Merge branch 'master' of https://github.com/betaflight/betaflight

src/main/config/config.c

@@ -530,11 +530,7 @@ static void resetConf(void)
     masterConfig.rxConfig.rcSmoothing = RC_SMOOTHING_OFF;
     masterConfig.rxConfig.rcSmoothInterval = 9;
     masterConfig.rxConfig.fpvCamAngleDegrees = 0;
-#ifdef STM32F4
-    masterConfig.rxConfig.max_aux_channel = 99;
-#else
-    masterConfig.rxConfig.max_aux_channel = 6;
-#endif
+    masterConfig.rxConfig.max_aux_channel = MAX_AUX_CHANNELS;
     masterConfig.rxConfig.airModeActivateThreshold = 1350;
 
     resetAllRxChannelRangeConfigurations(masterConfig.rxConfig.channelRanges);

src/main/drivers/flash_m25p16.c

@@ -196,12 +196,27 @@ static bool m25p16_readIdentification()
  * Attempts to detect a connected m25p16. If found, true is returned and device capacity can be fetched with
  * m25p16_getGeometry().
  */
-bool m25p16_init()
+bool m25p16_init(ioTag_t csTag)
 {
-
+    /* 
+        if we have already detected a flash device we can simply exit 
+        
+        TODO: change the init param in favour of flash CFG when ParamGroups work is done
+        then cs pin can be specified in hardware_revision.c or config.c (dependent on revision).
+    */
+    if (geometry.sectors) {
+        return true;
+    }
+    
+    if (csTag) {
+        m25p16CsPin = IOGetByTag(csTag);
+    } else {
 #ifdef M25P16_CS_PIN
-    m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
+        m25p16CsPin = IOGetByTag(IO_TAG(M25P16_CS_PIN));
+#else
+        return false;
 #endif
+    }
     IOInit(m25p16CsPin, OWNER_FLASH, RESOURCE_SPI_CS, 0);
     IOConfigGPIO(m25p16CsPin, SPI_IO_CS_CFG);
 

src/main/drivers/flash_m25p16.h

@@ -19,10 +19,11 @@
 
 #include <stdint.h>
 #include "flash.h"
+#include "io.h"
 
 #define M25P16_PAGESIZE 256
 
-bool m25p16_init();
+bool m25p16_init(ioTag_t csTag);
 
 void m25p16_eraseSector(uint32_t address);
 void m25p16_eraseCompletely();

src/main/drivers/inverter.c

@@ -27,11 +27,16 @@
 
 #include "inverter.h"
 
-static const IO_t pin = DEFIO_IO(INVERTER);
+/* 
+    TODO: move this to support multiple inverters on different UARTs etc
+    possibly move to put it in the UART driver itself.
+*/
+static IO_t pin = IO_NONE;
 
 void initInverter(void)
 {
-    IOInit(pin, OWNER_INVERTER, RESOURCE_OUTPUT, 0);
+    pin = IOGetByTag(IO_TAG(INVERTER));
+    IOInit(pin, OWNER_INVERTER, RESOURCE_OUTPUT, 1);
     IOConfigGPIO(pin, IOCFG_OUT_PP);
 
     inverterSet(false);

src/main/drivers/io.h

@@ -11,6 +11,9 @@
 typedef uint8_t ioTag_t;       // packet tag to specify IO pin
 typedef void* IO_t;            // type specifying IO pin. Currently ioRec_t pointer, but this may change
 
+// NONE initializer for ioTag_t variables
+#define IOTAG_NONE ((ioTag_t)0)
+
 // NONE initializer for IO_t variable
 #define IO_NONE ((IO_t)0)
 

src/main/flight/pid.c

@@ -66,9 +66,10 @@ uint8_t PIDweight[3];
 static int32_t errorGyroI[3];
 static float errorGyroIf[3];
 
-#ifdef SKIP_PID_FLOAT
+
 static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
         const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig);
+#ifdef SKIP_PID_FLOAT
 pidControllerFuncPtr pid_controller = pidLegacy; // which pid controller are we using
 #else
 static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
@@ -107,6 +108,7 @@ const angle_index_t rcAliasToAngleIndexMap[] = { AI_ROLL, AI_PITCH };
 static pt1Filter_t deltaFilter[3];
 static pt1Filter_t yawFilter;
 
+#ifndef SKIP_PID_FLOAT
 // Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage. Based on 2DOF reference design (matlab)
 static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,
          const rollAndPitchTrims_t *angleTrim, const rxConfig_t *rxConfig)
@@ -302,6 +304,7 @@ static void pidBetaflight(const pidProfile_t *pidProfile, uint16_t max_angle_inc
 #endif
     }
 }
+#endif
 
