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atbetaflight
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Merge remote-tracking branch 'upstream/master'

This commit is contained in:
Pim van Pelt 2015-01-12 22:06:56 +01:00
parent a89ed666cd 4e0cdf5e86
commit b261f1a46e
57 changed files with 2382 additions and 199 deletions
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5
.gitignore vendored
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@ -11,3 +11,8 @@
obj/
patches/
startup_stm32f10x_md_gcc.s
# script-generated files
docs/Manual.pdf
README.pdf

17
Makefile
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@ -105,6 +105,12 @@ STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
EXCLUDES = stm32f10x_crc.c \
stm32f10x_cec.c \
stm32f10x_can.c
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
# Search path and source files for the CMSIS sources
VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
@ -129,6 +135,12 @@ STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
EXCLUDES = stm32f10x_crc.c \
stm32f10x_cec.c \
stm32f10x_can.c
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
# Search path and source files for the CMSIS sources
VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \
@ -219,7 +231,8 @@ HIGHEND_SRC = flight/autotune.c \
telemetry/msp.c \
telemetry/smartport.c \
sensors/sonar.c \
sensors/barometer.c
sensors/barometer.c \
blackbox/blackbox.c
NAZE_SRC = startup_stm32f10x_md_gcc.S \
drivers/accgyro_adxl345.c \
@ -354,6 +367,8 @@ CJMCU_SRC = startup_stm32f10x_md_gcc.S \
drivers/system_stm32f10x.c \
drivers/timer.c \
drivers/timer_stm32f10x.c \
blackbox/blackbox.c \
hardware_revision.c \
$(COMMON_SRC)
CC3D_SRC = startup_stm32f10x_md_gcc.S \

18
build_docs.sh
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@ -5,13 +5,6 @@ doc_files=(
'Installation.md'
'Configuration.md'
'Cli.md'
'Board - AlienWii32.md'
'Board - CC3D.md'
'Board - CJMCU.md'
'Board - Naze32.md'
'Board - Sparky.md'
'Serial.md'
'Rx.md'
'Spektrum bind.md'
@ -29,7 +22,16 @@ doc_files=(
'Inflight Adjustments.md'
'Controls.md'
'Autotune.md'
'Migrating from baseflight.md')
'Blackbox.md'
'Migrating from baseflight.md'
'Board - AlienWii32.md'
'Board - CC3D.md'
'Board - CJMCU.md'
'Board - Naze32.md'
'Board - Sparky.md'
'Board - Olimexino.md'
'Board - CheBuzzF3.md'
)
if which gimli >/dev/null; then
echo "Building ${filename}.pdf"

5
docs/Autotune.md
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@ -5,9 +5,10 @@ Autotune helps to automatically tune your multirotor.
## Configuration.
Autotune only works in HORIZON or ANGLE mode, before using auto-tune it's best you setup so there is as little drift as possible.
Autotuning is best on a full battery in good flying conditions, i.e. no or minimal wind.
Autotuning is best on a full battery in good flying conditions, i.e. no or minimal wind. Autotune does not support
pid_controller 2 (pid_controller 0 is the Cleanflight default).
Configure a two position switch on your transmitter to activate the AUTOTUNE and (HORIZON or ANGLE) modes using the auxilary configuration.
Configure a two position switch on your transmitter to activate the AUTOTUNE and (HORIZON or ANGLE) modes using the auxiliary configuration.
You may find a momentary switch more suitable than a toggle switch.

5
docs/Battery.md
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@ -47,6 +47,8 @@ Configure min/max cell voltages using the following CLI setting:
`vbat_max_cell_voltage` - maximum voltage per cell, used for auto-detecting battery voltage in 0.1V units, i.e. 43 = 4.3V
`set vbat_warning_cell_voltage` - warning voltage per cell, this triggers battery out alarms, in 0.1V units, i.e. 34 = 3.4V
`vbat_min_cell_voltage` - minimum voltage per cell, this triggers battery out alarms, in 0.1V units, i.e. 33 = 3.3V
e.g.
@ -54,6 +56,7 @@ e.g.
```
set vbat_scale = 110
set vbat_max_cell_voltage = 43
set vbat_warning_cell_voltage = 34
set vbat_min_cell_voltage = 33
```
@ -75,7 +78,7 @@ Configure capacity using the `battery_capacity` setting, which takes a value in
The current meter may need to be configured so that the value read at the ADC input matches actual current draw. Just like you need a voltmeter to correctly calibrate your voltage reading you also need an ammeter to calibrate your current sensor.
Use the following settings to adjust calibrtion.
Use the following settings to adjust calibration.
`current_meter_scale`
`current_meter_offset`

185
docs/Blackbox.md Normal file
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@ -0,0 +1,185 @@
# Blackbox flight data recorder
![Rendered flight log frame](Screenshots/blackbox-screenshot-1.jpg)
## Introduction
This feature transmits your flight data information on every control loop iteration over a serial port to an external
logging device to be recorded.
After your flight, you can process the resulting logs on your computer to either turn them into CSV (comma-separated
values) or render your flight log as a video using the tools `blackbox_decode` and `blackbox_render`. Those tools can be
found in this repository:
https://github.com/cleanflight/blackbox-tools
You can also view your flight logs using your web browser with the interactive log viewer:
https://github.com/cleanflight/blackbox-log-viewer
## Logged data
The blackbox records flight data on every iteration of the flight control loop. It records the current time in
microseconds, P, I and D corrections for each axis, your RC command stick positions (after applying expo curves),
gyroscope data, accelerometer data (after your configured low-pass filtering), barometer readings, 3-axis magnetometer
readings, raw VBAT measurements, and the command being sent to each motor speed controller. This is all stored without
any approximation or loss of precision, so even quite subtle problems should be detectable from the fight data log.
Currently, the blackbox attempts to log GPS data whenever new GPS data is available, but this has not been tested yet.
The CSV decoder and video renderer do not yet show any of the GPS data (though this will be added). If you have a working
GPS, please send in your logs so I can get the decoding implemented.
The data rate for my quadcopter using a looptime of 2400 is about 10.25kB/s. This allows about 18 days of flight logs
to fit on a 16GB MicroSD card, which ought to be enough for anybody :).
## Supported configurations
The maximum data rate for the flight log is fairly restricted, so anything that increases the load can cause the flight
log to drop frames and contain errors.
The Blackbox was developed and tested on a quadcopter. It has also been tested on a tricopter. It should work on
hexacopters or octocopters, but as they transmit more information to the flight log (due to having more motors), the
number of dropped frames may increase. The `blackbox_render` tool only supports tri and quadcopters (please send me
flight logs from other craft, and I can add support for them!)
Cleanflight's `looptime` setting will decide how many times per second an update is saved to the flight log. The
software was developed on a craft with a looptime of 2400. Any looptime smaller than this will put more strain on the
data rate. The default looptime on Cleanflight is 3500. If you're using a looptime of 2000 or smaller, you will probably
need to reduce the sampling rate in the Blackbox settings, see the later section on configuring the Blackbox feature for
details.
## Hardware
The blackbox software is designed to be used with an [OpenLog serial data logger][] and a microSDHC card. You need a
little prep to get the OpenLog ready for use, so here are the details:
### Firmware
The OpenLog ships with standard OpenLog 3 firmware installed. However, in order to reduce the number of dropped frames,
it should be reflashed with the [OpenLog Light firmware][] or the special [OpenLog Blackbox firmware][] . The Blackbox
variant of the firmware ensures that the OpenLog is running at the correct baud-rate and does away for the need for a
`CONFIG.TXT` file to set up the OpenLog.
You can find the Blackbox version of the OpenLog firmware [here](https://github.com/cleanflight/blackbox-firmware),
along with instructions for installing it onto your OpenLog.
[OpenLog serial data logger]: https://www.sparkfun.com/products/9530
[OpenLog Light firmware]: https://github.com/sparkfun/OpenLog/tree/master/firmware/OpenLog_v3_Light
[OpenLog Blackbox firmware]: https://github.com/cleanflight/blackbox-firmware
### microSDHC
Your choice of microSDHC card is very important to the performance of the system. The OpenLog relies on being able to
make many small writes to the card with minimal delay, which not every card is good at. A faster SD-card speed rating is
not a guarantee of better performance.
#### microSDHC cards known to have poor performance
- Generic 4GB Class 4 microSDHC card - the rate of missing frames is about 1%, and is concentrated around the most
interesting parts of the log!
#### microSDHC cards known to have good performance
- Transcend 16GB Class 10 UHS-I microSDHC (typical error rate < 0.1%)
- Sandisk Extreme 16GB Class 10 UHS-I microSDHC (typical error rate < 0.1%)
You should format any card you use with the [SD Association's special formatting tool][] , as it will give the OpenLog
the best chance of writing at high speed. You must format it with either FAT, or with FAT32 (recommended).
[SD Association's special formatting tool]: https://www.sdcard.org/downloads/formatter_4/
### OpenLog configuration
This section applies only if you are using the OpenLog or OpenLog Light original firmware on the OpenLog. If you flashed
it with the special OpenLog Blackbox firmware, you don't need to configure it further.
Power up the OpenLog with a microSD card inside, wait 10 seconds or so, then power it down and plug the microSD card
into your computer. You should find a "CONFIG.TXT" file on the card. Edit it in a text editor to set the first number
(baud) to 115200. Set esc# to 0, mode to 0, and echo to 0. Save the file and put the card back into your OpenLog, it
should use those settings from now on.
If your OpenLog didn't write a CONFIG.TXT file, create a CONFIG.TXT file with these contents and store it in the root
of the MicroSD card:
```
115200,26,0,0,1,0,1
baud,escape,esc#,mode,verb,echo,ignoreRX
```
## Enabling this feature (CLI)
Enable the Blackbox feature by typing in `feature BLACKBOX` and pressing enter. You also need to assign the Blackbox to
one of [your serial ports][] . A 115200 baud port is required (such as serial_port_1 on the Naze32, the two-pin Tx/Rx
header in the center of the board).
For example, use `set serial_port_1_scenario=11` to switch the main serial port to MSP, CLI, Blackbox and GPS Passthrough.
Enter `save`. Your configuration should be saved and the flight controller will reboot. You're ready to go!
[your serial ports]: https://github.com/cleanflight/cleanflight/blob/master/docs/Serial.md
[Cleanflight Configurator]: https://chrome.google.com/webstore/detail/cleanflight-configurator/enacoimjcgeinfnnnpajinjgmkahmfgb?hl=en
## Configuring this feature
The Blackbox currently provides two settings (`blackbox_rate_num` and `blackbox_rate_denom`) that allow you to control
the rate at which data is logged. These two together form a fraction (`blackbox_rate_num / blackbox_rate_denom`) which
decides what portion of the flight controller's control loop iterations should be logged. The default is 1/1 which logs
every iteration.
If you are using a short looptime like 2000 or faster, or you're using a slower MicroSD card, you will need to reduce
this rate to reduce the number of corrupted logged frames. A rate of 1/2 is likely to work for most craft.
You can change these settings by entering the CLI tab in the Cleanflight Configurator and using the `set` command, like so:
```
set blackbox_rate_num = 1
set blackbox_rate_denom = 2
```
### Serial port
Connect the "TX" pin of the serial port you've chosen to the OpenLog's "RXI" pin. Don't connect the serial port's RX
pin to the OpenLog.
### Protection
The OpenLog can be wrapped in black electrical tape or heat-shrink in order to insulate it from conductive frames (like
carbon fiber), but this makes its status LEDs impossible to see. I recommend wrapping it with some clear heatshrink
tubing instead.
![OpenLog installed](Wiring/blackbox-installation-1.jpg "OpenLog installed with double-sided tape, SDCard slot pointing outward")
## Usage
The Blackbox starts recording data as soon as you arm your craft, and stops when you disarm. Each time the OpenLog is
power-cycled, it begins a fresh new log file. If you arm and disarm several times without cycling the power (recording
several flights), those logs will be combined together into one file. The command line tools will ask you to pick which
one of these flights you want to display/decode.
If your craft has a buzzer attached, a short beep will be played when you arm. You can later use this beep to
synchronize your recorded flight video with the rendered flight data log (the beep is shown as a blue line in the flight
data log, which you can sync against the beep in your recorded audio track).
The OpenLog requires a couple of seconds of delay after connecting the battery before it's ready to record, so don't
arm your craft immediately after connecting the battery (you'll probably be waiting for the flight controller to become
ready during that time anyway!)
You should also wait a few seconds after disarming the quad to allow the OpenLog to finish saving its data.
Don't insert or remove the SD card while the OpenLog is powered up.
## Converting logs to CSV or PNG
After your flights, you'll have a series of files labeled "LOG00001.TXT" etc. on the microSD card. You'll need to
decode these with the `blackbox_decode` tool to create a CSV (comma-separated values) file for analysis, or render them
into a series of PNG frames with `blackbox_render` tool, which you could then convert into a video using another
software package.
You'll find those tools along with instructions for using them in this repository:
https://github.com/cleanflight/blackbox-tools
You can also view your .TXT flight log files interactively using your web browser with the Cleanflight Blackbox Explorer
tool:
https://github.com/cleanflight/blackbox-log-viewer
This allows you to scroll around a graphed version of your log and examine your log in detail.

