diff --git a/AVRootloader/Windows/AVRootloader.ini b/AVRootloader/Windows/AVRootloader.ini
index 5754038..edfce74 100644
--- a/AVRootloader/Windows/AVRootloader.ini
+++ b/AVRootloader/Windows/AVRootloader.ini
@@ -1,9 +1,9 @@
[System]
Sign=BOOTLOADER
-Port=AUTO
+Port=COM8
Baudrate=115200
ConnectTrials=100
-FLASH=C:\test\main.hex
+FLASH=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex
EEPROM=
ASMFile=AVRootloader.asm
Erase=1
@@ -45,8 +45,8 @@ Options=0
; bis es wieder von vorne losgeht.
[GUI]
-Left=394
-Top=190
+Left=477
+Top=140
Width=563
Height=523
@@ -71,8 +71,14 @@ Height=523
1=BOOT
[FLASH]
-0=C:\test\main.hex
-1=
+0=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex
+1=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_FLIP_1_5_SBUS.hex
+2=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_TGY160A.hex
+3=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_DLUX.hex
+4=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_RX3S_V2.hex
+5=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_FLIP_1_5_SBUS.hex
+6=C:\test\main.hex
+7=
[EEPROM]
0=C:\test\main.eep
diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.asm b/Aquastar/AVRootloader/AVR/AVRootloader.asm
new file mode 100644
index 0000000..136c814
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/AVRootloader.asm
@@ -0,0 +1,832 @@
+; copyright HR
+
+.nolist
+
+#if defined(AQUASTAR) || defined(DLUX)
+.include "m8def.inc" ; ATmega8
+.equ RX_PORT = PORTD ; Receive port and pin
+.equ RX = PD0
+.equ TX_PORT = PORTD ; Transmit port and pin
+.equ TX = PD0
+#endif
+
+#if defined(TGY160A)
+.include "m168PAdef.inc" ; ATmega168PA
+.equ RX_PORT = PORTD ; Receive port and pin
+.equ RX = PD0
+.equ TX_PORT = PORTD ; Transmit port and pin
+.equ TX = PD0
+#endif
+
+#if defined(RX3S_V1V2V3_AILR_OUT)
+.include "m168PAdef.inc" ; ATmega168PA
+.equ RX_PORT = PORTD ; Receive port and pin
+.equ RX = PD7
+.equ TX_PORT = PORTD ; Transmit port and pin
+.equ TX = PD7
+#endif
+
+#if defined(MINI_MWC_A0)
+.include "m328Pdef.inc" ; ATmega328P
+.equ RX_PORT = PORTC ; Receive port and pin
+.equ RX = PC0
+.equ TX_PORT = PORTC ; Transmit port and pin
+.equ TX = PC0
+#endif
+
+; supported devices
+;.include "can128def.inc" ; AT90CAN128
+;.include "can32def.inc" ; AT90CAN32
+;.include "can64def.inc" ; AT90CAN64
+;.include "m1280def.inc" ; ATmega1280
+;.include "m1281def.inc" ; ATmega1281
+;.include "m1284Pdef.inc" ; ATmega1284P
+;.include "m128Adef.inc" ; ATmega128A
+;.include "m128def.inc" ; ATmega128
+;.include "m161def.inc" ; ATmega161
+;.include "m162def.inc" ; ATmega162
+;.include "m163def.inc" ; ATmega163
+;.include "m164PAdef.inc" ; ATmega164PA
+;.include "m164Pdef.inc" ; ATmega164P
+;.include "m165def.inc" ; ATmega165
+;.include "m165Pdef.inc" ; ATmega165P
+;.include "m168def.inc" ; ATmega168
+;.include "m168PAdef.inc" ; ATmega168PA
+;.include "m168Pdef.inc" ; ATmega168P
+;.include "m169def.inc" ; ATmega169
+;.include "m169Pdef.inc" ; ATmega169P
+;.include "m16Adef.inc" ; ATmega16A
+;.include "m16def.inc" ; ATmega16
+;.include "m16HVAdef.inc" ; ATmega16HVA
+;.include "m16M1def.inc" ; ATmega16M1
+;.include "m16U2def.inc" ; ATmega16U2
+;.include "m16U4def.inc" ; ATmega16U4
+;.include "m2560def.inc" ; ATmega2560
+;.include "m2561def.inc" ; ATmega2561
+;.include "m323def.inc" ; ATmega323
+;.include "m324PAdef.inc" ; ATmega324PA
+;.include "m324Pdef.inc" ; ATmega324P
+;.include "m3250def.inc" ; ATmega3250
+;.include "m3250Pdef.inc" ; ATmega3250P
+;.include "m325def.inc" ; ATmega325
+;.include "m325Pdef.inc" ; ATmega325P
+;.include "m328Pdef.inc" ; ATmega328P
+;.include "m3290def.inc" ; ATmega3290
+;.include "m3290Pdef.inc" ; ATmega3290P
+;.include "m329def.inc" ; ATmega329
+;.include "m329Pdef.inc" ; ATmega329P
+;.include "m32Adef.inc" ; ATmega32A
+;.include "m32C1def.inc" ; ATmega32C1
+;.include "m32def.inc" ; ATmega32
+;.include "m32HVBdef.inc" ; ATmega32HVB
+;.include "m32M1def.inc" ; ATmega32M1
+;.include "m32U2def.inc" ; ATmega32U2
+;.include "m32U4def.inc" ; ATmega32U4
+;.include "m32U6def.inc" ; ATmega32U6
+;.include "m406def.inc" ; ATmega406
+;.include "m48def.inc" ; ATmega48
+;.include "m48PAdef.inc" ; ATmega48PA
+;.include "m48Pdef.inc" ; ATmega48P
+;.include "m640def.inc" ; ATmega640
+;.include "m644def.inc" ; ATmega644
+;.include "m644Pdef.inc" ; ATmega644P
+;.include "m6450def.inc" ; ATmega6450
+;.include "m645def.inc" ; ATmega645
+;.include "m6490def.inc" ; ATmega6490
+;.include "m649def.inc" ; ATmega649
+;.include "m64Adef.inc" ; ATmega64A
+;.include "m64C1def.inc" ; ATmega64C1
+;.include "m64def.inc" ; ATmega64
+;.include "m64M1def.inc" ; ATmega64M1
+;.include "m8515def.inc" ; ATmega8515
+;.include "m8535def.inc" ; ATmega8535
+;.include "m88def.inc" ; ATmega88
+;.include "m88PAdef.inc" ; ATmega88PA
+;.include "m88Pdef.inc" ; ATmega88P
+;.include "m8Adef.inc" ; ATmega8A
+;.include "m8def.inc" ; ATmega8
+;.include "m8HVAdef.inc" ; ATmega8HVA
+;.include "pwm216def.inc" ; AT90PWM216
+;.include "pwm2Bdef.inc" ; AT90PWM2B
+;.include "pwm2def.inc" ; AT90PWM2
+;.include "pwm316def.inc" ; AT90PWM316
+;.include "pwm324def.inc" ; AT90PWM324
+;.include "pwm3Bdef.inc" ; AT90PWM3B
+;.include "pwm3def.inc" ; AT90PWM3
+;.include "tn13Adef.inc" ; ATtiny13A ATTENTION! small FLASH space, not all feature can be used
+;.include "tn13def.inc" ; ATtiny13 ATTENTION! small FLASH space, not all feature can be used
+;.include "tn167def.inc" ; ATtiny167
+;.include "tn2313def.inc" ; ATtiny2313
+;.include "tn24Adef.inc" ; ATtiny24A
+;.include "tn24def.inc" ; ATtiny24
+;.include "tn25def.inc" ; ATtiny25
+;.include "tn261def.inc" ; ATtiny261
+;.include "tn43Udef.inc" ; ATtiny43U
+;.include "tn44Adef.inc" ; ATtiny44A
+;.include "tn44def.inc" ; ATtiny44
+;.include "tn45def.inc" ; ATtiny45
+;.include "tn461def.inc" ; ATtiny461
+;.include "tn48def.inc" ; ATtiny48
+;.include "tn84def.inc" ; ATtiny84
+;.include "tn85def.inc" ; ATtiny85
+;.include "tn861def.inc" ; ATtiny861
+;.include "tn87def.inc" ; ATtiny87
+;.include "tn88def.inc" ; ATtiny88
+;.include "usb1286def.inc" ; AT90USB1286
+;.include "usb1287def.inc" ; AT90USB1287
+;.include "usb162def.inc" ; AT90USB162
+;.include "usb646def.inc" ; AT90USB646
+;.include "usb647def.inc" ; AT90USB647
+;.include "usb82def.inc" ; AT90USB82
+
+; unsupported devices, no self programming or sram to small
+;.include "1200def.inc" ; AT90S1200
+;.include "2313def.inc" ; AT90S2313
+;.include "2323def.inc" ; AT90S2323
+;.include "2343def.inc" ; AT90S2343
+;.include "4414def.inc" ; AT90S4414
+;.include "4433def.inc" ; AT90S4433
+;.include "4434def.inc" ; AT90S4434
+;.include "8515def.inc" ; AT90S8515
+;.include "8535def.inc" ; AT90S8535
+;.include "AT86RF401def.inc" ; AT86RF401
+;.include "ATxmega128A1def.inc" ; ATxmega128A1
+;.include "ATxmega128A3def.inc" ; ATxmega128A3
+;.include "ATxmega256A3Bdef.inc" ; ATxmega256A3B
+;.include "ATxmega256A3def.inc" ; ATxmega256A3
+;.include "ATxmega16A4def.inc" ; ATxmega16A4
+;.include "ATxmega32A4def.inc" ; ATxmega32A4
+;.include "ATxmega64A1def.inc" ; ATxmega64A1
+;.include "ATxmega64A3def.inc" ; ATxmega64A3
+;.include "m103def.inc" ; ATmega103
+;.include "tn10def.inc" ; ATtiny10
+;.include "tn11def.inc" ; ATtiny11
+;.include "tn12def.inc" ; ATtiny12
+;.include "tn15def.inc" ; ATtiny15
+;.include "tn22def.inc" ; ATtiny22
+;.include "tn26def.inc" ; ATtiny26
+;.include "tn28def.inc" ; ATtiny28
+
+
+.ifndef PageSize
+.error "Device don't support Bootloader !"
+.else
+
+#message "compile for" __PART_NAME__
+
+
+; set follow equ to 0/1 to de/activate....
+.equ UseBootMode = 0 ; 0 = start bootloader always
+ ; 1 = start on power up reset or by call from application
+ ; 2 = start on external reset or by call from application
+ ; 3 = start on watchdog reset or by call from application
+ ; 4 = start on USB reset or by call from application (only USB Devices)
+ ; 5 = start only by call from application (not recommended)
+ ; with these bootmodes you can shorten startup time for application
+
+.equ UseWDR = 1 ; Watchdog support (2 sec timeout, remember to deactivate WDT in your application if not needed)
+.equ UseSaveMCUSR = 0 ; save MCUSR on stack (RAMEND) for access by application (on UseWDR=1 MCUSR must be cleared)
+
+.equ UseE2Write = 0 ; EEPROM write command (have implicit verify)
+.equ UseE2Read = 1 ; EEPROM read command
+
+.equ UseCrypt = 0 ; cryptography (crypt.inc)
+.equ UseCryptFLASH = 0 ; explicit use of cryptography for writing to FLASH
+.equ UseCryptE2 = 0 ; explicit use of cryptography for writing to EEPROM
+
+.equ UseVerify = 1 ; Verify FLASH command (FLASH write/erase have implicit verify, can be deactivated)
+.equ UseVersioning = 0 ; Versioning for application software (stored 4/6 bytes before BootStart)
+.equ UseSRAM = 0 ; SRAM read/write commands (attention! can be a security risk)
+
+.equ UseSpecialBootVect = 0 ; use a rjmp BootStart at end of FLASH to start bootloader from application code
+.equ UseSpecialWrite = 0 ; special function "write_flash" to reprogram FLASH
+.equ UseSpecialWriteBoot = 0 ; "write_flash" can write to bootloader section with magic code, only usefull if SPM is allowed by lockbit fuses in BLS
+.equ UseSpecialRead = 0 ; special function "read_flash" to read from FLASH
+.equ UseSpecialMsg = 0 ; special function to return address and size of BootMsg
+ ; look into AVRootloader.h and M162 test project in folder \test\ for use of special funcs
+
+.equ UseAutobaud = 1 ; Baudrate detection
+.equ UseResetDelay = 0 ; Reset the boot delay everytime if any activity is detected on RX pin.
+ ; First after BootDelay milliseconds inactivity the application is called.
+ ; Otherwise the timeout BootDelay defines an overall timeout for connection.
+
+.equ UseUartInvert = 1 ; invert UART levels (for RS232 drivers such as MAX232)
+.equ UseRS485 = 0 ; activate RS-485 Data Enable pin
+.equ UseRS485Invert = 0 ; inverted logic of RS-485 DE pin (HIHGH for receive, LOW for transmit)
+
+;;.equ RX_PORT = PORTD ; Receive port and pin
+;;.equ RX = PD7
+;;.equ TX_PORT = PORTD ; Transmit port and pin
+;;.equ TX = PD7
+
+.if UseRS485
+.equ DE_PORT = PORTB ; DE enable pin of RS-485
+.equ DE = PB2 ; must be only set if RS485 DE is used
+.endif
+
+.set XTAL = 16000000 ;
+.set BootDelay = XTAL/2 ; about 250ms (don't set to fast to avoid connection problems)
+.set BootBaudrate = 115200 ; only used if no Baudrate detection activated, XTAL is than important
+.set BootVersion = 6 ; Version 6 (must be not changed)
+.set BootCodeSize = 492 ; set to 0, compile and set to value in [.cseg] Used, compile again
+ ; after this step cseg used is +2 bytes greater, ignore it (AVRStudio 4.16 bugfix)
+
+;.equ RWWSRE = 4 ; activate for ATmega162 in ATmega161 compatibility mode
+
+; now scroll down at end of source to configure BootSign and BootMsg
+
+.if UseCrypt && (UseSRAM || !UseCryptFLASH || !UseCryptE2)
+.message "WARNING: actual settings compromise security !"
+.endif
+
+
+.include "AVRootloader.inc"
+;.listmac
+.list
+
+.org BootStart
+init: cli
+ xwdr
+ clr zerol
+
+ ldi cmdl, byte1(RamEnd)
+ xout SPL, cmdl
+.ifdef SPH
+ ldi cmdl, byte2(RamEnd)
+ xout SPH, cmdl
+.endif ; .if SPH
+
+.if UseSaveMCUSR || UseBootMode
+ xin paral, MCUSR
+.if UseSaveMCUSR
+ push paral ; save old MCUSR ontop of stack
+.endif ; .if UseSaveMCUSR
+.endif ; .if UseSaveMCUSR || UseBootMode
+
+.if UseWDR
+; xin cmdl, WDTCR
+; ori cmdl, (1 << WDE) | (1 << WDCE)
+ ldi cmdl, (1 << WDE) | (1 << WDCE)
+ ldi cmdh, (1 << WDE) | (1 << WDP2) | (1 << WDP1) | (1 << WDP0)
+ xout MCUSR, zerol ; WDRF must be explicite cleared to take changes on WDT
+ xout WDTCR, cmdl ; activate Watchdog and set to 2 seconds timeout
+ xout WDTCR, cmdh
+.elif UseBootMode
+ xout MCUSR, zerol
+.endif ; .if UseWDR
+
+.if UseBootMode
+ andi paral, ResetFlags
+ breq bm1
+.ifdef BootModeFlag
+ sbrs paral, BootModeFlag
+.endif
+ jmpapp
+bm1:
+.endif ; .if UseBootMode
+
+; initialize ports
+ cbi RX_DDR, RX
+.if UseUartInvert && Use1Wire
+ cbi RX_PORT, RX
+.else
+ sbi RX_PORT, RX
+.endif ; .if UseUartInvert && Use1Wire
+.if !Use1Wire
+.if UseUartInvert
+ sbi TX_PORT, TX
+.else
+ cbi TX_PORT, TX
+.endif ; .if UseUartInvert
+ sbi TX_DDR, TX
+.endif ; .if !Use11Wire
+
+.if UseRS485
+ sbi DE_DDR, DE
+ de_0
+.endif ; .if UseRS485
+
+; initialize crc polynom and RAMPZ
+ clr zeroh
+ ldi polyl, byte1(POLYNOM)
+ ldi polyh, byte2(POLYNOM)
+.if BigMega
+ ldi cmdl, byte3(BootSign *2)
+ xout RAMPZ, cmdl
+.else
+ xout RAMPZ, zerol
+.endif ; .if BigMega
+
+
+; baudrate and identifier scanning
+.if UseResetDelay
+abd:
+.endif
+ ldi cmdl, byte3(BootDelay / 6)
+ ldi xh, byte2(BootDelay / 6)
+ ldi xl, byte1(BootDelay / 6)
+.if !UseResetDelay
+abd:
+.endif
+ movw crcl, zerol
+ ldi parah, (BootMsg - BootSign) * 2
+ ldi zl, byte1(BootSign * 2)
+ ldi zh, byte2(BootSign * 2)
+
+.if UseAutobaud
+; baudrate detection
+; autobaud based on P.Dannegger with some optimization
+; detects 0x0A,0x0B,0x0D,0x0F,0x85,0x87,0xC3,0xE1
+ movw yl, zerol ; scan for 1x baudrate low to high followed with 4x baudrate low
+ab1: add yl, yl
+ adc yh, yh
+ movw cntl, zerol
+ab2: sbiw xl, 1
+ sbc cmdl, zerol
+ rx_0
+ brne ab2
+ breq id2 ; exit
+ab3: sbiw yl, 1
+ adiw cntl, 2
+ brcs exit
+ rx_1
+ rjmp ab3
+ asr yl
+ sbiw yl, BaudTolerance
+ adiw yl, BaudTolerance * 2
+ movw yl, cntl
+ brcc ab1
+ sbiw cntl, UartLoop
+ brcs ab1
+ movw baudl, cntl
+.else
+; fixed baudrate
+ ldi yl, byte1(Baudrate)
+ ldi yh, byte2(Baudrate)
+ movw baudl, yl
+.endif ; .if UseAutobaud
+
+; identifier (BootSign) scanning with timeout and checksum
+
+id1: sbiw xl, 1 ; UART getc with timeouts
+ sbc cmdl, zerol
+ rx_1
+ brne id1
+id2: breq exit
+id3: sbiw xl, 1
+ sbc cmdl, zerol
+ rx_0
+ brne id3
+ breq exit
+ rcall getx
+ xlpm r0, z+
+ cp r0, paral
+ brne abd
+ dec parah
+ brne id1
+ rcall getw
+ brne abd
+
+; send info about chip/bootloader (BootMsg + BootInfo)
+info: ldi parah, (BootInfo - BootMsg) * 2 +4
+in1: xlpm paral, z+
+ rcall putc
+ dec parah
+ brne in1
+
+.if UseVersioning
+;send application software version (AppVersion)
+vers: ldi parah, 4
+ ldi zl, byte1(AppVerAddr)
+ ldi zh, byte2(AppVerAddr)
+ve1: xlpm paral, z+
+ rcall putc
+ dec parah
+ brne ve1
+.endif ; .if UseVersioning
+
+
+; main commandloop
+; 0=run/restart
+; 1=program flash, 2=erase flash, 3=verify flash, 4=e2read, 5=e2write, 6=read SRAM
+; 0xFF=set address, 0xFE=set buffer and decryption, 0xFD=keep alive
+main: ldi paral, SUCCESS
+mai1: rcall putc
+ movw crcl, zerol
+ rcall getw
+ movw cmdl, paral
+ cpi cmdh, 0xFE
+ brlo mai2
+ rcall getw
+ movw yl, paral
+ sbrc cmdh, 0
+ movw zl, paral
+.if BigMega
+ sbrc cmdh, 0
+ mov zx, cmdl
+.endif ; .if BigMega
+
+mai2: rcall getw
+mai3: ldi paral, ERRORCRC
+ brne mai1
+ cpi cmdh, 0xFE
+ breq setbuf
+ brsh main
+ cpse cmdh, zerol
+ rjmp mai4
+; run application/restart bootloader
+ cpse cmdl, zerol
+exit: jmpapp
+ rjmp init
+
+; set buffer
+setbuf:
+.if UseCrypt
+ clr flag
+ cpi cmdl, 0xFE
+ brlo set3
+ bst cmdl, 0
+ ldi cnt, 8 ; encrypted data follows, copy last feedback to sraml-16
+ ldi zl, byte1(SRAM_START)
+ ldi zh, byte2(SRAM_START)
+ movw xl, feedl
+ adiw xl, 8 ; last feedback
+ clr r0
+set1: brtc set2
+ ld r0, x+
+set2: st z+, r0
+ dec cnt
+ brne set1
+.endif ; .if UseCrypt
+
+set3: ldi xl, byte1(SRAM_START + 16)
+ ldi xh, byte2(SRAM_START + 16)
+ movw sraml, xl
+.if UseSRAM
+ cpi cmdl, 1
+ brne set4
+ movw xl, zl
+.endif ; .if UseSRAM
+
+set4: rcall getc
+ st x+, paral
+ sbiw yl, 1
+ brne set4
+.if !UseCrypt
+ inc cmdh
+ rjmp mai2
+.else
+ rcall getw
+ brne mai3
+ ori flag, 0x01
+set5:
+ cpi cmdl, 0xFE
+ brlo proB ; rjmp main
+ rjmp decrypt
+.endif ; .if !UseCrypt
+
+mai4: cpi cmdh, 3
+ brsh mai5
+; program/erase
+ bst cmdh, 0
+prog: ldi paral, ERRORPROG
+.if UseCrypt
+ brtc pro1
+.if UseCryptFLASH
+ cpi flag, 3
+.else
+ cpi flag, 1
+.endif ; .if UseCryptFLASH
+ brlo pro8
+.endif ; .if UseCrypt
+
+pro1: movw yl, sraml
+pro2: cpi zl, byte1(BootStart *2)
+ ldi parah, byte2(BootStart *2)
+ cpc zh, parah
+.if BigMega
+ xout RAMPZ, zx
+ ldi parah, byte3(BootStart *2)
+ cpc zx, parah
+.endif ; .if BigMega
+ brsh pro8
+
+ ldi cntl, (1 << PGERS) | (1 << SPMEN) ; erase page
+.if BLS
+ rcall dospm
+.else
+ xout SPMCSR, cntl
+ spm
+.endif ; .if BLS
+
+ brtc pro5
+
+ ldi cntl, (1 << SPMEN)
+ ldi cnt, pagesize
+pro4: ld r0, y+
+ ld r1, y+
+.if BLS
+ rcall dospm
+.else
+ xout SPMCSR, cntl
+ spm
+.endif ; .if BLS
+
+ adiw zl, 2
+ dec cnt
+ brne pro4
+
+ subi zl, byte1(PageSize *2)
+ sbci zh, byte2(PageSize *2)
+ subi yl, byte1(PageSize *2)
+ sbci yh, byte2(PageSize *2)
+
+ ldi cntl, (1 << PGWRT) | (1 << SPMEN) ; program page
+.if BLS
+ rcall dospm
+.else
+ xout SPMCSR, cntl
+ spm
+.endif ; .if BLS
+
+pro5:
+.if BLS
+.ifdef RWWSRE
+ ldi cntl, (1 << RWWSRE) | (1 << SPMEN) ; unlock section
+ rcall dospm
+.endif ; .if RWWSRE
+.endif ; .if BLS
+
+.if PageSize * 2 > 256
+.error "PageSize is greater as 256 bytes, check programing loops"
+.endif
+
+ ldi cnt, byte1(pagesize * 2)
+ ldi paral, ERRORVERIFY
+ ldi parah, 0xFF
+pro6: xlpm r0, z+
+ brtc pro7
+ ld parah, y+
+pro7: cpse parah, r0
+pro8: rjmp mai1
+ dec cnt
+ brne pro6
+
+.if BigMega
+ cp zl, zerol
+ cpc zh, zeroh
+ brne pro9
+ inc zx
+.endif ; .if BigMega
+
+pro9: brtc proA
+ cp yl, xl
+ cpc yh, xh
+ brlo pro2
+ brne pro8
+proA: dec cmdl
+ brne prog
+proB: rjmp main
+
+mai5:
+.if !UseVerify && (UseE2Write || UseE2Read || UseSRAM)
+ breq mai8
+.elif UseVerify
+ brne mai6
+veri: ldi paral, ERRORVERIFY
+ver1: movw yl, sraml
+ver2: ld r0, y+
+.if BigMega
+ xout RAMPZ, zx
+ xlpm r1, z
+ adiw z, 1
+ adc zx, zerol
+.else
+ xlpm r1, z+
+.endif ; .if BigMega
+ cpse r0, r1
+ rjmp mai1
+ cp yl, xl
+ cpc yh, xh
+ brne ver2
+ dec cmdl
+ brne ver1
+ rjmp main
+.endif ; .if UseVerify
+
+mai6:
+.if UseE2Read && UseE2Write
+ cpi cmdh, 6
+ brsh mai7
+ bst cmdh, 0
+.if UseCrypt
+ brtc ee1
+ ldi paral, ERRORPROG
+.if UseCryptE2
+ cpi flag, 3
+.else
+ cpi flag, 1
+.endif ; .if UseCryptE2
+ brlo maiZ
+.endif ; .if UseCrypt
+
+ee1: ldi paral, ERRORVERIFY
+ movw yl, sraml
+ee2: xout EEARL, zl
+ xout EEARH, zh
+ adiw zl, 1
+ brts ee3
+ sbi EECR, EERE
+ in paral, EEDR
+ rcall putp
+ rjmp ee5
+ee3: ld r0, y+
+ xout EEDR, r0
+ sbi EECR, EEMWE
+ sbi EECR, EEWE
+ee4: xwdr
+ sbic EECR, EEWE
+ rjmp ee4
+ sbi EECR, EERE
+ in r1, EEDR
+ cpse r1, r0
+ rjmp maiZ
+ cp yl, xl
+ cpc yh, xh
+ brne ee2
+ee5: dec cmdl
+ brne ee1
+ brts ee6
+ rcall putw
+ee6: rjmp main
+.elif UseE2Read
+ cpi cmdh, 5
+ breq maiY
+ brsh mai7
+ee1: xout EEARL, zl
+ xout EEARH, zh
+ adiw zl, 1
+ sbi EECR, EERE
+ in paral, EEDR
+ rcall putp
+ dec cmdl
+ brne ee1
+ rcall putw
+ rjmp main
+.elif UseE2Write
+ cpi cmdh, 5
+ brlo maiY
+ brne mai7
+.if UseCrypt
+ ldi paral, ERRORPROG
+.if UseCryptE2
+ cpi flag, 3
+.else
+ cpi flag, 1
+.endif ; .if UseCryptE2
+ brlo maiZ
+.endif ; .if UseCrypt
+
+ee1: ldi paral, ERRORVERIFY
+ movw yl, sraml
+ee2: xout EEARL, zl
+ xout EEARH, zh
+ adiw zl, 1
+ ld r0, y+
+ xout EEDR, r0
+ sbi EECR, EEMWE
+ sbi EECR, EEWE
+ee3: xwdr
+ sbic EECR, EEWE
+ rjmp ee3
+ sbi EECR, EERE
+ in r1, EEDR
+ cpse r1, r0
+ rjmp maiZ
+ cp yl, xl
+ cpc yh, xh
+ brne ee2
+ dec cmdl
+ brne ee1
+ rjmp main
+.endif ;.elif UseE2Write
+
+mai7:
+.if UseSRAM
+.if !UseE2Read || !UseE2Write
+ cpi cmdh, 6
+.endif ; .if !UseE2Read || !UseE2Write
+
+ brne mai8
+sram: ld paral, z+
+ rcall putp
+ dec cmdl
+ brne sram
+ rcall putw
+ rjmp main
+.endif ; .if UseSRAM
+
+mai8:
+; here new command #7
+
+maiY: ldi paral, ERRORCOMMAND
+maiZ: rjmp mai1
+
+
+; send char with crc
+.if UseE2Read || UseSRAM
+putw: movw paral, crcl
+ rcall putc
+ mov paral, parah
+putp: eor crcl, paral
+ ldi cnt, 8
+put1: lsr crch
+ ror crcl
+ brcc put2
+ eor crch, polyh
+ eor crcl, polyl
+put2: dec cnt
+ brne put1
+.endif ; .if UseE2Read || UseSRAM
+
+; send char
+putc: xwdr
+ de_1
+ rcall waitf
+ rcall waitf
+ ldi cnt, 10
+ com paral
+put3: tx_out ; 1
+ rcall waitf ; 15
+ lsr paral ; 1
+ brcs put4 ; 1
+ tx_0 ; 1
+put4: rcall put5 ; 7
+ dec cnt ; 1
+ brne put3 ; 2 = 29 + baud
+put5: ret
+
+; receive char/word
+getw: rcall getc
+getm: mov parah, paral
+getc: xwdr
+ de_0
+get5: rx_1
+ rjmp get5
+get1: rx_0
+ rjmp get1
+getx: ldi cnt, 8
+ movw cntl, baudl
+ lsr cnth
+ ror cntl
+ rcall waith
+get2: rcall waitf ; 15 + baud
+ lsr paral ; 1
+ rx_0 ; 1
+ ori paral, 0x80 ; 1
+ sbrc paral, 7 ; 1
+ eor crcl, polyl ; 1
+ lsr crch ; 1
+ ror crcl ; 1
+ brcc get3 ; 1
+ eor crch, polyh ; 1
+get3: brcc get4 ; 1
+ eor crcl, polyl ; 1
+get4: dec cnt ; 1
+ brne get2 ; 2 = 29 + baud
+ eor crcl, crch
+ eor crcl, crch
+ ret
+
+; UART delays ; by P.Dannegger
+waitf: movw cntl, baudl ; 1
+waith: sbiw cntl, 4 ; 2
+ brcc waith ; 2/1
+ cpi cntl, 0xFD ; 1
+ brcs wait1 ; 2/1 (2)
+ breq wait1 ; 2/1 (3)
+ cpi cntl, 0xFF ; 1
+ breq wait1 ; 2/1 (4/5)
+wait1: tx_1 ; 1
+ ret ; 4 + 3 (rcall) = 15
+
+.if UseCrypt
+.include "Crypt.inc"
+.endif ; .if UseCrypt
+
+
+BootSign: .db "BOOTLOADER" ; iff you change it then change sign in AVRootloader.ini
+BootMsg: ;.db "RX3S" ; your own message here, must be shorter as 253 chars
+BootInfo: .db SIGNATURE_001, SIGNATURE_002, BootVersion, BootPages ; must be not changed
+
+.if UseCrypt
+; follow bytes should be keept secret and choosen randomly, 128 Bit Password, first 32 bit used as Signature
+BootKey: .db $70,$06,$C8,$F7,$06,$AD,$AE,$04,$EE,$83,$3D,$81,$50,$3F,$31,$DC
+.endif ; .if UseCrypt
+
+
+.include "Special.inc"
+
+.endif ; .ifndef PageSize -> end of source
+
+
diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.asmproj b/Aquastar/AVRootloader/AVR/AVRootloader.asmproj
new file mode 100644
index 0000000..6676d6b
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/AVRootloader.asmproj
@@ -0,0 +1,40 @@
+
+
+
+ 2.0
+ 6.0
+ com.Atmel.AVRAssembler
+ 52202416-41a7-4c61-892b-f36132641d3c
+ none
+ ATmega168PA
+ AVRootloader
+ .obj
+ $(MSBuildProjectDirectory)\$(Configuration)
+ ASSEMBLY
+ Executable
+ Native
+
+ true
+ false
+
+ 0
+ $(MSBuildProjectDirectory)\AVRootloader.asm
+ 3.5.0
+
+
+ bin\default\
+
+
+ True
+ Error
+ ($IncludeFile)
+
+
+
+
+
+
+ compile
+
+
+
\ No newline at end of file
diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.atsln b/Aquastar/AVRootloader/AVR/AVRootloader.atsln
new file mode 100644
index 0000000..4b6a147
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/AVRootloader.atsln
@@ -0,0 +1,17 @@
+
+Microsoft Visual Studio Solution File, Format Version 11.00
+# Atmel Studio Solution File, Format Version 11.00
+Project("{18226A42-8477-4023-8AD2-40C49DA407C9}") = "AVRootloader", "AVRootloader.asmproj", "{52202416-41A7-4C61-892B-F36132641D3C}"
+EndProject
+Global
+ GlobalSection(SolutionConfigurationPlatforms) = preSolution
+ default|AVR = default|AVR
+ EndGlobalSection
+ GlobalSection(ProjectConfigurationPlatforms) = postSolution
+ {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.ActiveCfg = default|AVR
+ {52202416-41A7-4C61-892B-F36132641D3C}.default|AVR.Build.0 = default|AVR
+ EndGlobalSection
+ GlobalSection(SolutionProperties) = preSolution
+ HideSolutionNode = FALSE
+ EndGlobalSection
+EndGlobal
diff --git a/Aquastar/AVRootloader/AVR/AVRootloader.inc b/Aquastar/AVRootloader/AVR/AVRootloader.inc
new file mode 100644
index 0000000..70a8bee
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/AVRootloader.inc
@@ -0,0 +1,394 @@
+; copyright HR
+
+.equ RX_DDR = RX_PORT -1
+.equ RX_PIN = RX_PORT -2
+.equ TX_DDR = TX_PORT -1
+.equ TX_PIN = TX_PORT -2
+
+.if UseRS485
+.equ DE_DDR = DE_PORT -1
+.endif
+
+.if RX_PORT == TX_PORT && RX == TX
+.set Use1Wire = 1
+.else
+.set Use1Wire = 0
+.endif ; .if RX_PORT == TX_PORT && RX == TX
+
+.equ UartLoop = 29 ; don't change, except timing of putc, getc are changed
+.equ BaudTolerance = 3
+
+.if !UseAutobaud
+.set Baudrate = XTAL / BootBaudrate - UartLoop
+.endif ; .if !UseAutobaud
+
+.set SUCCESS = 0x30
+.set ERRORVERIFY = 0xC0
+.set ERRORCOMMAND = 0xC1
+.set ERRORCRC = 0xC2
+.set ERRORBOUNDS = 0xC3
+.set ERRORCRYPT = 0xC4
+.set ERRORPROG = 0xC5
+.set ERRORVERSION = 0xC6
+
+.if UseCrypt
+.set SUCCESS = SUCCESS | 0x01
+.if UseCryptFLASH
+.set SUCCESS = SUCCESS | 0x02
+.endif ; .if UseCryptFLASH
+.if UseCryptE2
+.set SUCCESS = SUCCESS | 0x04
+.endif ; .if UseCryptE2
+.endif ; .if UseCrypt
+.if UseVersioning
+.set SUCCESS = SUCCESS | 0x08
+.endif ; .if UseVersioning
+
+.equ POLYNOM = 0xA001 ; CRC Polynom
+
+.def feedl = r4 ; feedback pointer
+.def feedh = r5
+.def zx = r7 ; RAMPZ
+.def crcl = r8 ; CRC 16Bit
+.def crch = r9
+.def zerol = r10 ; zero
+.def zeroh = r11
+.def baudl = r12 ; baudrate
+.def baudh = r13
+.def sraml = r14 ; SRAM buffer start
+.def sramh = r15
+.def paral = r16 ; params for UART
+.def parah = r17
+.def polyl = r18 ; Polynom CRC
+.def polyh = r19
+.def cnt = r20 ; counter in UART loops
+.def flag = r21 ; flag for crypto
+.def cmdl = r22 ; commands
+.def cmdh = r23
+.def cntl = r24 ; temp/baudrate
+.def cnth = r25
+
+.if FlashEnd > 0x7FFF
+.set BigMega = 1 ; ATMega with big FLASH
+.else
+.set BigMega = 0
+.endif ; .if FlashEnd > 0x7FFF
+
+.ifdef FirstBootStart
+.set BLS = 1 ; Bootloader Section supported
+.else
+.set BLS = 0
+.endif ; .ifdef FirstBootStart
+
+; calculate Bootloader start address
+.ifdef FirstBootStart
+.set FirstBoot = FirstBootStart
+.else
+.set FirstBoot = FlashEnd +1
+.endif ; .ifdef FirstBootStart
+
+.ifdef SecondBootStart
+.set SecondBoot = SecondBootStart
+.else
+.set SecondBoot = FlashEnd +1
+.endif ; .ifdef SecondBootStart
+
+.ifdef ThirdBootStart
+.set ThirdBoot = ThirdBootStart
+.else
+.set ThirdBoot = FlashEnd +1
+.endif ; .ifdef ThirdBootStart
+
+.ifdef FourthBootStart
+.set FourthBoot = FourthBootStart
+.else
+.set FourthBoot = FlashEnd +1
+.endif ; .ifdef FourthBootStart
+
+.if BootCodeSize
+.if BLS
+.set FlashSize = FlashEnd +1
+.if FlashSize - FirstBoot >= BootCodeSize >> 1
+.equ BootStart = FirstBoot
+.message "Please program Boot Fuse to First Boot Start !"
+.elif FlashSize - SecondBoot >= BootCodeSize >> 1
+.equ BootStart = SecondBoot
+.message "Please program Boot Fuse to Second Boot Start !"
+.elif FlashSize - ThirdBoot >= BootCodeSize >> 1
+.equ BootStart = ThirdBoot
+.message "Please program Boot Fuse to Third Boot Start !"
+.elif FlashSize - FourthBoot >= BootCodeSize >> 1
+.equ BootStart = FourthBoot
+.message "Please program Boot Fuse to Fourth Boot Start !"
+.else
+.equ BootStart = 0
+.error "BootStart is undefinied !"
+.endif ; .if FlashSize ...
+.else
+.set FlashSize = ((FlashEnd +1) * 2 - BootCodeSize) >> 1
+.equ BootStart = FlashSize - FlashSize % PageSize
+.message "Compile Bootloader without Boot Section !"
+.endif ; .if BLS
+.else
+.if (FLASHEND > 1023)
+.equ BootStart = ((FlashEnd +1) * 2 - 2048) / 2
+.else
+.equ BootStart = 0
+.endif
+.message "Please set used CSEG to BootSize !"
+.endif ; .if BootCodeSize
+
+; fix bug with parsing HEX files in AVRStudio 4.16
+.if BootCodeSize
+.org 0
+.db 0xFF, 0xFF
+.endif
+
+.set BootPages = (FlashEnd +1 - BootStart) / PageSize
+
+.if UseVersioning
+.if BLS
+.set AppVerAddr = BootStart * 2 - 4
+.else
+.set AppVerAddr = BootStart * 2 - 6
+.endif ; .if BLS
+.endif ; .if UseVersioning
+
+; examine special handling for SPM
+.if BLS && (SIGNATURE_000 == 0x1e)
+.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x01) ; ATmega161
+.set SPMspecial = 1
+.endif
+.if (SIGNATURE_001 == 0x94) && (SIGNATURE_002 == 0x02) ; ATmega163
+.set SPMspecial = 2
+.endif
+.if (SIGNATURE_001 == 0x95) && (SIGNATURE_002 == 0x01) ; ATmega323
+.set SPMspecial = 3
+.endif
+.endif
+
+; BootMode flags
+.if UseBootMode == 1
+.set BootModeFlag = PORF
+.elif UseBootMode == 2
+.set BootModeFlag = EXTRF
+.elif UseBootMode == 3
+.set BootModeFlag = WDRF
+.elif UseBootMode == 4
+.ifndef USBRF
+.error "Device provable do not support USB reset, take a look into datasheet and include file if USBRF is defined"
+.else
+.set BootModeFlag = USBRF
+.endif
+.endif
+
+.set ResetFlags = (1 << PORF) | (1 << EXTRF) | (1 << WDRF)
+.ifdef BORF
+.set ResetFlags = ResetFlags | (1 << BORF)
+.endif
+.ifdef JTRF
+.set ResetFlags = ResetFlags | (1 << JTRF)
+.endif
+.ifdef BODRF
+.set ResetFlags = ResetFlags | (1 << BODRF)
+.endif
+.ifdef OCDRF
+.set ResetFlags = ResetFlags | (1 << OCDRF)
+.endif
+.ifdef USBRF
+.set ResetFlags = ResetFlags | (1 << USBRF)
+.endif
+
+
+; some redefinition of register names or bits
+.ifndef MCUSR
+.ifndef MCUCSR
+.error "no definition for MCU Control Status Register found, look into AVRootloader.inc"
+.else
+.equ MCUSR = MCUCSR
+.endif
+.endif ; .ifndef MCUCSR
+
+.ifndef WDCE
+.ifndef WDDE
+.equ WDCE = WDTOE
+.else
+.equ WDCE = WDDE
+.endif ; .ifndef WDDE
+.endif ; .ifndef WDCE
+
+.ifndef WDTCR
+.equ WDTCR = WDTCSR
+.endif ; .ifndef WDTCR
+
+.ifndef SPMCSR
+.equ SPMCSR = SPMCR
+.endif ; .ifndef SPMCSR
+
+.ifndef RWWSRE
+.ifdef ASRE
+.equ RWWSRE = ASRE
+.endif ; .ifdef ASRE
+.endif ; .ifndef RWWSRE
+
+.ifndef SPMEN
+.equ SPMEN = SELFPRGEN
+.endif ; .ifndef SPMEN
+
+
+.ifndef EEMWE
+.equ EEMWE = EEMPE
+.endif ; .ifndef EEMWE
+
+.ifndef EEWE
+.equ EEWE = EEPE
+.endif ; .ifndef EEWE
+
+.ifndef EEARL
+.equ EEARL = EEAR
+.endif ; .ifndef EEARL
+
+; macros
+.macro xout
+.ifdef @0
+.if @0 > 0x3F
+ sts @0, @1
+.else
+ out @0, @1
+.endif
+.endif
+.endmacro
+
+.macro xin
+.ifdef @1
+.if @1 > 0x3F
+ lds @0, @1
+.else
+ in @0, @1
+.endif
+.endif
+.endmacro
+
+.macro xwdr
+.if UseWDR
+ wdr
+.endif ; .if UseWDR
+.endmacro
+
+.macro xlpm
+.if BigMega
+ elpm @0, @1
+.else
+ lpm @0, @1
+.endif
+.endmacro
+
+.macro jmpapp
+.if BLS
+#if defined(AQUASTAR) || defined(DLUX)
+ rjmp FLASHEND +1 ; run application
+#else
+ jmp FLASHEND +1 ; run application
+#endif
+.elif BootStart
+ rjmp BootStart -1 ; run application
+.else
+ rjmp BootStart ; dummy
+.endif ; .if BLS
+.endmacro
+
+.macro bjmp
+.if @1
+ rjmp @0
+.else
+ ret
+.endif
+.endmacro
+
+.macro rx_0
+.if UseUartInvert
+ sbic RX_PIN, RX
+.else
+ sbis RX_PIN, RX
+.endif ; .if UseUartInvert
+.endmacro
+
+.macro rx_1
+.if UseUartInvert
+ sbis RX_PIN, RX
+.else
+ sbic RX_PIN, RX
+.endif ; .if UseUartInvert
+.endmacro
+
+
+.macro tx_1
+
+.if (RX != TX) && (RX_PORT == TX_PORT)
+.if UseUartInvert
+.set tx1 = (1 << RX)
+.else
+.set tx1 = (1 << TX) | (1 << RX)
+.endif ; .if UseUartInvert
+.elif UseUartInvert && !Use1Wire
+.set tx1 = 0
+.else
+.set tx1 = (1 << TX)
+.endif ; .if (RX != TX) && (RX_PORT == TX_PORT)
+.ifdef DE_PORT
+.if !UseRS485Invert && (DE_PORT == TX_PORT)
+.set tx1 = tx1 | (1 << DE)
+.endif
+.endif
+ ldi cnth, tx1
+.endmacro
+
+.macro tx_0
+.if (RX != TX) && (RX_PORT == TX_PORT)
+.if UseUartInvert
+.set tx0 = (1 << TX) | (1 << RX)
+.else
+.set tx0 = (1 << RX)
+.endif ; .if UseUartInvert
+.elif UseUartInvert && !Use1Wire
+.set tx0 = (1 << TX)
+.else
+.set tx0 = 0
+.endif ; .if (RX != TX) && (RX_PORT == TX_PORT)
+.ifdef DE_PORT
+.if !UseRS485Invert && (DE_PORT == TX_PORT)
+.set tx0 = tx0 | (1 << DE)
+.endif
+.endif
+ ldi cnth, tx0
+.endmacro
+
+
+.macro tx_out
+.if Use1Wire
+ xout TX_DDR, cnth
+.else
+ xout TX_PORT, cnth
+.endif ; .if Use1Wire
+.endmacro
+
+.macro de_0
+.if UseRS485
+.if UseRS485Invert
+ sbi DE_PORT, DE
+.else
+ cbi DE_PORT, DE
+.endif
+.endif
+.endmacro
+
+.macro de_1
+.if UseRS485
+.if UseRS485Invert
+ cbi DE_PORT, DE
+.else
+ sbi DE_PORT, DE
+.endif
+.endif
+.endmacro
+
diff --git a/Aquastar/AVRootloader/AVR/AvrBuild.bat b/Aquastar/AVRootloader/AVR/AvrBuild.bat
new file mode 100644
index 0000000..cdc98e0
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/AvrBuild.bat
@@ -0,0 +1,15 @@
+@ECHO OFF
+set AVRASM2PATH=c:\Program Files (x86)\Atmel\Atmel Toolchain\AVR Assembler\Native\2.1.39.1005\avrassembler
+
+call :buildhex AQUASTAR
+call :buildhex DLUX
+call :buildhex TGY160A
+call :buildhex RX3S_V1V2V3_AILR_OUT
+call :buildhex MINI_MWC_A0
+goto :eof
+
+:buildhex
+set OUT=default\AVRootloader_%~1
+echo %OUT%
+"%AVRASM2PATH%\avrasm2.exe" -fI -w -W+ie -D %~1 -I "%AVRASM2PATH%\include" -o "%OUT%.hex" -S "%OUT%.info" -d "%OUT%.obj" -e "%OUT%.eep" -m "%OUT%.map" -l "%OUT%.lst" "AVRootloader.asm"
+goto :eof
\ No newline at end of file
diff --git a/Aquastar/AVRootloader/AVR/Crypt.inc b/Aquastar/AVRootloader/AVR/Crypt.inc
new file mode 100644
index 0000000..74c73fd
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/Crypt.inc
@@ -0,0 +1,259 @@
+; copyright HR
+; decryption code, XTEA with special double CBC ciphermode to get a CMAC, cipher message authentication code
+.nolist
+
+.undef feedl
+.undef feedh
+.undef crcl
+.undef crch
+.undef paral
+.undef parah
+.undef polyl
+.undef polyh
+.undef zx
+.undef cmdl
+.undef cmdh
+.undef cntl
+.undef cnth
+
+.def a0 = r0
+.def a1 = r1
+.def a2 = r2
+.def a3 = r3
+.def b0 = r4 ; feedl
+.def b1 = r5 ; feedh
+.def b2 = r6
+.def b3 = r7 ; zx
+.def t0 = r8 ; crcl
+.def t1 = r9 ; crch
+;.def zerol = r10 ; zerol
+;.def zeroh = r11 ; zeroh
+;.def baudl = r12 ; baudl
+;.def baudh = r13 ; baudl
+;.def sraml = r14 ; SRAM buffer start
+;.def sramh = r15
+.def s0 = r16 ; paral
+.def s1 = r17 ; parah
+.def s2 = r18 ; polyl, restored
+.def s3 = r19 ; polyh, restored
+;.def cnt = r20 ; cnt
+;.def flag = r21 ; flag
+.def round = r22 ; cmdl
+.def t4 = r23 ; cmdh
+.def t2 = r24 ; cntl
+.def t3 = r25 ; cnth
+;.def XL = r26 ; buffer_endl
+;.def XH = r27 ; buffer_endh
+;.def YL = r28 ; unused
+;.def YH = r29 ; unused
+;.def ZL = r30 ; overwritten Address
+;.def ZH = r31 ;
+.list
+
+
+; XTEA decryption with spezial CBC feedback modus, final checksum/signature block with 24 Bit FLASH Address setup
+; SRAML points to start of buffer, SRAML-16 points to feedback, SRAML-8 points to buffer of next used feedback
+; X points after buffer
+; T flag = 0 = CMDL = 0xFE = decryption init, = 1 = CMDL = 0xFF = normal data decryption
+; cycles:
+; 698 * 8 Bytes -1 = 5583 one data block
+; + 98 for CMDL=0xFE=init
+; + 76 for CMDL=0xFF=data
+; thus average throughput by 8Mhz is 11kByte/sec
+
+decrypt:
+ movw yl, sraml
+ sbiw yl, 16
+ movw sraml, yl
+ sbiw xl, 16
+.if BigMega
+ ldi cnt, byte3(BootKey * 2)
+ xout RAMPZ, cnt
+.endif ; .if BigMega
+
+tea1: ldi cnt, 8
+ movw zl, zerol ; zerol, z points to register file r0-r7 = a,b
+tea2: ldd t0, y +0 ; buffer = feedback xor cipherblock
+ ldd t1, y +16 ; in next round buffer is feedback
+ eor t0, t1
+ std y +8, t0
+ st z+, t1 ; setup a,b = cipherblock
+ adiw yl, 1
+ dec cnt
+ brne tea2
+
+ ldi s0, 0x20 ; sum = 32 * delta
+ ldi s1, 0x37
+ ldi s2, 0xef
+ ldi s3, 0xc6
+
+ rcall teadec ; first 16 rounds
+
+tea3: ld t0, z ; ciphertext = ciphertext xor feedback
+ ld t1, y+
+ eor t0, t1
+ st z+, t0
+ dec cnt
+ brne tea3
+
+ rcall teadec ; second 16 rounds
+
+tea4: ld t0, z+ ; plaintext = ciphertext xor feedback
+ ld t1, y
+ eor t0, t1
+ st y+, t0
+ dec cnt
+ brne tea4
+
+ cp yl, xl ; sram buffer end reached ?
