Merge pull request #690 from iNavFlight/development

Release version 1.3

Author: digitalentity

.travis.yml

@@ -1,14 +1,15 @@
 env:
   - TARGET=CC3D
+  - TARGET=CJMCU
   - TARGET=NAZE
   - TARGET=STM32F3DISCOVERY
   - TARGET=RMDO
   - TARGET=SPRACINGF3
   - TARGET=SPRACINGF3EVO
   - TARGET=SPARKY
   - TARGET=FURYF3
-  - TARGET=FURYF3_SPIFLASH
   - TARGET=RCEXPLORERF3
+  - TARGET=REVO
 
 # use new docker environment
 sudo: false
@@ -30,10 +31,10 @@ language: cpp
 compiler: clang
 
 before_install:
-  - curl --retry 10 --retry-max-time 120 -L "https://launchpad.net/gcc-arm-embedded/4.9/4.9-2015-q2-update/+download/gcc-arm-none-eabi-4_9-2015q2-20150609-linux.tar.bz2" | tar xfj -
+  - curl --retry 10 --retry-max-time 120 -L "https://launchpad.net/gcc-arm-embedded/5.0/5-2016-q2-update/+download/gcc-arm-none-eabi-5_4-2016q2-20160622-linux.tar.bz2" | tar xfj -
 
 install:
-  - export PATH=$PATH:$PWD/gcc-arm-none-eabi-4_9-2015q2/bin
+  - export PATH=$PATH:$PWD/gcc-arm-none-eabi-5_4-2016q2/bin
 
 before_script: arm-none-eabi-gcc --version
 script: ./.travis.sh

CREDITS

@@ -0,0 +1,84 @@
+This is at least a partial credits-file of people that have contributed to the INAV project. 
+If you believe you should be on this list - feel free to open a PR updating it. For faster
+inclusion into this list please provide information about which part of code belongs to you.
+
+Albert Kravcov
+Alex Gorbatchev
+Alex Zaitsev
+Alexander Fedorov
+Andre Bernet
+Andreas Tacke
+Andrew Payne
+Austin St. Aubin
+Bas Huisman
+Ben Hitchcock
+Boris B
+Brnadon Miller
+ChiggerPepi
+Chris Campbell
+Chris Mavrakis
+Chris Nisbet
+Chris Penny
+Damjan Adamic
+Dave Pitman
+David Bieber
+Davide Bertola
+Denis Kisselev
+Dominic Clifton
+Frank Zhao
+Fredrik Steen
+Gareth Wilkins
+Gaël James
+Gregor Ottmann
+Hyon Lim
+James Harrison
+Jan Staal
+Jeremy Waters
+Joe Poser
+Joel Fuster
+Johannes Kasberger
+Jonas Harnesk
+Jonathan Hudson
+Joshua Bardwell
+Juan González
+Kemal Hadimli
+Kieran Moore
+Konstantin Sharlaimov
+Krzysztof Rosinski
+Kyle Manna
+Larry Davis
+Marc Egli
+Mark Williams
+Martin Budden
+Matthew Evans
+Mauro Mombelli
+Max Winterstein
+Michael Corcoran
+Michael Hope
+Michael Jakob
+Miha Valencic
+Mikael Blomqvist
+Moritz Ulrich
+Moshen Chan
+Nicholas Sherlock
+Paul Fertser
+Paul Rogalinski
+Pawel Spychalski
+Petr Ledvina
+Phillip Jones
+Pierre Hugo
+Richard Birkby
+Richard Lehey
+Richard Marko
+Rimas Avizienis
+Sam Cook
+Sami Korhonen
+Samuel Brucksch
+Scott Shawcroft
+Sean Vig
+Stefan Grufman
+Steve Amor
+Thomas Buck
+Trey Marc
+Tuomas Kuosmanen
+Zap Andersson

Makefile

@@ -51,7 +51,7 @@ BIN_DIR         = $(ROOT)/obj
 CMSIS_DIR       = $(ROOT)/lib/main/CMSIS
 INCLUDE_DIRS    = $(SRC_DIR) \
                   $(ROOT)/src/main/target
-LINKER_DIR      = $(ROOT)/src/main/target
+LINKER_DIR      = $(ROOT)/src/main/target/link
 
 # default xtal value for F4 targets
 HSE_VALUE       = 8000000
@@ -332,6 +332,10 @@ ifneq ($(FLASH_SIZE),)
 DEVICE_FLAGS  := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
 endif
 
