diff --git a/src/main/config/config.c b/src/main/config/config.c
index 52f705d385..5f0cf31eae 100755
--- a/src/main/config/config.c
+++ b/src/main/config/config.c
@@ -185,11 +185,11 @@ static void resetControlRateConfig(controlRateConfig_t *controlRateConfig)
{
controlRateConfig->rcRate8 = 100;
controlRateConfig->rcYawRate8 = 100;
- controlRateConfig->rcExpo8 = 10;
+ controlRateConfig->rcExpo8 = 0;
controlRateConfig->thrMid8 = 50;
controlRateConfig->thrExpo8 = 0;
- controlRateConfig->dynThrPID = 20;
- controlRateConfig->rcYawExpo8 = 10;
+ controlRateConfig->dynThrPID = 10;
+ controlRateConfig->rcYawExpo8 = 0;
controlRateConfig->tpa_breakpoint = 1650;
for (uint8_t axis = 0; axis < FLIGHT_DYNAMICS_INDEX_COUNT; axis++) {
@@ -205,7 +205,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->I8[ROLL] = 40;
pidProfile->D8[ROLL] = 20;
pidProfile->P8[PITCH] = 60;
- pidProfile->I8[PITCH] = 60;
+ pidProfile->I8[PITCH] = 65;
pidProfile->D8[PITCH] = 22;
pidProfile->P8[YAW] = 80;
pidProfile->I8[YAW] = 45;
@@ -236,11 +236,11 @@ static void resetPidProfile(pidProfile_t *pidProfile)
pidProfile->yawItermIgnoreRate = 32;
pidProfile->dterm_filter_type = FILTER_BIQUAD;
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
- pidProfile->dterm_notch_hz = 0;
- pidProfile->dterm_notch_cutoff = 150;
+ pidProfile->dterm_notch_hz = 260;
+ pidProfile->dterm_notch_cutoff = 160;
pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
pidProfile->vbatPidCompensation = 0;
- pidProfile->pidAtMinThrottle = PID_STABILISATION_OFF;
+ pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
// Betaflight PID controller parameters
pidProfile->ptermSetpointWeight = 75;
@@ -504,9 +504,9 @@ void createDefaultConfig(master_t *config)
config->gyroConfig.gyroMovementCalibrationThreshold = 32;
// xxx_hardware: 0:default/autodetect, 1: disable
- config->mag_hardware = 0;
+ config->mag_hardware = 1;
- config->baro_hardware = 0;
+ config->baro_hardware = 1;
resetBatteryConfig(&config->batteryConfig);
@@ -585,8 +585,6 @@ void createDefaultConfig(master_t *config)
resetSerialConfig(&config->serialConfig);
- config->emf_avoidance = 0; // TODO - needs removal
-
resetProfile(&config->profile[0]);
resetRollAndPitchTrims(&config->accelerometerTrims);
@@ -614,12 +612,12 @@ void createDefaultConfig(master_t *config)
config->throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
// Failsafe Variables
- config->failsafeConfig.failsafe_delay = 10; // 1sec
- config->failsafeConfig.failsafe_off_delay = 10; // 1sec
- config->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
- config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
- config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
- config->failsafeConfig.failsafe_procedure = 0; // default full failsafe procedure is 0: auto-landing
+ config->failsafeConfig.failsafe_delay = 10; // 1sec
+ config->failsafeConfig.failsafe_off_delay = 10; // 1sec
+ config->failsafeConfig.failsafe_throttle = 1000; // default throttle off.
