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Merge branch 'master' into bfdev-configurable-baro

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This commit is contained in:
jflyper 2017-07-16 11:45:29 +09:00 • committed by GitHub
commit a6e3ca2345
9 changed files with 115 additions and 90 deletions
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48
src/main/cms/cms_menu_blackbox.c
View file

@ -52,29 +52,6 @@
#include "io/flashfs.h"
#include "io/beeper.h"
#ifdef USE_FLASHFS
static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr)
{
UNUSED(ptr);
displayClearScreen(pDisplay);
displayWrite(pDisplay, 5, 3, "ERASING FLASH...");
displayResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
flashfsEraseCompletely();
while (!flashfsIsReady()) {
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
displayClearScreen(pDisplay);
displayResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?
return 0;
}
#endif // USE_FLASHFS
static const char * const cmsx_BlackboxDeviceNames[] = {
"NONE",
"FLASH ",
@ -163,6 +140,31 @@ static void cmsx_Blackbox_GetDeviceStatus()
tfp_sprintf(cmsx_BlackboxDeviceStorageFree, "%ld%s", storageFree, unit);
}
#ifdef USE_FLASHFS
static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr)
{
UNUSED(ptr);
displayClearScreen(pDisplay);
displayWrite(pDisplay, 5, 3, "ERASING FLASH...");
displayResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
flashfsEraseCompletely();
while (!flashfsIsReady()) {
delay(100);
}
beeper(BEEPER_BLACKBOX_ERASE);
displayClearScreen(pDisplay);
displayResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?
// Update storage device status to show new used space amount
cmsx_Blackbox_GetDeviceStatus();
return 0;
}
#endif // USE_FLASHFS
static long cmsx_Blackbox_onEnter(void)
{
cmsx_Blackbox_GetDeviceStatus();

2
src/main/cms/cms_menu_imu.c
View file

@ -88,6 +88,7 @@ static long cmsx_profileIndexOnChange(displayPort_t *displayPort, const void *pt
UNUSED(ptr);
pidProfileIndex = tmpPidProfileIndex - 1;
changePidProfile(pidProfileIndex);
return 0;
}
@ -98,6 +99,7 @@ static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void
UNUSED(ptr);
rateProfileIndex = tmpRateProfileIndex - 1;
changeControlRateProfile(rateProfileIndex);
return 0;
}

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

@ -66,8 +66,8 @@ OSD_Entry menuOsdActiveElemsEntries[] =
{"CROSSHAIRS", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_CROSSHAIRS], 0},
{"HORIZON", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ARTIFICIAL_HORIZON], 0},
{"HORIZON SIDEBARS", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_HORIZON_SIDEBARS], 0},
{"TIMER 1", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_TIMER_1], 0},
{"TIMER 2", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_TIMER_2], 0},
{"TIMER 1", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ITEM_TIMER_1], 0},
{"TIMER 2", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ITEM_TIMER_2], 0},
{"FLY MODE", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_FLYMODE], 0},
{"NAME", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_CRAFT_NAME], 0},
{"THROTTLE", OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_THROTTLE_POS], 0},

5
src/main/drivers/pwm_output.c
View file

@ -311,13 +311,14 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
#endif
/* standard PWM outputs */
const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / (sMin + sLen * 2));
// margin of safety is 4 periods when unsynced
const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / ((sMin + sLen) * 4));
const uint32_t clock = timerClock(timerHardware->tim);
/* used to find the desired timer frequency for max resolution */
const unsigned prescaler = ((clock / pwmRateHz) + 0xffff) / 0x10000; /* rounding up */
const uint32_t hz = clock / prescaler;
const unsigned period = hz / pwmRateHz;
const unsigned period = useUnsyncedPwm ? hz / pwmRateHz : 0xffff;
/*
if brushed then it is the entire length of the period.