+ cpc yh, xh
+ brlo tea1
+ ldi s0, ERRORCRYPT
+ brcs tea7 ; overflow, datasize not a multiple of 8
+
+ sbiw yl, 8 ; points to signature + dummy + address
+
+.if UseVersioning
+ brts tea80
+
+ ldi zl, byte1(AppVerAddr) ; check version number
+ ldi zh, byte2(AppVerAddr)
+ ldi cnt, 4
+ sbiw yl, 4
+ ldi s2, 0xFF
+ ldi s3, 0xFF
+
+tea8: ld r0, y+
+ xlpm r1, z+
+ and s3, r1
+ cpse r0, s2
+ cpc r0, r1
+ dec cnt
+ brne tea8
+
+ ldi s0, ERRORVERSION
+ cpse s3, s2
+ brcs tea7
+ ldi s0, ERRORCRYPT
+tea80:
+.endif ;.if UseVersioning
+
+ ori flag, 0x02 ; success crypt
+
+ ldi zl, byte1(BootKey * 2)
+ ldi zh, byte2(BootKey * 2)
+ movw xl, yl
+ ldi cnt, 4 ; check signature
+ brts tea5
+ sbiw zl, 4
+ ldi cnt, 8 ; check BootInfo and signature
+tea5: ld r0, y+
+ xlpm r1, z+
+ cpse r0, r1
+ clr flag ; signature don't match
+ dec cnt
+ brne tea5
+
+ movw b0, xl ; feedback
+
+ brtc tea6
+ ldd s1, y +0 ; correct XH:XL = bufferend pointer for non-multiple-of-8 data
+ sub xl, s1
+ sbc xh, zerol
+ ldd b3, y +1 ; ZX:ZH:ZL, new FLASH/EEPROM Address, only valid if cmdl = 0xFF
+ ldd zh, y +2
+ ldd zl, y +3
+
+tea6: sbrc flag, 1
+ ldi s0, SUCCESS
+tea7: ldi s2, byte1(POLYNOM) ; restore CRC polynom
+ ldi s3, byte2(POLYNOM)
+ rjmp mai1
+
+
+; plain XTEA decryption
+teadec: ldi round, 32 ; 16 round XTEA, r0-r7=a,b ciphertext
+ movw t0, a0
+ movw t2, a2
+
+dec1: clr t4 ; t = (a shr 4) xor (a shl 5)
+ ldi cnt, 3
+dec2: lsl t0
+ rol t1
+ rol t2
+ rol t3
+ rol t4
+ dec cnt
+ brne dec2
+
+ lsl t0
+ eor t0, t1
+ rol t1
+ eor t1, t2
+ rol t2
+ eor t2, t3
+ rol t3
+ eor t3, t4
+
+ add t0, a0 ; t = ((a shr 4) xor (a shl 5)) + a
+ adc t1, a1
+ adc t2, a2
+ adc t3, a3
+
+ ldi zl, low(BootKey *2)
+ ldi zh, high(BootKey *2)
+
+ sbrc round, 0
+ rjmp dec3
+
+ sbrc s1, 3 ; k = key[(sum shr 11) and 3]
+ adiw zl, 4
+ sbrc s1, 4
+ adiw zl, 8
+
+ rjmp dec4
+
+dec3: subi s0, 0xB9 ; sum = sum - delta
+ sbci s1, 0x79
+ sbci s2, 0x37
+ sbci s3, 0x9E
+
+ sbrc s0, 0 ; k = key[sum and 3]
+ adiw zl, 4
+ sbrc s0, 1
+ adiw zl, 8
+
+dec4: xlpm t4, z+ ; t = t xor (sum + k)
+ add t4, s0
+ eor t0, t4
+ xlpm t4, z+
+ adc t4, s1
+ eor t1, t4
+ xlpm t4, z+
+ adc t4, s2
+ eor t2, t4
+ xlpm t4, z+
+ adc t4, s3
+ eor t3, t4
+
+ sub b0, t0 ; b = b - t
+ sbc b1, t1
+ sbc b2, t2
+ sbc b3, t3
+
+ movw t0, b0 ; b = a, a = b
+ movw t2, b2
+ movw b0, a0
+ movw b2, a2
+ movw a0, t0
+ movw a2, t2
+
+ dec round
+ brne dec1
+
+ ldi cnt, 8
+ movw zl, zerol
+ sbiw yl, 8
+
+ ret
+
diff --git a/Aquastar/AVRootloader/AVR/Special.inc b/Aquastar/AVRootloader/AVR/Special.inc
new file mode 100644
index 0000000..6ba25f5
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/Special.inc
@@ -0,0 +1,259 @@
+.nolist
+; copyright HR
+; special functions to provide for application code access to FLASH
+; can be expanded with own functions and place a rjmp vector at end of this file
+
+; First calculate size of code to align code at end of FLASH, better solution possible ?
+
+; Align all follow function at end of FLASH get us to posibility to reprogram a new bootloader.
+; For minimal solutions use UseSpecialBootVect=1 to include a rjmp bootstart, rjmp dospm
+; vector and the dospm function at end of bootloader section. This cost 16 bytes of FLASH and
+; thus the last FLASH page should be always unchanged. With a own application and help of
+; dospm function can the remaining bootloader section repogrammed. Please remember that
+; all stuff like ISR blocking, waiting for EEPROM write finish and so on must be done in own
+; application that wants to update the bootloader (including sanity checks not to overwrite last FLASH page)
+; For more comfortable solution set UseSpecialWrite=1 and UseSpecialWriteBoot=1. Now with function
+; write_flash() a ways exists to write from SRAM buffer to any address on FLASH without to consider
+; page aligment or data size. If the application read access to bootloader section is prohibited by lockbits
+; then set UseSpecialRead=1. Now with read_flash() it's possible to read the entire full flash.
+; These feature are only usefull on AVRs with bootloader sections. On Tiny AVRs there is always the possibility to
+; use SPM in application code.
+
+
+.set SpecialSize = 0
+
+.if UseSpecialWrite
+.set SpecialSize = SpecialSize +48
+.if UseSpecialWriteBoot
+.set SpecialSize = SpecialSize +5
+.endif
+.if BigMega
+.set SpecialSize = SpecialSize +4
+.endif
+.if BLS
+.set SpecialSize = SpecialSize +5
+.ifdef SPMSpecial
+.set SpecialSize = SpecialSize +3
+.endif
+.ifdef RWWSRE
+.set SpecialSize = SpecialSize +2
+.endif
+.else
+.set SpecialSize = SpecialSize +8
+.endif
+.if UseWDR
+.set SpecialSize = SpecialSize +1
+.endif
+.endif
+
+.if UseSpecialRead
+.set SpecialSize = SpecialSize +9
+.if BigMega
+.set SpecialSize = SpecialSize +1
+.endif
+.endif
+
+.if UseSpecialMsg
+.set SpecialSize = SpecialSize +5
+.endif
+
+; rjmp vector table
+.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg
+.set SpecialSize = SpecialSize +5
+.elif UseSpecialBootVect
+.set SpecialSize = SpecialSize +1
+.if BLS
+.set SpecialSize = SpecialSize +1
+.endif
+.endif
+
+; dospm
+.if SpecialSize > 0
+.if BLS
+.set SpecialSize = SpecialSize +6
+.ifdef SPMSpecial
+.set SpecialSize = SpecialSize +3
+.endif
+.endif
+
+; align follow code at flash end
+.if BootCodeSize
+.org (FLASHEND +1) - SpecialSize
+.endif
+.endif ; .if SpecialSize > 0
+
+; end of size calculation
+.list
+
+
+.if UseSpecialMsg
+getbootmsg:
+; return address and size of BootMsg, can be used in application to read out BootMsg and follow datas
+ ldi r22, byte1(BootMsg * 2)
+ ldi r23, byte2(BootMsg * 2)
+ ldi r24, byte3(BootMsg * 2)
+ ldi r25, (BootInfo - BootMsg) * 2
+ ret
+.endif ;.if UseSpecialMsg
+
+
+.if UseSpecialRead
+readflash:
+; void readflash(uint32_t address, uint16_t size, const uint8_t* buffer);
+; r25:r24:r23:r22, r21:r20, r19:r18
+.if BigMega
+ xout RAMPZ, r24
+.endif
+ movw zl, r22
+ movw xl, r18
+ movw r24, r20
+rf1: sbiw r24, 1
+ brcs rf2
+ xlpm r23, z+
+ st x+, r23
+ rjmp rf1
+rf2: ret
+.endif ;.if UseSpecialRead
+
+
+.if UseSpecialWrite
+writeflash:
+; void write_flash(uint32_t address, uint16_t size, const uint8_t* buffer);
+; r25:r24:r23:r22, r21:r20, r19:r18
+
+.if PageSize * 2 > 256
+.error "PageSize is greater as 256 bytes, check programing loops"
+.endif
+
+ movw zl, r22 ; address to r24:Z
+ movw xl, r18 ; SRAM buffer to X
+ movw r18, yl ; save Y to r18
+ movw yl, r20 ; size to Y
+ movw r20, r16 ; save r17:r16 to r21:r20
+ movw r16, r24 ;
+ xin r23, SREG ; save SREG to r23
+ cli ; disable IRQs
+.if UseSpecialWriteBoot
+ clt ; set T flag if MSB of address is a magic to deactivate
+ cpi r17, 0xAC ; write cheks to bootloader section
+ brne wf1
+ set
+.endif ; .if UseSpecialWriteBoot
+
+wf1: sbic EECR, EEWE ; wait for EEPROM
+ rjmp wf1
+
+ andi r22, PageSize *2 -1 ; align address
+ sub zl, r22
+
+wf2: ldi r17, PageSize
+.if UseSpecialWriteBoot
+ brts wf3 ; if T flag is set ignore sanity check
+.endif
+ cpi zl, byte1(BootStart *2) ; sanity check to ensure not to overwrite bootloader
+ ldi r24, byte2(BootStart *2)
+ cpc zh, r24
+.if BigMega
+ ldi r24, byte3(BootStart * 2)
+ cpc r16, r24
+.endif
+ brsh wf8
+
+wf3: ldi r24, (1 << SPMEN)
+.if BigMega
+ xout RAMPZ, r16
+.endif
+wf4: xlpm r0, z+ ; first load word from FLASH
+ xlpm r1, z
+ sbiw z, 1
+ sbiw yl, 0 ; size = 0 ?
+ breq wf7
+ cpi r22, 1
+ brlo wf5
+ breq wf6
+ subi r22, 2
+ rjmp wf7
+wf5: ld r0, x+
+ sbiw yl, 1
+ breq wf7
+wf6: ld r1, x+
+ sbiw yl, 1
+ clr r22
+wf7: xwdr
+.if BLS
+ rcall dospm ; fill FLASH buffer
+.else
+ xout SPMCSR, r24
+ spm
+.endif
+ adiw z, 2
+ dec r17 ; PageSize
+ brne wf4
+
+ subi zl, byte1(PageSize *2)
+ sbci zh, byte2(PageSize *2)
+.if BLS
+ ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page
+ rcall dospm
+ ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page
+ rcall dospm
+.ifdef RWWSRE
+ ldi r24, (1 << RWWSRE) | (1 << SPMEN) ; unlock FLASH page
+ rcall dospm
+.endif
+.else
+ ldi r24, (1 << PGERS) | (1 << SPMEN) ; erase FLASH page
+ xout SPMCSR, r24
+ spm
+ ldi r24, (1 << PGWRT) | (1 << SPMEN) ; program FLASH page
+ xout SPMCSR, r24
+ spm
+.endif
+ subi zl, byte1(-PageSize *2)
+ sbci zh, byte2(-PageSize *2)
+.if BigMega
+ sbci r16, byte3(-PageSize *2)
+.endif
+ sbiw yl, 0 ; size = 0 ?
+ brne wf2
+
+wf8: clr r1 ; restore r1=zero
+ movw yl, r18 ; restore Y
+ movw r16, r20 ; restore r17:r16
+ xout SREG, r23 ; restore SREG
+ ret
+.endif ;.if UseSpecialWrite
+
+
+; SPM helper function, put in here to support updates of bootloader code, programmed into last FLASH page
+; r25=cnth destroyed, r24=cntl unchanged
+.if BLS
+dospm: xout SPMCSR, r24
+ spm
+.ifdef SPMspecial
+.dw $FFFF
+ nop
+.endif
+dspm1: xin r25, SPMCSR
+ sbrc r25, SPMEN
+ rjmp dspm1
+ ret
+.endif ; .if BLS
+
+
+.if UseSpecialWrite || UseSpecialRead || UseSpecialMsg
+; rjmp vectors for support from application code
+; can be expanded with own vectors to own code, look into AVRootloader.h how to call
+; please don't reorder this jump table, but you can expand it to own code
+; if you expand it remember to update above SpecialSize calculation
+ bjmp getbootmsg, UseSpecialMsg ; rjmp getbootmsg if UseSpecial else ret
+ bjmp readflash, UseSpecialRead
+ bjmp writeflash, UseSpecialWrite
+ bjmp dospm, BLS
+ rjmp bootstart
+.elif UseSpecialBootVect
+.if BLS
+ rjmp dospm
+.endif
+ rjmp bootstart
+.endif
diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex
new file mode 100644
index 0000000..0e6bcc3
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_AQUASTAR.hex
@@ -0,0 +1,35 @@
+:020000020000FC
+:02000000FFFF00
+:101E0000F894A895AA246FE56DBF64E06EBF68E101
+:101E10007FE0A4BE61BD71BD88989098BB2421E08D
+:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131
+:101E3000E501CC0FDD1FC50111976A098099E1F713
+:101E400089F021970296A8F1809BFBCFC595239737
+:101E50002696EC0170F74D9760F36C0111976A09B3
+:101E6000809BE1F731F111976A098099E1F709F157
+:101E700096D005900016C1F61A9581F789D0A1F683
+:101E800014E0059177D01A95E1F700E373D045018E
+:101E90007FD0B8017E3F20F07BD0E80170FDF801D3
+:101EA00077D002EC99F77E3F31F078F77A110CC0C9
+:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D
+:101EC0002197E1F77395ECCF733060F570FB05EC6B
+:101ED000E701E0301EE1F107D0F483E087D076F42B
+:101EE00081E040E20990199081D032964A95D1F76D
+:101EF000E054F040C054D04085E078D081E176D005
+:101F000040E400EC1FEF05900EF419911011BECFC4
+:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4
+:101F2000B1F6B3CF61F400ECE70109901590011010
+:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1
+:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7
+:101F50006A95C1F703D099CF01EC98CF84010AD0DC
+:101F6000012F802648E09694879410F493268226C9
+:101F70004A95C9F7A89529D028D04AE0009591BB89
+:101F800024D0069508F090E002D04A95C1F7089554
+:101F900001D0102FA895809BFECF8099FECF48E0FE
+:101FA000C6019695879512D010D006958099006845
+:101FB00007FD82269694879408F4932608F48226D7
+:101FC0004A9591F7892489240895C6010497F0F76A
+:101FD0008D3F18F011F08F3F01F091E00895424FCE
+:101FE0004F544C4F414445529307060887BFE8952C
+:081FF00097B790FDFDCF0895A5
+:00000001FF
diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex
new file mode 100644
index 0000000..0e6bcc3
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_DLUX.hex
@@ -0,0 +1,35 @@
+:020000020000FC
+:02000000FFFF00
+:101E0000F894A895AA246FE56DBF64E06EBF68E101
+:101E10007FE0A4BE61BD71BD88989098BB2421E08D
+:101E200030EA64E1B8E5A5E545011AE0EEEDFFE131
+:101E3000E501CC0FDD1FC50111976A098099E1F713
+:101E400089F021970296A8F1809BFBCFC595239737
+:101E50002696EC0170F74D9760F36C0111976A09B3
+:101E6000809BE1F731F111976A098099E1F709F157
+:101E700096D005900016C1F61A9581F789D0A1F683
+:101E800014E0059177D01A95E1F700E373D045018E
+:101E90007FD0B8017E3F20F07BD0E80170FDF801D3
+:101EA00077D002EC99F77E3F31F078F77A110CC0C9
+:101EB0006A11A6C0A5CFA0E7B0E07D016BD00D935D
+:101EC0002197E1F77395ECCF733060F570FB05EC6B
+:101ED000E701E0301EE1F107D0F483E087D076F42B
+:101EE00081E040E20990199081D032964A95D1F76D
+:101EF000E054F040C054D04085E078D081E176D005
+:101F000040E400EC1FEF05900EF419911011BECFC4
+:101F10004A95C9F726F4CA17DB07D8F2C1F76A95C4
+:101F2000B1F6B3CF61F400ECE70109901590011010
+:101F3000ADCFCA17DB07C9F76A95B1F7A6CF7530E1
+:101F400059F050F4EEBBFFBB3196E09A0DB309D0C7
+:101F50006A95C1F703D099CF01EC98CF84010AD0DC
+:101F6000012F802648E09694879410F493268226C9
+:101F70004A95C9F7A89529D028D04AE0009591BB89
+:101F800024D0069508F090E002D04A95C1F7089554
+:101F900001D0102FA895809BFECF8099FECF48E0FE
+:101FA000C6019695879512D010D006958099006845
+:101FB00007FD82269694879408F4932608F48226D7
+:101FC0004A9591F7892489240895C6010497F0F76A
+:101FD0008D3F18F011F08F3F01F091E00895424FCE
+:101FE0004F544C4F414445529307060887BFE8952C
+:081FF00097B790FDFDCF0895A5
+:00000001FF
diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex
new file mode 100644
index 0000000..905bb71
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_MINI_MWC_A0.hex
@@ -0,0 +1,35 @@
+:020000020000FC
+:02000000FFFF00
+:107E0000F894A895AA246FEF6DBF68E06EBF68E193
+:107E10007FE0A4BE60936000709360003898409843
+:107E2000BB2421E030EA64E1B8E5A5E545011AE0AC
+:107E3000E4EEFFE7E501CC0FDD1FC50111976A09EC
+:107E40003099E1F789F021970296A8F1309BFBCF9A
+:107E5000C59523972696EC0170F74D9760F36C015A
+:107E600011976A09309BE1F731F111976A0930994E
+:107E7000E1F709F197D005900016C1F61A9581F740
+:107E80008AD0A1F614E0059178D01A95E1F700E3C5
+:107E900074D0450180D0B8017E3F20F07CD0E8014D
+:107EA00070FDF80178D002EC99F77E3F39F078F751
+:107EB0007A110DC06A110C940040A2CFA0E1B1E08C
+:107EC0007D016BD00D932197E1F77395EBCF733064
+:107ED00060F570FB05ECE701E0301EE7F107D0F438
+:107EE00083E087D076F481E040E40990199081D056
+:107EF00032964A95D1F7E058F040C058D04085E01E
+:107F000078D081E176D040E800EC1FEF05900EF4C8
+:107F100019911011BDCF4A95C9F726F4CA17DB078E
+:107F2000D8F2C1F76A95B1F6B2CF61F400ECE7017F
+:107F3000099015900110ACCFCA17DB07C9F76A95F5
+:107F4000B1F7A5CF753059F050F4E1BDF2BD3196CF
+:107F5000F89A00B509D06A95C1F703D098CF01EC23
+:107F600097CF84010AD0012F802648E09694879409
+:107F700010F4932682264A95C9F7A89529D028D0CF
+:107F80004AE0009597B924D0069508F090E002D019
+:107F90004A95C1F7089501D0102FA895309BFECFC8
+:107FA0003099FECF48E0C6019695879512D010D043
+:107FB00006953099006807FD82269694879408F408
+:107FC000932608F482264A9591F7892489240895F6
+:107FD000C6010497F0F78D3F18F011F08F3F01F0C4
+:107FE00091E00895424F4F544C4F41444552950FF4
+:0E7FF000060487BFE89597B790FDFDCF089572
+:00000001FF
diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex
new file mode 100644
index 0000000..f3fc8c1
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_RX3S_V1V2V3_AILR_OUT.hex
@@ -0,0 +1,35 @@
+:020000020000FC
+:02000000FFFF00
+:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7
+:103E10007FE0A4BE609360007093600057985F9845
+:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC
+:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930
+:103E40004F99E1F789F021970296A8F14F9BFBCF9C
+:103E5000C59523972696EC0170F74D9760F36C019A
+:103E600011976A094F9BE1F731F111976A094F9950
+:103E7000E1F709F197D005900016C1F61A9581F780
+:103E80008AD0A1F614E0059178D01A95E1F700E305
+:103E900074D0450180D0B8017E3F20F07CD0E8018D
+:103EA00070FDF80178D002EC99F77E3F39F078F791
+:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC
+:103EC0007D016BD00D932197E1F77395EBCF7330A4
+:103ED00060F570FB05ECE701E0301EE3F107D0F47C
+:103EE00083E087D076F481E040E40990199081D096
+:103EF00032964A95D1F7E058F040C058D04085E05E
+:103F000078D081E176D040E800EC1FEF05900EF408
+:103F100019911011BDCF4A95C9F726F4CA17DB07CE
+:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF
+:103F3000099015900110ACCFCA17DB07C9F76A9535
+:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F
+:103F5000F89A00B509D06A95C1F703D098CF01EC63
+:103F600097CF84010AD0012F802648E09694879449
+:103F700010F4932682264A95C9F7A89529D028D00F
+:103F80004AE000959AB924D0069508F090E002D056
+:103F90004A95C1F7089501D0102FA8954F9BFECFE9
+:103FA0004F99FECF48E0C6019695879512D010D064
+:103FB00006954F99006807FD82269694879408F429
+:103FC000932608F482264A9591F789248924089536
+:103FD000C6010497F0F78D3F18F011F08F3F01F004
+:103FE00090E80895424F4F544C4F41444552940B32
+:0E3FF000060487BFE89597B790FDFDCF0895B2
+:00000001FF
diff --git a/Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex b/Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex
new file mode 100644
index 0000000..c827fd3
--- /dev/null
+++ b/Aquastar/AVRootloader/AVR/default/AVRootloader_TGY160A.hex
@@ -0,0 +1,35 @@
+:020000020000FC
+:02000000FFFF00
+:103E0000F894A895AA246FEF6DBF64E06EBF68E1D7
+:103E10007FE0A4BE60936000709360005098589853
+:103E2000BB2421E030EA64E1B8E5A5E545011AE0EC
+:103E3000E4EEFFE3E501CC0FDD1FC50111976A0930
+:103E40004899E1F789F021970296A8F1489BFBCFAA
+:103E5000C59523972696EC0170F74D9760F36C019A
+:103E600011976A09489BE1F731F111976A0948995E
+:103E7000E1F709F197D005900016C1F61A9581F780
+:103E80008AD0A1F614E0059178D01A95E1F700E305
+:103E900074D0450180D0B8017E3F20F07CD0E8018D
+:103EA00070FDF80178D002EC99F77E3F39F078F791
+:103EB0007A110DC06A110C940020A2CFA0E1B1E0EC
+:103EC0007D016BD00D932197E1F77395EBCF7330A4
+:103ED00060F570FB05ECE701E0301EE3F107D0F47C
+:103EE00083E087D076F481E040E40990199081D096
+:103EF00032964A95D1F7E058F040C058D04085E05E
+:103F000078D081E176D040E800EC1FEF05900EF408
+:103F100019911011BDCF4A95C9F726F4CA17DB07CE
+:103F2000D8F2C1F76A95B1F6B2CF61F400ECE701BF
+:103F3000099015900110ACCFCA17DB07C9F76A9535
+:103F4000B1F7A5CF753059F050F4E1BDF2BD31960F
+:103F5000F89A00B509D06A95C1F703D098CF01EC63
+:103F600097CF84010AD0012F802648E09694879449
+:103F700010F4932682264A95C9F7A89529D028D00F
+:103F80004AE000959AB924D0069508F090E002D056
+:103F90004A95C1F7089501D0102FA895489BFECFF0
+:103FA0004899FECF48E0C6019695879512D010D06B
+:103FB00006954899006807FD82269694879408F430
+:103FC000932608F482264A9591F789248924089536
+:103FD000C6010497F0F78D3F18F011F08F3F01F004
+:103FE00091E00895424F4F544C4F41444552940B39
+:0E3FF000060487BFE89597B790FDFDCF0895B2
+:00000001FF
diff --git a/Aquastar/AVRootloader/Windows/AVRootloader.dev b/Aquastar/AVRootloader/Windows/AVRootloader.dev
new file mode 100644
index 0000000..90b3139
--- /dev/null
+++ b/Aquastar/AVRootloader/Windows/AVRootloader.dev
@@ -0,0 +1,108 @@
+ID =Sign. , Devicename , Flash, E2P, SRAM, Ofs,Page,BZ1,BZ2,BZ3,BZ4
+9007=1E9007, ATtiny13 , 1024, 64, 64, 96, 32, 0, 0, 0, 0
+9007=1E9007, ATtiny13A , 1024, 64, 64, 96, 32, 0, 0, 0, 0
+9108=1E9108, ATtiny25 , 2048, 128, 128, 96, 32, 0, 0, 0, 0
+910A=1E910A, ATtiny2313 , 2048, 128, 128, 96, 32, 0, 0, 0, 0
+910B=1E910B, ATtiny24 , 2048, 128, 128, 96, 32, 0, 0, 0, 0
+910B=1E910B, ATtiny24A , 2048, 128, 128, 96, 32, 0, 0, 0, 0
+910C=1E910C, ATtiny261 , 2048, 128, 128, 96, 32, 0, 0, 0, 0
+9205=1E9205, ATmega48 , 4096, 256, 512, 256, 64, 0, 0, 0, 0
+9206=1E9206, ATtiny45 , 4096, 256, 256, 96, 64, 0, 0, 0, 0
+9207=1E9207, ATtiny44 , 4096, 256, 256, 96, 64, 0, 0, 0, 0
+9207=1E9207, ATtiny44A , 4096, 256, 256, 96, 64, 0, 0, 0, 0
+9208=1E9208, ATtiny461 , 4096, 256, 256, 96, 64, 0, 0, 0, 0
+9209=1E9209, ATtiny48 , 4096, 64, 256, 256, 64, 0, 0, 0, 0
+920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0
+920A=1E920A, ATmega48P , 4096, 256, 512, 256, 64, 0, 0, 0, 0
+920A=1E920A, ATmega48PA , 4096, 256, 512, 256, 64, 0, 0, 0, 0
+920C=1E920C, ATtiny43U , 4096, 64, 256, 96, 32, 0, 0, 0, 0
+9301=1E9301, AT90S8515comp, 8192, 512, 512, 96, 64, 4, 8, 16, 32
+9303=1E9303, AT90S8535comp, 8192, 512, 512, 96, 64, 2, 4, 8, 16
+9306=1E9306, ATmega8515 , 8192, 512, 512, 96, 64, 4, 8, 16, 32
+9307=1E9307, ATmega8 , 8192, 512, 1024, 96, 64, 4, 8, 16, 32
+9307=1E9307, ATmega8A , 8192, 512, 1024, 96, 64, 4, 8, 16, 32
+9308=1E9308, ATmega8535 , 8192, 512, 512, 96, 64, 2, 4, 8, 16
+930A=1E930A, ATmega88 , 8192, 512, 1024, 256, 64, 4, 8, 16, 32
+930B=1E930B, ATtiny85 , 8192, 512, 512, 96, 64, 0, 0, 0, 0
+930C=1E930C, ATtiny84 , 8192, 512, 512, 96, 64, 0, 0, 0, 0
+930D=1E930D, ATtiny861 , 8192, 512, 512, 96, 64, 0, 0, 0, 0
+930F=1E930F, ATmega88P , 8192, 512, 1024, 256, 64, 4, 8, 16, 32
+930F=1E930F, ATmega88PA , 8192, 512, 1024, 256, 64, 4, 8, 16, 32
+9310=1E9310, ATmega8HVA , 8192, 256, 512, 256, 128, 0, 0, 0, 0
+9311=1E9311, ATtiny88 , 8192, 64, 512, 256, 64, 0, 0, 0, 0
+9381=1E9381, AT90PWM2 , 8192, 512, 512, 256, 64, 4, 8, 16, 32
+9381=1E9381, AT90PWM3 , 8192, 512, 512, 256, 64, 4, 8, 16, 32
+9382=1E9382, AT90USB82 , 8192, 512, 512, 256, 128, 4, 8, 16, 32
+9383=1E9383, AT90PWM2B , 8192, 512, 512, 256, 64, 4, 8, 16, 32
+9383=1E9383, AT90PWM3B , 8192, 512, 512, 256, 64, 4, 8, 16, 32
+9387=1E9387, ATtiny87 , 8192, 512, 512, 256, 128, 0, 0, 0, 0
+9401=1E9401, ATmega161 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16
+9401=1E9401, ATmega161comp, 16384, 512, 1024, 96, 128, 2, 4, 8, 16
+9402=1E9402, ATmega163 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16
+9403=1E9403, ATmega16 , 16384, 512, 1024, 96, 128, 2, 4, 8, 16
+9403=1E9403, ATmega16A , 16384, 512, 1024, 96, 128, 2, 4, 8, 16
+9404=1E9404, ATmega162 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+9405=1E9405, ATmega169 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+9405=1E9405, ATmega169P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+9406=1E9406, ATmega168 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+9407=1E9407, ATmega165 , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+9407=1E9407, ATmega165P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+940A=1E940A, ATmega164P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+940B=1E940B, ATmega168P , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+940B=1E940B, ATmega168PA , 16384, 512, 1024, 256, 128, 2, 4, 8, 16
+940C=1E940C, ATmega16HVA , 16384, 256, 512, 256, 128, 0, 0, 0, 0
+9482=1E9482, AT90USB162 , 16384, 512, 512, 256, 128, 4, 8, 16, 32
+9483=1E9483, AT90PWM216 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32
+9483=1E9483, AT90PWM316 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32
+9484=1E9484, ATmega16M1 , 16384, 512, 1024, 256, 128, 4, 8, 16, 32
+9487=1E9487, ATtiny167 , 16384, 512, 512, 256, 128, 0, 0, 0, 0
+9488=1E9488, ATmega16U4 , 16384, 512, 1280, 256, 128, 4, 8, 16, 32
+9489=1E9489, ATmega16U2 , 16384, 512, 512, 256, 128, 4, 8, 16, 32
+9501=1E9501, ATmega323 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32
+9502=1E9502, ATmega32 , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32
+9502=1E9502, ATmega32A , 32768, 1024, 2048, 96, 128, 4, 8, 16, 32
+9503=1E9503, ATmega329 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9503=1E9503, ATmega329P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9504=1E9504, ATmega3290 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9505=1E9505, ATmega325 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9506=1E9506, ATmega3250 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9507=1E9507, ATmega406 , 40960, 512, 2048, 256, 128, 4, 8, 16, 32
+9508=1E9508, ATmega324P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+950C=1E950C, ATmega3290P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+950D=1E950D, ATmega325P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+950E=1E950E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+950F=1E950F, ATmega328P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9510=1E9510, ATmega32HVB , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9511=1E9511, ATmega324PA , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+956E=1E956E, ATmega3250P , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9581=1E9581, AT90CAN32 , 32768, 1024, 2048, 256, 256, 4, 8, 16, 32
+9584=1E9584, AT90PWM324 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9584=1E9584, ATmega32M1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9586=1E9586, ATmega32C1 , 32768, 1024, 2048, 256, 128, 4, 8, 16, 32
+9587=1E9587, ATmega32U4 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32
+9588=1E9588, ATmega32U6 , 32768, 1024, 2560, 256, 128, 4, 8, 16, 32
+958A=1E958A, ATmega32U2 , 32768, 1024, 1024, 256, 128, 4, 8, 16, 32
+9602=1E9602, ATmega64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9602=1E9602, ATmega64A , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9603=1E9603, ATmega649 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9604=1E9604, ATmega6490 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9605=1E9605, ATmega645 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9606=1E9606, ATmega6450 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9608=1E9608, ATmega640 , 65536, 4096, 8192, 512, 256, 4, 8, 16, 32
+9609=1E9609, ATmega644 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+960A=1E960A, ATmega644P , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9681=1E9681, AT90CAN64 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9682=1E9682, AT90USB646 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9682=1E9682, AT90USB647 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9684=1E9684, ATmega64M1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9686=1E9686, ATmega64C1 , 65536, 2048, 4096, 256, 256, 4, 8, 16, 32
+9702=1E9702, ATmega128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32
+9702=1E9702, ATmega128A , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32
+9703=1E9703, ATmega1280 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32
+9704=1E9704, ATmega1281 , 131072, 4096, 8192, 512, 256, 4, 8, 16, 32
+9705=1E9705, ATmega1284P , 131072, 4096,16384, 256, 256, 4, 8, 16, 32
+9781=1E9781, AT90CAN128 , 131072, 4096, 4096, 256, 256, 4, 8, 16, 32
+9782=1E9782, AT90USB1286 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32
+9782=1E9782, AT90USB1287 , 131072, 4096, 8192, 256, 256, 4, 8, 16, 32
+9801=1E9801, ATmega2560 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32
+9802=1E9802, ATmega2561 , 262144, 4096, 8192, 512, 256, 4, 8, 16, 32
diff --git a/Aquastar/AVRootloader/Windows/AVRootloader.exe b/Aquastar/AVRootloader/Windows/AVRootloader.exe
new file mode 100644
index 0000000..125bd95
Binary files /dev/null and b/Aquastar/AVRootloader/Windows/AVRootloader.exe differ
diff --git a/Aquastar/AVRootloader/Windows/AVRootloader.ini b/Aquastar/AVRootloader/Windows/AVRootloader.ini
new file mode 100644
index 0000000..edfce74
--- /dev/null
+++ b/Aquastar/AVRootloader/Windows/AVRootloader.ini
@@ -0,0 +1,85 @@
+[System]
+Sign=BOOTLOADER
+Port=COM8
+Baudrate=115200
+ConnectTrials=100
+FLASH=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex
+EEPROM=
+ASMFile=AVRootloader.asm
+Erase=1
+Verify=1
+Protocol=1
+Password=7006C8F706ADAE04EE833D81503F31DC
+AppCmd=/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF/FF
+AppCmdResponse=
+AppVersion=$00000000
+AppVersionFlag=$0C
+ACYInfo=
+
+[Timeouts]
+Connect=0
+Base=100
+Erase=10
+Flash=50
+Eeprom=10
+Buffer=1
+AppCmd=20
+KeepAlive=500
+MaxPacketSize=0
+RTSPulse=0
+RTSInterval=0
+Options=0
+
+; Timeouts in Millisekunden
+; Base = Minimum Timeout für 1 Zeichen über UART, bei hohen Baudraten stellt dieser Wert das Minimum an Timeout dar
+; Erase = Timeout zum Löschen einer FLASH Page, normalerweise 5 ms laut Datenblätter
+; Flash = Timeout zum Löschen und Programmieren eienr FLASH Page, normalerweise 2*5ms
+; Eeprom = Timeout zum Programmieren eines Bytes im EEPROM, normalerweise 5 ms
+; Buffer = Timeout beim Warten auf ein Fehlercodebyte beim Schreiben von Bufferdaten, sollte mit 1ms immer gehen
+; RTSPulse = PC-Sofwtare pulst für RTSPulse Millisekunden die RTS Leitung, bei RTSPulse=0 ist das deaktiviert
+; bei RTSPulse > 0 wird von HIGH->LOW->HIGH und bei RTSPulse < 0 von LOW->HIGH->LOW gepulst.
+; Bsp: RTSPulse=20 bedeutet HIGH->20ms LOW ->HIGH
+; RTSInterval, wenn RTSPulse <> 0 ist bestimmt dieser Wert in welchem Interval das Pulsen von RTS erfolgen soll.
+; Beim Wert 0 wird nur einmalig beim Verbindungsaufbau RTS gepulst. Beim Wert 1 vor jedem einzlenen Connect Versuch zum AVR.
+; Bei Wert 2 jedes zweitemal usw. Ein Wert von 4 bedeutet also das nach einem RTS Puls exakt 4 Connect Versuche folgen
+; bis es wieder von vorne losgeht.
