diff --git a/Makefile b/Makefile
index e4dc3b51a3..a20beb44a4 100644
--- a/Makefile
+++ b/Makefile
@@ -42,7 +42,7 @@ FORKNAME = betaflight
CC3D_TARGETS = CC3D CC3D_OPBL
-VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI
+VALID_TARGETS = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO
# Valid targets for OP VCP support
VCP_VALID_TARGETS = $(CC3D_TARGETS)
@@ -52,9 +52,9 @@ OPBL_VALID_TARGETS = CC3D_OPBL
64K_TARGETS = CJMCU
128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
-256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI
+256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI SPRACINGF3EVO
-F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI
+F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI SPRACINGF3EVO
# Configure default flash sizes for the targets
@@ -356,7 +356,8 @@ VCP_SRC = \
vcp/usb_istr.c \
vcp/usb_prop.c \
vcp/usb_pwr.c \
- drivers/serial_usb_vcp.c
+ drivers/serial_usb_vcp.c \
+ drivers/usb_io.c
NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_adxl345.c \
@@ -709,6 +710,28 @@ IRCFUSIONF3_SRC = \
$(HIGHEND_SRC) \
$(COMMON_SRC)
+SPRACINGF3EVO_SRC = \
+ $(STM32F30x_COMMON_SRC) \
+ drivers/accgyro_mpu.c \
+ drivers/accgyro_mpu6500.c \
+ drivers/accgyro_spi_mpu6500.c \
+ drivers/barometer_bmp280.c \
+ drivers/compass_ak8963.c \
+ drivers/display_ug2864hsweg01.h \
+ drivers/light_ws2811strip.c \
+ drivers/light_ws2811strip_stm32f30x.c \
+ drivers/serial_usb_vcp.c \
+ drivers/sdcard.c \
+ drivers/sdcard_standard.c \
+ drivers/transponder_ir.c \
+ drivers/transponder_ir_stm32f30x.c \
+ io/asyncfatfs/asyncfatfs.c \
+ io/asyncfatfs/fat_standard.c \
+ io/transponder_ir.c \
+ $(HIGHEND_SRC) \
+ $(COMMON_SRC) \
+ $(VCP_SRC)
+
MOTOLAB_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
diff --git a/fake_travis_build.sh b/fake_travis_build.sh
index 9f2d05e670..e7b9082f1f 100755
--- a/fake_travis_build.sh
+++ b/fake_travis_build.sh
@@ -6,6 +6,7 @@ targets=("PUBLISHMETA=True" \
"TARGET=COLIBRI_RACE" \
"TARGET=LUX_RACE" \
"TARGET=SPRACINGF3" \
+ "TARGET=SPRACINGF3EVO" \
"TARGET=SPRACINGF3MINI" \
"TARGET=NAZE" \
"TARGET=AFROMINI" \
diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
index 28651dd00e..942a680254 100755
--- a/src/main/drivers/pwm_mapping.c
+++ b/src/main/drivers/pwm_mapping.c
@@ -479,6 +479,67 @@ static const uint16_t airPWM[] = {
};
#endif
+#ifdef SPRACINGF3EVO
+static const uint16_t multiPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ 0xFFFF
+};
+
+static const uint16_t multiPWM[] = {
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
+ PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
+ 0xFFFF
+};
+
+static const uint16_t airPPM[] = {
+ PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
+ 0xFFFF
+};
+
+static const uint16_t airPWM[] = {
+ PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
+ PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
+ PWM4 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
+ PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM7 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM8 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
+ PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
+ 0xFFFF
+};
+#endif
+
#if defined(MOTOLAB)
static const uint16_t multiPPM[] = {
PWM9 | (MAP_TO_PPM_INPUT << 8), // PPM input
diff --git a/src/main/drivers/pwm_output.c b/src/main/drivers/pwm_output.c
index d521153bfe..97a8fef655 100644
--- a/src/main/drivers/pwm_output.c
+++ b/src/main/drivers/pwm_output.c
@@ -159,7 +159,7 @@ static void pwmWriteOneshot42(uint8_t index, uint16_t value)
static void pwmWriteMultiShot(uint8_t index, uint16_t value)
{
- *motors[index]->ccr = (uint16_t)((float)(value-1000) / 4.1666f)+ 60;
+ *motors[index]->ccr = 60001 * (value - 1000) / 250000 + 60;
}
void pwmWriteMotor(uint8_t index, uint16_t value)
diff --git a/src/main/drivers/timer.c b/src/main/drivers/timer.c
index cb5c30fccd..87637e3226 100755
--- a/src/main/drivers/timer.c
+++ b/src/main/drivers/timer.c
@@ -278,6 +278,36 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
#endif
+#if defined(SPRACINGF3EVO)
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+ // PPM / UART2 RX
+ { TIM8, GPIOA, Pin_15, TIM_Channel_1, TIM8_CC_IRQn, 0, Mode_AF_PP_PD, GPIO_PinSource15, GPIO_AF_2}, // PPM
+
+ { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_1}, // PWM1
+ { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_1}, // PWM2
+ { TIM15, GPIOA, Pin_2, TIM_Channel_1, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource2, GPIO_AF_9}, // PWM3
+ { TIM15, GPIOA, Pin_3, TIM_Channel_2, TIM1_BRK_TIM15_IRQn, 1, Mode_AF_PP, GPIO_PinSource3, GPIO_AF_9}, // PWM4
+ { TIM3, GPIOA, Pin_6, TIM_Channel_1, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource6, GPIO_AF_2}, // PWM5
+ { TIM3, GPIOA, Pin_7, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource7, GPIO_AF_2}, // PWM6
+ { TIM3, GPIOB, Pin_0, TIM_Channel_3, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource0, GPIO_AF_2}, // PWM7
+ { TIM3, GPIOB, Pin_1, TIM_Channel_4, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource1, GPIO_AF_2}, // PWM8
+
+ // UART3 RX/TX
+ { TIM2, GPIOB, Pin_10, TIM_Channel_3, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource10, GPIO_AF_1}, // RC_CH4 - PB10 - *TIM2_CH3, USART3_TX (AF7)
+ { TIM2, GPIOB, Pin_11, TIM_Channel_4, TIM2_IRQn, 1, Mode_AF_PP, GPIO_PinSource11, GPIO_AF_1}, // RC_CH3 - PB11 - *TIM2_CH4, USART3_RX (AF7)
+
+ // IR / LED Strip Pad
+ { TIM1, GPIOA, Pin_8, TIM_Channel_1, TIM1_CC_IRQn, 1, Mode_AF_PP, GPIO_PinSource8, GPIO_AF_6}, // GPIO_TIMER / LED_STRIP
+};
+
+#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
+
+#define TIMER_APB1_PERIPHERALS (RCC_APB1Periph_TIM2 | RCC_APB1Periph_TIM3)
+#define TIMER_APB2_PERIPHERALS (RCC_APB2Periph_TIM1 | RCC_APB2Periph_TIM8 | RCC_APB2Periph_TIM15)
+#define TIMER_AHB_PERIPHERALS (RCC_AHBPeriph_GPIOA | RCC_AHBPeriph_GPIOB)
+
+#endif
+
#if defined(MOTOLAB)
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM3, GPIOA, Pin_4, TIM_Channel_2, TIM3_IRQn, 1, Mode_AF_PP, GPIO_PinSource4, GPIO_AF_2}, // PWM1 - PA4 - *TIM3_CH2
