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AP_HAL_F4Light: parameters divided into common and board-specific, 

added new parameter to reboot into DFU mode
mission-4.1.18
night-ghost 7 years ago committed by Francisco Ferreira
parent
0c179bfd6a
commit
5c0c3a0f08
9 changed files with 137 additions and 702 deletions
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  1. 131
      libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
  2. 4
      libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
  3. 8
      libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.cpp
  4. 117
      libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.h
  5. 114
      libraries/AP_HAL_F4Light/boards/f4light_MatekF405_OSD/board.h
  6. 97
      libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/board.h
  7. 133
      libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
  8. 122
      libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
  9. 113
      libraries/AP_HAL_F4Light/params.h

131
libraries/AP_HAL_F4Light/boards/f4light_Airbot/board.h
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@ -130,7 +130,7 @@ @@ -130,7 +130,7 @@
#define BOARD_DATAFLASH_NAME "dataflash"
#define BOARD_DATAFLASH_PAGES 0x2000
#define BOARD_DATAFLASH_PAGES 0x10000
#define BOARD_DATAFLASH_ERASE_SIZE (4096)// in bytes
#if 1// if board's dataflash supports 4k erases then we can use it as FAT and share it via USB
@ -178,148 +178,27 @@ @@ -178,148 +178,27 @@
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1, 2:UART2 etc
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0) \
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset.
// @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: FLEXI_I2C
// @DisplayName: use FlexiPort as I2C, not USART
// @Description: Allows to switch FlexiPort usage between USART and I2C modes
// @Values: 0:USART, 1:I2C
// @User: Advanced
AP_GROUPINFO("FLEXI_I2C", 6, AP_Param_Helper, _flexi_i2c, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input port
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: AIBAO_FS
// @DisplayName: Support FailSafe for Walkera Aibao RC
// @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe
// @Values: 0: not translate, 1:translate
// @User: Advanced
AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0)
// @Param: RC_FS
// @DisplayName: Set time of RC failsafe
// @Description: if none of RC channel changes in that time, then failsafe triggers
// @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols
// @User: Advanced
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
*/
#ifdef USB_MASSSTORAGE
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SOFTSERIAL", 2, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SERVO_MASK", 4, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("DBG_WAYBACK", 8, AP_Param_Helper, _dbg_wayback, 0), \
AP_GROUPINFO("USB_STORAGE", 9, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 10, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 11, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 12, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 13, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 14, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 15, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 16, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
AP_GROUPINFO("DBG_WAYBACK", 30, AP_Param_Helper, _dbg_wayback, 0), \
AP_GROUPINFO("USB_STORAGE", 31, AP_Param_Helper, _usb_storage, 0), \
#else
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SOFTSERIAL", 2, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SERVO_MASK", 4, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("DBG_WAYBACK", 8, AP_Param_Helper, _dbg_wayback, 0), \
AP_GROUPINFO("TIME_OFFSET", 9, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 10, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 11, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 12, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 13, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 14, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 15, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("RC_FS", 16, AP_Param_Helper, _rc_fs, 0)
AP_GROUPINFO("DBG_WAYBACK", 30, AP_Param_Helper, _dbg_wayback, 0), \
#endif
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _uart_sbus; \
AP_Int8 _use_softserial; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _pwm_type; \
AP_Int8 _dbg_wayback; \
AP_Int8 _usb_storage; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _rc_input; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs;
AP_Int8 _usb_storage;
#define WAYBACK_DEBUG

4
libraries/AP_HAL_F4Light/boards/f4light_Airbot/support/UPLOAD-STLINK.sh
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@ -5,8 +5,8 @@ @@ -5,8 +5,8 @@
#bare metal binary
/usr/local/stlink/st-flash --reset read eeprom.bin 0x08004000 0xc000 && \
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000 && \
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000 && \
/usr/local/stlink/st-flash --reset write ../../../../../ArduCopter/f4light_Airbot_bl.bin 0x08000000
/usr/local/stlink/st-flash --reset write eeprom.bin 0x08004000
/usr/local/stlink/st-util -m

