Merge remote-tracking branch 'refs/remotes/upstream/master' into feature-timer

Makefile

@@ -35,7 +35,7 @@ SERIAL_DEVICE	?= /dev/ttyUSB0
 
 FORKNAME			 = cleanflight
 
-VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3
+VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 CC3D CJMCU EUSTM32F103RC MASSIVEF3 PORT103R
 
 # Valid targets for OP BootLoader support
 OPBL_VALID_TARGETS = CC3D
@@ -98,7 +98,7 @@ TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
 endif
 
 
-else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC))
+else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
 
 
 STDPERIPH_DIR	 = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
@@ -267,6 +267,7 @@ EUSTM32F103RC_SRC	 = startup_stm32f10x_hd_gcc.S \
 		   drivers/compass_hmc5883l.c \
 		   drivers/display_ug2864hsweg01.h \
 		   drivers/gpio_stm32f10x.c \
+		   drivers/inverter.c \
 		   drivers/light_led_stm32f10x.c \
 		   drivers/light_ws2811strip.c \
 		   drivers/light_ws2811strip_stm32f10x.c \
@@ -284,6 +285,8 @@ EUSTM32F103RC_SRC	 = startup_stm32f10x_hd_gcc.S \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC)
 
+PORT103R_SRC = $(EUSTM32F103RC_SRC)
+
 OLIMEXINO_SRC	 = startup_stm32f10x_md_gcc.S \
 		   drivers/accgyro_mpu6050.c \
 		   drivers/adc.c \

docs/Rx.md

@@ -20,7 +20,16 @@ Allows you to use MSP commands as the RC input.  Only 8 channel support to maint
 
 ## SBUS
 
-12 channels via serial currently supported.
+16 channels via serial currently supported.
+
+### OpenTX configuration
+
+If using OpenTX set the transmitter module to D16 mode and select CH1-16 on the transmitter before binding to allow reception
+of 16 channels. 
+
+OpenTX 2.09, which is shipped on some Taranis X9D Plus transmitters, has a bug - https://github.com/opentx/opentx/issues/1701
+The bug prevents use of all 16 channels.  Upgrade to the latest OpenTX version to allow correct reception of all 16 channels,
+without the fix you are limited to 8 channels regardless of the CH1-16/D16 settings.
 
 ## SUMD
 

src/main/drivers/display_ug2864hsweg01.c

@@ -236,6 +236,38 @@ void i2c_OLED_send_string(const char *string)
     }
 }
 
+/**
+* according to http://www.adafruit.com/datasheets/UG-2864HSWEG01.pdf Chapter 4.4 Page 15
+*/
+#if 1
+void ug2864hsweg01InitI2C(void)
+{
+    i2c_OLED_send_cmd(0xAE); // Set display OFF
+    i2c_OLED_send_cmd(0xD4); // Set Display Clock Divide Ratio / OSC Frequency
+    i2c_OLED_send_cmd(0x80); // Display Clock Divide Ratio / OSC Frequency
+    i2c_OLED_send_cmd(0xA8); // Set Multiplex Ratio
+    i2c_OLED_send_cmd(0x3F); // Multiplex Ratio for 128x64 (64-1)
+    i2c_OLED_send_cmd(0xD3); // Set Display Offset
+    i2c_OLED_send_cmd(0x00); // Display Offset
+    i2c_OLED_send_cmd(0x40); // Set Display Start Line
+    i2c_OLED_send_cmd(0x8D); // Set Charge Pump
+    i2c_OLED_send_cmd(0x14); // Charge Pump (0x10 External, 0x14 Internal DC/DC)
+    i2c_OLED_send_cmd(0xA1); // Set Segment Re-Map
+    i2c_OLED_send_cmd(0xC8); // Set Com Output Scan Direction
+    i2c_OLED_send_cmd(0xDA); // Set COM Hardware Configuration
+    i2c_OLED_send_cmd(0x12); // COM Hardware Configuration
+    i2c_OLED_send_cmd(0x81); // Set Contrast
+    i2c_OLED_send_cmd(0xCF); // Contrast
+    i2c_OLED_send_cmd(0xD9); // Set Pre-Charge Period
+    i2c_OLED_send_cmd(0xF1); // Set Pre-Charge Period (0x22 External, 0xF1 Internal)
+    i2c_OLED_send_cmd(0xDB); // Set VCOMH Deselect Level
+    i2c_OLED_send_cmd(0x40); // VCOMH Deselect Level
+    i2c_OLED_send_cmd(0xA4); // Set all pixels OFF
+    i2c_OLED_send_cmd(0xA6); // Set display not inverted
+    i2c_OLED_send_cmd(0xAF); // Set display On
+    i2c_OLED_clear_display();
+}
+#else
 void ug2864hsweg01InitI2C(void)
 {
     i2c_OLED_send_cmd(0xae);    //display off
@@ -273,3 +305,4 @@ void ug2864hsweg01InitI2C(void)
     i2c_OLED_clear_display();
 }
 
