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atbetaflight
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Merge branch 'master' into development

This commit is contained in:
borisbstyle 2016-08-13 22:27:10 +02:00
parent ab15c5a418 4223ec89da
commit e43d00bce6
11 changed files with 54 additions and 44 deletions
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2
src/main/config/config.c
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@ -240,9 +240,9 @@ void resetEscAndServoConfig(escAndServoConfig_t *escAndServoConfig)
#ifdef BRUSHED_MOTORS
escAndServoConfig->minthrottle = 1000;
#else
escAndServoConfig->maxthrottle = 2000;
escAndServoConfig->minthrottle = 1070;
#endif
escAndServoConfig->maxthrottle = 2000;
escAndServoConfig->mincommand = 1000;
escAndServoConfig->servoCenterPulse = 1500;
}

4
src/main/drivers/light_ws2811strip.c
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@ -39,7 +39,11 @@
#include "dma.h"
#include "light_ws2811strip.h"
#if defined(STM32F4)
uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
#else
uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
#endif
volatile uint8_t ws2811LedDataTransferInProgress = 0;
static hsvColor_t ledColorBuffer[WS2811_LED_STRIP_LENGTH];

4
src/main/drivers/light_ws2811strip.h
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@ -51,5 +51,9 @@ void setStripColors(const hsvColor_t *colors);
bool isWS2811LedStripReady(void);
#if defined(STM32F4)
extern uint32_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
#else
extern uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
#endif
extern volatile uint8_t ws2811LedDataTransferInProgress;

2
src/main/drivers/light_ws2811strip_stm32f4xx.c
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@ -50,7 +50,7 @@ static void WS2811_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
if (DMA_GET_FLAG_STATUS(descriptor, DMA_IT_TCIF)) {
ws2811LedDataTransferInProgress = 0;
DMA_Cmd(descriptor->stream, DISABLE);
TIM_DMACmd(TIM5, TIM_DMA_CC1, DISABLE);
TIM_DMACmd(WS2811_TIMER, timDMASource, DISABLE);
DMA_CLEAR_FLAG(descriptor, DMA_IT_TCIF);
}
}

1
src/main/drivers/pwm_rx.c
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@ -180,7 +180,6 @@ static void ppmOverflowCallback(timerOvrHandlerRec_t* cbRec, captureCompare_t ca
if (capture == PPM_TIMER_PERIOD - 1) {
ppmDev.overflowed = true;
}
}
static void ppmEdgeCallback(timerCCHandlerRec_t* cbRec, captureCompare_t capture)

3
src/main/io/serial_cli.c
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@ -2518,7 +2518,9 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *def
changeProfile(profileIndex);
cliPrint("\r\n# profile\r\n");
cliProfile("");
cliPrint("\r\n");
dumpValues(PROFILE_VALUE, dumpMask, defaultConfig);
cliRateProfile("");
}
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig)
@ -2528,6 +2530,7 @@ static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, maste
changeControlRateProfile(rateProfileIndex);
cliPrint("\r\n# rateprofile\r\n");
cliRateProfile("");
cliPrint("\r\n");
dumpValues(PROFILE_RATE_VALUE, dumpMask, defaultConfig);
}

12
src/main/target/ALIENFLIGHTF1/config.c
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@ -78,12 +78,12 @@ void targetConfiguration(void)
masterConfig.motor_pwm_rate = 32000;
masterConfig.failsafeConfig.failsafe_delay = 2;
masterConfig.failsafeConfig.failsafe_off_delay = 0;
currentProfile->pidProfile.P8[ROLL] = 90;
currentProfile->pidProfile.I8[ROLL] = 44;
currentProfile->pidProfile.D8[ROLL] = 60;
currentProfile->pidProfile.P8[PITCH] = 90;
currentProfile->pidProfile.I8[PITCH] = 44;
currentProfile->pidProfile.D8[PITCH] = 60;
masterConfig.profile[0].pidProfile.P8[ROLL] = 90;
masterConfig.profile[0].pidProfile.I8[ROLL] = 44;
masterConfig.profile[0].pidProfile.D8[ROLL] = 60;
masterConfig.profile[0].pidProfile.P8[PITCH] = 90;
masterConfig.profile[0].pidProfile.I8[PITCH] = 44;
masterConfig.profile[0].pidProfile.D8[PITCH] = 60;
masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R