34
docs/Board - CJMCU.md
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@ -9,8 +9,8 @@ This board does not have an onboard USB-Serial converter, so an external adapter
| Revision | Notes |
| -------- | ----- |
| 1 | no boot jumper at the edge of the board. |
| 2 | identified by no boot jumper pads at the edge of the board. |
| 1 | No boot jumper pads by LED1. Uses blue and red LEDs |
| 2 | Boot jumper pads presoldered with pins and a jumper by LED1. Uses green and red LEDs. |
Version 2 boards are supported from firmware v1.4.0 onwards, do NOT flash earlier versions to version 2 boards.
@ -24,9 +24,11 @@ Version 2 boards are supported from firmware v1.4.0 onwards, do NOT flash earlie
| PA1 | RC Channel 2 |
| PA2 | RC Channel 3 / USART2 TX |
| PA3 | RC Channel 4 / USART2 RX |
| VCC | Power +3.3v |
| VCC | Power (See note) |
| GND | Ground |
NOTE: The VCC RX Pin is not regulated and will supply what ever voltage is provided to the board, this will mean it'll provide 5v if a 5v serial connection is used. Be careful if you are using a voltage sensitive RX. A regulated 3.3v supply can be found on the top pin of column 1, just below the RX GND pin.
## Serial Connections
USART1 (along with power) is on the following pins.
@ -108,10 +110,32 @@ To flash the board:
* Click "Flash Firmware"
* You should see "Programming: SUCCESSFUL" in the log box
* Click "Connect" -> This should open the "Initial Setup" tab and you should see sensor data from the quad shown
* Unplug the quad and solder across the 2 "BOOT0" pins - This prevents the board from going into bootloader mode on next
boot, if anything goes wrong, simply unsolder these pins and the bootloader will start, allowing you to reflash. You cannot
* Unplug the quad and short the 2 "BOOT0" pins. Revision 1 boards require this to be soldered, revision 2 boards can connect the included jumper to the two pre-soldered pins - This prevents the board from going into bootloader mode on next
boot, if anything goes wrong, simply disconnect these two pins and the bootloader will start, allowing you to reflash. You cannot
overwrite the bootloader.
# Charging
The CJMCU has on it a TP4056 Lithium battery charging IC that can charge a 1S battery at 1A using a provided 5v supply attached to the 5v serial pin.
To charge an attached battery:
* Set the power switch to OFF
* Set the charge switch to CHG
* Plug in a 1S battery to the battery pins
* Plug in a 5v supply to the 5v serial pins
The charger will finish when either the battery reaches 4.2v, or the battery's voltage is greater than the charger's input voltage.
The two nearby LEDs will show the status of charging:
| Status | Green LED | Red LED |
|--------------------|-----------|-----------|
| Charging | On | Off |
| Finished | Off | On |
| 5v not connected | Off | Off |
| Batt not connected | Flashing | On |
# Helpful Hints
* If you are only using a 4 channel RX, in the auxiliary configuration tab, you can add a "Horizon" mode range around 1500

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@ -1,13 +1,12 @@
ChebuzzF3
# Board - ChebuzzF3
Author: Dominic Clifton
The ChebuzzF3 is a daugter board which connects to the bottom of an STM32F3Discovery board and provides pin headers and ports for various FC connections.
All connections were traced using a multimeter and then verified against the TauLabs source code using the revision linked.
https://github.com/TauLabs/TauLabs/blob/816760dec2a20db7fb9ec1a505add240e696c31f/flight/targets/flyingf3/board-info/board_hw_defs.c
Connections
## Connections
Board orientation.
@ -15,7 +14,7 @@ These notes assume that when the board is placed with the header pins facing up,
Inner means between the two rows of header sockets, outer means between the left/right board edges and the header sockets.
SPI2 / External SPI
### SPI2 / External SPI
sclk GPIOB 13
miso GPIOB 14
@ -25,7 +24,7 @@ mosi GPIOB 15
There are 4 pins, labelled CS1-4 next to a label that reads Ext SPI. The 3rd pin is connected to the flash chip on
the bottom right inner of the board. The other pins on the flash chip are wired up to PB3/4/5
SPI3 / SPI
### SPI3 / SPI
sclk GPIOB 3
miso GPIOB 4
@ -36,7 +35,33 @@ ssel 2 GPIOB 11 / Ext SPI CS2
ssel 3 GPIOB 12 / Ext SPI CS3 - wired up to Slave Select of M25P16 15MBitFlash chip
ssel 4 GPIOB 13 / Ext SPI CS4 - not usable since it is used for SPI2 sclk
### RC Input
INPUT
PA8 / CH1 - TIM1_CH1
PB8 / CH2 - TIM16_CH1
PB9 / CH3 - TIM17_CH1
PC6 / CH4 - TIM8_CH1
PC7 / CH5 - TIM8_CH2
PC8 / CH6 - TIM8_CH3
PF9 / CH7 - TIM15_CH1
PF10 / CH8 - TIM15_CH2
### PWM Outputs
OUTPUT
PD12 / CH1 - TIM4_CH1
PD13 / CH2 - TIM4_CH2
PD14 / CH3 - TIM4_CH3
PD15 / CH4 - TIM4_CH4
PA1 / CH5 - TIM2_CH2
PA2 / CH6 - TIM2_CH3
PA3 / CH7 - TIM2_CH4
PB0 / CH8 - TIM3_CH3
PB1 / CH9 - TIM3_CH4
PA4 / CH10 - TIM3_CH2
### Other ports
There is space for a MS5611 pressure sensor at the top left inner of the board.
@ -68,25 +93,3 @@ There are sockets for 5 UARTs labelled USART1-5.
There is a socket labelled RX_IN.
GPIOD 2 / PD2 / RX_IN
INPUT
PA8 / CH1 - TIM1_CH1
PB8 / CH2 - TIM16_CH1
PB9 / CH3 - TIM17_CH1
PC6 / CH4 - TIM8_CH1
PC7 / CH5 - TIM8_CH2
PC8 / CH6 - TIM8_CH3
PF9 / CH7 - TIM15_CH1
PF10 / CH8 - TIM15_CH2
OUTPUT
PD12 / CH1 - TIM4_CH1
PD13 / CH2 - TIM4_CH2
PD14 / CH3 - TIM4_CH3
PD15 / CH4 - TIM4_CH4
PA1 / CH5 - TIM2_CH2
PA2 / CH6 - TIM2_CH3
PA3 / CH7 - TIM2_CH4
PB0 / CH8 - TIM3_CH3
PB1 / CH9 - TIM3_CH4
PA4 / CH10 - TIM3_CH2