+#endif

src/main/drivers/pwm_mapping.c

@@ -69,7 +69,7 @@ enum {
     MAP_TO_SERVO_OUTPUT,
 };
 
-#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(EUSTM32F103RC) || defined(MASSIVEF3)
+#if defined(NAZE) || defined(OLIMEXINO) || defined(NAZE32PRO) || defined(STM32F3DISCOVERY) || defined(EUSTM32F103RC) || defined(MASSIVEF3) || defined(PORT103R)
 static const uint16_t multiPPM[] = {
     PWM1  | (MAP_TO_PPM_INPUT << 8),     // PPM input
     PWM9  | (MAP_TO_MOTOR_OUTPUT << 8),      // Swap to servo if needed

src/main/drivers/timer.c

@@ -74,7 +74,7 @@
     TIM4 4 channels
 */
 
-#if defined(CJMCU) || defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO)
+#if defined(CJMCU) || defined(EUSTM32F103RC) || defined(NAZE) || defined(OLIMEXINO) || defined(PORT103R)
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     { TIM2, GPIOA, Pin_0, TIM_Channel_1, TIM2_IRQn, 0, Mode_IPD},          // PWM1
     { TIM2, GPIOA, Pin_1, TIM_Channel_2, TIM2_IRQn, 0, Mode_IPD},          // PWM2

src/main/io/display.c

@@ -67,6 +67,7 @@ typedef enum {
     PAGE_SENSORS,
     PAGE_RX,
     PAGE_PROFILE,
+    PAGE_DEBUG
 } pageId_e;
 
 const char* pageTitles[] = {
@@ -75,13 +76,15 @@ const char* pageTitles[] = {
     "BATTERY",
     "SENSORS",
     "RX",
-    "PROFILE"
+    "PROFILE",
+    "DEBUG"
 };
 
 #define PAGE_COUNT (PAGE_RX + 1)
 
 const uint8_t cyclePageIds[] = {
     PAGE_PROFILE,
+    PAGE_DEBUG,
     PAGE_BATTERY,
     PAGE_SENSORS,
     PAGE_RX
@@ -267,6 +270,20 @@ void showSensorsPage(void)
 #endif
 }
 
+#define PAGE_TITLE_LINE_COUNT 1
+
+void showDebugPage(void)
+{
+    uint8_t rowIndex;
+
+    for (rowIndex = 0; rowIndex < 4; rowIndex++) {
+        tfp_sprintf(lineBuffer, "%d = %5d", rowIndex, debug[rowIndex]);
+        padLineBuffer();
+        i2c_OLED_set_line(rowIndex + PAGE_TITLE_LINE_COUNT);
+        i2c_OLED_send_string(lineBuffer);
+    }
+}
+
 void updateDisplay(void)
 {
     uint32_t now = micros();
@@ -329,6 +346,9 @@ void updateDisplay(void)
         case PAGE_PROFILE:
             showProfilePage();
             break;
+        case PAGE_DEBUG:
+            showDebugPage();
+            break;
     }
     if (!armedState) {
         updateTicker();

src/main/main.c

@@ -119,28 +119,6 @@ void SetSysClock(void);
 void SetSysClock(bool overclock);
 #endif
 
-// FIXME bad naming - this appears to be for some new board that hasn't been made available yet.
-#ifdef PROD_DEBUG
-void productionDebug(void)
-{
-    gpio_config_t gpio;
-
-    // remap PB6 to USART1_TX
-    gpio.pin = Pin_6;
-    gpio.mode = Mode_AF_PP;
-    gpio.speed = Speed_2MHz;
-    gpioInit(GPIOB, &gpio);
-    gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, true);
-    serialInit(mcfg.serial_baudrate);
-    delay(25);
-    serialPrint(core.mainport, "DBG ");
-    printf("%08x%08x%08x OK\n", U_ID_0, U_ID_1, U_ID_2);
-    serialPrint(core.mainport, "EOF");
-    delay(25);
-    gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, false);
-}
-#endif
-
 void init(void)
 {
     uint8_t i;
@@ -251,11 +229,6 @@ void init(void)
     // drop out any sensors that don't seem to work, init all the others. halt if gyro is dead.
     sensorsOK = sensorsAutodetect(&masterConfig.sensorAlignmentConfig, masterConfig.gyro_lpf, masterConfig.acc_hardware, currentProfile->mag_declination);
 