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

@ -147,6 +147,7 @@ static uint32_t bufferIndex = 0;
static bool configIsInCopy = false;
static const char* const emptyName = "-";
static const char* const emptryString = "";
#ifndef USE_QUAD_MIXER_ONLY
// sync this with mixerMode_e
@ -883,7 +884,7 @@ static void cliSerialPassthrough(char *cmdline)
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) {
cliPrint("closed, specify baud.\r\n");
cliPrintLine("closed, specify baud.");
return;
}
if (!mode)
@ -893,7 +894,7 @@ static void cliSerialPassthrough(char *cmdline)
baud, mode,
SERIAL_NOT_INVERTED);
if (!passThroughPort) {
cliPrint("could not be opened.\r\n");
cliPrintLine("could not be opened.");
return;
}
cliPrintf("opened, baud = %d.\r\n", baud);
@ -901,7 +902,7 @@ static void cliSerialPassthrough(char *cmdline)
passThroughPort = passThroughPortUsage->serialPort;
// If the user supplied a mode, override the port's mode, otherwise
// leave the mode unchanged. serialPassthrough() handles one-way ports.
cliPrint("already open.\r\n");
cliPrintLine("already open.");
if (mode && passThroughPort->mode != mode) {
cliPrintf("mode changed from %d to %d.\r\n",
passThroughPort->mode, mode);
@ -914,7 +915,7 @@ static void cliSerialPassthrough(char *cmdline)
}
}
cliPrint("Forwarding, power cycle to exit.\r\n");
cliPrintLine("Forwarding, power cycle to exit.");
serialPassthrough(cliPort, passThroughPort, NULL, NULL);
}
@ -1911,12 +1912,15 @@ static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig,
{
const uint32_t mask = featureConfig->enabledFeatures;
const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
for (uint32_t i = 0; featureNames[i]; i++) { // disable all feature first
for (uint32_t i = 0; featureNames[i]; i++) { // disabled features first
if (strcmp(featureNames[i], emptryString) != 0) { //Skip unused
const char *format = "feature -%s";
cliDefaultPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
cliDumpPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
}
for (uint32_t i = 0; featureNames[i]; i++) { // reenable what we want.
}
for (uint32_t i = 0; featureNames[i]; i++) { // enabled features
if (strcmp(featureNames[i], emptryString) != 0) { //Skip unused
const char *format = "feature %s";
if (defaultMask & (1 << i)) {
cliDefaultPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
@ -1926,6 +1930,7 @@ static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig,
}
}
}
}
static void cliFeature(char *cmdline)
{
@ -1946,7 +1951,7 @@ static void cliFeature(char *cmdline)
for (uint32_t i = 0; ; i++) {
if (featureNames[i] == NULL)
break;
if (strcmp(featureNames[i], "") != 0) //Skip unused
if (strcmp(featureNames[i], emptryString) != 0) //Skip unused
cliPrintf(" %s", featureNames[i]);
}
cliPrintLinefeed();
@ -2296,13 +2301,33 @@ void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
cliPrintLinef("3D: %s", escInfoBytes[17] ? "on" : "off");
}
} else {
cliPrint("Checksum error.");
cliPrintLine("Checksum error.");
}
}
}
if (!escInfoReceived) {
cliPrint("No info.");
cliPrintLine("No info.");
}
}
static void writeDshotCommand(uint8_t escIndex, uint8_t command)
{
uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
if (command == DSHOT_CMD_ESC_INFO) {
cliPrintLinef("Info for ESC %d:", escIndex);
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
}
pwmWriteDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) {
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
}
}
@ -2334,34 +2359,19 @@ static void cliDshotProg(char *cmdline)
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (escIndex == ALL_MOTORS) {
for (unsigned i = 0; i < getMotorCount(); i++) {
pwmWriteDshotCommand(i, command);
writeDshotCommand(i, command);
}
cliPrintf("Command %d written.\r\n", command);
} else {
uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
if (command == DSHOT_CMD_ESC_INFO) {
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
writeDshotCommand(escIndex, command);
}
pwmWriteDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) {
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
} else {
cliPrintf("Command %d written.\r\n", command);
}
}
cliPrintLinef("Command %d written.", command);
if (command <= 5) {
delay(10); // wait for sound output to finish
}
} else {
cliPrintf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
}
break;