diff --git a/src/main/flight/pid.c b/src/main/flight/pid.c
index 9a1e96efa9..a2e454f032 100644
--- a/src/main/flight/pid.c
+++ b/src/main/flight/pid.c
@@ -138,6 +138,11 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
+ // Scaling factors for Pids to match rewrite and use same defaults
+ static const float luxPTermScale = 1.0f / 128;
+ static const float luxITermScale = 1000000.0f / 0x1000000;
+ static const float luxDTermScale = (0.000001f * (float)0xFFFF) / 256;
+
if (FLIGHT_MODE(HORIZON_MODE)) {
// Figure out the raw stick positions
const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, rxConfig->midrc));
@@ -145,10 +150,10 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
// Progressively turn off the horizon self level strength as the stick is banged over
horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
- if(pidProfile->H_sensitivity == 0){
+ if(pidProfile->D8[PIDLEVEL] == 0){
horizonLevelStrength = 0;
} else {
- horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->H_sensitivity)) + 1, 0, 1);
+ horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
}
}
@@ -158,31 +163,31 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
if (axis == FD_YAW) {
// YAW is always gyro-controlled (MAG correction is applied to rcCommand) 100dps to 1100dps max yaw rate
- AngleRate = (float)((rate + 10) * rcCommand[YAW]) / 50.0f;
+ AngleRate = (float)((rate + 47) * rcCommand[YAW]) / 32.0f;
} else {
// ACRO mode, control is GYRO based, direct sticks control is applied to rate PID
- AngleRate = (float)((rate + 20) * rcCommand[axis]) / 50.0f; // 200dps to 1200dps max roll/pitch rate
+ AngleRate = (float)((rate + 27) * rcCommand[axis]) / 16.0f; // 200dps to 1200dps max roll/pitch rate
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
// calculate error angle and limit the angle to the max inclination
#ifdef GPS
- const float errorAngle = (constrain(rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
- +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+ const float errorAngle = (constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+ +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
#else
- const float errorAngle = (constrain(rcCommand[axis], -((int) max_angle_inclination),
- +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f; // 16 bits is ok here
+ const float errorAngle = (constrain(2 * rcCommand[axis], -((int) max_angle_inclination),
+ +max_angle_inclination) - attitude.raw[axis] + angleTrim->raw[axis]); // 16 bits is ok here
#endif
if (FLIGHT_MODE(ANGLE_MODE)) {
// ANGLE mode - control is angle based, so control loop is needed
- AngleRate = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
+ AngleRate = errorAngle * pidProfile->P8[PIDLEVEL] / 16.0f;
} else {
// HORIZON mode - direct sticks control is applied to rate PID
// mix up angle error to desired AngleRate to add a little auto-level feel
- AngleRate += errorAngle * pidProfile->I8[PIDLEVEL] / 10.0f * horizonLevelStrength;
+ AngleRate += errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 16.0f;
}
}
}
- gyroRate = gyroADC[axis] * gyro.scale; // gyro output scaled to dps
+ gyroRate = gyroADC[axis] / 4.0f; // gyro output scaled to rewrite scale
// --------low-level gyro-based PID. ----------
// Used in stand-alone mode for ACRO, controlled by higher level regulators in other modes
@@ -192,9 +197,9 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// -----calculate P component
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) {
- PTerm = (pidProfile->P8[axis] / 40.0f * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig));
+ PTerm = (luxPTermScale * pidProfile->P8[axis] * tpaFactor) * (AngleRate - gyroRate * calculateExpoPlus(axis, rxConfig));
} else {
- PTerm = RateError * (pidProfile->P8[axis] / 40.0f) * tpaFactor;
+ PTerm = luxPTermScale * RateError * pidProfile->P8[axis] * tpaFactor;
}
// Constrain YAW by yaw_p_limit value if not servo driven in that case servolimits apply
@@ -203,7 +208,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
}
// -----calculate I component.
- errorGyroIf[axis] = constrainf(errorGyroIf[axis] + RateError * getdT() * pidProfile->I8[axis] / 10.0f, -250.0f, 250.0f);
+ errorGyroIf[axis] = constrainf(errorGyroIf[axis] + luxITermScale * RateError * getdT() * pidProfile->I8[axis], -250.0f, 250.0f);
if (IS_RC_MODE_ACTIVE(BOXSUPEREXPO) && axis != YAW) {
if (ABS(gyroRate) >= pidProfile->rollPitchItermResetRate) errorGyroIf[axis] = 0;
@@ -246,7 +251,7 @@ static void pidLuxFloat(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
// Apply moving average
if (pidProfile->dterm_average_count) delta = filterApplyAveragef(delta, pidProfile->dterm_average_count, deltaState[axis]);
- DTerm = constrainf(delta * (float)pidProfile->D8[axis] * 0.001f * tpaFactor, -300.0f, 300.0f);
+ DTerm = constrainf(luxDTermScale * delta * (float)pidProfile->D8[axis] * tpaFactor, -300.0f, 300.0f);
}
// -----calculate total PID output
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
index 4b6f8204f3..3264b0269a 100644
--- a/src/main/io/rc_controls.c
+++ b/src/main/io/rc_controls.c
@@ -113,10 +113,13 @@ bool areSticksInApModePosition(uint16_t ap_mode)
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
{
- if (feature(FEATURE_3D) && (rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
- return THROTTLE_LOW;
- else if (!feature(FEATURE_3D) && (rcData[THROTTLE] < rxConfig->mincheck))
- return THROTTLE_LOW;
+ if (feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
+ if ((rcData[THROTTLE] > (rxConfig->midrc - deadband3d_throttle) && rcData[THROTTLE] < (rxConfig->midrc + deadband3d_throttle)))
+ return THROTTLE_LOW;
+ } else {
+ if (rcData[THROTTLE] < rxConfig->mincheck)
+ return THROTTLE_LOW;
+ }
return THROTTLE_HIGH;
}
diff --git a/src/main/io/serial_1wire.h~HEAD b/src/main/io/serial_1wire.h~HEAD
new file mode 100644
index 0000000000..594cdd43a3
--- /dev/null
+++ b/src/main/io/serial_1wire.h~HEAD
@@ -0,0 +1,37 @@
+/*
+ * 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 .