+ config->failsafeConfig.failsafe_kill_switch = 0; // default failsafe switch action is identical to rc link loss
+ config->failsafeConfig.failsafe_throttle_low_delay = 100; // default throttle low delay for "just disarm" on failsafe condition
+ config->failsafeConfig.failsafe_procedure = FAILSAFE_PROCEDURE_DROP_IT;// default full failsafe procedure is 0: auto-landing
#ifdef USE_SERVOS
// servos
diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h
index aa572fac0a..cf93ca3b45 100644
--- a/src/main/config/config_master.h
+++ b/src/main/config/config_master.h
@@ -25,7 +25,6 @@ typedef struct master_t {
uint8_t mixerMode;
uint32_t enabledFeatures;
- uint8_t emf_avoidance; // change pll settings to avoid noise in the uhf band
// motor/esc/servo related stuff
motorMixer_t customMotorMixer[MAX_SUPPORTED_MOTORS];
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 1466aa2d25..bc9336cbee 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -109,7 +109,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#else
setup = hardwareMaps[i];
#endif
-
+ TIM_TypeDef* ppmTimer = NULL;
for (i = 0; i < USABLE_TIMER_CHANNEL_COUNT && setup[i] != 0xFFFF; i++) {
uint8_t timerIndex = setup[i] & 0x00FF;
uint8_t type = (setup[i] & 0xFF00) >> 8;
@@ -162,13 +162,13 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
}
#endif
-#ifdef RSSI_ADC_GPIO
+#ifdef RSSI_ADC_PIN
if (init->useRSSIADC && timerHardwarePtr->tag == IO_TAG(RSSI_ADC_PIN)) {
continue;
}
#endif
-#ifdef CURRENT_METER_ADC_GPIO
+#ifdef CURRENT_METER_ADC_PIN
if (init->useCurrentMeterADC && timerHardwarePtr->tag == IO_TAG(CURRENT_METER_ADC_PIN)) {
continue;
}
@@ -292,11 +292,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
if (type == MAP_TO_PPM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
-#if defined(SPARKY) || defined(ALIENFLIGHTF3)
- if (!(init->pwmProtocolType == PWM_TYPE_CONVENTIONAL)) {
- ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2, init->pwmProtocolType);
- }
-#endif
+ ppmTimer = timerHardwarePtr->tim;
ppmInConfig(timerHardwarePtr);
#endif
} else if (type == MAP_TO_PWM_INPUT) {
@@ -313,9 +309,15 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
continue;
}
#endif
+ if (init->usePPM) {
+ if (init->pwmProtocolType != PWM_TYPE_CONVENTIONAL && timerHardwarePtr->tim == ppmTimer) {
+ ppmAvoidPWMTimerClash(timerHardwarePtr, ppmTimer, init->pwmProtocolType);
+ }
+ }
+
if (init->useFastPwm) {
pwmFastPwmMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate, init->idlePulse, init->pwmProtocolType);
- pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_OUTPUT_PROTOCOL_ONESHOT;
+ pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_OUTPUT_PROTOCOL_ONESHOT;
} else if (init->pwmProtocolType == PWM_TYPE_BRUSHED) {
pwmBrushedMotorConfig(timerHardwarePtr, pwmOutputConfiguration.motorCount, init->motorPwmRate);
pwmOutputConfiguration.portConfigurations[pwmOutputConfiguration.outputCount].flags = PWM_PF_MOTOR | PWM_PF_OUTPUT_PROTOCOL_PWM | PWM_PF_MOTOR_MODE_BRUSHED;
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 829b62c0f3..b6ffc3d586 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -76,9 +76,9 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
pidControllerFuncPtr pid_controller = pidBetaflight; // which pid controller are we using
#endif
-void setTargetPidLooptime(uint8_t pidProcessDenom)
+void setTargetPidLooptime(uint32_t pidLooptime)
{
- targetPidLooptime = gyro.targetLooptime * pidProcessDenom;
+ targetPidLooptime = pidLooptime;
}
void pidResetErrorGyroState(void)
diff --git a/src/main/flight/pid.h b/src/main/flight/pid.h
index 12fa8324e8..fd1fb08f5a 100644
--- a/src/main/flight/pid.h
+++ b/src/main/flight/pid.h
@@ -126,5 +126,5 @@ extern uint32_t targetPidLooptime;
void pidSetController(pidControllerType_e type);
void pidResetErrorGyroState(void);
void pidStabilisationState(pidStabilisationState_e pidControllerState);
-void setTargetPidLooptime(uint8_t pidProcessDenom);
+void setTargetPidLooptime(uint32_t pidLooptime);
diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c
index 4af92de4d3..c41c3a884b 100644
--- a/src/main/io/ledstrip.c
+++ b/src/main/io/ledstrip.c
@@ -257,10 +257,10 @@ STATIC_UNIT_TESTED void determineLedStripDimensions(void)
STATIC_UNIT_TESTED void determineOrientationLimits(void)
{
- highestYValueForNorth = (ledGridHeight / 2) - 1;
- lowestYValueForSouth = ((ledGridHeight + 1) / 2);
- highestXValueForWest = (ledGridWidth / 2) - 1;
- lowestXValueForEast = ((ledGridWidth + 1) / 2);
+ highestYValueForNorth = MIN((ledGridHeight / 2) - 1, 0);
+ lowestYValueForSouth = (ledGridHeight + 1) / 2;
+ highestXValueForWest = MIN((ledGridWidth / 2) - 1, 0);
+ lowestXValueForEast = (ledGridWidth + 1) / 2;
}
STATIC_UNIT_TESTED void updateLedCount(void)
@@ -533,7 +533,11 @@ static void applyLedFixedLayers()
case LED_FUNCTION_FLIGHT_MODE:
for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
- color = *getDirectionalModeColor(ledIndex, &masterConfig.modeColors[flightModeToLed[i].ledMode]);
+ hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &masterConfig.modeColors[flightModeToLed[i].ledMode]);
+ if (directionalColor) {
+ color = *directionalColor;
+ }
+
break; // stop on first match
}
break;
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 9b333b35e4..e3546636f6 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -517,6 +517,10 @@ static const char * const lookupTableLowpassType[] = {
"NORMAL", "HIGH"
};
+static const char * const lookupTableFailsafe[] = {
+ "AUTO-LAND", "DROP"
+};
+
typedef struct lookupTableEntry_s {
const char * const *values;
const uint8_t valueCount;
@@ -555,6 +559,7 @@ typedef enum {
TABLE_DELTA_METHOD,
TABLE_RC_INTERPOLATION,
TABLE_LOWPASS_TYPE,
+ TABLE_FAILSAFE,
#ifdef OSD
TABLE_OSD,
#endif
@@ -593,6 +598,7 @@ static const lookupTableEntry_t lookupTables[] = {
{ lookupTableDeltaMethod, sizeof(lookupTableDeltaMethod) / sizeof(char *) },
{ lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
{ lookupTableLowpassType, sizeof(lookupTableLowpassType) / sizeof(char *) },
+ { lookupTableFailsafe, sizeof(lookupTableFailsafe) / sizeof(char *) },
#ifdef OSD
{ lookupTableOsdType, sizeof(lookupTableOsdType) / sizeof(char *) },
#endif
@@ -646,7 +652,6 @@ typedef struct {
} clivalue_t;
const clivalue_t valueTable[] = {
-// { "emf_avoidance", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.emf_avoidance, .config.lookup = { TABLE_OFF_ON } },
{ "mid_rc", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.midrc, .config.minmax = { 1200, 1700 } },
{ "min_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.mincheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
{ "max_check", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.maxcheck, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
@@ -808,7 +813,7 @@ const clivalue_t valueTable[] = {
{ "failsafe_throttle", VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle, .config.minmax = { PWM_RANGE_MIN, PWM_RANGE_MAX } },
{ "failsafe_kill_switch", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_kill_switch, .config.lookup = { TABLE_OFF_ON } },
{ "failsafe_throttle_low_delay",VAR_UINT16 | MASTER_VALUE, &masterConfig.failsafeConfig.failsafe_throttle_low_delay, .config.minmax = { 0, 300 } },
- { "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_OFF_ON } },
+ { "failsafe_procedure", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &masterConfig.failsafeConfig.failsafe_procedure, .config.lookup = { TABLE_FAILSAFE } },
{ "rx_min_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_min_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
{ "rx_max_usec", VAR_UINT16 | MASTER_VALUE, &masterConfig.rxConfig.rx_max_usec, .config.minmax = { PWM_PULSE_MIN, PWM_PULSE_MAX } },
@@ -852,8 +857,8 @@ const clivalue_t valueTable[] = {
{ "yaw_rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
{ "rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
- { "accumulation_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
