Merge branch 'master' into serial-cleanup

Conflicts:
	src/main/telemetry/hott.c

.travis.yml

@@ -1,7 +1,7 @@
 env:
   - RUNTESTS=True
   - TARGET=CC3D
-  - TARGET=CC3D OPBL=yes
+  - TARGET=CC3D OPBL=yes 
   - TARGET=CHEBUZZF3
   - TARGET=CJMCU
   - TARGET=EUSTM32F103RC
@@ -17,8 +17,16 @@ env:
 # We use cpp for unit tests, and c for the main project.
 language: cpp
 compiler: clang
-before_install: sudo add-apt-repository -y ppa:terry.guo/gcc-arm-embedded && sudo apt-get update
+
-install: sudo apt-get install build-essential gcc-arm-none-eabi git
+before_install: 
+  - sudo apt-get update
+  - wget "https://launchpad.net/gcc-arm-embedded/4.8/4.8-2014-q3-update/+download/gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2"
+
+install: 
+  - sudo apt-get install build-essential git libc6-i386
+  - tar -xf gcc-arm-none-eabi-4_8-2014q3-20140805-linux.tar.bz2
+  - export PATH=$PATH:$PWD/gcc-arm-none-eabi-4_8-2014q3/bin
+   
 before_script: arm-none-eabi-gcc --version
 script: ./.travis.sh
 

Makefile

@@ -374,6 +374,7 @@ endif
 
 ifeq ($(OPBL),yes)
 ifneq ($(filter $(TARGET),$(OPBL_VALID_TARGETS)),)
+TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
 LD_SCRIPT	 = $(LINKER_DIR)/stm32_flash_f103_128k_opbl.ld
 .DEFAULT_GOAL := binary
 else
@@ -430,6 +431,8 @@ CC3D_SRC	 = \
 		   drivers/system_stm32f10x.c \
 		   drivers/timer.c \
 		   drivers/timer_stm32f10x.c \
+		   drivers/flash_m25p16.c \
+		   io/flashfs.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCP_SRC)

docs/Blackbox.md

@@ -121,9 +121,9 @@ tubing instead.
 ![OpenLog installed](Wiring/blackbox-installation-1.jpg "OpenLog installed with double-sided tape, SDCard slot pointing outward")
 
 ### Onboard dataflash storage
-The full version of the Naze32 has an onboard "m25p16" 2 megayte dataflash storage chip which can be used to store
+The full version of the Naze32 and the CC3D have an onboard "m25p16" 2 megayte dataflash storage chip which can be used
-flight logs instead of using an OpenLog. This is the small chip at the base of the Naze32's direction arrow. 
+to store flight logs instead of using an OpenLog. This is a small chip with 8 fat legs, which can be found at the base
-This chip is not present on the "Acro" version of the Naze32.
+of the Naze32's direction arrow. This chip is not present on the "Acro" version of the Naze32.
 
 ## Enabling the Blackbox (CLI)
 In the [Cleanflight Configurator][] , enter the CLI tab. Enable the Blackbox feature by typing in `feature BLACKBOX` and

src/main/drivers/bus_spi.c

@@ -237,7 +237,7 @@ bool spiInit(SPI_TypeDef *instance)
     }
 #endif
 #ifdef USE_SPI_DEVICE_2
-    if (instance == SPI1) {
+    if (instance == SPI2) {
         initSpi2();
         return true;
     }

src/main/flight/autotune.c

@@ -270,7 +270,9 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
             firstPeakAngle = currentAngle;
             targetAngleAtPeak = targetAngle;
 
+#ifdef DEBUG_AUTOTUNE
             debug[3] = DEGREES_TO_DECIDEGREES(firstPeakAngle);
+#endif
 
         } else if (firstPeakAngle > 0) {
             switch (cycle) {
@@ -320,7 +322,9 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
 
         if (currentAngle < secondPeakAngle) {
             secondPeakAngle = currentAngle;
+#ifdef DEBUG_AUTOTUNE
             debug[3] = DEGREES_TO_DECIDEGREES(secondPeakAngle);
+#endif
         }
 
         float oscillationAmplitude = firstPeakAngle - secondPeakAngle;
@@ -395,9 +399,11 @@ float autotune(angle_index_t angleIndex, const rollAndPitchInclination_t *inclin
         }
     }
 