+ifneq ($(HSE_VALUE),)
+DEVICE_FLAGS  := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
+endif
+
 TARGET_DIR     = $(ROOT)/src/main/target/$(BASE_TARGET)
 TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
 
@@ -371,6 +375,9 @@ COMMON_SRC = \
             common/typeconversion.c \
             common/streambuf.c \
             config/config.c \
+            config/feature.c \
+            config/config_eeprom.c \
+            config/parameter_group.c \
             fc/runtime_config.c \
             drivers/logging.c \
             drivers/adc.c \
@@ -384,6 +391,7 @@ COMMON_SRC = \
             drivers/io.c \
             drivers/light_led.c \
             drivers/rx_nrf24l01.c \
+            drivers/rx_spi.c \
             drivers/rx_xn297.c \
             drivers/pwm_mapping.c \
             drivers/pwm_output.c \
@@ -392,41 +400,46 @@ COMMON_SRC = \
             drivers/serial.c \
             drivers/serial_uart.c \
             drivers/sound_beeper.c \
+            drivers/stack_check.c \
             drivers/system.c \
             drivers/timer.c \
+            drivers/io_pca9685.c \
             flight/failsafe.c \
             flight/imu.c \
             flight/hil.c \
             flight/mixer.c \
+            flight/servos.c \
             flight/pid.c \
             io/beeper.c \
+            fc/msp_fc.c \
             fc/rc_controls.c \
             fc/rc_curves.c \
+            fc/fc_tasks.c \
             io/serial.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 \
+            io/pwmdriver_i2c.c \
+            msp/msp_serial.c \
             rx/ibus.c \
             rx/jetiexbus.c \
             rx/msp.c \
-            rx/nrf24.c \
             rx/nrf24_cx10.c \
             rx/nrf24_inav.c \
             rx/nrf24_h8_3d.c \
             rx/nrf24_syma.c \
             rx/nrf24_v202.c \
             rx/pwm.c \
             rx/rx.c \
+            rx/rx_spi.c \
             rx/sbus.c \
             rx/spektrum.c \
             rx/sumd.c \
             rx/sumh.c \
             rx/xbus.c \
             scheduler/scheduler.c \
-            scheduler/scheduler_tasks.c \
             sensors/acceleration.c \
             sensors/battery.c \
             sensors/boardalignment.c \
@@ -463,7 +476,8 @@ HIGHEND_SRC = \
             telemetry/hott.c \
             telemetry/smartport.c \
             telemetry/mavlink.c \
-            telemetry/ltm.c
+            telemetry/ltm.c \
+			telemetry/ibus.c
 
 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 VCP_SRC = \
@@ -561,7 +575,6 @@ TARGET_SRC += $(VCP_SRC)
 endif
 # end target specific make file checks
 
-
 # Search path and source files for the ST stdperiph library
 VPATH        := $(VPATH):$(STDPERIPH_DIR)/src
 
@@ -688,7 +701,7 @@ all: $(VALID_TARGETS)
 $(VALID_TARGETS):
 		echo "" && \
 		echo "Building $@" && \
-		$(MAKE) -j binary hex TARGET=$@ && \
+		$(MAKE) -j TARGET=$@ && \
 		echo "Building $@ succeeded."
 