- { "yaw_accumulation_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
+ { "accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
+ { "yaw_accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
{ "yaw_lowpass", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
{ "pid_process_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.pid_process_denom, .config.minmax = { 1, 8 } },
diff --git a/src/main/main.c b/src/main/main.c
index 24b983308d..7949e1a560 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -106,6 +106,8 @@
#include "config/config_profile.h"
#include "config/config_master.h"
+#define LOOPTIME_SUSPEND_TIME 3 // Prevent too long busy wait times
+
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
@@ -597,7 +599,7 @@ void init(void)
masterConfig.gyro_sync_denom = 1;
}
- setTargetPidLooptime(masterConfig.pid_process_denom); // Initialize pid looptime
+ setTargetPidLooptime((gyro.targetLooptime + LOOPTIME_SUSPEND_TIME) * masterConfig.pid_process_denom); // Initialize pid looptime
#ifdef BLACKBOX
@@ -675,7 +677,7 @@ void main_init(void)
/* Setup scheduler */
schedulerInit();
- rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
+ rescheduleTask(TASK_GYROPID, gyro.targetLooptime + LOOPTIME_SUSPEND_TIME); // Add a littlebit of extra time to reduce busy wait
setTaskEnabled(TASK_GYROPID, true);
if (sensors(SENSOR_ACC)) {
diff --git a/src/main/mw.c b/src/main/mw.c
index 86abfd6c63..80605784e6 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -816,8 +816,6 @@ void taskMainPidLoopCheck(void)
static uint32_t previousTime;
static bool runTaskMainSubprocesses;
- const uint32_t currentDeltaTime = getTaskDeltaTime(TASK_SELF);
-
cycleTime = micros() - previousTime;
previousTime = micros();
@@ -827,30 +825,31 @@ void taskMainPidLoopCheck(void)
}
const uint32_t startTime = micros();
+
while (true) {
- if (gyroSyncCheckUpdate(&gyro) || ((currentDeltaTime + (micros() - previousTime)) >= (gyro.targetLooptime + GYRO_WATCHDOG_DELAY))) {
- static uint8_t pidUpdateCountdown;
-
+ if (gyroSyncCheckUpdate(&gyro)) {
if (debugMode == DEBUG_PIDLOOP) {debug[0] = micros() - startTime;} // time spent busy waiting
- if (runTaskMainSubprocesses) {
- subTaskMainSubprocesses();
- runTaskMainSubprocesses = false;
- }
-
- gyroUpdate();
-
- if (pidUpdateCountdown) {
- pidUpdateCountdown--;
- } else {
- pidUpdateCountdown = setPidUpdateCountDown();
- subTaskPidController();
- subTaskMotorUpdate();
- runTaskMainSubprocesses = true;
- }
-
break;
}
}
+
+ static uint8_t pidUpdateCountdown;
+
+ if (runTaskMainSubprocesses) {
+ subTaskMainSubprocesses();
+ runTaskMainSubprocesses = false;
+ }
+
+ gyroUpdate();
+
+ if (pidUpdateCountdown) {
+ pidUpdateCountdown--;
+ } else {
+ pidUpdateCountdown = setPidUpdateCountDown();
+ subTaskPidController();
+ subTaskMotorUpdate();
+ runTaskMainSubprocesses = true;
+ }
}
void taskUpdateAccelerometer(void)
diff --git a/src/main/scheduler/scheduler_tasks.c b/src/main/scheduler/scheduler_tasks.c
index 9d5062ee21..30920724a8 100644
--- a/src/main/scheduler/scheduler_tasks.c
+++ b/src/main/scheduler/scheduler_tasks.c
@@ -73,7 +73,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
.taskName = "BATTERY",
.taskFunc = taskUpdateBattery,
.desiredPeriod = 1000000 / 50, // 50 Hz
- .staticPriority = TASK_PRIORITY_LOW,
+ .staticPriority = TASK_PRIORITY_MEDIUM,
},
#ifdef BEEPER
diff --git a/src/main/target/IRCFUSIONF3/target.h b/src/main/target/IRCFUSIONF3/target.h
index 8dbd6e55ba..62eec67fc5 100644
--- a/src/main/target/IRCFUSIONF3/target.h
+++ b/src/main/target/IRCFUSIONF3/target.h
@@ -25,6 +25,9 @@
#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
+
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready, no MAG
#define USE_MPU_DATA_READY_SIGNAL
diff --git a/src/main/target/ISHAPEDF3/target.c b/src/main/target/ISHAPEDF3/target.c
new file mode 100644
index 0000000000..ec9176a27f
--- /dev/null
+++ b/src/main/target/ISHAPEDF3/target.c
@@ -0,0 +1,121 @@
+/*
+ * 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 .
