Merge pull request #1 from betaflight/master

align with master

make/source.mk

@@ -107,6 +107,7 @@ COMMON_SRC = \
             rx/jetiexbus.c \
             rx/msp.c \
             rx/pwm.c \
+            rx/frsky_crc.c \
             rx/rx.c \
             rx/rx_bind.c \
             rx/rx_spi.c \
@@ -255,6 +256,7 @@ SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             rx/rx.c \
             rx/rx_spi.c \
             rx/crsf.c \
+            rx/frsky_crc.c \
             rx/sbus.c \
             rx/sbus_channels.c \
             rx/spektrum.c \
@@ -361,6 +363,7 @@ ifneq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
 SPEED_OPTIMISED_SRC := $(SPEED_OPTIMISED_SRC) \
             drivers/bus_i2c_hal.c \
             drivers/bus_spi_ll.c \
+            rx/frsky_crc.c \
             drivers/max7456.c \
             drivers/pwm_output_dshot.c \
             drivers/pwm_output_dshot_shared.c \

src/main/cli/settings.c

@@ -1015,7 +1015,7 @@ const clivalue_t valueTable[] = {
     { "pid_at_min_throttle",        VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_PID_PROFILE, offsetof(pidProfile_t, pidAtMinThrottle) },
     { "anti_gravity_mode",          VAR_UINT8  | PROFILE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_ANTI_GRAVITY_MODE }, PG_PID_PROFILE, offsetof(pidProfile_t, antiGravityMode) },
     { "anti_gravity_threshold",     VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 20, 1000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermThrottleThreshold) },
-    { "anti_gravity_gain",          VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 1000, 30000 }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
+    { "anti_gravity_gain",          VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX }, PG_PID_PROFILE, offsetof(pidProfile_t, itermAcceleratorGain) },
     { "feedforward_transition",     VAR_UINT8  | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_PID_PROFILE, offsetof(pidProfile_t, feedForwardTransition) },
     { "acc_limit_yaw",              VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, yawRateAccelLimit) },
     { "acc_limit",                  VAR_UINT16 | PROFILE_VALUE, .config.minmaxUnsigned = { 0, 500 }, PG_PID_PROFILE, offsetof(pidProfile_t, rateAccelLimit) },

src/main/cms/cms_menu_imu.c

@@ -487,7 +487,7 @@ static const OSD_Entry cmsx_menuProfileOtherEntries[] = {
     { "ANGLE STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_angleStrength,          0,    200,   1  }   , 0 },
     { "HORZN STR",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonStrength,        0,    200,   1  }   , 0 },
     { "HORZN TRS",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_horizonTransition,      0,    200,   1  }   , 0 },
-    { "AG GAIN",     OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain,   1000, 30000, 10 }   , 0 },
+    { "AG GAIN",     OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermAcceleratorGain,   ITERM_ACCELERATOR_GAIN_OFF, ITERM_ACCELERATOR_GAIN_MAX, 10 }   , 0 },
     { "AG THR",      OME_UINT16, NULL, &(OSD_UINT16_t) { &cmsx_itermThrottleThreshold, 20,   1000,  1  }   , 0 },
 #ifdef USE_THROTTLE_BOOST
     { "THR BOOST",   OME_UINT8,  NULL, &(OSD_UINT8_t)  { &cmsx_throttleBoost,          0,    100,   1  }   , 0 },

src/main/flight/pid.h

@@ -51,6 +51,8 @@
 // Anti gravity I constant
 #define AG_KI 21.586988f;
 
+#define ITERM_ACCELERATOR_GAIN_OFF 1000
+#define ITERM_ACCELERATOR_GAIN_MAX 30000
 typedef enum {
     PID_ROLL,
     PID_PITCH,

src/main/msp/msp_box.c

@@ -34,6 +34,7 @@
 #include "fc/runtime_config.h"
 
 #include "flight/mixer.h"
+#include "flight/pid.h"
 
 #include "sensors/sensors.h"
 
@@ -184,7 +185,13 @@ void initActiveBoxIds(void)
         BME(BOXAIRMODE);
     }
 
-    if (!featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
+    bool acceleratorGainsEnabled = false;
+    for (unsigned i = 0; i < PID_PROFILE_COUNT; i++) {
+        if (pidProfiles(i)->itermAcceleratorGain != ITERM_ACCELERATOR_GAIN_OFF) {
+            acceleratorGainsEnabled = true;
+        }
+    }
+    if (acceleratorGainsEnabled && !featureIsEnabled(FEATURE_ANTI_GRAVITY)) {
         BME(BOXANTIGRAVITY);
     }
 

src/main/rx/fport.c

@@ -43,6 +43,7 @@
 
 #include "pg/rx.h"
 