+ *
+ * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
+ * by Nathan Tsoi
+ */
+
+#pragma once
+
+#ifdef USE_SERIAL_1WIRE
+
+extern uint8_t escCount;
+
+typedef struct {
+ GPIO_TypeDef* gpio;
+ uint16_t pinpos;
+ uint16_t pin;
+} escHardware_t;
+
+
+void usb1WireInitialize();
+void usb1WirePassthrough(uint8_t escIndex);
+void usb1WireDeInitialize(void);
+#endif
diff --git a/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890 b/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890
new file mode 100644
index 0000000000..1e560ed938
--- /dev/null
+++ b/src/main/io/serial_1wire.h~a94ce1fef3a5d63c8af6a85b24f8eba2961e0890
@@ -0,0 +1,36 @@
+/*
+ * 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 .
+ *
+ * Ported from https://github.com/4712/BLHeliSuite/blob/master/Interfaces/Arduino1Wire/Source/Arduino1Wire_C/Arduino1Wire.c
+ * by Nathan Tsoi
+ */
+
+#pragma once
+
+#ifdef USE_SERIAL_1WIRE
+
+extern uint8_t escCount;
+
+typedef struct {
+ GPIO_TypeDef* gpio;
+ uint16_t pinpos;
+ uint16_t pin;
+} escHardware_t;
+
+
+void usb1WireInitialize();
+void usb1WirePassthrough(uint8_t escIndex);
+#endif
diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
index 1976423ccb..3df26829f2 100644
--- a/src/main/io/serial_cli.c
+++ b/src/main/io/serial_cli.c
@@ -193,7 +193,7 @@ static const char * const featureNames[] = {
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
- "BLACKBOX", "CHANNEL_FORWARDING", NULL
+ "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", NULL
};
// sync this with rxFailsafeChannelMode_e
diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
index e3ec3579ef..85931b0232 100644
--- a/src/main/io/serial_msp.c
+++ b/src/main/io/serial_msp.c
@@ -131,7 +131,7 @@ void setGyroSamplingSpeed(uint16_t looptime) {
masterConfig.mag_hardware = 1;
masterConfig.pid_process_denom = 2;
} else if (looptime < 375) {
-#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3)
+#if defined(LUX_RACE) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(ALIENFLIGHTF3) || defined(SPRACINGF3EVO)
masterConfig.acc_hardware = 0;
#else
masterConfig.acc_hardware = 1;
diff --git a/src/main/io/transponder_ir.h b/src/main/io/transponder_ir.h
index 7c52a4cd06..1ccbee77c8 100644
--- a/src/main/io/transponder_ir.h
+++ b/src/main/io/transponder_ir.h
@@ -17,6 +17,7 @@
#pragma once
+void transponderInit(uint8_t* transponderCode);
void transponderEnable(void);
void transponderDisable(void);
diff --git a/src/main/main.c b/src/main/main.c
index 1450ae07cd..125efdd892 100644
--- a/src/main/main.c
+++ b/src/main/main.c
@@ -33,6 +33,7 @@
#include "drivers/sensor.h"
#include "drivers/system.h"
+#include "drivers/dma.h"
#include "drivers/gpio.h"
#include "drivers/light_led.h"
#include "drivers/sound_beeper.h"
@@ -52,9 +53,9 @@
#include "drivers/flash_m25p16.h"
#include "drivers/sonar_hcsr04.h"
#include "drivers/gyro_sync.h"
+#include "drivers/sdcard.h"
#include "drivers/usb_io.h"
#include "drivers/transponder_ir.h"
-#include "drivers/sdcard.h"
#include "rx/rx.h"
@@ -130,8 +131,6 @@ void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse);
void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig);
void sonarInit(const sonarHardware_t *sonarHardware);
-void transponderInit(uint8_t* transponderCode);
-//void usbCableDetectInit(void);
#ifdef STM32F303xC
// from system_stm32f30x.c
@@ -256,6 +255,8 @@ void init(void)
timerInit(); // timer must be initialized before any channel is allocated
+ dmaInit();
+
serialInit(&masterConfig.serialConfig, feature(FEATURE_SOFTSERIAL));
#ifdef USE_SERVOS
@@ -534,12 +535,10 @@ void init(void)
}
#endif
-/* TODO - Fix in the future
#ifdef USB_CABLE_DETECTION
usbCableDetectInit();
#endif
-
#ifdef TRANSPONDER
if (feature(FEATURE_TRANSPONDER)) {
transponderInit(masterConfig.transponderData);
@@ -548,7 +547,6 @@ void init(void)
systemState |= SYSTEM_STATE_TRANSPONDER_ENABLED;
}
#endif
-*/
#ifdef USE_FLASHFS
#ifdef NAZE
diff --git a/src/main/mw.c b/src/main/mw.c
index f795c7b026..11149dc044 100644
--- a/src/main/mw.c
+++ b/src/main/mw.c
@@ -117,6 +117,7 @@ extern bool antiWindupProtection;
uint16_t filteredCycleTime;
static bool isRXDataNew;
+static bool armingCalibrationWasInitialised;
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim, rxConfig_t *rxConfig); // pid controller function prototype
@@ -312,7 +313,7 @@ void annexCode(void)
if (ARMING_FLAG(ARMED)) {
LED0_ON;
} else {
- if (IS_RC_MODE_ACTIVE(BOXARM) == 0) {
+ if (IS_RC_MODE_ACTIVE(BOXARM) == 0 || armingCalibrationWasInitialised) {
ENABLE_ARMING_FLAG(OK_TO_ARM);
}
@@ -341,6 +342,8 @@ void annexCode(void)
void mwDisarm(void)
{
+ armingCalibrationWasInitialised = false;
+
if (ARMING_FLAG(ARMED)) {
DISABLE_ARMING_FLAG(ARMED);
@@ -366,11 +369,12 @@ void releaseSharedTelemetryPorts(void) {
void mwArm(void)
{
- static bool armingCalibrationWasInitialisedOnce;
+ static bool firstArmingCalibrationWasCompleted;
- if (masterConfig.gyro_cal_on_first_arm && !armingCalibrationWasInitialisedOnce) {
+ if (masterConfig.gyro_cal_on_first_arm && !firstArmingCalibrationWasCompleted) {
gyroSetCalibrationCycles(calculateCalibratingCycles());
- armingCalibrationWasInitialisedOnce = true;
+ armingCalibrationWasInitialised = true;
+ firstArmingCalibrationWasCompleted = true;
}
if (!isGyroCalibrationComplete()) return; // prevent arming before gyro is calibrated
diff --git a/src/main/rx/ibus.c b/src/main/rx/ibus.c
index b2028e8efc..299ff4fce2 100755
--- a/src/main/rx/ibus.c
+++ b/src/main/rx/ibus.c
@@ -13,13 +13,19 @@
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see .