+ */
+
+#include
+
+#include
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+const uint16_t multiPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM6 | (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
+ 0xFFFF
+};
+
+const uint16_t multiPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8),
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8),
+ PWM7 | (MAP_TO_PWM_INPUT << 8),
+ PWM8 | (MAP_TO_PWM_INPUT << 8),
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM13 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM14 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM15 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM16 | (MAP_TO_MOTOR_OUTPUT << 8),
+ 0xFFFF
+};
+
+const uint16_t airPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM16 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8), // servo #10
+ 0xFFFF
+};
+
+const uint16_t airPWM[] = {
+ PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
+ PWM2 | (MAP_TO_PWM_INPUT << 8),
+ PWM3 | (MAP_TO_PWM_INPUT << 8),
+ PWM4 | (MAP_TO_PWM_INPUT << 8),
+ PWM5 | (MAP_TO_PWM_INPUT << 8),
+ PWM6 | (MAP_TO_PWM_INPUT << 8),
+ PWM7 | (MAP_TO_PWM_INPUT << 8),
+ PWM8 | (MAP_TO_PWM_INPUT << 8), // input #8
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM13 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM14 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM15 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM16 | (MAP_TO_SERVO_OUTPUT << 8), // server #6
+ 0xFFFF
+};
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ { TIM2, IO_TAG(PA0), TIM_Channel_1, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH1 - PA0 - *TIM2_CH1
+ { TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH2 - PA1 - *TIM2_CH2, TIM15_CH1N
+ // Production boards swapped RC_CH3/4 swapped to make it easier to use SerialRX using supplied cables - compared to first prototype.
+ { TIM2, IO_TAG(PB11), TIM_Channel_4, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
+ { TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 0, IOCFG_AF_PP, GPIO_AF_1 }, // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
+ { TIM3, IO_TAG(PB4), TIM_Channel_1, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH5 - PB4 - *TIM3_CH1
+ { TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH6 - PB5 - *TIM3_CH2
+ { TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH7 - PB0 - *TIM3_CH3, TIM1_CH2N, TIM8_CH2N
+ { TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 0, IOCFG_AF_PP, GPIO_AF_2 }, // RC_CH8 - PB1 - *TIM3_CH4, TIM1_CH3N, TIM8_CH3N
+
+ { TIM16, IO_TAG(PA6), TIM_Channel_1, TIM1_UP_TIM16_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM1 - PA6 - TIM3_CH1, TIM8_BKIN, TIM1_BKIN, *TIM16_CH1
+ { TIM17, IO_TAG(PA7), TIM_Channel_1, TIM1_TRG_COM_TIM17_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM2 - PA7 - TIM3_CH2, *TIM17_CH1, TIM1_CH1N, TIM8_CH1
+ { TIM4, IO_TAG(PA11), TIM_Channel_1, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10 },// PWM3 - PA11
+ { TIM4, IO_TAG(PA12), TIM_Channel_2, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_10 },// PWM4 - PA12
+ { TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM5 - PB8
+ { TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM6 - PB9
+ { TIM15, IO_TAG(PA2), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM7 - PA2
+ { TIM15, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM8 - PA3
+
+ { TIM1, IO_TAG(PA8), TIM_Channel_1, TIM1_CC_IRQn, 1, IOCFG_AF_PP, GPIO_AF_6 }, // GPIO_TIMER / LED_STRIP
+};
+
diff --git a/src/main/target/ISHAPEDF3/target.h b/src/main/target/ISHAPEDF3/target.h
new file mode 100644
index 0000000000..5efad550fd
--- /dev/null
+++ b/src/main/target/ISHAPEDF3/target.h
@@ -0,0 +1,122 @@
+/*
+ * 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 .