 ## clean             : clean up all temporary / machine-generated files

docs/Board - OMNIBUS.md

@@ -0,0 +1,76 @@
+# Board - OMNIBUS F3
+
+## Hardware Features
+
+Refer to the product web page:
+[OMNIBUS AIO F3 Flight Control](http://shop.myairbot.com/index.php/flight-control/cleanflight-baseflight/omnibusv11.html)
+
+### Hardware Notes
+
+There are few things to note on how things are connected on the board.
+
+1. VBAT (J4)
+This is a battery input to the board, and is also a input to voltage sensor.
+
+2. J11 Power distribution
+The RAM is user defined power rail, and all RAM through holes (J6, J7 and J11) are connected together. By connecting 5V or VBAT to RAM at J11, the RAM becomes 5V or VBAT power rail respectively. The VBAT on J11 can also be used to power the Board if necessary.
+
+3. RSSI (J4)
+The pin is labelled as RSSI, but it will not be used for RSSI input for a hardware configuration limitation. In this document, the "RSSI" is used to indicate the pin location, not the function.
+
+4. UART1 in boot-loader/DFU mode
+The UART1 is scanned during boot-loader/DFU mode, together with USB for possible interaction with a host PC. It is observed that devices that autonomously transmits some data, such as GPS, will prevent the MCU to talk to the USB. It is advised not to connect or disconnect such devices to/from UART1. UART2 is safe from this catch.
+
+## iNav Specific Target Configuration
+
+The first support for the OMNIBUS F3 appeared in BetaFlight.
+The OMNIBUS target in iNav has different configuration from the BetaFlight support, to maximize the hardware resource utilization for navigation oriented use cases.
+
+ [PIN CONFIGURATION PIC HERE]
+
+### PWM Outputs
+
+Six PWM outputs (PWM1~PWM6) are supported, but PWM5 and PWM6 is not available when UART3 is in use.
+PWM7 and PWM8 are dedicated for I2C; in this document, they are used to indicate the pin location, not the function.
+
+Note: Tested only for QUAD-X configuration.
+
+### Hardware UART Ports
+
+PPM/SBUS jumper for J8 is assumed to be configured for PPM (SBUS=R18 removed).
+
+| UART  | Location | Note              |
+|-------|----------|-------------------|
+| UART1 |J13       |                   |
+| UART2 |J12       |                   |
+| UART3 |J22       | PWM5=TX3,PWM6=RX3 |
+
+All UARTs are Serial RX capable.
+
+### I2C
+
+I2C is available on J22 PWM7 and PWM8
+
+|signal | Location   | Alt. Location |
+|-------|------------|---------------|
+|SCL    | J22 (PWM7) | J3 (SCL)      |
+|SDA    | J22 (PWM8) | J3 (SDA)      |
+
+### SONAR
+
+SONAR is supported when NOT using PPM.
+
+|signal | Location   |
+|-------|------------|
+|TRIG   | J8 (PPM)   |
+|ECHO   | J4 (RSSI)  |
+
+5V sonar can be connected directly without inline resistors.
+
+### OSD
+
+Integrated OSD is not supported yet.
+
+### RSSI Sensor Input
+
+The RSSI sensor adc is not supported due to the hardware configuration limitation.

docs/Board - Paris Air Hero 32 F3.md

@@ -0,0 +1,46 @@
+# Board - Paris Air Hero 32 / Acro Naze 32 Mini
+
+This is the AIR3 PARIS Sirius AirHERO 32 F3 board from MultiWiiCopter
+Source: http://www.multiwiicopter.com/products/air-hero-32-f3-spi-flight-controller
+
+## Sensors
+
+MPU6500 via SPI interface.
+BMP280 via SPI interface
+
+## Ports
+
+6 x 3pin ESC / Servo outputs
+1 x 8pin JST connector (PPM/PWM/UART2)
+1 x 4pin JST connector (UART3)
+
+## I2C bus
+
+I2C bus is made available with a special target - AIRHEROF3_QUAD. This target limits motor outputs to 4 and adds I2C bus at M5/M6 connectors.
+
+## Pinouts
+
+The 10 pin RC I/O connector has the following pinouts when used in RX_PPM/RX_SERIAL mode.
+
+From right to left when looking at the socket from the edge of the board.
+
+| Pin | Function       | Notes                            |
+| --- | -------------- | -------------------------------- |
+| 1   | Ground         |                                  |
+| 2   | +5V            |                                  |
+| 3   | RX_PPM         | Enable `feature RX_PPM`          | 
+| 4   | RSSI_ADC       | Enable `feature RSSI_ADC`.  Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input | 
+| 5   | USART2 TX      |                                  | 
+| 6   | USART2 RX      |                                  | 
+| 7   | LED_STRIP      | Enable `feature LED_STRIP`       |
+| 8   | unused         |                                  |
+
+
+## Serial Ports
+
+| Value | Identifier   | RX         | TX                 | Notes                                                                                       |
+| ----- | ------------ | ---------- | ------------------ | ------------------------------------------------------------------------------------------- |
+| 1     | USART1       | RX  / PA10 | TX  / PA9 / TELEM  | TELEM output is always inverted (for FrSky). Internally connected to USB port via CP2102 IC |
+| 2     | USART2       | RC4 / PA3  | RC3 / PA2          |                                                                                             |
+| 3     | USART3       | F3  / PB11 | F2  / PB10         | Flex port is configured as UART3 when port is configured                                    |
+