+ *
+ *
+ * Driver for IBUS (Flysky) receiver
+ * - initial implementation for MultiWii by Cesco/Plüschi
+ * - implementation for BaseFlight by Andreas (fiendie) Tacke
+ * - ported to CleanFlight by Konstantin (digitalentity) Sharlaimov
*/
#include
#include
#include
-#include "platform.h"
+#include
#include "build_config.h"
@@ -32,9 +38,7 @@
#include "rx/rx.h"
#include "rx/ibus.h"
-// Driver for IBUS (Flysky) receiver
-
-#define IBUS_MAX_CHANNEL 8
+#define IBUS_MAX_CHANNEL 10
#define IBUS_BUFFSIZE 32
#define IBUS_SYNCBYTE 0x20
@@ -95,7 +99,7 @@ static void ibusDataReceive(uint16_t c)
uint8_t ibusFrameStatus(void)
{
- uint8_t i;
+ uint8_t i, offset;
uint8_t frameStatus = SERIAL_RX_FRAME_PENDING;
uint16_t chksum, rxsum;
@@ -112,15 +116,9 @@ uint8_t ibusFrameStatus(void)
rxsum = ibus[30] + (ibus[31] << 8);
if (chksum == rxsum) {
- ibusChannelData[0] = (ibus[ 3] << 8) + ibus[ 2];
- ibusChannelData[1] = (ibus[ 5] << 8) + ibus[ 4];
- ibusChannelData[2] = (ibus[ 7] << 8) + ibus[ 6];
- ibusChannelData[3] = (ibus[ 9] << 8) + ibus[ 8];
- ibusChannelData[4] = (ibus[11] << 8) + ibus[10];
- ibusChannelData[5] = (ibus[13] << 8) + ibus[12];
- ibusChannelData[6] = (ibus[15] << 8) + ibus[14];
- ibusChannelData[7] = (ibus[17] << 8) + ibus[16];
-
+ for (i = 0, offset = 2; i < IBUS_MAX_CHANNEL; i++, offset += 2) {
+ ibusChannelData[i] = ibus[offset] + (ibus[offset + 1] << 8);
+ }
frameStatus = SERIAL_RX_FRAME_COMPLETE;
}
diff --git a/src/main/rx/ibus.h b/src/main/rx/ibus.h
index f206052d83..1106659fd5 100755
--- a/src/main/rx/ibus.h
+++ b/src/main/rx/ibus.h
@@ -18,3 +18,4 @@
#pragma once
uint8_t ibusFrameStatus(void);
+bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
diff --git a/src/main/sensors/initialisation.c b/src/main/sensors/initialisation.c
index cad9b5fe66..5b6c6074f5 100755
--- a/src/main/sensors/initialisation.c
+++ b/src/main/sensors/initialisation.c
@@ -117,7 +117,7 @@ const extiConfig_t *selectMPUIntExtiConfig(void)
#endif
#endif
-#if defined(SPRACINGF3) || defined(SPRACINGF3MINI)
+#if defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(SPRACINGF3EVO)
static const extiConfig_t spRacingF3MPUIntExtiConfig = {
.gpioAHBPeripherals = RCC_AHBPeriph_GPIOC,
.gpioPort = GPIOC,
diff --git a/src/main/target/SPRACINGF3EVO/system_stm32f30x.c b/src/main/target/SPRACINGF3EVO/system_stm32f30x.c
new file mode 100755
index 0000000000..b750c1d9c5
--- /dev/null
+++ b/src/main/target/SPRACINGF3EVO/system_stm32f30x.c
@@ -0,0 +1,371 @@
+/**
+ ******************************************************************************
+ * @file system_stm32f30x.c
+ * @author MCD Application Team
+ * @version V1.1.1
+ * @date 28-March-2014
+ * @brief CMSIS Cortex-M4 Device Peripheral Access Layer System Source File.
+ * This file contains the system clock configuration for STM32F30x devices,
+ * and is generated by the clock configuration tool
+ * stm32f30x_Clock_Configuration_V1.0.0.xls
+ *
+ * 1. This file provides two functions and one global variable to be called from
+ * user application:
+ * - SystemInit(): Setups the system clock (System clock source, PLL Multiplier
+ * and Divider factors, AHB/APBx prescalers and Flash settings),
+ * depending on the configuration made in the clock xls tool.
+ * This function is called at startup just after reset and
+ * before branch to main program. This call is made inside
+ * the "startup_stm32f30x.s" file.
+ *
+ * - SystemCoreClock variable: Contains the core clock (HCLK), it can be used
+ * by the user application to setup the SysTick
+ * timer or configure other parameters.
+ *
+ * - SystemCoreClockUpdate(): Updates the variable SystemCoreClock and must
+ * be called whenever the core clock is changed
+ * during program execution.
+ *
+ * 2. After each device reset the HSI (8 MHz) is used as system clock source.
+ * Then SystemInit() function is called, in "startup_stm32f30x.s" file, to
+ * configure the system clock before to branch to main program.
+ *
+ * 3. If the system clock source selected by user fails to startup, the SystemInit()
+ * function will do nothing and HSI still used as system clock source. User can
+ * add some code to deal with this issue inside the SetSysClock() function.