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "ISF3"
+
+#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_NONE
+
+#define LED0 PB3
+
+#define BEEPER PC15
+#define BEEPER_INVERTED
+
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 1
+
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
+#define USE_MPU_DATA_READY_SIGNAL
+#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_MAG_DATA_READY_SIGNAL
+#define ENSURE_MAG_DATA_READY_IS_HIGH
+
+#define GYRO
+#define USE_GYRO_MPU6500
+//#define USE_GYRO_SPI_MPU6500
+
+#define ACC
+#define USE_ACC_MPU6500
+//#define USE_ACC_SPI_MPU6500
+
+#define BARO
+#define USE_BARO_BMP280
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
+#define SONAR
+#define SONAR_TRIGGER_PIN PB0
+#define SONAR_ECHO_PIN PB1
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT 5
+
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define UART2_TX_PIN PA14 // PA14 / SWCLK
+#define UART2_RX_PIN PA15
+
+#define UART3_TX_PIN PB10 // PB10 (AF7)
+#define UART3_RX_PIN PB11 // PB11 (AF7)
+
+#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
+#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5
+
+#define M25P16_CS_PIN PB12
+#define M25P16_SPI_INSTANCE SPI2
+
+#define BOARD_HAS_VOLTAGE_DIVIDER
+#define USE_ADC
+#define ADC_INSTANCE ADC2
+#define VBAT_ADC_PIN PA4
+#define CURRENT_METER_ADC_PIN PA5
+#define RSSI_ADC_PIN PB2
+
+#define LED_STRIP
+#define WS2811_PIN PA8
+#define WS2811_TIMER TIM1
+#define WS2811_DMA_CHANNEL DMA1_Channel2
+#define WS2811_IRQ DMA1_Channel2_IRQn
+#define WS2811_DMA_TC_FLAG DMA1_FLAG_TC2
+#define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+#define DEFAULT_FEATURES FEATURE_BLACKBOX
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PIN PB11
+
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+// IO - stm32f303cc in 48pin package
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
+#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(3)|BIT(4))
+
+#define USABLE_TIMER_CHANNEL_COUNT 17
+#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(15) | TIM_N(16) | TIM_N(17) )
+
+
diff --git a/src/main/target/ISHAPEDF3/target.mk b/src/main/target/ISHAPEDF3/target.mk
new file mode 100644
index 0000000000..94676e07dc
--- /dev/null
+++ b/src/main/target/ISHAPEDF3/target.mk
@@ -0,0 +1,11 @@
+F3_TARGETS += $(TARGET)
+FEATURES = ONBOARDFLASH
+
+TARGET_SRC = \
+ drivers/accgyro_mpu.c \
+ drivers/accgyro_mpu6500.c \
+ drivers/barometer_bmp280.c \
+ drivers/light_ws2811strip.c \
+ drivers/light_ws2811strip_stm32f30x.c \
+ drivers/serial_softserial.c \
+ drivers/sonar_hcsr04.c
diff --git a/src/main/target/OMNIBUS/target.c b/src/main/target/OMNIBUS/target.c
index 977d623f85..8a87602bea 100644
--- a/src/main/target/OMNIBUS/target.c
+++ b/src/main/target/OMNIBUS/target.c
@@ -87,8 +87,8 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM4, IO_TAG(PB8), TIM_Channel_3, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM1 - PB8
{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM4_IRQn, 1, IOCFG_AF_PP, GPIO_AF_2 }, // PWM2 - PB9
- { TIM15, IO_TAG(PA2), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM3 - PA2
- { TIM15, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM4 - PA3
+ { TIM15, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM3 - PA3
+ { TIM15, IO_TAG(PA2), TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, IOCFG_AF_PP, GPIO_AF_9 }, // PWM4 - PA2
// UART3 RX/TX
{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_1 }, // PWM5 - PB10 - TIM2_CH3 / UART3_TX (AF7)
diff --git a/src/main/target/REVO/target.c b/src/main/target/REVO/target.c
index e33f1a58c8..065e0d0f71 100644
--- a/src/main/target/REVO/target.c
+++ b/src/main/target/REVO/target.c
@@ -20,6 +20,7 @@
#include
#include "drivers/io.h"
#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
const uint16_t multiPPM[] = {
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
@@ -29,11 +30,11 @@ const uint16_t multiPPM[] = {
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
- PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
- PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
- PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
- PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
- PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
+ PWM2 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed
+ PWM3 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed
+ PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h
index 67d2232e68..57155d209b 100644
--- a/src/main/target/RMDO/target.h
+++ b/src/main/target/RMDO/target.h
@@ -26,11 +26,13 @@
#define BEEPER PC15
#define BEEPER_INVERTED
+#define USE_EXTI
+#define MPU_INT_EXTI PC13
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready and MAG data ready
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
-#define USE_MAG_DATA_READY_SIGNAL
-#define ENSURE_MAG_DATA_READY_IS_HIGH
+//#define USE_MAG_DATA_READY_SIGNAL // XXX Do RMDO has onboard mag???
+//#define ENSURE_MAG_DATA_READY_IS_HIGH
#define GYRO
#define USE_GYRO_MPU6050