6 +29,7 @@
typedef struct flashConfig_s {
ioTag_t csTag;
uint8_t spiDevice;
uint8_t quadSpiDevice;
} flashConfig_t;
PG_DECLARE(flashConfig_t, flashConfig);

1
src/main/platform.h
View file

@ -146,5 +146,6 @@
#include "target/common_pre.h"
#include "target.h"
#include "target/common_deprecated_post.h"
#include "target/common_post.h"
#include "target/common_defaults_post.h"

21
src/main/rx/crsf.c
View file

@ -149,6 +149,11 @@ typedef struct crsfPayloadLinkstatistics_s {
static timeUs_t lastLinkStatisticsFrameUs;
#ifdef USE_RX_LINK_QUALITY_INFO
STATIC_UNIT_TESTED uint16_t scaleCrsfLq(uint16_t lqvalue) {
return (lqvalue % 100) ? ((lqvalue * 3.41) + 1) : (lqvalue * 3.41);
}
#endif
static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr, timeUs_t currentTimeUs)
{
const crsfLinkStatistics_t stats = *statsPtr;
@ -159,6 +164,12 @@ static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr,
setRssi(rssiPercentScaled, RSSI_SOURCE_RX_PROTOCOL_CRSF);
}
#ifdef USE_RX_LINK_QUALITY_INFO
if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) {
setLinkQualityDirect(scaleCrsfLq((stats.rf_Mode * 100) + stats.uplink_Link_quality));
}
#endif
switch (debugMode) {
case DEBUG_CRSF_LINK_STATISTICS_UPLINK:
DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 0, stats.uplink_RSSI_1);
@ -188,6 +199,11 @@ static void crsfCheckRssi(uint32_t currentTimeUs) {
if (rssiSource == RSSI_SOURCE_RX_PROTOCOL_CRSF) {
setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL_CRSF);
}
#ifdef USE_RX_LINK_QUALITY_INFO
if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) {
setLinkQualityDirect(0);
}
#endif
}
}
#endif
@ -377,6 +393,11 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
if (rssiSource == RSSI_SOURCE_NONE) {
rssiSource = RSSI_SOURCE_RX_PROTOCOL_CRSF;
}
#ifdef USE_RX_LINK_QUALITY_INFO
if (linkQualitySource == LQ_SOURCE_NONE) {
linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
}
#endif
return serialPort != NULL;
}

30
src/main/rx/rx.c
View file

@ -77,7 +77,7 @@ static timeUs_t lastMspRssiUpdateUs = 0;
static pt1Filter_t frameErrFilter;
#ifdef USE_RX_LINK_QUALITY_INFO
static uint8_t linkQuality = 0;
static uint16_t linkQuality = 0;
#endif
#define MSP_RSSI_TIMEOUT_US 1500000 // 1.5 sec
@ -86,6 +86,7 @@ static uint8_t linkQuality = 0;
#define RSSI_OFFSET_SCALING (1024 / 100.0f)
rssiSource_e rssiSource;
linkQualitySource_e linkQualitySource;
static bool rxDataProcessingRequired = false;
static bool auxiliaryProcessingRequired = false;
@ -358,11 +359,11 @@ void resumeRxPwmPpmSignal(void)
#ifdef USE_RX_LINK_QUALITY_INFO
#define LINK_QUALITY_SAMPLE_COUNT 16
static uint8_t updateLinkQualitySamples(uint8_t value)
STATIC_UNIT_TESTED uint16_t updateLinkQualitySamples(uint16_t value)
{
static uint8_t samples[LINK_QUALITY_SAMPLE_COUNT];
static uint16_t samples[LINK_QUALITY_SAMPLE_COUNT];
static uint8_t sampleIndex = 0;
static unsigned sum = 0;
static uint16_t sum = 0;
sum += value - samples[sampleIndex];
samples[sampleIndex] = value;
@ -374,8 +375,10 @@ static uint8_t updateLinkQualitySamples(uint8_t value)
static void setLinkQuality(bool validFrame, timeDelta_t currentDeltaTime)
{
#ifdef USE_RX_LINK_QUALITY_INFO
// calculate new sample mean
linkQuality = updateLinkQualitySamples(validFrame ? LINK_QUALITY_MAX_VALUE : 0);
if (linkQualitySource != LQ_SOURCE_RX_PROTOCOL_CRSF) {
// calculate new sample mean
linkQuality = updateLinkQualitySamples(validFrame ? LINK_QUALITY_MAX_VALUE : 0);
}
#endif
if (rssiSource == RSSI_SOURCE_FRAME_ERRORS) {
@ -396,6 +399,15 @@ static void setLinkQuality(bool validFrame, timeDelta_t currentDeltaTime)
}
}
void setLinkQualityDirect(uint16_t linkqualityValue)
{
#ifdef USE_RX_LINK_QUALITY_INFO
linkQuality = linkqualityValue;
#else
UNUSED(linkqualityValue);
#endif
}
bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
{
bool signalReceived = false;
@ -746,14 +758,14 @@ uint8_t getRssiPercent(void)
}
#ifdef USE_RX_LINK_QUALITY_INFO
uint8_t rxGetLinkQuality(void)
uint16_t rxGetLinkQuality(void)
{
return linkQuality;
}
uint8_t rxGetLinkQualityPercent(void)
uint16_t rxGetLinkQualityPercent(void)
{
return scaleRange(rxGetLinkQuality(), 0, LINK_QUALITY_MAX_VALUE, 0, 100);
return (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) ? (linkQuality / 3.41) : scaleRange(linkQuality, 0, LINK_QUALITY_MAX_VALUE, 0, 100);
}
#endif

14
src/main/rx/rx.h
View file

@ -148,6 +148,13 @@ typedef enum {
extern rssiSource_e rssiSource;
typedef enum {
LQ_SOURCE_NONE = 0,
LQ_SOURCE_RX_PROTOCOL_CRSF,
} linkQualitySource_e;
extern linkQualitySource_e linkQualitySource;
extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only needed once for channelCount
void rxInit(void);
@ -170,10 +177,11 @@ uint16_t getRssi(void);
uint8_t getRssiPercent(void);
bool isRssiConfigured(void);
#define LINK_QUALITY_MAX_VALUE 255
#define LINK_QUALITY_MAX_VALUE 1023
uint8_t rxGetLinkQuality(void);
uint8_t rxGetLinkQualityPercent(void);
uint16_t rxGetLinkQuality(void);
void setLinkQualityDirect(uint16_t linkqualityValue);
uint16_t rxGetLinkQualityPercent(void);
void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig);

8
src/main/sensors/gyro.c
View file

@ -204,13 +204,13 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyroMovementCalibrationThreshold = 48;
gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT;
gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
gyroConfig->gyro_lowpass_type = FILTER_PT1;
gyroConfig->gyro_lowpass_hz = 150; // NOTE: dynamic lpf is enabled by default so this setting is actually
// overridden and the static lowpass 1 is disabled. We can't set this
// value to 0 otherwise Configurator versions 10.4 and earlier will also
// reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
gyroConfig->gyro_lowpass2_type = FILTER_PT1;
gyroConfig->gyro_lowpass2_hz = 150;
gyroConfig->gyro_lowpass2_hz = 250;
gyroConfig->gyro_high_fsr = false;
gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
gyroConfig->gyro_soft_notch_hz_1 = 0;
@ -221,8 +221,8 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
gyroConfig->gyro_offset_yaw = 0;
gyroConfig->yaw_spin_recovery = true;
gyroConfig->yaw_spin_threshold = 1950;
gyroConfig->dyn_lpf_gyro_min_hz = 150;
gyroConfig->dyn_lpf_gyro_max_hz = 450;
gyroConfig->dyn_lpf_gyro_min_hz = 200;
gyroConfig->dyn_lpf_gyro_max_hz = 500;
gyroConfig->dyn_notch_range = DYN_NOTCH_RANGE_AUTO;
gyroConfig->dyn_notch_width_percent = 8;
gyroConfig->dyn_notch_q = 120;