8
libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.cpp
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@ -165,10 +165,10 @@ extern const struct TIM_Channel PWM_Channels[] __FLASH__ = { @@ -165,10 +165,10 @@ extern const struct TIM_Channel PWM_Channels[] __FLASH__ = {
*/
extern const SPIDesc spi_device_table[] = { // different SPI tables per board subtype
// name device bus mode cs_pin speed_low speed_high dma priority
{ BOARD_INS_MPU60x0_NAME, _SPI1, 1, SPI_MODE_0, BOARD_MPU6000_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_VeryHigh, 1, 5 },
{ BOARD_SDCARD_NAME, _SPI2, 2, SPI_MODE_0, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
{ HAL_BARO_BMP280_NAME, _SPI3, 3, SPI_MODE_3, BOARD_BMP280_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_High, 1, 1 },
{ BOARD_OSD_NAME, _SPI3, 3, SPI_MODE_0, BOARD_OSD_CS_PIN, SPI_1_125MHZ, SPI_4_5MHZ, SPI_TRANSFER_DMA, DMA_Priority_Low, 2, 2 },
{ BOARD_INS_MPU60x0_NAME, _SPI1, 1, SPI_MODE_0, BOARD_MPU6000_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_VeryHigh, 1, 5 },
{ BOARD_SDCARD_NAME, _SPI2, 2, SPI_MODE_0, 255, SPI_1_125MHZ, SPI_18MHZ, SPI_TRANSFER_DMA, DMA_Priority_Medium, 0, 0 },
{ HAL_BARO_BMP280_NAME, _SPI3, 3, SPI_MODE_3, BOARD_BMP280_CS_PIN, SPI_1_125MHZ, SPI_9MHZ, SPI_TRANSFER_DMA, DMA_Priority_High, 1, 1 },
{ BOARD_OSD_NAME, _SPI3, 3, SPI_MODE_0, BOARD_OSD_CS_PIN, SPI_1_125MHZ, SPI_4_5MHZ, SPI_TRANSFER_DMA, DMA_Priority_Low, 2, 2 },
};
extern const uint8_t F4Light_SPI_DEVICE_NUM_DEVICES = ARRAY_SIZE(spi_device_table);

117
libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.h
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@ -177,61 +177,6 @@ @@ -177,61 +177,6 @@
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1, 2:UART2 etc
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0)
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input port
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset.
// @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: USB_STORAGE
// @DisplayName: allows access to SD card at next reboot
@ -240,20 +185,6 @@ @@ -240,20 +185,6 @@
// @User: Advanced
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
// @Param: EE_DEFERRED
// @DisplayName: Emulated EEPROM write mode
// @Description: Allows to control when changes to EEPROM are saved - ASAP or on disarm
// @Values: 0: save changes ASAP, 1:save changes on disarm. All changes will be lost in case of crash!
// @User: Advanced
AP_GROUPINFO("EE_DEFERRED", 7, AP_Param_Helper, _eeprom_deferred, 0),
// @Param: AIBAO_FS
// @DisplayName: Support FailSafe for Walkera Aibao RC
// @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe
// @Values: 0: not translate, 1:translate
// @User: Advanced
AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0),
// @Param: SD_REFORMAT
// @DisplayName: Allows to re-format SD card in case of errors in FS
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
@ -261,60 +192,16 @@ @@ -261,60 +192,16 @@
// @User: Advanced
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
// @Param: OVERCLOCK
// @DisplayName: Set CPU frequency
// @Description: Allows to set overclocking frequency for CPU. If anything went wrong then normal freq will be restored after reboot
// @Values: 0: standard 168MHz, 1:180MHz, 2:192MHz, 3:216MHz, 4:240MHz, 5:264MHz
// @User: Advanced
AP_GROUPINFO("OVERCLOCK", 7, AP_Param_Helper, _overclock, 0),
// @Param: RC_FS
// @DisplayName: Set time of RC failsafe
// @Description: if none of RC channel changes in that time, then failsafe triggers
// @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols
// @User: Advanced
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SOFTSERIAL", 4, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 6, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 7, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 9, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 10, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 11, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 12, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 13, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("RC_FS", 14, AP_Param_Helper, _rc_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 15, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 16, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("SD_REFORMAT", 17, AP_Param_Helper, _sd_format, 0)
AP_GROUPINFO("SD_REFORMAT", 17, AP_Param_Helper, _sd_format, 0),
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _use_softserial; \
AP_Int8 _uart_sbus; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _pwm_type; \
AP_Int8 _rc_input; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _usb_storage; \
AP_Int8 _sd_format; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs;
AP_Int8 _sd_format;
#endif

114
libraries/AP_HAL_F4Light/boards/f4light_MatekF405_OSD/board.h
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@ -174,61 +174,6 @@ @@ -174,61 +174,6 @@
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1, 2:UART2 etc
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0)
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input port
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset.