12
src/main/target/ALIENFLIGHTF3/config.c
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@ -86,12 +86,12 @@ void targetConfiguration(void) {
masterConfig.failsafeConfig.failsafe_off_delay = 0;
masterConfig.gyro_sync_denom = 2;
masterConfig.pid_process_denom = 1;
currentProfile->pidProfile.P8[ROLL] = 90;
currentProfile->pidProfile.I8[ROLL] = 44;
currentProfile->pidProfile.D8[ROLL] = 60;
currentProfile->pidProfile.P8[PITCH] = 90;
currentProfile->pidProfile.I8[PITCH] = 44;
currentProfile->pidProfile.D8[PITCH] = 60;
masterConfig.profile[0].pidProfile.P8[ROLL] = 90;
masterConfig.profile[0].pidProfile.I8[ROLL] = 44;
masterConfig.profile[0].pidProfile.D8[ROLL] = 60;
masterConfig.profile[0].pidProfile.P8[PITCH] = 90;
masterConfig.profile[0].pidProfile.I8[PITCH] = 44;
masterConfig.profile[0].pidProfile.D8[PITCH] = 60;
masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R

12
src/main/target/ALIENFLIGHTF4/config.c
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@ -86,12 +86,12 @@ void targetConfiguration(void) {
masterConfig.failsafeConfig.failsafe_off_delay = 0;
masterConfig.gyro_sync_denom = 1;
masterConfig.pid_process_denom = 1;
currentProfile->pidProfile.P8[ROLL] = 90;
currentProfile->pidProfile.I8[ROLL] = 44;
currentProfile->pidProfile.D8[ROLL] = 60;
currentProfile->pidProfile.P8[PITCH] = 90;
currentProfile->pidProfile.I8[PITCH] = 44;
currentProfile->pidProfile.D8[PITCH] = 60;
masterConfig.profile[0].pidProfile.P8[ROLL] = 90;
masterConfig.profile[0].pidProfile.I8[ROLL] = 44;
masterConfig.profile[0].pidProfile.D8[ROLL] = 60;
masterConfig.profile[0].pidProfile.P8[PITCH] = 90;
masterConfig.profile[0].pidProfile.I8[PITCH] = 44;
masterConfig.profile[0].pidProfile.D8[PITCH] = 60;
masterConfig.customMotorMixer[0] = (motorMixer_t){ 1.0f, -0.414178f, 1.0f, -1.0f }; // REAR_R
masterConfig.customMotorMixer[1] = (motorMixer_t){ 1.0f, -0.414178f, -1.0f, 1.0f }; // FRONT_R

14
src/main/target/BLUEJAYF4/target.c
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@ -67,12 +67,12 @@ const uint16_t airPWM[] = {
};
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // PPM IN
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S1_OUT
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S2_OUT
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // PPM IN
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S1_OUT
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S2_OUT
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S4_OUT
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
};

32
src/main/target/REVO/target.c
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@ -23,7 +23,7 @@
#include "drivers/timer.h"
const uint16_t multiPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
@ -34,7 +34,7 @@ const uint16_t multiPPM[] = {
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
0xFFFF
};
@ -55,7 +55,7 @@ const uint16_t multiPWM[] = {
};
const uint16_t airPPM[] = {
PWM6 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
@ -66,7 +66,7 @@ const uint16_t airPPM[] = {
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
PWM1 | (MAP_TO_SERVO_OUTPUT << 8),
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
0xFFFF
};
@ -87,16 +87,16 @@ const uint16_t airPWM[] = {
};
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
{ TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port)
{ TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3
{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S3_IN
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S4_IN
{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S5_IN
{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_IPD, GPIO_AF_TIM8 }, // S6_IN
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S1_OUT
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM3 }, // S2_OUT
{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM9 }, // S3_OUT
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM2 }, // S4_OUT
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP_PD, GPIO_AF_TIM5 }, // S6_OUT
{ TIM12, IO_TAG(PB14), TIM_Channel_1, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // PPM (5th pin on FlexiIO port)
{ TIM12, IO_TAG(PB15), TIM_Channel_2, TIM8_BRK_TIM12_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM12 }, // S2_IN - GPIO_PartialRemap_TIM3
{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S3_IN
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S4_IN
{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S5_IN
{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM8_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM8 }, // S6_IN
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S1_OUT
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S2_OUT
{ TIM9, IO_TAG(PA3), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S3_OUT
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S4_OUT
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S5_OUT - GPIO_PartialRemap_TIM3
{ TIM5, IO_TAG(PA0), TIM_Channel_1, TIM5_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM5 }, // S6_OUT
};