diff --git a/.travis.yml b/.travis.yml index 9ef497f543..a456e51de4 100644 --- a/.travis.yml +++ b/.travis.yml @@ -10,6 +10,7 @@ env: - TARGET=PORT103R - TARGET=SPARKY - TARGET=STM32F3DISCOVERY + - TARGET=ALIENWIIF1 language: c compiler: arm-none-eabi-gcc before_install: sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update diff --git a/JLinkSettings.ini b/JLinkSettings.ini index f320c7ce1a..1cf11b0e13 100755 --- a/JLinkSettings.ini +++ b/JLinkSettings.ini @@ -1,31 +1,31 @@ -[BREAKPOINTS] -ShowInfoWin = 1 -EnableFlashBP = 2 -BPDuringExecution = 0 -[CFI] -CFISize = 0x00 -CFIAddr = 0x00 -[CPU] -OverrideMemMap = 0 -AllowSimulation = 1 -ScriptFile="" -[FLASH] -MinNumBytesFlashDL = 0 -SkipProgOnCRCMatch = 1 -VerifyDownload = 1 -AllowCaching = 1 -EnableFlashDL = 2 -Override = 0 -Device="AD7160" -[GENERAL] -WorkRAMSize = 0x00 -WorkRAMAddr = 0x00 -[SWO] -SWOLogFile="" -[MEM] -RdOverrideOrMask = 0x00 -RdOverrideAndMask = 0xFFFFFFFF -RdOverrideAddr = 0xFFFFFFFF -WrOverrideOrMask = 0x00 -WrOverrideAndMask = 0xFFFFFFFF -WrOverrideAddr = 0xFFFFFFFF +[BREAKPOINTS] +ShowInfoWin = 1 +EnableFlashBP = 2 +BPDuringExecution = 0 +[CFI] +CFISize = 0x00 +CFIAddr = 0x00 +[CPU] +OverrideMemMap = 0 +AllowSimulation = 1 +ScriptFile="" +[FLASH] +MinNumBytesFlashDL = 0 +SkipProgOnCRCMatch = 1 +VerifyDownload = 1 +AllowCaching = 1 +EnableFlashDL = 2 +Override = 0 +Device="AD7160" +[GENERAL] +WorkRAMSize = 0x00 +WorkRAMAddr = 0x00 +[SWO] +SWOLogFile="" +[MEM] +RdOverrideOrMask = 0x00 +RdOverrideAndMask = 0xFFFFFFFF +RdOverrideAddr = 0xFFFFFFFF +WrOverrideOrMask = 0x00 +WrOverrideAndMask = 0xFFFFFFFF +WrOverrideAddr = 0xFFFFFFFF diff --git a/Makefile b/Makefile index 735281011c..1b4f18ba80 100644 --- a/Makefile +++ b/Makefile @@ -35,7 +35,7 @@ SERIAL_DEVICE ?= /dev/ttyUSB0 FORKNAME = cleanflight -VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3 PORT103R SPARKY +VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3 PORT103R SPARKY ALIENWIIF1 # Valid targets for OP BootLoader support OPBL_VALID_TARGETS = CC3D @@ -152,6 +152,12 @@ endif TARGET_DIR = $(ROOT)/src/main/target/$(TARGET) TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c)) +ifeq ($(TARGET),ALIENWIIF1) +# ALIENWIIF1 is a VARIANT of NAZE +TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -DALIENWII32 +TARGET_DIR = $(ROOT)/src/main/target/NAZE +endif + INCLUDE_DIRS := $(INCLUDE_DIRS) \ $(TARGET_DIR) @@ -251,6 +257,8 @@ NAZE_SRC = startup_stm32f10x_md_gcc.S \ $(HIGHEND_SRC) \ $(COMMON_SRC) +ALIENWIIF1_SRC = $(NAZE_SRC) + EUSTM32F103RC_SRC = startup_stm32f10x_hd_gcc.S \ drivers/accgyro_adxl345.c \ drivers/accgyro_bma280.c \ diff --git a/README.md b/README.md index 898acc7274..ab3e94edf8 100644 --- a/README.md +++ b/README.md @@ -118,4 +118,7 @@ https://travis-ci.org/cleanflight/cleanflight [![Build Status](https://travis-ci.org/cleanflight/cleanflight.svg?branch=master)](https://travis-ci.org/cleanflight/cleanflight) +## Cleanflight Releases +https://github.com/cleanflight/cleanflight/releases + diff --git a/docs/Board - AlienWii32.md b/docs/Board - AlienWii32.md new file mode 100644 index 0000000000..7c693f0aff --- /dev/null +++ b/docs/Board - AlienWii32.md @@ -0,0 +1,24 @@ +# Board - AlienWii32 + +The AlienWii32 is actually in prototype stage only a few samples exist. There is some more field testing ongoing. The information below is preliminary and will be updated as needed. + +Here are the hardware specifications: + +- STM32F103CBT6 MCU +- MPU6050 accelerometer/gyro sensor unit +- 8x 4.2A brushed ESCs, integrated, to run the strongest micro motors +- extra-wide traces on the PCB, for maximum power throughput +- USB port, integrated +- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100 or Lemon RX) +- alternatively PPM receiver connection (i.e. Deltang Rx31) +- ground and 3.3V for the receiver +- hardware bind plug for easy binding +- motor connections are at the corners for a clean look with reduced wiring +- dimensions: 29x33mm +- direct operation from an single cell lipoly battery + +(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). + +Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different. + +The pin layout is very similar as the NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The AlienWii32 firmware will be built with TARGET=NAZE and OPTIONS="AlienWii32". The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienWii32. The mixer can be activated with "mixer custom" in the CLI. To use the AlienWii32 in an Hexa- or Octocopter or to do some more tuning additional configuration changes can be done as usual in the CLI or the Cleanflight configurator. \ No newline at end of file diff --git a/docs/Board - Naze32.md b/docs/Board - Naze32.md index 9409435f6c..3f4a9dc77b 100644 --- a/docs/Board - Naze32.md +++ b/docs/Board - Naze32.md @@ -37,7 +37,7 @@ When SOFTSERIAL is enabled, LED_STRIP and CURRENT_METER are unavailable, but two | Pin | Identifier | Function | Notes | | --- | ---------- | -------------- | -------------------------------- | -| 7 | 5 | SOFTSERIAL1 TX | Enable `feature SOFTSERIAL` | -| 8 | 6 | SOFTSERIAL1 RX | | -| 9 | 7 | SOFTSERIAL2 TX | | -| 10 | 8 | SOFTSERIAL2 RX | | +| 7 | 5 | SOFTSERIAL1 RX | Enable `feature SOFTSERIAL`| +| 8 | 6 | SOFTSERIAL1 TX | | +| 9 | 7 | SOFTSERIAL2 RX | | +| 10 | 8 | SOFTSERIAL2 TX | | diff --git a/docs/Board - Sparky.md b/docs/Board - Sparky.md index ae0c943bba..61d55d50f6 100644 --- a/docs/Board - Sparky.md +++ b/docs/Board - Sparky.md @@ -23,6 +23,7 @@ Tested with revision 1 board. * Sonar * Display (via Flex port) * Softserial - though having 3 hardware serial ports makes it a little redundant. +* Airplane PWM mappings. # Flashing diff --git a/docs/Failsafe.md b/docs/Failsafe.md index 915d504cb0..a5fafa4b60 100644 --- a/docs/Failsafe.md +++ b/docs/Failsafe.md @@ -22,9 +22,15 @@ The failsafe system attempts to detect when your receiver looses signal. It the The failsafe is activated when: +Either: a) no valid channel data from the RX via Serial RX. b) the first 4 Parallel PWM/PPM channels do not have valid signals. +And: +c) the failsafe guard time specified by `failsafe_delay` has elapsed. + +## Configuration + There are a few settings for it, as below. Failsafe delays are configured in 0.1 second steps. diff --git a/docs/Spektrum bind.md b/docs/Spektrum bind.md new file mode 100644 index 0000000000..304af979bc --- /dev/null +++ b/docs/Spektrum bind.md @@ -0,0 +1,49 @@ +# Spektrum bind support + +Spektrum bind with hardware bind plug support. + +The Spektrum bind code is actually enabled for the NAZE, NAZE32PRO, CJMCU, EUSTM32F103RC, SPARKY, CC3D targets. + +## Configure the bind code + +The following parameters can be used to enable and configure this in the related target.h file: + + SPEKTRUM_BIND Enables the Spektrum bind code + BIND_PORT GPIOA Defines the port for the bind pin + BIND_PIN Pin_3 Defines the bind pin (the satellite receiver is connected to) + +This is to activate the hardware bind plug feature + + HARDWARE_BIND_PLUG Enables the hardware bind plug feature + BINDPLUG_PORT GPIOB Defines the port for the hardware bind plug + BINDPLUG_PIN Pin_5 Defines the hardware bind plug pin + +## Hardware + +The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienWii32 firmware is build. The hardware bind plug is expected between the defined bind pin and ground. + +## Function + +The bind code will actually work for NAZE, NAZE32PRO, CJMCU, EUSTM32F103RC, SPARKY targets (USART2) and CC3D target (USART3, flex port). The spektrum_sat_bind CLI parameter is defining the number of bind impulses (1-10) send to the satellite receiver. Setting spektrum_sat_bind to zero will disable the bind mode in any case. The bind mode will only be activated after an power on or hard reset. Please refer to the table below for the different possible values. + +If the hardware bind plug is configured the bind mode will only be activated if the plug is set during the firmware start-up. The value of the spektrum_sat_bind parameter will be permanently preserved. The bind plug should be always removed for normal flying. + +If no hardware bind plug is used the spektrum_sat_bind parameter will trigger the bind process during the next hardware reset and will be automatically reset to "0" after this. + +Please refer to the satellite receiver documentation for more details of the specific receiver in bind mode. Usually the bind mode will be indicated with some flashing LEDs. + +## Table with spektrum_sat_bind parameter value + +| Value | Receiver mode | Notes | +| ----- | ---------------| -------------------| +| 3 | DSM2 1024/22ms | | +| 5 | DSM2 2048/11ms | default AlienWii32 | +| 7 | DSMX 22ms | | +| 9 | DSMX 11ms | | + +More detailed information regarding the satellite binding process can be found here: +http://wiki.openpilot.org/display/Doc/Spektrum+Satellite + +### Supported Hardware + +NAZE, NAZE32PRO, CJMCU, SPARKY, EUSTM32F103RC, CC3D targets (AlienWii32 with hardware bind plug) diff --git a/lib/main/CMSIS/CM3/DeviceSupport/ST/STM32F10x/Release_Notes.html b/lib/main/CMSIS/CM3/DeviceSupport/ST/STM32F10x/Release_Notes.html index b80f38df1c..fde27c98f7 100755 --- a/lib/main/CMSIS/CM3/DeviceSupport/ST/STM32F10x/Release_Notes.html +++ b/lib/main/CMSIS/CM3/DeviceSupport/ST/STM32F10x/Release_Notes.html @@ -1,284 +1,284 @@ - - - - - - - - - - - - -Release Notes for STM32F10x CMSIS - - - - - -
-