// @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: USB_STORAGE
// @DisplayName: allows access to SD card at next reboot
@ -237,20 +182,6 @@ @@ -237,20 +182,6 @@
// @User: Advanced
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
// @Param: EE_DEFERRED
// @DisplayName: Emulated EEPROM write mode
// @Description: Allows to control when changes to EEPROM are saved - ASAP or on disarm
// @Values: 0: save changes ASAP, 1:save changes on disarm. All changes will be lost in case of crash!
// @User: Advanced
AP_GROUPINFO("EE_DEFERRED", 7, AP_Param_Helper, _eeprom_deferred, 0),
// @Param: AIBAO_FS
// @DisplayName: Support FailSafe for Walkera Aibao RC
// @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe
// @Values: 0: not translate, 1:translate
// @User: Advanced
AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0),
// @Param: SD_REFORMAT
// @DisplayName: Allows to re-format SD card in case of errors in FS
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
@ -258,55 +189,16 @@ @@ -258,55 +189,16 @@
// @User: Advanced
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
// @Param: OVERCLOCK
// @DisplayName: Set CPU frequency
// @Description: Allows to set overclocking frequency for CPU. If anything went wrong then normal freq will be restored after reboot
// @Values: 0: standard 168MHz, 1:180MHz, 2:192MHz, 3:216MHz, 4:240MHz, 5:264MHz
// @User: Advanced
AP_GROUPINFO("OVERCLOCK", 7, AP_Param_Helper, _overclock, 0),
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SOFTSERIAL", 4, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 6, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 7, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 9, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 10, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 11, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 12, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 13, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("RC_FS", 14, AP_Param_Helper, _rc_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 15, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 16, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("SD_REFORMAT", 17, AP_Param_Helper, _sd_format, 0)
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _use_softserial; \
AP_Int8 _uart_sbus; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _pwm_type; \
AP_Int8 _rc_input; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _usb_storage; \
AP_Int8 _sd_format; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs;
AP_Int8 _sd_format;
#endif

97
libraries/AP_HAL_F4Light/boards/f4light_MiniF4_OSD/board.h
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@ -157,62 +157,6 @@ @@ -157,62 +157,6 @@
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1, 2:UART2 etc
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0)
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input port
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset.
// @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: USB_STORAGE
// @DisplayName: allows access to SD card at next reboot
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
@ -220,50 +164,15 @@ @@ -220,50 +164,15 @@
// @User: Advanced
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
// @Param: RC_FS
// @DisplayName: Set time of RC failsafe
// @Description: if none of RC channel changes in that time, then failsafe triggers
// @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols
// @User: Advanced
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 6, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 7, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 9, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 10, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 11, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 12, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 13, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 14, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 15, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("RC_FS", 16, AP_Param_Helper, _rc_fs, 0)
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0),
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _uart_sbus; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _pwm_type; \
AP_Int8 _rc_input; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _usb_storage; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs;
#endif
AP_Int8 _usb_storage;
#define USB_MASSSTORAGE
#endif

133
libraries/AP_HAL_F4Light/boards/f4light_Revolution/board.h
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@ -192,48 +192,6 @@ @@ -192,48 +192,6 @@
#define HAL_CONSOLE_PORT 1 // console on radio
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1(Main port)
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0) \
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary Serial Port, thus allowing to configure devices on that Serial Ports. Auto-reset.
