Merge Betaflight 2.6.1

kc10kevin · Apr 9, 2016 · bc69cf7 · bc69cf7
2 parents 4d52f1f + bdaf8ec
commit bc69cf7
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Showing 63 changed files with 3,860 additions and 1,562 deletions.
diff --git a/Makefile b/Makefile
@@ -42,7 +42,7 @@ FORKNAME			 = betaflight
 
 CC3D_TARGETS = CC3D CC3D_OPBL
 
-VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI KKNG
+VALID_TARGETS	 = NAZE NAZE32PRO OLIMEXINO STM32F3DISCOVERY CHEBUZZF3 $(CC3D_TARGETS) CJMCU EUSTM32F103RC SPRACINGF3 PORT103R SPARKY ALIENFLIGHTF1 ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO IRCFUSIONF3 AFROMINI SPRACINGF3MINI SPRACINGF3EVO DOGE KKNG
 
 # Valid targets for OP VCP support
 VCP_VALID_TARGETS = $(CC3D_TARGETS)
@@ -52,10 +52,9 @@ OPBL_VALID_TARGETS = CC3D_OPBL
 
 64K_TARGETS  = CJMCU
 128K_TARGETS = ALIENFLIGHTF1 $(CC3D_TARGETS) NAZE OLIMEXINO RMDO AFROMINI
-256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI KKNG
-
-F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI KKNG
+256K_TARGETS = EUSTM32F103RC PORT103R STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB SPRACINGF3MINI KKNG SPRACINGF3EVO DOGE
 
+F3_TARGETS = STM32F3DISCOVERY CHEBUZZF3 NAZE32PRO SPRACINGF3 IRCFUSIONF3 SPARKY ALIENFLIGHTF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPRACINGF3MINI KKNG SPRACINGF3EVO DOGE
 
 # Configure default flash sizes for the targets
 ifeq ($(FLASH_SIZE),)
@@ -306,12 +305,13 @@ COMMON_SRC = build_config.c \
 		   drivers/gyro_sync.c \
 		   drivers/dma.c \
 		   drivers/buf_writer.c \
-		   drivers/serial_escserial.c \
 		   io/beeper.c \
 		   io/rc_controls.c \
 		   io/rc_curves.c \
 		   io/serial.c \
-		   io/serial_1wire.c \
+		   io/serial_4way.c \
+		   io/serial_4way_avrootloader.c \
+		   io/serial_4way_stk500v2.c \
 		   io/serial_cli.c \
 		   io/serial_msp.c \
 		   io/statusindicator.c \
@@ -360,7 +360,8 @@ VCP_SRC = \
 		   vcp/usb_istr.c \
 		   vcp/usb_prop.c \
 		   vcp/usb_pwr.c \
-		   drivers/serial_usb_vcp.c
+		   drivers/serial_usb_vcp.c \
+		   drivers/usb_io.c
 
 NAZE_SRC = startup_stm32f10x_md_gcc.S \
 		   drivers/accgyro_adxl345.c \
@@ -629,6 +630,20 @@ LUX_RACE_SRC = \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCP_SRC)
+
+DOGE_SRC = \
+		   $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_mpu6500.c \
+		   drivers/accgyro_spi_mpu6500.c \
+		   drivers/barometer_bmp280.c \
+		   drivers/barometer_spi_bmp280.c \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/serial_usb_vcp.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC) \
+		   $(VCP_SRC)
 
 SPARKY_SRC = \
 		   $(STM32F30x_COMMON_SRC) \
@@ -713,6 +728,28 @@ IRCFUSIONF3_SRC = \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC)
 
+SPRACINGF3EVO_SRC	 = \
+		   $(STM32F30x_COMMON_SRC) \
+		   drivers/accgyro_mpu.c \
+		   drivers/accgyro_mpu6500.c \
+		   drivers/accgyro_spi_mpu6500.c \
+		   drivers/barometer_bmp280.c \
+		   drivers/compass_ak8963.c \
+		   drivers/display_ug2864hsweg01.h \
+		   drivers/light_ws2811strip.c \
+		   drivers/light_ws2811strip_stm32f30x.c \
+		   drivers/serial_usb_vcp.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   drivers/transponder_ir.c \
+		   drivers/transponder_ir_stm32f30x.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
+		   io/transponder_ir.c \
+		   $(HIGHEND_SRC) \
+		   $(COMMON_SRC) \
+		   $(VCP_SRC)
+
 MOTOLAB_SRC = \
 		   $(STM32F30x_COMMON_SRC) \
 		   drivers/accgyro_mpu.c \

diff --git a/fake_travis_build.sh b/fake_travis_build.sh
@@ -6,6 +6,7 @@ targets=("PUBLISHMETA=True" \
     "TARGET=COLIBRI_RACE" \
     "TARGET=LUX_RACE" \
     "TARGET=SPRACINGF3" \
+    "TARGET=SPRACINGF3EVO" \
     "TARGET=SPRACINGF3MINI" \
     "TARGET=NAZE" \
     "TARGET=AFROMINI" \
@@ -15,7 +16,8 @@ targets=("PUBLISHMETA=True" \
     "TARGET=IRCFUSIONF3" \
     "TARGET=ALIENFLIGHTF1" \
     "TARGET=ALIENFLIGHTF3" \
-    "TARGET=KKNG")
+    "TARGET=KKNG" \
+    "TARGET=DOGE")
 
