diff --git a/libraries/AP_HAL/board/f4light.h b/libraries/AP_HAL/board/f4light.h index c0db977358..602ca7e2fc 100644 --- a/libraries/AP_HAL/board/f4light.h +++ b/libraries/AP_HAL/board/f4light.h @@ -1,4 +1,5 @@ #include +#include #define HAL_NEEDS_PARAM_HELPER diff --git a/libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.h b/libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.h index 930fb565ba..6781ee70d8 100644 --- a/libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.h +++ b/libraries/AP_HAL_F4Light/boards/f4light_AirbotV2/board.h @@ -194,8 +194,8 @@ */ #define BOARD_HAL_VARINFO \ - AP_GROUPINFO("USB_STORAGE", 8, AP_Param_Helper, _usb_storage, 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 diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/1_read_ME.md b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/1_read_ME.md index 18f4745e57..143b250b25 100644 --- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/1_read_ME.md +++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/1_read_ME.md @@ -1,10 +1,10 @@ this is for Revolution/RevoMini board with removed 25q16 and soldered 25q128 or 25q256. This is very easy! I tried to maintain compatibility with the OpenPilot documentation. The main difference - FlexiPort can -be Serial and external I2C port is on pins 7&8 of Input port. But this can be changed by HAL_FLEXI_I2C parameter +be Serial and external I2C port is on pins 7&8 of Input port. But this can be changed by BRD_FLEXI_I2C parameter -Main Port - telemetry, Serial1. As a variant it can be used as SBUS input with hardware inverter (Parameter HAL_UART_SBUS) +Main Port - telemetry, Serial1. As a variant it can be used as SBUS input with hardware inverter (Parameter BRD_UART_SBUS) FlexiPort - OSD, Serial2 Uart6 (pins 5&6) - GPS @@ -19,7 +19,7 @@ pins 7&8 of Input port are SCL and SDA of external I2C (or Tx and Rx for SoftSer Output Port for MOTORs -Connect to PWM output pins in ArduCopter, CleanFlight or OpenPilot order, and set parameter HAL_MOTOR_LAYOUT accordingly +Connect to PWM output pins in ArduCopter, CleanFlight or OpenPilot order, and set parameter BRD_MOTOR_LAYOUT accordingly 5&6 PWM Output pins are Rx and Tx of Serial4 - but only for quads (except motor layout 1, see below) or planes diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h index ab9aa6312b..21a9898a6c 100644 --- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h +++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/board.h @@ -209,7 +209,7 @@ */ #define BOARD_HAL_VARINFO \ AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \ - AP_GROUPINFO("FLEXI_I2C", 30, AP_Param_Helper, _flexi_i2c, 0), + AP_GROUPINFO("FLEXI_I2C", 31, AP_Param_Helper, _flexi_i2c, 0), // parameters #define BOARD_HAL_PARAMS \ diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU-plane.sh b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU-plane.sh index daaa488575..863751d5bd 100755 --- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU-plane.sh +++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_EE128/support/UPLOAD-DFU-plane.sh @@ -5,5 +5,5 @@ # bare metal binary #dfu-util -a 0 --dfuse-address 0x08000000:unprotect:force -D /tmp/ArduCopter.build/f4light_Revolution.bin -dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduPlane/f4light_Revolution.bin -R +dfu-util -a 0 --dfuse-address 0x08000000:leave -D ../../../../../ArduPlane/f4light_Revolution_EE128_bl.bin diff --git a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/board.h b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/board.h index 5e3a78621b..9b316f619f 100644 --- a/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/board.h +++ b/libraries/AP_HAL_F4Light/boards/f4light_Revolution_SD/board.h @@ -208,8 +208,8 @@ #define BOARD_HAL_VARINFO \ AP_GROUPINFO("FLEXI_I2C", 30, AP_Param_Helper, _flexi_i2c, 0), \ - AP_GROUPINFO("USB_STORAGE", 30, AP_Param_Helper, _usb_storage, 0), \ - AP_GROUPINFO("SD_REFORMAT", 31, AP_Param_Helper, _sd_format, 0), + AP_GROUPINFO("USB_STORAGE", 31, AP_Param_Helper, _usb_storage, 0), \ + AP_GROUPINFO("SD_REFORMAT", 32, AP_Param_Helper, _sd_format, 0), // parameters diff --git a/libraries/AP_HAL_F4Light/hardware/hal/systick.c b/libraries/AP_HAL_F4Light/hardware/hal/systick.c index ed8c245286..44a58d9289 100644 --- a/libraries/AP_HAL_F4Light/hardware/hal/systick.c +++ b/libraries/AP_HAL_F4Light/hardware/hal/systick.c @@ -94,29 +94,32 @@ void __attribute__((noreturn)) error_throb(uint32_t num){ /* Error fade. */ while (1) { uint16_t k; - for(k=0; k0;m--){ + if (CC == TOP_CNT) { + slope = -1; + } else if (CC == 0) { + slope = 1; + } + + if (i == TOP_CNT) { + CC += slope; + i = 0; + } + + if (i < CC) { + n=1; + } else { + n=0; + } + gpio_write_bit(pp->gpio_device, pp->gpio_bit, n); + + volatile int j =10; + while(--j); + + i++; } - gpio_write_bit(pp->gpio_device, pp->gpio_bit, n); - - volatile int j =10; - while(--j); - - i++; } emerg_delay(3000); // on 168MHz ~0.1ms so 300ms }