2
src/main/target/AG3X/target.h
View file

@ -49,8 +49,6 @@
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define USE_MULTI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_EXTI_PIN NONE

42
src/main/target/AIRBOTF7/target.c Normal file
View file

@ -0,0 +1,42 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include "platform.h"
#include "drivers/io.h"
#include "drivers/dma.h"
#include "drivers/timer.h"
#include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED, 0, 0), // ONBOARD LED
DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY, 0, 0), // CAM CONTROL
// MOTORS
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), //S1
DEF_TIM(TIM4, CH1, PB6, TIM_USE_MOTOR, 0, 0), //S2
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0), //S3
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, 0, 0), //S4
};

154
src/main/target/AIRBOTF7/target.h Normal file
View file

@ -0,0 +1,154 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#define TARGET_BOARD_IDENTIFIER "ABF7"
#define USBD_PRODUCT_STRING "Airbot-F7"
#define LED0_PIN PB12
#define USE_BEEPER
#define BEEPER_PIN PB0
#define BEEPER_INVERTED
#define ENABLE_DSHOT_DMAR true
// *************** Gyro & ACC **********************
#define USE_SPI
#define USE_SPI_DEVICE_3
#define SPI3_SCK_PIN PB3
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#define SPI3_NSS_PIN PD2
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define GYRO_1_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN SPI3_NSS_PIN
#define GYRO_1_ALIGN CW90_DEG
#define GYRO_1_EXTI_PIN NONE
#define GYRO_2_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PC4
#define GYRO_2_EXTI_PIN NONE
#define GYRO_2_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
// *************** OSD **************************
#define USE_SPI_DEVICE_2
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI2
#define MAX7456_SPI_CS_PIN PC15
// *************** FLASH *****************************
#define USE_SPI_DEVICE_1
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define USE_FLASHFS
#define USE_FLASH_M25P16
#define FLASH_CS_PIN PA3
#define FLASH_SPI_INSTANCE SPI1
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
// *************** UART *****************************
#define USE_VCP
#define USE_USB_DETECT
#define USE_UART1
#define UART1_RX_PIN PA10
#define UART1_TX_PIN PA9
#define USE_UART2
#define UART2_TX_PIN PA2
#define USE_UART3
#define UART3_RX_PIN PC11
#define UART3_TX_PIN PC10
#define USE_UART4
#define UART4_RX_PIN PA1
#define UART4_TX_PIN PA0
#define USE_UART5
#define UART5_TX_PIN PC12
#define USE_UART6
#define UART6_RX_PIN PC7
#define UART6_TX_PIN PC6
#define USE_SOFTSERIAL1
#define SERIAL_PORT_COUNT 8
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART6
// *************** CAM *****************************
#define CAMERA_CONTROL_PIN PA8
// *************** I2C *****************************
#define USE_I2C
#define USE_I2C_DEVICE_1
#define I2C1_SCL PB8
#define I2C1_SDA PB9
// *************** ADC *****************************
#define USE_ADC
#define ADC3_DMA_STREAM DMA2_Stream0
#define VBAT_ADC_PIN PC0
#define CURRENT_METER_ADC_PIN PC2
#define RSSI_ADC_PIN PC1
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL | FEATURE_AIRMODE)
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define CURRENT_METER_SCALE_DEFAULT 179
#define USE_ESCSERIAL
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD 0xffff
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS (TIM_N(1)|TIM_N(2)|TIM_N(4)|TIM_N(8))

9
src/main/target/AIRBOTF7/target.mk Normal file
View file

@ -0,0 +1,9 @@
F7X2RE_TARGETS += $(TARGET)
FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6500.c \
drivers/accgyro/accgyro_spi_icm20689.c \
drivers/max7456.c

1
src/main/target/DALRCF722DUAL/target.h
View file

@ -30,7 +30,6 @@
#define BEEPER_PIN PC13
#define BEEPER_INVERTED
#define USE_MULTI_GYRO
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PB10

2
src/main/target/EXF722DUAL/target.h
View file

@ -24,8 +24,6 @@
#define USBD_PRODUCT_STRING "EXF722DUAL"
#define USE_MULTI_GYRO
#define ENABLE_DSHOT_DMAR true
#define LED0_PIN PC4

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

@ -148,7 +148,6 @@
/*---------------------------------*/
/*-------------ESCs----------------*/
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_PIN PB0 // (HARDWARE=0)
/*---------------------------------*/

9
src/main/target/FLYWOOF7DUAL/target.h
View file

@ -31,7 +31,6 @@
#define BEEPER_PIN PC14
#define BEEPER_INVERTED
#define USE_MULTI_GYRO
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC3
@ -53,13 +52,9 @@
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_ICM20689
#define ACC_MPU6000_1_ALIGN CW270_DEG
#define GYRO_MPU6000_1_ALIGN CW270_DEG
#define GYRO_1_ALIGN GYRO_MPU6000_1_ALIGN
#define GYRO_1_ALIGN CW270_DEG
#define ACC_ICM20689_2_ALIGN CW270_DEG
#define GYRO_ICM20689_2_ALIGN CW270_DEG
#define GYRO_2_ALIGN GYRO_ICM20689_2_ALIGN
#define GYRO_2_ALIGN CW270_DEG
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_2

1
src/main/target/FOXEERF722DUAL/target.h
View file

@ -30,7 +30,6 @@
#define BEEPER_PIN PA4
#define BEEPER_INVERTED
#define USE_MULTI_GYRO
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4

1
src/main/target/FURYF4/target.c
View file

@ -36,5 +36,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 0, 0 ), // S4_OUT - DMA1_ST1_CH3
DEF_TIM(TIM5, CH1, PA0, TIM_USE_LED, 0, 0 ), // LED_STRIP - DMA1_ST2_CH6
DEF_TIM(TIM11, CH1, PB9, TIM_USE_CAMERA_CONTROL, 0, 0), // CAM_CTL
};

4
src/main/target/FURYF4/target.h
View file

@ -153,5 +153,5 @@
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD (BIT(2))
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) )
#define USABLE_TIMER_CHANNEL_COUNT 7
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(11) )

10
src/main/target/JHEF7DUAL/target.h
View file

@ -33,7 +33,6 @@
#define BEEPER_PIN PC15
#define BEEPER_INVERTED
#define USE_DUAL_GYRO
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
@ -56,13 +55,9 @@
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_1_ALIGN CW90_DEG
#define GYRO_ICM20689_1_ALIGN CW90_DEG
#define GYRO_1_ALIGN GYRO_ICM20689_1_ALIGN
#define GYRO_1_ALIGN CW90_DEG
#define ACC_MPU6000_2_ALIGN CW90_DEG
#define GYRO_MPU6000_2_ALIGN CW90_DEG
#define GYRO_2_ALIGN GYRO_MPU6000_2_ALIGN
#define GYRO_2_ALIGN CW90_DEG
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
@ -154,7 +149,6 @@
#define USE_LED_STRIP
#define USE_ESCSERIAL
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define USE_PINIO
#define PINIO1_PIN PC14 // VTX power switcher

