*** Various Updates ***

AlienFlight updates
PWM updates
MSP updates (compatibility with CleanFlight Configurator)
Failsafe update
4wire updates for various targets
SDCard support
Balckbox updates
USART 4/5 updates
some more cleanups

Makefile

@@ -125,6 +125,13 @@ DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
 
 endif
 
+ifeq ($(TARGET),$(filter $(TARGET),$(SDCARD_TARGET)))
+INCLUDE_DIRS := $(INCLUDE_DIRS) \
+		   $(FATFS_DIR)
+
+VPATH := $(VPATH):$(FATFS_DIR)
+endif
+
 LD_SCRIPT	 = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
 
 ARCH_FLAGS	 = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
@@ -716,6 +723,10 @@ ALIENFLIGHTF4_SRC = \
 		   drivers/compass_hmc5883l.c \
 		   drivers/light_ws2811strip.c \
 		   drivers/light_ws2811strip_stm32f4xx.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCPF4_SRC)
@@ -724,6 +735,10 @@ BLUEJAYF4_SRC = \
            $(STM32F4xx_COMMON_SRC) \
 		   drivers/accgyro_spi_mpu9250.c \
 		   drivers/barometer_ms5611.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCPF4_SRC)
@@ -741,6 +756,10 @@ AQ32_V2_SRC = \
 		   drivers/accgyro_spi_mpu6000.c \
 		   drivers/barometer_ms5611.c \
 		   drivers/compass_hmc5883l.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCPF4_SRC)
@@ -752,6 +771,10 @@ VRCORE_SRC = \
 		   drivers/compass_hmc5883l.c \
 		   drivers/light_ws2811strip.c \
 		   drivers/light_ws2811strip_stm32f4xx.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCPF4_SRC)
@@ -784,6 +807,10 @@ STM32F3DISCOVERY_SRC = \
 		   drivers/barometer_ms5611.c \
 		   drivers/barometer_bmp280.c \
 		   drivers/compass_ak8975.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC)
 
@@ -946,6 +973,10 @@ SPRACINGF3MINI_SRC	 = \
 		   drivers/serial_softserial.c \
 		   drivers/serial_usb_vcp.c \
 		   drivers/sonar_hcsr04.c \
+		   drivers/sdcard.c \
+		   drivers/sdcard_standard.c \
+		   io/asyncfatfs/asyncfatfs.c \
+		   io/asyncfatfs/fat_standard.c \
 		   $(HIGHEND_SRC) \
 		   $(COMMON_SRC) \
 		   $(VCP_SRC)

docs/Board - AlienFlight.md

@@ -0,0 +1,45 @@
+# Board - AlienFlight (ALIENFLIGHTF1 and ALIENFLIGHTF3 target)
+
+AlienWii is now AlienFlight. This target supports various variants of brushed and brusless flight controllers. The designs for them are released for public use at:
+
+http://www.alienflight.com
+
+All published designs are flight tested by various people. The intention here is to make this flight controllers available and enable skilled users or RC vendors to build this designs.
+
+Here are the general hardware specifications for this boards:
+
+- STM32F103CBT6 MCU (ALIENFLIGHTF1)
+- STM32F303CCT6 MCU (ALIENFLIGHTF3)
+- MPU6050/6500/9250 accelerometer/gyro(/mag) sensor unit
+- The MPU sensor interrupt is connected to the MCU for all new F3 designs and enabled in the firmware
+- 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors
+- extra-wide traces on the PCB, for maximum power throughput
+- USB port, integrated
+- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31)
+- CPPM input
+- ground and 3.3V for the receiver
+- hardware bind plug for easy binding
+- motor connections are at the corners for a clean look with reduced wiring
+- small footprint
+- direct operation from an single cell lipoly battery
+- 3.3V LDO power regulator (older prototypes)
+- 3.3V buck-boost power converter (all new versions)
+- 5V buck-boost power converter for FPV (some versions)
+- battery monitoring with an LED for buzzer functionality (actually for some ALIENFLIGHTF3 variants only)
+
+(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
+
+    set serialrx_provider = 1   (0 for 1024bit, 1 for 2048bit) 
+    set spektrum_sat_bind = 5
+
+For more detail of the different bind modes please refer the [Spektrum Bind](Spektrum bind.md) document
+
+Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different. 
+
+The pin layout for the ALIENFLIGHTF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENFLIGHTF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The new AlienFlightF3 V2 design have the sensor connected via SPI and some slightly different pin layout. All AlienFlight/AlienWii F3 layouts running the same firmware which takes care on the differences with an hardware detection.
+
+The AlienFlight firmware will be built as target ALIENFLIGHTF1 or ALIENFLIGHTF3. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienFlight. The mixer can be activated with "mixer custom" in the CLI. To use the AlienFlight in an Hexa- or Octocopter or to do some more tuning. Additional configuration changes can be done as usual in the CLI or the Cleanflight configurator. 
+
+## Flashing the firmware
+
+The firmware can be updated with the Cleanflight configurator as for any other target. All AlienFlight boards have an boot jumper which need to be closed for the initial flashing or for recovery from an broken firmware.

docs/Spektrum bind.md

@@ -2,7 +2,7 @@
 
 Spektrum bind with hardware bind plug support.
 