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)

diff --git a/src/main/common/filter.c b/src/main/common/filter.c
@@ -98,8 +98,8 @@ float applyBiQuadFilter(float sample, biquad_t *state)
 }
 
 int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageState[DELTA_MAX_SAMPLES]) {
-	int count;
-	int32_t averageSum;
+    int count;
+    int32_t averageSum = 0;
 
     for (count = averageCount-1; count > 0; count--) averageState[count] = averageState[count-1];
     averageState[0] = input;
@@ -109,8 +109,8 @@ int32_t filterApplyAverage(int32_t input, uint8_t averageCount, int32_t averageS
 }
 
 float filterApplyAveragef(float input, uint8_t averageCount, float averageState[DELTA_MAX_SAMPLES]) {
-	int count;
-	float averageSum;
+    int count;
+    float averageSum = 0.0f;
 
     for (count = averageCount-1; count > 0; count--) averageState[count] = averageState[count-1];
     averageState[0] = input;

diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -174,7 +174,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->P8[PIDMAG] = 40;
     pidProfile->P8[PIDVEL] = 55;
     pidProfile->I8[PIDVEL] = 55;
-    pidProfile->D8[PIDVEL] = 0;
+    pidProfile->D8[PIDVEL] = 75;
 
     pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
     pidProfile->yaw_lpf_hz = 70.0f;
@@ -184,7 +184,7 @@ static void resetPidProfile(pidProfile_t *pidProfile)
     pidProfile->dterm_lpf_hz = 70.0f;    // filtering ON by default
     pidProfile->deltaMethod = DELTA_FROM_MEASUREMENT;
 
-    pidProfile->H_sensitivity = 75;
+    pidProfile->H_sensitivity = 75;  // TODO - Cleanup during next EEPROM changes
 
 #ifdef GTUNE
     pidProfile->gtune_lolimP[ROLL] = 10;          // [0..200] Lower limit of ROLL P during G tune.
@@ -380,7 +380,7 @@ static void resetConf(void)
     masterConfig.version = EEPROM_CONF_VERSION;
     masterConfig.mixerMode = MIXER_QUADX;
     featureClearAll();
-#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(KKNG) // addedkb
+#if defined(CJMCU) || defined(SPARKY) || defined(COLIBRI_RACE) || defined(MOTOLAB) || defined(SPRACINGF3MINI) || defined(LUX_RACE) || defined(KKNG) || defined(DOGE)
     featureSet(FEATURE_RX_PPM);
 #endif
 
@@ -594,6 +594,13 @@ static void resetConf(void)
     featureSet(FEATURE_FAILSAFE);
 #endif
 
+#ifdef SPRACINGF3EVO
+    featureSet(FEATURE_TRANSPONDER);
+    featureSet(FEATURE_RSSI_ADC);
+    featureSet(FEATURE_CURRENT_METER);
+    featureSet(FEATURE_TELEMETRY);
+#endif
+
     // alternative defaults settings for ALIENFLIGHTF1 and ALIENFLIGHTF3 targets
 #ifdef ALIENFLIGHT
     featureSet(FEATURE_RX_SERIAL);

diff --git a/src/main/drivers/accgyro_mpu6500.h b/src/main/drivers/accgyro_mpu6500.h
@@ -17,6 +17,7 @@
 
 #define MPU6500_WHO_AM_I_CONST              (0x70)
 #define MPU9250_WHO_AM_I_CONST              (0x71)
+#define ICM20608G_WHO_AM_I_CONST            (0xAF)
 
 #define MPU6500_BIT_RESET                   (0x80)
 

diff --git a/src/main/drivers/accgyro_spi_mpu6500.c b/src/main/drivers/accgyro_spi_mpu6500.c
@@ -107,7 +107,7 @@ bool mpu6500SpiDetect(void)
 
     mpu6500ReadRegister(MPU_RA_WHO_AM_I, 1, &tmp);
 
-    if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST) {
+    if (tmp == MPU6500_WHO_AM_I_CONST || tmp == MPU9250_WHO_AM_I_CONST || tmp == ICM20608G_WHO_AM_I_CONST) {
         return true;
     }
 

diff --git a/src/main/drivers/barometer_bmp280.c b/src/main/drivers/barometer_bmp280.c
@@ -28,50 +28,12 @@
 #include "bus_i2c.h"
 