-

-
- - - - - - -
- - - - - - - - - -
Back to Release page
-

Release -Notes for STM32F10x CMSIS

-

Copyright 2011 STMicroelectronics

-

-
-

 

- - - - - - -
-

Contents

-
    -
  1. STM32F10x CMSIS -update History
    2. -
  2. License
    3. -
- -

STM32F10x CMSIS -update History


-

V3.5.0 / 11-March-2011

-

Main -Changes

- -
    -
  • stm32f10x.h -and startup_stm32f10x_hd_vl.s files: remove the FSMC interrupt -definition for STM32F10x High-density Value line devices.
    -
    • -
  • system_stm32f10x.c file provided within the CMSIS folder.
    -
    • - -
- -

3.4.0 -- 10/15/2010

- -
    -
  1. General
    2. -
- -
    -
  • Add support -for STM32F10x High-density Value line devices.
    • -
-
    -
  1. STM32F10x CMSIS Device Peripheral Access Layer
    2. -
- - - -
    -
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer Header File: stm32f10x.h
    -
    • Update to support High-density Value line devices
      • Add new define STM32F10X_HD_VL
        • -
      • RCC, AFIO, FSMC bits definition updated
        • -
      -
    • - - All -STM32 devices definitions are commented by default. User has to select the -appropriate device before starting else an error will be signaled on compile -time.
      • -
    • Add new IRQs definitons inside the IRQn_Type enumeration for STM23 High-density Value line devices.
      • -
    • "bool" type removed.
      -
      • -
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer System Files: system_stm32f10x.h and system_stm32f10x.c
    -
    • -
      -
    • "system_stm32f10x.c" moved to to "STM32F10x_StdPeriph_Template" directory. This file is also moved to each example directory under "STM32F10x_StdPeriph_Examples".
      -
      • -
    • SystemInit_ExtMemCtl() function: update to support High-density Value line devices.
      • -
    • Add "VECT_TAB_SRAM" inside "system_stm32f10x.c" -to select if the user want to place the Vector Table in internal SRAM. -An additional define is also to specify the Vector Table offset "VECT_TAB_OFFSET".
      -
      • - -
    -
  • STM32F10x CMSIS startup files:startup_stm32f10x_xx.s
    • Add three -startup files for STM32 High-density Value line devices: - startup_stm32f10x_hd_vl.s
    -
-

3.3.0 -- 04/16/2010

- -
  1. General
-
  • Add support -for STM32F10x XL-density devices.
  • Add startup files for TrueSTUDIO toolchain
  1. STM32F10x CMSIS Device Peripheral Access Layer
- -
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer Header File: stm32f10x.h
    -
    • Update to support XL-density devices
      • Add new define STM32F10X_XL
      • Add new IRQs for TIM9..14
      • Update FLASH_TypeDef structure
      • Add new IP instances TIM9..14
      • RCC, AFIO, DBGMCU bits definition updated
    • Correct IRQs definition for MD-, LD-, MD_VL- and LD_VL-density devices (remove comma "," at the end of enum list)
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer System Files: system_stm32f10x.h and system_stm32f10x.c
    -
    • SystemInit_ExtMemCtl() function: update to support XL-density devices
    • SystemInit() function: swap the order of SetSysClock() and SystemInit_ExtMemCtl() functions. 
      -
  • STM32F10x CMSIS startup files:
    • add three -startup files for STM32 XL-density devices: - startup_stm32f10x_xl.s
    • startup_stm32f10x_md_vl.s for RIDE7: add USART3 IRQ Handler (was missing in previous version)
    • Add startup files for TrueSTUDIO toolchain
-

3.2.0 -- 03/01/2010

-
    -
  1. General
    2. -
-
    - -
  • STM32F10x CMSIS files updated to CMSIS V1.30 release
    • -
  • Directory structure updated to be aligned with CMSIS V1.30
    -
    • -
  • Add support -for STM32 Low-density Value line (STM32F100x4/6) and -Medium-density Value line (STM32F100x8/B) devices. 
    • - -
-
    -
  1. CMSIS Core Peripheral Access Layer
- -
    -
  1. STM32F10x CMSIS Device Peripheral Access Layer
    2. - -
- -
    - -
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer Header File: stm32f10x.h
    -
    • -
      -
    • Update -the stm32f10x.h file to support new Value line devices features: CEC -peripheral, new General purpose timers TIM15, TIM16 and TIM17.
      • -
    • Peripherals Bits definitions updated to be in line with Value line devices available features.
      -
      • -
    • HSE_Value, -HSI_Value and HSEStartup_TimeOut changed to upper case: HSE_VALUE, -HSI_VALUE and HSE_STARTUP_TIMEOUT. Old names are kept for legacy -purposes.
      -
      • -
    -
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer System Files: system_stm32f10x.h and system_stm32f10x.c
    -
    • -
      -
    • SystemFrequency variable name changed to SystemCoreClock
      -
      • -
    • Default - SystemCoreClock is changed to 24MHz when Value line devices are selected and to 72MHz on other devices.
      -
      • -
    • All while(1) loop were removed from all clock setting functions. User has to handle the HSE startup failure.
      -
      • -
    • Additional function void SystemCoreClockUpdate (void) is provided.
      -
      • -
    -
  • STM32F10x CMSIS Startup files: startup_stm32f10x_xx.s
    • -
      -
    • Add new -startup files for STM32 Low-density Value line devices: - startup_stm32f10x_ld_vl.s
      • -
    • Add new startup -files for STM32 Medium-density Value line devices: - startup_stm32f10x_md_vl.s
      • -
    • SystemInit() function is called from startup file (startup_stm32f10x_xx.s) before to branch to application main.
      -To reconfigure the default setting of SystemInit() function, refer to system_stm32f10x.c file
      -
      • -
    • GNU startup file for Low density devices (startup_stm32f10x_ld.s) is updated to fix compilation errors.
      -
      • -
    - -
- -
    -
-

License

-

The -enclosed firmware and all the related documentation are not covered by -a License Agreement, if you need such License you can contact your -local STMicroelectronics office.

-

THE -PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS -WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO -SAVE TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR -ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY -CLAIMS ARISING FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY -CUSTOMERS OF THE CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH -THEIR PRODUCTS.

-

 

-
-
-

For -complete documentation on STM32(CORTEX M3) 32-Bit Microcontrollers -visit www.st.com/STM32

-
-

-
-
-

 

-
+ + + + + + + + + + + + +Release Notes for STM32F10x CMSIS + + + + + +
+


+

+
+ + + + + + +
+ + + + + + + + + +
Back to Release page
+

Release +Notes for STM32F10x CMSIS

+

Copyright 2011 STMicroelectronics

+

+
+

 

+ + + + + + +
+

Contents

+
    +
  1. STM32F10x CMSIS +update History
    2. +
  2. License
    3. +
+ +

STM32F10x CMSIS +update History


+

V3.5.0 / 11-March-2011

+

Main +Changes

+ +
    +
  • stm32f10x.h +and startup_stm32f10x_hd_vl.s files: remove the FSMC interrupt +definition for STM32F10x High-density Value line devices.
    +
    • +
  • system_stm32f10x.c file provided within the CMSIS folder.
    +
    • + +
+ +