+
+[GUI]
+Left=477
+Top=140
+Width=563
+Height=523
+
+[Baudrates]
+0=2400
+1=4800
+2=9600
+3=14400
+4=19200
+5=28800
+6=38400
+7=56000
+8=57600
+9=115200
+10=128000
+11=230400
+12=256000
+13=921600
+
+[Signs]
+0=BOOTLOADER
+1=BOOT
+
+[FLASH]
+0=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_RX3S_V2.hex
+1=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_FLIP_1_5_SBUS.hex
+2=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_TGY160A.hex
+3=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\FlightStab-master\Builds\20150821_DLUX.hex
+4=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_RX3S_V2.hex
+5=D:\Radio Control\HobbyKing\RX3S Flight Stabilizer\Working\Builds\20150414_FLIP_1_5_SBUS.hex
+6=C:\test\main.hex
+7=
+
+[EEPROM]
+0=C:\test\main.eep
+1=
diff --git a/Aquastar/AVRootloader/readme.txt b/Aquastar/AVRootloader/readme.txt
new file mode 100644
index 0000000..643dd32
--- /dev/null
+++ b/Aquastar/AVRootloader/readme.txt
@@ -0,0 +1,38 @@
+changes for building avrootloader firmware for rx3s vs aquastar
+
+1. AVRootloader.asmproj
+project/avrootloader properties/device/atmega168pa
+vs
+project/avrootloader properties/device/atmega8
+
+---
+
+2. AVR\AVRootloader.asm
+
+; RX3S
+;.include "m168PAdef.inc" ; ATmega168PA
+vs
+; Aquastar
+.include "m8Adef.inc" ; ATmega8A
+
+; RX3S
+;.equ RX_PORT = PORTD ; Receive port and pin
+;.equ RX = PD7
+;.equ TX_PORT = PORTD ; Transmit port and pin
+;.equ TX = PD7
+vs
+; Aquastar
+.equ RX_PORT = PORTD ; Receive port and pin
+.equ RX = PD0
+.equ TX_PORT = PORTD ; Transmit port and pin
+.equ TX = PD0
+
+---
+
+3. AVR\AVRootloader.inc
+
+; RX3S
+; jmp FLASHEND +1 ; run application
+vs
+; Aquastar
+ rjmp FLASHEND +1 ; run application
\ No newline at end of file
diff --git a/Aquastar/Aquastar.ino b/Aquastar/Aquastar.ino
index 18bc6a0..68835ae 100644
--- a/Aquastar/Aquastar.ino
+++ b/Aquastar/Aquastar.ino
@@ -108,11 +108,13 @@ prog_char wing_rudele_2ail[] PROGMEM = "RudEle 2-Ail";
prog_char wing_delta_2ail[] PROGMEM = "Delta 2-Ail";
prog_char wing_vtail_2ail[] PROGMEM = "VTail 2-Ail";
prog_char wing_duckeron[] PROGMEM = "Duckeron";
+prog_char wing_rud_2ele_2ail[] PROGMEM = "Rud 2-Ele 2-AIL";
prog_char mixer_epa_mode[] PROGMEM = "EPA MODE";
prog_char mixer_epa_full[] PROGMEM = "Full 1000-2000";
prog_char mixer_epa_norm[] PROGMEM = "Norm 1100-1900";
prog_char mixer_epa_track[] PROGMEM = "Tracking";
+prog_char mixer_epa_max[] PROGMEM = "Max 900-2100";
prog_char servo_frame_rate[] PROGMEM = "SERVO FRAME RATE";
@@ -126,6 +128,8 @@ prog_char mount_orient[] PROGMEM = "MOUNT ORIENT";
prog_char mount_normal[] PROGMEM = "Normal";
prog_char mount_roll90left[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Left";
prog_char mount_roll90right[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Right";
+prog_char mount_rotate90left[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Left";
+prog_char mount_rotate90right[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Right";
prog_char stick_gain_throw[] PROGMEM = "STK-GAIN THROW";
prog_char stick_gain_throw_full[] PROGMEM = "Full";
@@ -152,15 +156,24 @@ prog_char pid_roll[] PROGMEM = "Ail ";
prog_char pid_pitch[] PROGMEM = "Ele ";
prog_char pid_yaw[] PROGMEM = "Rud ";
+prog_char dlpf[] PROGMEM = "LOW PASS FILTER";
+prog_char bw_0[] PROGMEM = "256HZ ";
+prog_char bw_1[] PROGMEM = "188HZ ";
+prog_char bw_2[] PROGMEM = "98HZ ";
+prog_char bw_3[] PROGMEM = "42HZ ";
+prog_char bw_4[] PROGMEM = "20HZ ";
+prog_char bw_5[] PROGMEM = "10HZ ";
+prog_char bw_6[] PROGMEM = "5HZ ";
+
prog_char *param_text0[] PROGMEM =
{status,
status_device_id, status_device_ver, status_device_eeprom};
prog_char *param_text1[] PROGMEM = {wing_mode,
- wing_use_dipsw, wing_rudele_1ail, wing_delta_1ail, wing_vtail_1ail, wing_rudele_2ail, wing_delta_2ail, wing_vtail_2ail, wing_duckeron};
+ wing_use_dipsw, wing_rudele_1ail, wing_delta_1ail, wing_vtail_1ail, wing_rudele_2ail, wing_delta_2ail, wing_vtail_2ail, wing_duckeron, wing_rud_2ele_2ail};
prog_char *param_text2[] PROGMEM = {mixer_epa_mode,
- mixer_epa_full, mixer_epa_norm, mixer_epa_track};
+ mixer_epa_full, mixer_epa_norm, mixer_epa_track, mixer_epa_max};
prog_char *param_text3[] PROGMEM = {servo_frame_rate,
};
@@ -172,7 +185,7 @@ prog_char *param_text5[] PROGMEM = {serialrx_spektrum_levels,
serialrx_spektrum_levels_1024, serialrx_spektrum_levels_2048};
prog_char *param_text6[] PROGMEM = {mount_orient,
- mount_normal, mount_roll90left, mount_roll90right};
+ mount_normal, mount_roll90left, mount_roll90right, mount_rotate90left, mount_rotate90right};
prog_char *param_text7[] PROGMEM = {stick_gain_throw,
stick_gain_throw_full, stick_gain_throw_half, stick_gain_throw_quarter};
@@ -194,8 +207,11 @@ prog_char *param_text12[] PROGMEM = {pid_rate,
prog_char *param_text13[] PROGMEM = {pid_hold,
pid_roll, pid_pitch, pid_yaw};
+
+prog_char *param_text14[] PROGMEM = {dlpf,
+ bw_0, bw_1, bw_2, bw_3, bw_4, bw_5, bw_6};
-prog_char *param_text14[] PROGMEM = {eeprom,
+prog_char *param_text15[] PROGMEM = {eeprom,
eeprom_instr, eeprom_update_cfg, eeprom_erase_cfg, eeprom_erase_stats};
prog_char **param_textB[] = {
@@ -213,7 +229,8 @@ prog_char **param_textB[] = {
param_text11,
param_text12,
param_text13,
- param_text14
+ param_text14,
+ param_text15
};
#define PARAM_TEXT(i, j) (const __FlashStringHelper*) pgm_read_word(&((param_textB[i])[j]))
@@ -260,6 +277,7 @@ int8_t * const param_pval[] = {
&cfg.vr_gain[0],
(int8_t*) &pid_param_array_rate,
(int8_t*) &pid_param_array_hold,
+ (int8_t*) &cfg.gyro_dlpf,
¶m_val_eeprom,
};
@@ -278,6 +296,7 @@ enum PARAM_TYPE param_type[] = {
PARAM_VR_GAIN,
PARAM_PID,
PARAM_PID,
+ PARAM_ENUM,
PARAM_EEPROM,
};
@@ -296,17 +315,18 @@ const int16_t param_min[] = {
-128, // vr_gain
0, // pid_rate
0, // pid_hold
+ BW_256HZ, // Bandwidth Max
1 // eeprom
};
const int16_t param_max[] = {
3, // status
- WING_DUCKERON,
- MIXER_EPA_TRACK,
+ WING_RUD_2ELE_2AIL,
+ MIXER_EPA_MAX,
20, // servo_frame_rate
serialrx_num_chan-1, // serialrx_order max chan
SERIALRX_SPEKTRUM_LEVELS_2048,
- MOUNT_ROLL_90_RIGHT,
+ MOUNT_ROTATE_90_RIGHT,
STICK_GAIN_THROW_QUARTER,
MAX_ROTATE_HIGH,
RATE_MODE_STICK_ROTATE_ENABLE,
@@ -314,6 +334,7 @@ const int16_t param_max[] = {
127, // vr_gain
1000, // pid_rate
1000, // pid_hold
+ BW_5HZ, // Bandwidth Min
4 // eeprom
};
diff --git a/Aquastar/Aquastar/Aquastar.ino b/Aquastar/Aquastar/Aquastar.ino
new file mode 100644
index 0000000..68835ae
--- /dev/null
+++ b/Aquastar/Aquastar/Aquastar.ino
@@ -0,0 +1,868 @@
+/* Aquastar ****************************************************************************************************/
+
+#include
+#include
+#include
+#include
+
+#include "FlightStab.h"
+
+//#define USE_SERIAL_LIGHT // use lightweight serial routines (atmega8 115200 poll-based)
+
+/*
+ Aquastar/DLUX pin mapping
+ PB0 8 LCD_D4 PC0 14/A0 PD0 0 RXD
+ PB1 9 LCD_D5 PC1 15/A1 PD1 1 TXD
+ PB2 10 LCD_D6 PC2 16/A2 LCD_RS PD2 2 UP_BUTTON
+ PB3 11 LCD_D7 (MOSI) PC3 17/A3 LCD_RW PD3 3 LEFT_BUTTON
+ PB4 12 (MISO) PC4 18/A4 LCD_EN (SDA) PD4 4 RIGHT_BUTTON (DLUX=DOWN_BUTTON)
+ PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 DOWN_BUTTON (DLUX=RIGHT_BUTTON)
+ PB6 14 (XTAL1) PC6 (RESET) PD6 6
+ PB7 15 (XTAL2) PD7 7
+*/
+
+// button pins
+#if defined(AQUASTAR)
+const uint8_t button_pin[] = {2, 3, 4, 5}; // up, left, right, down
+#endif
+#if defined(DLUX) || defined(TGY160A)
+const uint8_t button_pin[] = {2, 3, 5, 4}; // up, left, right, down
+#endif
+
+// lcd pins
+LiquidCrystal lcd(A2, A3, A4, 8, 9, 10, 11); // (rs, rw, enable, d4, d5, d6, d7)
+
+// lcd custom characters
+byte up_arrow[8] = {
+ B00100,
+ B01110,
+ B10101,
+ B00100,
+ B00100,
+ B00100,
+ B00000,
+};
+
+byte down_arrow[8] = {
+ B00000,
+ B00100,
+ B00100,
+ B00100,
+ B10101,
+ B01110,
+ B00100,
+};
+
+// string tables in flash
+
+#define CHAR_DEGREE \xdf
+#define CHAR_RIGHT_ARROW \x7e
+#define STR(s) #s
+#define XSTR(s) STR(s)
+
+// eeprom cfg and stats
+struct _eeprom_cfg cfg;
+struct _eeprom_stats stats;
+
+// device names
+prog_char undef_device[] PROGMEM = " Undefined";
+prog_char rx3s_v1[] PROGMEM = " RX3S V1";
+prog_char rx3s_v2v3[] PROGMEM = " RX3S V2/V3";
+prog_char nanowii[] PROGMEM = " NanoWii";
+prog_char eagle_a3pro[] PROGMEM = " Eagle A3Pro";
+prog_char rx3sm[] PROGMEM = " RX3SM";
+prog_char mini_mwc[] PROGMEM = " Mini MWC";
+prog_char flip_1_5[] PROGMEM = " FLIP 1.5";
+
+prog_char *device_name[] PROGMEM = { // must match enum DEVICE_IDS in eeprom_stats.device_id
+ undef_device,
+ rx3s_v1,
+ rx3s_v2v3,
+ nanowii,
+ eagle_a3pro,
+ rx3sm,
+ mini_mwc,
+ flip_1_5
+};
+
+// status
+prog_char status[] PROGMEM = "STATUS";
+prog_char status_device_id[] PROGMEM = "ID=";
+prog_char status_device_ver[] PROGMEM = "VER=";
+prog_char status_device_eeprom[] PROGMEM = "1E/2E/R=";
+
+// eeprom
+prog_char eeprom[] PROGMEM = "EEPROM";
+prog_char eeprom_instr[] PROGMEM = "Up/Dn then " XSTR(CHAR_RIGHT_ARROW);
+prog_char eeprom_update_cfg[] PROGMEM = "Update Config " XSTR(CHAR_RIGHT_ARROW);
+prog_char eeprom_erase_cfg[] PROGMEM = "Erase Config " XSTR(CHAR_RIGHT_ARROW);
+prog_char eeprom_erase_stats[] PROGMEM = "Erase Stats " XSTR(CHAR_RIGHT_ARROW);
+
+// config modes
+prog_char wing_mode[] PROGMEM = "WING MODE";
+prog_char wing_use_dipsw[] PROGMEM = "DIP SW";
+prog_char wing_rudele_1ail[] PROGMEM = "RudEle 1-Ail";
+prog_char wing_delta_1ail[] PROGMEM = "Delta 1-Ail";
+prog_char wing_vtail_1ail[] PROGMEM = "VTail 1-Ail";
+prog_char wing_rudele_2ail[] PROGMEM = "RudEle 2-Ail";
+prog_char wing_delta_2ail[] PROGMEM = "Delta 2-Ail";
+prog_char wing_vtail_2ail[] PROGMEM = "VTail 2-Ail";
+prog_char wing_duckeron[] PROGMEM = "Duckeron";
+prog_char wing_rud_2ele_2ail[] PROGMEM = "Rud 2-Ele 2-AIL";
+
+prog_char mixer_epa_mode[] PROGMEM = "EPA MODE";
+prog_char mixer_epa_full[] PROGMEM = "Full 1000-2000";
+prog_char mixer_epa_norm[] PROGMEM = "Norm 1100-1900";
+prog_char mixer_epa_track[] PROGMEM = "Tracking";
+prog_char mixer_epa_max[] PROGMEM = "Max 900-2100";
+
+prog_char servo_frame_rate[] PROGMEM = "SERVO FRAME RATE";
+
+prog_char serialrx_order[] PROGMEM = "SERIALRX ORDER";
+
+prog_char serialrx_spektrum_levels[] PROGMEM = "SPEKTRUM LEVELS";
+prog_char serialrx_spektrum_levels_1024[] PROGMEM = "1024";
+prog_char serialrx_spektrum_levels_2048[] PROGMEM = "2048";
+
+prog_char mount_orient[] PROGMEM = "MOUNT ORIENT";
+prog_char mount_normal[] PROGMEM = "Normal";
+prog_char mount_roll90left[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Left";
+prog_char mount_roll90right[] PROGMEM = "Roll 90" XSTR(CHAR_DEGREE) " Right";
+prog_char mount_rotate90left[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Left";
+prog_char mount_rotate90right[] PROGMEM = "Rotate 90" XSTR(CHAR_DEGREE) " Right";
+
+prog_char stick_gain_throw[] PROGMEM = "STK-GAIN THROW";
+prog_char stick_gain_throw_full[] PROGMEM = "Full";
+prog_char stick_gain_throw_half[] PROGMEM = "Half";
+prog_char stick_gain_throw_quarter[] PROGMEM = "Quarter";
+
+prog_char max_rotate[] PROGMEM = "MAX STK-ROTATE";
+prog_char max_rotate_vlow[] PROGMEM = "Very Low 0.25x";
+prog_char max_rotate_low[] PROGMEM = "Low 0.5x";
+prog_char max_rotate_med[] PROGMEM = "Medium 1x";
+prog_char max_rotate_high[] PROGMEM = "High 2x";
+
+prog_char rate_mode_stick_rotate[] PROGMEM = "RATE STK-ROTATE";
+prog_char disabled[] PROGMEM = "Disabled";
+prog_char enabled[] PROGMEM = "Enabled";
+
+prog_char inflight_calibrate[] PROGMEM = "INFLIGHT CALIB";
+
+prog_char vr_gain[] PROGMEM = "VR-GAIN A/E/R";
+
+prog_char pid_rate[] PROGMEM = "RATE ";
+prog_char pid_hold[] PROGMEM = "HOLD ";
+prog_char pid_roll[] PROGMEM = "Ail ";
+prog_char pid_pitch[] PROGMEM = "Ele ";
+prog_char pid_yaw[] PROGMEM = "Rud ";
+
+prog_char dlpf[] PROGMEM = "LOW PASS FILTER";
+prog_char bw_0[] PROGMEM = "256HZ ";
+prog_char bw_1[] PROGMEM = "188HZ ";
+prog_char bw_2[] PROGMEM = "98HZ ";
+prog_char bw_3[] PROGMEM = "42HZ ";
+prog_char bw_4[] PROGMEM = "20HZ ";
+prog_char bw_5[] PROGMEM = "10HZ ";
+prog_char bw_6[] PROGMEM = "5HZ ";
+
+prog_char *param_text0[] PROGMEM =
+{status,
+ status_device_id, status_device_ver, status_device_eeprom};
+
+prog_char *param_text1[] PROGMEM = {wing_mode,
+ wing_use_dipsw, wing_rudele_1ail, wing_delta_1ail, wing_vtail_1ail, wing_rudele_2ail, wing_delta_2ail, wing_vtail_2ail, wing_duckeron, wing_rud_2ele_2ail};
+
+prog_char *param_text2[] PROGMEM = {mixer_epa_mode,
+ mixer_epa_full, mixer_epa_norm, mixer_epa_track, mixer_epa_max};
+
+prog_char *param_text3[] PROGMEM = {servo_frame_rate,
+ };
+
+prog_char *param_text4[] PROGMEM = {serialrx_order,
+ };
+
+prog_char *param_text5[] PROGMEM = {serialrx_spektrum_levels,
+ serialrx_spektrum_levels_1024, serialrx_spektrum_levels_2048};
+
+prog_char *param_text6[] PROGMEM = {mount_orient,
+ mount_normal, mount_roll90left, mount_roll90right, mount_rotate90left, mount_rotate90right};
+
+prog_char *param_text7[] PROGMEM = {stick_gain_throw,
+ stick_gain_throw_full, stick_gain_throw_half, stick_gain_throw_quarter};
+
+prog_char *param_text8[] PROGMEM = {max_rotate,
+ max_rotate_vlow, max_rotate_low, max_rotate_med, max_rotate_high};
+
+prog_char *param_text9[] PROGMEM = {rate_mode_stick_rotate,
+ disabled, enabled};
+
+prog_char *param_text10[] PROGMEM = {inflight_calibrate,
+ disabled, enabled};
+
+prog_char *param_text11[] PROGMEM = {vr_gain,
+ };
+
+prog_char *param_text12[] PROGMEM = {pid_rate,
+ pid_roll, pid_pitch, pid_yaw};
+
+prog_char *param_text13[] PROGMEM = {pid_hold,
+ pid_roll, pid_pitch, pid_yaw};
+
+prog_char *param_text14[] PROGMEM = {dlpf,
+ bw_0, bw_1, bw_2, bw_3, bw_4, bw_5, bw_6};
+
+prog_char *param_text15[] PROGMEM = {eeprom,
+ eeprom_instr, eeprom_update_cfg, eeprom_erase_cfg, eeprom_erase_stats};
+
+prog_char **param_textB[] = {
+ param_text0,
+ param_text1,
+ param_text2,
+ param_text3,
+ param_text4,
+ param_text5,
+ param_text6,
+ param_text7,
+ param_text8,
+ param_text9,
+ param_text10,
+ param_text11,
+ param_text12,
+ param_text13,
+ param_text14,
+ param_text15
+};
+
+#define PARAM_TEXT(i, j) (const __FlashStringHelper*) pgm_read_word(&((param_textB[i])[j]))
+
+enum PARAM_TYPE {PARAM_STATUS, PARAM_ENUM, PARAM_VAL, PARAM_SERIALRX_ORDER, PARAM_VR_GAIN, PARAM_PID, PARAM_EEPROM};
+
+const int8_t subpage_max[] = { // index = PARAM_TYPE enum
+ 0, // PARAM_STATUS
+ 0, // PARAM_ENUM
+ 0, // PARAM_VAL
+ serialrx_num_chan-1, // PARAM_SERIALRX_ORDER
+ sizeof(cfg.vr_gain)/sizeof(cfg.vr_gain[0])-1, // PARAM_VR_GAIN
+ 9-1, // PARAM_PID: [kp/ki/kd=3][axis=3]
+ 0 // PARAM_EEPROM
+};
+
+const char serialrx_chan_str[] = "RETA1a2f"; // index = channel number = subpage. see enum SERIALRX_CHAN
+
+const int8_t kpid_map[] = {0, 1, 2, 0, 1, 2, 0, 1, 2}; // index = subpage
+const int8_t axis_map[] = {0, 0, 0, 1, 1, 1, 2, 2, 2}; // index = subpage
+
+struct _pid_param_array {
+ int16_t *param[3]; // param[kpid][axis] = value
+};
+
+struct _pid_param_array pid_param_array_rate = {{cfg.pid_param_rate.kp, cfg.pid_param_rate.ki, cfg.pid_param_rate.kd}};
+struct _pid_param_array pid_param_array_hold = {{cfg.pid_param_hold.kp, cfg.pid_param_hold.ki, cfg.pid_param_hold.kd}};
+
+int8_t param_val_status = 1;
+int8_t param_val_eeprom = 1;
+
+int8_t * const param_pval[] = {
+ ¶m_val_status,
+ (int8_t*) &cfg.wing_mode,
+ (int8_t*) &cfg.mixer_epa_mode,
+ &cfg.servo_frame_rate,
+ &cfg.serialrx_order[0],
+ (int8_t*) &cfg.serialrx_spektrum_levels,
+ (int8_t*) &cfg.mount_orient,
+ (int8_t*) &cfg.stick_gain_throw,
+ (int8_t*) &cfg.max_rotate,
+ (int8_t*) &cfg.rate_mode_stick_rotate,
+ (int8_t*) &cfg.inflight_calibrate,
+ &cfg.vr_gain[0],
+ (int8_t*) &pid_param_array_rate,
+ (int8_t*) &pid_param_array_hold,
+ (int8_t*) &cfg.gyro_dlpf,
+ ¶m_val_eeprom,
+};
+
+enum PARAM_TYPE param_type[] = {
+ PARAM_STATUS,
+ PARAM_ENUM,
+ PARAM_ENUM,
+ PARAM_VAL,
+ PARAM_SERIALRX_ORDER,
+ PARAM_ENUM,
+ PARAM_ENUM,
+ PARAM_ENUM,
+ PARAM_ENUM,
+ PARAM_ENUM,
+ PARAM_ENUM,
+ PARAM_VR_GAIN,
+ PARAM_PID,
+ PARAM_PID,
+ PARAM_ENUM,
+ PARAM_EEPROM,
+};
+
+const int16_t param_min[] = {
+ 1, // status
+ WING_USE_DIPSW,
+ MIXER_EPA_FULL,
+ 0, // servo_frame_rate
+ 0, // serialrx_order
+ SERIALRX_SPEKTRUM_LEVELS_1024,
+ MOUNT_NORMAL,
+ STICK_GAIN_THROW_FULL,
+ MAX_ROTATE_VLOW,
+ RATE_MODE_STICK_ROTATE_DISABLE,
+ INFLIGHT_CALIBRATE_DISABLE,
+ -128, // vr_gain
+ 0, // pid_rate
+ 0, // pid_hold
+ BW_256HZ, // Bandwidth Max
+ 1 // eeprom
+};
+
+const int16_t param_max[] = {
+ 3, // status
+ WING_RUD_2ELE_2AIL,
+ MIXER_EPA_MAX,
+ 20, // servo_frame_rate
+ serialrx_num_chan-1, // serialrx_order max chan
+ SERIALRX_SPEKTRUM_LEVELS_2048,
+ MOUNT_ROTATE_90_RIGHT,
+ STICK_GAIN_THROW_QUARTER,
+ MAX_ROTATE_HIGH,
+ RATE_MODE_STICK_ROTATE_ENABLE,
+ INFLIGHT_CALIBRATE_ENABLE,
+ 127, // vr_gain
+ 1000, // pid_rate
+ 1000, // pid_hold
+ BW_5HZ, // Bandwidth Min
+ 4 // eeprom
+};
+
+const int8_t param_num_pages = sizeof(param_type)/sizeof(param_type[0]);
+
+
+/***************************************************************************************************************
+* BUTTONS
+***************************************************************************************************************/
+
+enum BUTTON_ID {BUTTON_ID_UP, BUTTON_ID_LEFT, BUTTON_ID_RIGHT, BUTTON_ID_DOWN};
+enum BUTTON_STATE {BUTTON_UP, BUTTON_DOWN, BUTTON_DOWN_AUTO};
+enum BUTTON_EVENT {BUTTON_NONE, BUTTON_RELEASE, BUTTON_PRESS};
+BUTTON_STATE button_state[] = {BUTTON_UP, BUTTON_UP, BUTTON_UP, BUTTON_UP};
+BUTTON_EVENT button_event[] = {BUTTON_NONE, BUTTON_NONE, BUTTON_NONE, BUTTON_NONE};
+
+bool button_read()
+{
+ bool has_event = false;
+ uint32_t t = micros();
+ static uint32_t button_down_time[4];
+ static uint32_t button_debounce_time[4]; // time of last button state change
+ const int32_t button_debounce_delay = 50000; // debounce interval
+ const int32_t button_auto_delay = 600000; // time between first press and auto repeat start
+ const int32_t button_auto_period = 100000; // time between auto repeat events
+
+ for (int8_t i=0; i<4; i++) {
+ button_event[i] = BUTTON_NONE;
+ BUTTON_STATE b = digitalRead(button_pin[i]) ? BUTTON_UP : BUTTON_DOWN;
+
+ switch ((b << 4) | button_state[i]) {
+
+ // release up
+ case ((BUTTON_UP << 4) | BUTTON_DOWN):
+ case ((BUTTON_UP << 4) | BUTTON_DOWN_AUTO):
+ if ((int32_t)(t - button_debounce_time[i]) > button_debounce_delay) {
+ button_event[i] = BUTTON_RELEASE;
+ button_state[i] = BUTTON_UP;
+ button_debounce_time[i] = t;
+ }
+ break;
+
+ // press down
+ case ((BUTTON_DOWN << 4) | BUTTON_UP):
+ if ((int32_t)(t - button_debounce_time[i]) > button_debounce_delay) {
+ button_event[i] = BUTTON_PRESS;
+ button_state[i] = BUTTON_DOWN;
+ button_down_time[i] = t;
+ button_debounce_time[i] = t;
+ }
+ break;
+
+ // holding down till auto repeat start
+ case ((BUTTON_DOWN << 4) | BUTTON_DOWN):
+ if ((int32_t)(t - button_down_time[i]) > button_auto_delay) {
+ button_event[i] = BUTTON_PRESS;
+ button_state[i] = BUTTON_DOWN_AUTO;
+ button_down_time[i] = t;
+ }
+ break;
+
+ // holding down during auto repeat
+ case ((BUTTON_DOWN << 4) | BUTTON_DOWN_AUTO):
+ if ((int32_t)(t - button_down_time[i]) > button_auto_period) {
+ button_event[i] = BUTTON_PRESS;
+ button_down_time[i] = t;
+ }
+ break;
+ }
+
+ has_event = has_event || (button_event[i] != BUTTON_NONE);
+ }
+ return has_event;
+}
+
+void button_init()
+{
+ for (int8_t i=0; i<4; i++) {
+ pinMode(button_pin[i], INPUT);
+ digitalWrite(button_pin[i], HIGH);
+ }
+}
+
+/***************************************************************************************************************
+* ATMEGA8 USART 115200 8N1 POLL-BASED
+***************************************************************************************************************/
+
+#if defined(USE_SERIAL_LIGHT)
+bool serial2_available()
+{
+ return UCSRA & (1 << RXC); // check for data
+}
+
+uint8_t serial2_read()
+{
+ while (!serial2_available());
+ return UDR;
+}
+
+void serial2_write(uint8_t b)
+{
+ while (!(UCSRA & (1 << UDRE))); // wait for ready
+ UDR = b;
+}
+
+void serial2_init()
+{
+ UBRRH = 0; // 16 with U2X enabled means 115200 baud with 16MHz CPU: 16000000 / 115200 / 8 - 1 == 16
+ UBRRL = 16; // seems to have too much error without U2X.
+ UCSRA |= (1 << U2X);
+ UCSRB = (1 << RXEN) | (1 << TXEN);
+ UCSRC = (1 << URSEL) | (1 << UCSZ1) | (1 << UCSZ0); // 8N1
+}
+#endif
+
+/***************************************************************************************************************
+* MESSAGE TRANSPORT
+***************************************************************************************************************/
+
+void serial_write_byte(uint8_t b, bool last_byte) {
+#if defined(USE_SERIAL_LIGHT)
+ serial2_write(b);
+ serial2_read();
+#else
+ Serial.write(b);
+ Serial.read(); // drain the echo received due to loopback
+#endif
+ if (!last_byte)
+ delay(2); // delay for one-wire library on the target to ready the next receive
+}
+
+bool send_msg(void *buf, int8_t buf_len) {
+ uint8_t chksum = buf_len;
+ serial_write_byte('$', false);
+ serial_write_byte(buf_len, false);
+ for (int8_t i=0; i param_min[page] ? byte(0) : ' '); // up arrow
+ lcd.write(*param_pval[page] < param_max[page] ? byte(1) : ' '); // down arrow
+#endif
+ lcd.setCursor(0, 1);
+
+ switch (param_type[page]) {
+ case PARAM_STATUS:
+ v = *param_pval[page];
+ lcd.print(PARAM_TEXT(page, v));
+ switch (v) {
+ case 1: // device_id
+ lcd.print(stats.device_id);
+ lcd.print((const __FlashStringHelper*) pgm_read_word(&device_name[stats.device_id]));
+ break;
+ case 2: // device_ver
+ lcd.print(stats.device_ver);
+ break;
+ case 3: // eeprom err and reset
+ lcd.print(stats.eeprom_cfg1_err);
+ lcd.print('/');
+ lcd.print(stats.eeprom_cfg2_err);
+ lcd.print('/');
+ lcd.print(stats.eeprom_cfg12_reset);
+ break;
+ }
+ break;
+
+ case PARAM_ENUM:
+ case PARAM_EEPROM:
+ v = *param_pval[page];
+ lcd.print(PARAM_TEXT(page, v));
+ break;
+
+ case PARAM_VAL:
+ v = *param_pval[page];
+ lcd.print(v);
+ break;
+
+ case PARAM_SERIALRX_ORDER:
+ pv = (int8_t *)param_pval[page];
+ for (int8_t i=0; iparam[i][axis]);
+ if (sel) lcd.print(']');
+ if (i< 2)
+ lcd.print('/');
+ }
+ break;
+ }
+}
+
+void loop()
+{
+ uint32_t t = micros();
+ uint32_t last_msg_time = t;
+
+ enum OW_STATE {
+ OW_WAIT_CONNECT,
+ OW_WAIT_STATS,
+ OW_CONNECTED,
+ OW_SEND,
+ OW_BAD_CFG_VER
+ } ow_state = OW_WAIT_CONNECT;
+
+ struct _ow_msg ow_msg;
+ int8_t ow_send_len;
+
+ int8_t page=0, subpage=0;
+ bool update_lcd = true;
+
+again:
+ t = micros();
+
+ // connection state machine
+ if ((int32_t)(t - last_msg_time) > (ow_state == OW_WAIT_CONNECT ? 50000L : 250000L)) { // 50ms to connect, else every 250ms
+
+ int8_t msg_len = 1; // + 1 for ow_msg.cmd
+ switch (ow_state) {
+ case OW_WAIT_CONNECT: ow_msg.cmd = OW_GET_CFG; break;
+ case OW_WAIT_STATS: ow_msg.cmd = OW_GET_STATS; break;
+ case OW_CONNECTED: ow_msg.cmd = OW_NULL; break;
+ case OW_SEND: msg_len += ow_send_len; break; // ow_msg already set up
+ case OW_BAD_CFG_VER: ow_msg.cmd = OW_NULL; break;
+ }
+ send_msg(&ow_msg, msg_len);
+ uint8_t resp_cmd = ow_msg.cmd | 0x80;
+
+ if (recv_msg(&ow_msg, sizeof(ow_msg), 20) && (ow_msg.cmd == resp_cmd)) { // wait 20ms for response
+ switch (ow_state) {
+ case OW_WAIT_CONNECT:
+ if (ow_msg.u.eeprom_cfg.ver != eeprom_cfg_ver) {
+ ow_state = OW_BAD_CFG_VER;
+ update_lcd = true;
+ break;
+ }
+ cfg = ow_msg.u.eeprom_cfg;
+ ow_state = OW_WAIT_STATS;
+ break;
+ case OW_WAIT_STATS:
+ stats = ow_msg.u.eeprom_stats;
+ ow_state = OW_CONNECTED;
+ page = subpage = 0;
+ update_lcd = true;
+ break;
+ case OW_SEND:
+ ow_state = OW_WAIT_CONNECT; // restart state machine
+ update_lcd = true;
+ break;
+ }
+ } else {
+ // TODO: separate timeout from msg_err (eg. too large)
+ if (ow_state != OW_WAIT_CONNECT) {
+ update_lcd = true;
+ }
+ ow_state = OW_WAIT_CONNECT; // reset to initial state
+ }
+ last_msg_time = t;
+ }
+
+ if (update_lcd) {
+ lcd.clear();
+
+ switch (ow_state) {
+ case OW_WAIT_CONNECT:
+ lcd.print(F("OpenFlightStab"));
+ lcd.setCursor(0, 1);
+ lcd.print(F("CfgVer="));
+ lcd.print(eeprom_cfg_ver);
+ //lcd.print(' ');
+ //lcd.print(sizeof(cfg));
+ break;
+ case OW_CONNECTED:
+ param_lcd_update(page, subpage);
+ break;
+ case OW_BAD_CFG_VER:
+ lcd.print(F("CfgVer Mismatch"));
+ lcd.setCursor(0, 1);
+ lcd.print(F("read="));
+ lcd.print(ow_msg.u.eeprom_cfg.ver);
+ lcd.print(F(" need="));
+ lcd.print(eeprom_cfg_ver);
+ break;
+ }
+
+ update_lcd = false;
+ }
+
+ // button handler
+ if ((ow_state == OW_CONNECTED) && button_read()) {
+
+ if (button_event[BUTTON_ID_LEFT] == BUTTON_PRESS) {
+ if (subpage > 0) {
+ subpage--;
+ } else
+ if (page > 0) {
+ page--;
+ subpage = subpage_max[param_type[page]];
+ }
+ }
+
+ if (button_event[BUTTON_ID_RIGHT] == BUTTON_PRESS) {
+ enum PARAM_TYPE ptype = param_type[page];
+
+ if (ptype == PARAM_EEPROM) {
+ switch (param_val_eeprom) {
+ case 2: // update cfg
+ ow_msg.u.eeprom_cfg = cfg; // copy cfg to message buffer
+ ow_msg.cmd = OW_SET_CFG;
+ ow_state = OW_SEND;
+ ow_send_len = sizeof(ow_msg.u.eeprom_cfg);
+ break;
+ case 3: // erase cfg
+ ow_msg.u.eeprom_cfg.ver = 0; // invalidate ver
+ ow_msg.cmd = OW_SET_CFG;
+ ow_state = OW_SEND;
+ ow_send_len = sizeof(ow_msg.u.eeprom_cfg);
+ break;
+ case 4: // erase stats
+ ow_msg.u.eeprom_stats.device_id = 0; // invalidate device_id
+ ow_msg.cmd = OW_SET_STATS;
+ ow_state = OW_SEND;
+ ow_send_len = sizeof(ow_msg.u.eeprom_stats);
+ break;
+ }
+ } else
+ if (subpage < subpage_max[ptype]) {
+ subpage++;
+ } else
+ if (page < param_num_pages - 1) {
+ page++;
+ subpage = 0;
+ // reset to safe option (1=eeprom_instr) when paging into eeprom page.
+ // prevents user autorepeating right through it
+ if (param_type[page] == PARAM_EEPROM)
+ param_val_eeprom = 1;
+ }
+ }
+
+ int16_t diff = 0;
+ int16_t diff2 = param_type[page] == PARAM_PID ? 10 : 1;
+
+ if (button_event[BUTTON_ID_UP] == BUTTON_PRESS) {
+ diff = diff2; // up to increase
+ }
+ if (button_event[BUTTON_ID_DOWN] == BUTTON_PRESS) {
+ diff = -diff2; // down to decrease
+ }
+
+ if (diff != 0) {
+ int8_t axis;
+ int8_t kpid;
+ int8_t *pv;
+ struct _pid_param_array *ppid;
+
+ int16_t min_val = param_min[page];
+ int16_t max_val = param_max[page];
+
+ switch (param_type[page]) {
+ case PARAM_SERIALRX_ORDER:
+ pv = (int8_t *)param_pval[page];
+ pv[subpage] = constrain(pv[subpage] + diff, min_val, max_val);
+ break;
+ case PARAM_VR_GAIN:
+ pv = (int8_t *)param_pval[page];
+ pv[subpage] = constrain(pv[subpage] + diff, min_val, max_val);
+ break;
+ case PARAM_PID:
+ ppid = (struct _pid_param_array *)param_pval[page];
+ axis = axis_map[subpage]; // 0,0,0,1,1,1,2,2,2
+ kpid = kpid_map[subpage]; // 0,1,2,0,1,2,0,1,2
+ ppid->param[kpid][axis] = constrain(ppid->param[kpid][axis] + diff, min_val, max_val);
+ break;
+ default:
+ *param_pval[page] = constrain(*param_pval[page] + diff, min_val, max_val);
+ break;
+ }
+ }
+
+ update_lcd = true;
+ }
+
+ goto again;
+}
diff --git a/Aquastar/Aquastar/FlightStab.h b/Aquastar/Aquastar/FlightStab.h
new file mode 100644
index 0000000..2b980a3
--- /dev/null
+++ b/Aquastar/Aquastar/FlightStab.h
@@ -0,0 +1,83 @@
+/* FlightStab **************************************************************************************************/
+
+/* NOTE:
+./Aquastar/FlightStab.h and ./FlightStab/FlightStab.h must be identical at all times for the
+aquastar programming box to be in sync with the flightstab firmware.
+*/
+
+#if !defined(FLIGHTSTAB_H)
+#define FLIGHTSTAB_H
+
+const int8_t eeprom_cfg_ver = 12;
+
+enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5};
+
+enum WING_MODE {WING_USE_DIPSW=1,
+ WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL,
+ WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL,
+ WING_DUCKERON,WING_RUD_2ELE_2AIL};
+enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX};
+enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048};
+enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT};
+enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important
+enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important
+enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE};
+enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE};
+
+enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F
+ SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+
+// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box.
+// Thus one must be subtracted from the EEPROM value before sending to the Gyro
+enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ};
+#define DLPF_MASK 0x07
+
+const int8_t serialrx_num_chan = 8;
+const int8_t vr_gain_use_pot = -128;
+
+struct _eeprom_stats {
+ int8_t device_id;
+ uint32_t device_ver;
+ int8_t eeprom_cfg1_err;
+ int8_t eeprom_cfg2_err;
+ int8_t eeprom_cfg12_reset;
+};
+
+struct _pid_param {
+ int16_t kp[3]; // [0, 1000] 11b signed
+ int16_t ki[3];
+ int16_t kd[3];
+ int8_t output_shift;
+};
+
+struct _eeprom_cfg {
+ uint8_t ver;
+ enum WING_MODE wing_mode; // overridden by DIP switches if available
+ enum MIXER_EPA_MODE mixer_epa_mode;
+ int8_t servo_frame_rate;
+ int8_t serialrx_order[serialrx_num_chan];
+ enum SERIALRX_SPEKTRUM_LEVELS serialrx_spektrum_levels;
+ enum MOUNT_ORIENT mount_orient;
+ enum STICK_GAIN_THROW stick_gain_throw;
+ enum MAX_ROTATE max_rotate;
+ enum RATE_MODE_STICK_ROTATE rate_mode_stick_rotate;
+ enum INFLIGHT_CALIBRATE inflight_calibrate;
+ int8_t vr_gain[3];
+ struct _pid_param pid_param_rate;
+ struct _pid_param pid_param_hold;
+ int8_t gyro_dlpf;
+ uint8_t chksum;
+};
+
+enum OW_COMMAND {OW_NULL, OW_GET_STATS, OW_SET_STATS, OW_GET_CFG, OW_SET_CFG};
+
+struct _ow_msg {
+ uint8_t cmd;
+ union {
+ struct _eeprom_cfg eeprom_cfg; // OW_*_CFG
+ struct _eeprom_stats eeprom_stats; // OW_*_STATS
+ } u;
+ uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one
+};
+
+#endif // FLIGHTSTAB_H
\ No newline at end of file
diff --git a/Aquastar/Builds/20160209_AQUASTAR.hex b/Aquastar/Builds/20160209_AQUASTAR.hex
new file mode 100644
index 0000000..f07d83e
--- /dev/null
+++ b/Aquastar/Builds/20160209_AQUASTAR.hex
@@ -0,0 +1,410 @@
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diff --git a/Aquastar/Builds/20160209_DLUX.hex b/Aquastar/Builds/20160209_DLUX.hex
new file mode 100644
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diff --git a/Aquastar/Builds/20160209_EAGLE_A3PRO.hex b/Aquastar/Builds/20160209_EAGLE_A3PRO.hex
new file mode 100644
index 0000000..5161e0f
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diff --git a/Aquastar/Builds/20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Aquastar/Builds/20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex
new file mode 100644
index 0000000..2cbd31e
--- /dev/null
+++ b/Aquastar/Builds/20160209_EAGLE_A3PRO_NO_STICKCONFIG.hex
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diff --git a/Aquastar/Builds/20160209_FLIP_1_5.hex b/Aquastar/Builds/20160209_FLIP_1_5.hex
new file mode 100644
index 0000000..1a1bb51
--- /dev/null
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index 0000000..b0a0b9d
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index 0000000..070b4f9
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diff --git a/Aquastar/Builds/20160209_FLIP_1_5_SPEKTRUM.hex b/Aquastar/Builds/20160209_FLIP_1_5_SPEKTRUM.hex
new file mode 100644
index 0000000..7c9d192
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diff --git a/Aquastar/Builds/20160209_FLIP_1_5_SRXLH.hex b/Aquastar/Builds/20160209_FLIP_1_5_SRXLH.hex
new file mode 100644
index 0000000..e9f77bf
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_FLIP_1_5_SRXLM.hex b/Aquastar/Builds/20160209_FLIP_1_5_SRXLM.hex
new file mode 100644
index 0000000..df8676a
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_MINI_MWC_CPPM.hex b/Aquastar/Builds/20160209_MINI_MWC_CPPM.hex
new file mode 100644
index 0000000..f4845a1
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diff --git a/Aquastar/Builds/20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex b/Aquastar/Builds/20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex
new file mode 100644
index 0000000..d66c129
--- /dev/null
+++ b/Aquastar/Builds/20160209_MINI_MWC_CPPM_EXTERNAL_RX.hex
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diff --git a/Aquastar/Builds/20160209_MINI_MWC_SBUS.hex b/Aquastar/Builds/20160209_MINI_MWC_SBUS.hex
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index 0000000..06d7553
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diff --git a/Aquastar/Builds/20160209_MINI_MWC_SPEKTRUM.hex b/Aquastar/Builds/20160209_MINI_MWC_SPEKTRUM.hex
new file mode 100644
index 0000000..889af9a
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_MINI_MWC_SRXLH.hex b/Aquastar/Builds/20160209_MINI_MWC_SRXLH.hex
new file mode 100644
index 0000000..62ba64b
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_MINI_MWC_SRXLM.hex b/Aquastar/Builds/20160209_MINI_MWC_SRXLM.hex
new file mode 100644
index 0000000..d66cdcb
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_NANOWII_SRXLH.hex b/Aquastar/Builds/20160209_NANOWII_SRXLH.hex
new file mode 100644
index 0000000..97578c9
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_NANOWII_SRXLM.hex b/Aquastar/Builds/20160209_NANOWII_SRXLM.hex
new file mode 100644
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diff --git a/Aquastar/Builds/20160209_RX3SM.hex b/Aquastar/Builds/20160209_RX3SM.hex
new file mode 100644
index 0000000..e271d67
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diff --git a/Aquastar/Builds/20160209_RX3S_V1.hex b/Aquastar/Builds/20160209_RX3S_V1.hex
new file mode 100644
index 0000000..053397c
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diff --git a/Aquastar/Builds/20160209_RX3S_V1_CPPM.hex b/Aquastar/Builds/20160209_RX3S_V1_CPPM.hex
new file mode 100644
index 0000000..2b63fb0
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diff --git a/Aquastar/Builds/20160209_RX3S_V1_SBUS.hex b/Aquastar/Builds/20160209_RX3S_V1_SBUS.hex
new file mode 100644
index 0000000..9362c9c
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_RX3S_V1_SPEKTRUM.hex b/Aquastar/Builds/20160209_RX3S_V1_SPEKTRUM.hex
new file mode 100644
index 0000000..468fd22
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_RX3S_V2.hex b/Aquastar/Builds/20160209_RX3S_V2.hex
new file mode 100644
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diff --git a/Aquastar/Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex b/Aquastar/Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex
new file mode 100644
index 0000000..57d0ab6
--- /dev/null
+++ b/Aquastar/Builds/20160209_RX3S_V2_AILR_IN_ON_RUD_IN.hex
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diff --git a/Aquastar/Builds/20160209_RX3S_V2_CPPM.hex b/Aquastar/Builds/20160209_RX3S_V2_CPPM.hex
new file mode 100644
index 0000000..3b18f0a
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_RX3S_V2_SBUS.hex b/Aquastar/Builds/20160209_RX3S_V2_SBUS.hex
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index 0000000..80eb8e6
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diff --git a/Aquastar/Builds/20160209_RX3S_V2_SPEKTRUM.hex b/Aquastar/Builds/20160209_RX3S_V2_SPEKTRUM.hex
new file mode 100644
index 0000000..90e2375
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_RX3S_V2_SRXLH.hex b/Aquastar/Builds/20160209_RX3S_V2_SRXLH.hex
new file mode 100644
index 0000000..ad39218
--- /dev/null
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diff --git a/Aquastar/Builds/20160209_RX3S_V2_SRXLM.hex b/Aquastar/Builds/20160209_RX3S_V2_SRXLM.hex
new file mode 100644
index 0000000..22fa474
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_DLUX.hex b/Aquastar/Builds/20160228_DLUX.hex
new file mode 100644
index 0000000..58eb006
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diff --git a/Aquastar/Builds/20160228_EAGLE_A3PRO.hex b/Aquastar/Builds/20160228_EAGLE_A3PRO.hex
new file mode 100644
index 0000000..b0ec1cc
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diff --git a/Aquastar/Builds/20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Aquastar/Builds/20160228_EAGLE_A3PRO_NO_STICKCONFIG.hex
new file mode 100644
index 0000000..2cbd31e
--- /dev/null
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new file mode 100644
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diff --git a/Aquastar/Builds/20160228_FLIP_1_5_CPPM.hex b/Aquastar/Builds/20160228_FLIP_1_5_CPPM.hex
new file mode 100644
index 0000000..9de9374
--- /dev/null
+++ b/Aquastar/Builds/20160228_FLIP_1_5_CPPM.hex
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diff --git a/Aquastar/Builds/20160228_FLIP_1_5_SPEKTRUM.hex b/Aquastar/Builds/20160228_FLIP_1_5_SPEKTRUM.hex
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index 0000000..4c0d410
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index 0000000..0c4a6f0
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diff --git a/Aquastar/Builds/20160228_FLIP_1_5_SRXLM.hex b/Aquastar/Builds/20160228_FLIP_1_5_SRXLM.hex
new file mode 100644
index 0000000..9f85b88
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_MINI_MWC_CPPM.hex b/Aquastar/Builds/20160228_MINI_MWC_CPPM.hex
new file mode 100644
index 0000000..7fc51f5
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex b/Aquastar/Builds/20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex
new file mode 100644
index 0000000..fcc71f3
--- /dev/null
+++ b/Aquastar/Builds/20160228_MINI_MWC_CPPM_EXTERNAL_RX.hex
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diff --git a/Aquastar/Builds/20160228_MINI_MWC_SBUS.hex b/Aquastar/Builds/20160228_MINI_MWC_SBUS.hex
new file mode 100644
index 0000000..33d28e2
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_MINI_MWC_SPEKTRUM.hex b/Aquastar/Builds/20160228_MINI_MWC_SPEKTRUM.hex
new file mode 100644
index 0000000..81029ce
--- /dev/null
+++ b/Aquastar/Builds/20160228_MINI_MWC_SPEKTRUM.hex
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diff --git a/Aquastar/Builds/20160228_MINI_MWC_SRXLH.hex b/Aquastar/Builds/20160228_MINI_MWC_SRXLH.hex
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index 0000000..17c672e
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_MINI_MWC_SRXLM.hex b/Aquastar/Builds/20160228_MINI_MWC_SRXLM.hex
new file mode 100644
index 0000000..4906c1a
--- /dev/null
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new file mode 100644
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new file mode 100644
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diff --git a/Aquastar/Builds/20160228_NANOWII_SPEKTRUM.hex b/Aquastar/Builds/20160228_NANOWII_SPEKTRUM.hex
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index 0000000..0a69bf7
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new file mode 100644
index 0000000..e8e1494
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diff --git a/Aquastar/Builds/20160228_RX3SM.hex b/Aquastar/Builds/20160228_RX3SM.hex
new file mode 100644
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diff --git a/Aquastar/Builds/20160228_RX3S_V1.hex b/Aquastar/Builds/20160228_RX3S_V1.hex
new file mode 100644
index 0000000..5fb2557
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_RX3S_V1_CPPM.hex b/Aquastar/Builds/20160228_RX3S_V1_CPPM.hex
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index 0000000..e2d1c79
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diff --git a/Aquastar/Builds/20160228_RX3S_V1_SBUS.hex b/Aquastar/Builds/20160228_RX3S_V1_SBUS.hex
new file mode 100644
index 0000000..840c612
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_RX3S_V1_SPEKTRUM.hex b/Aquastar/Builds/20160228_RX3S_V1_SPEKTRUM.hex
new file mode 100644
index 0000000..5b9cba7
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_RX3S_V2.hex b/Aquastar/Builds/20160228_RX3S_V2.hex
new file mode 100644
index 0000000..1aa9962
--- /dev/null
+++ b/Aquastar/Builds/20160228_RX3S_V2.hex
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diff --git a/Aquastar/Builds/20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex b/Aquastar/Builds/20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex
new file mode 100644
index 0000000..d1b02c7
--- /dev/null
+++ b/Aquastar/Builds/20160228_RX3S_V2_AILR_IN_ON_RUD_IN.hex
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diff --git a/Aquastar/Builds/20160228_RX3S_V2_CPPM.hex b/Aquastar/Builds/20160228_RX3S_V2_CPPM.hex
new file mode 100644
index 0000000..281a903
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_RX3S_V2_SBUS.hex b/Aquastar/Builds/20160228_RX3S_V2_SBUS.hex
new file mode 100644
index 0000000..39177a3
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_RX3S_V2_SPEKTRUM.hex b/Aquastar/Builds/20160228_RX3S_V2_SPEKTRUM.hex
new file mode 100644
index 0000000..bf2acdf
--- /dev/null
+++ b/Aquastar/Builds/20160228_RX3S_V2_SPEKTRUM.hex
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diff --git a/Aquastar/Builds/20160228_RX3S_V2_SRXLH.hex b/Aquastar/Builds/20160228_RX3S_V2_SRXLH.hex
new file mode 100644
index 0000000..d59632f
--- /dev/null
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diff --git a/Aquastar/Builds/20160228_RX3S_V2_SRXLM.hex b/Aquastar/Builds/20160228_RX3S_V2_SRXLM.hex
new file mode 100644
index 0000000..75270cf
--- /dev/null
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+:101F0C00000100010001000100010080FF00000041
+:101F1C000001000100030009000400140007000286
+:101F2C0000050003000400020002007F00E803E843
+:101F3C0003070004002C010A020C020E020F021708
+:101F4C000219021B021D021F02210223022001267C
+:101F5C00014C022D010000000101010202020001EE
+:101F6C000200010200010252455441316132660007
+:101F7C0002030504000000009408F50B000040006B
+:101F8C001400540000000000500BF50BE60A170B70
+:041F9C00F70A400BF5
+:00000001FF
diff --git a/Aquastar/CMakeLists.txt b/Aquastar/CMakeLists.txt
new file mode 100644
index 0000000..1300fd1
--- /dev/null
+++ b/Aquastar/CMakeLists.txt
@@ -0,0 +1,134 @@
+#====================================================================#
+# FlightStab cmake #
+#====================================================================#
+
+# build instructions for windows
+# ==============================
+# cd ./Builds
+# optional: rd /s . (to wipe out all intermediate files)
+# cmake [-DTODAY=yyyymmdd] -G"MSYS Makefiles" ..
+# (cmake will use the system date if -DTODAY is not specified)
+# make [VERBOSE=1]
+
+# install instructions for windows
+# ================================
+# install C:\Program Files (x86)\CMake 2.8
+# ensure PATH includes C:\Program Files (x86)\CMake 2.8\bin
+# install C:\Program Files\arduino-1.0.5 (this exact path is important!)
+# ensure PATH includes C:\Program Files\arduino-1.0.5\hardware\tools\avr\utils\bin
+
+# other useful commands
+# =====================
+# avr-readelf -a .elf
+# avr-objdump -dS .elf
+# avr-nm -Cn .elf
+# avr-size [-C] .elf
+# avr-strings .elf
+# avrdude -C "C:\Program Files\arduino-1.0.5\hardware\tools\avr\etc\avrdude.conf" -c usbasp -p m168p -U flash:r:.hex
+
+set(CMAKE_TOOLCHAIN_FILE cmake/ArduinoToolchain.cmake)
+cmake_minimum_required(VERSION 2.8)
+project(FlightStab C CXX)
+
+if (MSYS)
+ link_directories("$ENV{USERPROFILE}\\Documents\\Arduino\\libraries")
+else (MSYS)
+ link_directories("~/Arduino/libraries")
+endif (MSYS)
+
+#====================================================================#
+# macros #
+#====================================================================#
+
+# get current date
+macro(get_today today)
+ if (MSYS)
+ EXECUTE_PROCESS(COMMAND wmic os get localdatetime /format:list OUTPUT_VARIABLE ${today})
+ STRING(REGEX REPLACE ".*LocalDateTime=(........).*" "\\1" ${today} ${${today}})
+ #EXECUTE_PROCESS(COMMAND "cmd" " /C date /T" OUTPUT_VARIABLE ${today})
+ #STRING(REGEX REPLACE ".*(..)/(..)/(....).*" "\\3\\1\\2" ${today} ${${today}})
+ else (MSYS)
+ set(today "NODATE")
+ endif (MSYS)
+endmacro(get_today)
+
+# build specific target
+macro(add_arduino_firmware target sketch board defines)
+ set(${target}_SKETCH ${sketch})
+ set(${target}_BOARD ${board})
+ generate_arduino_firmware(${target})
+ set_target_properties(${target} PROPERTIES COMPILE_DEFINITIONS "${defines}")
+endmacro(add_arduino_firmware)
+
+#====================================================================#
+# build all targets #
+#====================================================================#
+
+print_board_list()
+print_programmer_list()
+
+# get system date if is not specified in cmake command line (cmake -Dtoday=yyyymmdd .....)
+if (NOT TODAY)
+ get_today(TODAY)
+endif (NOT TODAY)
+
+# defines = semicolon-separated list of key-value pairs "RX3S_V1;DEF=VAL;DEF2=VAL2"
+
+# AQUASTAR/DLUX Programming Box
+add_arduino_firmware(${TODAY}_AQUASTAR Aquastar atmega8 "USE_SERIAL_LIGHT;AQUASTAR")
+add_arduino_firmware(${TODAY}_DLUX Aquastar atmega8 "USE_SERIAL_LIGHT;DLUX")
+add_arduino_firmware(${TODAY}_TGY160A Aquastar pro5v "TGY160A")
+
+# NANOWII
+add_arduino_firmware(${TODAY}_NANOWII FlightStab leonardo "NANOWII")
+add_arduino_firmware(${TODAY}_NANOWII_CPPM FlightStab leonardo "NANOWII;SERIALRX_CPPM")
+add_arduino_firmware(${TODAY}_NANOWII_SPEKTRUM FlightStab leonardo "NANOWII;SERIALRX_SPEKTRUM")
+add_arduino_firmware(${TODAY}_NANOWII_SBUS FlightStab leonardo "NANOWII;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_NANOWII_SRXLH FlightStab leonardo "NANOWII;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_NANOWII_SRXLM FlightStab leonardo "NANOWII;SERIALRX_SRXL;SERIALRX_DEFMPX")
+
+# MINI MWC
+add_arduino_firmware(${TODAY}_MINI_MWC_CPPM FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM")
+add_arduino_firmware(${TODAY}_MINI_MWC_CPPM_EXTERNAL_RX FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM;MINI_MWC_EXTERNAL_RX")
+add_arduino_firmware(${TODAY}_MINI_MWC_SPEKTRUM FlightStab pro5v328 "MINI_MWC;SERIALRX_SPEKTRUM")
+add_arduino_firmware(${TODAY}_MINI_MWC_SBUS FlightStab pro5v328 "MINI_MWC;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_MINI_MWC_SRXLH FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_MINI_MWC_SRXLM FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL;SERIALRX_DEFMPX")
+
+# FLIP 1.5
+add_arduino_firmware(${TODAY}_FLIP_1_5 FlightStab pro5v328 "FLIP_1_5")
+add_arduino_firmware(${TODAY}_FLIP_1_5_CPPM FlightStab pro5v328 "FLIP_1_5;SERIALRX_CPPM")
+add_arduino_firmware(${TODAY}_FLIP_1_5_SPEKTRUM FlightStab pro5v328 "FLIP_1_5;SERIALRX_SPEKTRUM")
+add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLH FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLM FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL;SERIALRX_DEFMPX")
+
+# RX3S V1/V2V3/RX3SM 16MHz
+add_arduino_firmware(${TODAY}_RX3S_V1 FlightStab pro5v "RX3S_V1")
+add_arduino_firmware(${TODAY}_RX3S_V1_CPPM FlightStab pro5v "RX3S_V1;SERIALRX_CPPM")
+add_arduino_firmware(${TODAY}_RX3S_V1_SPEKTRUM FlightStab pro5v "RX3S_V1;SERIALRX_SPEKTRUM")
+add_arduino_firmware(${TODAY}_RX3S_V1_SBUS FlightStab pro5v "RX3S_V1;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_RX3S_V2 FlightStab pro5v "RX3S_V2")
+add_arduino_firmware(${TODAY}_RX3S_V2_AILR_IN_ON_RUD_IN FlightStab pro5v "RX3S_V2;AILR_IN_ON_RUD_IN")
+add_arduino_firmware(${TODAY}_RX3S_V2_CPPM FlightStab pro5v "RX3S_V2;SERIALRX_CPPM")
+add_arduino_firmware(${TODAY}_RX3S_V2_SPEKTRUM FlightStab pro5v "RX3S_V2;SERIALRX_SPEKTRUM")
+add_arduino_firmware(${TODAY}_RX3S_V2_SBUS FlightStab pro5v "RX3S_V2;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_RX3S_V2_SRXLH FlightStab pro5v "RX3S_V2;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_RX3S_V2_SRXLM FlightStab pro5v "RX3S_V2;SERIALRX_SRXL;SERIALRX_DEFMPX")
+add_arduino_firmware(${TODAY}_RX3SM FlightStab pro5v "RX3SM")
+
+# EagleA3Pro
+add_arduino_firmware(${TODAY}_EAGLE_A3PRO FlightStab pro5v "EAGLE_A3PRO")
+add_arduino_firmware(${TODAY}_EAGLE_A3PRO_NO_STICKCONFIG FlightStab pro5v "EAGLE_A3PRO;NO_STICKCONFIG")
+
+# test permutations
+add_arduino_firmware(TEST_RX3S_V1_8MHZ FlightStab pro "RX3S_V1")
+add_arduino_firmware(TEST_RX3S_V2_8MHZ FlightStab pro "RX3S_V2")
+add_arduino_firmware(TEST_RX3S_V2_SERIAL_DEBUG FlightStab pro5v "RX3S_V2;SERIAL_DEBUG")
+add_arduino_firmware(TEST_RX3S_V2_DUMP_SENSORS FlightStab pro5v "RX3S_V2;DUMP_SENSORS")
+add_arduino_firmware(TEST_RX3S_V2_LED_TIMING FlightStab pro5v "RX3S_V2;LED_TIMING")
+add_arduino_firmware(TEST_RX3S_V2_I2CDEVLIB FlightStab pro5v "RX3S_V2;USE_I2CDEVLIB")
+add_arduino_firmware(TEST_RX3S_V2_NO_ONEWIRE FlightStab pro5v "RX3S_V2;NO_ONEWIRE")
+add_arduino_firmware(TEST_RX3S_V2_NO_STICKCONFIG FlightStab pro5v "RX3S_V2;NO_STICKCONFIG")
+add_arduino_firmware(TEST_FLIP_1_5_SBUS_DEBUG FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS;FLIP_SERIALRX_DEBUG")
+
diff --git a/Aquastar/FlightStab.h b/Aquastar/FlightStab.h
index 2c34d7e..2b980a3 100644
--- a/Aquastar/FlightStab.h
+++ b/Aquastar/FlightStab.h
@@ -8,17 +8,17 @@ aquastar programming box to be in sync with the flightstab firmware.