15
targets/Olimexino/notes.txt → docs/Board - Olimexino.md
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@ -1,6 +1,12 @@
Olimexino
# Board - Olimexino
Author: Dominic Clifton
The Olimexino is a cheap and widely available development board
This board is not recommended for cleanflight development because many of the pins needed are not broken out to header pins. A better choice for development is the Port103R, EUSTM32F103RB (F1) or the STM32F3Discovery (F3).
## Connections
### RC Input
INPUT
@ -13,6 +19,8 @@ PA7 CH6 - D11 - PWM6 / SOFTSERIAL1 TX
PB0 CH7 - D27 - PWM7 / SOFTSERIAL2 RX
PB1 CH8 - D28 - PWM8 / SOFTSERIAL2 TX
### PWM Output
OUTPUT
PA8 CH1 - PWM9 - D6
PA11 CH2 - PWM10 - USBDM
@ -21,8 +29,7 @@ PB7 CH4 - PWM12 - D9
PB8 CH5 - PWM13 - D14
PB9 CH6 - PWM14 - D24
Olimexino Shield V1 connections
## Olimexino Shield V1
Headers for a CP2102 for UART1

54
docs/Board - Sparky.md
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@ -27,7 +27,59 @@ Tested with revision 1 board.
# Flashing
## Via Device Firmware Upload (DFU, USB)
## Via Device Firmware Upload (DFU, USB) - Windows
These instructions are for flashing the Sparky board under Windows using DfuSE.
Credits go to Thomas Shue (Full video of the below steps can be found here: https://www.youtube.com/watch?v=I4yHiRVRY94)
Required Software:
DfuSE Version 3.0.2 (latest version 3.0.4 causes errors): http://code.google.com/p/multipilot32/downloads/detail?name=DfuSe.rar
STM VCP Driver 1.4.0: http://www.st.com/web/en/catalog/tools/PF257938
A binary file is required for DFU, not a .hex file. If one is not included in the release then build one as follows.
```
Unpack DfuSE and the STM VCP Drivers into a folder on your Hardrive
Download the latest Sparky release (cleanflight_SPARKY.hex) from:
https://github.com/cleanflight/cleanflight/releases and store it on your Hardrive
In your DfuSE folder go to BIN and start DfuFileMgr.exe
Select: "I want to GENERATE a DFUfile from S19,HEX or BIN files" press OK
Press: "S19 or Hex.."
Go to the folder where you saved the cleanflight_SPARKY.hex file, select it and press open
(you might need to change the filetype in the DfuSE explorer window to "hex Files (*.hex)" to be able to see the file)
Press: "Generate" and select the .dfu output file and location
If all worked well you should see " Success for 'Image for lternate Setting 00 (ST..)'!"
```
Put the device into DFU mode by powering on the sparky with the bootloader pins temporarily bridged. The only light that should come on is the blue PWR led.
Check the windows device manager to make sure the board is recognized correctly.
It should show up as "STM Device in DFU mode" under Universal Serial Bus Controllers
If it shows up as "STMicroelectronics Virtual COM" under Ports (COM & LPT) instead then the board is not in DFU mode. Disconnect the board, short the bootloader pins again while connecting the board.
If the board shows up as "STM 32 Bootloader" device in the device manager, the drivers need to be updated manually.
Select the device in the device manager, press "update drivers", select "manual update drivers" and choose the location where you extracted the STM VCP Drivers, select "let me choose which driver to install". You shoud now be able to select either the STM32 Bootloader driver or the STM in DFU mode driver. Select the later and install.
Then flash the binary as below.
```
In your DfuSE folder go to BIN and start DfuSeDemo.exe
Select the Sparky Board (STM in DFU Mode) from the Available DFU and compatible HID Devices drop down list
Press "Choose.." at the bootom of the window and select the .dfu file created in the previous step
"File correctly loaded" should appear in the status bar
Press "Upgrade" and confirm with "Yes"
The status bar will show the upload progress and confirm that the upload is complete at the end
```
Disconnect and reconnect the board from USB and continue to configure it via the Cleanflight configurator as per normal
## Via Device Firmware Upload (DFU, USB) - Mac OS X
These instructions are for dfu-util, tested using dfu-util 0.7 for OSX from the OpenTX project.

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docs/Controls.md
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@ -30,3 +30,7 @@ HIGH - the channel value for the mapped channel input is around 2000
| Trim Acc Backwards | HIGH | CENTER | LOW | CENTER |
| Save setting | LOW | LOW | LOW | HIGH |
##### Download a graphic [pdf cheat-sheet](https://multiwii.googlecode.com/svn/branches/Hamburger/MultiWii-StickConfiguration-23_v0-5772156649.pdf) with TX stick commands.
The Latest version of this pdf can always be found [Here](https://code.google.com/p/multiwii/source/browse/#svn%2Fbranches%2FHamburger)

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docs/Failsafe.md
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@ -6,51 +6,72 @@ There are two types of failsafe:
2. flight controller based failsafe
Receiver based failsafe is where you, from your transmitter and receiver, configure channels to output desired signals if your receiver detects signal loss.
The idea is that you set throttle and other controls so the aircraft descends in a controlled manner.
The idea is that you set throttle and other controls so the aircraft descends in a controlled manner. See your receiver's documentation for this method.
Flight controller based failsafe is where the flight controller attempts to detect signal loss from your receiver.
It is possible to use both types at the same time and may be desirable. Flight controller failsafe can even help if your receiver signal wires come loose, get damaged or your receiver malfunctions in a way the receiver itself cannot detect.
It is possible to use both types at the same time which may be desirable. Flight controller failsafe can even help if your receiver signal wires come loose, get damaged or your receiver malfunctions in a way the receiver itself cannot detect.
## Flight controller failsafe system
The failsafe system is not activated until 5 seconds after the flight controller boots up. This is to prevent failsafe from activating in the case of TX/RX gear with long bind procedures before they send out valid data.
After the failsafe has been forced a landing, the flight controller cannot be armed and has to be reset.
After the failsafe has forced a landing, the flight controller cannot be armed and has to be reset.
The failsafe system attempts to detect when your receiver loses signal. It then attempts to prevent your aircraft from flying away uncontrollably.
The failsafe is activated when:
Either:
a) no valid channel data from the RX via Serial RX.
a) no valid channel data from the RX is received via Serial RX.
b) the first 4 Parallel PWM/PPM channels do not have valid signals.
And:
c) the failsafe guard time specified by `failsafe_delay` has elapsed.
## Configuration
There are a few settings for it, as below.
When configuring the flight controller failsafe, use the following steps:
1. Configure your receiver to do one of the following:
a) Upon signal loss, send no signal/pulses over the channels
b) Send an invalid signal over the channels (for example, send values lower than 'failsafe_min_usec')
See your receiver's documentation for direction on how to accomplish one of these.
2. Set 'failsafe_off_delay' to an appropriate value based on how high you fly
3. Set 'failsafe_throttle' to a value that allows the aircraft to descend at approximately one meter per second.
These are the basic steps for flight controller failsafe configuration, see Failsafe Settings below for additional settings that may be changed.
##Failsafe Settings
Failsafe delays are configured in 0.1 second steps.
1 step = 0.1sec
1 second = 10 steps
### `failsafe_delay`
Guard time for failsafe activation after signal lost.
Guard time for failsafe activation after signal lost. This is the amount of time the flight controller waits to see if it begins receiving a valid signal again before activating failsafe.
### `failsafe_off_delay`
Delay after failsafe activates before motors finally turn off. If you fly high you may need more time.
Delay after failsafe activates before motors finally turn off. This is the amount of time 'failsafe_throttle' is active. If you fly at higher altitudes you may need more time to descend safely.
### `failsafe_throttle`
Throttle level used for landing. Specify a value that causes the aircraft to descend at about 1M/sec.
Use standard RX usec values. See Rx documentation.
Use standard RX usec values. See RX documentation.
### `failsafe_min_usec`
@ -64,7 +85,7 @@ The longest PWM/PPM pulse considered valid.
Only valid when using Parallel PWM or PPM receivers.
This setting helps catch when your RX stops sending any data when the RX looses signal.
This setting helps detect when your RX stops sending any data when the RX looses signal.
With a Graupner GR-24 configured for PWM output with failsafe on channels 1-4 set to OFF in the receiver settings
then this setting, at its default value, will allow failsafe to be activated.