+ *
+ * 4. The default value of HSE crystal is set to 8MHz, refer to "HSE_VALUE" define
+ * in "stm32f30x.h" file. When HSE is used as system clock source, directly or
+ * through PLL, and you are using different crystal you have to adapt the HSE
+ * value to your own configuration.
+ *
+ * 5. This file configures the system clock as follows:
+ *=============================================================================
+ * Supported STM32F30x device
+ *-----------------------------------------------------------------------------
+ * System Clock source | PLL (HSE)
+ *-----------------------------------------------------------------------------
+ * SYSCLK(Hz) | 72000000
+ *-----------------------------------------------------------------------------
+ * HCLK(Hz) | 72000000
+ *-----------------------------------------------------------------------------
+ * AHB Prescaler | 1
+ *-----------------------------------------------------------------------------
+ * APB2 Prescaler | 2
+ *-----------------------------------------------------------------------------
+ * APB1 Prescaler | 2
+ *-----------------------------------------------------------------------------
+ * HSE Frequency(Hz) | 8000000
+ *----------------------------------------------------------------------------
+ * PLLMUL | 9
+ *-----------------------------------------------------------------------------
+ * PREDIV | 1
+ *-----------------------------------------------------------------------------
+ * USB Clock | ENABLE
+ *-----------------------------------------------------------------------------
+ * Flash Latency(WS) | 2
+ *-----------------------------------------------------------------------------
+ * Prefetch Buffer | ON
+ *-----------------------------------------------------------------------------
+ *=============================================================================
+ ******************************************************************************
+ * @attention
+ *
+ * © COPYRIGHT 2014 STMicroelectronics
+ *
+ * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+ * You may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at:
+ *
+ * http://www.st.com/software_license_agreement_liberty_v2
+ *
+ * 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.
+ *
+ ******************************************************************************
+ */
+/** @addtogroup CMSIS
+ * @{
+ */
+
+/** @addtogroup stm32f30x_system
+ * @{
+ */
+
+/** @addtogroup STM32F30x_System_Private_Includes
+ * @{
+ */
+
+#include "stm32f30x.h"
+
+uint32_t hse_value = HSE_VALUE;
+
+/**
+ * @}
+ */
+
+/* Private typedef -----------------------------------------------------------*/
+
+/** @addtogroup STM32F30x_System_Private_Defines
+ * @{
+ */
+/*!< Uncomment the following line if you need to relocate your vector Table in
+ Internal SRAM. */
+/* #define VECT_TAB_SRAM */
+#define VECT_TAB_OFFSET 0x0 /*!< Vector Table base offset field.
+ This value must be a multiple of 0x200. */
+/**
+ * @}
+ */
+
+/* Private macro -------------------------------------------------------------*/
+
+/** @addtogroup STM32F30x_System_Private_Variables
+ * @{
+ */
+
+ uint32_t SystemCoreClock = 72000000;
+
+ __I uint8_t AHBPrescTable[16] = {0, 0, 0, 0, 0, 0, 0, 0, 1, 2, 3, 4, 6, 7, 8, 9};
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F30x_System_Private_FunctionPrototypes
+ * @{
+ */
+
+void SetSysClock(void);
+
+/**
+ * @}
+ */
+
+/** @addtogroup STM32F30x_System_Private_Functions
+ * @{
+ */
+
+/**
+ * @brief Setup the microcontroller system
+ * Initialize the Embedded Flash Interface, the PLL and update the
+ * SystemFrequency variable.
+ * @param None
+ * @retval None
+ */
+void SystemInit(void)
+{
+ /* FPU settings ------------------------------------------------------------*/
+ #if (__FPU_PRESENT == 1) && (__FPU_USED == 1)
+ SCB->CPACR |= ((3UL << 10*2)|(3UL << 11*2)); /* set CP10 and CP11 Full Access */
+ #endif
+
+ /* Reset the RCC clock configuration to the default reset state ------------*/
+ /* Set HSION bit */
+ RCC->CR |= (uint32_t)0x00000001;
+
+ /* Reset CFGR register */
+ RCC->CFGR &= 0xF87FC00C;
+
+ /* Reset HSEON, CSSON and PLLON bits */
+ RCC->CR &= (uint32_t)0xFEF6FFFF;
+
+ /* Reset HSEBYP bit */
+ RCC->CR &= (uint32_t)0xFFFBFFFF;
+
+ /* Reset PLLSRC, PLLXTPRE, PLLMUL and USBPRE bits */
+ RCC->CFGR &= (uint32_t)0xFF80FFFF;
+
+ /* Reset PREDIV1[3:0] bits */
+ RCC->CFGR2 &= (uint32_t)0xFFFFFFF0;
+
+ /* Reset USARTSW[1:0], I2CSW and TIMs bits */
+ RCC->CFGR3 &= (uint32_t)0xFF00FCCC;
+
+ /* Disable all interrupts */
+ RCC->CIR = 0x00000000;
+
+ /* Configure the System clock source, PLL Multiplier and Divider factors,
+ AHB/APBx prescalers and Flash settings ----------------------------------*/
+ //SetSysClock(); // called from main()
+
+#ifdef VECT_TAB_SRAM
+ SCB->VTOR = SRAM_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal SRAM. */
+#else
+ SCB->VTOR = FLASH_BASE | VECT_TAB_OFFSET; /* Vector Table Relocation in Internal FLASH. */
+#endif
+}
+
+/**
+ * @brief Update SystemCoreClock variable according to Clock Register Values.
+ * The SystemCoreClock variable contains the core clock (HCLK), it can
+ * be used by the user application to setup the SysTick timer or configure
+ * other parameters.
+ *
+ * @note Each time the core clock (HCLK) changes, this function must be called
+ * to update SystemCoreClock variable value. Otherwise, any configuration
+ * based on this variable will be incorrect.
+ *
+ * @note - The system frequency computed by this function is not the real
+ * frequency in the chip. It is calculated based on the predefined
+ * constant and the selected clock source:
+ *
+ * - If SYSCLK source is HSI, SystemCoreClock will contain the HSI_VALUE(*)
+ *
+ * - If SYSCLK source is HSE, SystemCoreClock will contain the HSE_VALUE(**)
+ *
+ * - If SYSCLK source is PLL, SystemCoreClock will contain the HSE_VALUE(**)
+ * or HSI_VALUE(*) multiplied/divided by the PLL factors.
+ *
+ * (*) HSI_VALUE is a constant defined in stm32f30x.h file (default value
+ * 8 MHz) but the real value may vary depending on the variations
+ * in voltage and temperature.