3.4.0 +- 10/15/2010

+ +
    +
  1. General
    2. +
+ +
    +
  • Add support +for STM32F10x High-density Value line devices.
    • +
+
    +
  1. STM32F10x CMSIS Device Peripheral Access Layer
    2. +
+ + + +
    +
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer Header File: stm32f10x.h
    +
    • Update to support High-density Value line devices
      • Add new define STM32F10X_HD_VL
        • +
      • RCC, AFIO, FSMC bits definition updated
        • +
      +
    • + + All +STM32 devices definitions are commented by default. User has to select the +appropriate device before starting else an error will be signaled on compile +time.
      • +
    • Add new IRQs definitons inside the IRQn_Type enumeration for STM23 High-density Value line devices.
      • +
    • "bool" type removed.
      +
      • +
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer System Files: system_stm32f10x.h and system_stm32f10x.c
    +
    • +
      +
    • "system_stm32f10x.c" moved to to "STM32F10x_StdPeriph_Template" directory. This file is also moved to each example directory under "STM32F10x_StdPeriph_Examples".
      +
      • +
    • SystemInit_ExtMemCtl() function: update to support High-density Value line devices.
      • +
    • Add "VECT_TAB_SRAM" inside "system_stm32f10x.c" +to select if the user want to place the Vector Table in internal SRAM. +An additional define is also to specify the Vector Table offset "VECT_TAB_OFFSET".
      +
      • + +
    +
  • STM32F10x CMSIS startup files:startup_stm32f10x_xx.s
    • Add three +startup files for STM32 High-density Value line devices: + startup_stm32f10x_hd_vl.s
    +
+

3.3.0 +- 04/16/2010

+ +
  1. General
+
  • Add support +for STM32F10x XL-density devices.
  • Add startup files for TrueSTUDIO toolchain
  1. STM32F10x CMSIS Device Peripheral Access Layer
+ +
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer Header File: stm32f10x.h
    +
    • Update to support XL-density devices
      • Add new define STM32F10X_XL
      • Add new IRQs for TIM9..14
      • Update FLASH_TypeDef structure
      • Add new IP instances TIM9..14
      • RCC, AFIO, DBGMCU bits definition updated
    • Correct IRQs definition for MD-, LD-, MD_VL- and LD_VL-density devices (remove comma "," at the end of enum list)
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer System Files: system_stm32f10x.h and system_stm32f10x.c
    +
    • SystemInit_ExtMemCtl() function: update to support XL-density devices
    • SystemInit() function: swap the order of SetSysClock() and SystemInit_ExtMemCtl() functions. 
      +
  • STM32F10x CMSIS startup files:
    • add three +startup files for STM32 XL-density devices: + startup_stm32f10x_xl.s
    • startup_stm32f10x_md_vl.s for RIDE7: add USART3 IRQ Handler (was missing in previous version)
    • Add startup files for TrueSTUDIO toolchain
+

3.2.0 +- 03/01/2010

+
    +
  1. General
    2. +
+
    + +
  • STM32F10x CMSIS files updated to CMSIS V1.30 release
    • +
  • Directory structure updated to be aligned with CMSIS V1.30
    +
    • +
  • Add support +for STM32 Low-density Value line (STM32F100x4/6) and +Medium-density Value line (STM32F100x8/B) devices. 
    • + +
+
    +
  1. CMSIS Core Peripheral Access Layer
+ +
    +
  1. STM32F10x CMSIS Device Peripheral Access Layer
    2. + +
+ +
    + +
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer Header File: stm32f10x.h
    +
    • +
      +
    • Update +the stm32f10x.h file to support new Value line devices features: CEC +peripheral, new General purpose timers TIM15, TIM16 and TIM17.
      • +
    • Peripherals Bits definitions updated to be in line with Value line devices available features.
      +
      • +
    • HSE_Value, +HSI_Value and HSEStartup_TimeOut changed to upper case: HSE_VALUE, +HSI_VALUE and HSE_STARTUP_TIMEOUT. Old names are kept for legacy +purposes.
      +
      • +
    +
  • STM32F10x CMSIS Cortex-M3 Device Peripheral Access Layer System Files: system_stm32f10x.h and system_stm32f10x.c
    +
    • +
      +
    • SystemFrequency variable name changed to SystemCoreClock
      +
      • +
    • Default + SystemCoreClock is changed to 24MHz when Value line devices are selected and to 72MHz on other devices.
      +
      • +
    • All while(1) loop were removed from all clock setting functions. User has to handle the HSE startup failure.
      +
      • +
    • Additional function void SystemCoreClockUpdate (void) is provided.
      +
      • +
    +
  • STM32F10x CMSIS Startup files: startup_stm32f10x_xx.s
    • +
      +
    • Add new +startup files for STM32 Low-density Value line devices: + startup_stm32f10x_ld_vl.s
      • +
    • Add new startup +files for STM32 Medium-density Value line devices: + startup_stm32f10x_md_vl.s
      • +
    • SystemInit() function is called from startup file (startup_stm32f10x_xx.s) before to branch to application main.
      +To reconfigure the default setting of SystemInit() function, refer to system_stm32f10x.c file
      +
      • +
    • GNU startup file for Low density devices (startup_stm32f10x_ld.s) is updated to fix compilation errors.
      +
      • +
    + +
+ +
    +
+

License

+

The +enclosed firmware and all the related documentation are not covered by +a License Agreement, if you need such License you can contact your +local STMicroelectronics office.

+

THE +PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS +WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO +SAVE TIME. AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR +ANY DIRECT, INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY +CLAIMS ARISING FROM THE CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY +CUSTOMERS OF THE CODING INFORMATION CONTAINED HEREIN IN CONNECTION WITH +THEIR PRODUCTS.

+

 

+
+
+

For +complete documentation on STM32(CORTEX M3) 32-Bit Microcontrollers +visit www.st.com/STM32

+
+

+
+
+

 

+
\ No newline at end of file diff --git a/lib/main/STM32F30x_StdPeriph_Driver/Release_Notes.html b/lib/main/STM32F30x_StdPeriph_Driver/Release_Notes.html index 4594108878..0361fd882d 100644 --- a/lib/main/STM32F30x_StdPeriph_Driver/Release_Notes.html +++ b/lib/main/STM32F30x_StdPeriph_Driver/Release_Notes.html @@ -1,409 +1,409 @@ - - - - - - - - -Release Notes for STM32F30x Standard Peripherals Library Drivers - - - - - - -
-


-

-
- - - - - - -
- - - - - - -
- -

Release -Notes for STM32F30x Standard Peripherals Library Drivers (StdPeriph_Drivers)
-

-

Copyright -© 2014 STMicroelectronics

-

-
-

 

- - - - - - -
-

Update history

- -

V1.1.1 /04-April-2014

- - -

Main -Changes

- - - - - - - - - - - -
  • stm32f30x_hrtim.c/.h: 
    • Add "HRTIM_SINGLE_CALIBRATION" define.
    • Add HRTIM Common flags definition
    • Add new function HRTIM_SlaveSetCompare(HRTIM_TypeDef * HRTIMx, uint32_t TimerIdx, uint32_t CompareUnit, uint32_t Compare).
    • Update HRTIM_DLLCalibrationStart() function.
    • Update HRTIM_DMACmd(), HRTIM_GetITStatus(), HRTIM_GetFlagStatus(), HRTIM_ClearITPendingBit(), HRTIM_ClearFlag() and HRTIM_ITConfig() functions to properly manage master and slave HRTIMERS.

V1.1.0 /27-February-2014

- - -

Main -Changes

- - - - - - - - - - - -
  • Add support of the STM32F302x8 and STM32F334x8 devices.
  • Add High Resolution Timer(HRTIM) peripheral driver.
  • stm32f30x_adc.c
    • Update ADC_TempSensorCmd() and ADC_VbatCmd() functions to be inline with the devices specification.
    • Update ADC_DMAConfig() function description.
  • stm32f30x_dac.c/.h: update overall driver to add the support of the DAC2.
  • stm32f30x_gpio.c: 
    • Update -GPIO_Init() function to avoid unexpected transition in the GPIO -pin configuration when writing to the PUPDR register.
  • stm32f30x_rcc.c/.h: update for STM32F302x8 and STM32F334x8 devices
    • Add new function RCC_MCOConfig(uint8_t RCC_MCOSource, uint32_t RCC_MCOPrescaler).
    • Update RCC_GetClocksFreq() funtion to :
      • properly return the ADC clock frequency,
      • workarround USART1 clock limitation for the STM32F302x8 and STM32F334x8 devices,
      • support TIM15, 16, 17, HRTIM and I2C3 peripherals.
    • Update RCC_I2CCLKConfig() function to support I2C3 peripheral.
    • Update RCC_TIMCLKConfig() function to support TIM15, 16, and 17 peripherals.
    • Add RCC_HRTIM1CLKConfig() function.
  • stm32f30x_syscfg.c/.h
    • Update SYSCFG_DMAChannelRemapConfig() function to support new DMA channels remap.
    • Update SYSCFG_TriggerRemapConfig() funciton to support the new remap of DAC trigger to HRTIM.
  • stm32f30x_tim.c:
    • Update TIM_SelectOCxM() function to properly manage the output compare modes.

V1.0.1 / 23-October-2012

- - -

Main -Changes

- - - -
  • - - - -

    stm32f30x_adc.c/h

    • Remove -the following functions, the configuration will be done under ADC_Init function :

      • ADC_InjectedSequencerLengthConfig; -

      • ADC_InjectedChannelConfig;

      • ADC_ExternalTriggerInjectedPolarityConfig;

      • ADC_SelectExternalTriggerInjected

    • Update - comment of uint8_t ADC_TwoSamplingDelay parameter in -ADC_CommonInitTypeDef structure definition.