 #include "barometer_bmp280.h"
+#include "barometer_spi_bmp280.h"
 
 #ifdef BARO
 
 // BMP280, address 0x76
 
-#define BMP280_I2C_ADDR                      (0x76)
-#define BMP280_DEFAULT_CHIP_ID               (0x58)
-
-#define BMP280_CHIP_ID_REG                   (0xD0)  /* Chip ID Register */
-#define BMP280_RST_REG                       (0xE0)  /* Softreset Register */
-#define BMP280_STAT_REG                      (0xF3)  /* Status Register */
-#define BMP280_CTRL_MEAS_REG                 (0xF4)  /* Ctrl Measure Register */
-#define BMP280_CONFIG_REG                    (0xF5)  /* Configuration Register */
-#define BMP280_PRESSURE_MSB_REG              (0xF7)  /* Pressure MSB Register */
-#define BMP280_PRESSURE_LSB_REG              (0xF8)  /* Pressure LSB Register */
-#define BMP280_PRESSURE_XLSB_REG             (0xF9)  /* Pressure XLSB Register */
-#define BMP280_TEMPERATURE_MSB_REG           (0xFA)  /* Temperature MSB Reg */
-#define BMP280_TEMPERATURE_LSB_REG           (0xFB)  /* Temperature LSB Reg */
-#define BMP280_TEMPERATURE_XLSB_REG          (0xFC)  /* Temperature XLSB Reg */
-#define BMP280_FORCED_MODE                   (0x01)
-
-#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG             (0x88)
-#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH       (24)
-#define BMP280_DATA_FRAME_SIZE               (6)
-
-#define BMP280_OVERSAMP_SKIPPED          (0x00)
-#define BMP280_OVERSAMP_1X               (0x01)
-#define BMP280_OVERSAMP_2X               (0x02)
-#define BMP280_OVERSAMP_4X               (0x03)
-#define BMP280_OVERSAMP_8X               (0x04)
-#define BMP280_OVERSAMP_16X              (0x05)
-
-// configure pressure and temperature oversampling, forced sampling mode
-#define BMP280_PRESSURE_OSR              (BMP280_OVERSAMP_8X)
-#define BMP280_TEMPERATURE_OSR           (BMP280_OVERSAMP_1X)
-#define BMP280_MODE                      (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
-
-#define T_INIT_MAX                       (20)
-// 20/16 = 1.25 ms
-#define T_MEASURE_PER_OSRS_MAX           (37)
-// 37/16 = 2.3125 ms
-#define T_SETUP_PRESSURE_MAX             (10)
-// 10/16 = 0.625 ms
-
 typedef struct bmp280_calib_param_s {
     uint16_t dig_T1; /* calibration T1 data */
     int16_t dig_T2; /* calibration T2 data */
@@ -92,13 +54,15 @@ static uint8_t bmp280_chip_id = 0;
 static bool bmp280InitDone = false;
 STATIC_UNIT_TESTED bmp280_calib_param_t bmp280_cal;
 // uncompensated pressure and temperature
-STATIC_UNIT_TESTED int32_t bmp280_up = 0;
-STATIC_UNIT_TESTED int32_t bmp280_ut = 0;
+int32_t bmp280_up = 0;
+int32_t bmp280_ut = 0;
 
 static void bmp280_start_ut(void);
 static void bmp280_get_ut(void);
+#ifndef USE_BARO_SPI_BMP280
 static void bmp280_start_up(void);
 static void bmp280_get_up(void);
+#endif
 STATIC_UNIT_TESTED void bmp280_calculate(int32_t *pressure, int32_t *temperature);
 
 bool bmp280Detect(baro_t *baro)
@@ -108,6 +72,17 @@ bool bmp280Detect(baro_t *baro)
 
     delay(20);
 
+#ifdef USE_BARO_SPI_BMP280
+    bmp280SpiInit();
+    bmp280ReadRegister(BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);
+    if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
+        return false;
+
+    // read calibration
+    bmp280ReadRegister(BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
+    // set oversampling + power mode (forced), and start sampling
+    bmp280WriteRegister(BMP280_CTRL_MEAS_REG, BMP280_MODE);
+#else
     i2cRead(BMP280_I2C_ADDR, BMP280_CHIP_ID_REG, 1, &bmp280_chip_id);  /* read Chip Id */
     if (bmp280_chip_id != BMP280_DEFAULT_CHIP_ID)
         return false;
@@ -116,6 +91,7 @@ bool bmp280Detect(baro_t *baro)
     i2cRead(BMP280_I2C_ADDR, BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG, 24, (uint8_t *)&bmp280_cal);
     // set oversampling + power mode (forced), and start sampling
     i2cWrite(BMP280_I2C_ADDR, BMP280_CTRL_MEAS_REG, BMP280_MODE);
+#endif
 
     bmp280InitDone = true;
 