+ *
+ * (**) HSE_VALUE is a constant defined in stm32f30x.h file (default value
+ * 8 MHz), user has to ensure that HSE_VALUE is same as the real
+ * frequency of the crystal used. Otherwise, this function may
+ * have wrong result.
+ *
+ * - The result of this function could be not correct when using fractional
+ * value for HSE crystal.
+ *
+ * @param None
+ * @retval None
+ */
+void SystemCoreClockUpdate (void)
+{
+ uint32_t tmp = 0, pllmull = 0, pllsource = 0, prediv1factor = 0;
+
+ /* Get SYSCLK source -------------------------------------------------------*/
+ tmp = RCC->CFGR & RCC_CFGR_SWS;
+
+ switch (tmp)
+ {
+ case 0x00: /* HSI used as system clock */
+ SystemCoreClock = HSI_VALUE;
+ break;
+ case 0x04: /* HSE used as system clock */
+ SystemCoreClock = HSE_VALUE;
+ break;
+ case 0x08: /* PLL used as system clock */
+ /* Get PLL clock source and multiplication factor ----------------------*/
+ pllmull = RCC->CFGR & RCC_CFGR_PLLMULL;
+ pllsource = RCC->CFGR & RCC_CFGR_PLLSRC;
+ pllmull = ( pllmull >> 18) + 2;
+
+ if (pllsource == 0x00)
+ {
+ /* HSI oscillator clock divided by 2 selected as PLL clock entry */
+ SystemCoreClock = (HSI_VALUE >> 1) * pllmull;
+ }
+ else
+ {
+ prediv1factor = (RCC->CFGR2 & RCC_CFGR2_PREDIV1) + 1;
+ /* HSE oscillator clock selected as PREDIV1 clock entry */
+ SystemCoreClock = (HSE_VALUE / prediv1factor) * pllmull;
+ }
+ break;
+ default: /* HSI used as system clock */
+ SystemCoreClock = HSI_VALUE;
+ break;
+ }
+ /* Compute HCLK clock frequency ----------------*/
+ /* Get HCLK prescaler */
+ tmp = AHBPrescTable[((RCC->CFGR & RCC_CFGR_HPRE) >> 4)];
+ /* HCLK clock frequency */
+ SystemCoreClock >>= tmp;
+}
+
+/**
+ * @brief Configures the System clock source, PLL Multiplier and Divider factors,
+ * AHB/APBx prescalers and Flash settings
+ * @note This function should be called only once the RCC clock configuration
+ * is reset to the default reset state (done in SystemInit() function).
+ * @param None
+ * @retval None
+ */
+void SetSysClock(void)
+{
+ __IO uint32_t StartUpCounter = 0, HSEStatus = 0;
+
+/******************************************************************************/
+/* PLL (clocked by HSE) used as System clock source */
+/******************************************************************************/
+
+ /* SYSCLK, HCLK, PCLK2 and PCLK1 configuration -----------*/
+ /* Enable HSE */
+ RCC->CR |= ((uint32_t)RCC_CR_HSEON);
+
+ /* Wait till HSE is ready and if Time out is reached exit */
+ do
+ {
+ HSEStatus = RCC->CR & RCC_CR_HSERDY;
+ StartUpCounter++;
+ } while((HSEStatus == 0) && (StartUpCounter != HSE_STARTUP_TIMEOUT));
+
+ if ((RCC->CR & RCC_CR_HSERDY) != RESET)
+ {
+ HSEStatus = (uint32_t)0x01;
+ }
+ else
+ {
+ HSEStatus = (uint32_t)0x00;
+ }
+
+ if (HSEStatus == (uint32_t)0x01)
+ {
+ /* Enable Prefetch Buffer and set Flash Latency */
+ FLASH->ACR = FLASH_ACR_PRFTBE | (uint32_t)FLASH_ACR_LATENCY_1;
+
+ /* HCLK = SYSCLK / 1 */
+ RCC->CFGR |= (uint32_t)RCC_CFGR_HPRE_DIV1;
+
+ /* PCLK2 = HCLK / 1 */
+ RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE2_DIV1;
+
+ /* PCLK1 = HCLK / 2 */
+ RCC->CFGR |= (uint32_t)RCC_CFGR_PPRE1_DIV2;
+
+ /* PLL configuration */
+ RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_PLLSRC | RCC_CFGR_PLLXTPRE | RCC_CFGR_PLLMULL));
+ RCC->CFGR |= (uint32_t)(RCC_CFGR_PLLSRC_PREDIV1 | RCC_CFGR_PLLXTPRE_PREDIV1 | RCC_CFGR_PLLMULL9);
+
+ /* Enable PLL */
+ RCC->CR |= RCC_CR_PLLON;
+
+ /* Wait till PLL is ready */
+ while((RCC->CR & RCC_CR_PLLRDY) == 0)
+ {
+ }
+
+ /* Select PLL as system clock source */
+ RCC->CFGR &= (uint32_t)((uint32_t)~(RCC_CFGR_SW));
+ RCC->CFGR |= (uint32_t)RCC_CFGR_SW_PLL;
+
+ /* Wait till PLL is used as system clock source */
+ while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS) != (uint32_t)RCC_CFGR_SWS_PLL)
+ {
+ }
+ }
+ else
+ { /* If HSE fails to start-up, the application will have wrong clock
+ configuration. User can add here some code to deal with this error */
+ }
+}
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/main/target/SPRACINGF3EVO/system_stm32f30x.h b/src/main/target/SPRACINGF3EVO/system_stm32f30x.h
new file mode 100755
index 0000000000..b14d1a565b
--- /dev/null
+++ b/src/main/target/SPRACINGF3EVO/system_stm32f30x.h
@@ -0,0 +1,76 @@
+/**
+ ******************************************************************************
+ * @file system_stm32f30x.h
+ * @author MCD Application Team
+ * @version V1.1.1
+ * @date 28-March-2014
+ * @brief CMSIS Cortex-M4 Device System Source File for STM32F30x devices.
+ ******************************************************************************
+ * @attention
+ *
+ * © COPYRIGHT 2014 STMicroelectronics
+ *
+ * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
+ * You may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at:
+ *
+ * http://www.st.com/software_license_agreement_liberty_v2
+ *
+ * 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.