1
src/main/target/MAMBAF722/target.h
View file

@ -55,7 +55,6 @@
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_1_ALIGN CW180_DEG
// ******* SERIAL ********

1
src/main/target/MATEKF722SE/target.h
View file

@ -42,7 +42,6 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define USE_MULTI_GYRO
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4

2
src/main/target/OMNIBUSF4FW/target.h
View file

@ -61,8 +61,6 @@
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define USE_MULTI_GYRO
#if defined(OMNIBUSF4V6)
#define GYRO_1_CS_PIN PA4 // Onboard IMU
#define GYRO_1_SPI_INSTANCE SPI1

14
src/main/target/OMNIBUSF4NANOV7/target.h
View file

@ -41,15 +41,22 @@
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_1_CS_PIN PD2
#define GYRO_1_SPI_INSTANCE SPI3
#define USE_GYRO_SPI_MPU6000
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define USE_ACC_SPI_MPU6000
#define GYRO_1_CS_PIN PD2
#define GYRO_1_SPI_INSTANCE SPI3
#define GYRO_1_EXTI_PIN NONE
#define GYRO_1_ALIGN CW0_DEG
#define GYRO_2_CS_PIN PC4
#define GYRO_2_SPI_INSTANCE SPI1
#define GYRO_2_EXTI_PIN NONE
#define GYRO_2_ALIGN CW0_DEG
// *************** OSD **************************
#define USE_SPI_DEVICE_2
@ -130,7 +137,6 @@
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_PIN PA3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff

1
src/main/target/OMNIBUSF4NANOV7/target.mk
View file

@ -5,4 +5,5 @@ TARGET_SRC = \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/accgyro/accgyro_mpu6500.c \
drivers/accgyro/accgyro_spi_mpu6500.c \
drivers/accgyro/accgyro_spi_icm20689.c \
drivers/max7456.c

1
src/main/target/OMNIBUSF7/target.h
View file

@ -44,7 +44,6 @@
//GYRO & ACC--------------------------------
#define USE_ACC
#define USE_GYRO
#define USE_MULTI_GYRO
// ICM-20608-G
#define USE_ACC_SPI_MPU6500
#define USE_GYRO_SPI_MPU6500

2
src/main/target/OMNIBUSF7NANOV7/target.h
View file

@ -49,7 +49,6 @@
#define USE_ACC_SPI_MPU6500
#define GYRO_1_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
// *************** OSD **************************
@ -131,7 +130,6 @@
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_PIN PA3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff

4
src/main/target/RUSHCORE7/target.h
View file

@ -129,10 +129,6 @@
#define SERIALRX_UART SERIAL_PORT_USART2
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff

1
src/main/target/SPRACINGF7DUAL/target.h
View file

@ -31,7 +31,6 @@
#define TEST_SOUND // for factory testing audio output
#define USE_MULTI_GYRO
//#define DEBUG_MODE DEBUG_DUAL_GYRO_DIFF
#define ENABLE_DSHOT_DMAR true

1
src/main/target/TRANSTECF7/target.h
View file

@ -62,7 +62,6 @@
#define USE_ACC_MPU6000
#define USE_ACC_SPI_MPU6000
#define ACC_1_ALIGN CW180_DEG_FLIP
// *************** I2C ***************
#define USE_I2C

1
src/main/target/UAVPNG030MINI/target.h
View file

@ -70,7 +70,6 @@
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
#warning Missing channel for F4/F7 spec dma 1 stream 4; DMA_OPT assumed as 0
#define SPI2_TX_DMA_OPT 0 // DMA 1 Stream 4 Channel unknown
#define SDCARD_DMA_CHANNEL DMA_Channel_0
#endif
#define USE_VCP

41
src/main/target/VGOODRCF4/target.c Normal file
View file

@ -0,0 +1,41 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include "platform.h"
#include "drivers/io.h"
#include "drivers/dma.h"
#include "drivers/timer.h"
#include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH2, PC7, TIM_USE_PPM, 0, 0), // PPM
DEF_TIM(TIM1, CH2, PA9, TIM_USE_MOTOR, 0, 0), // S1
DEF_TIM(TIM1, CH4, PA10, TIM_USE_MOTOR, 0, 0), // S2
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 0, 0), // S3
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 0, 0), // S4
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // S5
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR | TIM_USE_CAMERA_CONTROL, 0, 0), // S6 | TIM_USE_CAMERA_CONTROL
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 1), //LED_STRIP
};

186
src/main/target/VGOODRCF4/target.h Normal file
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@ -0,0 +1,186 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
//#define USE_TARGET_CONFIG
#define TARGET_BOARD_IDENTIFIER "VGF4"
#define TARGET_MANUFACTURER_IDENTIFIER "VGRC"
#define USBD_PRODUCT_STRING "VGOODRCF4"
#define LED0_PIN PC14
#define LED1_PIN PC15
#define USE_BEEPER
#define BEEPER_PIN PC13
#define BEEPER_INVERTED
//#define ENABLE_DSHOT_DMAR true//debug for checking
#define GYRO_1_ALIGN CW180_DEG
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC3
#define USE_MPU_DATA_READY_SIGNAL
//#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_1_CS_PIN PA15
#define GYRO_1_SPI_INSTANCE SPI3
//-------------------------------------SPI2 FLASH------------------------------
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
#define USE_FLASHFS
#define USE_FLASH_M25P16
#define USE_FLASH_W25M512
#define FLASH_CS_PIN PB12
#define FLASH_SPI_INSTANCE SPI2
//-------------------------------------SPI1 OSD--------------------------------
#define USE_OSD
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI1
#define MAX7456_SPI_CS_PIN PA4
#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD)
#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
//-------------------------------------IIC2 BMP280------------------------------
#define USE_BARO
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define USE_BARO_BMP085
#define BARO_I2C_INSTANCE (I2CDEV_2)
#define DEFAULT_BARO_BMP280
//-------------------------------------IIC1 MAG5883------------------------------
#define MAG_I2C_INSTANCE (I2CDEV_1)
#define USE_MAG
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define USE_MAG_LIS3MDL
#define MAG_HMC5883_ALIGN CW90_DEG
//-------------------------------------USART-----------------------------------
#define USE_VCP
#define USE_USB_DETECT
#define USB_DETECT_PIN PC4
//usb-:pa11,usb+:pa12
#define USE_UART1
#define UART1_TX_PIN PB6
#define UART1_RX_PIN PB7
#define USE_UART2
#define UART2_TX_PIN PA2
#define UART2_RX_PIN PA3
#define USE_UART3
#define UART3_TX_PIN PC10
#define UART3_RX_PIN PC11
#define USE_UART4
#define UART4_TX_PIN PA0
#define UART4_RX_PIN PA1
#define USE_UART5
#define UART5_TX_PIN PC12
#define UART5_RX_PIN PD2
#define USE_UART6
#define UART6_TX_PIN PC6
#define UART6_RX_PIN PC7//RX(PPM/SBUS)
#define USE_SOFTSERIAL1
#define SOFTSERIAL1_RX_PIN PC5
#define SOFTSERIAL1_TX_PIN PB2
#define SERIAL_PORT_COUNT 8
//-------------------------------------ADC METERE------------------------------
#define USE_ADC
#define ADC_INSTANCE ADC2
#define ADC2_DMA_OPT 1
#define CURRENT_METER_ADC_PIN PC0
#define VBAT_ADC_PIN PC1
#define RSSI_ADC_PIN PC2
//---------------------------------VTX&&CAM------------------------------------
#define USE_PINIO
#define PINIO1_PIN PA13 // VTX power switcher
#define PINIO2_PIN PA14 // 2xCamera switcher
#define USE_PINIOBOX
//-------------------------------------SPI------------------------------------
#define USE_SPI
#define USE_SPI_DEVICE_3 //GYRO
#define SPI3_SCK_PIN PB3
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#define USE_SPI_DEVICE_2 // FLASH
#define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15
#define USE_SPI_DEVICE_1 //OSD
#define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
//-------------------------------------IIC------------------------------------
#define USE_I2C //MAG5883
#define USE_I2C_DEVICE_1
//#define I2C_DEVICE (I2CDEV_1)
#define I2C1_SCL PB8
#define I2C1_SDA PB9
#define USE_I2C //BMP280
#define USE_I2C_DEVICE_2
//#define I2C_DEVICE (I2CDEV_2)
#define I2C2_SCL PB10
#define I2C2_SDA PB11
//-------------------------------------FEATURES-------------------------------
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY )
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART6
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#define CURRENT_METER_SCALE_DEFAULT 179
#define USE_ESCSERIAL
//--------------------------------BOARD RESOURCES-----------------------------
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD 0x0007
#define USABLE_TIMER_CHANNEL_COUNT 8
#define USED_TIMERS (TIM_N(1)|TIM_N(3)|TIM_N(8))