    • Add -a function to configure the sampling time for injected channels : void -ADC_InjectedChannelSampleTimeConfig (ADC_TypeDef* ADCx, uint8_t -ADC_InjectedChannel, uint8_t ADC_SampleTime);

- - - - - - - - - - - - - - - - - -

-

  • stm32f30x_rtc.c

    • Update -comments : remove all reference to RTC_AF1, reformulate -the PC13 RTC_AF table to be in line with the description in Reference manual (RM00316)

  • - - - -

     stm32f30x_tim.c -

    • Update local variables declaration (must be uint32_t) to correct Tasking toochain warnings.  

  • stm32f30x_gpio.h -

    • Update GPIOSpeed_TypeDef parameters structure to be in line with description in Reference manual and add GPIO speed legacy defines.

  • Remove all references to other products (STM32F37x, STM32F0xx,...) in the comments.

V1.0.0 / 04-September-2012

- - -

Main -Changes

- - - -
  • First official release for STM32F30x and STM32F31x devices
-
    - -

    License

    Licensed -under MCD-ST Liberty SW License Agreement V2, (the "License"); You may not use -this package -except in compliance with the License. You may obtain a copy of the License -at:

    -
    Unless -required by applicable law or agreed to in writing, software distributed under -the License is distributed on an "AS IS" BASIS,
    WITHOUT WARRANTIES OR -CONDITIONS OF ANY KIND, either express or implied. See the License for the -specific language governing permissions and limitations under the -License.

    -
    -
    -

    For -complete documentation on STM32 Microcontrollers visit www.st.com/STM32

    -
    -

    -
    -
    -

     

    -
    + + + + + + + + +Release Notes for STM32F30x Standard Peripherals Library Drivers + + + + + + +
    +


    +

    +
    + + + + + + +
    + + + + + + +
    + +

    Release +Notes for STM32F30x Standard Peripherals Library Drivers (StdPeriph_Drivers)
    +

    +

    Copyright +© 2014 STMicroelectronics

    +

    +
    +

     

    + + + + + + +
    +

    Update history

    + +

    V1.1.1 /04-April-2014

    + + +

    Main +Changes

    + + + + + + + + + + + +
    • stm32f30x_hrtim.c/.h: 
      • Add "HRTIM_SINGLE_CALIBRATION" define.
      • Add HRTIM Common flags definition
      • Add new function HRTIM_SlaveSetCompare(HRTIM_TypeDef * HRTIMx, uint32_t TimerIdx, uint32_t CompareUnit, uint32_t Compare).
      • Update HRTIM_DLLCalibrationStart() function.
      • Update HRTIM_DMACmd(), HRTIM_GetITStatus(), HRTIM_GetFlagStatus(), HRTIM_ClearITPendingBit(), HRTIM_ClearFlag() and HRTIM_ITConfig() functions to properly manage master and slave HRTIMERS.

    V1.1.0 /27-February-2014

    + + +

    Main +Changes

    + + + + + + + + + + + +
    • Add support of the STM32F302x8 and STM32F334x8 devices.
    • Add High Resolution Timer(HRTIM) peripheral driver.
    • stm32f30x_adc.c
      • Update ADC_TempSensorCmd() and ADC_VbatCmd() functions to be inline with the devices specification.
      • Update ADC_DMAConfig() function description.
    • stm32f30x_dac.c/.h: update overall driver to add the support of the DAC2.
    • stm32f30x_gpio.c: 
      • Update +GPIO_Init() function to avoid unexpected transition in the GPIO +pin configuration when writing to the PUPDR register.
    • stm32f30x_rcc.c/.h: update for STM32F302x8 and STM32F334x8 devices
      • Add new function RCC_MCOConfig(uint8_t RCC_MCOSource, uint32_t RCC_MCOPrescaler).
      • Update RCC_GetClocksFreq() funtion to :
        • properly return the ADC clock frequency,
        • workarround USART1 clock limitation for the STM32F302x8 and STM32F334x8 devices,
        • support TIM15, 16, 17, HRTIM and I2C3 peripherals.
      • Update RCC_I2CCLKConfig() function to support I2C3 peripheral.
      • Update RCC_TIMCLKConfig() function to support TIM15, 16, and 17 peripherals.
      • Add RCC_HRTIM1CLKConfig() function.
    • stm32f30x_syscfg.c/.h
      • Update SYSCFG_DMAChannelRemapConfig() function to support new DMA channels remap.
      • Update SYSCFG_TriggerRemapConfig() funciton to support the new remap of DAC trigger to HRTIM.
    • stm32f30x_tim.c:
      • Update TIM_SelectOCxM() function to properly manage the output compare modes.

    V1.0.1 / 23-October-2012

    + + +

    Main +Changes

    + + + +
    • + + + +

      stm32f30x_adc.c/h

      • Remove +the following functions, the configuration will be done under ADC_Init function :

        • ADC_InjectedSequencerLengthConfig; +

        • ADC_InjectedChannelConfig;

        • ADC_ExternalTriggerInjectedPolarityConfig;

        • ADC_SelectExternalTriggerInjected

      • Update + comment of uint8_t ADC_TwoSamplingDelay parameter in +ADC_CommonInitTypeDef structure definition.

      • Add +a function to configure the sampling time for injected channels : void +ADC_InjectedChannelSampleTimeConfig (ADC_TypeDef* ADCx, uint8_t +ADC_InjectedChannel, uint8_t ADC_SampleTime);

    + + + + + + + + + + + + + + + + + +

    +

    • stm32f30x_rtc.c

      • Update +comments : remove all reference to RTC_AF1, reformulate +the PC13 RTC_AF table to be in line with the description in Reference manual (RM00316)

    • + + + +

       stm32f30x_tim.c +

      • Update local variables declaration (must be uint32_t) to correct Tasking toochain warnings.  

    • stm32f30x_gpio.h +

      • Update GPIOSpeed_TypeDef parameters structure to be in line with description in Reference manual and add GPIO speed legacy defines.

    • Remove all references to other products (STM32F37x, STM32F0xx,...) in the comments.

    V1.0.0 / 04-September-2012

    + + +

    Main +Changes

    + + + +
    • First official release for STM32F30x and STM32F31x devices
    +
      + +

      License

      Licensed +under MCD-ST Liberty SW License Agreement V2, (the "License"); You may not use +this package +except in compliance with the License. You may obtain a copy of the License +at:

      +
      Unless +required by applicable law or agreed to in writing, software distributed under +the License is distributed on an "AS IS" BASIS,
      WITHOUT WARRANTIES OR +CONDITIONS OF ANY KIND, either express or implied. See the License for the +specific language governing permissions and limitations under the +License.

      +
      +
      +

      For +complete documentation on STM32 Microcontrollers visit www.st.com/STM32

      +
      +

      +
      +
      +

       

      +
      \ No newline at end of file diff --git a/lib/main/STM32_USB-FS-Device_Driver/Release_Notes.html b/lib/main/STM32_USB-FS-Device_Driver/Release_Notes.html index 1072e449b6..cfaab7d127 100644 --- a/lib/main/STM32_USB-FS-Device_Driver/Release_Notes.html +++ b/lib/main/STM32_USB-FS-Device_Driver/Release_Notes.html @@ -1,871 +1,871 @@ - - - - - Release Notes for STM32F10x, STM32L1xx and STM32F3xx USB-FS-Device Driver - - - - - - - - -
      -

      - -   - - -

      -
      - - - - - - -
      - - - - - - - - - -
      -

      - - Back to Release page - - - - - -

      -

      - Release Notes for -

      -

      -  STM32F10x, STM32L1xx and STM32F3xx USB-FS-Device Driver - - - - -

      -

      - Copyright 2012 STMicroelectronics - - - - - - - -

      -

      - - - - - - - -

      -

      - -   - - -

      - - - - - - -
      -

      - Contents - - -

      -
        -
      1. - - Update History - - -
        2. -
      2. - - License - - -
        3. -
      -

      - Update History


      -

      V4.0.0 / 28-August-2012

      - - -

      Main -Changes

      - - - -
        -
      • Remove support of the USB OTG Full speed in device (peripheral) mode embedded in the STM32F105x/7x devices
        • -
          -
        • All source files starting with prefix otgd_fs (ex. otgd_fs_pcd.c/.h) were removed
          • -
        • There is no change on the API dealing with the USB FS Device  peripheral, full compatibility is maintained vs. V3.4.0
          -
          • -
        • The  STM32F105x/7x devices are supported by the STM32F105/7xx, STM32F2xx and STM32F4xx USB On-The-Go Host and Device Library
          -
          • -
        -
      • usb_type.h: remove Types definition (available in stm32xxx.h file, ex. stm32f10x.h)
        -
        • -
      -

      V3.4.0 / 12-March-2012

      -

      Main -Changes

      - -
      • All source files: license disclaimer text update and add link to the License file on ST Internet.
      -

      - V3.3.0 / 21-March-2011 -

      -

      - - Main Changes - - - -

      -
        -
      • - Update library driver to support - - - STM32L15x Medium-Density Low-Power - - - devices (add STM32L1xx defines). -
        • -
      • - Minor fixes: -
        • -
          -
        • - otgd_fs_cal.c: correction of iteration number in OTGD_FS_CoreInitDev() function. -
          • -
        -
          -
        • - usb_core.c: update the remote wakeup checking condition in NoData_Setup0() function. -
          • -
        -
          -
        • - otgd_fs_int.c: update the data count in case of 0 packet length in OTGD_FS_Handle_RxStatusQueueLevel_ISR() function. -
          • -
        -
      - - - - - -

      - - License - - -

      Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); You may not use this package except in compliance with the License. You may obtain a copy of the License at:


      Unless -required by applicable law or agreed to in writing, software -distributed under the License is distributed on an "AS IS" BASIS,
      WITHOUT -WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See -the License for the specific language governing permissions and -limitations under the License.       -
      -       -
      -

      - For - complete documentation on STM32 - Microcontrollers visit www.st.com/STM32 - - - -

      -

      - - - - -

      -
      -

      -   - -

      -
      + + + + + Release Notes for STM32F10x, STM32L1xx and STM32F3xx USB-FS-Device Driver + + + + + + + + +
      +

      + +   + + +

      +
      + + + + + + +
      + + + + + + + + + +
      +

      + + Back to Release page + + + + + +

      +

      + Release Notes for +

      +

      +  STM32F10x, STM32L1xx and STM32F3xx USB-FS-Device Driver + + + + +

      +

      + Copyright 2012 STMicroelectronics + + + + + + + +

      +

      + + + + + + + +

      +

      + +   + + +

      + + + + + + +
      +

      + Contents + + +

      +
        +
      1. + + Update History + + +
        2. +
      2. + + License + + +
        3. +
      +

      + Update History


      +

      V4.0.0 / 28-August-2012

      + + +

      Main +Changes

      + + + +
        +
      • Remove support of the USB OTG Full speed in device (peripheral) mode embedded in the STM32F105x/7x devices
        • +
          +
        • All source files starting with prefix otgd_fs (ex. otgd_fs_pcd.c/.h) were removed
          • +
        • There is no change on the API dealing with the USB FS Device  peripheral, full compatibility is maintained vs. V3.4.0
          +
          • +
        • The  STM32F105x/7x devices are supported by the STM32F105/7xx, STM32F2xx and STM32F4xx USB On-The-Go Host and Device Library
          +
          • +
        +
      • usb_type.h: remove Types definition (available in stm32xxx.h file, ex. stm32f10x.h)
        +
        • +
      +

      V3.4.0 / 12-March-2012

      +

      Main +Changes

      + +
      • All source files: license disclaimer text update and add link to the License file on ST Internet.
      +

      + V3.3.0 / 21-March-2011 +

      +

      + + Main Changes + + + +

      +
        +
      • + Update library driver to support + + + STM32L15x Medium-Density Low-Power + + + devices (add STM32L1xx defines). +
        • +
      • + Minor fixes: +
        • +
          +
        • + otgd_fs_cal.c: correction of iteration number in OTGD_FS_CoreInitDev() function. +
          • +
        +
          +
        • + usb_core.c: update the remote wakeup checking condition in NoData_Setup0() function. +
          • +
        +
          +
        • + otgd_fs_int.c: update the data count in case of 0 packet length in OTGD_FS_Handle_RxStatusQueueLevel_ISR() function. +
          • +
        +
      + + + + + +

      + + License + + +

      Licensed under MCD-ST Liberty SW License Agreement V2, (the "License"); You may not use this package except in compliance with the License. You may obtain a copy of the License at:


      Unless +required by applicable law or agreed to in writing, software +distributed under the License is distributed on an "AS IS" BASIS,
      WITHOUT +WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See +the License for the specific language governing permissions and +limitations under the License.       +
      +       +
      +

      + For + complete documentation on STM32 + Microcontrollers visit www.st.com/STM32 + + + +