+ *
+ ******************************************************************************
+ */
+
+/** @addtogroup CMSIS
+ * @{
+ */
+
+/** @addtogroup stm32f30x_system
+ * @{
+ */
+
+/**
+ * @brief Define to prevent recursive inclusion
+ */
+#ifndef __SYSTEM_STM32F30X_H
+#define __SYSTEM_STM32F30X_H
+
+#ifdef __cplusplus
+ extern "C" {
+#endif
+
+/* Exported types ------------------------------------------------------------*/
+extern uint32_t SystemCoreClock; /*!< System Clock Frequency (Core Clock) */
+/* Exported constants --------------------------------------------------------*/
+/* Exported macro ------------------------------------------------------------*/
+/* Exported functions ------------------------------------------------------- */
+
+/** @addtogroup STM32F30x_System_Exported_Functions
+ * @{
+ */
+
+extern void SystemInit(void);
+extern void SystemCoreClockUpdate(void);
+
+/**
+ * @}
+ */
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /*__SYSTEM_STM32F30X_H */
+
+/**
+ * @}
+ */
+
+/**
+ * @}
+ */
+/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
diff --git a/src/main/target/SPRACINGF3EVO/target.h b/src/main/target/SPRACINGF3EVO/target.h
new file mode 100755
index 0000000000..6e511e3ab6
--- /dev/null
+++ b/src/main/target/SPRACINGF3EVO/target.h
@@ -0,0 +1,239 @@
+/*
+ * 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 "SPEV"
+
+#define LED0_GPIO GPIOB
+#define LED0_PIN Pin_8
+#define LED0_PERIPHERAL RCC_AHBPeriph_GPIOB
+
+#define BEEP_GPIO GPIOC
+#define BEEP_PIN Pin_15
+#define BEEP_PERIPHERAL RCC_AHBPeriph_GPIOC
+#define BEEPER_INVERTED
+
+#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
+
+#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
+
+#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_FAKE_GYRO
+#define USE_GYRO_SPI_MPU6500
+
+#define ACC
+//#define USE_FAKE_ACC
+#define USE_ACC_SPI_MPU6500
+
+#define ACC_MPU6500_ALIGN CW180_DEG
+#define GYRO_MPU6500_ALIGN CW180_DEG
+
+#define BARO
+#define USE_BARO_BMP280
+
+#define MAG
+#define USE_MPU9250_MAG // Enables bypass configuration
+#define USE_MAG_AK8963
+//#define USE_MAG_HMC5883 // External
+
+#define MAG_AK8963_ALIGN CW90_DEG_FLIP
+
+//#define SONAR
+#define BEEPER
+#define LED0
+
+#define USB_IO
+
+#define USE_VCP
+#define USE_USART1
+#define USE_USART2
+#define USE_USART3
+#define SERIAL_PORT_COUNT 4
+
+#ifndef UART1_GPIO
+#define UART1_TX_PIN GPIO_Pin_9 // PA9
+#define UART1_RX_PIN GPIO_Pin_10 // PA10
+#define UART1_GPIO GPIOA
+#define UART1_GPIO_AF GPIO_AF_7
+#define UART1_TX_PINSOURCE GPIO_PinSource9
+#define UART1_RX_PINSOURCE GPIO_PinSource10
+#endif
+
+#define UART2_TX_PIN GPIO_Pin_14 // PA14 / SWCLK
+#define UART2_RX_PIN GPIO_Pin_15 // PA15
+#define UART2_GPIO GPIOA
+#define UART2_GPIO_AF GPIO_AF_7
+#define UART2_TX_PINSOURCE GPIO_PinSource14
+#define UART2_RX_PINSOURCE GPIO_PinSource15
+
+#ifndef UART3_GPIO
+#define UART3_TX_PIN GPIO_Pin_10 // PB10 (AF7)
+#define UART3_RX_PIN GPIO_Pin_11 // PB11 (AF7)
+#define UART3_GPIO_AF GPIO_AF_7
+#define UART3_GPIO GPIOB
+#define UART3_TX_PINSOURCE GPIO_PinSource10
+#define UART3_RX_PINSOURCE GPIO_PinSource11
+#endif
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1 // PB9,3,4,5 on AF5 SPI1 (MPU)
+#define USE_SPI_DEVICE_2 // PB12,13,14,15 on AF5 SPI2 (SDCard)
+
+#define SPI1_GPIO GPIOB
+#define SPI1_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
+#define SPI1_NSS_PIN Pin_9
+#define SPI1_NSS_PIN_SOURCE GPIO_PinSource9
+#define SPI1_SCK_PIN Pin_3
+#define SPI1_SCK_PIN_SOURCE GPIO_PinSource3
+#define SPI1_MISO_PIN Pin_4
+#define SPI1_MISO_PIN_SOURCE GPIO_PinSource4
+#define SPI1_MOSI_PIN Pin_5
+#define SPI1_MOSI_PIN_SOURCE GPIO_PinSource5
+
+#define SPI2_GPIO GPIOB
+#define SPI2_GPIO_PERIPHERAL RCC_AHBPeriph_GPIOB
+#define SPI2_NSS_PIN Pin_12
+#define SPI2_NSS_PIN_SOURCE GPIO_PinSource12
+#define SPI2_SCK_PIN Pin_13
+#define SPI2_SCK_PIN_SOURCE GPIO_PinSource13
+#define SPI2_MISO_PIN Pin_14
+#define SPI2_MISO_PIN_SOURCE GPIO_PinSource14
+#define SPI2_MOSI_PIN Pin_15
+#define SPI2_MOSI_PIN_SOURCE GPIO_PinSource15
+
+#define USE_SDCARD
+#define USE_SDCARD_SPI2
+
+#define SDCARD_DETECT_INVERTED
+
+#define SDCARD_DETECT_PIN GPIO_Pin_14
+#define SDCARD_DETECT_EXTI_LINE EXTI_Line14
+#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource14
+#define SDCARD_DETECT_GPIO_PORT GPIOC
+#define SDCARD_DETECT_GPIO_CLK RCC_AHBPeriph_GPIOC
+#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOC
+#define SDCARD_DETECT_EXTI_IRQn EXTI15_10_IRQn
+
+#define SDCARD_SPI_INSTANCE SPI2
+#define SDCARD_SPI_CS_GPIO SPI2_GPIO
+#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
+
+// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
+#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
+// Divide to under 25MHz for normal operation:
+#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 2
+
+// Note, this is the same DMA channel as USART1_RX. Luckily we don't use DMA for USART Rx.