24
src/main/fc/fc_msp.c
View file

@ -1597,7 +1597,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
break;
case MSP_SET_RC_TUNING:
if (dataSize >= 10) {
if (sbufBytesRemaining(src) >= 10) {
currentControlRateProfile->rcRate8 = sbufReadU8(src);
currentControlRateProfile->rcExpo8 = sbufReadU8(src);
for (int i = 0; i < 3; i++) {
@ -1609,10 +1609,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
currentControlRateProfile->thrMid8 = sbufReadU8(src);
currentControlRateProfile->thrExpo8 = sbufReadU8(src);
currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
if (dataSize >= 11) {
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
}
if (dataSize >= 12) {
if (sbufBytesRemaining(src) >= 1) {
currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
}
generateThrottleCurve();
@ -1738,17 +1738,17 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
currentPidProfile->dterm_lpf_hz = sbufReadU16(src);
currentPidProfile->yaw_lpf_hz = sbufReadU16(src);
if (dataSize > 5) {
if (sbufBytesRemaining(src) >= 8) {
gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
currentPidProfile->dterm_notch_hz = sbufReadU16(src);
currentPidProfile->dterm_notch_cutoff = sbufReadU16(src);
}
if (dataSize > 13) {
if (sbufBytesRemaining(src) >= 4) {
gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
}
if (dataSize > 17) {
if (sbufBytesRemaining(src) >= 1) {
currentPidProfile->dterm_filter_type = sbufReadU8(src);
}
// reinitialize the gyro filters with the new values
@ -1771,11 +1771,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
sbufReadU8(src); // reserved
currentPidProfile->rateAccelLimit = sbufReadU16(src);
currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
if (dataSize > 17) {
if (sbufBytesRemaining(src) >= 2) {
currentPidProfile->levelAngleLimit = sbufReadU8(src);
currentPidProfile->levelSensitivity = sbufReadU8(src);
}
if (dataSize > 19) {
if (sbufBytesRemaining(src) >= 4) {
currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
}
@ -1928,21 +1928,21 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
rxConfigMutable()->midrc = sbufReadU16(src);
rxConfigMutable()->mincheck = sbufReadU16(src);
rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
if (dataSize > 8) {
if (sbufBytesRemaining(src) >= 4) {
rxConfigMutable()->rx_min_usec = sbufReadU16(src);
rxConfigMutable()->rx_max_usec = sbufReadU16(src);
}
if (dataSize > 12) {
if (sbufBytesRemaining(src) >= 4) {
rxConfigMutable()->rcInterpolation = sbufReadU8(src);
rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src);
rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src);
}
if (dataSize > 16) {
if (sbufBytesRemaining(src) >= 6) {
rxConfigMutable()->rx_spi_protocol = sbufReadU8(src);
rxConfigMutable()->rx_spi_id = sbufReadU32(src);
rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
}
if (dataSize > 22) {
if (sbufBytesRemaining(src) >= 1) {
rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src);
}
break;

31
src/main/target/BETAFLIGHTF3/target.c
View file

@ -26,14 +26,25 @@
#include "drivers/dma.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM, TIMER_INPUT_ENABLED), // PPM IN
DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM1
DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM3
DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM4
DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5
DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM7
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM8
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED_STRIP --requires resource remap with dshot (remap to motor 5??)--
DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM, TIMER_INPUT_ENABLED), // PPM
DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM1 (1,4)
DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2 (2,3)
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM3 (2,5)
DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM4 (1,1)
#ifdef BFF3_USE_HEXA_DSHOT
// For HEXA dshot
DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,3)
DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (2,1)
#else
// For softserial
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,2) !LED
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (1,3)
#endif
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM7/UART2_RX
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM8/UART2_TX
// When using softserial config, LED will have DMA conflict with PB0 (SOFTSERIAL1_RX).
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED (1,2)
};

3
src/main/target/FURYF4/target.c
View file

@ -29,8 +29,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH4, PC9, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0 ), // PPM IN
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1 ), // S1_OUT - DMA1_ST6_CH3
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST7_CH5
DEF_TIM(TIM8, CH3N, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_INVERTED, 0 ), // S3_OUT - DMA2_ST2_CH0
// DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST2_CH5
DEF_TIM(TIM1, CH3N, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_INVERTED, 0 ), // S3_OUT - DMA2_ST6_CH0
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S4_OUT - DMA1_ST1_CH3
DEF_TIM(TIM5, CH1, PA0, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // LED_STRIP - DMA1_ST2_CH6

2
src/main/target/FURYF4/target.h
View file

@ -187,4 +187,4 @@
#define TARGET_IO_PORTD (BIT(2))
#define USABLE_TIMER_CHANNEL_COUNT 6
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) )
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) )