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Merge branch 'master' into development

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This commit is contained in:
borisbstyle 2016-10-12 10:15:13 +02:00
commit aaafd4f661
9 changed files with 34 additions and 22 deletions
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4
src/main/config/config.c
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@ -141,10 +141,10 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->P8[ROLL] = 45; pidProfile->P8[ROLL] = 45;
pidProfile->I8[ROLL] = 40; pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 16; pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60; pidProfile->P8[PITCH] = 60;
pidProfile->I8[PITCH] = 65; pidProfile->I8[PITCH] = 65;
pidProfile->D8[PITCH] = 19; pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 70; pidProfile->P8[YAW] = 70;
pidProfile->I8[YAW] = 45; pidProfile->I8[YAW] = 45;
pidProfile->D8[YAW] = 20; pidProfile->D8[YAW] = 20;

6
src/main/drivers/serial_uart.c
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@ -97,8 +97,12 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
{ {
uartPort_t *s = NULL; uartPort_t *s = NULL;
if (USARTx == USART1) { if (false) {
#ifdef USE_UART1
} else if (USARTx == USART1) {
s = serialUART1(baudRate, mode, options); s = serialUART1(baudRate, mode, options);
#endif
#ifdef USE_UART2 #ifdef USE_UART2
} else if (USARTx == USART2) { } else if (USARTx == USART2) {
s = serialUART2(baudRate, mode, options); s = serialUART2(baudRate, mode, options);

1
src/main/flight/pid.c
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@ -104,7 +104,6 @@ biquadFilter_t dtermFilterNotch[3];
bool dtermNotchInitialised; bool dtermNotchInitialised;
bool dtermBiquadLpfInitialised; bool dtermBiquadLpfInitialised;
denoisingState_t dtermDenoisingState[3]; denoisingState_t dtermDenoisingState[3];
bool dtermNotchInitialised;
void initFilters(const pidProfile_t *pidProfile) { void initFilters(const pidProfile_t *pidProfile) {
int axis; int axis;

2
src/main/io/serial_cli.c
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@ -868,7 +868,7 @@ const clivalue_t valueTable[] = {
{ "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } }, { "mag_hardware", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.mag_hardware, .config.lookup = { TABLE_MAG_HARDWARE } },
{ "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } }, { "mag_declination", VAR_INT16 | MASTER_VALUE, &masterConfig.mag_declination, .config.minmax = { -18000, 18000 } },
#endif #endif
{ "dterm_lowpass_level", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } }, { "dterm_lowpass_type", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.dterm_filter_type, .config.lookup = { TABLE_LOWPASS_TYPE } },
{ "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } }, { "dterm_lowpass", VAR_INT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_lpf_hz, .config.minmax = {0, 500 } },
{ "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 500 } }, { "dterm_notch_hz", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_hz, .config.minmax = { 0, 500 } },
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } }, { "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } },

5
src/main/main.c
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@ -232,7 +232,10 @@ void init(void)
dmaInit(); dmaInit();
#if defined(AVOID_UART2_FOR_PWM_PPM) #if defined(AVOID_UART1_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART1 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART2_FOR_PWM_PPM)
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL), serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL),
feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE); feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM) ? SERIAL_PORT_USART2 : SERIAL_PORT_NONE);
#elif defined(AVOID_UART3_FOR_PWM_PPM) #elif defined(AVOID_UART3_FOR_PWM_PPM)

7
src/main/target/CC3D/target.h
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@ -72,8 +72,13 @@
#define USE_VCP #define USE_VCP
#define USE_UART1 #define USE_UART1
#define USE_UART3 #define USE_UART3
#ifdef CC3D_OPBL
#define SERIAL_PORT_COUNT 3
#else
#define USE_SOFTSERIAL1 #define USE_SOFTSERIAL1
#define SERIAL_PORT_COUNT 4 #define SERIAL_PORT_COUNT 4
#endif
#ifdef USE_UART1_RX_DMA #ifdef USE_UART1_RX_DMA
#undef USE_UART1_RX_DMA #undef USE_UART1_RX_DMA
@ -116,9 +121,7 @@
#define SKIP_PID_FLOAT #define SKIP_PID_FLOAT
#undef BARO #undef BARO
#undef SONAR #undef SONAR
#undef USE_SOFTSERIAL1
#undef LED_STRIP #undef LED_STRIP
#define SKIP_PID_FLOAT
#endif #endif
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define DEFAULT_RX_FEATURE FEATURE_RX_PPM

1
src/main/target/NAZE/BEEBRAIN.mk Executable file
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@ -0,0 +1 @@
# BEEBRAIN is a VARIANT of NAZE with custom config for micro quads like tiny whoop

28
src/main/target/OMNIBUSF4/target.c
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@ -23,7 +23,7 @@
#include "drivers/timer.h" #include "drivers/timer.h"
const uint16_t multiPPM[] = { const uint16_t multiPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
@ -50,7 +50,7 @@ const uint16_t multiPWM[] = {
}; };
const uint16_t airPPM[] = { const uint16_t airPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
@ -78,17 +78,17 @@ const uint16_t airPWM[] = {
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 },// PPM (5th pin on FlexiIO port) { TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },// PPM (5th pin on FlexiIO port)
{ TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 },// S2_IN - GPIO_PartialRemap_TIM3 { TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 },// S2_IN - GPIO_PartialRemap_TIM3
{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S3_IN { TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S3_IN
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S4_IN { TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S4_IN
{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S5_IN { TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S5_IN
{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S6_IN { TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S6_IN
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S1_OUT
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S2_OUT
{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S4_OUT { TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT { TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S4_OUT
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3 { TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S6_OUT
}; };

2
src/main/target/OMNIBUSF4/target.h
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@ -135,6 +135,8 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define DEFAULT_RX_FEATURE FEATURE_RX_PPM
#define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL) #define DEFAULT_FEATURES (FEATURE_BLACKBOX | FEATURE_RX_SERIAL)
#define AVOID_UART1_FOR_PWM_PPM
#define USE_SERIAL_4WAY_BLHELI_INTERFACE #define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTA 0xffff