+#ifdef DEBUG_AUTOTUNE
     if (angleIndex == AI_ROLL) {
         debug[0] += 100;
     }
+#endif
 
     updateTargetAngle();
 

src/main/main.c

@@ -392,7 +392,7 @@ void init(void)
         m25p16_init();
     }
 #endif
-#ifdef SPRACINGF3
+#if defined(SPRACINGF3) || defined(CC3D)
     m25p16_init();
 #endif
     flashfsInit();

src/main/rx/sbus.c

@@ -50,7 +50,7 @@
 #define SBUS_TIME_NEEDED_PER_FRAME 3000
 
 #ifndef CJMCU
-#define DEBUG_SBUS_PACKETS
+//#define DEBUG_SBUS_PACKETS
 #endif
 
 #ifdef DEBUG_SBUS_PACKETS

src/main/target/CC3D/target.h

@@ -35,6 +35,13 @@
 #define MPU6000_CS_PIN        GPIO_Pin_4
 #define MPU6000_SPI_INSTANCE  SPI1
 
+#define M25P16_CS_GPIO        GPIOB
+#define M25P16_CS_PIN         GPIO_Pin_12
+#define M25P16_SPI_INSTANCE   SPI2
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+
 #define USABLE_TIMER_CHANNEL_COUNT 12
 
 #define GYRO
@@ -97,7 +104,6 @@
 #define RSSI_ADC_GPIO_PIN           GPIO_Pin_1
 #define RSSI_ADC_CHANNEL            ADC_Channel_1
 
-
 #define GPS
 #define LED_STRIP
 #define LED_STRIP_TIMER TIM3
@@ -108,6 +114,10 @@
 #define AUTOTUNE
 #define USE_SERVOS
 
+#if defined(OPBL)
+#undef AUTOTUNE // disabled for OPBL build due to code size.
+#endif
+
 #define SPEKTRUM_BIND
 // USART3, PB11 (Flexport)
 #define BIND_PORT  GPIOB

src/main/telemetry/hott.c

@@ -113,8 +113,6 @@ static portSharing_e hottPortSharing;
 static HOTT_GPS_MSG_t hottGPSMessage;
 static HOTT_EAM_MSG_t hottEAMMessage;
 
-static bool useSoftserialRxFailureWorkaround = false;
-
 static void initialiseEAMMessage(HOTT_EAM_MSG_t *msg, size_t size)
 {
     memset(msg, 0, size);
@@ -280,16 +278,6 @@ void configureHoTTTelemetryPort(void)
         return;
     }
 
-#ifdef USE_SOFTSERIAL1
-    if (hottPort->identifier == SERIAL_PORT_SOFTSERIAL1) {
-        useSoftserialRxFailureWorkaround = true;
-    }
-#endif
-#ifdef USE_SOFTSERIAL2
-    if (hottPort->identifier == SERIAL_PORT_SOFTSERIAL2) {
-        useSoftserialRxFailureWorkaround = true;
-    }
-#endif
     hottTelemetryEnabled = true;
 }
 
@@ -372,18 +360,6 @@ static void hottCheckSerialData(uint32_t currentMicros)
 
     uint8_t bytesWaiting = serialTotalBytesWaiting(hottPort);
 
-    if (useSoftserialRxFailureWorkaround) {
-        // FIXME The 0x80 is being read as 0x00 - softserial timing/syncronisation problem somewhere.
-        if (!bytesWaiting) {
-            return;
-        }
-
-        uint8_t incomingByte = serialRead(hottPort);
-        processBinaryModeRequest(incomingByte);
-
-        return;
-    }
-
     if (bytesWaiting <= 1) {
         return;
     }
@@ -410,7 +386,7 @@ static void hottCheckSerialData(uint32_t currentMicros)
     uint8_t requestId = serialRead(hottPort);
     uint8_t address = serialRead(hottPort);
 
-    if (requestId == HOTT_BINARY_MODE_REQUEST_ID) {
+    if ((requestId == 0) || (requestId == HOTT_BINARY_MODE_REQUEST_ID) || (address == HOTT_TELEMETRY_NO_SENSOR_ID)) {
         processBinaryModeRequest(address);
     }
 }

src/test/unit/telemetry_hott_unittest.cc

@@ -190,7 +190,7 @@ void serialSetMode(serialPort_t *instance, portMode_t mode) {
 serialPort_t *openSerialPort(serialPortIdentifier_e identifier, serialPortFunction_e functionMask, serialReceiveCallbackPtr callback, baudRate_e baudRateIndex, portMode_t mode, serialInversion_e inversion) {
     UNUSED(identifier);
     UNUSED(functionMask);
-    UNUSED(baudRate);
+    UNUSED(baudRateIndex);
     UNUSED(callback);
     UNUSED(mode);
     UNUSED(inversion);
@@ -213,5 +213,13 @@ bool sensors(uint32_t mask) {
     return false;
 }
 
+bool determineNewTelemetryEnabledState(portSharing_e) {
+    return true;
+}
+
+portSharing_e determinePortSharing(serialPortConfig_t *, serialPortFunction_e) {
+    return PORTSHARING_NOT_SHARED;
+}
+
 }