12
docs/LedStrip.md
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@ -51,12 +51,12 @@ uses. e.g. ESC1/BEC1 -> FC, ESC2/BEC2 -> LED strip. It's also possible to pow
from another BEC. Just ensure that the GROUND is the same for all BEC outputs and LEDs.
| Target | Pin | LED Strip | Signal |
| --------------------- | --- | --------- | -------|
| Naze/Olimexino | RC5 | Data In | PA6 |
| CC3D | ??? | Data In | PB4 |
| ChebuzzF3/F3Discovery | PB8 | Data In | PB8 |
| Target | Pin | LED Strip | Signal |
| --------------------- | ---- | --------- | -------|
| Naze/Olimexino | RC5 | Data In | PA6 |
| CC3D | RCO5 | Data In | PB4 |
| ChebuzzF3/F3Discovery | PB8 | Data In | PB8 |
| Sparky | PWM5 | Data In | PA6 |
Since RC5 is also used for SoftSerial on the Naze/Olimexino it means that you cannot use SoftSerial and led strips at the same time.
Additionally, since RC5 is also used for Parallel PWM RC input on both the Naze, Chebuzz and STM32F3Discovery targets, led strips

58
docs/Mixer.md Normal file
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@ -0,0 +1,58 @@
# Mixer
Cleanflight supports a number of mixing configurations as well as custom mixing. Mixer configurations determine how the servos and motors work together to control the aircraft.
## Configuration
To use a built-in mixing configuration, you can use the Chrome configuration GUI. It includes images of the various mixer types to assist in making the proper connections. See the Configuration section of the documentation for more information on the GUI.
You can also use the Command Line Interface (CLI) to set the mixer type:
1. Use `mixer list` to see a list of supported mixes
2. Select a mixer. For example, to select TRI, use `mixer TRI`
3. You must use `save` to preserve your changes
## Supported Mixer Types
| Name | Description | Motors | Servos |
| ------------- | ------------------------- | -------------- | ---------------- |
| TRI | Tricopter | M1-M3 | S1 |
| QUADP | Quadcopter-Plus | M1-M4 | None |
| QUADX | Quadcopter-X | M1-M4 | None |
| BI | Bicopter (left/right) | M1-M2 | S1, S2 |
| GIMBAL | Gimbal control | N/A | S1, S2 |
| Y6 | Y6-copter | M1-M6 | None |
| HEX6 | Hexacopter-Plus | M1-M6 | None |
| FLYING_WING | Fixed wing; elevons | M1 | S1, S2 |
| Y4 | Y4-copter | M1-M4 | None |
| HEX6X | Hexacopter-X | M1-M6 | None |
| OCTOX8 | Octocopter-X (over/under) | M1-M8 | None |
| OCTOFLATP | Octocopter-FlatPlus | M1-M8 | None |
| OCTOFLATX | Octocopter-FlatX | M1-M8 | None |
| AIRPLANE | Fixed wing; Ax2, R, E | M1 | S1, S2, S3, S4 |
| HELI_120_CCPM | | | |
| HELI_90_DEG | | | |
| VTAIL4 | Quadcopter with V-Tail | M1-M4 | N/A |
| HEX6H | Hexacopter-H | M1-M6 | None |
| PPM_TO_SERVO | | | |
| DUALCOPTER | Dualcopter | M1-M2 | S1, S2 |
| SINGLECOPTER | Conventional helicopter | M1 | S1 |
| ATAIL4 | Quadcopter with A-Tail | M1-M4 | N/A |
| CUSTOM | User-defined | | |
## Servo filtering
A low-pass filter can be enabled for the servos. It may be useful for avoiding structural modes in the airframe, for example. Currently it can only be configured via the CLI:
1. Use `set servo_lowpass_freq_idx = nn` to select the cutoff frequency. Valid values range from 0 to 99.
2. Use `set servo_lowpass_enable = 1` to enable filtering.
The actual cutoff frequency is determined by the value of the `looptime` variable and the selected index.
The formula is:
`Frequency = 1000000 * (servo_lowpass_freq_idx + 1)*0.0025 / looptime )`
For example, if `servo_lowpass_freq_idx` is set to 40, and looptime is set to the default of 3500 us (0.0035 s), the cutoff frequency will be 29.3 Hz.

48
docs/Modes.md
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@ -3,30 +3,30 @@
Cleanflight has various modes that can be toggled on or off. Modes can be enabled/disabled by stick positions,
auxillary receiver channels and other events such as failsafe detection.
| ID | Short Name | Function |
| --- | ---------- | -------------------------------------------------------------------- |
| 0 | ARM | Enables motors and flight stabilisation |
| 1 | ANGLE | Legacy auto-level flight mode |
| 2 | HORIZON | Auto-level flight mode |
| 3 | BARO | Altitude hold mode (Requires barometer sensor) |
| 4 | MAG | Heading lock |
| 5 | HEADFREE | Head Free - When enabled yaw has no effect on pitch/roll inputs |
| 6 | HEADADJ | Heading Adjust - Sets a new yaw origin for HEADFREE mode |
| 7 | CAMSTAB | Camera Stabilisation |
| 8 | CAMTRIG | |
| 9 | GPSHOME | Autonomous flight to HOME position |
| 10 | GPSHOLD | Maintain the same longitude/lattitude |
| 11 | PASSTHRU | |
| 12 | BEEPERON | Enable beeping - useful for locating a crashed aircraft |
| 13 | LEDMAX | |
| 14 | LEDLOW | |
| 15 | LLIGHTS | |
| 16 | CALIB | |
| 17 | GOV | |
| 18 | OSD | Enable/Disable On-Screen-Display (OSD) |
| 19 | TELEMETRY | Enable telemetry via switch |
| 20 | AUTOTUNE | Autotune Pitch/Roll PIDs |
| 21 | SONAR | Altitude hold mode (sonar sensor only) |
| MSP ID | Short Name | Function |
| ------- | ---------- | -------------------------------------------------------------------- |
| 0 | ARM | Enables motors and flight stabilisation |
| 1 | ANGLE | Legacy auto-level flight mode |
| 2 | HORIZON | Auto-level flight mode |
| 3 | BARO | Altitude hold mode (Requires barometer sensor) |
| 5 | MAG | Heading lock |
| 6 | HEADFREE | Head Free - When enabled yaw has no effect on pitch/roll inputs |
| 7 | HEADADJ | Heading Adjust - Sets a new yaw origin for HEADFREE mode |
| 8 | CAMSTAB | Camera Stabilisation |
| 9 | CAMTRIG | |
| 10 | GPSHOME | Autonomous flight to HOME position |
| 11 | GPSHOLD | Maintain the same longitude/lattitude |
| 12 | PASSTHRU | |
| 13 | BEEPERON | Enable beeping - useful for locating a crashed aircraft |
| 14 | LEDMAX | |
| 15 | LEDLOW | |
| 16 | LLIGHTS | |
| 17 | CALIB | |
| 18 | GOV | |
| 19 | OSD | Enable/Disable On-Screen-Display (OSD) |
| 20 | TELEMETRY | Enable telemetry via switch |
| 21 | AUTOTUNE | Autotune Pitch/Roll PIDs |
| 22 | SONAR | Altitude hold mode (sonar sensor only) |
## Mode details

117
docs/Rx.md
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@ -1,44 +1,67 @@
# Receivers (RX)
## Parallel PWM
A receiver is used to receive radio control signals from your transmitter and convert them into signals that the flight controller can understand.
There are 3 basic types of receivers:
Parallel PWM Receivers
PPM Receivers
Serial Receivers
## Parallel PWM Receivers
8 channel support, 1 channel per input pin. On some platforms using parallel input will disable the use of serial ports
and SoftSerial making it hard to use telemetry or GPS features.
## PPM (PPM SUM or CPPM)
## PPM Receivers
PPM is sometimes known as PPM SUM or CPPM.
12 channels via a single input pin, not as accurate or jitter free as methods that use serial communications, but readily available.
## MultiWii serial protocol (MSP)
These receivers are reported working:
Allows you to use MSP commands as the RC input. Only 8 channel support to maintain compatibility with MSP.
FrSky D4R-II
http://www.frsky-rc.com/product/pro.php?pro_id=24
## Spektrum
Graupner GR24
http://www.graupner.de/en/products/33512/product.aspx
R615X Spektrum/JR DSM2/DSMX Compatible 6Ch 2.4GHz Receiver w/CPPM
http://orangerx.com/2014/05/20/r615x-spektrumjr-dsm2dsmx-compatible-6ch-2-4ghz-receiver-wcppm-2/
FrSky D8R-XP 8ch telemetry receiver, or CPPM and RSSI enabled receiver
http://www.frsky-rc.com/product/pro.php?pro_id=21
## Serial Receivers
### Spektrum
8 channels via serial currently supported.
## S.BUS
These receivers are reported working:
16 channels via serial currently supported.
Lemon Rx DSMX Compatible PPM 8-Channel Receiver + Lemon DSMX Compatible Satellite with Failsafe
http://www.lemon-rx.com/shop/index.php?route=product/product&product_id=118
## XBUS
The firmware currently supports the MODE B version of the XBus protocol.
Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
See here for info on JR's XBUS protocol: http://www.jrpropo.com/english/propo/XBus/
### S.BUS
Tested hardware: JR XG14 + RG731BX with NAZE32 (rev4)
With the current CLI configuration:
```
set serialrx_provider=5
set serial_port_2_scenario=3
feature RX_SERIAL
```
This will set the controller to use serial RX, with XBUS_MODE_B as provider and finally the scenario to be used for serial port 2.
Please note that your config may vary depending on the Board used.
16 channels via serial currently supported. See the Serial chapter in the documentation for a configuration example.
### OpenTX configuration
* In most cases you will need an inverter between the receiver output and the flight controller hardware.
* Softserial ports cannot be used with SBUS because it runs at too high of a bitrate (1Mbps). Refer to the chapter specific to your board to determine which port(s) may be used.
* You will need to configure the channel mapping in the GUI (Receiver tab) or CLI (`map` command).
These receivers are reported working:
FrSky X4RSB 3/16ch Telemetry Receiver
http://www.frsky-rc.com/product/pro.php?pro_id=135
FrSky X8R 8/16ch Telemetry Receiver
http://www.frsky-rc.com/product/pro.php?pro_id=105
#### OpenTX S.BUS 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.
@ -47,18 +70,56 @@ OpenTX 2.09, which is shipped on some Taranis X9D Plus transmitters, has a bug -
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
### XBUS
The firmware currently supports the MODE B version of the XBus protocol.
Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
See here for info on JR's XBUS protocol: http://www.jrpropo.com/english/propo/XBus/
These receivers are reported working:
XG14 14ch DMSS System w/RG731BX XBus Receiver
http://www.jramericas.com/233794/JRP00631/
### SUMD
16 channels via serial currently supported.
## SUMH
These receivers are reported working:
GR-24 receiver HoTT
http://www.graupner.de/en/products/33512/product.aspx
Graupner receiver GR-12SH+ HoTT
http://www.graupner.de/en/products/870ade17-ace8-427f-943b-657040579906/33565/product.aspx
### SUMH
8 channels via serial currently supported.
### Configuration
SUMH is a legacy Graupner protocol. Graupner have issued a firmware updates for many recivers that lets them use SUMD instead.
See the Configuration document some some RX configuration examples.
## MultiWii serial protocol (MSP)
Allows you to use MSP commands as the RC input. Only 8 channel support to maintain compatibility with MSP.
## Configuration
There are 3 features that control receiver mode:
```
RX_PPM
RX_SERIAL
RX_PARALLEL_PWM
RX_MSP
```
Only one receiver feature can be enabled at a time.
### Serial RX
See the Serial chapter for some some RX configuration examples.
For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` CLI setting as follows.
@ -72,7 +133,7 @@ For Serial RX enable `RX_SERIAL` and set the `serialrx_provider` CLI setting as
| XBUS_MODE_B | 5 |
#### PPM/PWM input filtering.
### PPM/PWM input filtering.
Hardware input filtering can be enabled if you are experiencing interference on the signal sent via your PWM/PPM RX.