 // Legacy pid controller betaflight evolved pid rewrite based on 2.9 releae. Good for fastest cycletimes for those who believe in that. Don't expect much development in the future
 static void pidLegacy(const pidProfile_t *pidProfile, uint16_t max_angle_inclination,

src/main/io/serial_cli.c

@@ -826,7 +826,7 @@ const clivalue_t valueTable[] = {
     { "pid_max_velocity",           VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocity, .config.minmax = {0, 2000 } },
     { "pid_max_velocity_yaw",       VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidMaxVelocityYaw, .config.minmax = {0, 2000 } },
 
-	{ "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
+    { "iterm_ignore_threshold",     VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_iterm_ignore_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
     { "yaw_lowpass",                VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_lpf_hz, .config.minmax = {0, 500 } },
     { "pid_process_denom",          VAR_UINT8  | MASTER_VALUE,  &masterConfig.pid_process_denom, .config.minmax = { 1,  8 } },
@@ -2009,11 +2009,6 @@ static void dumpValues(uint16_t valueSection)
         cliPrintf("set %s = ", valueTable[i].name);
         cliPrintVar(value, 0);
         cliPrint("\r\n");
-
-#ifdef USE_SLOW_SERIAL_CLI
-        delay(2);
-#endif
-
     }
 }
 
@@ -2058,7 +2053,7 @@ static void cliDump(char *cmdline)
         cliPrint("\r\n# version\r\n");
         cliVersion(NULL);
 
-	printSectionBreak();
+        printSectionBreak();
         cliPrint("\r\n# name\r\n");
         cliName(NULL);
 
@@ -2089,9 +2084,6 @@ static void cliDump(char *cmdline)
             if (yaw < 0)
                 cliWrite(' ');
             cliPrintf("%s\r\n", ftoa(yaw, buf));
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
 
 #ifdef USE_SERVOS
@@ -2113,10 +2105,6 @@ static void cliDump(char *cmdline)
                 masterConfig.customServoMixer[i].max,
                 masterConfig.customServoMixer[i].box
             );
-
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
 
 #endif
@@ -2128,18 +2116,12 @@ static void cliDump(char *cmdline)
             if (featureNames[i] == NULL)
                 break;
             cliPrintf("feature -%s\r\n", featureNames[i]);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
         for (i = 0; ; i++) {  // reenable what we want.
             if (featureNames[i] == NULL)
                 break;
             if (mask & (1 << i))
                 cliPrintf("feature %s\r\n", featureNames[i]);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
 
 #ifdef BEEPER
@@ -2194,9 +2176,6 @@ static void cliDump(char *cmdline)
             for (channel = 0; channel < INPUT_SOURCE_COUNT; channel++) {
                 if (servoDirection(i, channel) < 0) {
                     cliPrintf("smix reverse %d %d r\r\n", i , channel);
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
                 }
             }
         }
@@ -2227,9 +2206,6 @@ static void cliDump(char *cmdline)
                 cliPrint("\r\n# restore original rateprofile selection\r\n");
                 changeControlRateProfile(currentRateIndex);
                 cliRateProfile("");
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
             }
 
             cliPrint("\r\n# restore original profile selection\r\n");
@@ -2710,6 +2686,10 @@ static void cliPrint(const char *str)
 {
     while (*str)
         bufWriterAppend(cliWriter, *str++);
+
+#ifdef USE_SLOW_SERIAL_CLI
+    delay(1);
+#endif
 }
 
 static void cliPutp(void *p, char ch)
@@ -2723,6 +2703,10 @@ static void cliPrintf(const char *fmt, ...)
     va_start(va, fmt);
     tfp_format(cliWriter, cliPutp, fmt, va);
     va_end(va);
+
+#ifdef USE_SLOW_SERIAL_CLI
+    delay(1);
+#endif
 }
 
 static void cliWrite(uint8_t ch)
@@ -2856,10 +2840,6 @@ static void cliSet(char *cmdline)
             cliPrintf("%s = ", valueTable[i].name);
             cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
             cliPrint("\r\n");
-
-#ifdef USE_SLOW_SERIAL_CLI
-            delay(2);
-#endif
         }
     } else if ((eqptr = strstr(cmdline, "=")) != NULL) {
         // has equals

src/main/main.c

@@ -179,8 +179,7 @@ void init(void)
 #ifdef ALIENFLIGHTF3
     if (hardwareRevision == AFF3_REV_1) {
         ledInit(false);
-    }
-    else {
+    } else {
         ledInit(true);
     }
 #else
@@ -363,6 +362,12 @@ void init(void)
         beeperConfig.isInverted = true;
     }
 #endif
+/* temp until PGs are implemented. */
+#ifdef BLUEJAYF4
+    if (hardwareRevision <= BJF4_REV2) {
+        beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
+    }
+#endif
 #ifdef CC3D
     if (masterConfig.use_buzzer_p6 == 1)
         beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
@@ -581,10 +586,10 @@ void init(void)
 #ifdef USE_FLASHFS
 #ifdef NAZE
     if (hardwareRevision == NAZE32_REV5) {
-        m25p16_init();
+        m25p16_init(IOTAG_NONE);
     }
 #elif defined(USE_FLASH_M25P16)
-    m25p16_init();
+    m25p16_init(IOTAG_NONE);
 #endif
 
     flashfsInit();
@@ -599,7 +604,11 @@ void init(void)
 