#if !defined(FLIGHTSTAB_H)
#define FLIGHTSTAB_H
-const int8_t eeprom_cfg_ver = 8;
+const int8_t eeprom_cfg_ver = 12;
enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5};
enum WING_MODE {WING_USE_DIPSW=1,
WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL,
WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL,
- WING_DUCKERON};
-enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK};
+ WING_DUCKERON,WING_RUD_2ELE_2AIL};
+enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX};
enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048};
-enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT};
+enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT};
enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important
enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important
enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE};
@@ -27,6 +27,11 @@ enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE
enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F
SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box.
+// Thus one must be subtracted from the EEPROM value before sending to the Gyro
+enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ};
+#define DLPF_MASK 0x07
+
const int8_t serialrx_num_chan = 8;
const int8_t vr_gain_use_pot = -128;
@@ -60,6 +65,7 @@ struct _eeprom_cfg {
int8_t vr_gain[3];
struct _pid_param pid_param_rate;
struct _pid_param pid_param_hold;
+ int8_t gyro_dlpf;
uint8_t chksum;
};
diff --git a/Aquastar/FlightStab/FlightStab.h b/Aquastar/FlightStab/FlightStab.h
new file mode 100644
index 0000000..2b980a3
--- /dev/null
+++ b/Aquastar/FlightStab/FlightStab.h
@@ -0,0 +1,83 @@
+/* FlightStab **************************************************************************************************/
+
+/* NOTE:
+./Aquastar/FlightStab.h and ./FlightStab/FlightStab.h must be identical at all times for the
+aquastar programming box to be in sync with the flightstab firmware.
+*/
+
+#if !defined(FLIGHTSTAB_H)
+#define FLIGHTSTAB_H
+
+const int8_t eeprom_cfg_ver = 12;
+
+enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5};
+
+enum WING_MODE {WING_USE_DIPSW=1,
+ WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL,
+ WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL,
+ WING_DUCKERON,WING_RUD_2ELE_2AIL};
+enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX};
+enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048};
+enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT};
+enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important
+enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important
+enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE};
+enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE};
+
+enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F
+ SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+
+// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box.
+// Thus one must be subtracted from the EEPROM value before sending to the Gyro
+enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ};
+#define DLPF_MASK 0x07
+
+const int8_t serialrx_num_chan = 8;
+const int8_t vr_gain_use_pot = -128;
+
+struct _eeprom_stats {
+ int8_t device_id;
+ uint32_t device_ver;
+ int8_t eeprom_cfg1_err;
+ int8_t eeprom_cfg2_err;
+ int8_t eeprom_cfg12_reset;
+};
+
+struct _pid_param {
+ int16_t kp[3]; // [0, 1000] 11b signed
+ int16_t ki[3];
+ int16_t kd[3];
+ int8_t output_shift;
+};
+
+struct _eeprom_cfg {
+ uint8_t ver;
+ enum WING_MODE wing_mode; // overridden by DIP switches if available
+ enum MIXER_EPA_MODE mixer_epa_mode;
+ int8_t servo_frame_rate;
+ int8_t serialrx_order[serialrx_num_chan];
+ enum SERIALRX_SPEKTRUM_LEVELS serialrx_spektrum_levels;
+ enum MOUNT_ORIENT mount_orient;
+ enum STICK_GAIN_THROW stick_gain_throw;
+ enum MAX_ROTATE max_rotate;
+ enum RATE_MODE_STICK_ROTATE rate_mode_stick_rotate;
+ enum INFLIGHT_CALIBRATE inflight_calibrate;
+ int8_t vr_gain[3];
+ struct _pid_param pid_param_rate;
+ struct _pid_param pid_param_hold;
+ int8_t gyro_dlpf;
+ uint8_t chksum;
+};
+
+enum OW_COMMAND {OW_NULL, OW_GET_STATS, OW_SET_STATS, OW_GET_CFG, OW_SET_CFG};
+
+struct _ow_msg {
+ uint8_t cmd;
+ union {
+ struct _eeprom_cfg eeprom_cfg; // OW_*_CFG
+ struct _eeprom_stats eeprom_stats; // OW_*_STATS
+ } u;
+ uint8_t pad[32]; // pad to accommodate new ver cfg larger than existing one
+};
+
+#endif // FLIGHTSTAB_H
\ No newline at end of file
diff --git a/Aquastar/FlightStab/FlightStab.ino b/Aquastar/FlightStab/FlightStab.ino
new file mode 100644
index 0000000..3dc3984
--- /dev/null
+++ b/Aquastar/FlightStab/FlightStab.ino
@@ -0,0 +1,2877 @@
+/* FlightStab **************************************************************************************************/
+
+#include
+#include
+#include
+#include
+
+#include "FlightStab.h"
+
+//#define digitalPinToBitMask(P) ( pgm_read_byte( digital_pin_to_bit_mask_PGM + (P) ) )
+//#define digitalPinToPort(P) ( pgm_read_byte( digital_pin_to_port_PGM + (P) ) )
+//#define portOutputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_output_PGM + (P))) )
+//#define portInputRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_input_PGM + (P))) )
+//#define portModeRegister(P) ( (volatile uint8_t *)( pgm_read_word( port_to_mode_PGM + (P))) )
+
+bool ow_loop(); // OneWireSerial.ino
+
+// GYRO_ORIENTATION: roll right => -ve, pitch up => -ve, yaw right => -ve
+
+/***************************************************************************************************************
+ * device definitions (TODO: move to separate files)
+ ***************************************************************************************************************/
+
+//#define RX3S_V1
+//#define RX3S_V2
+//#define RX3SM
+//#define NANOWII
+//#define EAGLE_A3PRO
+//#define MINI_MWC
+//#define MINI_MWC_EXTERNAL_RX //Define this if using an External RX with MINI_MWC
+//#define FLIP_1_5
+//#define NANO_MPU6050
+
+//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP)
+//#define SERIALRX_SPEKTRUM // over the serial port
+//#define SERIALRX_SBUS // over the serial port
+//#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT
+//#define SERIALRX_DEFMPX // default MPX channel mapping
+
+//#define NO_ONEWIRE // remove one-wire serial config code
+//#define NO_STICKCONFIG // remove stick config code
+
+//#define SERIAL_DEBUG // enable debug messages through serial port
+//#define DUMP_SENSORS // dump sensors through the serial port
+//#define LED_TIMING // disable LED_MSG and use LED_TIMING_START/STOP to measure timings
+
+//#define USE_I2CDEVLIB // interrupt-based wire and i2cdev libraries
+//#define USE_I2CLIGHT // poll-based i2c access routines
+#if !(defined(USE_I2CDEVLIB) || defined(USE_I2CLIGHT))
+#define USE_I2CLIGHT // default
+#endif
+
+#define CPPM_PROFILE_PB0 0
+#define CPPM_PROFILE_PD2 1
+#define CPPM_PROFILE_PE6 2
+#define LED_PROFILE_PB5 0
+#define LED_PROFILE_PD3 1
+#define LED_PROFILE_PD5 2
+#define OW_PROFILE_PC0 0
+#define OW_PROFILE_PC7 1
+#define OW_PROFILE_PD7 2
+
+/* RX3S_V1 *****************************************************************************************************/
+#if defined(RX3S_V1)
+#warning RX3S_V1 defined // emit device name
+/*
+ OrangeRx Stabilizer RX3S V1
+ PB0 8 AIL_IN PC0 14/A0 AIL_GAIN PD0 0 (RXD)
+ PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 AIL_SW (TXD)
+ PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 ELE_SW
+ PB3 11 AUX_IN (MOSI) (PWM) PC3 17/A3 PAD PD3 3 RUD_SW (PWM)
+ PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT
+ PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM)
+ PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM)
+ PB7 15 (XTAL2) PD7 7 AILR_OUT
+
+ WING_RUDELE_1AIL
+ WING_DELTA_1AIL
+ WING_VTAIL_1AIL
+ PB3 11 NONE instead of AUX_IN
+ PB4 12 NONE instead of AILR_IN
+ PD7 7 AUX_IN instead of AILR_OUT
+
+ SERIALRX
+ PB0 8 CPPM_IN
+ PB1 9 FLP_OUT
+ PB2 10 THR_OUT
+*/
+
+#define DEVICE_ID DEVICE_RX3S_V1
+
+//
+#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL}
+
+// (must in PORT B/D due to ISR)
+#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL}
+#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTD {NULL, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F
+#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, -1, 9} // RETA1a2F
+
+//
+#define USE_ITG3200
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);}
+
+// CPPM
+#define CPPM_PROFILE CPPM_PROFILE_PB0
+
+// LED
+#define LED_PROFILE LED_PROFILE_PB5
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PD7
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 4
+#define EEPROM_RESET_IN_PIN 5
+
+#endif
+/* RX3S_V1 *****************************************************************************************************/
+
+/* RX3S_V2 *****************************************************************************************************/
+#if defined(RX3S_V2)
+#warning RX3S_V2 defined // emit device name
+/*
+ OrangeRx Stabilizer RX3S V2
+ PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 AUX_SW (RXD)
+ PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD)
+ PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW
+ PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM)
+ PB4 12 VTAIL_SW (MISO) PC4 18/A4 (SDA) PD4 4 AILL_OUT
+ PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 ELE_OUT (PWM)
+ PB6 14 (XTAL1) PC6 (RESET) PD6 6 RUD_OUT (PWM)
+ PB7 15 (XTAL2) PD7 7 AILR_OUT
+
+ WING_RUDELE_2AIL
+ WING_DELTA_2AIL
+ WING_VTAIL_2AIL
+ WING_DUCKERON
+ PD1 1 AILR_IN instead of AIL_SW
+
+ SERIALRX
+ PB0 8 CPPM_IN
+ PB1 9 FLP_OUT
+ PB2 10 THR_OUT
+ PB3 11 AUX2_OUT
+*/
+
+#define DEVICE_ID DEVICE_RX3S_V2V3
+
+//
+#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL}
+
+// (must in PORT B/D due to ISR)
+#if defined(AILR_IN_ON_RUD_IN) // Use RUD_IN input for AILR_IN - no rudder control
+#define RX_PORTB {&ail_in, &ele_in, &ailr_in, &aux_in, NULL, NULL, NULL, NULL}
+#else
+#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL}
+#endif
+#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define DIN_PORTB {NULL, NULL, NULL, NULL, &vtail_sw, NULL, NULL, NULL}
+#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTD {&aux_sw, &ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {6, 5, -1, 4, -1, 7, -1, -1} // RETA1a2F
+#define PWM_CHAN_PIN_SERIALRX {6, 5, 10, 4, -1, 7, 11, 9} // RETA1a2F
+
+//
+#define USE_ITG3200
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);}
+
+// CPPM
+#define CPPM_PROFILE CPPM_PROFILE_PB0
+
+// LED
+#define LED_PROFILE LED_PROFILE_PB5
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PD7
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 4
+#define EEPROM_RESET_IN_PIN 5
+
+#endif
+/* RX3S_V2 *****************************************************************************************************/
+
+/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/
+#if defined(RX3SM)
+#warning RX3SM defined // emit device name
+/*
+ OrangeRx Stabilizer RX3SM
+ PB0 8 AIL_IN PC0 14/A0 DELTA_SW PD0 0 VTAIL_SW (RXD) V2=AUX_SW
+ PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD)
+ PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW
+ PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM)
+ PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW [AILR_OUT] V2=AILL_OUT
+ PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT (PWM) V2=ELE_OUT
+ PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT
+ PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT
+
+ The RX3SM DSM2 version uses micro connectors and can't support dual ailerons.
+ The RX3SM DSMx version has enough pins to support dual ailerons with a minor hardware
+ modification described in the documentation.
+*/
+
+#define DEVICE_ID DEVICE_RX3SM
+
+//
+#define AIN_PORTC {NULL, &ail_vr, &ele_vr, &rud_vr, NULL, NULL}
+
+// (must in PORT B/D due to ISR)
+#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL}
+#define RX_PORTD {NULL, &ailr_in, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {&delta_sw, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F
+
+//
+#define USE_ITG3200
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);}
+
+// CPPM
+#define CPPM_PROFILE // no cppm
+
+// LED
+#define LED_PROFILE LED_PROFILE_PB5
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD5 for AILR_OUT?
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 5
+#define EEPROM_RESET_IN_PIN 6
+
+#endif
+/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/
+
+
+/* NANOWII ****************************************************************************************************/
+#if defined(NANOWII)
+#warning NANOWII defined // emit device name
+/*
+ NanoWii
+ PB0 17 (PCINT0) | | PD0 3 SCL (SCL) | | PF0 23/A5 (ADC0)
+ PB1 15 RUD_IN (SCK/PCINT1) | | PD1 2 SDA (SDA) | | PF1 22/A4 (ADC1)
+ PB2 16 AIL_IN (MOSI/PCINT2) | | PD2 0 RXD (RXD) | PE2 (HWB_) |
+ PB3 14 ELE_IN (MISO/PCINT3) | | PD3 1 TXD (TXD) | |
+ PB4 8 AUX_IN (PCINT4) | | PD4 4 SV (ADC8/ICP1) | | PF4 21/A3 SV (ADC4)
+ PB5 9 AIL_OUT (PCINT5/OC1A/OC4B_) | | PD5 (TXLED) | | PF5 20/A2 SV (ADC5)
+ PB6 10 ELE_OUT (PCINT6/OC1B/OC4B) | PC6 5 THR_OUT (OC3A/OC4A_) | PD6 12 (OC4D_) | PE6 7 AILR_IN (INT6) | PF6 19/A1 SV (ADC6)
+ PB7 11 RUD_OUT (PCINT7/OC0A/OC1C) | PC7 13 AILR_OUT (OC4A/ICP3) | PD7 6 FLP_OUT (OC4D) | | PF7 18/A0 SV (ADC7)
+
+ SERIALRX
+ PE6 7 CPPM_IN
+*/
+
+#define DEVICE_ID DEVICE_NANOWII
+
+// MUST BE ALL NULL
+#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL}
+
+// PORTD MUST BE ALL NULL
+#define RX_PORTB {NULL, &rud_in, &ail_in, &ele_in, &aux_in, NULL, NULL, NULL}
+#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+// MUST BE ALL NULL
+#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {11, 10, -1, 9, -1, 13, -1, -1} // RETA1a2F
+#define PWM_CHAN_PIN_SERIALRX {11, 10, 5, 9, -1, 13, -1, 6} // RETA1a2F
+
+//
+#define USE_MPU6050
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);}
+
+// CPPM
+#define CPPM_PROFILE CPPM_PROFILE_PE6
+
+// LED
+#define LED_PROFILE LED_PROFILE_PD5
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PC7
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 6
+#define EEPROM_RESET_IN_PIN 5
+
+#endif
+/* NANOWII ****************************************************************************************************/
+
+/* EAGLE_A3PRO *************************************************************************************************/
+#if defined(EAGLE_A3PRO)
+#warning EAGLE_A3PRO defined // emit device name
+
+ /*
+ Eagle A3 Pro Stabilizer EAGLE_A3PRO
+ PB0 8 AIL_IN (OWTXRX) PC0 14/A0 AIL_GAIN PD0 0 AIL_SW (RXD)
+ PB1 9 ELE_IN (PWM) PC1 15/A1 ELE_GAIN PD1 1 ELE_SW (TXD)
+ PB2 10 RUD_IN (PWM) PC2 16/A2 RUD_GAIN PD2 2 RUD_SW
+ PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 PD3 3 LED
+ PB4 12 AILR_IN (MISO) PC4 18/A4 (SDA) PD4 4 AILR_OUT
+ PB5 13 (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT
+ PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM)
+ PB7 15 (XTAL2) PD7 7 RUD_OUT (PWM)
+
+ AIL_SINGLE mode (DEFAULT SETTING)
+ no change
+
+ AIL_DUAL mode
+ PB3 11 AUX_IN instead of MOSI
+ PB4 12 AILR_IN instead of MISO
+
+ CPPM enabled
+ PB0 8 CPPM_IN instead of AIL_IN
+ PB1 9 FLP_OUT instead of ELE_IN
+ PB2 10 THR_OUT instead of RUD_IN
+ PB3 11 AUX2_OUT instead of AUX_IN
+*/
+
+#define DEVICE_ID DEVICE_EAGLE_A3PRO
+
+//
+#define AIN_PORTC {&ail_vr, &ele_vr, &rud_vr, NULL, NULL, NULL}
+
+// (must in PORT B/D due to ISR)
+#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, &ailr_in, NULL, NULL, NULL}
+#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTD {&ail_sw, &ele_sw, &rud_sw, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F
+#define PWM_CHAN_PIN_SERIALRX {7, 6, 10, 4, -1, 4, 11, 9} // RETA1a2F
+
+//
+#define USE_ITG3200
+#define ITG3205_ADDR 0x69 // override default addr
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (y); gyro[1] = (x); gyro[2] = (z);}
+
+// CPPM
+#define CPPM_PROFILE CPPM_PROFILE_PB0
+
+// LED
+#define LED_PROFILE LED_PROFILE_PD3
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PD7 // TODO(noobee): switch to PD4 for AILR_OUT?
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 5
+#define EEPROM_RESET_IN_PIN 6
+
+#endif
+/* EAGLE_A3PRO *************************************************************************************************/
+
+/* MINI_MWC ****************************************************************************************************/
+#if defined(MINI_MWC)
+#warning MINI_MWC defined // emit device name
+/*
+ HK MINI MWC with DSM2 RX
+ PB0 8/D8 CPPM_EXT/pad PC0 14/A0 One-Wire PD0 0/D0 (RXD)
+ PB1 9/D9 FLP_OUT (PWM) PC1 15/A1 rsvd/CPPM_EXT PD1 1/D1 (TXD)
+ PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 AUX2_OUT PD2 2/D2 CPPM_INT
+ PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 THR_OUT (PWM)
+ PB4 12/D12 no connection PC4 18/A4 (SDA) PD4 4/D4 spare/conn
+ PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 ELE_OUT (PWM)
+ PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 RUD_OUT (PWM)
+ PB7 15/D15 (XTAL2) PD7 7/D7 spare/pad
+
+ SERIALRX
+ PD2 D2 CPPM_IN internal RX
+ PB0 D8 CPPM_IN external RX. PC1 A1 is external facing, short this with PB0 D8.
+*/
+
+#define DEVICE_ID DEVICE_MINI_MWC
+
+//
+#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL}
+
+// (must in PORT B/D due to ISR)
+#define RX_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {6, 5, 3, 10, -1, 11, 16, 9} // RETA1a2F
+#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list
+
+//
+#define USE_MPU6050
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);}
+
+// must use one of the SERIALRX modes
+#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SRXL)
+#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS"
+#endif
+
+// CPPM from external/internal RX
+#if defined(MINI_MWC_EXTERNAL_RX)
+#define CPPM_PROFILE CPPM_PROFILE_PB0 // external RX
+#else
+#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX
+#endif
+
+// LED
+#define LED_PROFILE LED_PROFILE_PB5
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PC0
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 6
+#define EEPROM_RESET_IN_PIN 5
+
+#endif // defined(MINI_MWC)
+/* MINI_MWC ****************************************************************************************************/
+
+/* FLIP_1_5 ****************************************************************************************************/
+#if defined(FLIP_1_5)
+#warning FLIP_1_5 defined // emit device name
+/*
+ FLIP 1.5
+ PB0 8/D8 no connection PC0 14/A0 One-Wire PD0 0/D0 (RXD)
+ PB1 9/D9 ELE_OUT (PWM) PC1 15/A1 THR_OUT PD1 1/D1 (TXD)
+ PB2 10/D10 AIL_OUT (PWM) PC2 16/A2 FLP_OUT PD2 2/D2 CPPM_IN
+ PB3 11/D11 AILR_OUT (PWM) PC3 17/A3 no connection PD3 3/D3 RUD_OUT (PWM)
+ PB4 12/D12 AUX_IN PC4 18/A4 (SDA) PD4 4/D4 AIL_IN
+ PB5 13/D13 LED (SCK) PC5 19/A5 (SCL) PD5 5/D5 RUD_IN (PWM)
+ PB6 14/D14 (XTAL1) PC6 (RESET) PD6 6/D6 ELE_IN (PWM)
+ PB7 15/D15 (XTAL2) PD7 7/D7 AILR_IN
+
+ SERIALRX
+ PD2 D2 CPPM_IN
+*/
+
+#define DEVICE_ID DEVICE_FLIP_1_5
+
+//
+#define AIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL}
+
+// (must in PORT B/D due to ISR)
+#define RX_PORTB {NULL, NULL, NULL, NULL, &aux_in, NULL, NULL, NULL}
+#define RX_PORTD {NULL, NULL, NULL, NULL, &ail_in, &rud_in, &ele_in, &ailr_in}
+
+//
+#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // 2016-02-08 changed 2nd entry from &dummy_sw to NULL
+ // Removed long pulse on THR output at power on
+#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+
+//
+#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, 12, 16} // RETA1a2F
+#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list
+
+//
+#define USE_MPU6050
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);}
+
+#define CPPM_PROFILE CPPM_PROFILE_PD2 // internal RX
+
+
+// LED
+#define LED_PROFILE LED_PROFILE_PB5
+
+// one-wire port
+#define OW_PROFILE OW_PROFILE_PC0
+
+// eeprom clear pins. shorted on init means to clear eeprom
+#define EEPROM_RESET_OUT_PIN 6
+#define EEPROM_RESET_IN_PIN 5
+
+#endif // defined(FLIP_1_5)
+/* FLIP_1_5 ****************************************************************************************************/
+
+/* NANO_MPU6050 ************************************************************************************************/
+#if defined(NANO_MPU6050)
+#warning NANO_MPU6050 defined // emit device name
+#undef USE_ITG3200
+#define USE_MPU6050
+#undef GYRO_ORIENTATION
+#define GYRO_ORIENTATION(x, y, z) {gyro[0] = -(x); gyro[1] = (y); gyro[2] = (z);}
+#define F_I2C F_100KHZ // i2c bus speed
+#endif
+/* NANO_MPU6050 ************************************************************************************************/
+
+// standard frequency definitions
+#define F_8MHZ 8000000UL
+#define F_16MHZ 16000000UL
+#define F_100KHZ 100000UL
+#define F_400KHZ 400000UL
+
+#if !defined(F_XTAL)
+#define F_XTAL F_16MHZ // default external crystal oscillator frequency
+#endif
+
+#if !defined(F_I2C)
+#define F_I2C F_400KHZ // default i2c bus speed
+#endif
+
+// emit cpu frequency if not 16MHz
+#if F_CPU == F_8MHZ
+#warning F_CPU == F_8MHZ
+#endif
+#if !((F_XTAL == F_16MHZ && F_CPU == F_16MHZ) || \
+ (F_XTAL == F_16MHZ && F_CPU == F_8MHZ) || \
+ (F_XTAL == F_8MHZ && F_CPU == F_8MHZ))
+#error (F_XTAL,F_CPU) must be (16MHz,16MHz), (16MHz,8MHz) or (8MHz,8MHz)
+#endif
+
+// emit serial debug enabled
+#if defined(SERIAL_DEBUG)
+#warning SERIAL_DEBUG defined
+#endif
+
+// verify single i2c lib defined
+#if defined(USE_I2CDEVLIB) && defined(USE_I2CLIGHT)
+#error Cannot define both USE_I2CDEVLIB and USE_I2CLIGHT
+#endif
+
+// verify single imu defined
+#if defined(USE_MPU6050) && defined(USE_ITG3200)
+#error Cannot define both USE_MPU6050 and USE_ITG3200
+#endif
+
+// verify not more than one serialrx_* mode defined
+#if (defined(SERIALRX_CPPM) && (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))) || \
+ (defined(SERIALRX_SPEKTRUM) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SBUS))) || \
+ (defined(SERIALRX_SBUS) && (defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM)))
+#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS)
+#endif
+
+#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)
+#define SERIALRX_ENABLED
+#endif
+
+// i2cdevlib includes
+#if defined(USE_I2CDEVLIB)
+#warning USE_I2CDEVLIB defined
+ #include "Wire.h"
+ #include "I2Cdev.h"
+#if defined(USE_MPU6050)
+ #include "MPU6050.h"
+ MPU6050 accelgyro;
+#elif defined(USE_ITG3200)
+ #include "ITG3200.h"
+ ITG3200 itg3205_gyro;
+#endif
+#endif
+
+// device id and version
+#if !defined(DEVICE_ID)
+#define DEVICE_ID DEVICE_UNDEF
+#endif
+#if !defined(DEVICE_VER)
+#define DEVICE_VER 12345678L
+#endif
+
+#if defined(SERIALRX_CPPM)
+#if CPPM_PROFILE == CPPM_PROFILE_PB0 // PB0
+#define CPPM_PINREG PINB
+#define CPPM_PINBIT 0
+#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // PD2
+#define CPPM_PINREG PIND
+#define CPPM_PINBIT 2
+#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // PE6
+#define CPPM_PINREG PINE
+#define CPPM_PINBIT 6
+#endif
+#endif
+
+#if OW_PROFILE == OW_PROFILE_PC0 // PC0
+#define OW_BIT 0
+#define OW_DDR DDRC
+#define OW_PORT PORTC
+#define OW_PINREG PINC
+#elif OW_PROFILE == OW_PROFILE_PC7 // PC7
+#define OW_BIT 7
+#define OW_DDR DDRC
+#define OW_PORT PORTC
+#define OW_PINREG PINC
+#elif OW_PROFILE == OW_PROFILE_PD7 // PD7
+#define OW_BIT 7
+#define OW_DDR DDRD
+#define OW_PORT PORTD
+#define OW_PINREG PIND
+#endif
+
+#if LED_PROFILE == LED_PROFILE_PB5 // PB5 active high
+#define LED_DDR DDRB
+#define LED_PORT PORTB
+#define LED_BIT 5
+#define LED_XOR 0 // active high
+#elif LED_PROFILE == LED_PROFILE_PD3 // PD3 active high
+#define LED_DDR DDRD
+#define LED_PORT PORTD
+#define LED_BIT 3
+#define LED_XOR 0 // active high
+#elif LED_PROFILE == LED_PROFILE_PD5 // PD5 active LOW
+#define LED_DDR DDRD
+#define LED_PORT PORTD
+#define LED_BIT 5
+#define LED_XOR 1 // active low
+#endif
+
+// LED set
+#define LED_OFF 0
+#define LED_ON 1
+#define LED_INVERT 2
+
+// LED message pulse duration
+#define LED_LONG 600
+#define LED_SHORT 200
+#define LED_VERY_SHORT 30
+
+#if defined(LED_TIMING)
+#define LED_TIMING_START do {LED_PORT |= (1 << LED_BIT);} while (false)
+#define LED_TIMING_STOP do {LED_PORT &= ~(1 << LED_BIT);} while (false)
+#else
+#define LED_TIMING_START do {} while (false) // no-op
+#define LED_TIMING_STOP do {} while (false) // no-op
+#endif
+
+// adc
+volatile uint8_t ail_vr = 255;
+volatile uint8_t ele_vr = 255;
+volatile uint8_t rud_vr = 255;
+
+// rx
+#define RX_GAIN_HYSTERESIS 25
+#define RX_MODE_HYSTERESIS 25
+#define RX_WIDTH_MIN 900
+#define RX_WIDTH_LOW_FULL 1000
+#define RX_WIDTH_LOW_NORM 1100
+#define RX_WIDTH_LOW_TRACK 1250
+#define RX_WIDTH_MID 1500
+#define RX_WIDTH_MODE_MID 1550 // Move all hysteresis to Hold Mode side so 1500-1520 will always force Rate Mode
+#define RX_WIDTH_HIGH_TRACK 1750
+#define RX_WIDTH_HIGH_NORM 1900
+#define RX_WIDTH_HIGH_FULL 2000
+#define RX_WIDTH_MAX 2100
+
+volatile int16_t ail_in = RX_WIDTH_MID;
+volatile int16_t ele_in = RX_WIDTH_MID;
+volatile int16_t rud_in = RX_WIDTH_MID;
+volatile int16_t ailr_in = RX_WIDTH_MID;
+volatile int16_t aux_in = RX_WIDTH_LOW_FULL; // assume max RATE MODE gain if no aux_in
+volatile int16_t aux2_in = RX_WIDTH_MID;
+volatile int16_t thr_in = RX_WIDTH_LOW_FULL;
+volatile int16_t flp_in = RX_WIDTH_MID;
+int16_t ail_in2, ailr_in2, ele_in2, rud_in2, aux_in2, aux2_in2, thr_in2, flp_in2;
+
+int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position offsets
+int16_t ele_in2_mid = RX_WIDTH_MID; //
+int16_t rud_in2_mid = RX_WIDTH_MID; //
+int16_t ailr_in2_mid = RX_WIDTH_MID; //
+int16_t flp_in2_mid = RX_WIDTH_MID; //
+
+int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset, flp_in2_offset; // difference from *_in2_mid (stick position)
+
+// switch
+int8_t ail_sw = false;
+int8_t ele_sw = false;
+int8_t rud_sw = false;
+int8_t vtail_sw = false;
+int8_t delta_sw = false;
+int8_t aux_sw = false;
+int8_t dummy_sw = false; // used to set pins to input mode
+
+// servo
+volatile int16_t ail_out;
+volatile int16_t ele_out;
+volatile int16_t rud_out;
+volatile int16_t ailr_out;
+volatile int16_t thr_out;
+volatile int16_t flp_out;
+volatile int16_t aux2_out;
+int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2;
+
+// imu
+int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets
+int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec
+int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO)
+int8_t gyro_low_pass_filter = BW_5HZ - 1; // Default Zero Based Digital Low Pass Filter to 5HZ, get desired value from EEPROM
+
+// stabilizer output
+int16_t correction[3] = {0, 0, 0};
+int16_t mixer_out2_low_limit[5];
+int16_t mixer_out2_high_limit[5];
+
+// configuration
+struct _eeprom_cfg cfg;
+
+// local copy of config
+enum WING_MODE wing_mode;
+
+// serialrx_* order
+const int8_t rx_chan_size = 8;
+const volatile int16_t *rx_chan_map[rx_chan_size] =
+ {&rud_in, &ele_in, &thr_in, &ail_in, &aux_in, &ailr_in, &aux2_in, &flp_in}; // see enum SERIALRX_CHAN
+
+const int8_t serialrx_order_RETA1a2f[rx_chan_size] = {
+ SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+const int8_t serialrx_order_TAER1a2f[rx_chan_size] = {
+ SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+const int8_t serialrx_order_AETR1a2f[rx_chan_size] = {
+ SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+const int8_t serialrx_order_AERTa1f2[rx_chan_size] = {
+ SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_T, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2};
+const int8_t serialrx_order_TAERa1f2[rx_chan_size] = {
+ SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2};
+
+volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
+
+// pwm chan order
+const int8_t pwm_chan_size = 8;
+const volatile int16_t *pwm_chan_map[pwm_chan_size] =
+ {&rud_out, &ele_out, &thr_out, &ail_out, NULL, &ailr_out, &aux2_out, &flp_out}; // see enum SERIALRX_CHAN
+
+// stabilization mode
+enum STAB_MODE {STAB_RATE, STAB_HOLD};
+enum STAB_MODE stab_mode = STAB_RATE;
+
+// DELTA DUAL_AIL mode
+enum LINKED_MODE {LINKED_FLAPONLY, LINKED_FLAPPERON, LINKED_FLAPPERONEVATOR};
+enum LINKED_MODE linked_mode = LINKED_FLAPPERON;
+
+const int16_t stick_gain_max = 400; // [1100-1500] or [1900-1500] => [0-STICK_GAIN_MAX]
+const int16_t master_gain_max = 400; // [1500-1100] or [1500-1900] => [0-MASTER_GAIN_MAX]
+
+int32_t minimum_servo_frame_time; // min time between servo updates in us. derived from cfg.servo_frame_rate
+const int32_t maximum_rx_frame_time = 30000; // max time to wait for rx_frame_sync in us
+
+/***************************************************************************************************************
+ * TIMER1 AND MISC
+ ***************************************************************************************************************/
+
+volatile uint16_t timer1_high = 0;
+volatile uint8_t timer1_ovf = 0;
+
+ISR(TIMER1_OVF_vect)
+{
+ if (!++timer1_high)
+ timer1_ovf++;
+}
+
+uint32_t micros1()
+{
+ uint16_t th, tl;
+ uint8_t to;
+#if 0
+ // interrupt-disable version
+ ATOMIC_BLOCK(ATOMIC_RESTORESTATE) {
+ tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M
+ th = timer1_high;
+ to = timer1_ovf;
+ }
+#else
+ // lock-free version. read twice, ensure low order counter did not overflow and
+ // high order bits remain unchanged
+ while (true) {
+ tl = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M
+ th = timer1_high;
+ to = timer1_ovf;
+ if (!((tl ^ TCNT1) & 0x8000) && th == timer1_high && to == timer1_ovf)
+ break;
+ }
+#endif
+#if F_CPU == F_16MHZ
+ return ((uint32_t)to << 31) | ((uint32_t)th << 15) | (tl >> 1);
+#else
+ return ((uint32_t)th << 16) | tl;
+#endif
+}
+
+void delay1(uint32_t ms)
+{
+ uint32_t us = ms * 1000;
+ uint32_t t = micros1();
+ while ((int32_t)(micros1() - t) < us);
+}
+
+void init_clock()
+{
+ // set clock prescaler to /2 when (F_XTAL, F_CPU) = (16M, 8M)
+#if F_XTAL == F_16MHZ && F_CPU == F_8MHZ
+ uint8_t saveSREG = SREG;
+ cli();
+ CLKPR = (1 << CLKPCE);
+ CLKPR = (1 << CLKPS0);
+ SREG = saveSREG;
+#endif
+}
+
+int get_free_sram()
+{
+ extern int __heap_start, *__brkval;
+ int v;
+ return (int)&v - (__brkval == 0 ? (int)&__heap_start : (int)__brkval);
+}
+
+bool boot_check(int8_t in_pin, int8_t out_pin)
+{
+ pinMode(out_pin, OUTPUT);
+ pinMode(in_pin, INPUT);
+ digitalWrite(in_pin, HIGH); // enable pullup
+ delay1(10);
+
+ bool result = true;
+ for (int8_t i=0; i<8; i++) {
+ int8_t level = i & 1 ? HIGH : LOW;
+ digitalWrite(out_pin, level);
+ // alternative to digitalRead()
+ if (((*portInputRegister(digitalPinToPort(in_pin)) & digitalPinToBitMask(in_pin)) ? HIGH : LOW) != level) {
+ result = false;
+ break;
+ }
+ }
+ pinMode(out_pin, INPUT);
+ return result;
+}
+
+
+/***************************************************************************************************************
+ * LED
+ ***************************************************************************************************************/
+/*
+ 4 LED message slots
+ slot 0 for operation mode
+ slot 1 for operation mode
+ slot 2 for error condition
+ slot 3 for error condition
+
+ slot 0
+ 1 LONG = MIX_NORMAL
+ 2 LONG = MIX_DELTA
+ 3 LONG = MIX_VTAIL
+
+ slot 1
+ 1 SHORT = rx calibrating
+ 2 SHORT = imu calibrating
+ 3 SHORT = both calibrating
+ 4 SHORT = STAB_HOLD mode (else STAB_RATE)
+
+ slot 2
+ 5 SHORT = gyro init error
+ 20 VERY SHORT = low sram
+
+ slot 3
+ 50 VERY SHORT = eeprom reset
+
+*/
+
+int8_t led_pulse_count[4];
+int16_t led_pulse_msec[4];
+
+void init_led()
+{
+ LED_DDR |= (1 << LED_BIT);
+}
+
+void set_led(int8_t i)
+{
+#if !defined(LED_TIMING)
+ switch (i ^ LED_XOR) {
+ case LED_ON: LED_PORT |= (1 << LED_BIT); break;
+ case LED_OFF: LED_PORT &= ~(1 << LED_BIT); break;
+ default: LED_PORT ^= (1 << LED_BIT); break;
+ }
+#endif
+}
+
+void set_led_msg(int8_t slot, int8_t pulse_count, int16_t pulse_msec) {
+ led_pulse_count[slot] = pulse_count;
+ led_pulse_msec[slot] = pulse_msec;
+}
+
+void update_led(uint32_t now)
+{
+ static int8_t slot;
+ static int8_t step;
+ static uint32_t next_time;
+
+ if ((int32_t)(next_time - now) > 0)
+ return;
+
+ if (step == 0) {
+ slot = (slot + 1) & 0x3;
+ step = led_pulse_count[slot] << 1;
+ next_time = now + 1000000;
+ return;
+ }
+
+ step--;
+ set_led(step & 0x1 ? LED_ON : LED_OFF);
+ next_time = now + ((uint32_t)led_pulse_msec[slot] << 10);
+}
+
+/***************************************************************************************************************
+ * I2CLIGHT / MPU6050 / ITG3205
+ ***************************************************************************************************************/
+
+uint16_t i2c_errors = 0;
+
+void i2c_init(int8_t pullup, uint32_t freq)
+{
+ if (pullup) {
+#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
+ PORTC |= 1 << 5; // scl PC5
+ PORTC |= 1 << 4; // sda PC4
+#elif defined(__AVR_ATmega32U4__) // nanowii only
+ PORTD |= 1 << 0; // scl PD0
+ PORTD |= 1 << 1; // sda PD1
+#else
+#error Unknown CPU type for I2C
+#endif
+ }
+ TWSR = 0; // prescaler = 1
+ TWBR = ((F_CPU / freq) - 16) >> 1; // baud rate
+}
+
+void i2c_wait()
+{
+ int16_t timeout = 255;
+ while (!(TWCR & (1 << TWINT))) {
+ if (!timeout--) {
+ TWCR = 0; // disable twi
+ i2c_errors++;
+ break;
+ }
+ }
+}
+
+void i2c_start(uint8_t addr)
+{
+ TWCR = (1 << TWINT) | (1 << TWSTA) | (1 << TWEN); // repeated start
+ i2c_wait();
+ TWDR = addr;
+ TWCR = (1 << TWINT) | (1 << TWEN);
+ i2c_wait();
+}
+
+void i2c_stop()
+{
+ TWCR = (1 << TWINT) | (1 << TWSTO) | (1 << TWEN);
+}
+
+void i2c_write(uint8_t data)
+{
+ TWDR = data;
+ TWCR = (1 << TWINT) | (1 << TWEN);
+ i2c_wait();
+}
+
+uint8_t i2c_read(int8_t ack)
+{
+ uint8_t data;
+ TWCR = (1 << TWINT) | (1 << TWEN) | (ack ? (1 << TWEA) : 0);
+ i2c_wait();
+ data = TWDR;
+ if (!ack) i2c_stop();
+ return data;
+}
+
+void i2c_write_reg(uint8_t addr, uint8_t reg, uint8_t data)
+{
+ i2c_start(addr << 1); // write reg
+ i2c_write(reg);
+ i2c_write(data); // write data
+ i2c_stop();
+}
+
+uint8_t i2c_read_reg(uint8_t addr, uint8_t reg)
+{
+ i2c_start(addr << 1); // write reg
+ i2c_write(reg);
+ i2c_start((addr << 1) | 1); // read data
+ return i2c_read(false);
+}
+
+void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size)
+{
+ i2c_start((addr << 1) | 1); // read data
+ while (size--) {
+ *buf++ = i2c_read(size > 0);
+ }
+}
+
+void i2c_read_buf_reg(uint8_t addr, uint8_t reg, uint8_t *buf, int8_t size)
+{
+ i2c_start(addr << 1); // write reg
+ i2c_write(reg);
+ i2c_read_buf(addr, buf, size);
+}
+
+#define MPU6050_ADDR 0x68
+
+int8_t mpu6050_init()
+{
+ i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset
+ delay1(50);
+ i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref
+ i2c_write_reg(MPU6050_ADDR, 0x1A, gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration
+ i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s
+
+ return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id
+}
+
+void mpu6050_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz)
+{
+ uint8_t buf[6];
+ i2c_read_buf_reg(MPU6050_ADDR, 0x43, buf, sizeof(buf));
+ *gx = (buf[0] << 8) | (buf[1]);
+ *gy = (buf[2] << 8) | (buf[3]);
+ *gz = (buf[4] << 8) | (buf[5]);
+}
+
+void mpu6050_read_accel(int16_t *ax, int16_t *ay, int16_t *az)
+{
+ uint8_t buf[6];
+ i2c_read_buf_reg(MPU6050_ADDR, 0x3B, buf, sizeof(buf));
+ *ax = (buf[0] << 8) | (buf[1]);
+ *ay = (buf[2] << 8) | (buf[3]);
+ *az = (buf[4] << 8) | (buf[5]);
+}
+
+#if !defined(ITG3205_ADDR)
+#define ITG3205_ADDR 0x68
+#endif
+
+int8_t itg3205_init()
+{
+ i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset
+ delay1(50);
+ i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref
+ i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration
+
+ return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id
+}
+
+void itg3205_read_gyro(int16_t *gx, int16_t *gy, int16_t *gz)
+{
+ uint8_t buf[6];
+ i2c_read_buf_reg(ITG3205_ADDR, 0x1D, buf, sizeof(buf));
+ *gx = (buf[0] << 8) | (buf[1]);
+ *gy = (buf[2] << 8) | (buf[3]);
+ *gz = (buf[4] << 8) | (buf[5]);
+}
+
+/***************************************************************************************************************
+ * ANALOG IN (VR)
+ ***************************************************************************************************************/
+
+const int8_t adc_portc_size = 6;
+volatile uint8_t *adc_portc[adc_portc_size] = AIN_PORTC;
+
+void start_adc(uint8_t ch)
+{
+ ADMUX = (ADMUX & ~0x07) | ch; // set adc channel
+ ADCSRA |= (1 << ADSC); // adc start conversion
+}
+
+void start_next_adc(uint8_t ch)
+{
+ while (ch < adc_portc_size) { // start next adc channel that has a valid mapping
+ if (adc_portc[ch]) {
+ start_adc(ch);
+ break;
+ }
+ ch++;
+ }
+}
+
+ISR(ADC_vect)
+{
+ uint8_t ch = ADMUX & 0x07; // extract the channel of the ADC result
+ *adc_portc[ch] = ADCH; // save only the 8 msbs
+ start_next_adc(ch+1);
+}
+
+void init_analog_in()
+{
+ int8_t i;
+ for (i=0; i> (F_CPU == F_16MHZ ? 1 : 0);
+ fall_time = now;
+ if (width > 3000) {
+ ch_count = ch; // track total channels found before sync gap
+ ch = 0;
+ } else {
+ if (ch < rx_chan_size) {
+ if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN;
+ if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX;
+ *rx_chan[ch] = width;
+ }
+ ch++;
+ if (ch == ch_count)
+ rx_frame_sync = true; // mark as synced on last channel before sync gap
+ }
+}
+#endif // CPPM_PROFILE_PB0
+
+// interrupt handler for CPPM stream on non-ICP pin (eg. CPPM_PROFILE_PD2 and CPPM_PROFILE_PE6)
+// CPPM_PINREG and CPPM_PINBIT must be defined
+// port/pin must be set up for interrupt on edge change and input mode in init_digital_in_rx()
+inline void non_icp_cppm_vect()
+{
+ static int8_t ch_count;
+ static int8_t ch;
+ static uint16_t fall_time;
+ static uint8_t last_pin;
+ uint16_t now;
+ uint8_t last_pin2;
+
+ now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M
+ last_pin2 = last_pin;
+ last_pin = CPPM_PINREG;
+ if (((last_pin2 & ~last_pin) & (1 << CPPM_PINBIT)) == 0)
+ return; // return if NOT falling edge on CPPM_PINREG/CPPM_PINBIT
+ sei();
+
+ uint16_t width = (now - fall_time) >> (F_CPU == F_16MHZ ? 1 : 0);
+ fall_time = now;
+ if (width > 3000) {
+ ch_count = ch; // track total channels found before sync gap
+ ch = 0;
+ } else {
+ if (ch < rx_chan_size) {
+ if (width < RX_WIDTH_MIN) width = RX_WIDTH_MIN;
+ if (width > RX_WIDTH_MAX) width = RX_WIDTH_MAX;
+ *rx_chan[ch] = width;
+ }
+ ch++;
+ if (ch == ch_count)
+ rx_frame_sync = true; // mark as synced on last channel before sync gap
+ }
+}
+
+#if CPPM_PROFILE == CPPM_PROFILE_PD2
+ISR(PCINT2_vect)
+{
+ non_icp_cppm_vect();
+}
+#endif // CPPM_PROFILE_PD2
+
+#if CPPM_PROFILE == CPPM_PROFILE_PE6
+ISR(INT6_vect)
+{
+ non_icp_cppm_vect();
+}
+#endif // CPPM_PROFILE_PE6
+#endif // SERIALRX_CPPM
+
+#if !defined(SERIALRX_ENABLED)
+// regular NON-CPPM RX handling
+const int8_t rx_port_size = 8;
+volatile int16_t *rx_portb[rx_port_size] = RX_PORTB;
+volatile int16_t *rx_portd[rx_port_size] = RX_PORTD;
+int8_t rx_frame_sync_ref; // PB bit for non-CPPM
+
+// PORTB PCINT0-PCINT7
+ISR(PCINT0_vect)
+{
+ static uint16_t rise_time[rx_port_size];
+ static uint8_t last_pin;
+ uint16_t now;
+ uint8_t pin, last_pin2, diff, rise;
+
+ now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M
+ last_pin2 = last_pin;
+ pin = PINB;
+ last_pin = pin;
+ sei();
+
+ diff = pin ^ last_pin2;
+ rise = pin & ~last_pin2;
+
+ for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0);
+ if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) {
+ *rx_portb[i] = width;
+ if (i == rx_frame_sync_ref)
+ rx_frame_sync = true;
+ }
+ }
+ }
+ }
+}
+
+#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
+// PORTD PCINT16-PCINT23
+ISR(PCINT2_vect)
+{
+ static uint16_t rise_time[rx_port_size];
+ static uint8_t last_pin;
+ uint16_t now;
+ uint8_t pin, last_pin2, diff, rise;