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@ -46,6 +46,8 @@ To make configuration easier, common usage scenarios are listed below.
7 GPS-PASSTHROUGH ONLY
8 MSP ONLY
9 SMARTPORT TELEMETRY ONLY
10 BLACKBOX ONLY
11 MSP, CLI, BLACKBOX, GPS-PASSTHROUGH
```
### Constraints

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4
lib/main/CMSIS/CM1/DeviceSupport/ST/STM32F30x/stm32f30x_conf.h
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@ -32,8 +32,8 @@
/* Includes ------------------------------------------------------------------*/
/* Comment the line below to disable peripheral header file inclusion */
#include "stm32f30x_adc.h"
#include "stm32f30x_can.h"
#include "stm32f30x_crc.h"
//#include "stm32f30x_can.h"
//#include "stm32f30x_crc.h"
#include "stm32f30x_comp.h"
#include "stm32f30x_dac.h"
#include "stm32f30x_dbgmcu.h"

6
lib/main/CMSIS/CM3/DeviceSupport/ST/STM32F10x/stm32f10x_conf.h
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@ -27,9 +27,9 @@
/* Uncomment/Comment the line below to enable/disable peripheral header file inclusion */
#include "stm32f10x_adc.h"
#include "stm32f10x_bkp.h"
#include "stm32f10x_can.h"
#include "stm32f10x_cec.h"
#include "stm32f10x_crc.h"
//#include "stm32f10x_can.h"
//#include "stm32f10x_cec.h"
//#include "stm32f10x_crc.h"
#include "stm32f10x_dac.h"
#include "stm32f10x_dbgmcu.h"
#include "stm32f10x_dma.h"

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47
src/main/blackbox/blackbox.h Normal file
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@ -0,0 +1,47 @@
/*
* 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
#include "common/axis.h"
#include <stdint.h>
typedef struct blackboxValues_t {
uint32_t time;
int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
int16_t rcCommand[4];
int16_t gyroData[XYZ_AXIS_COUNT];
int16_t accSmooth[XYZ_AXIS_COUNT];
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS];
uint16_t vbatLatest;
#ifdef BARO
int32_t BaroAlt;
#endif
#ifdef MAG
int16_t magADC[XYZ_AXIS_COUNT];
#endif
} blackboxValues_t;
void initBlackbox(void);
void handleBlackbox(void);
void startBlackbox(void);
void finishBlackbox(void);

100
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@ -0,0 +1,100 @@
/*
* 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
typedef enum FlightLogFieldCondition {
FLIGHT_LOG_FIELD_CONDITION_ALWAYS = 0,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_1,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_2,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_3,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_4,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_5,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_6,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_7,
FLIGHT_LOG_FIELD_CONDITION_AT_LEAST_MOTORS_8,
FLIGHT_LOG_FIELD_CONDITION_TRICOPTER,
FLIGHT_LOG_FIELD_CONDITION_MAG = 20,
FLIGHT_LOG_FIELD_CONDITION_BARO,
FLIGHT_LOG_FIELD_CONDITION_VBAT,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_0 = 40,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_P_2,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_0,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_I_2,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_0,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_1,
FLIGHT_LOG_FIELD_CONDITION_NONZERO_PID_D_2,
FLIGHT_LOG_FIELD_CONDITION_NEVER = 255,
} FlightLogFieldCondition;
typedef enum FlightLogFieldPredictor {
//No prediction:
FLIGHT_LOG_FIELD_PREDICTOR_0 = 0,
//Predict that the field is the same as last frame:
FLIGHT_LOG_FIELD_PREDICTOR_PREVIOUS = 1,
//Predict that the slope between this field and the previous item is the same as that between the past two history items:
FLIGHT_LOG_FIELD_PREDICTOR_STRAIGHT_LINE = 2,
//Predict that this field is the same as the average of the last two history items:
FLIGHT_LOG_FIELD_PREDICTOR_AVERAGE_2 = 3,
//Predict that this field is minthrottle
FLIGHT_LOG_FIELD_PREDICTOR_MINTHROTTLE = 4,
//Predict that this field is the same as motor 0
FLIGHT_LOG_FIELD_PREDICTOR_MOTOR_0 = 5,
//This field always increments
FLIGHT_LOG_FIELD_PREDICTOR_INC = 6,
//Predict this GPS co-ordinate is the GPS home co-ordinate (or no prediction if that coordinate is not set)
FLIGHT_LOG_FIELD_PREDICTOR_HOME_COORD = 7,
//Predict 1500
FLIGHT_LOG_FIELD_PREDICTOR_1500 = 8,
//Predict vbatref, the reference ADC level stored in the header
FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9
} FlightLogFieldPredictor;
typedef enum FlightLogFieldEncoding {
FLIGHT_LOG_FIELD_ENCODING_SIGNED_VB = 0, // Signed variable-byte
FLIGHT_LOG_FIELD_ENCODING_UNSIGNED_VB = 1, // Unsigned variable-byte
FLIGHT_LOG_FIELD_ENCODING_NEG_14BIT = 3, // Unsigned variable-byte but we negate the value before storing, value is 14 bits
FLIGHT_LOG_FIELD_ENCODING_TAG8_8SVB = 6,
FLIGHT_LOG_FIELD_ENCODING_TAG2_3S32 = 7,
FLIGHT_LOG_FIELD_ENCODING_TAG8_4S16 = 8,
FLIGHT_LOG_FIELD_ENCODING_NULL = 9 // Nothing is written to the file, take value to be zero
} FlightLogFieldEncoding;
typedef enum FlightLogFieldSign {
FLIGHT_LOG_FIELD_UNSIGNED = 0,
FLIGHT_LOG_FIELD_SIGNED = 1
} FlightLogFieldSign;
typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;

5
src/main/config/config.c
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@ -445,6 +445,11 @@ static void resetConf(void)
applyDefaultLedStripConfig(masterConfig.ledConfigs);
#endif
#ifdef BLACKBOX
masterConfig.blackbox_rate_num = 1;
masterConfig.blackbox_rate_denom = 1;
#endif
// alternative defaults AlienWii32 (activate via OPTIONS="ALIENWII32" during make for NAZE target)
#ifdef ALIENWII32
featureSet(FEATURE_RX_SERIAL);

3
src/main/config/config.h
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@ -40,7 +40,8 @@ typedef enum {
FEATURE_RSSI_ADC = 1 << 15,
FEATURE_LED_STRIP = 1 << 16,
FEATURE_DISPLAY = 1 << 17,
FEATURE_ONESHOT125 = 1 << 18
FEATURE_ONESHOT125 = 1 << 18,
FEATURE_BLACKBOX = 1 << 19
} features_e;
bool feature(uint32_t mask);

2
src/main/config/config_master.h
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@ -85,6 +85,8 @@ typedef struct master_t {
uint8_t current_profile_index;
controlRateConfig_t controlRateProfiles[MAX_CONTROL_RATE_PROFILE_COUNT];
uint8_t blackbox_rate_num;
uint8_t blackbox_rate_denom;
uint8_t magic_ef; // magic number, should be 0xEF
uint8_t chk; // XOR checksum

16
src/main/drivers/light_led.h
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@ -48,4 +48,20 @@
#define LED1_ON
#endif
#ifdef LED2
#define LED2_TOGGLE digitalToggle(LED2_GPIO, LED2_PIN);
#ifndef LED2_INVERTED
#define LED2_OFF digitalHi(LED2_GPIO, LED2_PIN);
#define LED2_ON digitalLo(LED2_GPIO, LED2_PIN);
#else
#define LED2_OFF digitalLo(LED2_GPIO, LED2_PIN);
#define LED2_ON digitalHi(LED2_GPIO, LED2_PIN);
#endif // inverted
#else
#define LED2_TOGGLE
#define LED2_OFF
#define LED2_ON
#endif
void ledInit(void);

10
src/main/drivers/light_led_stm32f10x.c
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@ -46,6 +46,12 @@ void ledInit(void)
{
.gpio = LED1_GPIO,
.cfg = { LED1_PIN, Mode_Out_PP, Speed_2MHz }
},
#endif
#ifdef LED2
{
.gpio = LED2_GPIO,
.cfg = { LED2_PIN, Mode_Out_PP, Speed_2MHz }
}
#endif
};
@ -58,9 +64,13 @@ void ledInit(void)
#ifdef LED1
RCC_APB2PeriphClockCmd(LED1_PERIPHERAL, ENABLE);
#endif
#ifdef LED2
RCC_APB2PeriphClockCmd(LED2_PERIPHERAL, ENABLE);
#endif
LED0_OFF;
LED1_OFF;
LED2_OFF;
for (i = 0; i < gpio_count; i++) {
gpioInit(gpio_setup[i].gpio, &gpio_setup[i].cfg);

69
src/main/drivers/light_ws2811strip_stm32f30x.c