@@ -126,8 +102,13 @@ bool bmp280Detect(baro_t *baro)
 
     // only _up part is executed, and gets both temperature and pressure
     baro->up_delay = ((T_INIT_MAX + T_MEASURE_PER_OSRS_MAX * (((1 << BMP280_TEMPERATURE_OSR) >> 1) + ((1 << BMP280_PRESSURE_OSR) >> 1)) + (BMP280_PRESSURE_OSR ? T_SETUP_PRESSURE_MAX : 0) + 15) / 16) * 1000;
+#ifdef USE_BARO_SPI_BMP280
+    baro->start_up = bmp280_spi_start_up;
+    baro->get_up = bmp280_spi_get_up;
+#else
     baro->start_up = bmp280_start_up;
     baro->get_up = bmp280_get_up;
+#endif
     baro->calculate = bmp280_calculate;
 
     return true;
@@ -143,6 +124,7 @@ static void bmp280_get_ut(void)
     // dummy
 }
 
+#ifndef USE_BARO_SPI_BMP280
 static void bmp280_start_up(void)
 {
     // start measurement
@@ -159,6 +141,7 @@ static void bmp280_get_up(void)
     bmp280_up = (int32_t)((((uint32_t)(data[0])) << 12) | (((uint32_t)(data[1])) << 4) | ((uint32_t)data[2] >> 4));
     bmp280_ut = (int32_t)((((uint32_t)(data[3])) << 12) | (((uint32_t)(data[4])) << 4) | ((uint32_t)data[5] >> 4));
 }
+#endif
 
 // Returns temperature in DegC, resolution is 0.01 DegC. Output value of "5123" equals 51.23 DegC
 // t_fine carries fine temperature as global value

diff --git a/src/main/drivers/barometer_bmp280.h b/src/main/drivers/barometer_bmp280.h
@@ -17,5 +17,44 @@
 
 #pragma once
 
+#define BMP280_I2C_ADDR                      (0x76)
+#define BMP280_DEFAULT_CHIP_ID               (0x58)
+
+#define BMP280_CHIP_ID_REG                   (0xD0)  /* Chip ID Register */
+#define BMP280_RST_REG                       (0xE0)  /* Softreset Register */
+#define BMP280_STAT_REG                      (0xF3)  /* Status Register */
+#define BMP280_CTRL_MEAS_REG                 (0xF4)  /* Ctrl Measure Register */
+#define BMP280_CONFIG_REG                    (0xF5)  /* Configuration Register */
+#define BMP280_PRESSURE_MSB_REG              (0xF7)  /* Pressure MSB Register */
+#define BMP280_PRESSURE_LSB_REG              (0xF8)  /* Pressure LSB Register */
+#define BMP280_PRESSURE_XLSB_REG             (0xF9)  /* Pressure XLSB Register */
+#define BMP280_TEMPERATURE_MSB_REG           (0xFA)  /* Temperature MSB Reg */
+#define BMP280_TEMPERATURE_LSB_REG           (0xFB)  /* Temperature LSB Reg */
+#define BMP280_TEMPERATURE_XLSB_REG          (0xFC)  /* Temperature XLSB Reg */
+#define BMP280_FORCED_MODE                   (0x01)
+
+#define BMP280_TEMPERATURE_CALIB_DIG_T1_LSB_REG             (0x88)
+#define BMP280_PRESSURE_TEMPERATURE_CALIB_DATA_LENGTH       (24)
+#define BMP280_DATA_FRAME_SIZE               (6)
+
+#define BMP280_OVERSAMP_SKIPPED          (0x00)
+#define BMP280_OVERSAMP_1X               (0x01)
+#define BMP280_OVERSAMP_2X               (0x02)
+#define BMP280_OVERSAMP_4X               (0x03)
+#define BMP280_OVERSAMP_8X               (0x04)
+#define BMP280_OVERSAMP_16X              (0x05)
+
+// configure pressure and temperature oversampling, forced sampling mode
+#define BMP280_PRESSURE_OSR              (BMP280_OVERSAMP_8X)
+#define BMP280_TEMPERATURE_OSR           (BMP280_OVERSAMP_1X)
+#define BMP280_MODE                      (BMP280_PRESSURE_OSR << 2 | BMP280_TEMPERATURE_OSR << 5 | BMP280_FORCED_MODE)
+
+#define T_INIT_MAX                       (20)
+// 20/16 = 1.25 ms
+#define T_MEASURE_PER_OSRS_MAX           (37)
+// 37/16 = 2.3125 ms
+#define T_SETUP_PRESSURE_MAX             (10)
+// 10/16 = 0.625 ms
+
 bool bmp280Detect(baro_t *baro);