 #if defined(LED_STRIP) && defined(WS2811_DMA_CHANNEL)
     // Ensure the SPI Tx DMA doesn't overlap with the led strip
+#ifdef STM32F4
+    sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_STREAM;
+#else
     sdcardUseDMA = !feature(FEATURE_LED_STRIP) || SDCARD_DMA_CHANNEL_TX != WS2811_DMA_CHANNEL;
+#endif
 #else
     sdcardUseDMA = true;
 #endif

src/main/target/ALIENFLIGHTF1/config.c

@@ -76,7 +76,8 @@
 #include "config/config_master.h"
 
 // alternative defaults settings for AlienFlight targets
-void targetConfiguration(void) {
+void targetConfiguration(void) 
+{
     featureClear(FEATURE_ONESHOT125);
     masterConfig.rxConfig.spektrum_sat_bind = 5;
     masterConfig.rxConfig.spektrum_sat_bind_autoreset = 1;

src/main/target/BLUEJAYF4/config.c

@@ -0,0 +1,87 @@
+/*
+ * 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 <stdint.h>
+
+#include <platform.h>
+
+#include "build_config.h"
+
+#include "blackbox/blackbox_io.h"
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/filter.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+#include "drivers/pwm_output.h"
+#include "drivers/max7456.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/osd.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/runtime_config.h"
+#include "config/config.h"
+
+#include "config/config_profile.h"
+#include "config/config_master.h"
+
+#include "hardware_revision.h"
+
+// alternative defaults settings for BlueJayF4 targets
+void targetConfiguration(void) 
+{
+    if (hardwareRevision == BJF4_REV1 || hardwareRevision == BJF4_REV2) {
+        masterConfig.sensorAlignmentConfig.gyro_align = CW180_DEG;
+        masterConfig.sensorAlignmentConfig.acc_align  = CW180_DEG;
+    }
+}

src/main/target/BLUEJAYF4/hardware_revision.c

@@ -0,0 +1,99 @@
+/*
+ * 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/io.h"
+#include "drivers/flash_m25p16.h"
+#include "hardware_revision.h"
+
+static const char * const hardwareRevisionNames[] = {
+    "Unknown",
+    "BlueJay rev1",
+    "BlueJay rev2",
+    "BlueJay rev3",
+    "BlueJay rev3a"
+};
+
+uint8_t hardwareRevision = UNKNOWN;
+
+void detectHardwareRevision(void)
+{
+    IO_t pin1 = IOGetByTag(IO_TAG(PB12));
+    IOInit(pin1, OWNER_SYSTEM, RESOURCE_INPUT, 1);
+    IOConfigGPIO(pin1, IOCFG_IPU);
+
+    IO_t pin2 = IOGetByTag(IO_TAG(PB13));
+    IOInit(pin2, OWNER_SYSTEM, RESOURCE_INPUT, 2);
+    IOConfigGPIO(pin2, IOCFG_IPU);
+
+    // Check hardware revision
+    delayMicroseconds(10);  // allow configuration to settle
+
+    /* 
+        if both PB12 and 13 are tied to GND then it is Rev3A (mini)
+        if only PB12 is tied to GND then it is a Rev3 (full size) 
+    */
+    if (!IORead(pin1)) {
+        if (!IORead(pin2)) {
+            hardwareRevision = BJF4_REV3A;
+        }
+        hardwareRevision = BJF4_REV3;
+    }
+
+    if (hardwareRevision == UNKNOWN) {
+        hardwareRevision = BJF4_REV2;
+        return;
+    }
+    
+    /* 
+        enable the UART1 inversion PC9
+        
+        TODO: once param groups are in place, inverter outputs
+        can be moved to be simple IO outputs, and merely set them
+        HI or LO in configuration.
+    */
+    IO_t uart1invert = IOGetByTag(IO_TAG(PC9));
+    IOInit(uart1invert, OWNER_INVERTER, RESOURCE_OUTPUT, 2);
+    IOConfigGPIO(uart1invert, IOCFG_AF_PP);
+    IOLo(uart1invert);    
+}
+
+void updateHardwareRevision(void)
+{
+    if (hardwareRevision != BJF4_REV2) {
+        return;
+    }
+    
+    /* 
+        if flash exists on PB3 then Rev1
+    */
+    if (m25p16_init(IO_TAG(PB3))) {
+        hardwareRevision = BJF4_REV1;
+    } else {
+        IOInit(IOGetByTag(IO_TAG(PB3)), OWNER_FREE, RESOURCE_NONE, 0);
+    }
+}
+
+