14
src/main/target/VGOODRCF4/target.mk Normal file
View file

@ -0,0 +1,14 @@
F405_TARGETS += $(TARGET)
FEATURES += VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro/accgyro_spi_icm20689.c \
drivers/accgyro/accgyro_spi_mpu6000.c \
drivers/barometer/barometer_bmp085.c \
drivers/barometer/barometer_bmp280.c \
drivers/barometer/barometer_ms5611.c \
drivers/compass/compass_ak8975.c \
drivers/compass/compass_hmc5883l.c \
drivers/compass/compass_qmc5883l.c \
drivers/compass/compass_lis3mdl.c \
drivers/max7456.c

2
src/main/target/XILOF4/target.h
View file

@ -51,7 +51,6 @@
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define ACC_1_ALIGN CW180_DEG
// *************** Flash **************************
#define USE_SPI_DEVICE_2
@ -142,7 +141,6 @@
#define USE_ESCSERIAL
#define ESCSERIAL_TIMER_TX_PIN PA3
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff

137
src/main/target/common_deprecated_post.h Normal file
View file

@ -0,0 +1,137 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software under the terms of the
* GNU General Public License as published by the Free Software
* Foundation, either version 3 of the License, or (at your option)
* any later version.
*
* Cleanflight and Betaflight are distributed in the hope that they
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
* See the GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
// Flag any deprecated defines with compile errors so they
// can be cleaned up and not further propagated.
#pragma once
#ifdef ACC_1_ALIGN
#error "The ACC_1_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_2_ALIGN
#error "The ACC_2_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_ICM20689_ALIGN
#error "The ACC_ICM20689_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_MPU6000_1_ALIGN
#error "The ACC_MPU6000_1_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_MPU6000_2_ALIGN
#error "The ACC_MPU6000_2_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_MPU6000_ALIGN
#error "The ACC_MPU6000_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_MPU6500_1_ALIGN
#error "The ACC_MPU6500_1_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_MPU6500_2_ALIGN
#error "The ACC_MPU6500_2_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ACC_MPU6500_ALIGN
#error "The ACC_MPU6500_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_ICM20689_ALIGN
#error "The GYRO_ICM20689_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_MPU6000_1_ALIGN
#error "The GYRO_MPU6000_1_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_MPU6000_2_ALIGN
#error "The GYRO_MPU6000_2_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_MPU6000_ALIGN
#error "The GYRO_MPU6000_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_MPU6500_1_ALIGN
#error "The GYRO_MPU6500_1_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_MPU6500_2_ALIGN
#error "The GYRO_MPU6500_2_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef GYRO_MPU6500_ALIGN
#error "The GYRO_MPU6000_ALIGN define has been deprecated - please remove from the target definition"
#endif
#ifdef ICM20689_CS_PIN
#error "The ICM20689_CS_PIN define has been deprecated - please remove from the target definition"
#endif
#ifdef ICM20689_SPI_INSTANCE
#error "The ICM20689_SPI_INSTANCE define has been deprecated - please remove from the target definition"
#endif
#ifdef MPU_INT_EXTI
#error "The MPU_INT_EXTI define has been deprecated - please remove from the target definition"
#endif
#ifdef MPU6000_CS_PIN
#error "The MPU6000_CS_PIN define has been deprecated - please remove from the target definition"
#endif
#ifdef MPU6000_SPI_INSTANCE
#error "The MPU6000_SPI_INSTANCE define has been deprecated - please remove from the target definition"
#endif
#ifdef MPU6500_CS_PIN
#error "The MPU6500_CS_PIN define has been deprecated - please remove from the target definition"
#endif
#ifdef MPU6500_SPI_INSTANCE
#error "The MPU6500_SPI_INSTANCE define has been deprecated - please remove from the target definition"
#endif
#ifdef SDCARD_DMA_CHANNEL
#error "The SDCARD_DMA_CHANNEL define has been deprecated - please remove from the target definition"
#endif
#ifdef SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER
#error "The SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER define should not be part of the target definition"
#endif
#ifdef SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER
#error "The SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER define should not be part of the target definition"
#endif
#ifdef USE_DUAL_GYRO
#error "The USE_DUAL_GYRO define has been deprecated - please remove from the target definition"
#endif
#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
#error "The USE_SERIAL_4WAY_BLHELI_INTERFACE define should not be part of the target definition"
#endif

18
src/main/target/common_post.h
View file

@ -181,9 +181,15 @@
#if defined(USE_FLASH_W25M512)
#define USE_FLASH_W25M
#define USE_FLASH_M25P16
#define USE_FLASH_W25M
#endif
#if defined(USE_FLASH_M25P16)
#if defined(USE_FLASH_W25M02G)
#define USE_FLASH_W25N01G
#define USE_FLASH_W25M
#endif
#if defined(USE_FLASH_M25P16) || defined(USE_FLASH_W25N01G)
#define USE_FLASH_CHIP
#endif
@ -217,9 +223,13 @@
#ifdef USE_UNIFIED_TARGET
#define USE_CONFIGURATION_STATE
#endif
// Setup crystal frequency for backward compatibility
// Should be set to zero for generic targets and set with CLI variable set system_hse_value.
// Setup crystal frequency on F4 for backward compatibility
// Should be set to zero for generic targets to ensure USB is working
// when unconfigured for targets with non-standard crystal.
// Can be set at runtime with with CLI parameter 'system_hse_value'.
#if !defined(STM32F4) || defined(USE_UNIFIED_TARGET)
#define SYSTEM_HSE_VALUE 0
#else
#ifdef TARGET_XTAL_MHZ
@ -227,7 +237,7 @@
#else
#define SYSTEM_HSE_VALUE (HSE_VALUE/1000000U)
#endif
#endif // USE_UNIFIED_TARGET
#endif // !STM32F4 || USE_UNIFIED_TARGET
// Number of pins that needs pre-init
#ifdef USE_SPI