// @Values: 0:disabled, 1:connect to Serial1, 2:connect to Serial2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: FLEXI_I2C
// @DisplayName: use FlexiPort as I2C, not USART
// @Description: Allows to switch FlexiPort usage between USART and I2C modes
@ -241,102 +199,15 @@ @@ -241,102 +199,15 @@
// @User: Advanced
AP_GROUPINFO("FLEXI_I2C", 6, AP_Param_Helper, _flexi_i2c, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: TIME_OFFSET
// @DisplayName: offset from GMT time
// @Description: Allows to see local date & time in logs
// @Values: -11..+11
AP_GROUPINFO("TIME_OFFSET", 10, AP_Param_Helper, _time_offset, 0), \
// @Param: CONSOLE_UART
// @DisplayName: number of port to use as console
// @Description: Allows to specify console port
// @Values: 0:USB, 1:connect to UART 1, 2:connect to UART 2, etc
AP_GROUPINFO("CONSOLE_UART", 11, AP_Param_Helper, _console_uart, 0), \
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input poty
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: EE_DEFERRED
// @DisplayName: Emulated EEPROM write mode
// @Description: Allows to control when changes to EEPROM are saved - ASAP or on disarm
// @Values: 0: save changes ASAP, 1:save changes on disarm. All changes will be lost in case of crash!
// @User: Advanced
AP_GROUPINFO("EE_DEFERRED", 7, AP_Param_Helper, _eeprom_deferred, 0)
// @Param: AIBAO_FS
// @DisplayName: Support FailSafe for Walkera Aibao RC
// @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe
// @Values: 0: not translate, 1:translate
// @User: Advanced
AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0)
// @Param: OVERCLOCK
// @DisplayName: Set CPU frequency
// @Description: Allows to set overclocking frequency for CPU. If anything went wrong then normal freq will be restored after reboot
// @Values: 0: standard 168MHz, 1:180MHz, 2:192MHz, 3:216MHz, 4:240MHz(*), 5:264MHz
// @User: Advanced
AP_GROUPINFO("OVERCLOCK", 7, AP_Param_Helper, _overclock, 0),
// @Param: RC_FS
// @DisplayName: Set time of RC failsafe
// @Description: if none of RC channel changes in that time, then failsafe triggers
// @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols
// @User: Advanced
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SOFTSERIAL", 4, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("FLEXI_I2C", 7, AP_Param_Helper, _flexi_i2c, 0), \
AP_GROUPINFO("PWM_TYPE", 8, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("USB_STORAGE", 10, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 11, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 12, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 13, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 14, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 15, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 16, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 17, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("RC_FS", 18, AP_Param_Helper, _rc_fs, 0)
AP_GROUPINFO("FLEXI_I2C", 30, AP_Param_Helper, _flexi_i2c, 0),
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _use_softserial; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _uart_sbus; \
AP_Int8 _flexi_i2c; \
AP_Int8 _pwm_type; \
AP_Int8 _usb_storage; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _rc_input; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs;
AP_Int8 _flexi_i2c;
#define ERROR_USART _USART1 // main port - telemetry, all panic messages goes there

122
libraries/AP_HAL_F4Light/boards/f4light_cl_racing/board.h
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@ -181,63 +181,6 @@ @@ -181,63 +181,6 @@
#endif
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1, 2:UART2 etc
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0)
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input port
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset.
// @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: USB_STORAGE
// @DisplayName: allows access to SD card at next reboot
// @Description: Allows to read/write internal SD card via USB mass-storage protocol. Auto-reset.
@ -245,81 +188,22 @@ @@ -245,81 +188,22 @@
// @User: Advanced
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
// @Param: EE_DEFERRED
// @DisplayName: Emulated EEPROM write mode
// @Description: Allows to control when changes to EEPROM are saved - ASAP or on disarm
// @Values: 0: save changes ASAP, 1:save changes on disarm. All changes will be lost in case of crash!
