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

This commit is contained in:
Petr Ledvina 2014-11-11 12:50:11 +01:00
parent 3b20b74c00 6b92c50b6b
commit 3ee60ef857
15 changed files with 14823 additions and 14651 deletions
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7
Makefile
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@ -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 \

11
docs/Rx.md
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@ -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

BIN
obj/cleanflight_CC3D.bin
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9823
obj/cleanflight_CC3D.hex
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7840
obj/cleanflight_CJMCU.hex
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11569
obj/cleanflight_NAZE.hex
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33
src/main/drivers/display_ug2864hsweg01.c
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@ -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

2
src/main/drivers/pwm_mapping.c
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@ -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

2
src/main/drivers/timer.c
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@ -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

22
src/main/io/display.c
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@ -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();

27
src/main/main.c
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@ -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);

21
src/main/sensors/boardalignment.c
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@ -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

2
src/main/sensors/sonar.c
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@ -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

6
src/main/target/EUSTM32F103RC/target.h
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@ -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

109
src/main/target/PORT103R/target.h Normal file
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@ -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