23
src/test/Makefile
View file

@ -187,6 +187,29 @@ osd_unittest_DEFINES := \
USE_RTC_TIME= \
USE_ADC_INTERNAL=
link_quality_unittest_SRC := \
$(USER_DIR)/osd/osd.c \
$(USER_DIR)/osd/osd_elements.c \
$(USER_DIR)/common/typeconversion.c \
$(USER_DIR)/drivers/display.c \
$(USER_DIR)/drivers/serial.c \
$(USER_DIR)/common/crc.c \
$(USER_DIR)/common/maths.c \
$(USER_DIR)/common/printf.c \
$(USER_DIR)/common/streambuf.c \
$(USER_DIR)/common/time.c \
$(USER_DIR)/fc/runtime_config.c \
$(USER_DIR)/common/bitarray.c \
$(USER_DIR)/fc/rc_modes.c \
$(USER_DIR)/rx/rx.c \
$(USER_DIR)/pg/pg.c \
$(USER_DIR)/rx/crsf.c \
$(USER_DIR)/pg/rx.c
link_quality_unittest_DEFINES := \
USE_OSD= \
USE_CRSF_LINK_STATISTICS= \
USE_RX_LINK_QUALITY_INFO=
pg_unittest_SRC := \
$(USER_DIR)/pg/pg.c

545
src/test/unit/link_quality_unittest.cc Normal file
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@ -0,0 +1,545 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdint.h>
#include <stdbool.h>
#include <stdio.h>
#include <string.h>
extern "C" {
#include "platform.h"
#include "build/debug.h"
#include "blackbox/blackbox.h"
#include "blackbox/blackbox_io.h"
#include "common/time.h"
#include "common/crc.h"
#include "common/utils.h"
#include "common/printf.h"
#include "common/streambuf.h"
#include "drivers/max7456_symbols.h"
#include "drivers/persistent.h"
#include "drivers/serial.h"
#include "drivers/system.h"
#include "fc/config.h"
#include "fc/core.h"
#include "fc/rc_controls.h"
#include "fc/rc_modes.h"
#include "fc/runtime_config.h"
#include "flight/mixer.h"
#include "flight/pid.h"
#include "flight/imu.h"
#include "io/beeper.h"
#include "io/gps.h"
#include "io/serial.h"
#include "osd/osd.h"
#include "osd/osd_elements.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/rx.h"
#include "rx/rx.h"
#include "sensors/battery.h"
attitudeEulerAngles_t attitude;
pidProfile_t *currentPidProfile;
int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
uint8_t GPS_numSat;
uint16_t GPS_distanceToHome;
int16_t GPS_directionToHome;
uint32_t GPS_distanceFlownInCm;
int32_t GPS_coord[2];
gpsSolutionData_t gpsSol;
float motor[8];
float motorOutputHigh = 2047;
float motorOutputLow = 1000;
acc_t acc;
float accAverage[XYZ_AXIS_COUNT];
PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
timeUs_t simulationTime = 0;
void osdRefresh(timeUs_t currentTimeUs);
uint16_t updateLinkQualitySamples(uint16_t value);
uint16_t scaleCrsfLq(uint16_t lqvalue);
#define LINK_QUALITY_SAMPLE_COUNT 16
}
/* #define DEBUG_OSD */
#include "unittest_macros.h"
#include "unittest_displayport.h"
#include "gtest/gtest.h"
extern "C" {
PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;
uint16_t updateLinkQualitySamples(uint16_t value);
extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
}
void setDefaultSimulationState()
{
setLinkQualityDirect(LINK_QUALITY_MAX_VALUE);
}
/*
* Performs a test of the OSD actions on arming.
* (reused throughout the test suite)
*/
void doTestArm(bool testEmpty = true)
{
// given
// craft has been armed
ENABLE_ARMING_FLAG(ARMED);
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
// then
// arming alert displayed
displayPortTestBufferSubstring(12, 7, "ARMED");
// given
// armed alert times out (0.5 seconds)
simulationTime += 0.5e6;
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
// then
// arming alert disappears
#ifdef DEBUG_OSD
displayPortTestPrint();
#endif
if (testEmpty) {
displayPortTestBufferIsEmpty();
}
}
/*
* Auxiliary function. Test is there're stats that must be shown
*/
bool isSomeStatEnabled(void) {
return (osdConfigMutable()->enabled_stats != 0);
}
/*
* Performs a test of the OSD actions on disarming.
* (reused throughout the test suite)
*/
void doTestDisarm()
{
// given
// craft is disarmed after having been armed
DISABLE_ARMING_FLAG(ARMED);
// when
// sufficient OSD updates have been called
osdRefresh(simulationTime);
// then
// post flight statistics displayed
if (isSomeStatEnabled()) {
displayPortTestBufferSubstring(2, 2, " --- STATS ---");
}
}
/*
* Tests initialisation of the OSD and the power on splash screen.
*/
TEST(LQTest, TestInit)
{
// given
// display port is initialised
displayPortTestInit();
// and
// default state values are set
setDefaultSimulationState();
// and
// this battery configuration (used for battery voltage elements)
batteryConfigMutable()->vbatmincellvoltage = 330;
batteryConfigMutable()->vbatmaxcellvoltage = 430;
// when
// OSD is initialised
osdInit(&testDisplayPort);
// then
// display buffer should contain splash screen
displayPortTestBufferSubstring(7, 8, "MENU:THR MID");
displayPortTestBufferSubstring(11, 9, "+ YAW LEFT");
displayPortTestBufferSubstring(11, 10, "+ PITCH UP");
// when
// splash screen timeout has elapsed
simulationTime += 4e6;
osdUpdate(simulationTime);
// then
// display buffer should be empty
#ifdef DEBUG_OSD
displayPortTestPrint();
#endif
displayPortTestBufferIsEmpty();
}
/*
* Tests the Tests the OSD_LINK_QUALITY element updateLinkQualitySamples default LQ_SOURCE_NONE
*/
TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
{
// given
linkQualitySource = LQ_SOURCE_NONE;
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
osdConfigMutable()->link_quality_alarm = 0;
osdAnalyzeActiveElements();
// when samples populated 100%
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
}
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// then
displayPortTestBufferSubstring(8, 1, "9");
// when updateLinkQualitySamples used 50% rounds to 4
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
setLinkQualityDirect(updateLinkQualitySamples(0));
}
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// then
displayPortTestBufferSubstring(8, 1, "4");
}
/*
* Tests the Tests the OSD_LINK_QUALITY element values default LQ_SOURCE_NONE
*/
TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
{
// given
linkQualitySource = LQ_SOURCE_NONE;
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
osdConfigMutable()->link_quality_alarm = 0;
osdAnalyzeActiveElements();
// when LINK_QUALITY_MAX_VALUE to 1 by 10%
uint16_t testscale = 0;
for (int testdigit = 10; testdigit > 0; testdigit--) {
testscale = testdigit * 102.3;
setLinkQualityDirect(testscale);
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
#ifdef DEBUG_OSD
printf("%d %d\n",testscale, testdigit);
displayPortTestPrint();
#endif
// then
if (testdigit >= 10){
displayPortTestBufferSubstring(7, 1," 9");
}else{
displayPortTestBufferSubstring(7, 1," %1d", testdigit - 1);
}
}
}
/*
* Tests the OSD_LINK_QUALITY element LQ RX_PROTOCOL_CRSF.
*/
TEST(LQTest, TestElementLQ_PROTOCOL_CRSF_VALUES)
{
// given
linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
osdConfigMutable()->link_quality_alarm = 0;
osdAnalyzeActiveElements();
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
// crsf setLinkQualityDirect 0-300;
for (uint16_t x = 0; x <= 300; x++) {
// when x scaled
setLinkQualityDirect(scaleCrsfLq(x));
// then rxGetLinkQuality Osd should be x
displayClearScreen(&testDisplayPort);
osdRefresh(simulationTime);
displayPortTestBufferSubstring(8, 1,"%3d", x);
}
}
/*
* Tests the LQ Alarms
*
*/
TEST(LQTest, TestLQAlarm)
{
// given
// default state is set
setDefaultSimulationState();
linkQualitySource = LQ_SOURCE_NONE;
// and
// the following OSD elements are visible
osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
// and
// this set of alarm values
osdConfigMutable()->link_quality_alarm = 80;
stateFlags |= GPS_FIX | GPS_FIX_HOME;
osdAnalyzeActiveElements();
// and
// using the metric unit system
osdConfigMutable()->units = OSD_UNIT_METRIC;
// when
// the craft is armed
doTestArm(false);
for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
}
// then
// no elements should flash as all values are out of alarm range
for (int i = 0; i < 30; i++) {
// Check for visibility every 100ms, elements should always be visible
simulationTime += 0.1e6;
osdRefresh(simulationTime);
#ifdef DEBUG_OSD
printf("%d\n", i);
#endif
displayPortTestBufferSubstring(8, 1, "9");
}
setLinkQualityDirect(512);
simulationTime += 60e6;
osdRefresh(simulationTime);
// then
// elements showing values in alarm range should flash
for (int i = 0; i < 15; i++) {
// Blinking should happen at 5Hz
simulationTime += 0.2e6;
osdRefresh(simulationTime);
#ifdef DEBUG_OSD
printf("%d\n", i);
displayPortTestPrint();
#endif
if (i % 2 == 0) {
displayPortTestBufferSubstring(8, 1, "5");
} else {
displayPortTestBufferIsEmpty();
}
}
doTestDisarm();
simulationTime += 60e6;
osdRefresh(simulationTime);
}
// STUBS
extern "C" {
uint32_t micros() {
return simulationTime;
}
uint32_t millis() {
return micros() / 1000;
}
bool featureIsEnabled(uint32_t) { return true; }
void beeperConfirmationBeeps(uint8_t) {}
bool isBeeperOn() { return false; }
uint8_t getCurrentPidProfileIndex() { return 0; }
uint8_t getCurrentControlRateProfileIndex() { return 0; }
batteryState_e getBatteryState() { return BATTERY_OK; }
uint8_t getBatteryCellCount() { return 4; }
uint16_t getBatteryVoltage() { return 1680; }
uint16_t getBatteryAverageCellVoltage() { return 420; }
int32_t getAmperage() { return 0; }
int32_t getMAhDrawn() { return 0; }
int32_t getEstimatedAltitudeCm() { return 0; }
int32_t getEstimatedVario() { return 0; }
unsigned int blackboxGetLogNumber() { return 0; }
bool isBlackboxDeviceWorking() { return true; }
bool isBlackboxDeviceFull() { return false; }
serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
bool cmsDisplayPortRegister(displayPort_t *) { return false; }
uint16_t getCoreTemperatureCelsius(void) { return 0; }
bool isFlipOverAfterCrashActive(void) { return false; }
float pidItermAccelerator(void) { return 1.0; }
uint8_t getMotorCount(void){ return 4; }
bool areMotorsRunning(void){ return true; }
bool pidOsdAntiGravityActive(void) { return false; }
bool failsafeIsActive(void) { return false; }
bool gpsRescueIsConfigured(void) { return false; }
int8_t calculateThrottlePercent(void) { return 0; }
uint32_t persistentObjectRead(persistentObjectId_e) { return 0; }
void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
void failsafeOnRxSuspend(uint32_t ) {}
void failsafeOnRxResume(void) {}
void featureDisable(uint32_t) { }
bool rxMspFrameComplete(void) { return false; }
bool isPPMDataBeingReceived(void) { return false; }
bool isPWMDataBeingReceived(void) { return false; }
void resetPPMDataReceivedState(void){ }
void failsafeOnValidDataReceived(void) { }
void failsafeOnValidDataFailed(void) { }
void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxRuntimeConfig);
UNUSED(callback);
}
bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(initialRxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool crsfRxInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback);
bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
{
UNUSED(rxConfig);
UNUSED(rxRuntimeConfig);
UNUSED(callback);
return true;
}
float pt1FilterGain(float f_cut, float dT)
{
UNUSED(f_cut);
UNUSED(dT);
return 0.0;
}
void pt1FilterInit(pt1Filter_t *filter, float k)
{
UNUSED(filter);
UNUSED(k);
}
float pt1FilterApply(pt1Filter_t *filter, float input)
{
UNUSED(filter);
UNUSED(input);
return 0.0;
}
}