+
+ now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M
+ last_pin2 = last_pin;
+ pin = PIND;
+ last_pin = pin;
+ sei();
+
+ diff = pin ^ last_pin2;
+ rise = pin & ~last_pin2;
+
+ for (int8_t i=0; i> (F_CPU == F_16MHZ ? 1 : 0);
+ if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) {
+ *rx_portd[i] = width;
+ }
+ }
+ }
+ }
+}
+#endif // __AVR_ATmega168__ || __AVR_ATmega328P__
+
+#if defined(__AVR_ATmega32U4__) // nanowii only
+// PE6 MUST BE ailr_in
+ISR(INT6_vect)
+{
+ static uint16_t rise_time;
+ static uint8_t last_pin;
+ uint16_t now;
+ uint8_t pin, last_pin2, rise;
+
+ now = TCNT1; // tick=0.5us if F_CPU=16M, tick=1.0us if F_CPU=8M
+ last_pin2 = last_pin;
+ pin = PINE;
+ last_pin = pin;
+ sei();
+
+ rise = pin & ~last_pin2;
+ if (rise & (1 << 6)) {
+ rise_time = now;
+ } else {
+ uint16_t width = (now - rise_time) >> (F_CPU == F_16MHZ ? 1 : 0);
+ if (width >= RX_WIDTH_MIN && width <= RX_WIDTH_MAX) {
+ ailr_in = width;
+ }
+ }
+}
+#endif // __AVR_ATmega32U4__
+#endif // !SERIALRX_ENABLED
+
+void init_digital_in_rx()
+{
+#if defined(SERIALRX_CPPM)
+#if CPPM_PROFILE == CPPM_PROFILE_PB0 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINB, 0)
+ // eg. atmega168/328 ICP
+ TIMSK1 |= (1 << ICIE1); // enable interrupt on ICP
+ TCCR1B |= (1 << ICNC1); // enable noise canceler and interrupt on falling edge
+#elif CPPM_PROFILE == CPPM_PROFILE_PD2 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PIND, 2)
+ // eg. MINI_MWC CPPM is on D2 (INTERNAL RX)
+ PCICR |= (1 << PCIE2); // interrupt on pin change
+ PCMSK2 |= (1 << CPPM_PINBIT);
+ DDRD &= ~(1 << CPPM_PINBIT); // set input mode
+ PORTD |= (1 << CPPM_PINBIT); // enable internal pullup
+#elif CPPM_PROFILE == CPPM_PROFILE_PE6 // (CPPM_PINREG, CPPM_PINBIT) MUST be (PINE, 6)
+ // eg. NANOWII CPPM
+ EICRB |= (1 << ISC60); // interrupt on pin change
+ EIMSK |= (1 << INT6);
+ DDRE &= ~(1 << CPPM_PINBIT); // set input mode
+ PORTE |= (1 << CPPM_PINBIT); // enable internal pullup
+#else
+#error Unknown CPPM_PROFILE
+#endif
+ return;
+#endif // SERIALRX_CPPM
+
+#if !defined(SERIALRX_ENABLED)
+ // standard non-CPPM RX input
+ // rx_portb for all, rx_portd for atmega168/328, PE6 for atmega32u4
+
+ // PORTB RX
+ PCICR |= (1 << PCIE0); // interrupt on pin change
+ for (int8_t i=0; i= 0) // pwm_ch = -1 by start_servo_frame()
+ digitalWrite(pwm_chan_pin[pwm_ch], LOW);
+ while (pwm_ch < pwm_chan_size - 1) {
+ pwm_ch++;
+ if (pwm_chan_pin[pwm_ch] >= 0) {
+ uint16_t wait;
+ uint16_t tcnt1 = TCNT1;
+ digitalWrite(pwm_chan_pin[pwm_ch], HIGH);
+ wait = (*pwm_chan_map[pwm_ch] - 2) << (F_CPU == F_16MHZ ? 1 : 0);
+ OCR1A = tcnt1 + wait;
+ return;
+ }
+ }
+ // completed cycle
+ servo_busy = false;
+ TIMSK1 &= ~(1 << OCIE1A); // disable further interrupt on TCNT1 == OCR1A
+}
+
+void init_digital_out()
+{
+ for (int8_t i=0; i= 0)
+ {
+ //jrb 2016-02-08 Force all Outputs Low before enabling pin as OUTPUT
+ digitalWrite(pwm_chan_pin[i], LOW);
+ pinMode(pwm_chan_pin[i], OUTPUT);
+ }
+ }
+}
+
+/***************************************************************************************************************
+ * PID
+ ***************************************************************************************************************/
+
+#define PID_PERIOD 10000
+// relative exponential weights kp:ki:kd
+#define PID_KP_SHIFT 3
+#define PID_KI_SHIFT 6
+#define PID_KD_SHIFT 2
+
+// struct _pid_param defined in FlightStab.h
+
+struct _pid_state {
+ // setpoint, input [-8192, 8191]
+ int16_t setpoint[3];
+ int16_t input[3];
+ int16_t last_err[3];
+ int32_t sum_err[3];
+ int32_t i_limit[3];
+ int16_t output[3];
+};
+
+struct _pid_state pid_state; // pid engine state
+
+void compute_pid(struct _pid_state *ppid_state, struct _pid_param *ppid_param)
+{
+ for (int8_t i=0; i<3; i++) {
+ int32_t err, sum_err, diff_err, pterm, iterm, dterm;
+ err = ppid_state->input[i] - ppid_state->setpoint[i];
+ // accumulate the error up to an i_limit threshold
+ sum_err = ppid_state->sum_err[i] = constrain(ppid_state->sum_err[i] + err, -ppid_state->i_limit[i], ppid_state->i_limit[i]);
+ diff_err = err - ppid_state->last_err[i]; // difference the error
+ ppid_state->last_err[i] = err;
+
+ pterm = (ppid_param->kp[i] * err) >> PID_KP_SHIFT;
+ iterm = (ppid_param->ki[i] * sum_err) >> PID_KI_SHIFT;
+ dterm = (ppid_param->kd[i] * diff_err) >> PID_KD_SHIFT;
+ ppid_state->output[i] = (pterm + iterm + dterm) >> ppid_param->output_shift;
+
+#if defined(SERIAL_DEBUG) && 0
+ if (i == 2) {
+ Serial.print(ppid_state->input[i]); Serial.print('\t');
+ Serial.print(err); Serial.print('\t');
+ Serial.print(diff_err); Serial.print('\t');
+ Serial.print(pterm); Serial.print('\t');
+ Serial.print(iterm); Serial.print('\t');
+ Serial.print(ppid_state->sum_err[i]); Serial.print('\t');
+ Serial.print(dterm); Serial.print('\t');
+ Serial.println(ppid_state->output[i]);
+ }
+#endif
+ }
+}
+
+/***************************************************************************************************************
+ * EEPROM
+ ***************************************************************************************************************/
+
+const uint16_t eeprom_stats_addr = 128;
+const uint16_t eeprom_cfg1_addr = 0;
+const uint16_t eeprom_cfg2_addr = 256+0;
+
+uint8_t eeprom_compute_chksum(void *buf, int8_t len)
+{
+ uint8_t chksum = 0;
+ for (int8_t i=0; ichksum = eeprom_compute_chksum(pcfg, sizeof(*pcfg)-1);
+ eeprom_write_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg));
+}
+
+int8_t eeprom_read_cfg(struct _eeprom_cfg *pcfg, uint16_t eeprom_addr, uint8_t expect_ver)
+{
+ eeprom_read_block(pcfg, (void *)eeprom_addr, sizeof(*pcfg));
+ if (pcfg->ver != expect_ver) {
+ return -1;
+ }
+ if (eeprom_compute_chksum(pcfg, sizeof(*pcfg)) != 0) {
+ return -2;
+ }
+ return 0;
+}
+
+
+
+/***************************************************************************************************************
+ * IMU SENSOR
+ ***************************************************************************************************************/
+
+void read_imu()
+{
+ int16_t gx, gy, gz, tmp;
+#if defined(USE_I2CDEVLIB)
+#if defined(USE_MPU6050)
+ accelgyro.getRotation(&gx, &gy, &gz);
+#elif defined(USE_ITG3200)
+ itg3205_gyro.getRotation(&gx, &gy, &gz);
+#endif
+#endif
+
+#if defined(USE_I2CLIGHT)
+#if defined(USE_MPU6050)
+ mpu6050_read_gyro(&gx, &gy, &gz);
+#elif defined(USE_ITG3200)
+ itg3205_read_gyro(&gx, &gy, &gz);
+#endif
+#endif
+ GYRO_ORIENTATION(gx, gy, gz);
+ switch (cfg.mount_orient) {
+ case MOUNT_NORMAL: break;
+ case MOUNT_ROLL_90_LEFT:
+ tmp = gyro[1];
+ gyro[1] = gyro[2];
+ gyro[2] = -tmp;
+ break;
+ case MOUNT_ROLL_90_RIGHT:
+ tmp = gyro[1];
+ gyro[1] = -gyro[2];
+ gyro[2] = tmp;
+ break;
+ case MOUNT_ROTATE_90_LEFT:
+ tmp = gyro[0];
+ gyro[0] = gyro[1];
+ gyro[1] = -tmp;
+ break;
+ case MOUNT_ROTATE_90_RIGHT:
+ tmp = gyro[0];
+ gyro[0] = -gyro[1];
+ gyro[1] = tmp;
+ break;
+ }
+}
+
+void init_imu()
+{
+#if defined(USE_I2CDEVLIB)
+#if defined(USE_MPU6050)
+ Wire.begin();
+ accelgyro.initialize();
+ if (!accelgyro.testConnection()) {
+ set_led_msg(2, 5, LED_SHORT);
+ }
+ accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
+ accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
+ accelgyro.setDLPFMode(gyro_low_pass_filter - 1);
+ accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
+#elif defined(USE_ITG3200)
+ Wire.begin();
+ itg3205_gyro.initialize();
+ itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO);
+ itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000);
+ itg3205_gyro.setDLPFBandwidth(gyro_low_pass_filter - 1);
+ if (!itg3205_gyro.testConnection()) {
+ set_led_msg(2, 5, LED_SHORT);
+ }
+#endif
+#endif
+
+#if defined(USE_I2CLIGHT)
+#if defined(USE_MPU6050)
+ i2c_init(true, F_I2C);
+ if (!mpu6050_init()) {
+ set_led_msg(2, 5, LED_SHORT);
+ }
+#elif defined(USE_ITG3200)
+ i2c_init(true, F_I2C);
+ if (!itg3205_init()) {
+ set_led_msg(2, 5, LED_SHORT);
+ }
+#endif
+#endif
+}
+
+/***************************************************************************************************************
+ * CALIBRATION
+ ***************************************************************************************************************/
+
+int8_t calibration_wag_count;
+uint32_t last_calibration_wag_time;
+
+struct _calibration {
+ int8_t done;
+ int16_t num_elements; // 3 for imu, 4 for rx
+ int16_t low[4];
+ int16_t high[4];
+ int32_t sum[4];
+ int16_t mean[4];
+ int16_t num_samples;
+};
+
+void calibrate_set_led(struct _calibration *prx_cal, struct _calibration *pimu_cal) {
+ set_led_msg(1, (pimu_cal->done ? 0 : 2) + (prx_cal->done ? 0 : 1), LED_SHORT);
+}
+
+void calibrate_init_stat(struct _calibration *pcal, int8_t num_elements)
+{
+ pcal->done = false;
+ pcal->num_elements = num_elements;
+ for (int8_t i=0; i < pcal->num_elements; i++) {
+ pcal->low[i] = 32767;
+ pcal->high[i] = -32768;
+ pcal->sum[i] = 0;
+ }
+ pcal->num_samples = 0;
+}
+
+void calibrate_update_stat(struct _calibration *pcal, int16_t *psample)
+{
+ for (int8_t i=0; i < pcal->num_elements; i++) {
+ pcal->low[i] = min(pcal->low[i], psample[i]);
+ pcal->high[i] = max(pcal->high[i], psample[i]);
+ pcal->sum[i] += psample[i];
+ }
+}
+
+void calibrate_compute_mean(struct _calibration *pcal)
+{
+ for (int8_t i=0; i < pcal->num_elements; i++) {
+ pcal->mean[i] = pcal->sum[i] / pcal->num_samples;
+ }
+}
+
+int8_t calibrate_check_stat(struct _calibration *pcal, int16_t range)
+{
+ int8_t good = 0;
+ for (int8_t i=0; i < pcal->num_elements; i++) {
+ if (pcal->high[i] - pcal->low[i] < range)
+ good++;
+ }
+ return (good == pcal->num_elements);
+}
+
+void calibrate_print_stat(struct _calibration *pcal)
+{
+#if defined(SERIAL_DEBUG) && 0
+ Serial.println(pcal->num_samples);
+ for (int8_t i=0; i < pcal->num_elements; i++) {
+ Serial.print(pcal->low[i]); Serial.print('\t');
+ Serial.print(pcal->mean[i]); Serial.print('\t');
+ Serial.println(pcal->high[i]);
+ }
+#endif
+}
+
+void calibrate_rx(struct _calibration *prx_cal)
+{
+ int16_t sample[5];
+ int8_t is_calibrating = true;
+
+ sample[0] = ail_in2;
+ sample[1] = ele_in2;
+ sample[2] = rud_in2;
+ sample[3] = ailr_in2;
+ sample[4] = flp_in2;
+ calibrate_update_stat(prx_cal, sample);
+
+ if (++prx_cal->num_samples == 100) {
+ if (calibrate_check_stat(prx_cal, 20)) {
+ calibrate_compute_mean(prx_cal);
+ ail_in2_mid = prx_cal->mean[0];
+ ele_in2_mid = prx_cal->mean[1];
+ rud_in2_mid = prx_cal->mean[2];
+ ailr_in2_mid = prx_cal->mean[3];
+ flp_in2_mid = prx_cal->mean[4];
+#if defined(SERIAL_DEBUG) && 0
+ Serial.println("RX");
+ calibrate_print_stat(prx_cal);
+#endif
+ prx_cal->done = true; // done
+ } else {
+ calibrate_init_stat(prx_cal, 4); // reset and try again
+ }
+ }
+}
+
+void calibrate_imu(struct _calibration *pimu_cal)
+{
+ int16_t sample[3];
+ int8_t is_calibrating = true;
+
+ sample[0] = gyro[0];
+ sample[1] = gyro[1];
+ sample[2] = gyro[2];
+ calibrate_update_stat(pimu_cal, sample);
+
+ if (++pimu_cal->num_samples == 300) {
+ if (calibrate_check_stat(pimu_cal, 50)) {
+ calibrate_compute_mean(pimu_cal);
+ for (int8_t i=0; i<3; i++)
+ gyro0[i] = pimu_cal->mean[i];
+#if defined(SERIAL_DEBUG) && 0
+ Serial.println("GY");
+ calibrate_print_stat(pimu_cal);
+#endif
+ pimu_cal->done = true; // done
+ } else {
+ calibrate_init_stat(pimu_cal, 3); // reset and try again
+ }
+ }
+}
+
+/***************************************************************************************************************
+ * RX IN - MIXER - SERVO OUT
+ ***************************************************************************************************************/
+
+void copy_rx_in()
+{
+ // lock-free method to copy isr-owned *_in vars to *_in2 vars
+ int16_t tmp;
+ if ((tmp = ail_in) == ail_in) ail_in2 = tmp;
+ if ((tmp = ele_in) == ele_in) ele_in2 = tmp;
+ if ((tmp = rud_in) == rud_in) rud_in2 = tmp;
+ if ((tmp = aux_in) == aux_in) aux_in2 = tmp;
+ if ((tmp = aux2_in) == aux2_in) aux2_in2 = tmp;
+ if ((tmp = thr_in) == thr_in) thr_in2 = tmp;
+ if ((tmp = flp_in) == flp_in) flp_in2 = tmp;
+
+ if (wing_mode <= WING_VTAIL_1AIL)
+ // WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL
+ ailr_in2 = ail_in2;
+ else
+ if ((tmp = ailr_in) == ailr_in) ailr_in2 = tmp;
+}
+
+void apply_mixer_change(int16_t *change)
+{
+ // *_in2 => [change] => *_out2
+
+ // for delta/vtail
+ // tx = MID + (stick[x] + change[x]) * mult, where mult = 1/1, 3/2, 5/4
+
+ // mixer
+ int16_t tmp0, tmp1, tmp2, tmp3;
+ #define AIL_DELTA tmp0
+ #define ELE_DELTA tmp1
+ #define AIL_SCALE tmp2
+ #define ELE_SCALE tmp3
+ #define RUD_DELTA tmp0
+ #define RUD_SCALE tmp2
+
+ switch (wing_mode) {
+ case WING_RUDELE_1AIL:
+ case WING_RUDELE_2AIL:
+ ail_out2 = ail_in2 + change[0];
+ ailr_out2 = ailr_in2 + change[0];
+ ele_out2 = ele_in2 + change[1];
+ rud_out2 = rud_in2 + change[2];
+ break;
+
+ case WING_DELTA_1AIL:
+ // input: ail=ailr=roll, ele=pitch, rud=yaw
+ // output: ail=delta2, ailr=ail, ele=delta1, rud=rud
+ case WING_DELTA_2AIL:
+ // input: ail=ail, ailr=ailr ele=pitch, rud=linked
+ // output: ail=ail, ailr=ailr, ele=delta1, rud=delta2
+
+ // set up for WING_DELTA_2AIL pin mapping first
+ ail_out2 = ail_in2 + change[0];
+ ailr_out2 = ailr_in2 + change[0];
+ //jrb tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0];
+ AIL_DELTA = (ail_in2 - ail_in2_mid)+ change[0];
+ //jrb tmp1 = ele_in2 + change[1]; // ele input + elevator change
+ ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1];
+
+ // apply 100% (1/1)
+ //ele_out2 = ((tmp0 + tmp1) >> 1);
+ //rud_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID;
+
+ // apply 125% (5/4)
+ AIL_SCALE = (AIL_DELTA >> 1) + (AIL_DELTA >> 3);
+ ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3);
+ //jrb ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2);
+ ele_out2 = AIL_SCALE + ELE_SCALE + ele_in2_mid;
+ //jrb tmp2 = tmp0 - tmp1;
+ //jrb rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID;
+ rud_out2 = AIL_SCALE - ELE_SCALE + ail_in2_mid;
+
+ // apply 150% (3/2)
+ //tmp2 = tmp0 + tmp1;
+ //ele_out2 = tmp2 - (tmp2 >> 2) - (RX_WIDTH_MID >> 1);
+ //tmp2 = tmp0 - tmp1;
+ //rud_out2 = tmp2 - (tmp2 >> 2) + RX_WIDTH_MID;
+
+ if (wing_mode == WING_DELTA_2AIL) {
+ // rud_in2 == LINKED mode input
+ enum LINKED_MODE linked_mode = rud_in2 < 1250 ? LINKED_FLAPONLY :
+ rud_in2 > 1400 && rud_in2 < 1600 ? LINKED_FLAPPERON :
+ rud_in2 > 1750 ? LINKED_FLAPPERONEVATOR :
+ linked_mode;
+
+ switch (linked_mode) {
+ case LINKED_FLAPONLY: // flaps only (and no roll stabilization)
+ tmp0 = ((ail_in2 - ail_in2_mid) - (ailr_in2 - ailr_in2_mid)) >> 1; // flap-only offset
+ ail_out2 = RX_WIDTH_MID + tmp0;
+ ailr_out2 = RX_WIDTH_MID - tmp0;
+ break;
+ case LINKED_FLAPPERON: // flaps and roll
+ // ail_out2 and ailr_out2 are already regular flapperons
+ break;
+ case LINKED_FLAPPERONEVATOR: // flaps, roll and pitch
+ // rud_vr scales tmp0 by -1.0 to +1.0
+ tmp0 = (int32_t)((ele_in2_offset + change[1])) * ((int16_t)rud_vr - 128) >> 7;
+ ail_out2 += tmp0;
+ ailr_out2 -= tmp0;
+ break;
+ }
+ } else {
+ // shuffle outputs for WING_DELTA_1AIL pin mapping
+ ail_out2 = rud_out2; // ail_out=delta2, ele_out=delta1
+ rud_out2 = rud_in2 + change[2]; // rud_out
+ }
+ break;
+
+ case WING_VTAIL_1AIL:
+ case WING_VTAIL_2AIL:
+ ail_out2 = ail_in2 + change[0];
+ ailr_out2 = ailr_in2 + change[0];
+ //jrb tmp1 = ele_in2 + change[1];
+ //jrb tmp2 = rud_in2 + change[2];
+ ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1];
+ RUD_DELTA = (rud_in2 - rud_in2_mid) + change[2];
+ // apply 125% (5/4)
+ //jrb tmp0 = tmp2 + tmp1;
+ RUD_SCALE = (RUD_DELTA >> 1) + (RUD_DELTA >> 3);
+ ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3);
+ //jrb ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2);
+ //jrb tmp0 = tmp2 - tmp1;
+ //jrb rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID;
+ ele_out2 = ELE_SCALE + RUD_SCALE + ele_in2_mid;
+ rud_out2 = ELE_SCALE - RUD_SCALE + rud_in2_mid;
+ break;
+
+ case WING_DUCKERON:
+ // input: ail=roll, ele=pitch, rud=yaw, ailr_in=brake
+ // output: ail=left1, ele=left2, ailr=right1, rud=right2
+ tmp0 = (ail_in2 - ail_in2_mid) + change[0]; // roll
+ tmp1 = ele_in2_offset + change[1]; // pitch
+ tmp2 = rud_in2_offset + change[2]; // yaw
+ tmp3 = constrain((ailr_in - RX_WIDTH_LOW_NORM) >> 1, 0, 500); // brake from 0-500
+ ail_out2 = RX_WIDTH_MID + tmp0 + tmp1 - max(0, -tmp2 + tmp3); // left1
+ ele_out2 = RX_WIDTH_MID + tmp0 + tmp1 + max(0, -tmp2 + tmp3); // left2
+ ailr_out2 = RX_WIDTH_MID + tmp0 - tmp1 + max(0, tmp2 + tmp3); // right1
+ rud_out2 = RX_WIDTH_MID + tmp0 - tmp1 - max(0, tmp2 + tmp3); // right2
+ break;
+
+ case WING_RUD_2ELE_2AIL:
+ ail_out2 = ail_in2 + change[0];
+ ailr_out2 = ailr_in2 + change[0];
+ ele_out2 = ele_in2 + change[1]; // ELE-L
+ flp_out2 = flp_in2 - change[1]; // ELE-R
+ rud_out2 = rud_in2 + change[2];
+ break;
+ }
+
+
+ // throttle, flap and aux2 pass through
+ thr_out2 = thr_in2;
+ if(wing_mode != WING_RUD_2ELE_2AIL) // flp_out2 has been used for second elevator
+ flp_out2 = flp_in2;
+ aux2_out2 = aux2_in2;
+}
+
+void set_mixer_limits(int16_t low, int16_t high)
+{
+ for (int8_t i=0; i<5; i++) {
+ mixer_out2_low_limit[i] = low;
+ mixer_out2_high_limit[i] = high;
+ }
+}
+
+void apply_mixer()
+{
+ // *_in2 => [correction] => *_out2
+
+ static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2, &flp_out2};
+ int8_t i;
+ int8_t cnt;
+
+ // if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through)
+ if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) {
+ const int16_t zero_correction[5] = {0, 0, 0, 0, 0};
+ apply_mixer_change((int16_t *)zero_correction);
+ for (i=0; i<5; i++) {
+ mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]);
+ mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]);
+ }
+ }
+
+ // apply mixer with actual correction and clamp servo output to limits
+ apply_mixer_change(correction);
+ // Do not constrain Flap channel unless it is being used for left elevator
+ if (wing_mode == WING_RUD_2ELE_2AIL)
+ cnt = 5;
+ else
+ cnt = 4;
+
+ for (i=0; i maximum_rx_frame_time) {
+ rx_frame_sync = false;
+ copy_rx_in();
+ servo_sync = true;
+ last_rx_frame_time = t;
+ }
+
+ Serial.print(" RX ");
+ Serial.print(ail_in2); Serial.print(' ');
+ Serial.print(ele_in2); Serial.print(' ');
+ Serial.print(rud_in2); Serial.print(' ');
+ Serial.print(ailr_in2); Serial.print(' ');
+ Serial.print(aux_in2); Serial.print(' ');
+ Serial.print(aux2_in2); Serial.print(' ');
+ Serial.print(thr_in2); Serial.print(' ');
+ Serial.print(flp_in2); Serial.print('\t');
+
+ uint8_t ail_vr2, ele_vr2, rud_vr2;
+ ail_vr2 = ail_vr;
+ ele_vr2 = ele_vr;
+ rud_vr2 = rud_vr;
+ start_next_adc(0);
+
+ Serial.print("VR ");
+ Serial.print(ail_vr2, HEX); Serial.print(' ');
+ Serial.print(ele_vr2, HEX); Serial.print(' ');
+ Serial.print(rud_vr2, HEX); Serial.print('\t');
+
+ read_switches();
+ Serial.print("SW ");
+ Serial.print((bool)ail_sw); Serial.print(' ');
+ Serial.print((bool)ele_sw); Serial.print(' ');
+ Serial.print((bool)rud_sw); Serial.print(' ');
+ Serial.print((bool)vtail_sw); Serial.print(' ');
+ Serial.print((bool)delta_sw); Serial.print(' ');
+ Serial.print((bool)aux_sw); Serial.print('\t');
+
+ read_imu();
+ Serial.print("GY ");
+ Serial.print(gyro[0]); Serial.print('\t');
+ Serial.print(gyro[1]); Serial.print('\t');
+ Serial.print(gyro[2]); Serial.print('\t');
+
+ servo_out += servo_dir;
+ if (servo_out < RX_WIDTH_LOW_FULL || servo_out > RX_WIDTH_HIGH_FULL) {
+ servo_out = constrain(servo_out, RX_WIDTH_LOW_FULL, RX_WIDTH_HIGH_FULL);
+ servo_dir = -servo_dir;
+ }
+ ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = servo_out;
+// ail_out2 = ele_out2 = rud_out2 = ailr_out2 = thr_out2 = flp_out2 = aux2_out2 = RX_WIDTH_MID;
+
+ // sync servo frame when servo ISR is idle
+ // but ensure minimum time between servo frames, or Analog servos will not be happy!!!
+ if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) {
+ servo_sync = false;
+ start_servo_frame();
+ last_servo_frame_time = t;
+ }
+
+ Serial.print("MISC ");
+ Serial.print(i2c_errors); Serial.print(' ');
+ Serial.print(cfg.wing_mode); Serial.print(' ');
+ Serial.print(wing_mode); Serial.print(' ');
+ Serial.print(cfg.mixer_epa_mode); Serial.print(' ');
+ for (int8_t i=0; i
+ bool zx_rev, zy_rev;
+ bool zx_sided, zy_sided;
+};
+
+void stick_zone_init(struct _stick_zone *psz)
+{
+ psz->zx = psz->zy = 1; // neutral zone
+ psz->curr = 5; // center
+ psz->zx_rev = psz->zy_rev = false; // rev=false => top/left == narrow AIL/ELE pulse
+ psz->zx_sided = psz->zy_sided = false; // have not found a side yet
+}
+
+int8_t stick_zone(int16_t pwm, bool rev)
+{
+ int8_t zone;
+ if (pwm <= 1200) zone = 0;
+ else if (pwm >= 1300 && pwm <= 1700) zone = 1;
+ else if (pwm >= 1800) zone = 2;
+ else zone = -1; // in the hysteresis region
+
+ if (zone >= 0 && rev)
+ zone = 2 - zone;
+ return zone;
+}
+
+bool stick_zone_update(struct _stick_zone *psz)
+{
+ int8_t tmp;
+ bool moved;
+
+ psz->prev = psz->curr;
+ if ((tmp = stick_zone(ail_in2, psz->zx_rev)) >= 0) psz->zx = tmp; // hysteresis
+ if ((tmp = stick_zone(ele_in2, psz->zy_rev)) >= 0) psz->zy = tmp;
+
+ // we assume that the first corner visited bottom left (position 7)
+ // so stick on the left if the AIL pulse is at either horizontal end
+ if (!psz->zx_sided && (psz->zx == 0 || psz->zx == 2)) {
+ if (psz->zx == 2) {
+ psz->zx_rev = true;
+ psz->zx = 2 - psz->zx;
+ }
+ psz->zx_sided = true;
+ }
+ // and stick is on the bottom if the ELE pulse is at either vertical end
+ if (!psz->zy_sided && (psz->zy == 0 || psz->zy == 2)) {
+ if (psz->zy == 0) {
+ psz->zy_rev = true;
+ psz->zy = 2 - psz->zy;
+ }
+ psz->zy_sided = true;
+ }
+
+ psz->curr = psz->zy * 3 + psz->zx + 1;
+ // telephone pad mapping
+ // 1 2 3
+ // 4 5 6
+ // 7 8 9
+ moved = (psz->curr != psz->prev);
+ if (moved) {
+ psz->move = (psz->prev << 4) | psz->curr; // move = 0x[prev digit][curr digit]
+#if defined(SERIAL_DEBUG) && 0
+ Serial.print("stick_zone ");
+ Serial.print(psz->zx); Serial.print(' ');
+ Serial.print(psz->zy); Serial.print(' ');
+ Serial.print(psz->zx_rev); Serial.print(' ');
+ Serial.print(psz->zy_rev); Serial.print(' ');
+ Serial.print(psz->move, HEX);
+ Serial.println();
+#endif
+ }
+ return moved;
+}
+
+void stick_config(struct _stick_zone *psz)
+{
+// 1= wing_mode (see enum WING_MODE)
+// 2= mixer_epa_mode (see enum MIXER_EPA_MODE)
+// 3= mount_orient (see enum MOUNT_ORIENT)
+// 4= stick_gain_throw (see enum STICK_GAIN_THROW)
+// 5= max_rotate (see enum MAX_ROTATE)
+// 6= rate_mode_stick_rotate (see enum RATE_MODE_STICK_ROTATE)
+// 7= inflight_calibrate (see enum INFLIGHT_CALIBRATE)
+// 8= exit
+
+// note: be careful about off-by-one errors in this function
+
+ const int8_t param_ymin[] = {
+ WING_USE_DIPSW,
+ MIXER_EPA_FULL,
+ MOUNT_NORMAL,
+ STICK_GAIN_THROW_FULL,
+ MAX_ROTATE_VLOW,
+ RATE_MODE_STICK_ROTATE_DISABLE,
+ INFLIGHT_CALIBRATE_DISABLE,
+ 1 // exit_option
+ };
+ const int8_t param_ymax[] = {
+ WING_RUDELE_2AIL,
+ MIXER_EPA_MAX, // jrb 2016-02-28 MIXER_EPA_TRACK,
+ MOUNT_ROTATE_90_RIGHT,
+ STICK_GAIN_THROW_QUARTER,
+ MAX_ROTATE_HIGH,
+ RATE_MODE_STICK_ROTATE_ENABLE,
+ INFLIGHT_CALIBRATE_ENABLE,
+ 2 // exit_option
+ };
+ const int8_t param_xcount = sizeof(param_ymin)/sizeof(param_ymin[0]);
+ int8_t *pparam_yval[param_xcount];
+ int8_t exit_option = 1;
+
+ const int16_t servo_swing = 300;
+ const int32_t servo_interval[] = {100000L, 400000L};
+
+ int8_t x = 0; // 0-based, x=0 => wing_mode
+ int8_t servo_sync = false;
+ uint32_t last_servo_update_time = 0;
+ int32_t wait_interval = servo_interval[1];
+
+ pparam_yval[0] = (int8_t *) &cfg.wing_mode;
+ pparam_yval[1] = (int8_t *) &cfg.mixer_epa_mode;
+ pparam_yval[2] = (int8_t *) &cfg.mount_orient;
+ pparam_yval[3] = (int8_t *) &cfg.stick_gain_throw;
+ pparam_yval[4] = (int8_t *) &cfg.max_rotate;
+ pparam_yval[5] = (int8_t *) &cfg.rate_mode_stick_rotate;
+ pparam_yval[6] = (int8_t *) &cfg.inflight_calibrate;
+ pparam_yval[7] = &exit_option;
+
+ int8_t update_x = (x + 1) << 1;
+ int8_t update_y = *pparam_yval[x] << 1;
+ while (true) {
+ uint32_t t = micros1();
+
+ if ((int32_t)(t - last_servo_update_time) > wait_interval) {
+ if (update_x > 0) {
+ ele_out2 = RX_WIDTH_MID + (update_x & 1 ? 0 : servo_swing);
+ ail_out2 = RX_WIDTH_MID;
+ wait_interval = servo_interval[update_x & 1];
+ update_x--;
+ } else {
+ if (update_y != 0) {
+ int8_t sign = update_y > 0 ? 1 : -1;
+ int16_t signed_change = sign > 0 ? servo_swing : -servo_swing;
+ ail_out2 = RX_WIDTH_MID + (update_y & 1 ? 0 : signed_change);
+ wait_interval = servo_interval[update_y & 1];
+ update_y -= sign;
+ }
+ }
+ last_servo_update_time = t;
+ }
+
+#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL))
+ if (serialrx_update()) {
+ rx_frame_sync = true;
+ }
+#endif
+
+ if (rx_frame_sync) {
+ rx_frame_sync = false;
+ copy_rx_in();
+ servo_sync = true;
+ }
+ if (servo_sync && !servo_busy) {
+ servo_sync = false;
+ start_servo_frame();
+ }
+
+ if (update_x == 0 && /*update_y == 0 &&*/ stick_zone_update(psz)) {
+
+ bool refresh_x = false;
+ bool refresh_y = false;
+
+ switch (psz->move) {
+ case 0x54: x = max(x - 1, 0); refresh_x = true; break; // left
+ case 0x56: x = min(x + 1, param_xcount - 1); refresh_x = true; break; // right
+ case 0x52: *pparam_yval[x] = min(*pparam_yval[x] + 1, param_ymax[x]); refresh_y = true; break; // up
+ case 0x58: *pparam_yval[x] = max(*pparam_yval[x] - 1, param_ymin[x]); refresh_y = true; break; // down
+ }
+
+ // check if update_x and/or update_y need to be refreshed
+ if (refresh_x || refresh_y) {
+ update_y = *pparam_yval[x] << 1;
+ if (refresh_x)
+ update_x = (x + 1) << 1;
+ }
+
+ // check for exit option
+ if (exit_option == 2) {
+ break;
+ }
+
+ #if defined(SERIAL_DEBUG) && 0
+ Serial.print("param ");
+ Serial.print(psz->prev, HEX); Serial.print(' ');
+ Serial.print(psz->curr, HEX); Serial.print(' ');
+ Serial.print(x); Serial.print(' ');
+ Serial.print(*pparam_yval[x]); Serial.print(' ');
+ Serial.println();
+ #endif
+ }
+ }
+
+ // write eeprom;
+ eeprom_write_cfg(&cfg, eeprom_cfg1_addr);
+ eeprom_write_cfg(&cfg, eeprom_cfg2_addr);
+}
+
+
+/***************************************************************************************************************
+ * SETUP
+ ***************************************************************************************************************/
+
+void setup()
+{
+ int8_t i;
+
+ init_clock();
+ init_led();
+ if (get_free_sram() < 128)
+ set_led_msg(2, 20, LED_VERY_SHORT);
+
+#if defined(SERIAL_DEBUG) || defined(DUMP_SENSORS)
+#if (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL))
+ serialrx_init();
+#else
+ Serial.begin(115200L);
+#endif // (defined(SERIALRX_SBUS) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SRXL))
+#endif
+
+#if defined(SERIAL_DEBUG) && 0
+ Serial.println("Serial Port Initialized.");
+#endif
+
+
+#if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)
+ // clear wd reset bit and disable wdt in case it was enabled due to stick config reboot
+ MCUSR &= ~(1 << WDRF);
+ wdt_disable();
+#endif // __AVR_ATmega168__ || __AVR_ATmega328P__
+
+#if defined(NANO_WII) || defined(MINI_MWC) || defined(FLIP_1_5)
+ // set up default parameters for No DIPSW and No POT
+ cfg.wing_mode = WING_RUDELE_2AIL;
+ for (i=0; i<3; i++) {
+ cfg.vr_gain[i] = 60;
+ }
+#else
+ // set up default parameters
+ cfg.wing_mode = WING_USE_DIPSW;
+ for (i=0; i<3; i++) {
+ cfg.vr_gain[i] = vr_gain_use_pot;
+ }
+#endif
+ cfg.mixer_epa_mode = MIXER_EPA_FULL;
+ cfg.gyro_dlpf = BW_5HZ;
+
+#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)) // || defined(SERIALRX_SRXL))
+ cfg.servo_frame_rate = 20; // safe rate for analog servos
+#else
+ cfg.servo_frame_rate = 0; // no min interval, rx will drive the update rate
+#endif
+
+ const int8_t *pserialrx_order;
+#if defined(SERIALRX_CPPM)
+ #if defined(MINI_MWC) && !defined(MINI_MWC_EXTERNAL_RX)
+ pserialrx_order = serialrx_order_TAER1a2f;
+ #else
+ pserialrx_order = serialrx_order_RETA1a2f;
+ #endif
+#elif defined(SERIALRX_SPEKTRUM)
+ pserialrx_order = serialrx_order_TAER1a2f;
+#elif defined(SERIALRX_SBUS)
+ pserialrx_order = serialrx_order_AETR1a2f;
+#elif defined(SERIALRX_SRXL)
+ #ifdef SERIALRX_DEFMPX
+ pserialrx_order = serialrx_order_AERTa1f2;
+ #else
+ pserialrx_order = serialrx_order_TAERa1f2;
+ #endif
+#else
+ pserialrx_order = serialrx_order_RETA1a2f;
+#endif
+ for (i=0; i BW_5HZ)
+ gyro_low_pass_filter = BW_5HZ;
+
+
+#if defined(SERIALRX_ENABLED)
+ // set up serialrx order
+ for (i=0; i= WING_RUDELE_1AIL && wing_mode <= WING_VTAIL_1AIL) {
+ // disable AILR_OUT (was at PD7)
+ // disable AILR_IN at PB4
+ // move AUX_IN from PB3 to PD7
+ pwm_chan_pin[SERIALRX_a] = -1; // disable ailr_out
+ rx_portb[4] = NULL; // disable ailr_in
+ rx_portb[3] = NULL; // disable aux_in at PB3
+ rx_portd[7] = &aux_in; // enable aux_in at PD7
+ }
+#endif // !SERIALRX_ENABLED
+#endif // RX3S_V1
+
+#if defined(RX3S_V2)
+ if (cfg.wing_mode == WING_USE_DIPSW)
+ wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 4) | (vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)];
+
+#if !defined(SERIALRX_ENABLED)
+ if (wing_mode >= WING_RUDELE_2AIL && wing_mode <= WING_DUCKERON) {
+ // PD1 1 AILR_IN instead of AIL_SW
+ din_portd[1] = NULL; // disable ail_sw, must be set to NOR
+ rx_portd[1] = &ailr_in; // enable ailr_in
+ }
+#endif // !SERIALRX_ENABLED
+#endif // RX3S_V2
+
+#if defined(RX3SM)
+ if (cfg.wing_mode == WING_USE_DIPSW)
+ wing_mode = dip_sw_to_wing_mode_map[(vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)];
+
+ if (wing_mode > WING_VTAIL_2AIL) // constrain to supported modes
+ wing_mode = WING_RUDELE_1AIL;
+#endif // RX3SM
+
+#if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions
+#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL))
+ if (cfg.wing_mode == WING_USE_DIPSW)
+ wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)];
+#endif
+#endif // EAGLE_A3PRO
+
+ if (wing_mode == WING_USE_DIPSW) // set to valid mode if needed
+ wing_mode = WING_RUDELE_1AIL;
+
+ set_led_msg(0, wing_mode, LED_LONG);
+
+ init_analog_in(); // vr
+ init_digital_in_rx(); // rx
+ init_digital_out(); // servo
+ init_imu(); // gyro/accelgyro
+
+ copy_rx_in(); // init *_in2 vars
+ apply_mixer(); // init *_out2 vars
+
+#if defined(DUMP_SENSORS)
+ dump_sensors();
+#endif
+ //struct _stick_zone sz;
+ //stick_config(&sz);
+}
+
+/***************************************************************************************************************
+ * LOOP
+ ***************************************************************************************************************/
+
+void loop()
+{
+#if !defined(DUMP_SENSORS)
+ int8_t i;
+ uint32_t t = micros1();
+ uint32_t last_rx_frame_time = t;
+ uint32_t last_servo_frame_time = t;
+ uint32_t last_imu_time = t;
+ uint32_t last_pid_time = t;
+ uint32_t last_vr_time = t;
+ int8_t servo_sync = false;
+
+ int16_t vr_gain[3]= {0, 0, 0};
+ int16_t stick_gain[3];
+ int16_t master_gain;
+
+#if !defined(NO_STICKCONFIG)
+ uint32_t stick_config_check_time = t;
+ struct _stick_zone stick_zone;
+ const uint8_t stick_config_seq[] = {0x78, 0x89, 0x98, 0x87, 0x78, 0x89, 0x98, 0x87, 0xff}; // 7-9-7-9-7
+ int8_t stick_config_seq_i = 0;
+ int8_t stick_configurable = true;
+
+ stick_zone_init(&stick_zone); // stick zone setup
+#endif // !NO_STICKCONFIG
+
+ struct _calibration rx_cal;
+ struct _calibration imu_cal;
+
+ // calibration setup
+ calibrate_init_stat(&rx_cal, 4);
+ calibrate_init_stat(&imu_cal, 3);
+ last_calibration_wag_time = t;
+
+ // inflight calibration
+ uint32_t last_stab_mode_time = t;
+ int8_t stab_mode_count;
+
+again:
+ t = micros1();
+ update_led(t);
+
+#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL))
+ if (serialrx_update()) {
+ rx_frame_sync = true;
+ }
+#endif
+
+ // update rx frame data with rx ISR received reference channel or after timeout
+ if (rx_frame_sync || (int32_t)(t - last_rx_frame_time) > maximum_rx_frame_time) {
+ rx_frame_sync = false;
+ copy_rx_in();
+ if (!rx_cal.done) {
+ calibrate_rx(&rx_cal);
+ calibrate_set_led(&rx_cal, &imu_cal);
+ }
+ servo_sync = true;
+ last_rx_frame_time = t;
+ }
+
+ // sync servo frame with rx frame immediately when servo ISR is idle
+ // but ensure minimum time between servo frames, or Analog servos will not be happy!!!
+ if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) {
+ servo_sync = false;
+ apply_mixer();
+
+ //jrb Debug - Remove comment from following line to view master_gain + 1000 on AUX2 output
+ //aux2_out2 = RX_WIDTH_LOW_FULL + master_gain;
+
+ start_servo_frame();
+ last_servo_frame_time = t;
+ }
+
+ // schedule imu read just after servo pulse start, if needed.
+ // takes around 1ms at 100khz, 250us at 400khz
+ if ((int32_t)(t - last_imu_time) > PID_PERIOD) {
+ read_imu();
+ if (!imu_cal.done) {
+ calibrate_imu(&imu_cal);
+ calibrate_set_led(&rx_cal, &imu_cal);
+ }
+ last_imu_time = t;
+ }
+
+#if !defined(NO_STICKCONFIG)
+ if (stick_configurable && stick_zone_update(&stick_zone)) {
+ stick_config_seq_i = (stick_zone.move == stick_config_seq[stick_config_seq_i]) ? stick_config_seq_i + 1 : 0;
+ if (stick_config_seq[stick_config_seq_i] == 0xff) {
+ stick_config(&stick_zone); // completed sequence, enter stick config mode
+ // RESET SYSTEM ON RETURN
+ wdt_enable(WDTO_1S);
+ while (true);
+ }
+ if ((int32_t)(t - stick_config_check_time) > 15000000L) // 15 sec to enter config mode
+ stick_configurable = false;
+ }
+#endif // !NO_STICKCONFIG
+
+ // short circuit rest of the loop if calibration not done, do not compute correction[]
+ if (!rx_cal.done || !imu_cal.done) {
+ // determine how much sticks are off center (from neutral). the mixer still needs them before calibration completes.
+ ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1;
+ ele_in2_offset = ele_in2 - ele_in2_mid;
+ rud_in2_offset = rud_in2 - rud_in2_mid;
+ goto again;
+ }
+
+ if ((int32_t)(t - last_pid_time) > PID_PERIOD) {
+
+ // stabilization mode
+ enum STAB_MODE stab_mode2 =
+ (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - RX_MODE_HYSTERESIS) ? STAB_RATE :
+ (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region
+
+ if (stab_mode2 != stab_mode) {
+ stab_mode = stab_mode2;
+ set_led_msg(1, (stab_mode == STAB_RATE) ? 0 : 4, LED_SHORT);
+
+ // reset attitude error and i_limit threshold on mode change
+ for (i=0; i<3; i++) {
+ pid_state.sum_err[i] = 0;
+ pid_state.i_limit[i] = 0;
+ }
+
+ // check for inflight rx calibration
+ if (cfg.inflight_calibrate == INFLIGHT_CALIBRATE_ENABLE) {
+ if ((int32_t)(t - last_stab_mode_time) > 500000L) {
+ stab_mode_count = 0;
+ }
+ last_stab_mode_time = t;
+
+ if (++stab_mode_count >= 3) {
+ ail_in2_mid = ail_in2;
+ ele_in2_mid = ele_in2;
+ rud_in2_mid = rud_in2;
+ ailr_in2_mid = ailr_in2;
+ flp_in2_mid = flp_in2;
+ }
+ }
+ }
+
+ // determine how much sticks are off center (from neutral)
+ ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1;
+ ele_in2_offset = ele_in2 - ele_in2_mid;
+ rud_in2_offset = rud_in2 - rud_in2_mid;
+ flp_in2_offset = flp_in2 - flp_in2_mid;
+
+ // vr_gain[] [-128, 128] from VRs or config
+
+ // see enum STICK_GAIN_THROW. shift=0 => FULL, shift=1 => HALF, shift=2 => QUARTER
+ int8_t shift = cfg.stick_gain_throw - 1;
+
+ // stick_gain[] [1100, _in2_mid, 1900] => [0%, 100%, 0%] = [0, STICK_GAIN_MAX, 0]
+ stick_gain[0] = stick_gain_max - min(abs(ail_in2_offset) << shift, stick_gain_max);
+ stick_gain[1] = stick_gain_max - min(abs(ele_in2_offset) << shift, stick_gain_max);
+ stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max);
+
+ // master gain [Rate = 1475-1075] or [Hold = 1575-1975] => [0, MASTER_GAIN_MAX]
+ if (aux_in2 < (RX_WIDTH_MID - RX_GAIN_HYSTERESIS)) {
+ // Handle Rate Mode Gain Offset, gain = 1 when hysteresis area is exited
+ // Previously gain was the value of RX_GAIN_HYSTERESIS at first exit
+ master_gain = constrain(((RX_WIDTH_MID - RX_GAIN_HYSTERESIS) - aux_in2) , 0, master_gain_max);
+ } else {
+ if (aux_in2 > (RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS)) {
+ // Handle Hold Mode Gain Offset, gain = 1 when both hysteresis areas are exited
+ // Previously gain was the value of RX_MODE_HYSTERESIS at first exit
+ master_gain = constrain(aux_in2 - (RX_WIDTH_MID + RX_MODE_HYSTERESIS), 0, master_gain_max);
+ }
+ // Force Gain to 0 while in either of the Hysteresis areas
+ else master_gain = 0; // Force deadband
+ }
+
+ // commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign)
+ if (stab_mode == STAB_HOLD ||
+ (stab_mode == STAB_RATE && cfg.rate_mode_stick_rotate == RATE_MODE_STICK_ROTATE_ENABLE)) {
+ // stick controlled roll rate
+ // cfg.max_rotate shift = [1, 5]
+ // eg. max stick == 400, cfg.max_rotate == 4. then 400 << 4 = 6400 => 6400/32768*2000 = 391deg/s (32768 == 2000deg/s)
+ int16_t sp[3];
+ sp[0] = ail_in2_offset << cfg.max_rotate;
+ sp[1] = ele_in2_offset << cfg.max_rotate;
+ sp[2] = rud_in2_offset << cfg.max_rotate;
+ for (i=0; i<3; i++)
+ pid_state.setpoint[i] = vr_gain[i] < 0 ? sp[i] : -sp[i];
+ } else {
+ // zero roll rate, stabilization only
+ for (i=0; i<3; i++)
+ pid_state.setpoint[i] = 0;
+ }
+
+ if (stab_mode == STAB_HOLD) {
+ // max attitude error (bounding box)
+ for (i=0; i<3; i++) {
+ // 2000 deg/s == 32768 units, so 1 deg/(PID_PERIOD=10ms) == 32768/20 units
+ pid_state.i_limit[i] = ((int32_t)30 * (32768 / 2 / (PID_PERIOD / 1000)) * stick_gain[i]) >> 9;
+ }
+ }
+
+ // measured angular rate (from the gyro and apply calibration offset)
+ pid_state.input[0] = constrain(gyro[0] - gyro0[0], -8192, 8191);
+ pid_state.input[1] = constrain(gyro[1] - gyro0[1], -8192, 8191);
+ pid_state.input[2] = constrain(gyro[2] - gyro0[2], -8192, 8191);
+
+ // apply PID control
+ compute_pid(&pid_state, (stab_mode == STAB_RATE) ? &cfg.pid_param_rate : &cfg.pid_param_hold);
+
+ // apply vr_gain, stick_gain and master_gain
+ for (i=0; i<3; i++) {
+ // vr_gain [-128,0,127]/128, stick_gain [0,400,0]/512, master_gain [400,0,400]/512
+ correction[i] = ((((int32_t)pid_state.output[i] * vr_gain[i] >> 7) * stick_gain[i]) >> 9) * master_gain >> 9;
+ }
+
+ // calibration wag on all surfaces if needed
+ if (calibration_wag_count > 0) {
+ if ((int32_t)(t - last_calibration_wag_time) > 200000L) {
+ calibration_wag_count--;
+ last_calibration_wag_time = t;
+ }
+ for (i=0; i<3; i++)
+ correction[i] += (calibration_wag_count & 1) ? 150 : -150;
+ }
+
+#if defined(SERIAL_DEBUG) && 0
+ Serial.print(correction[0]); Serial.print('\t');
+ Serial.print(correction[1]); Serial.print('\t');
+ Serial.print(correction[2]); Serial.println('\t');
+#endif
+ last_pid_time = t;
+ }
+
+ if ((int32_t)(t - last_vr_time) > 500123) {
+ // *_vr are adc channel output
+ // vr_gain[] [-128, 0, 127] => [-100%, 0%, 100%] = [-128, 0, 127]
+ vr_gain[0] = (cfg.vr_gain[0] == vr_gain_use_pot) ? (int16_t)ail_vr - 128 : cfg.vr_gain[0];
+ vr_gain[1] = (cfg.vr_gain[1] == vr_gain_use_pot) ? (int16_t)ele_vr - 128 : cfg.vr_gain[1];
+ vr_gain[2] = (cfg.vr_gain[2] == vr_gain_use_pot) ? (int16_t)rud_vr - 128 : cfg.vr_gain[2];
+
+ // deadband filter
+ const int16_t vr_deadband = 8;
+ for (i=0; i<3; i++) {
+ if (abs(vr_gain[i]) < vr_deadband)
+ vr_gain[i] = 0;
+ }
+
+ start_next_adc(0);
+ last_vr_time = t;
+ }
+
+ goto again; // the dreaded "goto" statement :O
+#endif // DUMP_SENSORS
+}
diff --git a/Aquastar/FlightStab/OneWireSerial.ino b/Aquastar/FlightStab/OneWireSerial.ino
new file mode 100644
index 0000000..db909ff
--- /dev/null
+++ b/Aquastar/FlightStab/OneWireSerial.ino
@@ -0,0 +1,213 @@
+/* FlightStab **************************************************************************************************/
+
+/***************************************************************************************************************
+* ONE-WIRE SERIAL
+***************************************************************************************************************/
+
+// required OW_* definitions
+//#define OW_BIT ?