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@ -26,10 +26,16 @@
#include "common/color.h"
#include "drivers/light_ws2811strip.h"
#define WS2811_GPIO GPIOB
#define WS2811_PIN Pin_8 // TIM16_CH1
#define WS2811_PERIPHERAL RCC_AHBPeriph_GPIOB
#ifndef WS2811_GPIO
#define WS2811_GPIO GPIOB
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOB
#define WS2811_PIN Pin_8 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource8
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#endif
void ws2811LedStripHardwareInit(void)
{
@ -40,19 +46,20 @@ void ws2811LedStripHardwareInit(void)
uint16_t prescalerValue;
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE);
RCC_AHBPeriphClockCmd(WS2811_GPIO_AHB_PERIPHERAL, ENABLE);
GPIO_PinAFConfig(GPIOB, GPIO_PinSource8, GPIO_AF_1);
GPIO_PinAFConfig(WS2811_GPIO, WS2811_PIN_SOURCE, GPIO_AF_1);
/* GPIOA Configuration: TIM16 Channel 1 as alternate function push-pull */
/* Configuration alternate function push-pull */
GPIO_InitStructure.GPIO_Pin = WS2811_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(WS2811_GPIO, &GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM16, ENABLE);
RCC_APB2PeriphClockCmd(WS2811_TIMER_APB2_PERIPHERAL, ENABLE);
/* Compute the prescaler value */
prescalerValue = (uint16_t) (SystemCoreClock / 24000000) - 1;
/* Time base configuration */
@ -60,27 +67,27 @@ void ws2811LedStripHardwareInit(void)
TIM_TimeBaseStructure.TIM_Prescaler = prescalerValue;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM16, &TIM_TimeBaseStructure);
TIM_TimeBaseInit(WS2811_TIMER, &TIM_TimeBaseStructure);
/* PWM1 Mode configuration: Channel1 */
/* PWM1 Mode configuration */
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_Pulse = 0;
TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
TIM_OC1Init(TIM16, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(TIM3, TIM_OCPreload_Enable);
TIM_OC1Init(WS2811_TIMER, &TIM_OCInitStructure);
TIM_OC1PreloadConfig(WS2811_TIMER, TIM_OCPreload_Enable);
TIM_CtrlPWMOutputs(TIM16, ENABLE);
TIM_CtrlPWMOutputs(WS2811_TIMER, ENABLE);
/* configure DMA */
/* DMA clock enable */
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
/* DMA1 Channel Config */
DMA_DeInit(DMA1_Channel3);
DMA_DeInit(WS2811_DMA_CHANNEL);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&TIM16->CCR1;
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&WS2811_TIMER->CCR1;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)ledStripDMABuffer;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralDST;
DMA_InitStructure.DMA_BufferSize = WS2811_DMA_BUFFER_SIZE;
@ -92,16 +99,15 @@ void ws2811LedStripHardwareInit(void)
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel3, &DMA_InitStructure);
DMA_Init(WS2811_DMA_CHANNEL, &DMA_InitStructure);
/* TIM16 CC1 DMA Request enable */
TIM_DMACmd(TIM16, TIM_DMA_CC1, ENABLE);
TIM_DMACmd(WS2811_TIMER, TIM_DMA_CC1, ENABLE);
DMA_ITConfig(DMA1_Channel3, DMA_IT_TC, ENABLE);
DMA_ITConfig(WS2811_DMA_CHANNEL, DMA_IT_TC, ENABLE);
NVIC_InitTypeDef NVIC_InitStructure;
NVIC_InitStructure.NVIC_IRQChannel = DMA1_Channel3_IRQn;
NVIC_InitStructure.NVIC_IRQChannel = WS2811_IRQ;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_PRIORITY_BASE(NVIC_PRIO_WS2811_DMA);
NVIC_InitStructure.NVIC_IRQChannelSubPriority = NVIC_PRIORITY_SUB(NVIC_PRIO_WS2811_DMA);
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
@ -115,17 +121,28 @@ void DMA1_Channel3_IRQHandler(void)
{
if (DMA_GetFlagStatus(DMA1_FLAG_TC3)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(DMA1_Channel3, DISABLE); // disable DMA channel 6
DMA_ClearFlag(DMA1_FLAG_TC3); // clear DMA1 Channel 6 transfer complete flag
DMA_Cmd(DMA1_Channel3, DISABLE); // disable DMA channel
DMA_ClearFlag(DMA1_FLAG_TC3); // clear DMA1 Channel transfer complete flag
}
}
#if 0
void DMA1_Channel7_IRQHandler(void)
{
if (DMA_GetFlagStatus(DMA1_FLAG_TC7)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(DMA1_Channel7, DISABLE); // disable DMA channel
DMA_ClearFlag(DMA1_FLAG_TC7); // clear DMA1 Channel transfer complete flag
}
}
#endif
void ws2811LedStripDMAEnable(void)
{
DMA_SetCurrDataCounter(DMA1_Channel3, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(TIM16, 0);
TIM_Cmd(TIM16, ENABLE);
DMA_Cmd(DMA1_Channel3, ENABLE);
DMA_SetCurrDataCounter(WS2811_DMA_CHANNEL, WS2811_DMA_BUFFER_SIZE); // load number of bytes to be transferred
TIM_SetCounter(WS2811_TIMER, 0);
TIM_Cmd(WS2811_TIMER, ENABLE);
DMA_Cmd(WS2811_DMA_CHANNEL, ENABLE);
}

11
src/main/drivers/pwm_mapping.c
View File

@ -334,8 +334,15 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#ifdef LED_STRIP_TIMER
// skip LED Strip output
if (init->useLEDStrip && timerHardwarePtr->tim == LED_STRIP_TIMER)
continue;
if (init->useLEDStrip) {
if (timerHardwarePtr->tim == LED_STRIP_TIMER)
continue;
#if defined(WS2811_GPIO) && defined(WS2811_PIN)
if (timerHardwarePtr->gpio == WS2811_GPIO && timerHardwarePtr->pin == WS2811_PIN)
continue;
#endif
}
#endif
#ifdef STM32F10X

2
src/main/drivers/serial_uart_stm32f30x.c
View File

@ -326,6 +326,7 @@ void DMA1_Channel4_IRQHandler(void)
handleUsartTxDma(s);
}
#ifdef USE_USART2_TX_DMA
// USART2 Tx DMA Handler
void DMA1_Channel7_IRQHandler(void)
{
@ -334,6 +335,7 @@ void DMA1_Channel7_IRQHandler(void)
DMA_Cmd(DMA1_Channel7, DISABLE);
handleUsartTxDma(s);
}
#endif
// USART3 Tx DMA Handler
void DMA1_Channel2_IRQHandler(void)

17
src/main/flight/flight.c
View File

@ -45,6 +45,11 @@ extern uint16_t cycleTime;
int16_t heading, magHold;
int16_t axisPID[3];
#ifdef BLACKBOX
int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
#endif
uint8_t dynP8[3], dynI8[3], dynD8[3];
static int32_t errorGyroI[3] = { 0, 0, 0 };
@ -247,6 +252,12 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
delta1[axis] = delta;
DTerm = (deltaSum * dynD8[axis]) / 32;
axisPID[axis] = PTerm + ITerm - DTerm;
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = -DTerm;
#endif
}
}
@ -330,6 +341,12 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----calculate total PID output
axisPID[axis] = PTerm + ITerm + DTerm;
#ifdef BLACKBOX
axisPID_P[axis] = PTerm;
axisPID_I[axis] = ITerm;
axisPID_D[axis] = DTerm;
#endif
}
}

2
src/main/flight/flight.h
View File

@ -127,6 +127,8 @@ extern int16_t gyroADC[XYZ_AXIS_COUNT], accADC[XYZ_AXIS_COUNT], accSmooth[XYZ_AX
extern int32_t accSum[XYZ_AXIS_COUNT];
extern int16_t axisPID[XYZ_AXIS_COUNT];
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
extern int16_t heading, magHold;
extern int32_t AltHold;

2
src/main/flight/mixer.c
View File

@ -47,7 +47,7 @@
#define AUX_FORWARD_CHANNEL_TO_SERVO_COUNT 4
static uint8_t motorCount = 0;
uint8_t motorCount = 0;
int16_t motor[MAX_SUPPORTED_MOTORS];
int16_t motor_disarmed[MAX_SUPPORTED_MOTORS];
int16_t servo[MAX_SUPPORTED_SERVOS] = { 1500, 1500, 1500, 1500, 1500, 1500, 1500, 1500 };

8
src/main/io/serial.c
View File

@ -62,7 +62,10 @@ const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUN
SCENARIO_CLI_ONLY,
SCENARIO_GPS_PASSTHROUGH_ONLY,
SCENARIO_MSP_ONLY,
SCENARIO_SMARTPORT_TELEMETRY_ONLY
SCENARIO_SMARTPORT_TELEMETRY_ONLY,
SCENARIO_BLACKBOX_ONLY,
SCENARIO_MSP_CLI_BLACKBOX_GPS_PASTHROUGH
};
static serialConfig_t *serialConfig;
@ -136,7 +139,8 @@ const functionConstraint_t functionConstraints[] = {
{ FUNCTION_MSP, 9600, 115200, NO_AUTOBAUD, SPF_NONE },
{ FUNCTION_SERIAL_RX, 9600, 115200, NO_AUTOBAUD, SPF_SUPPORTS_SBUS_MODE | SPF_SUPPORTS_CALLBACK },
{ FUNCTION_TELEMETRY, 9600, 19200, NO_AUTOBAUD, SPF_NONE },