8
src/test/unit/osd_unittest.cc
View file

@ -81,6 +81,7 @@ extern "C" {
float motorOutputHigh = 2047;
float motorOutputLow = 1000;
linkQualitySource_e linkQualitySource;
acc_t acc;
float accAverage[XYZ_AXIS_COUNT];
@ -414,6 +415,9 @@ TEST(OsdTest, TestStatsMetric)
// using metric unit system
osdConfigMutable()->units = OSD_UNIT_METRIC;
// set timer 1 configuration to tenths precision
osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_TENTHS, 0);
// and
// default state values are set
setDefaultSimulationState();
@ -446,7 +450,7 @@ TEST(OsdTest, TestStatsMetric)
// statistics screen should display the following
int row = 3;
displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:07.50");
displayPortTestBufferSubstring(2, row++, "TOTAL ARM : 00:07.5");
displayPortTestBufferSubstring(2, row++, "LAST ARM : 00:02");
displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE : 2.0%c", SYM_M);
displayPortTestBufferSubstring(2, row++, "MAX SPEED : 28");
@ -1096,7 +1100,7 @@ extern "C" {
uint8_t getRssiPercent(void) { return scaleRange(rssi, 0, RSSI_MAX_VALUE, 0, 100); }
uint8_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
uint16_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
uint16_t getCoreTemperatureCelsius(void) { return simulationCoreTemperature; }