-    // production debug output
-#ifdef PROD_DEBUG
-    productionDebug();
-#endif
-
     // if gyro was not detected due to whatever reason, we give up now.
     if (!sensorsOK)
         failureMode(3);

src/main/sensors/boardalignment.c

@@ -142,24 +142,3 @@ void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
     if (!standardBoardAlignment)
         alignBoard(dest);
 }
-
-#ifdef PROD_DEBUG
-void productionDebug(void)
-{
-    gpio_config_t gpio;
-
-    // remap PB6 to USART1_TX
-    gpio.pin = Pin_6;
-    gpio.mode = Mode_AF_PP;
-    gpio.speed = Speed_2MHz;
-    gpioInit(GPIOB, &gpio);
-    gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, true);
-    serialInit(mcfg.serial_baudrate);
-    delay(25);
-    serialPrint(core.mainport, "DBG ");
-    printf("%08x%08x%08x OK\n", U_ID_0, U_ID_1, U_ID_2);
-    serialPrint(core.mainport, "EOF");
-    delay(25);
-    gpioPinRemapConfig(AFIO_MAPR_USART1_REMAP, false);
-}
-#endif

src/main/sensors/sonar.c

@@ -39,7 +39,7 @@ int32_t sonarAlt = -1;	// in cm , -1 indicate sonar is not in range
 
 void Sonar_init(void)
 {
-#if defined(NAZE) || defined(EUSTM32F103RC)
+#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R)
     static const sonarHardware_t const sonarPWM56 = {
         .trigger_pin = Pin_8,   // PWM5 (PB8) - 5v tolerant
         .echo_pin = Pin_9,      // PWM6 (PB9) - 5v tolerant

src/main/target/EUSTM32F103RC/target.h

@@ -19,6 +19,11 @@
 
 #define TARGET_BOARD_IDENTIFIER "EUF1"
 
+#define INVERTER_PIN Pin_2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER_GPIO GPIOB
+#define INVERTER_PERIPHERAL RCC_APB2Periph_GPIOB
+#define INVERTER_USART USART2
+
 #define MPU6000_CS_GPIO       GPIOB
 #define MPU6000_CS_PIN        GPIO_Pin_12
 #define MPU6000_SPI_INSTANCE  SPI2
@@ -53,6 +58,7 @@
 #define MAG
 #define SONAR
 #define DISPLAY
+#define INVERTER
 
 #define USE_USART1
 #define USE_USART2

src/main/target/PORT103R/target.h

@@ -0,0 +1,109 @@
+/*
+ * 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 <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "103R"
+
+#define LED0_GPIO   GPIOD
+#define LED0_PIN    Pin_2 // PD2 (LED)
+#define LED0_PERIPHERAL RCC_APB2Periph_GPIOD
+
+#define BEEP_GPIO   GPIOA
+#define BEEP_PIN    Pin_12 // PA12 (Beeper)
+#define BEEP_PERIPHERAL RCC_APB2Periph_GPIOA
+
+#define BARO_XCLR_GPIO   GPIOC
+#define BARO_XCLR_PIN    Pin_13
+#define BARO_EOC_GPIO    GPIOC
+#define BARO_EOC_PIN     Pin_14
+#define BARO_APB2_PERIPHERALS RCC_APB2Periph_GPIOC
+
+#define INVERTER_PIN Pin_2 // PB2 (BOOT1) abused as inverter select GPIO
+#define INVERTER_GPIO GPIOB
+#define INVERTER_PERIPHERAL RCC_APB2Periph_GPIOB
+#define INVERTER_USART USART2
+
+#define MPU6000_CS_GPIO       GPIOB
+#define MPU6000_CS_PIN        GPIO_Pin_12
+#define MPU6000_SPI_INSTANCE  SPI2
+
+#define MPU6500_CS_GPIO       GPIOB
+#define MPU6500_CS_PIN        GPIO_Pin_12
+#define MPU6500_SPI_INSTANCE  SPI2
+
+#define ACC
+#define USE_FAKE_ACC
+//#define USE_ACC_ADXL345
+//#define USE_ACC_BMA280
+//#define USE_ACC_MMA8452
+//#define USE_ACC_MPU3050
+#define USE_ACC_MPU6050
+//#define USE_ACC_SPI_MPU6000
+//#define USE_ACC_SPI_MPU6500
+
+#define GYRO
+#define USE_FAKE_GYRO
+//#define USE_GYRO_L3G4200D
+//#define USE_GYRO_L3GD20
+//#define USE_GYRO_MPU3050
+#define USE_GYRO_MPU6050
+//#define USE_GYRO_SPI_MPU6000
+//#define USE_GYRO_SPI_MPU6500
+
+#define BARO
+#define USE_BARO_MS5611
+//#define USE_BARO_BMP085
+
+#define MAG
+#define SONAR
+#define BEEPER
+#define LED0
+#define INVERTER
+#define DISPLAY
+
+#define USE_USART1
+#define USE_USART2
+#define USE_SOFTSERIAL1
+#define USE_SOFTSERIAL2
+#define SERIAL_PORT_COUNT 4
+
+#define SOFTSERIAL_1_TIMER TIM3
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
+#define SOFTSERIAL_2_TIMER TIM3
+#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
+#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+
+#define USE_I2C
+#define I2C_DEVICE (I2CDEV_2)
+
+// #define SOFT_I2C // enable to test software i2c
+// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
+// #define SOFT_I2C_PB67
+
+#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
+
+#define LED0
+#define GPS
+#define LED_STRIP
+#define LED_STRIP_TIMER TIM3
+
+#define TELEMETRY
+#define SERIAL_RX
+#define AUTOTUNE
+