      +

      + + + + +

      +
      +

      +   + +

      +
      \ No newline at end of file diff --git a/src/main/config/config.c b/src/main/config/config.c index 485c0793a5..f1f5695754 100644 --- a/src/main/config/config.c +++ b/src/main/config/config.c @@ -352,6 +352,7 @@ static void resetConf(void) masterConfig.retarded_arm = 0; masterConfig.disarm_kill_switch = 1; + masterConfig.auto_disarm_delay = 5; masterConfig.small_angle = 25; masterConfig.airplaneConfig.flaps_speed = 0; @@ -444,6 +445,71 @@ static void resetConf(void) applyDefaultLedStripConfig(masterConfig.ledConfigs); #endif + // alternative defaults AlienWii32 (activate via OPTIONS="ALIENWII32" during make for NAZE target) +#ifdef ALIENWII32 + featureSet(FEATURE_RX_SERIAL); + featureSet(FEATURE_MOTOR_STOP); + featureSet(FEATURE_FAILSAFE); + masterConfig.serialConfig.serial_port_scenario[1] = lookupScenarioIndex(SCENARIO_SERIAL_RX_ONLY); + masterConfig.rxConfig.serialrx_provider = 1; + masterConfig.rxConfig.spektrum_sat_bind = 5; + masterConfig.escAndServoConfig.minthrottle = 1000; + masterConfig.escAndServoConfig.maxthrottle = 2000; + masterConfig.motor_pwm_rate = 32000; + currentControlRateProfile->rcRate8 = 130; + currentControlRateProfile->rollPitchRate = 20; + currentControlRateProfile->yawRate = 60; + parseRcChannels("TAER1234", &masterConfig.rxConfig); + + // { 1.0f, -0.5f, 1.0f, -1.0f }, // REAR_R + masterConfig.customMixer[0].throttle = 1.0f; + masterConfig.customMixer[0].roll = -0.5f; + masterConfig.customMixer[0].pitch = 1.0f; + masterConfig.customMixer[0].yaw = -1.0f; + + // { 1.0f, -0.5f, -1.0f, 1.0f }, // FRONT_R + masterConfig.customMixer[1].throttle = 1.0f; + masterConfig.customMixer[1].roll = -0.5f; + masterConfig.customMixer[1].pitch = -1.0f; + masterConfig.customMixer[1].yaw = 1.0f; + + // { 1.0f, 0.5f, 1.0f, 1.0f }, // REAR_L + masterConfig.customMixer[2].throttle = 1.0f; + masterConfig.customMixer[2].roll = 0.5f; + masterConfig.customMixer[2].pitch = 1.0f; + masterConfig.customMixer[2].yaw = 1.0f; + + // { 1.0f, 0.5f, -1.0f, -1.0f }, // FRONT_L + masterConfig.customMixer[3].throttle = 1.0f; + masterConfig.customMixer[3].roll = 0.5f; + masterConfig.customMixer[3].pitch = -1.0f; + masterConfig.customMixer[3].yaw = -1.0f; + + // { 1.0f, -1.0f, -0.5f, -1.0f }, // MIDFRONT_R + masterConfig.customMixer[4].throttle = 1.0f; + masterConfig.customMixer[4].roll = -1.0f; + masterConfig.customMixer[4].pitch = -0.5f; + masterConfig.customMixer[4].yaw = -1.0f; + + // { 1.0f, 1.0f, -0.5f, 1.0f }, // MIDFRONT_L + masterConfig.customMixer[5].throttle = 1.0f; + masterConfig.customMixer[5].roll = 1.0f; + masterConfig.customMixer[5].pitch = -0.5f; + masterConfig.customMixer[5].yaw = 1.0f; + + // { 1.0f, -1.0f, 0.5f, 1.0f }, // MIDREAR_R + masterConfig.customMixer[6].throttle = 1.0f; + masterConfig.customMixer[6].roll = -1.0f; + masterConfig.customMixer[6].pitch = 0.5f; + masterConfig.customMixer[6].yaw = 1.0f; + + // { 1.0f, 1.0f, 0.5f, -1.0f }, // MIDREAR_L + masterConfig.customMixer[7].throttle = 1.0f; + masterConfig.customMixer[7].roll = 1.0f; + masterConfig.customMixer[7].pitch = 0.5f; + masterConfig.customMixer[7].yaw = -1.0f; +#endif + // copy first profile into remaining profile for (i = 1; i < MAX_PROFILE_COUNT; i++) { memcpy(&masterConfig.profile[i], currentProfile, sizeof(profile_t)); diff --git a/src/main/config/config_master.h b/src/main/config/config_master.h index 6b1f1a16d1..f5575be0c8 100644 --- a/src/main/config/config_master.h +++ b/src/main/config/config_master.h @@ -63,6 +63,7 @@ typedef struct master_t { uint8_t retarded_arm; // allow disarm/arm on throttle down + roll left/right uint8_t disarm_kill_switch; // allow disarm via AUX switch regardless of throttle value + uint8_t auto_disarm_delay; // allow automatically disarming multicopters after auto_disarm_delay seconds of zero throttle. Disabled when 0 uint8_t small_angle; airplaneConfig_t airplaneConfig; diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index 5ca1c8cf76..85bbe09dbf 100644 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -297,7 +297,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init) // this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ] if (init->airplane) i = 2; // switch to air hardware config - if (init->usePPM) + if (init->usePPM || init->useSerialRx) i++; // next index is for PPM setup = hardwareMaps[i]; diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h index c0c6d751d2..b11ac21b47 100644 --- a/src/main/drivers/pwm_mapping.h +++ b/src/main/drivers/pwm_mapping.h @@ -39,6 +39,7 @@ typedef struct drv_pwm_config_t { bool useParallelPWM; bool usePPM; + bool useSerialRx; bool useRSSIADC; bool useCurrentMeterADC; #ifdef STM32F10X diff --git a/src/main/flight/flight.c b/src/main/flight/flight.c index f6dea18ce3..22ee35fc93 100644 --- a/src/main/flight/flight.c +++ b/src/main/flight/flight.c @@ -189,7 +189,8 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa UNUSED(controlRateConfig); // **** PITCH & ROLL & YAW PID **** - prop = max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])); // range [0;500] + prop = min(max(abs(rcCommand[PITCH]), abs(rcCommand[ROLL])), 500); // range [0;500] + for (axis = 0; axis < 3; axis++) { if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC // observe max inclination diff --git a/src/main/io/ledstrip.c b/src/main/io/ledstrip.c index 37949dc94b..5c6b3880e0 100644 --- a/src/main/io/ledstrip.c +++ b/src/main/io/ledstrip.c @@ -573,7 +573,7 @@ void applyLedWarningLayer(uint8_t updateNow) if (feature(FEATURE_VBAT) && calculateBatteryState() != BATTERY_OK) { warningFlags |= WARNING_FLAG_LOW_BATTERY; } - if (failsafe->vTable->hasTimerElapsed()) { + if (feature(FEATURE_FAILSAFE) && failsafe->vTable->hasTimerElapsed()) { warningFlags |= WARNING_FLAG_FAILSAFE; } if (!ARMING_FLAG(ARMED) && !ARMING_FLAG(OK_TO_ARM)) { diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c index 7247a8a22d..66db651275 100644 --- a/src/main/io/rc_controls.c +++ b/src/main/io/rc_controls.c @@ -57,6 +57,11 @@ int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+ uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e +bool isUsingSticksForArming(void) +{ + return isUsingSticksToArm; +} + bool areSticksInApModePosition(uint16_t ap_mode) { return abs(rcCommand[ROLL]) < ap_mode && abs(rcCommand[PITCH]) < ap_mode; @@ -519,6 +524,8 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es escAndServoConfig = escAndServoConfigToUse; pidProfile = pidProfileToUse; + isUsingSticksToArm = true; + for (index = 0; index < MAX_MODE_ACTIVATION_CONDITION_COUNT; index++) { modeActivationCondition_t *modeActivationCondition = &modeActivationConditions[index]; if (modeActivationCondition->modeId == BOXARM && IS_RANGE_USABLE(&modeActivationCondition->range)) { diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h index 051e252141..745acd4682 100644 --- a/src/main/io/rc_controls.h +++ b/src/main/io/rc_controls.h @@ -213,3 +213,4 @@ void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmen void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges); void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig); +bool isUsingSticksForArming(void); diff --git a/src/main/io/serial.c b/src/main/io/serial.c index 2799cde91e..ab3c1de884 100644 --- a/src/main/io/serial.c +++ b/src/main/io/serial.c @@ -81,7 +81,7 @@ static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = { #endif }; -static const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = { +const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = { {SERIAL_PORT_USB_VCP, 9600, 115200, SPF_NONE }, {SERIAL_PORT_USART1, 9600, 115200, SPF_NONE | SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_BIDIR_MODE}, {SERIAL_PORT_USART2, 9600, 115200, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_BIDIR_MODE}, @@ -102,7 +102,7 @@ static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = { {SERIAL_PORT_SOFTSERIAL1, NULL, SCENARIO_UNUSED, FUNCTION_NONE} }; -static const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = { +const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = { {SERIAL_PORT_USART1, 9600, 115200, SPF_NONE | SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_BIDIR_MODE}, {SERIAL_PORT_USART3, 9600, 115200, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_BIDIR_MODE}, {SERIAL_PORT_SOFTSERIAL1, 9600, 19200, SPF_SUPPORTS_CALLBACK | SPF_IS_SOFTWARE_INVERTABLE} @@ -118,7 +118,7 @@ static serialPortFunction_t serialPortFunctions[SERIAL_PORT_COUNT] = { #endif }; -static const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = { +const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT] = { {SERIAL_PORT_USART1, 9600, 250000, SPF_NONE | SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_BIDIR_MODE}, {SERIAL_PORT_USART2, 9600, 250000, SPF_SUPPORTS_CALLBACK | SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_BIDIR_MODE}, #if (SERIAL_PORT_COUNT > 2) @@ -544,9 +544,10 @@ serialPort_t *findSharedSerialPort(serialPortFunction_e functionToUse, uint16_t void applySerialConfigToPortFunctions(serialConfig_t *serialConfig) { - uint32_t portIndex = 0, serialPortIdentifier; + uint32_t portIndex = 0, serialPortIdentifier, constraintIndex; - for (serialPortIdentifier = 0; serialPortIdentifier < SERIAL_PORT_IDENTIFIER_COUNT && portIndex < SERIAL_PORT_COUNT; serialPortIdentifier++) { + for (constraintIndex = 0; constraintIndex < SERIAL_PORT_COUNT && portIndex < SERIAL_PORT_COUNT; constraintIndex++) { + serialPortIdentifier = serialPortConstraints[constraintIndex].identifier; uint32_t functionIndex = lookupSerialPortFunctionIndexByIdentifier(serialPortIdentifier); if (functionIndex == IDENTIFIER_NOT_FOUND) { continue; diff --git a/src/main/io/serial.h b/src/main/io/serial.h index 043d2c486e..854044421f 100644 --- a/src/main/io/serial.h +++ b/src/main/io/serial.h @@ -73,42 +73,18 @@ typedef enum { #endif } serialPortIndex_e; - -#ifdef STM32F303xC - -typedef enum { - SERIAL_PORT_USB_VCP = 0, - SERIAL_PORT_USART1, - SERIAL_PORT_USART2, - SERIAL_PORT_USART3, - SERIAL_PORT_USART4 -} serialPortIdentifier_e; - -#define SERIAL_PORT_IDENTIFIER_COUNT 5 -#else - -#ifdef CC3D - -typedef enum { - SERIAL_PORT_USART1 = 0, - SERIAL_PORT_USART3, - SERIAL_PORT_SOFTSERIAL1, -} serialPortIdentifier_e; - -#define SERIAL_PORT_IDENTIFIER_COUNT 3 -#else - +// serial port identifiers are now fixed, these values are used by MSP commands. typedef enum { SERIAL_PORT_USART1 = 0, SERIAL_PORT_USART2, SERIAL_PORT_USART3, - SERIAL_PORT_SOFTSERIAL1, - SERIAL_PORT_SOFTSERIAL2 + SERIAL_PORT_USART4, + SERIAL_PORT_USB_VCP = 20, + SERIAL_PORT_SOFTSERIAL1 = 30, + SERIAL_PORT_SOFTSERIAL2, + SERIAL_PORT_IDENTIFIER_MAX = SERIAL_PORT_SOFTSERIAL2 } serialPortIdentifier_e; -#define SERIAL_PORT_IDENTIFIER_COUNT 5 -#endif -#endif // bitmask typedef enum { @@ -125,6 +101,7 @@ typedef struct serialPortConstraint_s { uint32_t maxBaudRate; serialPortFeature_t feature; } serialPortConstraint_t; +extern const serialPortConstraint_t serialPortConstraints[SERIAL_PORT_COUNT]; typedef struct serialPortFunction_s { serialPortIdentifier_e identifier; diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c index de6ae36670..79b3f27c47 100644 --- a/src/main/io/serial_cli.c +++ b/src/main/io/serial_cli.c @@ -236,6 +236,7 @@ const clivalue_t valueTable[] = { { "retarded_arm", VAR_UINT8 | MASTER_VALUE, &masterConfig.retarded_arm, 0, 1 }, { "disarm_kill_switch", VAR_UINT8 | MASTER_VALUE, &masterConfig.disarm_kill_switch, 0, 1 }, + { "auto_disarm_delay", VAR_UINT8 | MASTER_VALUE, &masterConfig.auto_disarm_delay, 0, 60 }, { "small_angle", VAR_UINT8 | MASTER_VALUE, &masterConfig.small_angle, 0, 180 }, { "flaps_speed", VAR_UINT8 | MASTER_VALUE, &masterConfig.airplaneConfig.flaps_speed, 0, 100 }, diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c index 27268a7795..b43409bf54 100644 --- a/src/main/io/serial_msp.c +++ b/src/main/io/serial_msp.c @@ -80,6 +80,8 @@ extern uint16_t cycleTime; // FIXME dependency on mw.c extern uint16_t rssi; // FIXME dependency on mw.c extern int16_t debug[4]; // FIXME dependency on mw.c +void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, escAndServoConfig_t *escAndServoConfigToUse, pidProfile_t *pidProfileToUse); + /** * MSP Guidelines, emphasis is used to clarify. * @@ -96,7 +98,7 @@ extern int16_t debug[4]; // FIXME dependency on mw.c * API consumers should ALWAYS handle communication failures gracefully and attempt to continue * without the information if possible. Clients MAY log/display a suitable message. * - * API clients should NOT attempt any communication if they can't handle the API MAJOR VERSION. + * API clients should NOT attempt any communication if they can't handle the returned API MAJOR VERSION. * * API clients SHOULD attempt communication if the API MINOR VERSION has increased from the time * the API client was written and handle command failures gracefully. Clients MAY disable @@ -119,7 +121,7 @@ extern int16_t debug[4]; // FIXME dependency on mw.c #define MSP_PROTOCOL_VERSION 0 #define API_VERSION_MAJOR 1 // increment when major changes are made -#define API_VERSION_MINOR 0 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR +#define API_VERSION_MINOR 1 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR #define API_VERSION_LENGTH 2 @@ -152,21 +154,11 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER; #define CAP_NAVCAP ((uint32_t)1 << 4) #define CAP_EXTAUX ((uint32_t)1 << 5) -/** - * Returns MSP protocol version - * API version - * Flight Controller Identifier - * Flight Controller build version (major, minor, patchlevel) - * Board Identifier - * Board Hardware Revision - * Build Date - "MMM DD YYYY" MMM = Jan/Feb/... - * Build Time - "HH:MM:SS" - * SCM reference length - * SCM reference (git revision, svn commit id) - * Additional FC information length - * Additional FC information (as decided by the FC, for FC specific tools to use as required) - **/ #define MSP_API_VERSION 1 //out message +#define MSP_FC_VARIANT 2 //out message +#define MSP_FC_VERSION 3 //out message +#define MSP_BOARD_INFO 4 //out message +#define MSP_BUILD_INFO 5 //out message // // MSP commands for Cleanflight original features @@ -204,6 +196,10 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER; #define MSP_ADJUSTMENT_RANGES 52 #define MSP_SET_ADJUSTMENT_RANGE 53 +// private - only to be used by the configurator, the commands are likely to change +#define MSP_CF_SERIAL_CONFIG 54 +#define MSP_SET_CF_SERIAL_CONFIG 55 + // // Baseflight MSP commands (if enabled they exist in Cleanflight) // @@ -211,14 +207,14 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER; #define MSP_SET_RX_MAP 65 //in message set rx map, numchannels to set comes from MSP_RX_MAP // FIXME - Provided for backwards compatibility with configurator code until configurator is updated. -// DEPRECATED - DO NOT USE "MSP_CONFIG" and MSP_SET_CONFIG. In Cleanflight, isolated commands already exist and should be used instead. -#define MSP_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere -#define MSP_SET_CONFIG 67 //in message baseflight-specific settings save +// DEPRECATED - DO NOT USE "MSP_BF_CONFIG" and MSP_SET_BF_CONFIG. In Cleanflight, isolated commands already exist and should be used instead. +#define MSP_BF_CONFIG 66 //out message baseflight-specific settings that aren't covered elsewhere +#define MSP_SET_BF_CONFIG 67 //in message baseflight-specific settings save #define MSP_REBOOT 68 //in message reboot settings -// DEPRECATED - Use MSP_API_VERSION instead -#define MSP_BUILD_INFO 69 //out message build date as well as some space for future expansion +// DEPRECATED - Use MSP_BUILD_INFO instead +#define MSP_BF_BUILD_INFO 69 //out message build date as well as some space for future expansion // // Multwii original MSP commands @@ -655,35 +651,37 @@ static bool processOutCommand(uint8_t cmdMSP) switch (cmdMSP) { case MSP_API_VERSION: - // the components of this command are in an order such that future changes could be made to it without breaking clients. - // i.e. most important first. headSerialReply( 1 + // protocol version length - API_VERSION_LENGTH + - FLIGHT_CONTROLLER_IDENTIFIER_LENGTH + - FLIGHT_CONTROLLER_VERSION_LENGTH + - BOARD_IDENTIFIER_LENGTH + - BOARD_HARDWARE_REVISION_LENGTH + - BUILD_DATE_LENGTH + - BUILD_TIME_LENGTH + - 1 + // scm reference length - GIT_SHORT_REVISION_LENGTH + - 1 // additional FC specific length - // no addition FC specific data yet. + API_VERSION_LENGTH ); serialize8(MSP_PROTOCOL_VERSION); serialize8(API_VERSION_MAJOR); serialize8(API_VERSION_MINOR); + break; + + case MSP_FC_VARIANT: + headSerialReply(FLIGHT_CONTROLLER_IDENTIFIER_LENGTH); for (i = 0; i < FLIGHT_CONTROLLER_IDENTIFIER_LENGTH; i++) { serialize8(flightControllerIdentifier[i]); } + break; + + case MSP_FC_VERSION: + headSerialReply(FLIGHT_CONTROLLER_VERSION_LENGTH); serialize8(FC_VERSION_MAJOR); serialize8(FC_VERSION_MINOR); serialize8(FC_VERSION_PATCH_LEVEL); + break; + case MSP_BOARD_INFO: + headSerialReply( + BOARD_IDENTIFIER_LENGTH + + BOARD_HARDWARE_REVISION_LENGTH + ); for (i = 0; i < BOARD_IDENTIFIER_LENGTH; i++) { serialize8(boardIdentifier[i]); } @@ -692,6 +690,14 @@ static bool processOutCommand(uint8_t cmdMSP) #else serialize16(0); // No other build targets currently have hardware revision detection. #endif + break; + + case MSP_BUILD_INFO: + headSerialReply( + BUILD_DATE_LENGTH + + BUILD_TIME_LENGTH + + GIT_SHORT_REVISION_LENGTH + ); for (i = 0; i < BUILD_DATE_LENGTH; i++) { serialize8(buildDate[i]); @@ -700,11 +706,9 @@ static bool processOutCommand(uint8_t cmdMSP) serialize8(buildTime[i]); } - serialize8(GIT_SHORT_REVISION_LENGTH); for (i = 0; i < GIT_SHORT_REVISION_LENGTH; i++) { serialize8(shortGitRevision[i]); } - serialize8(0); // No flight controller specific information to follow. break; // DEPRECATED - Use MSP_API_VERSION @@ -760,7 +764,7 @@ static bool processOutCommand(uint8_t cmdMSP) break; case MSP_RAW_IMU: headSerialReply(18); - // Retarded hack until multiwiidorks start using real units for sensor data + // Hack due to choice of units for sensor data in multiwii if (acc_1G > 1024) { for (i = 0; i < 3; i++) serialize16(accSmooth[i] / 8); @@ -982,7 +986,7 @@ static bool processOutCommand(uint8_t cmdMSP) serialize8(GPS_svinfo_svid[i]); serialize8(GPS_svinfo_quality[i]); serialize8(GPS_svinfo_cno[i]); - } + } break; #endif case MSP_DEBUG: @@ -1050,7 +1054,7 @@ static bool processOutCommand(uint8_t cmdMSP) serialize8(masterConfig.rxConfig.rcmap[i]); break; - case MSP_CONFIG: + case MSP_BF_CONFIG: headSerialReply(1 + 4 + 1 + 2 + 2 + 2 + 2 + 2); serialize8(masterConfig.mixerMode); @@ -1066,6 +1070,21 @@ static bool processOutCommand(uint8_t cmdMSP) serialize16(masterConfig.batteryConfig.currentMeterOffset); break; + case MSP_CF_SERIAL_CONFIG: + headSerialReply( + ((sizeof(uint8_t) * 2) * SERIAL_PORT_COUNT) + + (sizeof(uint32_t) * 4) + ); + for (i = 0; i < SERIAL_PORT_COUNT; i++) { + serialize8(serialPortConstraints[i].identifier); + serialize8(masterConfig.serialConfig.serial_port_scenario[i]); + } + serialize32(masterConfig.serialConfig.msp_baudrate); + serialize32(masterConfig.serialConfig.cli_baudrate); + serialize32(masterConfig.serialConfig.gps_baudrate); + serialize32(masterConfig.serialConfig.gps_passthrough_baudrate); + break; + #ifdef LED_STRIP case MSP_LED_COLORS: headSerialReply(CONFIGURABLE_COLOR_COUNT * 4); @@ -1088,7 +1107,7 @@ static bool processOutCommand(uint8_t cmdMSP) } break; #endif - case MSP_BUILD_INFO: + case MSP_BF_BUILD_INFO: headSerialReply(11 + 4 + 4); for (i = 0; i < 11; i++) serialize8(buildDate[i]); // MMM DD YYYY as ascii, MMM = Jan/Feb... etc @@ -1172,6 +1191,8 @@ static bool processInCommand(void) mac->auxChannelIndex = read8(); mac->range.startStep = read8(); mac->range.endStep = read8(); + + useRcControlsConfig(currentProfile->modeActivationConditions, &masterConfig.escAndServoConfig, ¤tProfile->pidProfile); } else { headSerialError(0); } @@ -1364,7 +1385,7 @@ static bool processInCommand(void) } break; - case MSP_SET_CONFIG: + case MSP_SET_BF_CONFIG: #ifdef USE_QUAD_MIXER_ONLY read8(); // mixerMode ignored @@ -1385,6 +1406,24 @@ static bool processInCommand(void) masterConfig.batteryConfig.currentMeterOffset = read16(); break; + case MSP_SET_CF_SERIAL_CONFIG: + { + uint8_t baudRateSize = (sizeof(uint32_t) * 4); + uint8_t serialPortCount = currentPort->dataSize - baudRateSize; + if (serialPortCount != SERIAL_PORT_COUNT) { + headSerialError(0); + break; + } + for (i = 0; i < SERIAL_PORT_COUNT; i++) { + masterConfig.serialConfig.serial_port_scenario[i] = read8(); + } + masterConfig.serialConfig.msp_baudrate = read32(); + masterConfig.serialConfig.cli_baudrate = read32(); + masterConfig.serialConfig.gps_baudrate = read32(); + masterConfig.serialConfig.gps_passthrough_baudrate = read32(); + } + break; + #ifdef LED_STRIP case MSP_SET_LED_COLORS: for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) { @@ -1469,6 +1508,7 @@ static void mspProcessPort(void) tailSerialReply(); } currentPort->c_state = IDLE; + break; // process one command so as not to block. } } } diff --git a/src/main/main.c b/src/main/main.c index eb12aa9d44..9b06fd39f5 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -290,6 +290,7 @@ void init(void) pwm_params.useLEDStrip = feature(FEATURE_LED_STRIP); pwm_params.usePPM = feature(FEATURE_RX_PPM); pwm_params.useOneshot = feature(FEATURE_ONESHOT125); + pwm_params.useSerialRx = feature(FEATURE_RX_SERIAL); pwm_params.useServos = isMixerUsingServos(); pwm_params.extraServos = currentProfile->gimbalConfig.gimbal_flags & GIMBAL_FORWARDAUX; pwm_params.motorPwmRate = masterConfig.motor_pwm_rate; diff --git a/src/main/mw.c b/src/main/mw.c index 93427736f8..54defd191e 100644 --- a/src/main/mw.c +++ b/src/main/mw.c @@ -91,6 +91,7 @@ uint16_t cycleTime = 0; // this is the number in micro second to achieve int16_t headFreeModeHold; int16_t telemTemperature1; // gyro sensor temperature +static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero extern uint8_t dynP8[3], dynI8[3], dynD8[3]; extern failsafe_t *failsafe; @@ -326,6 +327,8 @@ void mwArm(void) } } #endif + disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero + return; } } @@ -493,6 +496,21 @@ void processRx(void) resetErrorAngle(); resetErrorGyro(); } + // When armed and motors aren't spinning, disarm board after delay so users without buzzer won't lose fingers. + // mixTable constrains motor commands, so checking throttleStatus is enough + if ( + ARMING_FLAG(ARMED) + && feature(FEATURE_MOTOR_STOP) && !STATE(FIXED_WING) + && masterConfig.auto_disarm_delay != 0 + && isUsingSticksForArming() + ) { + if (throttleStatus == THROTTLE_LOW) { + if ((int32_t)(disarmAt - millis()) < 0) // delay is over + mwDisarm(); + } else { + disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // extend delay + } + } processRcStickPositions(&masterConfig.rxConfig, throttleStatus, masterConfig.retarded_arm, masterConfig.disarm_kill_switch); diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c index d6e9247f6e..71c543c4ab 100644 --- a/src/main/rx/sbus.c +++ b/src/main/rx/sbus.c @@ -35,9 +35,14 @@ #include "rx/rx.h" #include "rx/sbus.h" +#define DEBUG_SBUS_PACKETS + + #define SBUS_MAX_CHANNEL 16 #define SBUS_FRAME_SIZE 25 -#define SBUS_SYNCBYTE 0x0F + +#define SBUS_FRAME_BEGIN_BYTE 0x0F +#define SBUS_FRAME_END_BYTE 0x00 #define SBUS_BAUDRATE 100000 @@ -48,6 +53,7 @@ static uint16_t sbusReadRawRC(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); static uint32_t sbusChannelData[SBUS_MAX_CHANNEL]; static serialPort_t *sBusPort; +static uint32_t sbusSignalLostEventCount = 0; void sbusUpdateSerialRxFunctionConstraint(functionConstraint_t *functionConstraint) { @@ -71,7 +77,14 @@ bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa return sBusPort != NULL; } -struct sbus_dat { +#define SBUS_FLAG_RESERVED_1 (1 << 0) +#define SBUS_FLAG_RESERVED_2 (1 << 1) +#define SBUS_FLAG_SIGNAL_LOSS (1 << 2) +#define SBUS_FLAG_FAILSAFE_ACTIVE (1 << 3) + +struct sbusFrame_s { + uint8_t syncByte; + // 176 bits of data (11 bits per channel * 16 channels) = 22 bytes. unsigned int chan0 : 11; unsigned int chan1 : 11; unsigned int chan2 : 11; @@ -88,39 +101,53 @@ struct sbus_dat { unsigned int chan13 : 11; unsigned int chan14 : 11; unsigned int chan15 : 11; + uint8_t flags; + uint8_t endByte; } __attribute__ ((__packed__)); typedef union { - uint8_t in[SBUS_FRAME_SIZE]; - struct sbus_dat msg; -} sbus_msg; + uint8_t bytes[SBUS_FRAME_SIZE]; + struct sbusFrame_s frame; +} sbusFrame_t; -static sbus_msg sbus; +static sbusFrame_t sbusFrame; // Receive ISR callback static void sbusDataReceive(uint16_t c) { - uint32_t sbusTime; - static uint32_t sbusTimeLast; - static uint8_t sbusFramePosition; +#ifdef DEBUG_SBUS_PACKETS + static uint8_t sbusUnusedFrameCount = 0; +#endif - sbusTime = micros(); - if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing + static uint8_t sbusFramePosition = 0; + static uint32_t sbusTimeoutAt = 0; + uint32_t now = millis(); + + if ((int32_t)(sbusTimeoutAt - now) < 0) { sbusFramePosition = 0; - sbusTimeLast = sbusTime; + } + sbusTimeoutAt = now + 2500; - if (sbusFramePosition == 0 && c != SBUS_SYNCBYTE) + sbusFrame.bytes[sbusFramePosition] = (uint8_t)c; + + if (sbusFramePosition == 0 && c != SBUS_FRAME_BEGIN_BYTE) { return; + } - sbusFrameDone = false; // lazy main loop didnt fetch the stuff - if (sbusFramePosition != 0) - sbus.in[sbusFramePosition - 1] = (uint8_t)c; + sbusFramePosition++; - if (sbusFramePosition == SBUS_FRAME_SIZE - 1) { - sbusFrameDone = true; + if (sbusFramePosition == SBUS_FRAME_SIZE) { + if (sbusFrame.frame.endByte == SBUS_FRAME_END_BYTE) { + sbusFrameDone = true; + } sbusFramePosition = 0; } else { - sbusFramePosition++; +#ifdef DEBUG_SBUS_PACKETS + if (sbusFrameDone) { + sbusUnusedFrameCount++; + } +#endif + sbusFrameDone = false; } } @@ -130,26 +157,32 @@ bool sbusFrameComplete(void) return false; } sbusFrameDone = false; - if ((sbus.in[SBUS_FRAME_SIZE - 3] >> 3) & 0x0001) { + + if (sbusFrame.frame.flags & SBUS_FLAG_SIGNAL_LOSS) { + // internal failsafe enabled and rx failsafe flag set + sbusSignalLostEventCount++; + } + if (sbusFrame.frame.flags & SBUS_FLAG_FAILSAFE_ACTIVE) { // internal failsafe enabled and rx failsafe flag set return false; } - sbusChannelData[0] = sbus.msg.chan0; - sbusChannelData[1] = sbus.msg.chan1; - sbusChannelData[2] = sbus.msg.chan2; - sbusChannelData[3] = sbus.msg.chan3; - sbusChannelData[4] = sbus.msg.chan4; - sbusChannelData[5] = sbus.msg.chan5; - sbusChannelData[6] = sbus.msg.chan6; - sbusChannelData[7] = sbus.msg.chan7; - sbusChannelData[8] = sbus.msg.chan8; - sbusChannelData[9] = sbus.msg.chan9; - sbusChannelData[10] = sbus.msg.chan10; - sbusChannelData[11] = sbus.msg.chan11; - sbusChannelData[12] = sbus.msg.chan12; - sbusChannelData[13] = sbus.msg.chan13; - sbusChannelData[14] = sbus.msg.chan14; - sbusChannelData[15] = sbus.msg.chan15; + + sbusChannelData[0] = sbusFrame.frame.chan0; + sbusChannelData[1] = sbusFrame.frame.chan1; + sbusChannelData[2] = sbusFrame.frame.chan2; + sbusChannelData[3] = sbusFrame.frame.chan3; + sbusChannelData[4] = sbusFrame.frame.chan4; + sbusChannelData[5] = sbusFrame.frame.chan5; + sbusChannelData[6] = sbusFrame.frame.chan6; + sbusChannelData[7] = sbusFrame.frame.chan7; + sbusChannelData[8] = sbusFrame.frame.chan8; + sbusChannelData[9] = sbusFrame.frame.chan9; + sbusChannelData[10] = sbusFrame.frame.chan10; + sbusChannelData[11] = sbusFrame.frame.chan11; + sbusChannelData[12] = sbusFrame.frame.chan12; + sbusChannelData[13] = sbusFrame.frame.chan13; + sbusChannelData[14] = sbusFrame.frame.chan14; + sbusChannelData[15] = sbusFrame.frame.chan15; return true; } diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index f6cd2c45ab..453cb18e9b 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -17,7 +17,7 @@ #pragma once -#define TARGET_BOARD_IDENTIFIER "AFNA" // AFroNAze - NAZE might be considerd misleading on Naze clones like the flip32. +#define TARGET_BOARD_IDENTIFIER "AFNA" // AFroNAze - NAZE might be considered misleading on Naze clones like the flip32. #define LED0_GPIO GPIOB #define LED0_PIN Pin_3 // PB3 (LED) @@ -132,3 +132,12 @@ // USART2, PA3 #define BIND_PORT GPIOA #define BIND_PIN Pin_3 + +// alternative defaults AlienWii32 (activate via OPTIONS="ALIENWII32" during make for NAZE target) +#ifdef ALIENWII32 +#define BRUSHED_MOTORS +#define HARDWARE_BIND_PLUG +// Hardware bind plug at PB5 (Pin 41) +#define BINDPLUG_PORT GPIOB +#define BINDPLUG_PIN Pin_5 +#endif diff --git a/src/main/version.h b/src/main/version.h index 841d91068d..1872c1f898 100644 --- a/src/main/version.h +++ b/src/main/version.h @@ -16,7 +16,7 @@ */ #define FC_VERSION_MAJOR 1 // increment when a major release is made (big new feature, etc) -#define FC_VERSION_MINOR 0 // increment when a minor release is made (small new feature, change etc) +#define FC_VERSION_MINOR 4 // increment when a minor release is made (small new feature, change etc) #define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed #define MW_VERSION 231