+#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5
+#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA1_FLAG_TC5
+
+#define MPU6500_CS_GPIO_CLK_PERIPHERAL SPI1_GPIO_PERIPHERAL
+#define MPU6500_CS_GPIO SPI1_GPIO
+#define MPU6500_CS_PIN GPIO_Pin_9
+#define MPU6500_SPI_INSTANCE SPI1
+
+#define USE_ADC
+#define BOARD_HAS_VOLTAGE_DIVIDER
+
+
+#define ADC_INSTANCE ADC2
+#define ADC_DMA_CHANNEL DMA2_Channel1
+#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA2
+
+#define VBAT_ADC_GPIO GPIOA
+#define VBAT_ADC_GPIO_PIN GPIO_Pin_4
+#define VBAT_ADC_CHANNEL ADC_Channel_1
+
+#define CURRENT_METER_ADC_GPIO GPIOA
+#define CURRENT_METER_ADC_GPIO_PIN GPIO_Pin_5
+#define CURRENT_METER_ADC_CHANNEL ADC_Channel_2
+
+#define RSSI_ADC_GPIO GPIOB
+#define RSSI_ADC_GPIO_PIN GPIO_Pin_2
+#define RSSI_ADC_CHANNEL ADC_Channel_12
+
+#define LED_STRIP
+#define LED_STRIP_TIMER TIM1
+
+#define USE_LED_STRIP_ON_DMA1_CHANNEL2
+#define WS2811_GPIO GPIOA
+#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
+#define WS2811_GPIO_AF GPIO_AF_6
+#define WS2811_PIN GPIO_Pin_8
+#define WS2811_PIN_SOURCE GPIO_PinSource8
+#define WS2811_TIMER TIM1
+#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_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 TRANSPONDER
+#define TRANSPONDER_GPIO GPIOA
+#define TRANSPONDER_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
+#define TRANSPONDER_GPIO_AF GPIO_AF_6
+#define TRANSPONDER_PIN GPIO_Pin_8
+#define TRANSPONDER_PIN_SOURCE GPIO_PinSource8
+#define TRANSPONDER_TIMER TIM1
+#define TRANSPONDER_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
+#define TRANSPONDER_DMA_CHANNEL DMA1_Channel2
+#define TRANSPONDER_IRQ DMA1_Channel2_IRQn
+#define TRANSPONDER_DMA_TC_FLAG DMA1_FLAG_TC2
+#define TRANSPONDER_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
+
+#define GPS
+#define BLACKBOX
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#define TELEMETRY
+#define SERIAL_RX
+#define DISPLAY
+#define USE_SERVOS
+#define USE_CLI
+
+#define SPEKTRUM_BIND
+// USART3,
+#define BIND_PORT GPIOB
+#define BIND_PIN Pin_11
+
+#define USE_SERIAL_4WAY_BLHELI_BOOTLOADER
+#define USE_SERIAL_4WAY_SK_BOOTLOADER
+
+#if !(defined(USE_SERIAL_4WAY_BLHELI_BOOTLOADER) || defined(USE_SERIAL_4WAY_SK_BOOTLOADER))
+#ifdef USE_VCP
+#define USE_SERIAL_1WIRE_VCP
+#else
+#define USE_SERIAL_1WIRE
+#endif
+#endif
+
+#define S1W_TX_GPIO UART1_GPIO
+#define S1W_TX_PIN UART1_TX_PIN
+#define S1W_RX_GPIO UART1_GPIO
+#define S1W_RX_PIN UART1_RX_PIN
diff --git a/src/main/telemetry/smartport.c b/src/main/telemetry/smartport.c
index 281b44dc93..f9060539bd 100644
--- a/src/main/telemetry/smartport.c
+++ b/src/main/telemetry/smartport.c
@@ -83,7 +83,7 @@ enum
// remaining 3 bits are crc (according to comments in openTx code)
};
-// these data identifiers are obtained from http://diydrones.com/forum/topics/amp-to-frsky-x8r-sport-converter
+// these data identifiers are obtained from https://github.com/opentx/opentx/blob/master/radio/src/telemetry/frsky.h
enum
{
FSSP_DATAID_SPEED = 0x0830 ,
@@ -106,6 +106,8 @@ enum
FSSP_DATAID_T1 = 0x0400 ,
FSSP_DATAID_T2 = 0x0410 ,
FSSP_DATAID_GPS_ALT = 0x0820 ,
+ FSSP_DATAID_A3 = 0x0900 ,
+ FSSP_DATAID_A4 = 0x0910 ,
};
const uint16_t frSkyDataIdTable[] = {
@@ -130,6 +132,7 @@ const uint16_t frSkyDataIdTable[] = {
FSSP_DATAID_T1 ,
FSSP_DATAID_T2 ,
FSSP_DATAID_GPS_ALT ,
+ FSSP_DATAID_A4 ,
0
};
@@ -471,6 +474,12 @@ void handleSmartPortTelemetry(void)
}
break;
#endif
+ case FSSP_DATAID_A4 :
+ if (feature(FEATURE_VBAT)) {
+ smartPortSendPackage(id, vbat * 10 / batteryCellCount ); // given in 0.1V, convert to volts
+ smartPortHasRequest = 0;
+ }
+ break;
default:
break;
// if nothing is sent, smartPortHasRequest isn't cleared, we already incremented the counter, just loop back to the start
diff --git a/top_makefile b/top_makefile
index 71c877f85a..50385bfa3d 100644
--- a/top_makefile
+++ b/top_makefile
@@ -2,6 +2,7 @@ ALL_TARGETS := naze
ALL_TARGETS += cc3d
ALL_TARGETS += cc3d_opbl
ALL_TARGETS += spracingf3
+ALL_TARGETS += spracingf3evo
ALL_TARGETS += spracingf3mini
ALL_TARGETS += sparky
ALL_TARGETS += alienflightf1
@@ -20,6 +21,7 @@ clean_cc3d cc3d: opts := TARGET=CC3D
clean_cc3d_opbl cc3d_opbl : opts := TARGET=CC3D_OPBL
clean_spracingf3mini spracingf3mini : opts := TARGET=SPRACINGF3MINI
clean_spracingf3 spracingf3 : opts := TARGET=SPRACINGF3
+clean_spracingf3 spracingf3evo : opts := TARGET=SPRACINGF3EVO
clean_sparky sparky : opts := TARGET=SPARKY
clean_alienflightf1 alienflightf1 : opts := TARGET=ALIENFLIGHTF1
clean_alienflightf3 alienflightf3 : opts := TARGET=ALIENFLIGHTF3