+//#define OW_DDR DDR?
+//#define OW_PORT PORT?
+//#define OW_PINREG PIN?
+//#define OW_FIRST_CONNECT_WAIT mmm // Time in Milliseconds
+//#define OW_HEARTBEAT_WAIT mmm // Time in Milliseconds
+
+#if !defined(OW_FIRST_CONNECT_WAIT)
+// TODO(noobee): check why 600 and not lower? (previously 100)
+#define OW_FIRST_CONNECT_WAIT 600 // in ms
+#endif
+
+#if !defined(OW_HEARTBEAT_WAIT)
+#define OW_HEARTBEAT_WAIT 500 // in ms
+#endif
+
+const uint16_t ow_pulse_width_ticks = 139; // 1/115200 at 16mhz == 139 ticks
+
+void ow_write(uint8_t b)
+{
+ uint16_t w = (0xff00 | (uint16_t) b) << 1; // insert start and stop bits around 'b'
+ uint8_t oldSREG = SREG;
+ cli();
+ uint16_t t = TCNT1 + 16*4; // fixed 4us later to allow time to first while() check
+ for (int8_t i=0; i<10; i++) {
+ while ((int16_t)(t - TCNT1) > 0);
+ if (w & 1) {
+ OW_DDR &= ~(1 << OW_BIT); // set input mode, external pull up to 1
+ } else {
+ OW_DDR |= (1 << OW_BIT); // set output mode, internal pull down to 0
+ }
+ w >>= 1;
+ t += ow_pulse_width_ticks;
+ }
+ SREG = oldSREG;
+}
+
+// return 0x8000 = timeout, 0x4000 = link down on entry, 0x00XX = received ch
+uint16_t ow_read(int16_t timeout_ms)
+{
+ uint16_t w, t;
+ uint8_t oldSREG = SREG;
+ cli();
+ do {
+
+ // check for link already down on entry
+ if (!(OW_PINREG & (1 << OW_BIT))) {
+ w = 0x4000;
+ break;
+ }
+
+ // wait for start edge, or time out in timeout_ms
+ while (timeout_ms-- > 0) {
+ t = TCNT1 + 16000; // 1ms interval from current time
+ while ((int16_t)(t - TCNT1) > 0) {
+ if (!(OW_PINREG & (1 << OW_BIT))) {
+ // found start edge (high to low)
+ timeout_ms = -1;
+ break;
+ }
+ }
+ }
+
+ // timeout_ms == -1 if time out, -2 if found start pulse edge
+ if (timeout_ms == -1) {
+ w = 0x8000;
+ break;
+ }
+
+ // delay 1.5 pulse widths - 3us, then read 8 bits consecutively
+ w = 0;
+ t = TCNT1 + ow_pulse_width_ticks*3/2 - 16*3;
+ for (int8_t i=0; i<8; i++) {
+ w >>= 1;
+ while ((int16_t)(t - TCNT1) > 0);
+ //PORTB ^= (1 << 5);
+ w |= (OW_PINREG & (1 << OW_BIT)) ? 0x80 : 0;
+ t += ow_pulse_width_ticks;
+ }
+ } while (0);
+ SREG = oldSREG;
+ return w;
+}
+
+bool ow_send_msg(void *buf, int8_t buf_len) {
+ uint8_t chksum = buf_len;
+ ow_write('$');
+ ow_write(buf_len);
+ for (int8_t i=0; iavailable() && indexread();
+
+//jrb - 20140832 make frame time test common to all Serial Protocols
+ t = micros1();
+ // we assume loop() calls to serialrx_update() in << SERIAL_WAIT_TIME intervals
+ if ((int32_t)(t - last_rx_time) > SERIAL_WAIT_TIME) {
+ index = 0; // found pause before new frame, resync
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(4,HIGH);
+ #endif
+ }
+ last_rx_time = t;
+
+ #if defined (SERIALRX_SPEKTRUM)
+ #warning SERIALRX_SPEKTRUM defined // emit device name
+ //jrb add for debug
+ #if defined(SERIALRX_DEBUG) && 0
+ Serial.println("Serial Spektrum");
+ #endif
+
+ buf[index++] = ch;
+ if (index >= SERIAL_FRAME_SIZE) {
+
+/*jrb
+// Satellites alone never return frame size information in buf[1] the best I can tell
+// Data always seems to be 2048 bits, even with 9XR transmitter. The following
+// should be removed and 10 or 11 bit format saved as configuration data
+// if ((buf[2] & 0x80) == 0x00) {
+// // single frame type or 1st frame of two, contains "transmitter type"
+// rshift = (buf[1] & 0x10) ? 11 : 10; // 11 or 10 bit data
+// }
+jrb*/
+
+ if (rshift > 0) {
+ // 10 bit == f 0 c3 c2 c1 c0 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0
+ // 11 bit == f c3 c2 c1 c0 d10 d9 d8 d7 d6 d5 d4 d3 d2 d1 d0
+ for (int8_t i=2; i<2+2*7; i+=2) {
+ uint16_t w = ((uint16_t)buf[i] << 8) | (uint16_t)buf[i+1];
+ int8_t chan = (w >> rshift) & 0xf;
+ if (chan < rx_chan_size) {
+ *rx_chan[chan] = ((w << (11 - rshift) & 0x7ff) - 1024 + 1500); // scale to 11 bits 1024 +/- 684;
+ }
+ }
+ }
+ index = 0;
+
+ //jrb add for debug
+ #if defined(SERIALRX_DEBUG) && 0
+ if (RXcount > 100)
+ {
+ Serial.print("rshift = ");
+ Serial.print(rshift);
+ if ((buf[2] & 0x80) == 0x00) {
+ Serial.println(" Low Channels");
+ }
+ else {
+ Serial.println(" High Channels");
+ }
+
+ for (PrintIndex = 0; PrintIndex < 8; PrintIndex++)
+ {
+ Serial.print(*rx_chan[cfg.serialrx_order-2][PrintIndex]); Serial.print(' ');
+ }
+ Serial.println(' ');
+
+ for (PrintIndex = 0; PrintIndex < 16; PrintIndex += 2)
+ {
+ work = (buf[PrintIndex]<<8)+ buf[PrintIndex + 1];
+ Serial.print(work,HEX); Serial.print(' ');
+ }
+ Serial.println(' ');
+ RXcount = 0;
+ }
+ RXcount++;
+ #endif
+ return (true);
+ }
+ else
+ return (false);
+ }
+ #endif // SERIALRX_SPEKTRUM
+
+ #if defined(SERIALRX_SRXL) // ----------------------------------------------
+ #warning SERIALRX_SRXL defined // emit device name
+
+ if (index < SERIAL_FRAME_SIZE) //JRB Should this be just < so we don't overflow buffer????? YES!!!
+ buf[index++] = ch;
+ // MPX SRXL 12/16 channels
+ if ( ((buf[0] == MPX_SRL_12_CHAN_ID) && (index >= MPX_SRL_12_CHAN_SIZE))
+ || ((buf[0] == MPX_SRL_16_CHAN_ID) && (index >= MPX_SRL_16_CHAN_SIZE)) )
+ {
+ uint16_t crc = 0;
+ for (uint8_t i=0; i>1)-1] = ((((w << 1) + w) - (w >> 2)) >> 3) + 796;
+ }
+ sbus_return = true;
+ }
+ index = 0;
+
+ #if defined(SERIAL_DEBUG) && 2
+ //Serial.println("Serial SRXL");
+ #endif
+ }
+ // HoTT SUMD
+ else if ( ((buf[0] == HOTT_SUMD_ID1) && ((buf[1] & 0x7f) == HOTT_SUMD_ID2) ) )
+ {
+ uint8_t n_channels = buf[2];
+ if (index >= ((n_channels << 1) +5))
+ {
+ uint16_t crc = 0;
+ for (uint8_t i=0; i<(index-2); i++){
+ uint8_t data;
+ data = buf[i];
+ crc = _crc_xmodem_update(crc, data);
+ }
+ if (crc == ((buf[index-2] << 8) + buf[index-1])){
+ volatile int16_t **p = rx_chan;
+ // Only process first 8 channels
+ for (int8_t i=2; i<18; i+=2)
+ {
+ uint16_t w = (((uint16_t)buf[i+1] << 8) | (uint16_t)buf[i+2] );
+ *p[(i>>1)-1] = (w >> 3);
+ }
+ sbus_return = true;
+ }
+ index = 0;
+ #if defined(SERIAL_DEBUG) && 2
+ //Serial.println("Serial SUMD");
+ #endif
+ }
+ }
+ //his add for debug
+ #if defined(SERIAL_DEBUG) && 2
+ if (RXcount > 10){
+ for (index = 0; index < 8; index++){
+ Serial.print(*rx_chan[index]); Serial.print(' ');
+ }
+ Serial.println(' ');
+ RXcount = 0;
+ }
+ if (sbus_return)
+ RXcount++;
+ #endif
+ }
+ if (index >= SERIAL_FRAME_SIZE) // his bugfix 20170817
+ index = 0;
+ return (sbus_return);
+ #endif // SERIALRX_SRXL -------------------------------------------------------
+
+
+ #if defined (SERIALRX_SBUS)
+ #warning SERIALRX_SBUS defined // emit device name
+ //jrb add for debug
+ #if defined(SERIALRX_DEBUG) && 0
+ Serial.println("Serial S.BUS");
+ #endif
+
+ if (index == 0 && ch != SBUS_SYNC_BYTE) {
+ break;
+ }
+ #if defined (FLIP_SERIALRX_DEBUG)
+ if (index == 0)
+ {
+ digitalWrite(4,LOW);
+ }
+ #endif
+ buf[index++] = ch;
+ if (index >= SERIAL_FRAME_SIZE) {
+ volatile int16_t **p = rx_chan;
+ uint8_t adj_index;
+ //jrb - added 20140829 to detect and discard invalid frames
+ if (buf[24] != SBUS_END_BYTE) { // There is a sync problem - discard this frame and try again
+ index = 0;
+ sbus_return = false;
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(5,LOW);
+ #endif
+ }
+
+ // Only process first 8 channels
+ *p[0] = (((((uint16_t)buf[1] >> 0) | ((uint16_t)buf[2] << 8)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[1] = (((((uint16_t)buf[2] >> 3) | ((uint16_t)buf[3] << 5)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[2] = (((((uint16_t)buf[3] >> 6) | ((uint16_t)buf[4] << 2) | ((uint16_t)buf[5] << 10)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[3] = (((((uint16_t)buf[5] >> 1) | ((uint16_t)buf[6] << 7)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[4] = (((((uint16_t)buf[6] >> 4) | ((uint16_t)buf[7] << 4)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[5] = (((((uint16_t)buf[7] >> 7) | ((uint16_t)buf[8] << 1) | ((uint16_t)buf[9] << 9)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[6] = (((((uint16_t)buf[9] >> 2) | ((uint16_t)buf[10] << 6)) & 0x7ff) >> 1) + SBUS_OFFSET;
+ *p[7] = (((((uint16_t)buf[10] >> 5) | ((uint16_t)buf[11] << 3)) & 0x7ff) >> 1) + SBUS_OFFSET;
+
+ // For some reason the SBUS data provides only about 75% of the actual RX output pulse width
+ // Adjust the actual value by +/-25%. Sign determined by pulse width above or below center of 1520us
+ for(adj_index=0; adj_index> 2;
+ else
+ *p[adj_index] += (*p[adj_index] - RX_WIDTH_MID) >> 2;
+ }
+ index = 0;
+ sbus_return = true;
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(4,HIGH);
+ #endif
+ }
+
+ //jrb add for debug
+ #if defined(SERIALRX_DEBUG) && 1
+ if (RXcount > 100)
+ {
+ for (index = 0; index < 8; index++)
+ {
+ Serial.print(*rx_chan[cfg.serialrx_order-2][index]); Serial.print(' ');
+ }
+ Serial.println(' ');
+ RXcount = 0;
+ }
+ RXcount++;
+ #endif
+ }
+#if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(6,HIGH);
+ #endif
+
+ return (sbus_return);
+ #endif // SERIALRX_SBUS
+}
+#endif // SERIALRX_SPEKTRUM) || SERIALRX_SBUS
+
diff --git a/Aquastar/FlightStabGUI/FlightStabGUI.pde b/Aquastar/FlightStabGUI/FlightStabGUI.pde
new file mode 100644
index 0000000..8f53991
--- /dev/null
+++ b/Aquastar/FlightStabGUI/FlightStabGUI.pde
@@ -0,0 +1,512 @@
+import controlP5.*;
+import processing.serial.Serial;
+import processing.opengl.*;
+
+ControlP5 cp5;
+
+Serial serialPort;
+int serialPortIndex;
+public static final int
+ IDLE_STATE = 0,
+ HEADER_STATE = 1,
+ LENGTH_STATE = 2;
+int serialRxState = IDLE_STATE;
+
+byte[] serialRxBuf = new byte[64];
+int serialRxi=0;
+int serialRxlen=0;
+
+byte[] serialTxBuf = new byte[64];
+int serialTxi=0;
+
+int serialRequest = 0;
+
+
+int RC_MIN = 900;
+int RC_MID = 1500;
+int RC_MAX = 2100;
+
+int VR_MIN = -128;
+int VR_MID = 0;
+int VR_MAX = 127;
+
+int PID_MIN = 0;
+int PID_MAX = 511;
+
+/***************************************************************************************************************
+*
+***************************************************************************************************************/
+
+ListBox comList;
+Button cmdConnect, cmdDisconnect, cmdRead, cmdWrite, cmdDefault;
+
+Numberbox pidRollP, pidRollI, pidRollD, pidPitchP, pidPitchI, pidPitchD, pidYawP, pidYawI, pidYawD;
+Slider stkRate, stkGain;
+Slider oscThres;
+Slider rxMidAil, rxMidEle, rxMidRud;
+
+CheckBox swCheckbox;
+
+Slider rxAil, rxEle, rxRud, rxAux;
+Slider vrAil, vrEle, vrRud;
+
+Slider sxAil, sxEle, sxRud;
+
+cData gyRoll, gyPitch, gyYaw;
+boolean drawgyRoll, drawgyPitch, drawgyYaw;
+
+
+Button addCmdButton(String name, int x, int y) {
+ return cp5.addButton("id_cmd" + name)
+ .setLabel(name)
+ .setPosition(x, y)
+ .setSize(110,18)
+ ;
+}
+
+
+Textlabel addTextLabel(String name, int x, int y, int c) {
+ return cp5.addTextlabel("id_txt" + name)
+ .setText(name)
+ .setPosition(x, y)
+ .setColorValue(c)
+ ;
+}
+
+Slider addSlider(String prefix, String name, int x, int y, int low, int high) {
+ return cp5.addSlider(prefix + name)
+ .setLabel(name)
+ .setPosition(x, y)
+ .setSize(150, 18)
+ .setRange(low, high)
+ .setValue(low)
+ .setDecimalPrecision(0)
+ .lock()
+ ;
+}
+
+Slider addCfgSlider(String name, int x, int y, int low, int high) {
+ Slider s = addSlider("id_cfg", name, x, y, low, high);
+ s.unlock();
+ return s;
+}
+
+Slider addRxSlider(String name, int x, int y) {
+ return addSlider("id_rx", name, x, y, RC_MIN, RC_MAX);
+}
+
+Slider addSxSlider(String name, int x, int y) {
+ return addSlider("id_sx", name, x, y, RC_MIN, RC_MAX);
+}
+
+Slider addVrSlider(String name, int x, int y) {
+ return addSlider("id_vr", name, x, y, VR_MIN, VR_MAX);
+}
+
+Numberbox addPIDBox(String name, int x, int y, int spacing) {
+ return cp5.addNumberbox("id_pid" + name)
+ .setPosition(x, y)
+ .setSize(spacing-10, 18)
+ .setRange(PID_MIN, PID_MAX)
+ .setValue(PID_MIN)
+ .setDirection(Controller.HORIZONTAL) // change the control direction to left/right
+ .setDecimalPrecision(0)
+ .setLabel("")
+ .setLabelVisible(false)
+ ;
+}
+
+
+
+void serialPortInit(int index) {
+ println("serialPortInit " + index);
+ serialPortIndex = index;
+ for (int i=0; i0)
+ line(graphX + i*graphdX, y0, graphX + (i+1)*graphdX, y);
+ y0 = y;
+ }
+}
+
+
+
+void drawGraphs() {
+ fill(0);
+ stroke(0);
+ rect(graphX, graphY, graphWidth, graphHeight);
+
+ drawGraph(gyRoll, color(255, 0, 0));
+ drawGraph(gyPitch, color(0, 255, 0));
+ drawGraph(gyYaw, color(0, 0, 255));
+
+}
+
+
+void draw() {
+ //println("Draw");
+// fill(123 % 100);
+// rect(0,0,500,500);
+// nb.setValue(nb.getValue()+1);
+// rxAil.setValue(rxAil.getValue()+1).show();
+
+ drawGraphs();
+}
+
+void keyPressed() {
+ println("keyPressed()");
+ //cp5.getController("Ail").setValue(0);
+ swCheckbox.activate(2);
+
+ println(cp5.getAll());
+ gyRoll.appendValue(random(100));
+}
+
+void controlEvent(ControlEvent theEvent) {
+ println("controlEvent " + theEvent.name());
+ if (theEvent.name() == "id_swCheckbox")
+ println(swCheckbox.getState(0));
+
+ if (theEvent.isGroup() && theEvent.name() == "id_serial")
+ serialPortInit((int)theEvent.group().value());
+
+}
+
+
+/***************************************************************************************************************
+*
+***************************************************************************************************************/
+
+void serialSendBuf(byte[] buf, int len)
+{
+ byte checksum;
+ int i;
+
+ if (serialRequest > 0) {
+ println("serialRequest > 0");
+ }
+
+ checksum = (byte)(len+1);
+ for (i=0; i> 8) & 0xff);
+}
+
+void put32(int v)
+{
+ put16(v & 0xffff);
+ put16((v >> 16) & 0xffff);
+}
+
+
+int get_unsigned8()
+{
+ return serialRxBuf[serialRxi++] & 0xff;
+}
+
+int get_signed16() {
+ return (serialRxBuf[serialRxi++] & 0xff) | (serialRxBuf[serialRxi++] << 8);
+}
+
+int get_signed32() {
+ return (serialRxBuf[serialRxi++] & 0xff) |
+ ((serialRxBuf[serialRxi++] & 0xff) << 8) |
+ ((serialRxBuf[serialRxi++] & 0xff) << 16) |
+ (serialRxBuf[serialRxi++] << 24);
+}
+
+
+void handleResponse()
+{
+ println("handleResponse");
+ serialRxi = 0;
+ switch (get_unsigned8()) {
+ case 101:
+ int gRoll = get_signed16();
+ int gPitch = get_signed16();
+ int gYaw = get_signed16();
+
+ gyRoll.appendValue(gRoll);
+ gyPitch.appendValue(gPitch);
+ gyYaw.appendValue(gYaw);
+ break;
+ }
+
+
+ // decide next request message
+ sendGetGyro();
+}
+
+void serialEvent(Serial serialPort)
+{
+ while (serialPort.available() > 0) {
+ byte ch = (byte) serialPort.read();
+ //println(hex(ch));
+ switch(serialRxState) {
+ case IDLE_STATE:
+ if (ch == (byte)'$')
+ serialRxState = HEADER_STATE;
+ break;
+ case HEADER_STATE:
+ if (2 <= ch && ch <= serialRxBuf.length) {
+ serialRxlen = ch;
+ serialRxi = 0;
+ serialRxState = LENGTH_STATE;
+ } else {
+ serialRxState = IDLE_STATE;
+ }
+ break;
+ case LENGTH_STATE:
+ serialRxBuf[serialRxi++] = ch;
+ if (--serialRxlen == 0) {
+ byte checksum = (byte)serialRxi;
+ for (int i=0; i" then the following
+# directory structure is considered a Arduino library:
+#
+# LibraryName/
+# |- LibraryName.h
+# `- LibraryName.c
+#
+# If such a directory is found then all sources within that directory are considred
+# to be part of that Arduino library.
+#
+#=============================================================================#
+function(find_arduino_libraries VAR_NAME SRCS ARDLIBS)
+ set(ARDUINO_LIBS )
+ foreach(SRC ${SRCS})
+
+ # Skipping generated files. They are, probably, not exist yet.
+ # TODO: Maybe it's possible to skip only really nonexisting files,
+ # but then it wiil be less deterministic.
+ get_source_file_property(_srcfile_generated ${SRC} GENERATED)
+ # Workaround for sketches, which are marked as generated
+ get_source_file_property(_sketch_generated ${SRC} GENERATED_SKETCH)
+
+ if(NOT ${_srcfile_generated} OR ${_sketch_generated})
+ if(NOT (EXISTS ${SRC} OR
+ EXISTS ${CMAKE_CURRENT_SOURCE_DIR}/${SRC} OR
+ EXISTS ${CMAKE_CURRENT_BINARY_DIR}/${SRC}))
+ message(FATAL_ERROR "Invalid source file: ${SRC}")
+ endif()
+ file(STRINGS ${SRC} SRC_CONTENTS)
+
+ foreach(LIBNAME ${ARDLIBS})
+ list(APPEND SRC_CONTENTS "#include <${LIBNAME}.h>")
+ endforeach()
+
+ foreach(SRC_LINE ${SRC_CONTENTS})
+ if("${SRC_LINE}" MATCHES "^ *#include *[<\"](.*)[>\"]")
+ get_filename_component(INCLUDE_NAME ${CMAKE_MATCH_1} NAME_WE)
+ get_property(LIBRARY_SEARCH_PATH
+ DIRECTORY # Property Scope
+ PROPERTY LINK_DIRECTORIES)
+ foreach(LIB_SEARCH_PATH ${LIBRARY_SEARCH_PATH} ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/libraries ${ARDUINO_EXTRA_LIBRARIES_PATH})
+ if(EXISTS ${LIB_SEARCH_PATH}/${INCLUDE_NAME}/${CMAKE_MATCH_1})
+ list(APPEND ARDUINO_LIBS ${LIB_SEARCH_PATH}/${INCLUDE_NAME})
+ break()
+ endif()
+ endforeach()
+ endif()
+ endforeach()
+ endif()
+ endforeach()
+ if(ARDUINO_LIBS)
+ list(REMOVE_DUPLICATES ARDUINO_LIBS)
+ endif()
+ set(${VAR_NAME} ${ARDUINO_LIBS} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_library(VAR_NAME BOARD_ID LIB_PATH COMPILE_FLAGS LINK_FLAGS)
+#
+# VAR_NAME - Vairable wich will hold the generated library names
+# BOARD_ID - Board ID
+# LIB_PATH - Path of the library
+# COMPILE_FLAGS - Compile flags
+# LINK_FLAGS - Link flags
+#
+# Creates an Arduino library, with all it's library dependencies.
+#
+# ${LIB_NAME}_RECURSE controls if the library will recurse
+# when looking for source files.
+#
+#=============================================================================#
+
+# For known libraries can list recurse here
+set(Wire_RECURSE True)
+set(Ethernet_RECURSE True)
+set(SD_RECURSE True)
+function(setup_arduino_library VAR_NAME BOARD_ID LIB_PATH COMPILE_FLAGS LINK_FLAGS)
+ set(LIB_TARGETS)
+ set(LIB_INCLUDES)
+
+ get_filename_component(LIB_NAME ${LIB_PATH} NAME)
+ set(TARGET_LIB_NAME ${BOARD_ID}_${LIB_NAME})
+ if(NOT TARGET ${TARGET_LIB_NAME})
+ string(REGEX REPLACE ".*/" "" LIB_SHORT_NAME ${LIB_NAME})
+
+ # Detect if recursion is needed
+ if (NOT DEFINED ${LIB_SHORT_NAME}_RECURSE)
+ set(${LIB_SHORT_NAME}_RECURSE False)
+ endif()
+
+ find_sources(LIB_SRCS ${LIB_PATH} ${${LIB_SHORT_NAME}_RECURSE})
+ if(LIB_SRCS)
+
+ arduino_debug_msg("Generating Arduino ${LIB_NAME} library")
+ add_library(${TARGET_LIB_NAME} STATIC ${LIB_SRCS})
+
+ get_arduino_flags(ARDUINO_COMPILE_FLAGS ARDUINO_LINK_FLAGS ${BOARD_ID} FALSE)
+
+ find_arduino_libraries(LIB_DEPS "${LIB_SRCS}" "")
+
+ foreach(LIB_DEP ${LIB_DEPS})
+ setup_arduino_library(DEP_LIB_SRCS ${BOARD_ID} ${LIB_DEP} "${COMPILE_FLAGS}" "${LINK_FLAGS}")
+ list(APPEND LIB_TARGETS ${DEP_LIB_SRCS})
+ list(APPEND LIB_INCLUDES ${DEP_LIB_SRCS_INCLUDES})
+ endforeach()
+
+ set_target_properties(${TARGET_LIB_NAME} PROPERTIES
+ COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${LIB_INCLUDES} -I\"${LIB_PATH}\" -I\"${LIB_PATH}/utility\" ${COMPILE_FLAGS}"
+ LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}")
+ list(APPEND LIB_INCLUDES "-I\"${LIB_PATH}\" -I\"${LIB_PATH}/utility\"")
+
+ target_link_libraries(${TARGET_LIB_NAME} ${BOARD_ID}_CORE ${LIB_TARGETS})
+ list(APPEND LIB_TARGETS ${TARGET_LIB_NAME})
+
+ endif()
+ else()
+ # Target already exists, skiping creating
+ list(APPEND LIB_TARGETS ${TARGET_LIB_NAME})
+ endif()
+ if(LIB_TARGETS)
+ list(REMOVE_DUPLICATES LIB_TARGETS)
+ endif()
+ set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE)
+ set(${VAR_NAME}_INCLUDES ${LIB_INCLUDES} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_libraries(VAR_NAME BOARD_ID SRCS COMPILE_FLAGS LINK_FLAGS)
+#
+# VAR_NAME - Vairable wich will hold the generated library names
+# BOARD_ID - Board ID
+# SRCS - source files
+# COMPILE_FLAGS - Compile flags
+# LINK_FLAGS - Linker flags
+#
+# Finds and creates all dependency libraries based on sources.
+#
+#=============================================================================#
+function(setup_arduino_libraries VAR_NAME BOARD_ID SRCS ARDLIBS COMPILE_FLAGS LINK_FLAGS)
+ set(LIB_TARGETS)
+ set(LIB_INCLUDES)
+
+ find_arduino_libraries(TARGET_LIBS "${SRCS}" ARDLIBS)
+ foreach(TARGET_LIB ${TARGET_LIBS})
+ # Create static library instead of returning sources
+ setup_arduino_library(LIB_DEPS ${BOARD_ID} ${TARGET_LIB} "${COMPILE_FLAGS}" "${LINK_FLAGS}")
+ list(APPEND LIB_TARGETS ${LIB_DEPS})
+ list(APPEND LIB_INCLUDES ${LIB_DEPS_INCLUDES})
+ endforeach()
+
+ set(${VAR_NAME} ${LIB_TARGETS} PARENT_SCOPE)
+ set(${VAR_NAME}_INCLUDES ${LIB_INCLUDES} PARENT_SCOPE)
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_target(TARGET_NAME ALL_SRCS ALL_LIBS COMPILE_FLAGS LINK_FLAGS MANUAL)
+#
+# TARGET_NAME - Target name
+# BOARD_ID - Arduino board ID
+# ALL_SRCS - All sources
+# ALL_LIBS - All libraries
+# COMPILE_FLAGS - Compile flags
+# LINK_FLAGS - Linker flags
+# MANUAL - (Advanced) Only use AVR Libc/Includes
+#
+# Creates an Arduino firmware target.
+#
+#=============================================================================#
+function(setup_arduino_target TARGET_NAME BOARD_ID ALL_SRCS ALL_LIBS COMPILE_FLAGS LINK_FLAGS MANUAL)
+
+ add_executable(${TARGET_NAME} ${ALL_SRCS})
+ set_target_properties(${TARGET_NAME} PROPERTIES SUFFIX ".elf")
+
+ get_arduino_flags(ARDUINO_COMPILE_FLAGS ARDUINO_LINK_FLAGS ${BOARD_ID} ${MANUAL})
+
+ set_target_properties(${TARGET_NAME} PROPERTIES
+ COMPILE_FLAGS "${ARDUINO_COMPILE_FLAGS} ${COMPILE_FLAGS}"
+ LINK_FLAGS "${ARDUINO_LINK_FLAGS} ${LINK_FLAGS}")
+ target_link_libraries(${TARGET_NAME} ${ALL_LIBS} "-lc -lm")
+
+ set(TARGET_PATH ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME})
+ add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
+ COMMAND ${CMAKE_OBJCOPY}
+ ARGS ${ARDUINO_OBJCOPY_EEP_FLAGS}
+ ${TARGET_PATH}.elf
+ ${TARGET_PATH}.eep
+ COMMENT "Generating EEP image"
+ VERBATIM)
+
+ # Convert firmware image to ASCII HEX format
+ add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
+ COMMAND ${CMAKE_OBJCOPY}
+ ARGS ${ARDUINO_OBJCOPY_HEX_FLAGS}
+ ${TARGET_PATH}.elf
+ ${TARGET_PATH}.hex
+ COMMENT "Generating HEX image"
+ VERBATIM)
+
+ # Display target size
+ add_custom_command(TARGET ${TARGET_NAME} POST_BUILD
+ COMMAND ${CMAKE_COMMAND}
+ ARGS -DFIRMWARE_IMAGE=${TARGET_PATH}.elf
+ -DMCU=${${BOARD_ID}.build.mcu}
+ -DEEPROM_IMAGE=${TARGET_PATH}.eep
+ -P ${ARDUINO_SIZE_SCRIPT}
+ COMMENT "Calculating image size"
+ VERBATIM)
+
+ # Create ${TARGET_NAME}-size target
+ add_custom_target(${TARGET_NAME}-size
+ COMMAND ${CMAKE_COMMAND}
+ -DFIRMWARE_IMAGE=${TARGET_PATH}.elf
+ -DMCU=${${BOARD_ID}.build.mcu}
+ -DEEPROM_IMAGE=${TARGET_PATH}.eep
+ -P ${ARDUINO_SIZE_SCRIPT}
+ DEPENDS ${TARGET_NAME}
+ COMMENT "Calculating ${TARGET_NAME} image size")
+
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_upload(BOARD_ID TARGET_NAME PORT)
+#
+# BOARD_ID - Arduino board id
+# TARGET_NAME - Target name
+# PORT - Serial port for upload
+# PROGRAMMER_ID - Programmer ID
+# AVRDUDE_FLAGS - avrdude flags
+#
+# Create an upload target (${TARGET_NAME}-upload) for the specified Arduino target.
+#
+#=============================================================================#
+function(setup_arduino_upload BOARD_ID TARGET_NAME PORT PROGRAMMER_ID AVRDUDE_FLAGS)
+ setup_arduino_bootloader_upload(${TARGET_NAME} ${BOARD_ID} ${PORT} "${AVRDUDE_FLAGS}")
+
+ # Add programmer support if defined
+ if(PROGRAMMER_ID AND ${PROGRAMMER_ID}.protocol)
+ setup_arduino_programmer_burn(${TARGET_NAME} ${BOARD_ID} ${PROGRAMMER_ID} ${PORT} "${AVRDUDE_FLAGS}")
+ setup_arduino_bootloader_burn(${TARGET_NAME} ${BOARD_ID} ${PROGRAMMER_ID} ${PORT} "${AVRDUDE_FLAGS}")
+ endif()
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_bootloader_upload(TARGET_NAME BOARD_ID PORT)
+#
+# TARGET_NAME - target name
+# BOARD_ID - board id
+# PORT - serial port
+# AVRDUDE_FLAGS - avrdude flags (override)
+#
+# Set up target for upload firmware via the bootloader.
+#
+# The target for uploading the firmware is ${TARGET_NAME}-upload .
+#
+#=============================================================================#
+function(setup_arduino_bootloader_upload TARGET_NAME BOARD_ID PORT AVRDUDE_FLAGS)
+ set(UPLOAD_TARGET ${TARGET_NAME}-upload)
+ set(AVRDUDE_ARGS)
+
+ setup_arduino_bootloader_args(${BOARD_ID} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS)
+
+ if(NOT AVRDUDE_ARGS)
+ message("Could not generate default avrdude bootloader args, aborting!")
+ return()
+ endif()
+
+ list(APPEND AVRDUDE_ARGS "-Uflash:w:${TARGET_NAME}.hex")
+ list(APPEND AVRDUDE_ARGS "-Ueeprom:w:${TARGET_NAME}.eep:i")
+ add_custom_target(${UPLOAD_TARGET}
+ ${ARDUINO_AVRDUDE_PROGRAM}
+ ${AVRDUDE_ARGS}
+ DEPENDS ${TARGET_NAME})
+
+ # Global upload target
+ if(NOT TARGET upload)
+ add_custom_target(upload)
+ endif()
+
+ add_dependencies(upload ${UPLOAD_TARGET})
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_programmer_burn(TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS)
+#
+# TARGET_NAME - name of target to burn
+# BOARD_ID - board id
+# PROGRAMMER - programmer id
+# PORT - serial port
+# AVRDUDE_FLAGS - avrdude flags (override)
+#
+# Sets up target for burning firmware via a programmer.
+#
+# The target for burning the firmware is ${TARGET_NAME}-burn .
+#
+#=============================================================================#
+function(setup_arduino_programmer_burn TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS)
+ set(PROGRAMMER_TARGET ${TARGET_NAME}-burn)
+
+ set(AVRDUDE_ARGS)
+
+ setup_arduino_programmer_args(${BOARD_ID} ${PROGRAMMER} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS)
+
+ if(NOT AVRDUDE_ARGS)
+ message("Could not generate default avrdude programmer args, aborting!")
+ return()
+ endif()
+
+ list(APPEND AVRDUDE_ARGS "-Uflash:w:${TARGET_NAME}.hex")
+
+ add_custom_target(${PROGRAMMER_TARGET}
+ ${ARDUINO_AVRDUDE_PROGRAM}
+ ${AVRDUDE_ARGS}
+ DEPENDS ${TARGET_NAME})
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_bootloader_burn(TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS)
+#
+# TARGET_NAME - name of target to burn
+# BOARD_ID - board id
+# PROGRAMMER - programmer id
+# PORT - serial port
+# AVRDUDE_FLAGS - avrdude flags (override)
+#
+# Create a target for burning a bootloader via a programmer.
+#
+# The target for burning the bootloader is ${TARGET_NAME}-burn-bootloader
+#
+#=============================================================================#
+function(setup_arduino_bootloader_burn TARGET_NAME BOARD_ID PROGRAMMER PORT AVRDUDE_FLAGS)
+ set(BOOTLOADER_TARGET ${TARGET_NAME}-burn-bootloader)
+
+ set(AVRDUDE_ARGS)
+
+ setup_arduino_programmer_args(${BOARD_ID} ${PROGRAMMER} ${TARGET_NAME} ${PORT} "${AVRDUDE_FLAGS}" AVRDUDE_ARGS)
+
+ if(NOT AVRDUDE_ARGS)
+ message("Could not generate default avrdude programmer args, aborting!")
+ return()
+ endif()
+
+ foreach( ITEM unlock_bits high_fuses low_fuses path file)
+ if(NOT ${BOARD_ID}.bootloader.${ITEM})
+ message("Missing ${BOARD_ID}.bootloader.${ITEM}, not creating bootloader burn target ${BOOTLOADER_TARGET}.")
+ return()
+ endif()
+ endforeach()
+
+ if(NOT EXISTS "${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}/${${BOARD_ID}.bootloader.file}")
+ message("${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}/${${BOARD_ID}.bootloader.file}")
+ message("Missing bootloader image, not creating bootloader burn target ${BOOTLOADER_TARGET}.")
+ return()
+ endif()
+
+ # Erase the chip
+ list(APPEND AVRDUDE_ARGS "-e")
+
+ # Set unlock bits and fuses (because chip is going to be erased)
+ list(APPEND AVRDUDE_ARGS "-Ulock:w:${${BOARD_ID}.bootloader.unlock_bits}:m")
+ if(${BOARD_ID}.bootloader.extended_fuses)
+ list(APPEND AVRDUDE_ARGS "-Uefuse:w:${${BOARD_ID}.bootloader.extended_fuses}:m")
+ endif()
+ list(APPEND AVRDUDE_ARGS
+ "-Uhfuse:w:${${BOARD_ID}.bootloader.high_fuses}:m"
+ "-Ulfuse:w:${${BOARD_ID}.bootloader.low_fuses}:m")
+
+ # Set bootloader image
+ list(APPEND AVRDUDE_ARGS "-Uflash:w:${${BOARD_ID}.bootloader.file}:i")
+
+ # Set lockbits
+ list(APPEND AVRDUDE_ARGS "-Ulock:w:${${BOARD_ID}.bootloader.lock_bits}:m")
+
+ # Create burn bootloader target
+ add_custom_target(${BOOTLOADER_TARGET}
+ ${ARDUINO_AVRDUDE_PROGRAM}
+ ${AVRDUDE_ARGS}
+ WORKING_DIRECTORY ${ARDUINO_BOOTLOADERS_PATH}/${${BOARD_ID}.bootloader.path}
+ DEPENDS ${TARGET_NAME})
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_programmer_args(BOARD_ID PROGRAMMER TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR)
+#
+# BOARD_ID - board id
+# PROGRAMMER - programmer id
+# TARGET_NAME - target name
+# PORT - serial port
+# AVRDUDE_FLAGS - avrdude flags (override)
+# OUTPUT_VAR - name of output variable for result
+#
+# Sets up default avrdude settings for burning firmware via a programmer.
+#=============================================================================#
+function(setup_arduino_programmer_args BOARD_ID PROGRAMMER TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR)
+ set(AVRDUDE_ARGS ${${OUTPUT_VAR}})
+
+ if(NOT AVRDUDE_FLAGS)
+ set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS})
+ endif()
+
+ list(APPEND AVRDUDE_ARGS "-C${ARDUINO_AVRDUDE_CONFIG_PATH}")
+
+ #TODO: Check mandatory settings before continuing
+ if(NOT ${PROGRAMMER}.protocol)
+ message(FATAL_ERROR "Missing ${PROGRAMMER}.protocol, aborting!")
+ endif()
+
+ list(APPEND AVRDUDE_ARGS "-c${${PROGRAMMER}.protocol}") # Set programmer
+
+ if(${PROGRAMMER}.communication STREQUAL "usb")
+ list(APPEND AVRDUDE_ARGS "-Pusb") # Set USB as port
+ elseif(${PROGRAMMER}.communication STREQUAL "serial")
+ list(APPEND AVRDUDE_ARGS "-P${PORT}") # Set port
+ if(${PROGRAMMER}.speed)
+ list(APPEND AVRDUDE_ARGS "-b${${PROGRAMMER}.speed}") # Set baud rate
+ endif()
+ endif()
+
+ if(${PROGRAMMER}.force)
+ list(APPEND AVRDUDE_ARGS "-F") # Set force
+ endif()
+
+ if(${PROGRAMMER}.delay)
+ list(APPEND AVRDUDE_ARGS "-i${${PROGRAMMER}.delay}") # Set delay
+ endif()
+
+ list(APPEND AVRDUDE_ARGS "-p${${BOARD_ID}.build.mcu}") # MCU Type
+
+ list(APPEND AVRDUDE_ARGS ${AVRDUDE_FLAGS})
+
+ set(${OUTPUT_VAR} ${AVRDUDE_ARGS} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_bootloader_args(BOARD_ID TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR)
+#
+# BOARD_ID - board id
+# TARGET_NAME - target name
+# PORT - serial port
+# AVRDUDE_FLAGS - avrdude flags (override)
+# OUTPUT_VAR - name of output variable for result
+#
+# Sets up default avrdude settings for uploading firmware via the bootloader.
+#=============================================================================#
+function(setup_arduino_bootloader_args BOARD_ID TARGET_NAME PORT AVRDUDE_FLAGS OUTPUT_VAR)
+ set(AVRDUDE_ARGS ${${OUTPUT_VAR}})
+
+ if(NOT AVRDUDE_FLAGS)
+ set(AVRDUDE_FLAGS ${ARDUINO_AVRDUDE_FLAGS})
+ endif()
+
+ list(APPEND AVRDUDE_ARGS
+ "-C${ARDUINO_AVRDUDE_CONFIG_PATH}" # avrdude config
+ "-p${${BOARD_ID}.build.mcu}" # MCU Type
+ )
+
+ # Programmer
+ if(NOT ${BOARD_ID}.upload.protocol OR ${BOARD_ID}.upload.protocol STREQUAL "stk500")
+ list(APPEND AVRDUDE_ARGS "-cstk500v1")
+ else()
+ list(APPEND AVRDUDE_ARGS "-c${${BOARD_ID}.upload.protocol}")
+ endif()
+
+ set(UPLOAD_SPEED "19200")
+ if(${BOARD_ID}.upload.speed)
+ set(UPLOAD_SPEED ${${BOARD_ID}.upload.speed})
+ endif()
+
+ list(APPEND AVRDUDE_ARGS
+ "-b${UPLOAD_SPEED}" # Baud rate
+ "-P${PORT}" # Serial port
+ "-D" # Dont erase
+ )
+
+ list(APPEND AVRDUDE_ARGS ${AVRDUDE_FLAGS})
+
+ set(${OUTPUT_VAR} ${AVRDUDE_ARGS} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# find_sources(VAR_NAME LIB_PATH RECURSE)
+#
+# VAR_NAME - Variable name that will hold the detected sources
+# LIB_PATH - The base path
+# RECURSE - Whether or not to recurse
+#
+# Finds all C/C++ sources located at the specified path.
+#
+#=============================================================================#
+function(find_sources VAR_NAME LIB_PATH RECURSE)
+ set(FILE_SEARCH_LIST
+ ${LIB_PATH}/*.cpp
+ ${LIB_PATH}/*.c
+ ${LIB_PATH}/*.cc
+ ${LIB_PATH}/*.cxx
+ ${LIB_PATH}/*.h
+ ${LIB_PATH}/*.hh
+ ${LIB_PATH}/*.hxx)
+
+ if(RECURSE)
+ file(GLOB_RECURSE LIB_FILES ${FILE_SEARCH_LIST})
+ else()
+ file(GLOB LIB_FILES ${FILE_SEARCH_LIST})
+ endif()
+
+ if(LIB_FILES)
+ set(${VAR_NAME} ${LIB_FILES} PARENT_SCOPE)
+ endif()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_serial_target(TARGET_NAME CMD)
+#
+# TARGET_NAME - Target name
+# CMD - Serial terminal command
+#
+# Creates a target (${TARGET_NAME}-serial) for launching the serial termnial.
+#
+#=============================================================================#
+function(setup_serial_target TARGET_NAME CMD SERIAL_PORT)
+ string(CONFIGURE "${CMD}" FULL_CMD @ONLY)
+ add_custom_target(${TARGET_NAME}-serial
+ COMMAND ${FULL_CMD})
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# detect_arduino_version(VAR_NAME)
+#
+# VAR_NAME - Variable name where the detected version will be saved
+#
+# Detects the Arduino SDK Version based on the revisions.txt file. The
+# following variables will be generated:
+#
+# ${VAR_NAME} -> the full version (major.minor.patch)
+# ${VAR_NAME}_MAJOR -> the major version
+# ${VAR_NAME}_MINOR -> the minor version
+# ${VAR_NAME}_PATCH -> the patch version
+#
+#=============================================================================#
+function(detect_arduino_version VAR_NAME)
+ if(ARDUINO_VERSION_PATH)
+ file(READ ${ARDUINO_VERSION_PATH} RAW_VERSION)
+ if("${RAW_VERSION}" MATCHES " *[0]+([0-9]+)")
+ set(PARSED_VERSION 0.${CMAKE_MATCH_1}.0)
+ elseif("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+[.][0-9]+)")
+ set(PARSED_VERSION ${CMAKE_MATCH_1})
+ elseif("${RAW_VERSION}" MATCHES "[ ]*([0-9]+[.][0-9]+)")
+ set(PARSED_VERSION ${CMAKE_MATCH_1}.0)
+ endif()
+
+ if(NOT PARSED_VERSION STREQUAL "")
+ string(REPLACE "." ";" SPLIT_VERSION ${PARSED_VERSION})
+ list(GET SPLIT_VERSION 0 SPLIT_VERSION_MAJOR)
+ list(GET SPLIT_VERSION 1 SPLIT_VERSION_MINOR)
+ list(GET SPLIT_VERSION 2 SPLIT_VERSION_PATCH)
+
+ set(${VAR_NAME} "${PARSED_VERSION}" PARENT_SCOPE)
+ set(${VAR_NAME}_MAJOR "${SPLIT_VERSION_MAJOR}" PARENT_SCOPE)
+ set(${VAR_NAME}_MINOR "${SPLIT_VERSION_MINOR}" PARENT_SCOPE)
+ set(${VAR_NAME}_PATCH "${SPLIT_VERSION_PATCH}" PARENT_SCOPE)
+ endif()
+ endif()
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# load_arduino_style_settings(SETTINGS_LIST SETTINGS_PATH)
+#
+# SETTINGS_LIST - Variable name of settings list
+# SETTINGS_PATH - File path of settings file to load.
+#
+# Load a Arduino style settings file into the cache.
+#
+# Examples of this type of settings file is the boards.txt and
+# programmers.txt files located in ${ARDUINO_SDK}/hardware/arduino.
+#
+# Settings have to following format:
+#
+# entry.setting[.subsetting] = value
+#
+# where [.subsetting] is optional
+#
+# For example, the following settings:
+#
+# uno.name=Arduino Uno
+# uno.upload.protocol=stk500
+# uno.upload.maximum_size=32256
+# uno.build.mcu=atmega328p
+# uno.build.core=arduino
+#
+# will generate the follwoing equivalent CMake variables:
+#
+# set(uno.name "Arduino Uno")
+# set(uno.upload.protocol "stk500")
+# set(uno.upload.maximum_size "32256")
+# set(uno.build.mcu "atmega328p")
+# set(uno.build.core "arduino")
+#
+# set(uno.SETTINGS name upload build) # List of settings for uno
+# set(uno.upload.SUBSETTINGS protocol maximum_size) # List of sub-settings for uno.upload
+# set(uno.build.SUBSETTINGS mcu core) # List of sub-settings for uno.build
+#
+# The ${ENTRY_NAME}.SETTINGS variable lists all settings for the entry, while
+# ${ENTRY_NAME}.SUBSETTINGS variables lists all settings for a sub-setting of
+# a entry setting pair.
+#
+# These variables are generated in order to be able to programatically traverse
+# all settings (for a example see print_board_settings() function).