{ FUNCTION_SMARTPORT_TELEMETRY, 57600, 57600, NO_AUTOBAUD, SPF_SUPPORTS_BIDIR_MODE }
{ FUNCTION_SMARTPORT_TELEMETRY, 57600, 57600, NO_AUTOBAUD, SPF_SUPPORTS_BIDIR_MODE },
{ FUNCTION_BLACKBOX, 115200,115200, NO_AUTOBAUD, SPF_NONE }
};
#define FUNCTION_CONSTRAINT_COUNT (sizeof(functionConstraints) / sizeof(functionConstraint_t))

9
src/main/io/serial.h
View File

@ -25,7 +25,8 @@ typedef enum {
FUNCTION_SMARTPORT_TELEMETRY = (1 << 3),
FUNCTION_SERIAL_RX = (1 << 4),
FUNCTION_GPS = (1 << 5),
FUNCTION_GPS_PASSTHROUGH = (1 << 6)
FUNCTION_GPS_PASSTHROUGH = (1 << 6),
FUNCTION_BLACKBOX = (1 << 7)
} serialPortFunction_e;
typedef enum {
@ -52,10 +53,12 @@ typedef enum {
SCENARIO_MSP_CLI_TELEMETRY_GPS_PASTHROUGH = FUNCTION_MSP | FUNCTION_CLI | FUNCTION_TELEMETRY | FUNCTION_SMARTPORT_TELEMETRY | FUNCTION_GPS_PASSTHROUGH,
SCENARIO_SERIAL_RX_ONLY = FUNCTION_SERIAL_RX,
SCENARIO_TELEMETRY_ONLY = FUNCTION_TELEMETRY,
SCENARIO_SMARTPORT_TELEMETRY_ONLY = FUNCTION_SMARTPORT_TELEMETRY
SCENARIO_SMARTPORT_TELEMETRY_ONLY = FUNCTION_SMARTPORT_TELEMETRY,
SCENARIO_BLACKBOX_ONLY = FUNCTION_BLACKBOX,
SCENARIO_MSP_CLI_BLACKBOX_GPS_PASTHROUGH = FUNCTION_CLI | FUNCTION_MSP | FUNCTION_BLACKBOX | FUNCTION_GPS_PASSTHROUGH
} serialPortFunctionScenario_e;
#define SERIAL_PORT_SCENARIO_COUNT 10
#define SERIAL_PORT_SCENARIO_COUNT 12
#define SERIAL_PORT_SCENARIO_MAX (SERIAL_PORT_SCENARIO_COUNT - 1)
extern const serialPortFunctionScenario_e serialPortScenarios[SERIAL_PORT_SCENARIO_COUNT];

6
src/main/io/serial_cli.c
View File

@ -135,7 +135,8 @@ static const char * const featureNames[] = {
"RX_PPM", "VBAT", "INFLIGHT_ACC_CAL", "RX_SERIAL", "MOTOR_STOP",
"SERVO_TILT", "SOFTSERIAL", "GPS", "FAILSAFE",
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125", NULL
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
"BLACKBOX", NULL
};
// sync this with sensors_e
@ -404,6 +405,9 @@ const clivalue_t valueTable[] = {
{ "p_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.P8[PIDVEL], 0, 200 },
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], 0, 200 },
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], 0, 200 },
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_num, 1, 32 },
{ "blackbox_rate_denom", VAR_UINT8 | MASTER_VALUE, &masterConfig.blackbox_rate_denom, 1, 32 },
};
#define VALUE_COUNT (sizeof(valueTable) / sizeof(clivalue_t))

51
src/main/io/serial_msp.c
View File

@ -121,7 +121,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 1 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 2 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
@ -1097,7 +1097,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break;
case MSP_LED_STRIP_CONFIG:
headSerialReply(MAX_LED_STRIP_LENGTH * 4);
headSerialReply(MAX_LED_STRIP_LENGTH * 6);
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
serialize16((ledConfig->flags & LED_DIRECTION_MASK) >> LED_DIRECTION_BIT_OFFSET);
@ -1145,10 +1145,16 @@ static bool processInCommand(void)
magHold = read16();
break;
case MSP_SET_RAW_RC:
// FIXME need support for more than 8 channels
for (i = 0; i < 8; i++)
rcData[i] = read16();
rxMspFrameRecieve();
{
uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t);
if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
headSerialError(0);
} else {
for (i = 0; i < channelCount; i++)
rcData[i] = read16();
rxMspFrameRecieve();
}
}
break;
case MSP_SET_ACC_TRIM:
currentProfile->accelerometerTrims.values.pitch = read16();
@ -1435,22 +1441,29 @@ static bool processInCommand(void)
break;
case MSP_SET_LED_STRIP_CONFIG:
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
uint16_t mask;
// currently we're storing directions and functions in a uint16 (flags)
// the msp uses 2 x uint16_t to cater for future expansion
mask = read16();
ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
{
uint8_t ledCount = currentPort->dataSize / 6;
if (ledCount != MAX_LED_STRIP_LENGTH) {
headSerialError(0);
break;
}
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
ledConfig_t *ledConfig = &masterConfig.ledConfigs[i];
uint16_t mask;
// currently we're storing directions and functions in a uint16 (flags)
// the msp uses 2 x uint16_t to cater for future expansion
mask = read16();
ledConfig->flags = (mask << LED_DIRECTION_BIT_OFFSET) & LED_DIRECTION_MASK;
mask = read16();
ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
mask = read16();
ledConfig->flags |= (mask << LED_FUNCTION_BIT_OFFSET) & LED_FUNCTION_MASK;
mask = read8();
ledConfig->xy = CALCULATE_LED_X(mask);
mask = read8();
ledConfig->xy = CALCULATE_LED_X(mask);
mask = read8();
ledConfig->xy |= CALCULATE_LED_Y(mask);
mask = read8();
ledConfig->xy |= CALCULATE_LED_Y(mask);
}
}
break;
#endif

23
src/main/main.c
View File

@ -66,6 +66,7 @@
#include "sensors/acceleration.h"
#include "sensors/gyro.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "config/runtime_config.h"
@ -73,8 +74,8 @@
#include "config/config_profile.h"
#include "config/config_master.h"
#ifdef NAZE
#include "target/NAZE/hardware_revision.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#include "build_config.h"
@ -145,13 +146,15 @@ void init(void)
SetSysClock(masterConfig.emf_avoidance);
#endif
#ifdef NAZE
#ifdef USE_HARDWARE_REVISION_DETECTION
detectHardwareRevision();
#endif
systemInit();
#ifdef SPEKTRUM_BIND
ledInit();
#ifdef SPEKTRUM_BIND
if (feature(FEATURE_RX_SERIAL)) {
switch (masterConfig.rxConfig.serialrx_provider) {
case SERIALRX_SPEKTRUM1024:
@ -169,8 +172,6 @@ void init(void)
timerInit(); // timer must be initialized before any channel is allocated
ledInit();
#ifdef BEEPER
beeperConfig_t beeperConfig = {
.gpioMode = Mode_Out_OD,
@ -200,7 +201,7 @@ void init(void)
spiInit(SPI2);
#endif
#ifdef NAZE
#ifdef USE_HARDWARE_REVISION_DETECTION
updateHardwareRevision();
#endif
@ -344,6 +345,10 @@ void init(void)
initTelemetry();
#endif
#ifdef BLACKBOX
initBlackbox();
#endif
previousTime = micros();
if (masterConfig.mixerMode == MIXER_GIMBAL) {
@ -385,6 +390,10 @@ void init(void)
#endif
}
#endif
#ifdef CJMCU
LED2_ON;
#endif
}
#ifdef SOFTSERIAL_LOOPBACK

44
src/main/mw.c
View File

@ -67,6 +67,7 @@
#include "io/statusindicator.h"
#include "rx/msp.h"
#include "telemetry/telemetry.h"
#include "blackbox/blackbox.h"
#include "config/runtime_config.h"
#include "config/config.h"
@ -306,6 +307,15 @@ void mwDisarm(void)
}
}
#endif
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
finishBlackbox();
if (isSerialPortFunctionShared(FUNCTION_BLACKBOX, FUNCTION_MSP)) {
mspAllocateSerialPorts(&masterConfig.serialConfig);
}
}
#endif
}
}
@ -327,6 +337,16 @@ void mwArm(void)
}
}
#endif
#ifdef BLACKBOX
if (feature(FEATURE_BLACKBOX)) {
serialPort_t *sharedBlackboxAndMspPort = findSharedSerialPort(FUNCTION_BLACKBOX, FUNCTION_MSP);
if (sharedBlackboxAndMspPort) {
mspReleasePortIfAllocated(sharedBlackboxAndMspPort);
}
startBlackbox();
}
#endif
disarmAt = millis() + masterConfig.auto_disarm_delay * 1000; // start disarm timeout, will be extended when throttle is nonzero
return;
@ -539,17 +559,17 @@ void processRx(void)
DISABLE_FLIGHT_MODE(ANGLE_MODE); // failsafe support
}
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
if (IS_RC_MODE_ACTIVE(BOXHORIZON) && canUseHorizonMode) {
DISABLE_FLIGHT_MODE(ANGLE_MODE);
DISABLE_FLIGHT_MODE(ANGLE_MODE);
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (!FLIGHT_MODE(HORIZON_MODE)) {
resetErrorAngle();
ENABLE_FLIGHT_MODE(HORIZON_MODE);
}
} else {
DISABLE_FLIGHT_MODE(HORIZON_MODE);
}
if (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) {