82
unified_targets/configs/AIRBOTF7.config Normal file
View file

@ -0,0 +1,82 @@
# Betaflight / STM32F7X2 (S7X2) 4.1.0 May 6 2019 / 18:09:02 (d3677b79a) MSP API: 1.42
board_name AIRBOTF7
manufacturer_id AIRB
# resources
resource BEEPER 1 B00
resource MOTOR 1 C08
resource MOTOR 2 B06
resource MOTOR 3 C09
resource MOTOR 4 B07
resource LED_STRIP 1 A15
resource SERIAL_TX 1 A09
resource SERIAL_TX 2 A02
resource SERIAL_TX 3 C10
resource SERIAL_TX 4 A00
resource SERIAL_TX 5 C12
resource SERIAL_TX 6 C06
resource SERIAL_RX 1 A10
resource SERIAL_RX 3 C11
resource SERIAL_RX 4 A01
resource SERIAL_RX 6 C07
resource I2C_SCL 1 B08
resource I2C_SDA 1 B09
resource LED 1 B12
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 B03
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 B04
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 B05
resource ADC_BATT 1 C00
resource ADC_RSSI 1 C01
resource ADC_CURR 1 C02
resource FLASH_CS 1 A03
resource OSD_CS 1 C15
resource GYRO_CS 1 D02
resource GYRO_CS 2 C04
# timer
timer A15 0
timer A08 0
timer C08 1
timer B06 0
timer C09 1
timer B07 0
# dma
dma ADC 1 1
# ADC 1: DMA2 Stream 4 Channel 0
dma pin A15 0
# pin A15: DMA1 Stream 5 Channel 3
dma pin A08 0
# pin A08: DMA2 Stream 6 Channel 0
dma pin C08 0
# pin C08: DMA2 Stream 2 Channel 0
dma pin B06 0
# pin B06: DMA1 Stream 0 Channel 2
dma pin C09 0
# pin C09: DMA2 Stream 7 Channel 7
dma pin B07 0
# pin B07: DMA1 Stream 3 Channel 2
# master
set blackbox_device = SPIFLASH
set dshot_burst = ON
set current_meter = ADC
set battery_meter = ADC
set ibata_scale = 179
set beeper_inversion = ON
set beeper_od = OFF
set max7456_spi_bus = 2
set flash_spi_bus = 1
set gyro_1_bustype = SPI
set gyro_1_spibus = 3
set gyro_1_sensor_align = CW90
set gyro_2_bustype = SPI
set gyro_2_spibus = 1
set gyro_2_sensor_align = CW0

1
unified_targets/configs/CLRACINGF7.config
View file

@ -83,7 +83,6 @@ dma pin B08 0 # pin B08: DMA1 Stream 7 Channel 2
dma pin B01 0 # pin B01: DMA1 Stream 2 Channel 5
# master
set system_hse_mhz = 8
set dashboard_i2c_bus = 1
resource RX_BIND_PLUG 1 B02
resource CAMERA_CONTROL 1 B03

1
unified_targets/configs/ELINF722.config
View file

@ -141,7 +141,6 @@ set osd_ah_sbar_pos = 2254
set osd_ah_pos = 2126
set osd_compass_bar_pos = 106
set osd_warnings_pos = 2377
set system_hse_mhz = 8
set vcd_video_system = NTSC
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1

1
unified_targets/configs/FLYWOOF7DUAL.config
View file

@ -120,7 +120,6 @@ set battery_meter = ADC
set ibata_scale = 170
set beeper_inversion = ON
set beeper_od = OFF
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set pinio_box = 40,41,255,255

1
unified_targets/configs/FOXEERF722DUAL.config
View file

@ -91,7 +91,6 @@ set current_meter = ADC
set battery_meter = ADC
set beeper_inversion = ON
set beeper_od = OFF
set system_hse_mhz = 8
set max7456_spi_bus = 3
set dashboard_i2c_bus = 1
set flash_spi_bus = 2

98
unified_targets/configs/FURYF4OSD.config Normal file
View file

@ -0,0 +1,98 @@
# Betaflight / STM32F405 (S405) 4.1.0 May 11 2019 / 13:09:51 (a8e9dd94e) MSP API: 1.42
board_name FURYF4OSD
manufacturer_id DIAT
# resources
resource BEEPER 1 A08
resource MOTOR 1 A03
resource MOTOR 2 B00
resource MOTOR 3 B01
resource MOTOR 4 A02
resource PPM 1 C09
resource LED_STRIP 1 A00
resource SERIAL_TX 1 A09
resource SERIAL_TX 3 B10
resource SERIAL_TX 6 C06
resource SERIAL_RX 1 A10
resource SERIAL_RX 3 B11
resource SERIAL_RX 6 C07
resource INVERTER 1 C00
resource I2C_SCL 1 B06
resource I2C_SDA 1 B07
resource LED 1 B05
resource LED 2 B04
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 C10
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 C11
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 C12
resource ESCSERIAL 1 C09
resource CAMERA_CONTROL 1 B09
resource ADC_BATT 1 C01
resource ADC_RSSI 1 C02
resource ADC_CURR 1 C03
resource FLASH_CS 1 B03
resource OSD_CS 1 B12
resource GYRO_EXTI 1 C04
resource GYRO_CS 1 A04
resource USB_DETECT 1 C05
# timer
timer C09 1
timer A03 0
timer B00 1
timer B01 0
timer A02 0
timer A00 1
timer B09 1
# dma
dma ADC 1 1
# ADC 1: DMA2 Stream 4 Channel 0
dma pin C09 0
# pin C09: DMA2 Stream 7 Channel 7
dma pin A03 1
# pin A03: DMA1 Stream 6 Channel 3
dma pin B00 0
# pin B00: DMA1 Stream 7 Channel 5
dma pin B01 0
# pin B01: DMA2 Stream 6 Channel 0
dma pin A02 0
# pin A02: DMA1 Stream 1 Channel 3
dma pin A00 0
# pin A00: DMA1 Stream 2 Channel 6
# feature
feature -RX_PARALLEL_PWM
feature RX_SERIAL
feature OSD
# serial
serial 2 8192 115200 57600 0 115200
# master
set mag_hardware = NONE
set baro_hardware = NONE
set rssi_src_frame_errors = ON
set serialrx_provider = SBUS
set blackbox_device = SPIFLASH
set dshot_idle_value = 300
set motor_pwm_protocol = DSHOT600
set current_meter = ADC
set battery_meter = ADC
set beeper_inversion = ON
set beeper_od = OFF
set pid_process_denom = 1
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set flash_spi_bus = 3
set gyro_1_bustype = SPI
set gyro_1_spibus = 1
set gyro_1_sensor_align = CW180
set gyro_2_spibus = 1

1
unified_targets/configs/HGLRCF745.config
View file

@ -112,7 +112,6 @@ set beeper_frequency = 0
set sdcard_detect_inverted = ON
set sdcard_mode = SPI
set sdcard_spi_bus = 4
set system_hse_mhz = 8
set max7456_clock = DEFAULT
set max7456_spi_bus = 2
set max7456_preinit_opu = OFF

1
unified_targets/configs/JHEF7DUAL.config
View file

@ -92,7 +92,6 @@ set battery_meter = ADC
set ibata_scale = 450
set beeper_inversion = ON
set beeper_od = OFF
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set flash_spi_bus = 3

1
unified_targets/configs/KAKUTEF7.config
View file

@ -91,7 +91,6 @@ set beeper_od = OFF
set sdcard_detect_inverted = ON
set sdcard_mode = SPI
set sdcard_spi_bus = 1
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set gyro_1_bustype = SPI

1
unified_targets/configs/KAKUTEF7MINI.config
View file

@ -85,7 +85,6 @@ set current_meter = ADC
set battery_meter = ADC
set beeper_inversion = ON
set beeper_od = OFF
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set flash_spi_bus = 1