+#
+#=============================================================================#
+function(LOAD_ARDUINO_STYLE_SETTINGS SETTINGS_LIST SETTINGS_PATH)
+
+ if(NOT ${SETTINGS_LIST} AND EXISTS ${SETTINGS_PATH})
+ file(STRINGS ${SETTINGS_PATH} FILE_ENTRIES) # Settings file split into lines
+
+ foreach(FILE_ENTRY ${FILE_ENTRIES})
+ if("${FILE_ENTRY}" MATCHES "^[^#]+=.*")
+ string(REGEX MATCH "^[^=]+" SETTING_NAME ${FILE_ENTRY})
+ string(REGEX MATCH "[^=]+$" SETTING_VALUE ${FILE_ENTRY})
+ string(REPLACE "." ";" ENTRY_NAME_TOKENS ${SETTING_NAME})
+ string(STRIP "${SETTING_VALUE}" SETTING_VALUE)
+
+ list(LENGTH ENTRY_NAME_TOKENS ENTRY_NAME_TOKENS_LEN)
+
+ # Add entry to settings list if it does not exist
+ list(GET ENTRY_NAME_TOKENS 0 ENTRY_NAME)
+ list(FIND ${SETTINGS_LIST} ${ENTRY_NAME} ENTRY_NAME_INDEX)
+ if(ENTRY_NAME_INDEX LESS 0)
+ # Add entry to main list
+ list(APPEND ${SETTINGS_LIST} ${ENTRY_NAME})
+ endif()
+
+ # Add entry setting to entry settings list if it does not exist
+ set(ENTRY_SETTING_LIST ${ENTRY_NAME}.SETTINGS)
+ list(GET ENTRY_NAME_TOKENS 1 ENTRY_SETTING)
+ list(FIND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING} ENTRY_SETTING_INDEX)
+ if(ENTRY_SETTING_INDEX LESS 0)
+ # Add setting to entry
+ list(APPEND ${ENTRY_SETTING_LIST} ${ENTRY_SETTING})
+ set(${ENTRY_SETTING_LIST} ${${ENTRY_SETTING_LIST}}
+ CACHE INTERNAL "Arduino ${ENTRY_NAME} Board settings list")
+ endif()
+
+ set(FULL_SETTING_NAME ${ENTRY_NAME}.${ENTRY_SETTING})
+
+ # Add entry sub-setting to entry sub-settings list if it does not exists
+ if(ENTRY_NAME_TOKENS_LEN GREATER 2)
+ set(ENTRY_SUBSETTING_LIST ${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS)
+ list(GET ENTRY_NAME_TOKENS 2 ENTRY_SUBSETTING)
+ list(FIND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING} ENTRY_SUBSETTING_INDEX)
+ if(ENTRY_SUBSETTING_INDEX LESS 0)
+ list(APPEND ${ENTRY_SUBSETTING_LIST} ${ENTRY_SUBSETTING})
+ set(${ENTRY_SUBSETTING_LIST} ${${ENTRY_SUBSETTING_LIST}}
+ CACHE INTERNAL "Arduino ${ENTRY_NAME} Board sub-settings list")
+ endif()
+ set(FULL_SETTING_NAME ${FULL_SETTING_NAME}.${ENTRY_SUBSETTING})
+ endif()
+
+ # Save setting value
+ set(${FULL_SETTING_NAME} ${SETTING_VALUE}
+ CACHE INTERNAL "Arduino ${ENTRY_NAME} Board setting")
+
+
+ endif()
+ endforeach()
+ set(${SETTINGS_LIST} ${${SETTINGS_LIST}}
+ CACHE STRING "List of detected Arduino Board configurations")
+ mark_as_advanced(${SETTINGS_LIST})
+ endif()
+endfunction()
+
+#=============================================================================#
+# print_settings(ENTRY_NAME)
+#
+# ENTRY_NAME - name of entry
+#
+# Print the entry settings (see load_arduino_syle_settings()).
+#
+#=============================================================================#
+function(PRINT_SETTINGS ENTRY_NAME)
+ if(${ENTRY_NAME}.SETTINGS)
+
+ foreach(ENTRY_SETTING ${${ENTRY_NAME}.SETTINGS})
+ if(${ENTRY_NAME}.${ENTRY_SETTING})
+ message(STATUS " ${ENTRY_NAME}.${ENTRY_SETTING}=${${ENTRY_NAME}.${ENTRY_SETTING}}")
+ endif()
+ if(${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS)
+ foreach(ENTRY_SUBSETTING ${${ENTRY_NAME}.${ENTRY_SETTING}.SUBSETTINGS})
+ if(${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING})
+ message(STATUS " ${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}=${${ENTRY_NAME}.${ENTRY_SETTING}.${ENTRY_SUBSETTING}}")
+ endif()
+ endforeach()
+ endif()
+ message(STATUS "")
+ endforeach()
+ endif()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# print_list(SETTINGS_LIST)
+#
+# SETTINGS_LIST - Variables name of settings list
+#
+# Print list settings and names (see load_arduino_syle_settings()).
+#=============================================================================#
+function(PRINT_LIST SETTINGS_LIST)
+ if(${SETTINGS_LIST})
+ set(MAX_LENGTH 0)
+ foreach(ENTRY_NAME ${${SETTINGS_LIST}})
+ string(LENGTH "${ENTRY_NAME}" CURRENT_LENGTH)
+ if(CURRENT_LENGTH GREATER MAX_LENGTH)
+ set(MAX_LENGTH ${CURRENT_LENGTH})
+ endif()
+ endforeach()
+ foreach(ENTRY_NAME ${${SETTINGS_LIST}})
+ string(LENGTH "${ENTRY_NAME}" CURRENT_LENGTH)
+ math(EXPR PADDING_LENGTH "${MAX_LENGTH}-${CURRENT_LENGTH}")
+ set(PADDING "")
+ foreach(X RANGE ${PADDING_LENGTH})
+ set(PADDING "${PADDING} ")
+ endforeach()
+ message(STATUS " ${PADDING}${ENTRY_NAME}: ${${ENTRY_NAME}.name}")
+ endforeach()
+ endif()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_example(TARGET_NAME LIBRARY_NAME EXAMPLE_NAME OUTPUT_VAR)
+#
+# TARGET_NAME - Target name
+# LIBRARY_NAME - Library name
+# EXAMPLE_NAME - Example name
+# OUTPUT_VAR - Variable name to save sketch path.
+#
+# Creates a Arduino example from a the specified library.
+#=============================================================================#
+function(SETUP_ARDUINO_EXAMPLE TARGET_NAME LIBRARY_NAME EXAMPLE_NAME OUTPUT_VAR)
+ set(EXAMPLE_SKETCH_PATH )
+
+ get_property(LIBRARY_SEARCH_PATH
+ DIRECTORY # Property Scope
+ PROPERTY LINK_DIRECTORIES)
+ foreach(LIB_SEARCH_PATH ${LIBRARY_SEARCH_PATH} ${ARDUINO_LIBRARIES_PATH} ${CMAKE_CURRENT_SOURCE_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/libraries)
+ if(EXISTS "${LIB_SEARCH_PATH}/${LIBRARY_NAME}/examples/${EXAMPLE_NAME}")
+ set(EXAMPLE_SKETCH_PATH "${LIB_SEARCH_PATH}/${LIBRARY_NAME}/examples/${EXAMPLE_NAME}")
+ break()
+ endif()
+ endforeach()
+
+ if(EXAMPLE_SKETCH_PATH)
+ setup_arduino_sketch(${TARGET_NAME} ${EXAMPLE_SKETCH_PATH} SKETCH_CPP)
+ set("${OUTPUT_VAR}" ${${OUTPUT_VAR}} ${SKETCH_CPP} PARENT_SCOPE)
+ else()
+ message(FATAL_ERROR "Could not find example ${EXAMPLE_NAME} from library ${LIBRARY_NAME}")
+ endif()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_sketch(TARGET_NAME SKETCH_PATH OUTPUT_VAR)
+#
+# TARGET_NAME - Target name
+# SKETCH_PATH - Path to sketch directory
+# OUTPUT_VAR - Variable name where to save generated sketch source
+#
+# Generates C++ sources from Arduino Sketch.
+#=============================================================================#
+function(SETUP_ARDUINO_SKETCH TARGET_NAME SKETCH_PATH OUTPUT_VAR)
+ get_filename_component(SKETCH_NAME "${SKETCH_PATH}" NAME)
+ get_filename_component(SKETCH_PATH "${SKETCH_PATH}" ABSOLUTE)
+
+ if(EXISTS "${SKETCH_PATH}")
+ set(SKETCH_CPP ${CMAKE_CURRENT_BINARY_DIR}/${TARGET_NAME}_${SKETCH_NAME}.cpp)
+
+ if (IS_DIRECTORY "${SKETCH_PATH}")
+ # Sketch directory specified, try to find main sketch...
+ set(MAIN_SKETCH ${SKETCH_PATH}/${SKETCH_NAME})
+
+ if(EXISTS "${MAIN_SKETCH}.pde")
+ set(MAIN_SKETCH "${MAIN_SKETCH}.pde")
+ elseif(EXISTS "${MAIN_SKETCH}.ino")
+ set(MAIN_SKETCH "${MAIN_SKETCH}.ino")
+ else()
+ message(FATAL_ERROR "Could not find main sketch (${SKETCH_NAME}.pde or ${SKETCH_NAME}.ino) at ${SKETCH_PATH}! Please specify the main sketch file path instead of directory.")
+ endif()
+ else()
+ # Sektch file specified, assuming parent directory as sketch directory
+ set(MAIN_SKETCH ${SKETCH_PATH})
+ get_filename_component(SKETCH_PATH "${SKETCH_PATH}" PATH)
+ endif()
+ arduino_debug_msg("sketch: ${MAIN_SKETCH}")
+
+ # Find all sketch files
+ file(GLOB SKETCH_SOURCES ${SKETCH_PATH}/*.pde ${SKETCH_PATH}/*.ino)
+ list(REMOVE_ITEM SKETCH_SOURCES ${MAIN_SKETCH})
+ list(SORT SKETCH_SOURCES)
+
+ generate_cpp_from_sketch("${MAIN_SKETCH}" "${SKETCH_SOURCES}" "${SKETCH_CPP}")
+
+ # Regenerate build system if sketch changes
+ add_custom_command(OUTPUT ${SKETCH_CPP}
+ COMMAND ${CMAKE_COMMAND} ${CMAKE_SOURCE_DIR}
+ WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
+ DEPENDS ${MAIN_SKETCH} ${SKETCH_SOURCES}
+ COMMENT "Regnerating ${SKETCH_NAME} Sketch")
+ set_source_files_properties(${SKETCH_CPP} PROPERTIES GENERATED TRUE)
+ # Mark file that it exists for find_file
+ set_source_files_properties(${SKETCH_CPP} PROPERTIES GENERATED_SKETCH TRUE)
+
+ set("${OUTPUT_VAR}" ${${OUTPUT_VAR}} ${SKETCH_CPP} PARENT_SCOPE)
+ else()
+ message(FATAL_ERROR "Sketch does not exist: ${SKETCH_PATH}")
+ endif()
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# generate_cpp_from_sketch(MAIN_SKETCH_PATH SKETCH_SOURCES SKETCH_CPP)
+#
+# MAIN_SKETCH_PATH - Main sketch file path
+# SKETCH_SOURCES - Setch source paths
+# SKETCH_CPP - Name of file to generate
+#
+# Generate C++ source file from Arduino sketch files.
+#=============================================================================#
+function(GENERATE_CPP_FROM_SKETCH MAIN_SKETCH_PATH SKETCH_SOURCES SKETCH_CPP)
+ file(WRITE ${SKETCH_CPP} "// automatically generated by arduino-cmake\n")
+ file(READ ${MAIN_SKETCH_PATH} MAIN_SKETCH)
+
+ # remove comments
+ remove_comments(MAIN_SKETCH MAIN_SKETCH_NO_COMMENTS)
+
+ # find first statement
+ string(REGEX MATCH "[\n][_a-zA-Z0-9]+[^\n]*" FIRST_STATEMENT "${MAIN_SKETCH_NO_COMMENTS}")
+ string(FIND "${MAIN_SKETCH}" "${FIRST_STATEMENT}" HEAD_LENGTH)
+ if ("${HEAD_LENGTH}" STREQUAL "-1")
+ set(HEAD_LENGTH 0)
+ endif()
+ #message(STATUS "FIRST STATEMENT: ${FIRST_STATEMENT}")
+ #message(STATUS "FIRST STATEMENT POSITION: ${HEAD_LENGTH}")
+ string(LENGTH "${MAIN_SKETCH}" MAIN_SKETCH_LENGTH)
+
+ string(SUBSTRING "${MAIN_SKETCH}" 0 ${HEAD_LENGTH} SKETCH_HEAD)
+ #arduino_debug_msg("SKETCH_HEAD:\n${SKETCH_HEAD}")
+
+ # find the body of the main pde
+ math(EXPR BODY_LENGTH "${MAIN_SKETCH_LENGTH}-${HEAD_LENGTH}")
+ string(SUBSTRING "${MAIN_SKETCH}" "${HEAD_LENGTH}+1" "${BODY_LENGTH}-1" SKETCH_BODY)
+ #arduino_debug_msg("BODY:\n${SKETCH_BODY}")
+
+ # write the file head
+ file(APPEND ${SKETCH_CPP} "#line 1 \"${MAIN_SKETCH_PATH}\"\n${SKETCH_HEAD}")
+
+ # Count head line offset (for GCC error reporting)
+ file(STRINGS ${SKETCH_CPP} SKETCH_HEAD_LINES)
+ list(LENGTH SKETCH_HEAD_LINES SKETCH_HEAD_LINES_COUNT)
+ math(EXPR SKETCH_HEAD_OFFSET "${SKETCH_HEAD_LINES_COUNT}+2")
+
+ # add arduino include header
+ #file(APPEND ${SKETCH_CPP} "\n#line 1 \"autogenerated\"\n")
+ file(APPEND ${SKETCH_CPP} "\n#line ${SKETCH_HEAD_OFFSET} \"${SKETCH_CPP}\"\n")
+ if(ARDUINO_SDK_VERSION VERSION_LESS 1.0)
+ file(APPEND ${SKETCH_CPP} "#include \"WProgram.h\"\n")
+ else()
+ file(APPEND ${SKETCH_CPP} "#include \"Arduino.h\"\n")
+ endif()
+
+ # add function prototypes
+ foreach(SKETCH_SOURCE_PATH ${SKETCH_SOURCES} ${MAIN_SKETCH_PATH})
+ arduino_debug_msg("Sketch: ${SKETCH_SOURCE_PATH}")
+ file(READ ${SKETCH_SOURCE_PATH} SKETCH_SOURCE)
+ remove_comments(SKETCH_SOURCE SKETCH_SOURCE)
+
+ set(ALPHA "a-zA-Z")
+ set(NUM "0-9")
+ set(ALPHANUM "${ALPHA}${NUM}")
+ set(WORD "_${ALPHANUM}")
+ set(LINE_START "(^|[\n])")
+ set(QUALIFIERS "[ \t]*([${ALPHA}]+[ ])*")
+ set(TYPE "[${WORD}]+([ ]*[\n][\t]*|[ ])+")
+ set(FNAME "[${WORD}]+[ ]?[\n]?[\t]*[ ]*")
+ set(FARGS "[(]([\t]*[ ]*[*&]?[ ]?[${WORD}](\\[([${NUM}]+)?\\])*[,]?[ ]*[\n]?)*([,]?[ ]*[\n]?)?[)]")
+ set(BODY_START "([ ]*[\n][\t]*|[ ]|[\n])*{")
+ set(PROTOTYPE_PATTERN "${LINE_START}${QUALIFIERS}${TYPE}${FNAME}${FARGS}${BODY_START}")
+
+ string(REGEX MATCHALL "${PROTOTYPE_PATTERN}" SKETCH_PROTOTYPES "${SKETCH_SOURCE}")
+
+ # Write function prototypes
+ file(APPEND ${SKETCH_CPP} "\n//=== START Forward: ${SKETCH_SOURCE_PATH}\n")
+ foreach(SKETCH_PROTOTYPE ${SKETCH_PROTOTYPES})
+ string(REPLACE "\n" " " SKETCH_PROTOTYPE "${SKETCH_PROTOTYPE}")
+ string(REPLACE "{" "" SKETCH_PROTOTYPE "${SKETCH_PROTOTYPE}")
+ arduino_debug_msg("\tprototype: ${SKETCH_PROTOTYPE};")
+ # " else if(var == other) {" shoudn't be listed as prototype
+ if(NOT SKETCH_PROTOTYPE MATCHES "(if[ ]?[\n]?[\t]*[ ]*[)])")
+ file(APPEND ${SKETCH_CPP} "${SKETCH_PROTOTYPE};\n")
+ else()
+ arduino_debug_msg("\trejected prototype: ${SKETCH_PROTOTYPE};")
+ endif()
+ file(APPEND ${SKETCH_CPP} "${SKETCH_PROTOTYPE};\n")
+ endforeach()
+ file(APPEND ${SKETCH_CPP} "//=== END Forward: ${SKETCH_SOURCE_PATH}\n")
+ endforeach()
+
+ # Write Sketch CPP source
+ get_num_lines("${SKETCH_HEAD}" HEAD_NUM_LINES)
+ file(APPEND ${SKETCH_CPP} "#line ${HEAD_NUM_LINES} \"${MAIN_SKETCH_PATH}\"\n")
+ file(APPEND ${SKETCH_CPP} "\n${SKETCH_BODY}")
+ foreach (SKETCH_SOURCE_PATH ${SKETCH_SOURCES})
+ file(READ ${SKETCH_SOURCE_PATH} SKETCH_SOURCE)
+ file(APPEND ${SKETCH_CPP} "\n//=== START : ${SKETCH_SOURCE_PATH}\n")
+ file(APPEND ${SKETCH_CPP} "#line 1 \"${SKETCH_SOURCE_PATH}\"\n")
+ file(APPEND ${SKETCH_CPP} "${SKETCH_SOURCE}")
+ file(APPEND ${SKETCH_CPP} "\n//=== END : ${SKETCH_SOURCE_PATH}\n")
+ endforeach()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# setup_arduino_size_script(OUTPUT_VAR)
+#
+# OUTPUT_VAR - Output variable that will contain the script path
+#
+# Generates script used to display the firmware size.
+#=============================================================================#
+function(SETUP_ARDUINO_SIZE_SCRIPT OUTPUT_VAR)
+ set(ARDUINO_SIZE_SCRIPT_PATH ${CMAKE_BINARY_DIR}/CMakeFiles/FirmwareSize.cmake)
+
+ file(WRITE ${ARDUINO_SIZE_SCRIPT_PATH} "
+ set(AVRSIZE_PROGRAM ${AVRSIZE_PROGRAM})
+ set(AVRSIZE_FLAGS -C --mcu=\${MCU})
+
+ execute_process(COMMAND \${AVRSIZE_PROGRAM} \${AVRSIZE_FLAGS} \${FIRMWARE_IMAGE} \${EEPROM_IMAGE}
+ OUTPUT_VARIABLE SIZE_OUTPUT)
+
+
+ string(STRIP \"\${SIZE_OUTPUT}\" RAW_SIZE_OUTPUT)
+
+ # Convert lines into a list
+ string(REPLACE \"\\n\" \";\" SIZE_OUTPUT_LIST \"\${SIZE_OUTPUT}\")
+
+ set(SIZE_OUTPUT_LINES)
+ foreach(LINE \${SIZE_OUTPUT_LIST})
+ if(NOT \"\${LINE}\" STREQUAL \"\")
+ list(APPEND SIZE_OUTPUT_LINES \"\${LINE}\")
+ endif()
+ endforeach()
+
+ function(EXTRACT LIST_NAME INDEX VARIABLE)
+ list(GET \"\${LIST_NAME}\" \${INDEX} RAW_VALUE)
+ string(STRIP \"\${RAW_VALUE}\" VALUE)
+
+ set(\${VARIABLE} \"\${VALUE}\" PARENT_SCOPE)
+ endfunction()
+ function(PARSE INPUT VARIABLE_PREFIX)
+ if(\${INPUT} MATCHES \"([^:]+):[ \\t]*([0-9]+)[ \\t]*([^ \\t]+)[ \\t]*[(]([0-9.]+)%.*\")
+ set(ENTRY_NAME \${CMAKE_MATCH_1})
+ set(ENTRY_SIZE \${CMAKE_MATCH_2})
+ set(ENTRY_SIZE_TYPE \${CMAKE_MATCH_3})
+ set(ENTRY_PERCENT \${CMAKE_MATCH_4})
+ endif()
+
+ set(\${VARIABLE_PREFIX}_NAME \${ENTRY_NAME} PARENT_SCOPE)
+ set(\${VARIABLE_PREFIX}_SIZE \${ENTRY_SIZE} PARENT_SCOPE)
+ set(\${VARIABLE_PREFIX}_SIZE_TYPE \${ENTRY_SIZE_TYPE} PARENT_SCOPE)
+ set(\${VARIABLE_PREFIX}_PERCENT \${ENTRY_PERCENT} PARENT_SCOPE)
+ endfunction()
+
+ list(LENGTH SIZE_OUTPUT_LINES SIZE_OUTPUT_LENGTH)
+ #message(\"\${SIZE_OUTPUT_LINES}\")
+ #message(\"\${SIZE_OUTPUT_LENGTH}\")
+ if (\${SIZE_OUTPUT_LENGTH} STREQUAL 14)
+ EXTRACT(SIZE_OUTPUT_LINES 3 FIRMWARE_PROGRAM_SIZE_ROW)
+ EXTRACT(SIZE_OUTPUT_LINES 5 FIRMWARE_DATA_SIZE_ROW)
+ PARSE(FIRMWARE_PROGRAM_SIZE_ROW FIRMWARE_PROGRAM)
+ PARSE(FIRMWARE_DATA_SIZE_ROW FIRMWARE_DATA)
+
+ set(FIRMWARE_STATUS \"Firmware Size: \")
+ set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} [\${FIRMWARE_PROGRAM_NAME}: \${FIRMWARE_PROGRAM_SIZE} \${FIRMWARE_PROGRAM_SIZE_TYPE} (\${FIRMWARE_PROGRAM_PERCENT}%)] \")
+ set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} [\${FIRMWARE_DATA_NAME}: \${FIRMWARE_DATA_SIZE} \${FIRMWARE_DATA_SIZE_TYPE} (\${FIRMWARE_DATA_PERCENT}%)]\")
+ set(FIRMWARE_STATUS \"\${FIRMWARE_STATUS} on \${MCU}\")
+
+ EXTRACT(SIZE_OUTPUT_LINES 10 EEPROM_PROGRAM_SIZE_ROW)
+ EXTRACT(SIZE_OUTPUT_LINES 12 EEPROM_DATA_SIZE_ROW)
+ PARSE(EEPROM_PROGRAM_SIZE_ROW EEPROM_PROGRAM)
+ PARSE(EEPROM_DATA_SIZE_ROW EEPROM_DATA)
+
+ set(EEPROM_STATUS \"EEPROM Size: \")
+ set(EEPROM_STATUS \"\${EEPROM_STATUS} [\${EEPROM_PROGRAM_NAME}: \${EEPROM_PROGRAM_SIZE} \${EEPROM_PROGRAM_SIZE_TYPE} (\${EEPROM_PROGRAM_PERCENT}%)] \")
+ set(EEPROM_STATUS \"\${EEPROM_STATUS} [\${EEPROM_DATA_NAME}: \${EEPROM_DATA_SIZE} \${EEPROM_DATA_SIZE_TYPE} (\${EEPROM_DATA_PERCENT}%)]\")
+ set(EEPROM_STATUS \"\${EEPROM_STATUS} on \${MCU}\")
+
+ message(\"\${FIRMWARE_STATUS}\")
+ message(\"\${EEPROM_STATUS}\\n\")
+
+ if(\$ENV{VERBOSE})
+ message(\"\${RAW_SIZE_OUTPUT}\\n\")
+ elseif(\$ENV{VERBOSE_SIZE})
+ message(\"\${RAW_SIZE_OUTPUT}\\n\")
+ endif()
+ else()
+ message(\"\${RAW_SIZE_OUTPUT}\")
+ endif()
+ ")
+
+ set(${OUTPUT_VAR} ${ARDUINO_SIZE_SCRIPT_PATH} PARENT_SCOPE)
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# arduino_debug_on()
+#
+# Enables Arduino module debugging.
+#=============================================================================#
+function(ARDUINO_DEBUG_ON)
+ set(ARDUINO_DEBUG True PARENT_SCOPE)
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# arduino_debug_off()
+#
+# Disables Arduino module debugging.
+#=============================================================================#
+function(ARDUINO_DEBUG_OFF)
+ set(ARDUINO_DEBUG False PARENT_SCOPE)
+endfunction()
+
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# arduino_debug_msg(MSG)
+#
+# MSG - Message to print
+#
+# Print Arduino debugging information. In order to enable printing
+# use arduino_debug_on() and to disable use arduino_debug_off().
+#=============================================================================#
+function(ARDUINO_DEBUG_MSG MSG)
+ if(ARDUINO_DEBUG)
+ message("## ${MSG}")
+ endif()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# remove_comments(SRC_VAR OUT_VAR)
+#
+# SRC_VAR - variable holding sources
+# OUT_VAR - variable holding sources with no comments
+#
+# Removes all comments from the source code.
+#=============================================================================#
+function(REMOVE_COMMENTS SRC_VAR OUT_VAR)
+ string(REGEX REPLACE "[\\./\\\\]" "_" FILE "${NAME}")
+
+ set(SRC ${${SRC_VAR}})
+
+ #message(STATUS "removing comments from: ${FILE}")
+ #file(WRITE "${CMAKE_BINARY_DIR}/${FILE}_pre_remove_comments.txt" ${SRC})
+ #message(STATUS "\n${SRC}")
+
+ # remove all comments
+ string(REGEX REPLACE "([/][/][^\n]*)|([/][\\*]([^\\*]|([\\*]+[^/\\*]))*[\\*]+[/])" "" OUT "${SRC}")
+
+ #file(WRITE "${CMAKE_BINARY_DIR}/${FILE}_post_remove_comments.txt" ${SRC})
+ #message(STATUS "\n${SRC}")
+
+ set(${OUT_VAR} ${OUT} PARENT_SCOPE)
+
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# get_num_lines(DOCUMENT OUTPUT_VAR)
+#
+# DOCUMENT - Document contents
+# OUTPUT_VAR - Variable which will hold the line number count
+#
+# Counts the line number of the document.
+#=============================================================================#
+function(GET_NUM_LINES DOCUMENT OUTPUT_VAR)
+ string(REGEX MATCHALL "[\n]" MATCH_LIST "${DOCUMENT}")
+ list(LENGTH MATCH_LIST NUM)
+ set(${OUTPUT_VAR} ${NUM} PARENT_SCOPE)
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# required_variables(MSG msg VARS var1 var2 .. varN)
+#
+# MSG - Message to be displayed in case of error
+# VARS - List of variables names to check
+#
+# Ensure the specified variables are not empty, otherwise a fatal error is emmited.
+#=============================================================================#
+function(REQUIRED_VARIABLES)
+ cmake_parse_arguments(INPUT "" "MSG" "VARS" ${ARGN})
+ error_for_unparsed(INPUT)
+ foreach(VAR ${INPUT_VARS})
+ if ("${${VAR}}" STREQUAL "")
+ message(FATAL_ERROR "${VAR} not set: ${INPUT_MSG}")
+ endif()
+ endforeach()
+endfunction()
+
+#=============================================================================#
+# [PRIVATE/INTERNAL]
+#
+# error_for_unparsed(PREFIX)
+#
+# PREFIX - Prefix name
+#
+# Emit fatal error if there are unparsed argument from cmake_parse_arguments().
+#=============================================================================#
+function(ERROR_FOR_UNPARSED PREFIX)
+ set(ARGS "${${PREFIX}_UNPARSED_ARGUMENTS}")
+ if (NOT ( "${ARGS}" STREQUAL "") )
+ message(FATAL_ERROR "unparsed argument: ${ARGS}")
+ endif()
+endfunction()
+
+
+
+
+
+
+#=============================================================================#
+# C Flags
+#=============================================================================#
+if (NOT DEFINED ARDUINO_C_FLAGS)
+ set(ARDUINO_C_FLAGS "-mcall-prologues -ffunction-sections -fdata-sections")
+endif (NOT DEFINED ARDUINO_C_FLAGS)
+set(CMAKE_C_FLAGS "-g -Os ${ARDUINO_C_FLAGS}" CACHE STRING "")
+set(CMAKE_C_FLAGS_DEBUG "-g ${ARDUINO_C_FLAGS}" CACHE STRING "")
+set(CMAKE_C_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_C_FLAGS}" CACHE STRING "")
+set(CMAKE_C_FLAGS_RELEASE "-Os -DNDEBUG -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
+set(CMAKE_C_FLAGS_RELWITHDEBINFO "-Os -g -w ${ARDUINO_C_FLAGS}" CACHE STRING "")
+
+#=============================================================================#
+# C++ Flags
+#=============================================================================#
+if (NOT DEFINED ARDUINO_CXX_FLAGS)
+ set(ARDUINO_CXX_FLAGS "${ARDUINO_C_FLAGS} -fno-exceptions")
+endif (NOT DEFINED ARDUINO_CXX_FLAGS)
+set(CMAKE_CXX_FLAGS "-g -Os ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
+set(CMAKE_CXX_FLAGS_DEBUG "-g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
+set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
+set(CMAKE_CXX_FLAGS_RELEASE "-Os -DNDEBUG ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
+set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-Os -g ${ARDUINO_CXX_FLAGS}" CACHE STRING "")
+
+#=============================================================================#
+# Executable Linker Flags #
+#=============================================================================#
+set(ARDUINO_LINKER_FLAGS "-Wl,--gc-sections -lm")
+set(CMAKE_EXE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_EXE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_EXE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_EXE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_EXE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+
+#=============================================================================#
+#=============================================================================#
+# Shared Lbrary Linker Flags #
+#=============================================================================#
+set(CMAKE_SHARED_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_SHARED_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_SHARED_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_SHARED_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_SHARED_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+
+set(CMAKE_MODULE_LINKER_FLAGS "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_MODULE_LINKER_FLAGS_DEBUG "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_MODULE_LINKER_FLAGS_MINSIZEREL "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_MODULE_LINKER_FLAGS_RELEASE "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+set(CMAKE_MODULE_LINKER_FLAGS_RELWITHDEBINFO "${ARDUINO_LINKER_FLAGS}" CACHE STRING "")
+
+
+#=============================================================================#
+# Arduino Settings
+#=============================================================================#
+set(ARDUINO_OBJCOPY_EEP_FLAGS -O ihex -j .eeprom --set-section-flags=.eeprom=alloc,load
+ --no-change-warnings --change-section-lma .eeprom=0 CACHE STRING "")
+set(ARDUINO_OBJCOPY_HEX_FLAGS -O ihex -R .eeprom CACHE STRING "")
+set(ARDUINO_AVRDUDE_FLAGS -V CACHE STRING "")
+
+#=============================================================================#
+# Initialization
+#=============================================================================#
+if(NOT ARDUINO_FOUND AND ARDUINO_SDK_PATH)
+ register_hardware_platform(${ARDUINO_SDK_PATH}/hardware/arduino/)
+
+ find_file(ARDUINO_LIBRARIES_PATH
+ NAMES libraries
+ PATHS ${ARDUINO_SDK_PATH}
+ DOC "Path to directory containing the Arduino libraries.")
+
+ find_file(ARDUINO_VERSION_PATH
+ NAMES lib/version.txt
+ PATHS ${ARDUINO_SDK_PATH}
+ DOC "Path to Arduino version file.")
+
+ find_program(ARDUINO_AVRDUDE_PROGRAM
+ NAMES avrdude
+ PATHS ${ARDUINO_SDK_PATH}
+ PATH_SUFFIXES hardware/tools
+ NO_DEFAULT_PATH)
+
+ find_program(ARDUINO_AVRDUDE_PROGRAM
+ NAMES avrdude
+ DOC "Path to avrdude programmer binary.")
+
+ find_program(AVRSIZE_PROGRAM
+ NAMES avr-size)
+
+ find_file(ARDUINO_AVRDUDE_CONFIG_PATH
+ NAMES avrdude.conf
+ PATHS ${ARDUINO_SDK_PATH} /etc/avrdude
+ PATH_SUFFIXES hardware/tools
+ hardware/tools/avr/etc
+ DOC "Path to avrdude programmer configuration file.")
+
+ set(ARDUINO_DEFAULT_BOARD uno CACHE STRING "Default Arduino Board ID when not specified.")
+ set(ARDUINO_DEFAULT_PORT CACHE STRING "Default Arduino port when not specified.")
+ set(ARDUINO_DEFAULT_SERIAL CACHE STRING "Default Arduino Serial command when not specified.")
+ set(ARDUINO_DEFAULT_PROGRAMMER CACHE STRING "Default Arduino Programmer ID when not specified.")
+
+ # Ensure that all required paths are found
+ required_variables(VARS
+ ARDUINO_PLATFORMS
+ ARDUINO_CORES_PATH
+ ARDUINO_BOOTLOADERS_PATH
+ ARDUINO_LIBRARIES_PATH
+ ARDUINO_BOARDS_PATH
+ ARDUINO_PROGRAMMERS_PATH
+ ARDUINO_VERSION_PATH
+ ARDUINO_AVRDUDE_FLAGS
+ ARDUINO_AVRDUDE_PROGRAM
+ ARDUINO_AVRDUDE_CONFIG_PATH
+ AVRSIZE_PROGRAM
+ MSG "Invalid Arduino SDK path (${ARDUINO_SDK_PATH}).\n")
+
+ detect_arduino_version(ARDUINO_SDK_VERSION)
+ set(ARDUINO_SDK_VERSION ${ARDUINO_SDK_VERSION} CACHE STRING "Arduino SDK Version")
+ set(ARDUINO_SDK_VERSION_MAJOR ${ARDUINO_SDK_VERSION_MAJOR} CACHE STRING "Arduino SDK Major Version")
+ set(ARDUINO_SDK_VERSION_MINOR ${ARDUINO_SDK_VERSION_MINOR} CACHE STRING "Arduino SDK Minor Version")
+ set(ARDUINO_SDK_VERSION_PATCH ${ARDUINO_SDK_VERSION_PATCH} CACHE STRING "Arduino SDK Patch Version")
+
+ if(ARDUINO_SDK_VERSION VERSION_LESS 0.19)
+ message(FATAL_ERROR "Unsupported Arduino SDK (require verion 0.19 or higher)")
+ endif()
+
+ message(STATUS "Arduino SDK version ${ARDUINO_SDK_VERSION}: ${ARDUINO_SDK_PATH}")
+
+ setup_arduino_size_script(ARDUINO_SIZE_SCRIPT)
+ set(ARDUINO_SIZE_SCRIPT ${ARDUINO_SIZE_SCRIPT} CACHE INTERNAL "Arduino Size Script")
+
+ #print_board_list()
+ #print_programmer_list()
+
+ set(ARDUINO_FOUND True CACHE INTERNAL "Arduino Found")
+ mark_as_advanced(
+ ARDUINO_CORES_PATH
+ ARDUINO_VARIANTS_PATH
+ ARDUINO_BOOTLOADERS_PATH
+ ARDUINO_LIBRARIES_PATH
+ ARDUINO_BOARDS_PATH
+ ARDUINO_PROGRAMMERS_PATH
+ ARDUINO_VERSION_PATH
+ ARDUINO_AVRDUDE_FLAGS
+ ARDUINO_AVRDUDE_PROGRAM
+ ARDUINO_AVRDUDE_CONFIG_PATH
+ ARDUINO_OBJCOPY_EEP_FLAGS
+ ARDUINO_OBJCOPY_HEX_FLAGS
+ AVRSIZE_PROGRAM)
+endif()
+
diff --git a/Builds/20140322_AQUASTAR.hex b/Builds/20140322_AQUASTAR.hex
deleted file mode 100644
index c27b56b..0000000
--- a/Builds/20140322_AQUASTAR.hex
+++ /dev/null
@@ -1,400 +0,0 @@
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diff --git a/Builds/20140322_DLUX.hex b/Builds/20140322_DLUX.hex
deleted file mode 100644
index 24ba60f..0000000
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diff --git a/Builds/20140322_EAGLE_A3PRO.hex b/Builds/20140322_EAGLE_A3PRO.hex
deleted file mode 100644
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diff --git a/Builds/20140322_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20140322_EAGLE_A3PRO_NO_STICKCONFIG.hex
deleted file mode 100644
index 5bf2959..0000000
--- a/Builds/20140322_EAGLE_A3PRO_NO_STICKCONFIG.hex
+++ /dev/null
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diff --git a/Builds/20140322_FLIP_1_5.hex b/Builds/20140322_FLIP_1_5.hex
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diff --git a/Builds/20140322_FLIP_1_5_CPPM.hex b/Builds/20140322_FLIP_1_5_CPPM.hex
deleted file mode 100644
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diff --git a/Builds/20140322_FLIP_1_5_SBUS.hex b/Builds/20140322_FLIP_1_5_SBUS.hex
deleted file mode 100644
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diff --git a/Builds/20140322_FLIP_1_5_SPEKTRUM.hex b/Builds/20140322_FLIP_1_5_SPEKTRUM.hex
deleted file mode 100644
index b9704c6..0000000
--- a/Builds/20140322_FLIP_1_5_SPEKTRUM.hex
+++ /dev/null
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diff --git a/Builds/20140322_MINI_MWC_CPPM.hex b/Builds/20140322_MINI_MWC_CPPM.hex
deleted file mode 100644
index 9afcf54..0000000
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diff --git a/Builds/20140322_MINI_MWC_CPPM_EXTERNAL_RX.hex b/Builds/20140322_MINI_MWC_CPPM_EXTERNAL_RX.hex
deleted file mode 100644
index 6b6840c..0000000
--- a/Builds/20140322_MINI_MWC_CPPM_EXTERNAL_RX.hex
+++ /dev/null
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diff --git a/Builds/20140322_MINI_MWC_SBUS.hex b/Builds/20140322_MINI_MWC_SBUS.hex
deleted file mode 100644
index 2ad7202..0000000
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diff --git a/Builds/20140322_MINI_MWC_SPEKTRUM.hex b/Builds/20140322_MINI_MWC_SPEKTRUM.hex
deleted file mode 100644
index f356e8a..0000000
--- a/Builds/20140322_MINI_MWC_SPEKTRUM.hex
+++ /dev/null
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diff --git a/Builds/20140322_NANOWII_CPPM.hex b/Builds/20140322_NANOWII_CPPM.hex
deleted file mode 100644
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diff --git a/Builds/20140322_RX3SM.hex b/Builds/20140322_RX3SM.hex
deleted file mode 100644
index ffedee4..0000000
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diff --git a/Builds/20140322_RX3S_V1.hex b/Builds/20140322_RX3S_V1.hex
deleted file mode 100644
index de62fd4..0000000
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diff --git a/Builds/20140322_RX3S_V1_CPPM.hex b/Builds/20140322_RX3S_V1_CPPM.hex
deleted file mode 100644
index 2e2c634..0000000
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diff --git a/Builds/20140322_RX3S_V1_SBUS.hex b/Builds/20140322_RX3S_V1_SBUS.hex
deleted file mode 100644
index bc50186..0000000
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diff --git a/Builds/20140322_RX3S_V1_SPEKTRUM.hex b/Builds/20140322_RX3S_V1_SPEKTRUM.hex
deleted file mode 100644
index 7e65918..0000000
--- a/Builds/20140322_RX3S_V1_SPEKTRUM.hex
+++ /dev/null
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diff --git a/Builds/20140322_RX3S_V2.hex b/Builds/20140322_RX3S_V2.hex
deleted file mode 100644
index 46741bd..0000000
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diff --git a/Builds/20140322_RX3S_V2_AILR_IN_ON_RUD_IN.hex b/Builds/20140322_RX3S_V2_AILR_IN_ON_RUD_IN.hex
deleted file mode 100644
index adf2ff7..0000000
--- a/Builds/20140322_RX3S_V2_AILR_IN_ON_RUD_IN.hex
+++ /dev/null
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deleted file mode 100644
index c1c6e7a..0000000
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diff --git a/Builds/20140322_RX3S_V2_SBUS.hex b/Builds/20140322_RX3S_V2_SBUS.hex
deleted file mode 100644
index 74903de..0000000
--- a/Builds/20140322_RX3S_V2_SBUS.hex
+++ /dev/null
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diff --git a/Builds/20140322_RX3S_V2_SPEKTRUM.hex b/Builds/20140322_RX3S_V2_SPEKTRUM.hex
deleted file mode 100644
index e32bcc5..0000000
--- a/Builds/20140322_RX3S_V2_SPEKTRUM.hex
+++ /dev/null
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diff --git a/Builds/20170823_DLUX.hex b/Builds/20170823_DLUX.hex
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diff --git a/Builds/20170823_EAGLE_A3PRO_NO_STICKCONFIG.hex b/Builds/20170823_EAGLE_A3PRO_NO_STICKCONFIG.hex
new file mode 100644
index 0000000..2cbd31e
--- /dev/null
+++ b/Builds/20170823_EAGLE_A3PRO_NO_STICKCONFIG.hex
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diff --git a/Builds/20170823_FLIP_1_5.hex b/Builds/20170823_FLIP_1_5.hex
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diff --git a/Builds/20170823_MINI_MWC_CPPM_EXTERNAL_RX.hex b/Builds/20170823_MINI_MWC_CPPM_EXTERNAL_RX.hex
new file mode 100644
index 0000000..fcc71f3
--- /dev/null
+++ b/Builds/20170823_MINI_MWC_CPPM_EXTERNAL_RX.hex
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diff --git a/Builds/20170823_MINI_MWC_SRXLM.hex b/Builds/20170823_MINI_MWC_SRXLM.hex
new file mode 100644
index 0000000..ae13178
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new file mode 100644
index 0000000..e2d1c79
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new file mode 100644
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diff --git a/Builds/20170823_RX3S_V2.hex b/Builds/20170823_RX3S_V2.hex
new file mode 100644
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diff --git a/Builds/20170823_RX3S_V2_AILR_IN_ON_RUD_IN.hex b/Builds/20170823_RX3S_V2_AILR_IN_ON_RUD_IN.hex
new file mode 100644
index 0000000..d1b02c7
--- /dev/null
+++ b/Builds/20170823_RX3S_V2_AILR_IN_ON_RUD_IN.hex
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diff --git a/Builds/20170823_RX3S_V2_CPPM.hex b/Builds/20170823_RX3S_V2_CPPM.hex
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diff --git a/Builds/20170823_RX3S_V2_SPEKTRUM.hex b/Builds/20170823_RX3S_V2_SPEKTRUM.hex
new file mode 100644
index 0000000..bf2acdf
--- /dev/null
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diff --git a/Builds/20170823_RX3S_V2_SRXLH.hex b/Builds/20170823_RX3S_V2_SRXLH.hex
new file mode 100644
index 0000000..97e78a5
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+:101EDC0001000100020003000100010001000100EB
+:101EEC0001000100040005000500010006000000CF
+:101EFC0000070208000100010001000000000001C1
+:101F0C00000100010001000100010080FF00000041
+:101F1C000001000100030009000400140007000286
+:101F2C0000050003000400020002007F00E803E843
+:101F3C0003070004002C010A020C020E020F021708
+:101F4C000219021B021D021F02210223022001267C
+:101F5C00014C022D010000000101010202020001EE
+:101F6C000200010200010252455441316132660007
+:101F7C0002030504000000009408F50B000040006B
+:101F8C001400540000000000500BF50BE60A170B70
+:041F9C00F70A400BF5
+:00000001FF
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0141f67..1300fd1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -84,17 +84,24 @@ add_arduino_firmware(${TODAY}_NANOWII FlightStab leonardo "NANOWII")
add_arduino_firmware(${TODAY}_NANOWII_CPPM FlightStab leonardo "NANOWII;SERIALRX_CPPM")
add_arduino_firmware(${TODAY}_NANOWII_SPEKTRUM FlightStab leonardo "NANOWII;SERIALRX_SPEKTRUM")
add_arduino_firmware(${TODAY}_NANOWII_SBUS FlightStab leonardo "NANOWII;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_NANOWII_SRXLH FlightStab leonardo "NANOWII;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_NANOWII_SRXLM FlightStab leonardo "NANOWII;SERIALRX_SRXL;SERIALRX_DEFMPX")
# MINI MWC
add_arduino_firmware(${TODAY}_MINI_MWC_CPPM FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM")
add_arduino_firmware(${TODAY}_MINI_MWC_CPPM_EXTERNAL_RX FlightStab pro5v328 "MINI_MWC;SERIALRX_CPPM;MINI_MWC_EXTERNAL_RX")
add_arduino_firmware(${TODAY}_MINI_MWC_SPEKTRUM FlightStab pro5v328 "MINI_MWC;SERIALRX_SPEKTRUM")
add_arduino_firmware(${TODAY}_MINI_MWC_SBUS FlightStab pro5v328 "MINI_MWC;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_MINI_MWC_SRXLH FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_MINI_MWC_SRXLM FlightStab pro5v328 "MINI_MWC;SERIALRX_SRXL;SERIALRX_DEFMPX")
+
# FLIP 1.5
add_arduino_firmware(${TODAY}_FLIP_1_5 FlightStab pro5v328 "FLIP_1_5")
add_arduino_firmware(${TODAY}_FLIP_1_5_CPPM FlightStab pro5v328 "FLIP_1_5;SERIALRX_CPPM")
add_arduino_firmware(${TODAY}_FLIP_1_5_SPEKTRUM FlightStab pro5v328 "FLIP_1_5;SERIALRX_SPEKTRUM")
add_arduino_firmware(${TODAY}_FLIP_1_5_SBUS FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLH FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_FLIP_1_5_SRXLM FlightStab pro5v "FLIP_1_5;SERIALRX_SRXL;SERIALRX_DEFMPX")
# RX3S V1/V2V3/RX3SM 16MHz
add_arduino_firmware(${TODAY}_RX3S_V1 FlightStab pro5v "RX3S_V1")
@@ -106,6 +113,8 @@ add_arduino_firmware(${TODAY}_RX3S_V2_AILR_IN_ON_RUD_IN FlightStab pro5v "RX3S_V
add_arduino_firmware(${TODAY}_RX3S_V2_CPPM FlightStab pro5v "RX3S_V2;SERIALRX_CPPM")
add_arduino_firmware(${TODAY}_RX3S_V2_SPEKTRUM FlightStab pro5v "RX3S_V2;SERIALRX_SPEKTRUM")
add_arduino_firmware(${TODAY}_RX3S_V2_SBUS FlightStab pro5v "RX3S_V2;SERIALRX_SBUS")
+add_arduino_firmware(${TODAY}_RX3S_V2_SRXLH FlightStab pro5v "RX3S_V2;SERIALRX_SRXL")
+add_arduino_firmware(${TODAY}_RX3S_V2_SRXLM FlightStab pro5v "RX3S_V2;SERIALRX_SRXL;SERIALRX_DEFMPX")
add_arduino_firmware(${TODAY}_RX3SM FlightStab pro5v "RX3SM")
# EagleA3Pro
@@ -121,4 +130,5 @@ add_arduino_firmware(TEST_RX3S_V2_LED_TIMING FlightStab pro5v "RX3S_V2;LED_TIMIN
add_arduino_firmware(TEST_RX3S_V2_I2CDEVLIB FlightStab pro5v "RX3S_V2;USE_I2CDEVLIB")
add_arduino_firmware(TEST_RX3S_V2_NO_ONEWIRE FlightStab pro5v "RX3S_V2;NO_ONEWIRE")
add_arduino_firmware(TEST_RX3S_V2_NO_STICKCONFIG FlightStab pro5v "RX3S_V2;NO_STICKCONFIG")
+add_arduino_firmware(TEST_FLIP_1_5_SBUS_DEBUG FlightStab pro5v328 "FLIP_1_5;SERIALRX_SBUS;FLIP_SERIALRX_DEBUG")
diff --git a/Docs/2015-08-21 Change Log.txt b/Docs/2015-08-21 Change Log.txt
new file mode 100644
index 0000000..af3dd46
--- /dev/null
+++ b/Docs/2015-08-21 Change Log.txt
@@ -0,0 +1,104 @@
+2015-08-21 FlightStab Change Log
+
+2015-08-21
+A problem was discovered with the 2015-08-18 release. An error in subtraction
+order resulted in the pitch and roll axis being reversed in Delta mode and
+the pitch and yaw axis reversed in V-Tail mode.
+
+
+2015-08-18
+Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right.
+Fixed Inflight Calibration which was not working properly for Delta and V-Tail modes.
+Added code to capture center stick for Flap channel.
+Updated Programming Box firmware to support new mounting options.
+
+
+2015-08-01
+Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer.
+Note that the RX3SM DSM2 device is not supported as it does not have enough connectors.
+
+
+2015-04-14
+Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros)
+Add Programming Box configuration option to set Digital low Pass Filter Bandwidth
+
+2015-02-21 FlightStab.ino
+Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode.
+
+Force master_gain to 0 when gain (AUX_IN)is in the range of 1475us - 1575us.
+This is to allow master_ gain to have a valued of when when hysteresis is
+exited. Previously, master_ gain went from 0 to 26 at hysteresis area exit.
+
+2015-02-07 FlightStab.ino
+Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain.
+Restore to 1474us to 1525us for zero gain.
+
+2015-02-03 FlightStab.ino
+MIXER_EPA settings were not being properly applied to ELE-R (normally Flap)
+channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL
+mode.
+
+2015-02-02 FlightStab.ino
+Add #define RX_WIDTH_MODE_MID 1550
+This new value will be used to move gain input hysteresis to reside entirelly in
+the Hold Mode Range. This forces Rate Mode for any value below 1525 which
+insures resetting any Hold Mode corrections when gain is set to 0.