+#include "rx/frsky_crc.h"
 #include "rx/rx.h"
 #include "rx/sbus_channels.h"
 #include "rx/fport.h"
@@ -61,8 +62,6 @@
 #define FPORT_ESCAPE_CHAR 0x7D
 #define FPORT_ESCAPE_MASK 0x20
 
-#define FPORT_CRC_VALUE 0xFF
-
 #define FPORT_BAUDRATE 115200
 
 #define FPORT_PORT_OPTIONS (SERIAL_STOPBITS_1 | SERIAL_PARITY_NO)
@@ -245,18 +244,6 @@ static void smartPortWriteFrameFport(const smartPortPayload_t *payload)
 }
 #endif
 
-static bool checkChecksum(uint8_t *data, uint8_t length)
-{
-    uint16_t checksum = 0;
-    for (unsigned i = 0; i < length; i++) {
-        checksum = checksum + *(uint8_t *)(data + i);
-    }
-
-    checksum = (checksum & 0xff) + (checksum >> 8);
-
-    return checksum == FPORT_CRC_VALUE;
-}
-
 static uint8_t fportFrameStatus(rxRuntimeState_t *rxRuntimeState)
 {
     static bool hasTelemetryRequest = false;
@@ -276,7 +263,7 @@ static uint8_t fportFrameStatus(rxRuntimeState_t *rxRuntimeState)
         if (frameLength != bufferLength - 2) {
             reportFrameError(DEBUG_FPORT_ERROR_SIZE);
         } else {
-            if (!checkChecksum(&rxBuffer[rxBufferReadIndex].data[0], bufferLength)) {
+            if (!frskyCheckSumIsGood(&rxBuffer[rxBufferReadIndex].data[0], bufferLength)) {
                 reportFrameError(DEBUG_FPORT_ERROR_CHECKSUM);
             } else {
                 fportFrame_t *frame = (fportFrame_t *)&rxBuffer[rxBufferReadIndex].data[1];

src/main/rx/frsky_crc.c

@@ -0,0 +1,56 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "rx/frsky_crc.h"
+
+void frskyCheckSumStep(uint16_t *checksum, uint8_t byte)
+{
+    *checksum += byte;
+}
+
+void frskyCheckSumFini(uint16_t *checksum)
+{
+    while (*checksum > 0xFF) {
+        *checksum = (*checksum & 0xFF) + (*checksum >> 8);
+    }
+
+    *checksum = 0xFF - *checksum;
+}
+
+static uint8_t frskyCheckSum(uint8_t *data, uint8_t length)
+{
+    uint16_t checksum = 0;
+    for (unsigned i = 0; i < length; i++) {
+        frskyCheckSumStep(&checksum, *data++);
+    }
+    frskyCheckSumFini(&checksum);
+    return checksum;
+}
+
+bool frskyCheckSumIsGood(uint8_t *data, uint8_t length)
+{
+    uint16_t checksum = frskyCheckSum(data, length);
+    return checksum == 0xFF;
+}

src/main/rx/frsky_crc.h

@@ -0,0 +1,26 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+bool frskyCheckSumIsGood(uint8_t *data, uint8_t length);
+void frskyCheckSumStep(uint16_t *checksum, uint8_t byte);   // Add byte to checksum
+void frskyCheckSumFini(uint16_t *checksum);                 // Finalize checksum

src/main/telemetry/smartport.c

@@ -39,6 +39,8 @@
 
 #include "config/feature.h"
 
+#include "rx/frsky_crc.h"
+
 #include "drivers/accgyro/accgyro.h"
 #include "drivers/compass/compass.h"
 #include "drivers/sensor.h"
@@ -285,7 +287,7 @@ void smartPortSendByte(uint8_t c, uint16_t *checksum, serialPort_t *port)
     }
 
     if (checksum != NULL) {
-        *checksum += c;
+        frskyCheckSumStep(checksum, c);
     }
 }
 
@@ -300,8 +302,8 @@ void smartPortWriteFrameSerial(const smartPortPayload_t *payload, serialPort_t *
     for (unsigned i = 0; i < sizeof(smartPortPayload_t); i++) {
         smartPortSendByte(*data++, &checksum, port);
     }
-    checksum = 0xff - ((checksum & 0xff) + (checksum >> 8));
+    frskyCheckSumFini(&checksum);
-    smartPortSendByte((uint8_t)checksum, NULL, port);
+    smartPortSendByte(checksum, NULL, port);
 }
 
 static void smartPortWriteFrameInternal(const smartPortPayload_t *payload)