Merge branch 'betaflight' of https://github.com/borisbstyle/betaflight into betaflight

Makefile

@@ -599,9 +599,11 @@ COLIBRI_RACE_SRC = \
 		   drivers/bus_bst_stm32f30x.c \
 		   drivers/accgyro_mpu.c \
 		   drivers/accgyro_mpu6500.c \
+		   drivers/accgyro_spi_mpu6000.c \
 		   drivers/accgyro_spi_mpu6500.c \
 		   drivers/accgyro_mpu6500.c \
 		   drivers/barometer_ms5611.c \
+		   drivers/compass_ak8963.c \
 		   drivers/compass_ak8975.c \
 		   drivers/compass_hmc5883l.c \
 		   drivers/display_ug2864hsweg01.c \

src/main/blackbox/blackbox.c

@@ -323,9 +323,17 @@ extern uint32_t currentTime;
 //From rx.c:
 extern uint16_t rssi;
 
+//From gyro.c
+extern uint32_t targetLooptime;
+
+//From rc_controls.c
+extern uint32_t rcModeActivationMask;
+
 static BlackboxState blackboxState = BLACKBOX_STATE_DISABLED;
 
 static uint32_t blackboxLastArmingBeep = 0;
+static uint32_t blackboxLastFlightModeFlags = 0; // New event tracking of flight modes
+
 
 static struct {
     uint32_t headerIndex;
@@ -857,6 +865,8 @@ void startBlackbox(void)
          * it finally plays the beep for this arming event.
          */
         blackboxLastArmingBeep = getArmingBeepTimeMicros();
+        blackboxLastFlightModeFlags = rcModeActivationMask; // record startup status
+
 
         blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
     }
@@ -1166,6 +1176,24 @@ static bool blackboxWriteSysinfo()
                 blackboxPrintfHeaderLine("currentMeter:%d,%d", masterConfig.batteryConfig.currentMeterOffset, masterConfig.batteryConfig.currentMeterScale);
             }
         break;
+        case 13:
+            blackboxPrintfHeaderLine("rcExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcExpo8);
+            break;
+        case 14:
+            blackboxPrintfHeaderLine("rcYawExpo:%d", masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rcYawExpo8);
+            break;
+        case 15:
+            blackboxPrintfHeaderLine("superExpoFactor:%d", masterConfig.rxConfig.superExpoFactor);
+            break;
+        case 16:
+            blackboxPrintfHeaderLine("rates:%d,%d,%d",
+                                     masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[0],
+                                     masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[1],
+                                     masterConfig.profile[masterConfig.current_profile_index].controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile].rates[2]);
+            break;
+        case 17:
+            blackboxPrintfHeaderLine("looptime:%d", targetLooptime);
+            break;
         default:
             return true;
     }
@@ -1193,6 +1221,10 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
         case FLIGHT_LOG_EVENT_SYNC_BEEP:
             blackboxWriteUnsignedVB(data->syncBeep.time);
         break;
+        case FLIGHT_LOG_EVENT_FLIGHTMODE: // New flightmode flags write
+            blackboxWriteUnsignedVB(data->flightMode.flags);
+            blackboxWriteUnsignedVB(data->flightMode.lastFlags);
+        break;
         case FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT:
             if (data->inflightAdjustment.floatFlag) {
                 blackboxWrite(data->inflightAdjustment.adjustmentFunction + FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG);
@@ -1233,6 +1265,21 @@ static void blackboxCheckAndLogArmingBeep()
     }
 }
 
+/* monitor the flight mode event status and trigger an event record if the state changes */
+static void blackboxCheckAndLogFlightMode()
+{
+    flightLogEvent_flightMode_t eventData; // Add new data for current flight mode flags
+
+    // Use != so that we can still detect a change if the counter wraps
+    if (rcModeActivationMask != blackboxLastFlightModeFlags) {
+        eventData.lastFlags = blackboxLastFlightModeFlags;
+        blackboxLastFlightModeFlags = rcModeActivationMask;
+        eventData.flags = rcModeActivationMask;
+
+        blackboxLogEvent(FLIGHT_LOG_EVENT_FLIGHTMODE, (flightLogEventData_t *) &eventData);
+    }
+}
+
 /* 
  * Use the user's num/denom settings to decide if the P-frame of the given index should be logged, allowing the user to control
  * the portion of logged loop iterations.
@@ -1277,6 +1324,7 @@ static void blackboxLogIteration()
         writeIntraframe();
     } else {
         blackboxCheckAndLogArmingBeep();
+        blackboxCheckAndLogFlightMode(); // Check for FlightMode status change event
         
         if (blackboxShouldLogPFrame(blackboxPFrameIndex)) {
             /*

src/main/blackbox/blackbox_fielddefs.h

@@ -106,6 +106,7 @@ typedef enum FlightLogEvent {
     FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
     FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
     FLIGHT_LOG_EVENT_GTUNE_RESULT = 20,
+    FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
     FLIGHT_LOG_EVENT_LOG_END = 255
 } FlightLogEvent;
 
@@ -113,6 +114,11 @@ typedef struct flightLogEvent_syncBeep_s {
     uint32_t time;
 } flightLogEvent_syncBeep_t;
 