LED1_ON;
@ -698,6 +718,12 @@ void loop(void)
mixTable();
writeServos();
writeMotors();
#ifdef BLACKBOX
if (!cliMode && feature(FEATURE_BLACKBOX)) {
handleBlackbox();
}
#endif
}
#ifdef TELEMETRY

6
src/main/rx/rx.c
View File

@ -265,6 +265,10 @@ void processRxChannels(void)
{
uint8_t chan;
if (feature(FEATURE_RX_MSP)) {
return; // rcData will have already been updated by MSP_SET_RAW_RC
}
bool shouldCheckPulse = true;
if (feature(FEATURE_FAILSAFE) && feature(FEATURE_RX_PPM)) {
@ -341,7 +345,7 @@ void parseRcChannels(const char *input, rxConfig_t *rxConfig)
for (c = input; *c; c++) {
s = strchr(rcChannelLetters, *c);
if (s)
if (s && (s < rcChannelLetters + MAX_MAPPABLE_RX_INPUTS))
rxConfig->rcmap[s - rcChannelLetters] = c - input;
}
}

11
src/main/rx/spektrum.c
View File

@ -24,6 +24,8 @@
#include "drivers/gpio.h"
#include "drivers/system.h"
#include "drivers/light_led.h"
#include "drivers/serial.h"
#include "drivers/serial_uart.h"
#include "io/serial.h"
@ -176,11 +178,12 @@ bool spekShouldBind(uint8_t spektrum_sat_bind)
void spektrumBind(rxConfig_t *rxConfig)
{
int i;
if (!spekShouldBind(rxConfig->spektrum_sat_bind)) {
return;
}
LED1_ON;
gpio_config_t cfg = {
BIND_PIN,
Mode_Out_OD,
@ -193,16 +196,22 @@ void spektrumBind(rxConfig_t *rxConfig)
// Bind window is around 20-140ms after powerup
delay(60);
LED1_OFF;
for (i = 0; i < rxConfig->spektrum_sat_bind; i++) {
LED0_OFF;
LED2_OFF;
// RX line, drive low for 120us
digitalLo(BIND_PORT, BIND_PIN);
delayMicroseconds(120);
LED0_ON;
LED2_ON;
// RX line, drive high for 120us
digitalHi(BIND_PORT, BIND_PIN);
delayMicroseconds(120);
}
#ifndef HARDWARE_BIND_PLUG

3
src/main/sensors/battery.c
View File

@ -31,6 +31,7 @@ uint16_t batteryWarningVoltage;
uint16_t batteryCriticalVoltage;
uint8_t vbat = 0; // battery voltage in 0.1V steps
uint16_t vbatLatest = 0; // most recent unsmoothed raw reading from vbat adc
int32_t amperage = 0; // amperage read by current sensor in centiampere (1/100th A)
int32_t mAhDrawn = 0; // milliampere hours drawn from the battery since start
@ -54,7 +55,7 @@ void updateBatteryVoltage(void)
uint16_t vbatSampleTotal = 0;
// store the battery voltage with some other recent battery voltage readings
vbatSamples[(currentSampleIndex++) % BATTERY_SAMPLE_COUNT] = adcGetChannel(ADC_BATTERY);
vbatSamples[(currentSampleIndex++) % BATTERY_SAMPLE_COUNT] = vbatLatest = adcGetChannel(ADC_BATTERY);
// calculate vbat based on the average of recent readings
for (index = 0; index < BATTERY_SAMPLE_COUNT; index++) {

1
src/main/sensors/battery.h
View File

@ -42,6 +42,7 @@ typedef enum {
} batteryState_e;
extern uint8_t vbat;
extern uint16_t vbatLatest;
extern uint8_t batteryCellCount;
extern uint16_t batteryWarningVoltage;
extern int32_t amperage;

1
src/main/target/CC3D/target.h
View File

@ -77,6 +77,7 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define AUTOTUNE

1
src/main/target/CHEBUZZF3/target.h
View File

@ -71,6 +71,7 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM16
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define AUTOTUNE

53
src/main/target/CJMCU/hardware_revision.c Normal file
View File

@ -0,0 +1,53 @@
/*
* 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/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#include "build_config.h"
#include "drivers/system.h"
#include "drivers/bus_spi.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
#include "drivers/accgyro_spi_mpu6500.h"
#include "hardware_revision.h"
static const char * const hardwareRevisionNames[] = {
"Unknown",
"R1",
"R2"
};
uint8_t hardwareRevision = UNKNOWN;
void detectHardwareRevision(void)
{
if (GPIOC->IDR & GPIO_Pin_15) {
hardwareRevision = REV_2;
} else {
hardwareRevision = REV_1;
}
}
void updateHardwareRevision(void)
{
}

27
src/main/target/CJMCU/hardware_revision.h Normal file
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@ -0,0 +1,27 @@
/*
* 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/>.
*/
typedef enum cjmcuHardwareRevision_t {
UNKNOWN = 0,
REV_1, // Blue LED3
REV_2 // Green LED3
} cjmcuHardwareRevision_e;
extern uint8_t hardwareRevision;
void updateHardwareRevision(void);
void detectHardwareRevision(void);

5
src/main/target/CJMCU/target.h
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@ -18,16 +18,17 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
#define USE_HARDWARE_REVISION_DETECTION
#define FLASH_PAGE_COUNT 64
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#define LED0_GPIO GPIOC
#define LED0_PIN Pin_13 // PC13 (LED)
#define LED0_PIN Pin_14 // PC14 (LED)
#define LED0
#define LED0_PERIPHERAL RCC_APB2Periph_GPIOC
#define LED1_GPIO GPIOC
#define LED1_PIN Pin_14 // PC14 (LED)
#define LED1_PIN Pin_13 // PC13 (LED)
#define LED1
#define LED1_PERIPHERAL RCC_APB2Periph_GPIOC
#define LED2_GPIO GPIOC

1
src/main/target/EUSTM32F103RC/target.h
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@ -104,6 +104,7 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define AUTOTUNE

2
src/main/target/NAZE/target.h
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@ -18,6 +18,7 @@
#pragma once
#define TARGET_BOARD_IDENTIFIER "AFNA" // AFroNAze - NAZE might be considered misleading on Naze clones like the flip32.
#define USE_HARDWARE_REVISION_DETECTION
#define LED0_GPIO GPIOB
#define LED0_PIN Pin_3 // PB3 (LED)
@ -124,6 +125,7 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define AUTOTUNE

1
src/main/target/NAZE32PRO/target.h
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@ -43,6 +43,7 @@
#define SENSORS_SET (SENSOR_ACC)
#define GPS
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define AUTOTUNE

1
src/main/target/PORT103R/target.h
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@ -102,6 +102,7 @@
#define LED_STRIP
#define LED_STRIP_TIMER TIM3
#define BLACKBOX
#define TELEMETRY
#define SERIAL_RX
#define AUTOTUNE

31
src/main/target/SPARKY/target.h
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@ -87,10 +87,41 @@
#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
#define BLACKBOX
#define SERIAL_RX
#define GPS
#define DISPLAY
#define LED_STRIP
#if 1
// LED strip configuration using PWM motor output pin 5.
#define LED_STRIP_TIMER TIM16
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_PIN Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#endif
#if 0
// Alternate LED strip pin - FIXME for some reason the DMA IRQ Transfer Complete is never called.
#define LED_STRIP_TIMER TIM17
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_PIN Pin_7 // TIM17_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource7
#define WS2811_TIMER TIM17
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM17
#define WS2811_DMA_CHANNEL DMA1_Channel7
#define WS2811_IRQ DMA1_Channel7_IRQn
#endif
#define SPEKTRUM_BIND
// USART2, PA3
#define BIND_PORT GPIOA

1
src/main/target/STM32F3DISCOVERY/target.h
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@ -56,6 +56,7 @@
#define SENSORS_SET (SENSOR_ACC)
#define BLACKBOX
#define GPS
#define LED_STRIP
#define LED_STRIP_TIMER TIM16

2
src/main/version.h
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@ -16,7 +16,7 @@
*/
#define FC_VERSION_MAJOR 1 // increment when a major release is made (big new feature, etc)
#define FC_VERSION_MINOR 4 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_MINOR 5 // increment when a minor release is made (small new feature, change etc)
#define FC_VERSION_PATCH_LEVEL 0 // increment when a bug is fixed
#define MW_VERSION 231