4
unified_targets/configs/MATEKF722.config
View file

@ -1,4 +1,4 @@
# Betaflight / STM32F7X2 (S7X2) 4.0.0 Mar 15 2019 / 08:10:21 (d50e721) MSP API: 1.41
# Betaflight / STM32F7X2 (S7X2) 4.1.0 May 12 2019 / 23:09:44 (a8e9dd94e) MSP API: 1.42
board_name MATEKF722
manufacturer_id MTKS
@ -96,6 +96,7 @@ set mag_bustype = I2C
set mag_i2c_device = 1
set baro_bustype = I2C
set baro_i2c_device = 1
set blackbox_device = SDCARD
set dshot_burst = ON
set current_meter = ADC
set battery_meter = ADC
@ -104,7 +105,6 @@ set beeper_inversion = ON
set beeper_od = OFF
set sdcard_mode = SPI
set sdcard_spi_bus = 3
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set gyro_1_bustype = SPI

1
unified_targets/configs/MATEKF722SE.config
View file

@ -113,7 +113,6 @@ set beeper_inversion = ON
set beeper_od = OFF
set sdcard_mode = SPI
set sdcard_spi_bus = 3
set system_hse_mhz = 8
set max7456_spi_bus = 2
set flash_spi_bus = 3
set gyro_1_bustype = SPI

3
unified_targets/configs/NERO.config
View file

@ -7,9 +7,6 @@ manufacturer_id BKMN
defaults nosave
# External crystal frequency
set system_hse_mhz = 8
# Basic I/O
resource LED 1 B06
resource LED 2 B05

5
unified_targets/configs/OMNIBUSF4NANOV7.config
View file

@ -37,6 +37,7 @@ resource ADC_CURR 1 C01
resource FLASH_CS 1 A02
resource OSD_CS 1 C15
resource GYRO_CS 1 D02
resource GYRO_CS 2 C04
# timer
timer A15 0
@ -81,10 +82,10 @@ set ibata_scale = 179
set beeper_inversion = ON
set beeper_od = OFF
set pid_process_denom = 1
set system_hse_mhz = 8
set max7456_spi_bus = 2
set flash_spi_bus = 1
set gyro_1_bustype = SPI
set gyro_1_spibus = 3
set gyro_1_sensor_align = CW0
set gyro_2_spibus = 3
set gyro_2_spibus = 1
set gyro_2_sensor_align = CW0

1
unified_targets/configs/OMNIBUSF7NANOV7.config
View file

@ -81,7 +81,6 @@ set ibata_scale = 179
set beeper_inversion = ON
set beeper_od = OFF
set pid_process_denom = 1
set system_hse_mhz = 8
set max7456_spi_bus = 2
set flash_spi_bus = 1
set gyro_1_bustype = SPI

1
unified_targets/configs/OMNIBUSF7V2.config
View file

@ -100,7 +100,6 @@ set beeper_od = OFF
set sdcard_detect_inverted = ON
set sdcard_mode = SPI
set sdcard_spi_bus = 4
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 2
set gyro_1_bustype = SPI

1
unified_targets/configs/RUSHCORE7.config
View file

@ -84,7 +84,6 @@ set current_meter = ADC
set battery_meter = ADC
set beeper_inversion = ON
set beeper_od = OFF
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set flash_spi_bus = 3

1
unified_targets/configs/SPRACINGF7DUAL.config
View file

@ -120,7 +120,6 @@ set beeper_inversion = ON
set beeper_od = OFF
set sdcard_mode = SPI
set sdcard_spi_bus = 3
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set gyro_1_bustype = SPI

1
unified_targets/configs/TRANSTECF7.config
View file

@ -93,7 +93,6 @@ set blackbox_device = NONE
set dshot_burst = ON
set current_meter = ADC
set battery_meter = ADC
set system_hse_mhz = 8
set max7456_spi_bus = 2
set dashboard_i2c_bus = 1
set gyro_1_spibus = 1

116
unified_targets/configs/VGOODRCF4.config Normal file
View file

@ -0,0 +1,116 @@
# Betaflight / VGOODRCF4 (VGF4) 4.1.0 Apr 30 2019 / 09:30:28 () MSP API: 1.42
board_name VGOODRCF4
manufacturer_id VGRC
# resources
resource BEEPER 1 C13
resource MOTOR 1 A09
resource MOTOR 2 A10
resource MOTOR 3 B00
resource MOTOR 4 B01
resource MOTOR 5 C08
resource MOTOR 6 C09
resource PPM 1 C07
resource LED_STRIP 1 A08
resource SERIAL_TX 1 B06
resource SERIAL_TX 2 A02
resource SERIAL_TX 3 C10
resource SERIAL_TX 4 A00
resource SERIAL_TX 5 C12
resource SERIAL_TX 6 C06
resource SERIAL_TX 11 B02
resource SERIAL_RX 1 B07
resource SERIAL_RX 2 A03
resource SERIAL_RX 3 C11
resource SERIAL_RX 4 A01
resource SERIAL_RX 5 D02
resource SERIAL_RX 6 C07
resource SERIAL_RX 11 C05
resource I2C_SCL 1 B08
resource I2C_SCL 2 B10
resource I2C_SDA 1 B09
resource I2C_SDA 2 B11
resource LED 1 C14
resource LED 2 C15
resource SPI_SCK 1 A05
resource SPI_SCK 2 B13
resource SPI_SCK 3 B03
resource SPI_MISO 1 A06
resource SPI_MISO 2 B14
resource SPI_MISO 3 B04
resource SPI_MOSI 1 A07
resource SPI_MOSI 2 B15
resource SPI_MOSI 3 B05
resource CAMERA_CONTROL 1 C09
resource ADC_BATT 1 C01
resource ADC_RSSI 1 C02
resource ADC_CURR 1 C00
resource PINIO 1 A13
resource PINIO 2 A14
resource FLASH_CS 1 B12
resource OSD_CS 1 A04
resource GYRO_EXTI 1 C03
resource GYRO_CS 1 A15
resource USB_DETECT 1 C04
# timer
timer C07 1
timer A09 0
timer B00 1
timer B01 1
timer C08 1
timer C09 1
timer A08 0
# dma
dma ADC 2 1
# ADC 2: DMA2 Stream 3 Channel 1
dma pin C07 0
# pin C07: DMA2 Stream 2 Channel 0
dma pin A09 0
# pin A09: DMA2 Stream 6 Channel 0
dma pin B00 0
# pin B00: DMA1 Stream 7 Channel 5
dma pin B01 0
# pin B01: DMA1 Stream 2 Channel 5
dma pin C08 0
# pin C08: DMA2 Stream 2 Channel 0
dma pin C09 0
# pin C09: DMA2 Stream 7 Channel 7
dma pin A08 1
# pin A08: DMA2 Stream 1 Channel 6
# master
set gyro_to_use = FIRST
set align_mag = DEFAULT
set mag_bustype = I2C
set mag_i2c_device = 1
set mag_i2c_address = 0
set mag_spi_device = 0
set baro_bustype = I2C
set baro_spi_device = 0
set baro_i2c_device = 2
set baro_i2c_address = 0
set adc_device = 2
set blackbox_device = SPIFLASH
set dshot_burst = OFF
set current_meter = ADC
set battery_meter = ADC
set ibata_scale = 179
set beeper_inversion = ON
set beeper_od = OFF
set beeper_frequency = 0
set system_hse_mhz = 8
set max7456_clock = DEFAULT
set max7456_spi_bus = 1
set max7456_preinit_opu = OFF
set led_inversion = 0
set dashboard_i2c_bus = 0
set dashboard_i2c_addr = 60
set usb_msc_pin_pullup = ON
set flash_spi_bus = 2
set gyro_1_bustype = SPI
set gyro_1_spibus = 3
set gyro_1_sensor_align = CW180
set mco2_on_pc9 = OFF