// @User: Advanced
AP_GROUPINFO("EE_DEFERRED", 7, AP_Param_Helper, _eeprom_deferred, 0),
// @Param: AIBAO_FS
// @DisplayName: Support FailSafe for Walkera Aibao RC
// @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe
// @Values: 0: not translate, 1:translate
// @User: Advanced
AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0),
// @Param: SD_REFORMAT
// @DisplayName: Allows to re-format SD card in case of errors in FS
// @Description: Any FS errors that cause failure of logging will be corrected by SD card formatting
// @Values: 0: not allow, 1:allow
// @User: Advanced
AP_GROUPINFO("SD_REFORMAT", 7, AP_Param_Helper, _sd_format, 0),
// @Param: OVERCLOCK
// @DisplayName: Set CPU frequency
// @Description: Allows to set overclocking frequency for CPU. If anything went wrong then normal freq will be restored after reboot
// @Values: 0: standard 168MHz, 1:180MHz, 2:192MHz, 3:216MHz, 4:240MHz, 5:264MHz
// @User: Advanced
AP_GROUPINFO("OVERCLOCK", 7, AP_Param_Helper, _overclock, 0),
// @Param: RC_FS
// @DisplayName: Set time of RC failsafe
// @Description: if none of RC channel changes in that time, then failsafe triggers
// @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols
// @User: Advanced
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
*/
#define BOARD_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SOFTSERIAL", 4, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 6, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 7, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("TIME_OFFSET", 9, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 10, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 11, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 12, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 13, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("RC_FS", 14, AP_Param_Helper, _rc_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 15, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 16, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("SD_REFORMAT", 17, AP_Param_Helper, _sd_format, 0)
AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \
AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0),
// parameters
#define BOARD_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _use_softserial; \
AP_Int8 _uart_sbus; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _pwm_type; \
AP_Int8 _rc_input; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _usb_storage; \
AP_Int8 _sd_format; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs;
AP_Int8 _sd_format;
#endif

113
libraries/AP_HAL_F4Light/params.h
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@ -0,0 +1,113 @@ @@ -0,0 +1,113 @@
/*
// @Param: MOTOR_LAYOUT
// @DisplayName: Motor layout scheme
// @Description: Selects how motors are numbered
// @Values: 0:ArduCopter, 1: Ardupilot with pins 2&3 for servos 2:OpenPilot,3:CleanFlight
// @User: Advanced
AP_GROUPINFO("_MOTOR_LAYOUT", 0, HAL_F4Light, _motor_layout, 0),
// @Param: USE_SOFTSERIAL
// @DisplayName: Use SoftwareSerial driver
// @Description: Use SoftwareSerial driver instead SoftwareI2C on Input Port pins 7 & 8
// @Values: 0:disabled,1:enabled
// @User: Advanced
AP_GROUPINFO("_USE_SOFTSERIAL", 1, HAL_F4Light, _use_softserial, 0),
// @Param: UART_SBUS
// @DisplayName: What UART to use as SBUS input
// @Description: Allows to use any UART as SBUS input
// @Values: 0:disabled,1:UART1, 2:UART2 etc
// @User: Advanced
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
// @Param: SERVO_MASK
// @DisplayName: Servo Mask of Input port
// @Description: Enable selected pins of Input port to be used as Servo Out
// @Values: 0:disabled,1:enable pin3 (PPM_1), 2: enable pin4 (PPM_2), 4: enable pin5 (UART6_TX) , 8: enable pin6 (UART6_RX), 16: enable pin7, 32: enable pin8
// @User: Advanced
AP_GROUPINFO("SERVO_MASK", 2, AP_Param_Helper, _servo_mask, 0) \
// @Param: CONNECT_COM
// @DisplayName: connect to COM port
// @Description: Allows to connect USB to arbitrary UART, thus allowing to configure devices on that UARTs. Auto-reset.
// @Values: 0:disabled, 1:connect to port 1, 2:connect to port 2, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_COM", 2, AP_Param_Helper, _connect_com, 0) \
// @Param: CONNECT_ESC
// @DisplayName: connect to ESC inputs via 4wayIf
// @Description: Allows to connect USB to ESC inputs, thus allowing to configure ESC as on 4-wayIf. Auto-reset.