src/main/target/BLUEJAYF4/hardware_revision.h

@@ -0,0 +1,30 @@
+/*
+ * 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 bjf4HardwareRevision_t {
+    UNKNOWN = 0,
+    BJF4_REV1,  // Flash
+    BJF4_REV2,  // SDCard
+    BJF4_REV3,  // SDCard + Flash
+    BJF4_REV3A, // Flash (20x20 mini format)
+} bjf4HardwareRevision_e;
+
+extern uint8_t hardwareRevision;
+
+void updateHardwareRevision(void);
+void detectHardwareRevision(void);

src/main/target/BLUEJAYF4/target.h

@@ -17,11 +17,15 @@
 
 #pragma once
 #define TARGET_BOARD_IDENTIFIER "BJF4"
+#define TARGET_CONFIG
 
 #define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
 
 #define USBD_PRODUCT_STRING     "BlueJayF4"
 
+#define USE_HARDWARE_REVISION_DETECTION
+#define HW_PIN                  PB2
+
 #define BOARD_HAS_VOLTAGE_DIVIDER
 #define USE_EXTI
 
@@ -29,7 +33,8 @@
 #define LED1                    PB5
 #define LED2                    PB4
 
-#define BEEPER                  PB7
+#define BEEPER                  PC1
+#define BEEPER_OPT              PB7
 #define BEEPER_INVERTED
 
 #define INVERTER                PB15
@@ -41,12 +46,12 @@
 #define ACC
 #define USE_ACC_MPU6500
 #define USE_ACC_SPI_MPU6500
-#define ACC_MPU6500_ALIGN       CW180_DEG
+#define ACC_MPU6500_ALIGN       CW0_DEG
 
 #define GYRO
 #define USE_GYRO_MPU6500
 #define USE_GYRO_SPI_MPU6500
-#define GYRO_MPU6500_ALIGN      CW180_DEG
+#define GYRO_MPU6500_ALIGN      CW0_DEG
 
 //#define MAG
 //#define USE_MAG_AK8963
@@ -76,11 +81,11 @@
 // Performance logging for SD card operations:
 // #define AFATFS_USE_INTROSPECTIVE_LOGGING
 
-//#define M25P16_CS_PIN           PB3
-//#define M25P16_SPI_INSTANCE     SPI3
+#define M25P16_CS_PIN           PB7
+#define M25P16_SPI_INSTANCE     SPI3
 
-//#define USE_FLASHFS
-//#define USE_FLASH_M25P16
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
 
 #define USABLE_TIMER_CHANNEL_COUNT 7
 

src/main/target/BLUEJAYF4/target.mk

@@ -1,5 +1,5 @@
 F405_TARGETS    += $(TARGET)
-FEATURES        += SDCARD VCP
+FEATURES        += SDCARD VCP ONBOARDFLASH
 
 TARGET_SRC = \
             drivers/accgyro_spi_mpu6500.c \

src/main/target/X_RACERSPI/target.h

@@ -57,8 +57,7 @@
 #define USE_UART2
 #define USE_UART3
 #define USE_SOFTSERIAL1
-#define USE_SOFTSERIAL2
-#define SERIAL_PORT_COUNT       5
+#define SERIAL_PORT_COUNT       4
 
 #define UART1_TX_PIN            PA9
 #define UART1_RX_PIN            PA10
@@ -70,11 +69,8 @@
 #define UART3_RX_PIN            PB11 // PB11 (AF7)
 
 #define SOFTSERIAL_1_TIMER      TIM3
-#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
-#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
-#define SOFTSERIAL_2_TIMER      TIM3
-#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
-#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
+#define SOFTSERIAL_1_TIMER_RX_HARDWARE 6 // PWM 5
+#define SOFTSERIAL_1_TIMER_TX_HARDWARE 7 // PWM 6
 
 
 #define USE_I2C

src/main/target/common.h

@@ -24,6 +24,7 @@
 /* STM32F4 specific settings that apply to all F4 targets */
 #ifdef STM32F4
 
+#define MAX_AUX_CHANNELS 99
 #define TASK_GYROPID_DESIRED_PERIOD 125
 #define SCHEDULER_DELAY_LIMIT 10
 #define USE_SLOW_SERIAL_CLI
@@ -31,6 +32,7 @@
 
 #else /* when not an F4 */
 
+#define MAX_AUX_CHANNELS 6
 #define TASK_GYROPID_DESIRED_PERIOD 1000
 #define SCHEDULER_DELAY_LIMIT 100