+typedef struct flightLogEvent_flightMode_s { // New Event Data type
+    uint32_t flags;
+    uint32_t lastFlags;
+} flightLogEvent_flightMode_t;
+
 typedef struct flightLogEvent_inflightAdjustment_s {
     uint8_t adjustmentFunction;
     bool floatFlag;
@@ -135,6 +141,7 @@ typedef struct flightLogEvent_gtuneCycleResult_s {
 
 typedef union flightLogEventData_u {
     flightLogEvent_syncBeep_t syncBeep;
+    flightLogEvent_flightMode_t flightMode; // New event data
     flightLogEvent_inflightAdjustment_t inflightAdjustment;
     flightLogEvent_loggingResume_t loggingResume;
     flightLogEvent_gtuneCycleResult_t gtuneCycleResult;

src/main/common/typeconversion.c

@@ -144,6 +144,11 @@ char *itoa(int i, char *a, int base)
 
 #endif
 
+/* Note: the floatString must be at least 13 bytes long to cover all cases.
+ * This includes up to 10 digits (32 bit ints can hold numbers up to 10
+ * digits long) + the decimal point + negative sign or space + null
+ * terminator.
+ */
 char *ftoa(float x, char *floatString)
 {
     int32_t value;

src/main/common/typeconversion.h

@@ -21,7 +21,17 @@ void li2a(long num, char *bf);
 void ui2a(unsigned int num, unsigned int base, int uc, char *bf);
 void i2a(int num, char *bf);
 char a2i(char ch, const char **src, int base, int *nump);
+
+/* Simple conversion of a float to a string. Will display completely
+ * inaccurate results for floats larger than about 2.15E6 (2^31 / 1000)
+ * (same thing for negative values < -2.15E6).
+ * Will always display 3 decimals, so anything smaller than 1E-3 will
+ * not be displayed.
+ * The floatString will be filled in with the result and will be
+ * returned. It must be at least 13 bytes in length to cover all cases!
+ */
 char *ftoa(float x, char *floatString);
+
 float fastA2F(const char *p);
 
 #ifndef HAVE_ITOA_FUNCTION

src/main/io/ledstrip.c

@@ -245,6 +245,19 @@ const ledConfig_t defaultLedStripConfig[] = {
     { CALCULATE_LED_XY( 1,  1), 3, LED_FUNCTION_THRUST_RING},
     { CALCULATE_LED_XY( 1,  1), 3, LED_FUNCTION_THRUST_RING},
 };
+#elif defined(USE_COLIBTI_RACE_LED_DEFAULT_CONFIG)
+const ledConfig_t defaultLedStripConfig[] = {
+	{ CALCULATE_LED_XY( 0,  0), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 0,  1), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 0,  8), 6, LED_DIRECTION_WEST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 7,  15), 6, LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 8,  15), 6, LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 7,  14), 6, LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 8,  14), 6, LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 15,  8), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 15,  1), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
+	{ CALCULATE_LED_XY( 15,  0), 6, LED_DIRECTION_EAST | LED_FUNCTION_WARNING | LED_FUNCTION_COLOR },
+};
 #else
 const ledConfig_t defaultLedStripConfig[] = {
     { CALCULATE_LED_XY(15, 15), 0, LED_DIRECTION_SOUTH | LED_DIRECTION_EAST | LED_FUNCTION_INDICATOR | LED_FUNCTION_ARM_STATE },

src/main/io/serial_cli.c

@@ -2447,7 +2447,7 @@ static void cliWrite(uint8_t ch)
 static void cliPrintVar(const clivalue_t *var, uint32_t full)
 {
     int32_t value = 0;
-    char buf[8];
+    char buf[13];
 
     void *ptr = var->ptr;
     if ((var->type & VALUE_SECTION_MASK) == PROFILE_VALUE) {

src/main/target/COLIBRI_RACE/target.h

@@ -43,6 +43,11 @@
 #define MPU6500_CS_PIN                   GPIO_Pin_4
 #define MPU6500_SPI_INSTANCE             SPI1
 
+#define MPU6000_CS_GPIO_CLK_PERIPHERAL   RCC_AHBPeriph_GPIOA
+#define MPU6000_CS_GPIO				 GPIOA
+#define MPU6000_CS_PIN				 GPIO_Pin_4
+#define MPU6000_SPI_INSTANCE             SPI1
+
 #define USE_SPI
 #define USE_SPI_DEVICE_1
 
@@ -60,11 +65,15 @@
 #define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
 
 #define GYRO
+#define USE_GYRO_SPI_MPU6000
+#define GYRO_MPU6000_ALIGN CW270_DEG
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
 #define GYRO_MPU6500_ALIGN CW270_DEG
 
 #define ACC
+#define USE_ACC_SPI_MPU6000
+#define ACC_MPU6000_ALIGN CW270_DEG
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
 #define ACC_MPU6500_ALIGN CW270_DEG
@@ -73,7 +82,9 @@
 #define USE_BARO_MS5611
 
 #define MAG
+#define USE_MPU9250_MAG
 #define USE_MAG_HMC5883
+#define USE_MAG_AK8963
 #define USE_MAG_AK8975
 
 #define BEEPER
@@ -155,6 +166,7 @@
 #define GPS
 //#define GTUNE
 #define LED_STRIP
+#define USE_COLIBTI_RACE_LED_DEFAULT_CONFIG
 
 #define LED_STRIP_TIMER TIM16