+
+2015-01-30
+SerialRX.ino
+Use #define for mid channel value instead of hard coded 1520
+
+Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us
+and new wing mode RUD 2-ELE 2-AIL
+
+Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing
+mode.
+
+New wing mode required increasing the size of arrays mix_out_low_limit,
+mix_out_high_limit and zero_correction.
+
+Size of pout2[] in apply_mixer() also increased to allow tracking of flap
+channel limits as flp_out2 is used for second elevator. Size of loop applying
+limits is now dyanmic to allow flap channel to act as unconstrained pass through
+when not being used for second elevator.
+
+Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need.
+
+
+20141216
+FlightStab.ino and SerialRX.ino
+Add support for Multiplex and HoTT SRXL Protocol
+
+FlightStab.ino
+Add Flip 1.5 Build that allows 900us to 2100us travel
+
+
+20140831
+SerialRX.ino
+Use timer to determine if received serial data is crossing 2 frames
+for both SBUS & Spektrum
+
+
+20140829
+SerialRX.ino
+Use #defines for SBUS & Spektrum constants instead of hard coded numbers.
+Use defines for receive buffer size.
+Limit while loop to not exceed receive buffer size.
+Check for 0x00 value in byte 25 of sbus frame to validate frame.
+
+
+20140505
+FlightStab.ino
+Add missing defined(FLIP_1_5) in Setup function
+
+
+FlightStab.ino
+Fix logic bug in uint8_t i2c_read_reg() function
+
+
+
+
+
+
+
+
diff --git a/Docs/2016-02-28 Change Log.txt b/Docs/2016-02-28 Change Log.txt
new file mode 100644
index 0000000..eefaa44
--- /dev/null
+++ b/Docs/2016-02-28 Change Log.txt
@@ -0,0 +1,112 @@
+2016-02-28 FlightStab Change Log
+
+2016-02-28
+Fixed problem with Stick Configuration not being able to select MAX.
+
+
+2016-02-09
+Throttle Channel had Wide Positive Pulse during initialization.
+
+
+2015-08-21
+A problem was discovered with the 2015-08-18 release. An error in subtraction
+order resulted in the pitch and roll axis being reversed in Delta mode and
+the pitch and yaw axis reversed in V-Tail mode.
+
+
+2015-08-18
+Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right.
+Fixed Inflight Calibration which was not working properly for Delta and V-Tail modes.
+Added code to capture center stick for Flap channel.
+Updated Programming Box firmware to support new mounting options.
+
+
+2015-08-01
+Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer.
+Note that the RX3SM DSM2 device is not supported as it does not have enough connectors.
+
+
+2015-04-14
+Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros)
+Add Programming Box configuration option to set Digital low Pass Filter Bandwidth
+
+2015-02-21 FlightStab.ino
+Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode.
+
+Force master_gain to 0 when gain (AUX_IN)is in the range of 1475us - 1575us.
+This is to allow master_ gain to have a valued of when when hysteresis is
+exited. Previously, master_ gain went from 0 to 26 at hysteresis area exit.
+
+2015-02-07 FlightStab.ino
+Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain.
+Restore to 1474us to 1525us for zero gain.
+
+2015-02-03 FlightStab.ino
+MIXER_EPA settings were not being properly applied to ELE-R (normally Flap)
+channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL
+mode.
+
+2015-02-02 FlightStab.ino
+Add #define RX_WIDTH_MODE_MID 1550
+This new value will be used to move gain input hysteresis to reside entirelly in
+the Hold Mode Range. This forces Rate Mode for any value below 1525 which
+insures resetting any Hold Mode corrections when gain is set to 0.
+
+2015-01-30
+SerialRX.ino
+Use #define for mid channel value instead of hard coded 1520
+
+Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us
+and new wing mode RUD 2-ELE 2-AIL
+
+Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing
+mode.
+
+New wing mode required increasing the size of arrays mix_out_low_limit,
+mix_out_high_limit and zero_correction.
+
+Size of pout2[] in apply_mixer() also increased to allow tracking of flap
+channel limits as flp_out2 is used for second elevator. Size of loop applying
+limits is now dyanmic to allow flap channel to act as unconstrained pass through
+when not being used for second elevator.
+
+Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need.
+
+
+20141216
+FlightStab.ino and SerialRX.ino
+Add support for Multiplex and HoTT SRXL Protocol
+
+FlightStab.ino
+Add Flip 1.5 Build that allows 900us to 2100us travel
+
+
+20140831
+SerialRX.ino
+Use timer to determine if received serial data is crossing 2 frames
+for both SBUS & Spektrum
+
+
+20140829
+SerialRX.ino
+Use #defines for SBUS & Spektrum constants instead of hard coded numbers.
+Use defines for receive buffer size.
+Limit while loop to not exceed receive buffer size.
+Check for 0x00 value in byte 25 of sbus frame to validate frame.
+
+
+20140505
+FlightStab.ino
+Add missing defined(FLIP_1_5) in Setup function
+
+
+FlightStab.ino
+Fix logic bug in uint8_t i2c_read_reg() function
+
+
+
+
+
+
+
+
diff --git a/Docs/2017-08-23 Change Log.txt b/Docs/2017-08-23 Change Log.txt
new file mode 100644
index 0000000..2eed696
--- /dev/null
+++ b/Docs/2017-08-23 Change Log.txt
@@ -0,0 +1,116 @@
+2016-02-28 FlightStab Change Log
+
+2017-08-23
+Fixed Intermittent Power On bug in SRXLH & SRXLM Firmware
+
+
+2016-02-28
+Fixed problem with Stick Configuration not being able to select MAX.
+
+
+2016-02-09
+Throttle Channel had Wide Positive Pulse during initialization.
+
+
+2015-08-21
+A problem was discovered with the 2015-08-18 release. An error in subtraction
+order resulted in the pitch and roll axis being reversed in Delta mode and
+the pitch and yaw axis reversed in V-Tail mode.
+
+
+2015-08-18
+Added 2 new mounting orientations, Rotate 90 degrees Left and Rotate 90 degrees Right.
+Fixed Inflight Calibration which was not working properly for Delta and V-Tail modes.
+Added code to capture center stick for Flap channel.
+Updated Programming Box firmware to support new mounting options.
+
+
+2015-08-01
+Added support for dual ailerons when using a hardware modified RX3SM DSMx stabilizer.
+Note that the RX3SM DSM2 device is not supported as it does not have enough connectors.
+
+
+2015-04-14
+Force gyro Digital Low Pass Filter to 5HZ (was 256HZ on MPU-6050 gyros)
+Add Programming Box configuration option to set Digital low Pass Filter Bandwidth
+
+2015-02-21 FlightStab.ino
+Add use of D12 for AUX2 out with the Flip 1.5 in Serial mode.
+
+Force master_gain to 0 when gain (AUX_IN)is in the range of 1475us - 1575us.
+This is to allow master_ gain to have a valued of when when hysteresis is
+exited. Previously, master_ gain went from 0 to 26 at hysteresis area exit.
+
+2015-02-07 FlightStab.ino
+Change made on 2015-02-02 inadvertenly moved the hysteresis for zero gain.
+Restore to 1474us to 1525us for zero gain.
+
+2015-02-03 FlightStab.ino
+MIXER_EPA settings were not being properly applied to ELE-R (normally Flap)
+channel. Corrected firmware bug after Mixer was applied for RUD 2-ELE 2-AIL
+mode.
+
+2015-02-02 FlightStab.ino
+Add #define RX_WIDTH_MODE_MID 1550
+This new value will be used to move gain input hysteresis to reside entirelly in
+the Hold Mode Range. This forces Rate Mode for any value below 1525 which
+insures resetting any Hold Mode corrections when gain is set to 0.
+
+2015-01-30
+SerialRX.ino
+Use #define for mid channel value instead of hard coded 1520
+
+Made changes to FlightStab.h for added MIXER_EPA Mode for 900-2100us
+and new wing mode RUD 2-ELE 2-AIL
+
+Made changes to FlightStab.ino to support the new MIXER_EPA Mode and new wing
+mode.
+
+New wing mode required increasing the size of arrays mix_out_low_limit,
+mix_out_high_limit and zero_correction.
+
+Size of pout2[] in apply_mixer() also increased to allow tracking of flap
+channel limits as flp_out2 is used for second elevator. Size of loop applying
+limits is now dyanmic to allow flap channel to act as unconstrained pass through
+when not being used for second elevator.
+
+Removed build option for MAX_TRAVEL as new MIXER_EPA eliminates the need.
+
+
+20141216
+FlightStab.ino and SerialRX.ino
+Add support for Multiplex and HoTT SRXL Protocol
+
+FlightStab.ino
+Add Flip 1.5 Build that allows 900us to 2100us travel
+
+
+20140831
+SerialRX.ino
+Use timer to determine if received serial data is crossing 2 frames
+for both SBUS & Spektrum
+
+
+20140829
+SerialRX.ino
+Use #defines for SBUS & Spektrum constants instead of hard coded numbers.
+Use defines for receive buffer size.
+Limit while loop to not exceed receive buffer size.
+Check for 0x00 value in byte 25 of sbus frame to validate frame.
+
+
+20140505
+FlightStab.ino
+Add missing defined(FLIP_1_5) in Setup function
+
+
+FlightStab.ino
+Fix logic bug in uint8_t i2c_read_reg() function
+
+
+
+
+
+
+
+
diff --git a/FlightStab/FlightStab.h b/FlightStab/FlightStab.h
index 2c34d7e..2b980a3 100644
--- a/FlightStab/FlightStab.h
+++ b/FlightStab/FlightStab.h
@@ -8,17 +8,17 @@ aquastar programming box to be in sync with the flightstab firmware.
#if !defined(FLIGHTSTAB_H)
#define FLIGHTSTAB_H
-const int8_t eeprom_cfg_ver = 8;
+const int8_t eeprom_cfg_ver = 12;
enum DEVICE_IDS {DEVICE_UNDEF, DEVICE_RX3S_V1, DEVICE_RX3S_V2V3, DEVICE_NANOWII, DEVICE_EAGLE_A3PRO, DEVICE_RX3SM, DEVICE_MINI_MWC, DEVICE_FLIP_1_5};
enum WING_MODE {WING_USE_DIPSW=1,
WING_RUDELE_1AIL, WING_DELTA_1AIL, WING_VTAIL_1AIL,
WING_RUDELE_2AIL, WING_DELTA_2AIL, WING_VTAIL_2AIL,
- WING_DUCKERON};
-enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK};
+ WING_DUCKERON,WING_RUD_2ELE_2AIL};
+enum MIXER_EPA_MODE {MIXER_EPA_FULL=1, MIXER_EPA_NORM, MIXER_EPA_TRACK, MIXER_EPA_MAX};
enum SERIALRX_SPEKTRUM_LEVELS {SERIALRX_SPEKTRUM_LEVELS_1024=1, SERIALRX_SPEKTRUM_LEVELS_2048};
-enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT};
+enum MOUNT_ORIENT {MOUNT_NORMAL=1, MOUNT_ROLL_90_LEFT, MOUNT_ROLL_90_RIGHT, MOUNT_ROTATE_90_LEFT, MOUNT_ROTATE_90_RIGHT};
enum STICK_GAIN_THROW {STICK_GAIN_THROW_FULL=1, STICK_GAIN_THROW_HALF=2, STICK_GAIN_THROW_QUARTER=3}; // values are important
enum MAX_ROTATE {MAX_ROTATE_VLOW=1, MAX_ROTATE_LOW=2, MAX_ROTATE_MED=3, MAX_ROTATE_HIGH=4}; // values are important
enum RATE_MODE_STICK_ROTATE {RATE_MODE_STICK_ROTATE_DISABLE=1, RATE_MODE_STICK_ROTATE_ENABLE};
@@ -27,6 +27,11 @@ enum INFLIGHT_CALIBRATE {INFLIGHT_CALIBRATE_DISABLE=1, INFLIGHT_CALIBRATE_ENABLE
enum SERIALRX_CHAN {SERIALRX_R, SERIALRX_E, SERIALRX_T, SERIALRX_A, // canonical serialrx channel order RETA1a2F
SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+// The values used for the digital low pass filter settings are 1 based for compatibility with the programming box.
+// Thus one must be subtracted from the EEPROM value before sending to the Gyro
+enum DLPF {BW_256HZ=1,BW_188HZ, BW_98HZ, BW_42HZ, BW_20HZ, BW_10HZ, BW_5HZ};
+#define DLPF_MASK 0x07
+
const int8_t serialrx_num_chan = 8;
const int8_t vr_gain_use_pot = -128;
@@ -60,6 +65,7 @@ struct _eeprom_cfg {
int8_t vr_gain[3];
struct _pid_param pid_param_rate;
struct _pid_param pid_param_hold;
+ int8_t gyro_dlpf;
uint8_t chksum;
};
diff --git a/FlightStab/FlightStab.ino b/FlightStab/FlightStab.ino
index 4957f7c..3dc3984 100644
--- a/FlightStab/FlightStab.ino
+++ b/FlightStab/FlightStab.ino
@@ -34,6 +34,8 @@ bool ow_loop(); // OneWireSerial.ino
//#define SERIALRX_CPPM // over a digital-in pin (preferably ICP)
//#define SERIALRX_SPEKTRUM // over the serial port
//#define SERIALRX_SBUS // over the serial port
+//#define SERIALRX_SRXL // over the serial port SRXL MPX or HoTT
+//#define SERIALRX_DEFMPX // default MPX channel mapping
//#define NO_ONEWIRE // remove one-wire serial config code
//#define NO_STICKCONFIG // remove stick config code
@@ -192,7 +194,7 @@ bool ow_loop(); // OneWireSerial.ino
#endif
/* RX3S_V2 *****************************************************************************************************/
-/* RX3SM *****************************************************************************************************/
+/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/
#if defined(RX3SM)
#warning RX3SM defined // emit device name
/*
@@ -201,10 +203,14 @@ bool ow_loop(); // OneWireSerial.ino
PB1 9 ELE_IN (PWM) PC1 15/A1 AIL_GAIN PD1 1 AIL_SW (TXD)
PB2 10 RUD_IN (PWM) PC2 16/A2 ELE_GAIN PD2 2 ELE_SW
PB3 11 AUX_IN (MOSI/PWM) PC3 17/A3 RUD_GAIN PD3 3 RUD_SW (PWM)
- PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW V2=AILL_OUT
+ PB4 12 UNUSED (MISO) PC4 18/A4 (SDA) PD4 4 AUX_SW [AILR_OUT] V2=AILL_OUT
PB5 13 LED (SCK) PC5 19/A5 (SCL) PD5 5 AILL_OUT (PWM) V2=ELE_OUT
PB6 14 (XTAL1) PC6 (RESET) PD6 6 ELE_OUT (PWM) V2=RUD_OUT
PB7 15 (XTAL2) PD7 7 RUD_OUT V2=AILR_OUT
+
+ The RX3SM DSM2 version uses micro connectors and can't support dual ailerons.
+ The RX3SM DSMx version has enough pins to support dual ailerons with a minor hardware
+ modification described in the documentation.
*/
#define DEVICE_ID DEVICE_RX3SM
@@ -214,7 +220,7 @@ bool ow_loop(); // OneWireSerial.ino
// (must in PORT B/D due to ISR)
#define RX_PORTB {&ail_in, &ele_in, &rud_in, &aux_in, NULL, NULL, NULL, NULL}
-#define RX_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
+#define RX_PORTD {NULL, &ailr_in, NULL, NULL, NULL, NULL, NULL, NULL}
//
#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
@@ -222,7 +228,7 @@ bool ow_loop(); // OneWireSerial.ino
#define DIN_PORTD {&vtail_sw, &ail_sw, &ele_sw, &rud_sw, &aux_sw, NULL, NULL, NULL}
//
-#define PWM_CHAN_PIN {7, 6, -1, 5, -1, -1, -1, -1} // RETA1a2F
+#define PWM_CHAN_PIN {7, 6, -1, 5, -1, 4, -1, -1} // RETA1a2F
//
#define USE_ITG3200
@@ -242,7 +248,7 @@ bool ow_loop(); // OneWireSerial.ino
#define EEPROM_RESET_IN_PIN 6
#endif
-/* RX3SM *****************************************************************************************************/
+/* RX3SM DSM2 & RX3SM DSMx ***********************************************************************************/
/* NANOWII ****************************************************************************************************/
@@ -411,7 +417,7 @@ bool ow_loop(); // OneWireSerial.ino
#define GYRO_ORIENTATION(x, y, z) {gyro[0] = (-y); gyro[1] = (-x); gyro[2] = (z);}
// must use one of the SERIALRX modes
-#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS)
+#if !defined(SERIALRX_CPPM) && !defined(SERIALRX_SPEKTRUM) && !defined(SERIALRX_SBUS) && !defined(SERIALRX_SRXL)
#error "MINI_MWC must use one of SERIALRX_CPPM or SERIALRX_SPEKTRUM or SERIALRX_SBUS"
#endif
@@ -464,11 +470,12 @@ bool ow_loop(); // OneWireSerial.ino
//
#define DIN_PORTB {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
-#define DIN_PORTC {NULL, &dummy_sw, NULL, NULL, NULL, NULL, NULL, NULL}
+#define DIN_PORTC {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL} // 2016-02-08 changed 2nd entry from &dummy_sw to NULL
+ // Removed long pulse on THR output at power on
#define DIN_PORTD {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL}
//
-#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, -1, 16} // RETA1a2F
+#define PWM_CHAN_PIN {3, 9, 15, 10, -1, 11, 12, 16} // RETA1a2F
#define PWM_CHAN_PIN_SERIALRX PWM_CHAN_PIN // same pwm output list
//
@@ -548,7 +555,7 @@ bool ow_loop(); // OneWireSerial.ino
#error Cannot define mode than one SERIALRX_* mode (CPPM/SPEKTRUM/SBUS)
#endif
-#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS)
+#if defined(SERIALRX_CPPM) || defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL)
#define SERIALRX_ENABLED
#endif
@@ -645,11 +652,14 @@ volatile uint8_t ele_vr = 255;
volatile uint8_t rud_vr = 255;
// rx
+#define RX_GAIN_HYSTERESIS 25
+#define RX_MODE_HYSTERESIS 25
#define RX_WIDTH_MIN 900
#define RX_WIDTH_LOW_FULL 1000
#define RX_WIDTH_LOW_NORM 1100
#define RX_WIDTH_LOW_TRACK 1250
#define RX_WIDTH_MID 1500
+#define RX_WIDTH_MODE_MID 1550 // Move all hysteresis to Hold Mode side so 1500-1520 will always force Rate Mode
#define RX_WIDTH_HIGH_TRACK 1750
#define RX_WIDTH_HIGH_NORM 1900
#define RX_WIDTH_HIGH_FULL 2000
@@ -669,8 +679,9 @@ int16_t ail_in2_mid = RX_WIDTH_MID; // calibration sets stick-neutral-position o
int16_t ele_in2_mid = RX_WIDTH_MID; //
int16_t rud_in2_mid = RX_WIDTH_MID; //
int16_t ailr_in2_mid = RX_WIDTH_MID; //
+int16_t flp_in2_mid = RX_WIDTH_MID; //
-int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset; // difference from *_in2_mid (stick position)
+int16_t ail_in2_offset, ele_in2_offset, rud_in2_offset, flp_in2_offset; // difference from *_in2_mid (stick position)
// switch
int8_t ail_sw = false;
@@ -695,11 +706,12 @@ int16_t ail_out2, ele_out2, rud_out2, ailr_out2, thr_out2, flp_out2, aux2_out2;
int16_t gyro0[3] = {0, 0, 0}; // calibration sets zero-movement-measurement offsets
int16_t gyro[3] = {0, 0, 0}; // full scale = 16b-signed = +/-2000 deg/sec
int16_t accel[3] = {0, 0, 0}; // full scale = 16b-signed = 16g? (TODO)
+int8_t gyro_low_pass_filter = BW_5HZ - 1; // Default Zero Based Digital Low Pass Filter to 5HZ, get desired value from EEPROM
// stabilizer output
int16_t correction[3] = {0, 0, 0};
-int16_t mixer_out2_low_limit[4];
-int16_t mixer_out2_high_limit[4];
+int16_t mixer_out2_low_limit[5];
+int16_t mixer_out2_high_limit[5];
// configuration
struct _eeprom_cfg cfg;
@@ -718,6 +730,10 @@ const int8_t serialrx_order_TAER1a2f[rx_chan_size] = {
SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
const int8_t serialrx_order_AETR1a2f[rx_chan_size] = {
SERIALRX_A, SERIALRX_E, SERIALRX_T, SERIALRX_R, SERIALRX_1, SERIALRX_a, SERIALRX_2, SERIALRX_F};
+const int8_t serialrx_order_AERTa1f2[rx_chan_size] = {
+ SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_T, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2};
+const int8_t serialrx_order_TAERa1f2[rx_chan_size] = {
+ SERIALRX_T, SERIALRX_A, SERIALRX_E, SERIALRX_R, SERIALRX_a, SERIALRX_1, SERIALRX_F, SERIALRX_2};
volatile int16_t *rx_chan[rx_chan_size] = {NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL};
@@ -984,7 +1000,7 @@ uint8_t i2c_read_reg(uint8_t addr, uint8_t reg)
i2c_start(addr << 1); // write reg
i2c_write(reg);
i2c_start((addr << 1) | 1); // read data
- return i2c_read(true);
+ return i2c_read(false);
}
void i2c_read_buf(uint8_t addr, uint8_t *buf, int8_t size)
@@ -1009,8 +1025,7 @@ int8_t mpu6050_init()
i2c_write_reg(MPU6050_ADDR, 0x6B, 0x80); // reset
delay1(50);
i2c_write_reg(MPU6050_ADDR, 0x6B, 0x03); // clock=pll with z-gyro ref
- i2c_write_reg(MPU6050_ADDR, 0x1A, 0x0); // accel_bw/delay=260hz/0ms gyro_bw/delay/sample=256hz/0.98ms/8khz
- //i2c_write_reg(MPU6050_ADDR, 0x1A, 0x6); // accel_bw/delay=5hz/19ms gyro_bw/delay/sample=5hz/18.6ms/1khz
+ i2c_write_reg(MPU6050_ADDR, 0x1A, gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration
i2c_write_reg(MPU6050_ADDR, 0x1B, 0x18); // fs=2000deg/s
return ((i2c_read_reg(MPU6050_ADDR, 0x75) & 0x7E) >> 1) == 0x34; // chip id
@@ -1043,7 +1058,7 @@ int8_t itg3205_init()
i2c_write_reg(ITG3205_ADDR, 0x3E, 0x80); // reset
delay1(50);
i2c_write_reg(ITG3205_ADDR, 0x3E, 0x03); // clock=pll with z-gyro ref
- i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | 0x6); // fs=2000deg/s | lpf=5hz sample=1khz
+ i2c_write_reg(ITG3205_ADDR, 0x16, 0x18 | gyro_low_pass_filter - 1); // accel_bw/delay and gyro_bw/delay set from configuration
return ((i2c_read_reg(ITG3205_ADDR, 0x00) & 0x7E) >> 1) == 0x34; // chip id
}
@@ -1432,7 +1447,11 @@ void init_digital_out()
{
for (int8_t i=0; i= 0)
- pinMode(pwm_chan_pin[i], OUTPUT);
+ {
+ //jrb 2016-02-08 Force all Outputs Low before enabling pin as OUTPUT
+ digitalWrite(pwm_chan_pin[i], LOW);
+ pinMode(pwm_chan_pin[i], OUTPUT);
+ }
}
}
@@ -1561,6 +1580,16 @@ void read_imu()
gyro[1] = -gyro[2];
gyro[2] = tmp;
break;
+ case MOUNT_ROTATE_90_LEFT:
+ tmp = gyro[0];
+ gyro[0] = gyro[1];
+ gyro[1] = -tmp;
+ break;
+ case MOUNT_ROTATE_90_RIGHT:
+ tmp = gyro[0];
+ gyro[0] = -gyro[1];
+ gyro[1] = tmp;
+ break;
}
}
@@ -1575,15 +1604,14 @@ void init_imu()
}
accelgyro.setFullScaleGyroRange(MPU6050_GYRO_FS_2000);
accelgyro.setFullScaleAccelRange(MPU6050_ACCEL_FS_16);
- accelgyro.setDLPFMode(MPU6050_DLPF_BW_256);
+ accelgyro.setDLPFMode(gyro_low_pass_filter - 1);
accelgyro.setClockSource(MPU6050_CLOCK_PLL_ZGYRO);
#elif defined(USE_ITG3200)
Wire.begin();
itg3205_gyro.initialize();
itg3205_gyro.setClockSource(ITG3200_CLOCK_PLL_XGYRO);
itg3205_gyro.setFullScaleRange(ITG3200_FULLSCALE_2000);
- itg3205_gyro.setDLPFBandwidth(ITG3200_DLPF_BW_5);
-// gyro.setDLPFBandwidth(ITG3200_DLPF_BW_256);
+ itg3205_gyro.setDLPFBandwidth(gyro_low_pass_filter - 1);
if (!itg3205_gyro.testConnection()) {
set_led_msg(2, 5, LED_SHORT);
}
@@ -1678,13 +1706,14 @@ void calibrate_print_stat(struct _calibration *pcal)
void calibrate_rx(struct _calibration *prx_cal)
{
- int16_t sample[4];
+ int16_t sample[5];
int8_t is_calibrating = true;
sample[0] = ail_in2;
sample[1] = ele_in2;
sample[2] = rud_in2;
sample[3] = ailr_in2;
+ sample[4] = flp_in2;
calibrate_update_stat(prx_cal, sample);
if (++prx_cal->num_samples == 100) {
@@ -1694,6 +1723,7 @@ void calibrate_rx(struct _calibration *prx_cal)
ele_in2_mid = prx_cal->mean[1];
rud_in2_mid = prx_cal->mean[2];
ailr_in2_mid = prx_cal->mean[3];
+ flp_in2_mid = prx_cal->mean[4];
#if defined(SERIAL_DEBUG) && 0
Serial.println("RX");
calibrate_print_stat(prx_cal);
@@ -1763,6 +1793,13 @@ void apply_mixer_change(int16_t *change)
// mixer
int16_t tmp0, tmp1, tmp2, tmp3;
+ #define AIL_DELTA tmp0
+ #define ELE_DELTA tmp1
+ #define AIL_SCALE tmp2
+ #define ELE_SCALE tmp3
+ #define RUD_DELTA tmp0
+ #define RUD_SCALE tmp2
+
switch (wing_mode) {
case WING_RUDELE_1AIL:
case WING_RUDELE_2AIL:
@@ -1782,18 +1819,23 @@ void apply_mixer_change(int16_t *change)
// set up for WING_DELTA_2AIL pin mapping first
ail_out2 = ail_in2 + change[0];
ailr_out2 = ailr_in2 + change[0];
- tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0];
- tmp1 = ele_in2 + change[1];
-
+ //jrb tmp0 = ail_in2_offset + RX_WIDTH_MID + change[0];
+ AIL_DELTA = (ail_in2 - ail_in2_mid)+ change[0];
+ //jrb tmp1 = ele_in2 + change[1]; // ele input + elevator change
+ ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1];
+
// apply 100% (1/1)
//ele_out2 = ((tmp0 + tmp1) >> 1);
//rud_out2 = ((tmp0 - tmp1) >> 1) + RX_WIDTH_MID;
// apply 125% (5/4)
- tmp2 = tmp0 + tmp1;
- ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2);
- tmp2 = tmp0 - tmp1;
- rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID;
+ AIL_SCALE = (AIL_DELTA >> 1) + (AIL_DELTA >> 3);
+ ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3);
+ //jrb ele_out2 = (tmp2 >> 1) + (tmp2 >> 3) - (RX_WIDTH_MID >> 2);
+ ele_out2 = AIL_SCALE + ELE_SCALE + ele_in2_mid;
+ //jrb tmp2 = tmp0 - tmp1;
+ //jrb rud_out2 = (tmp2 >> 1) + (tmp2 >> 3) + RX_WIDTH_MID;
+ rud_out2 = AIL_SCALE - ELE_SCALE + ail_in2_mid;
// apply 150% (3/2)
//tmp2 = tmp0 + tmp1;
@@ -1835,13 +1877,19 @@ void apply_mixer_change(int16_t *change)
case WING_VTAIL_2AIL:
ail_out2 = ail_in2 + change[0];
ailr_out2 = ailr_in2 + change[0];
- tmp1 = ele_in2 + change[1];
- tmp2 = rud_in2 + change[2];
+ //jrb tmp1 = ele_in2 + change[1];
+ //jrb tmp2 = rud_in2 + change[2];
+ ELE_DELTA = (ele_in2 - ele_in2_mid) + change[1];
+ RUD_DELTA = (rud_in2 - rud_in2_mid) + change[2];
// apply 125% (5/4)
- tmp0 = tmp2 + tmp1;
- ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2);
- tmp0 = tmp2 - tmp1;
- rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID;
+ //jrb tmp0 = tmp2 + tmp1;
+ RUD_SCALE = (RUD_DELTA >> 1) + (RUD_DELTA >> 3);
+ ELE_SCALE = (ELE_DELTA >> 1) + (ELE_DELTA >> 3);
+ //jrb ele_out2 = (tmp0 >> 1) + (tmp0 >> 3) - (RX_WIDTH_MID >> 2);
+ //jrb tmp0 = tmp2 - tmp1;
+ //jrb rud_out2 = (tmp0 >> 1) + (tmp0 >> 3) + RX_WIDTH_MID;
+ ele_out2 = ELE_SCALE + RUD_SCALE + ele_in2_mid;
+ rud_out2 = ELE_SCALE - RUD_SCALE + rud_in2_mid;
break;
case WING_DUCKERON:
@@ -1856,17 +1904,27 @@ void apply_mixer_change(int16_t *change)
ailr_out2 = RX_WIDTH_MID + tmp0 - tmp1 + max(0, tmp2 + tmp3); // right1
rud_out2 = RX_WIDTH_MID + tmp0 - tmp1 - max(0, tmp2 + tmp3); // right2
break;
+
+ case WING_RUD_2ELE_2AIL:
+ ail_out2 = ail_in2 + change[0];
+ ailr_out2 = ailr_in2 + change[0];
+ ele_out2 = ele_in2 + change[1]; // ELE-L
+ flp_out2 = flp_in2 - change[1]; // ELE-R
+ rud_out2 = rud_in2 + change[2];
+ break;
}
+
// throttle, flap and aux2 pass through
- thr_out2 = thr_in2;
- flp_out2 = flp_in2;
+ thr_out2 = thr_in2;
+ if(wing_mode != WING_RUD_2ELE_2AIL) // flp_out2 has been used for second elevator
+ flp_out2 = flp_in2;
aux2_out2 = aux2_in2;
}
void set_mixer_limits(int16_t low, int16_t high)
{
- for (int8_t i=0; i<4; i++) {
+ for (int8_t i=0; i<5; i++) {
mixer_out2_low_limit[i] = low;
mixer_out2_high_limit[i] = high;
}
@@ -1876,14 +1934,15 @@ void apply_mixer()
{
// *_in2 => [correction] => *_out2
- static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2};
+ static int16_t * const pout2[] = {&ail_out2, &ele_out2, &rud_out2, &ailr_out2, &flp_out2};
int8_t i;
+ int8_t cnt;
// if tracking servo limits, apply mixer with zero correction to determine output from rx alone (pass through)
if (cfg.mixer_epa_mode == MIXER_EPA_TRACK) {
- const int16_t zero_correction[4] = {0, 0, 0, 0};
+ const int16_t zero_correction[5] = {0, 0, 0, 0, 0};
apply_mixer_change((int16_t *)zero_correction);
- for (i=0; i<4; i++) {
+ for (i=0; i<5; i++) {
mixer_out2_low_limit[i] = min(*pout2[i], mixer_out2_low_limit[i]);
mixer_out2_high_limit[i] = max(*pout2[i], mixer_out2_high_limit[i]);
}
@@ -1891,7 +1950,13 @@ void apply_mixer()
// apply mixer with actual correction and clamp servo output to limits
apply_mixer_change(correction);
- for (i=0; i<4; i++) {
+ // Do not constrain Flap channel unless it is being used for left elevator
+ if (wing_mode == WING_RUD_2ELE_2AIL)
+ cnt = 5;
+ else
+ cnt = 4;
+
+ for (i=0; i BW_5HZ)
+ gyro_low_pass_filter = BW_5HZ;
+
#if defined(SERIALRX_ENABLED)
// set up serialrx order
@@ -2509,12 +2589,12 @@ void setup()
if (cfg.wing_mode == WING_USE_DIPSW)
wing_mode = dip_sw_to_wing_mode_map[(vtail_sw ? 0 : 2) | (delta_sw ? 0 : 1)];
- if (wing_mode > WING_VTAIL_1AIL) // constrain to supported modes
+ if (wing_mode > WING_VTAIL_2AIL) // constrain to supported modes
wing_mode = WING_RUDELE_1AIL;
#endif // RX3SM
#if defined(EAGLE_A3PRO) // TODO(noobee): need to verify functions
-#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
+#if !(defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL))
if (cfg.wing_mode == WING_USE_DIPSW)
wing_mode = dip_sw_to_wing_mode_map[(ele_sw ? 0 : 2) | (rud_sw ? 0 : 1)];
#endif
@@ -2586,7 +2666,7 @@ again:
t = micros1();
update_led(t);
-#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
+#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL))
if (serialrx_update()) {
rx_frame_sync = true;
}
@@ -2609,6 +2689,10 @@ again:
if (!servo_busy && servo_sync && (int32_t)(t - last_servo_frame_time) > minimum_servo_frame_time) {
servo_sync = false;
apply_mixer();
+
+ //jrb Debug - Remove comment from following line to view master_gain + 1000 on AUX2 output
+ //aux2_out2 = RX_WIDTH_LOW_FULL + master_gain;
+
start_servo_frame();
last_servo_frame_time = t;
}
@@ -2651,8 +2735,8 @@ again:
// stabilization mode
enum STAB_MODE stab_mode2 =
- (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MID - 25) ? STAB_RATE :
- (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MID + 25) ? STAB_HOLD : stab_mode; // hysteresis
+ (stab_mode == STAB_HOLD && aux_in2 <= RX_WIDTH_MODE_MID - RX_MODE_HYSTERESIS) ? STAB_RATE :
+ (stab_mode == STAB_RATE && aux_in2 >= RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS) ? STAB_HOLD : stab_mode; // hysteresis, all now in Hold Mode region
if (stab_mode2 != stab_mode) {
stab_mode = stab_mode2;
@@ -2676,6 +2760,7 @@ again:
ele_in2_mid = ele_in2;
rud_in2_mid = rud_in2;
ailr_in2_mid = ailr_in2;
+ flp_in2_mid = flp_in2;
}
}
}
@@ -2684,6 +2769,7 @@ again:
ail_in2_offset = ((ail_in2 - ail_in2_mid) + (ailr_in2 - ailr_in2_mid)) >> 1;
ele_in2_offset = ele_in2 - ele_in2_mid;
rud_in2_offset = rud_in2 - rud_in2_mid;
+ flp_in2_offset = flp_in2 - flp_in2_mid;
// vr_gain[] [-128, 128] from VRs or config
@@ -2695,9 +2781,20 @@ again:
stick_gain[1] = stick_gain_max - min(abs(ele_in2_offset) << shift, stick_gain_max);
stick_gain[2] = stick_gain_max - min(abs(rud_in2_offset) << shift, stick_gain_max);
- // master gain [1500-1100] or [1500-1900] => [0, MASTER_GAIN_MAX]
- master_gain = constrain(abs(aux_in2 - RX_WIDTH_MID), 0, master_gain_max);
- if (master_gain < 25) master_gain = 0; // deadband
+ // master gain [Rate = 1475-1075] or [Hold = 1575-1975] => [0, MASTER_GAIN_MAX]
+ if (aux_in2 < (RX_WIDTH_MID - RX_GAIN_HYSTERESIS)) {
+ // Handle Rate Mode Gain Offset, gain = 1 when hysteresis area is exited
+ // Previously gain was the value of RX_GAIN_HYSTERESIS at first exit
+ master_gain = constrain(((RX_WIDTH_MID - RX_GAIN_HYSTERESIS) - aux_in2) , 0, master_gain_max);
+ } else {
+ if (aux_in2 > (RX_WIDTH_MODE_MID + RX_MODE_HYSTERESIS)) {
+ // Handle Hold Mode Gain Offset, gain = 1 when both hysteresis areas are exited
+ // Previously gain was the value of RX_MODE_HYSTERESIS at first exit
+ master_gain = constrain(aux_in2 - (RX_WIDTH_MID + RX_MODE_HYSTERESIS), 0, master_gain_max);
+ }
+ // Force Gain to 0 while in either of the Hysteresis areas
+ else master_gain = 0; // Force deadband
+ }
// commanded angular rate (could be from [ail|ele|rud]_in2, note direction/sign)
if (stab_mode == STAB_HOLD ||
diff --git a/FlightStab/SerialRX.ino b/FlightStab/SerialRX.ino
index e9cf222..4ba4e80 100644
--- a/FlightStab/SerialRX.ino
+++ b/FlightStab/SerialRX.ino
@@ -8,6 +8,9 @@
***************************************************************************************************************/
#if defined(SERIALRX_SPEKTRUM)
+#define SERIAL_FRAME_SIZE 16
+//jrb - added 20140831 Add define for Quiet Time
+#define SERIAL_WAIT_TIME 7000
int8_t rshift;
#endif
@@ -15,10 +18,30 @@ int8_t rshift;
// The following value is added to the received pulse count
// to make the center pulse width = 1500 when the TX output is 1500
// TODO(noobee): i guess we would need to make this configurable..
-#define SBUS_OFFSET 1009 // 1009 for Futaba X8R, 1003 for Taranis FRSKY X8R, 984 for Orange R800x
+#define SBUS_OFFSET 1005 // 1009 for Futaba R6208SB, 1005 for Taranis FRSKY X8R, 984 for Orange R800x
+
+//jrb - added 20140829 Use defines for SBUS Constants instead of hard coded numbers
+// SBUS unique defines
+#define SBUS_SYNC_BYTE 0x0F
+#define SBUS_END_BYTE 0x00
+#define SERIAL_FRAME_SIZE 25
+#define SERIAL_WAIT_TIME 5000
#endif
-#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS))
+#if defined(SERIALRX_SRXL)
+#include
+#define SERIAL_FRAME_SIZE 37 // changed to 37 for 16ch HoTT SUMD
+#define MPX_OFFSET 988
+#define SERIAL_WAIT_TIME 5000
+#define MPX_SRL_12_CHAN_ID 0xA1
+#define MPX_SRL_12_CHAN_SIZE 27
+#define MPX_SRL_16_CHAN_ID 0xA2
+#define MPX_SRL_16_CHAN_SIZE 35
+#define HOTT_SUMD_ID1 0xA8
+#define HOTT_SUMD_ID2 0x01
+#endif
+
+#if (defined(SERIALRX_SPEKTRUM) || defined(SERIALRX_SBUS) || defined(SERIALRX_SRXL))
#if defined(NANOWII)
HardwareSerial *pSerial = &Serial1; // TODO: hardcoded for NanoWii for now
#else
@@ -26,7 +49,7 @@ int8_t rshift;
#endif // NANOWI
//jrb add for debug
- #if defined(SERIAL_DEBUG) && 1
+ #if defined(SERIALRX_DEBUG) && 1
volatile int8_t RXcount;
int8_t PrintIndex;
uint16_t work;
@@ -41,46 +64,70 @@ int8_t rshift;
#endif
#if defined (SERIALRX_SBUS)
pSerial->begin(100000L, SERIAL_8E2);
+ #if defined (FLIP_SERIALRX_DEBUG)
+ pinMode(4,OUTPUT);
+ pinMode(5,OUTPUT);
+ pinMode(6,OUTPUT);
+ digitalWrite(4,HIGH); // D4 provides negative pulse that windows the serial receive frame
+ digitalWrite(5,HIGH); // D5 provides negative pulse when last byte of SBUS frame != 0x00
+ digitalWrite(5,HIGH); // D6 provides negative pulse when serialrx_update function is active
+ #endif
#endif
+ #if defined(SERIALRX_SRXL)
+ pSerial->begin(115200L);
+ #endif
}
bool serialrx_update()
{
- static uint8_t buf[25];
static int8_t index = 0;
#if defined (SERIALRX_SBUS)
bool sbus_return = false;
#endif // SERIALRX_SBUS
- #if defined (SERIALRX_SPEKTRUM) // Used only for Spektrum
+ //jrb 20140831 use for all Serial Protocols
static uint32_t last_rx_time;
uint32_t t;
- #endif
+ static uint8_t buf[SERIAL_FRAME_SIZE];
+
+ #if defined(SERIALRX_SRXL)
+ bool sbus_return = false;
+ #endif
//jrb add for debug
- #if defined(SERIAL_DEBUG) && 0
+ #if defined(SERIALRX_DEBUG) && 0
Serial.println("Serial update");
#endif
- while (pSerial->available()) {
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(5,HIGH);
+ digitalWrite(6,LOW);
+ #endif
+
+ //jrb - added 20140829 Limit "while loop" to not exceed buffer size
+ while (pSerial->available() && indexread();
+//jrb - 20140832 make frame time test common to all Serial Protocols
+ t = micros1();
+ // we assume loop() calls to serialrx_update() in << SERIAL_WAIT_TIME intervals
+ if ((int32_t)(t - last_rx_time) > SERIAL_WAIT_TIME) {
+ index = 0; // found pause before new frame, resync
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(4,HIGH);
+ #endif
+ }
+ last_rx_time = t;
+
#if defined (SERIALRX_SPEKTRUM)
#warning SERIALRX_SPEKTRUM defined // emit device name
//jrb add for debug
- #if defined(SERIAL_DEBUG) && 0
+ #if defined(SERIALRX_DEBUG) && 0
Serial.println("Serial Spektrum");
#endif
- t = micros1();
- // we assume loop() calls to serialrx_update() in << 7ms intervals
- if ((int32_t)(t - last_rx_time) > 7000) {
- index = 0; // found pause before new frame, resync
- }
- last_rx_time = t;
buf[index++] = ch;
-
- if (index >= 15) {
+ if (index >= SERIAL_FRAME_SIZE) {
/*jrb
// Satellites alone never return frame size information in buf[1] the best I can tell
@@ -106,7 +153,7 @@ jrb*/
index = 0;
//jrb add for debug
- #if defined(SERIAL_DEBUG) && 0
+ #if defined(SERIALRX_DEBUG) && 0
if (RXcount > 100)
{
Serial.print("rshift = ");
@@ -141,23 +188,113 @@ jrb*/
}
#endif // SERIALRX_SPEKTRUM
+ #if defined(SERIALRX_SRXL) // ----------------------------------------------
+ #warning SERIALRX_SRXL defined // emit device name
+
+ if (index < SERIAL_FRAME_SIZE) //JRB Should this be just < so we don't overflow buffer????? YES!!!
+ buf[index++] = ch;
+ // MPX SRXL 12/16 channels
+ if ( ((buf[0] == MPX_SRL_12_CHAN_ID) && (index >= MPX_SRL_12_CHAN_SIZE))
+ || ((buf[0] == MPX_SRL_16_CHAN_ID) && (index >= MPX_SRL_16_CHAN_SIZE)) )
+ {
+ uint16_t crc = 0;
+ for (uint8_t i=0; i>1)-1] = ((((w << 1) + w) - (w >> 2)) >> 3) + 796;
+ }
+ sbus_return = true;
+ }
+ index = 0;
+
+ #if defined(SERIAL_DEBUG) && 2
+ //Serial.println("Serial SRXL");
+ #endif
+ }
+ // HoTT SUMD
+ else if ( ((buf[0] == HOTT_SUMD_ID1) && ((buf[1] & 0x7f) == HOTT_SUMD_ID2) ) )
+ {
+ uint8_t n_channels = buf[2];
+ if (index >= ((n_channels << 1) +5))
+ {
+ uint16_t crc = 0;
+ for (uint8_t i=0; i<(index-2); i++){
+ uint8_t data;
+ data = buf[i];
+ crc = _crc_xmodem_update(crc, data);
+ }
+ if (crc == ((buf[index-2] << 8) + buf[index-1])){
+ volatile int16_t **p = rx_chan;
+ // Only process first 8 channels
+ for (int8_t i=2; i<18; i+=2)
+ {
+ uint16_t w = (((uint16_t)buf[i+1] << 8) | (uint16_t)buf[i+2] );
+ *p[(i>>1)-1] = (w >> 3);
+ }
+ sbus_return = true;
+ }
+ index = 0;
+ #if defined(SERIAL_DEBUG) && 2
+ //Serial.println("Serial SUMD");
+ #endif
+ }
+ }
+ //his add for debug
+ #if defined(SERIAL_DEBUG) && 2
+ if (RXcount > 10){
+ for (index = 0; index < 8; index++){
+ Serial.print(*rx_chan[index]); Serial.print(' ');
+ }
+ Serial.println(' ');
+ RXcount = 0;
+ }
+ if (sbus_return)
+ RXcount++;
+ #endif
+ }
+ if (index >= SERIAL_FRAME_SIZE) // his bugfix 20170817
+ index = 0;
+ return (sbus_return);
+ #endif // SERIALRX_SRXL -------------------------------------------------------
#if defined (SERIALRX_SBUS)
#warning SERIALRX_SBUS defined // emit device name
//jrb add for debug
- #if defined(SERIAL_DEBUG) && 0
+ #if defined(SERIALRX_DEBUG) && 0
Serial.println("Serial S.BUS");
#endif
- if (index == 0 && ch != 0x0f) { // SBUS_SYNCBYTE
+ if (index == 0 && ch != SBUS_SYNC_BYTE) {
break;
}
+ #if defined (FLIP_SERIALRX_DEBUG)
+ if (index == 0)
+ {
+ digitalWrite(4,LOW);
+ }
+ #endif
buf[index++] = ch;
- if (index >= 25) {
+ if (index >= SERIAL_FRAME_SIZE) {
volatile int16_t **p = rx_chan;
uint8_t adj_index;
-
+ //jrb - added 20140829 to detect and discard invalid frames
+ if (buf[24] != SBUS_END_BYTE) { // There is a sync problem - discard this frame and try again
+ index = 0;
+ sbus_return = false;
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(5,LOW);
+ #endif
+ }
+
// Only process first 8 channels
*p[0] = (((((uint16_t)buf[1] >> 0) | ((uint16_t)buf[2] << 8)) & 0x7ff) >> 1) + SBUS_OFFSET;
*p[1] = (((((uint16_t)buf[2] >> 3) | ((uint16_t)buf[3] << 5)) & 0x7ff) >> 1) + SBUS_OFFSET;
@@ -172,17 +309,20 @@ jrb*/
// Adjust the actual value by +/-25%. Sign determined by pulse width above or below center of 1520us
for(adj_index=0; adj_index> 2;
+ if (*p[adj_index] < RX_WIDTH_MID)
+ *p[adj_index] -= (RX_WIDTH_MID - *p[adj_index]) >> 2;
else
- *p[adj_index] += (*p[adj_index] - 1520) >> 2;
+ *p[adj_index] += (*p[adj_index] - RX_WIDTH_MID) >> 2;
}
index = 0;
sbus_return = true;
+ #if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(4,HIGH);
+ #endif
}
//jrb add for debug
- #if defined(SERIAL_DEBUG) && 1
+ #if defined(SERIALRX_DEBUG) && 1
if (RXcount > 100)
{
for (index = 0; index < 8; index++)
@@ -195,6 +335,10 @@ jrb*/
RXcount++;
#endif
}
+#if defined (FLIP_SERIALRX_DEBUG)
+ digitalWrite(6,HIGH);
+ #endif
+
return (sbus_return);
#endif // SERIALRX_SBUS
}
diff --git a/README.md b/README.md
new file mode 100644
index 0000000..b97a284
--- /dev/null
+++ b/README.md
@@ -0,0 +1,21 @@
+# Overview of FlightStab Firmware
+FlightStab provides replacement firmware for the following Flight Controllers
+* OrangeRX RX3S V1 (No longer Available)
+* OrangeRX RX3S V2
+* OrangeRX RX3S V3
+* OrangeRX RX3SM DSM2
+* OrangeRX RX3SM DSMx
+* NanoWii
+* Hobby Eagle A3 Pro (Limited versions)
+* Hobby King MINI MWC
+* Flip MWC 1.5
+
+Optional Bootloader is available that allows programming via one of the servo connectors allowing in vehicle programming.
+* Modified FTDI 3.3V programmer required
+* No connection to the ISP header required
+
+Optional Programming Box to allow for easy field setup
+
+## Quicklinks
+* Documentation is available [here](https://docs.google.com/document/d/1mDjC1NHaGSoKw8bjJ9FkFgby2rr6544d-yykV3Xz6dg/pub)
+* [Forum on rcgroups](https://www.rcgroups.com/forums/showthread.php?1794672-Open-Flight-Stabilizer)