// @Values: 0:disabled, 1:connect uartA to ESC, 2: connect uartB to ESC, etc
// @User: Advanced
AP_GROUPINFO("CONNECT_ESC", 2, AP_Param_Helper, _connect_esc, 0) \
// @Param: PWM_TYPE
// @DisplayName: PWM protocol used
// @Description: Allows to ignore MOT_PWM_TYPE param and set PWM protocol independently
// @Values: 0:use MOT_PWM_TYPE, 1:OneShot 2:OneShot125 3:OneShot42 4:PWM125
// @User: Advanced
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0)
// @Param: RC_INPUT
// @DisplayName: Type of RC input
// @Description: allows to force specified RC input port
// @Values: 0:auto, 1:PPM1 (pin3), 2: PPM2 (pin4) etc
// @User: Advanced
AP_GROUPINFO("RC_INPUT", 9, AP_Param_Helper, _rc_input, 0)
// @Param: AIBAO_FS
// @DisplayName: Support FailSafe for Walkera Aibao RC
// @Description: Allows to translate of Walkera Aibao RC FailSafe to Ardupilot's failsafe
// @Values: 0: not translate, 1:translate
// @User: Advanced
AP_GROUPINFO("AIBAO_FS", 7, AP_Param_Helper, _aibao_fs, 0)
// @Param: RC_FS
// @DisplayName: Set time of RC failsafe
// @Description: if none of RC channel changes in that time, then failsafe triggers
// @Values: 0: turned off, >0 - time in seconds. Good values are starting 60s for digital protocols
// @User: Advanced
AP_GROUPINFO("RC_FS", 17, AP_Param_Helper, _rc_fs, 0)
*/
// common parameters for all boards
#define F4LIGHT_HAL_VARINFO \
AP_GROUPINFO("MOTOR_LAYOUT", 1, AP_Param_Helper, _motor_layout, 0), \
AP_GROUPINFO("SOFTSERIAL", 2, AP_Param_Helper, _use_softserial, 0), \
AP_GROUPINFO("UART_SBUS", 3, AP_Param_Helper, _uart_sbus, 0), \
AP_GROUPINFO("SERVO_MASK", 4, AP_Param_Helper, _servo_mask, 0), \
AP_GROUPINFO("CONNECT_COM", 5, AP_Param_Helper, _connect_com, 0), \
AP_GROUPINFO("PWM_TYPE", 7, AP_Param_Helper, _pwm_type, 0), \
AP_GROUPINFO("CONNECT_ESC", 6, AP_Param_Helper, _connect_esc, 0), \
AP_GROUPINFO("TIME_OFFSET", 8, AP_Param_Helper, _time_offset, 0), \
AP_GROUPINFO("CONSOLE_UART", 9, AP_Param_Helper, _console_uart, HAL_CONSOLE_PORT), \
AP_GROUPINFO("EE_DEFERRED", 10, AP_Param_Helper, _eeprom_deferred, 0), \
AP_GROUPINFO("RC_INPUT", 11, AP_Param_Helper, _rc_input, 0), \
AP_GROUPINFO("AIBAO_FS", 12, AP_Param_Helper, _aibao_fs, 0), \
AP_GROUPINFO("OVERCLOCK", 13, AP_Param_Helper, _overclock, 0), \
AP_GROUPINFO("CORRECT_GYRO", 14, AP_Param_Helper, _correct_gyro, 0), \
AP_GROUPINFO("RC_FS", 15, AP_Param_Helper, _rc_fs, 0), \
AP_GROUPINFO("BOOT_DFU", 16, AP_Param_Helper, _boot_dfu, 0),
// parameters
#define F4LIGHT_HAL_PARAMS \
AP_Int8 _motor_layout; \
AP_Int8 _uart_sbus; \
AP_Int8 _use_softserial; \
AP_Int8 _servo_mask; \
AP_Int8 _connect_com; \
AP_Int8 _connect_esc; \
AP_Int8 _pwm_type; \
AP_Int8 _time_offset; \
AP_Int8 _console_uart; \
AP_Int8 _eeprom_deferred; \
AP_Int8 _rc_input; \
AP_Int8 _aibao_fs; \
AP_Int8 _overclock; \
AP_Int8 _correct_gyro; \
AP_Int8 _rc_fs; \
AP_Int8 _boot_dfu;
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