-The Spektrum bind code is actually enabled for the NAZE, NAZE32PRO, CJMCU, EUSTM32F103RC, SPARKY, CC3D, ALIENWIIF1, ALIENWIIF3 targets.
+The Spektrum bind code is actually enabled for the NAZE, NAZE32PRO, CJMCU, EUSTM32F103RC, SPARKY, CC3D, ALIENFLIGHTF1, ALIENFLIGHTF3 targets.
 
 ## Configure the bind code
 
@@ -20,7 +20,7 @@ This is to activate the hardware bind plug feature
 
 ## Hardware
 
-The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienWii32 firmware is built. The hardware bind plug is expected between the defined bind pin and ground. 
+The hardware bind plug will be enabled via defining HARDWARE_BIND_PLUG during building of the firmware. BINDPLUG_PORT and BINDPLUG_PIN also need to be defined (please see above). This is done automatically if the AlienFlight firmware is built. The hardware bind plug is expected between the defined bind pin and ground. 
 
 ## Function
 
@@ -34,15 +34,14 @@ Please refer to the satellite receiver documentation for more details of the spe
 
 ## Table with spektrum_sat_bind parameter value
 
-| Value | Receiver mode     | Notes              |
-| ----- | ------------------| -------------------|
-| 3     | DSM2 1024bit/22ms |                    |
-| 5     | DSM2 2048bit/11ms | default AlienWii32 |
-| 7     | DSMX 1024bit/22ms |                    |
-| 9     | DSMX 2048bit/11ms |                    |
+| Value | Receiver mode     | Notes               |
+| ----- | ------------------| --------------------|
+| 3     | DSM2 1024bit/22ms |                     |
+| 5     | DSM2 2048bit/11ms | default AlienFlight |
+| 7     | DSMX 1024bit/22ms |                     |
+| 8     | DSMX 2048bit/22ms | Used by new DXe     |
+| 9     | DSMX 2048bit/11ms |                     |
 
-More detailed information regarding the satellite binding process can be found here:
-http://wiki.openpilot.org/display/Doc/Spektrum+Satellite
 
 ### Supported Hardware
 
@@ -62,3 +61,4 @@ In order to connect the satellite to a Flip32+, you have to wire the serial data
 | Lemon RX DSM2/DSMX   | Spektrum DX8   | Bind value 5                                             |
 | Lemon RX DSMX        | Walkera Devo10 | Bind value 9, Deviation firmware 4.01 up to 12 channels  |
 | Lemon RX DSM2        | Walkera Devo7  | Bind value 9, Deviation firmware                         |
+| Lemon RX DSMX        | Spektrum DXe   | Bind value 8, Supports up to 9 channels                  |

fake_travis_build.sh

@@ -18,8 +18,8 @@ targets=("PUBLISHMETA=True" \
 	"TARGET=REVONANO" \
     "TARGET=SPARKY" \
     "TARGET=STM32F3DISCOVERY" \
-    "TARGET=ALIENWIIF1" \
-    "TARGET=ALIENWIIF3")
+    "TARGET=ALIENFLIGHTF1" \
+    "TARGET=ALIENFLIGHTF3")
 
 #fake a travis build environment
 export TRAVIS_BUILD_NUMBER=$(date +%s)

src/main/blackbox/blackbox.c

@@ -35,6 +35,7 @@
 #include "drivers/serial.h"
 #include "drivers/compass.h"
 #include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
 #include "drivers/pwm_rx.h"
 #include "drivers/accgyro.h"
 #include "drivers/light_led.h"
@@ -256,6 +257,7 @@ static const blackboxSimpleFieldDefinition_t blackboxSlowFields[] = {
 typedef enum BlackboxState {
     BLACKBOX_STATE_DISABLED = 0,
     BLACKBOX_STATE_STOPPED,
+    BLACKBOX_STATE_PREPARE_LOG_FILE,
     BLACKBOX_STATE_SEND_HEADER,
     BLACKBOX_STATE_SEND_MAIN_FIELD_HEADER,
     BLACKBOX_STATE_SEND_GPS_H_HEADER,
@@ -344,6 +346,7 @@ STATIC_ASSERT((sizeof(blackboxConditionCache) * 8) >= FLIGHT_LOG_FIELD_CONDITION
 static uint32_t blackboxIteration;
 static uint16_t blackboxPFrameIndex, blackboxIFrameIndex;
 static uint16_t blackboxSlowFrameIterationTimer;
+static bool blackboxLoggedAnyFrames;
 
 /*
  * We store voltages in I-frames relative to this, which was the voltage when the blackbox was activated.
@@ -363,6 +366,14 @@ static blackboxMainState_t* blackboxHistory[3];
 
 static bool blackboxModeActivationConditionPresent = false;
 
+/**
+ * Return true if it is safe to edit the Blackbox configuration in the emasterConfig.
+ */
+bool blackboxMayEditConfig()
+{
+    return blackboxState <= BLACKBOX_STATE_STOPPED;
+}
+
 static bool blackboxIsOnlyLoggingIntraframes() {
     return masterConfig.blackbox_rate_num == 1 && masterConfig.blackbox_rate_denom == 32;
 }
@@ -457,6 +468,9 @@ static void blackboxSetState(BlackboxState newState)
 {
     //Perform initial setup required for the new state
     switch (newState) {
+        case BLACKBOX_STATE_PREPARE_LOG_FILE:
+            blackboxLoggedAnyFrames = false;
+        break;
         case BLACKBOX_STATE_SEND_HEADER:
             blackboxHeaderBudget = 0;
             xmitState.headerIndex = 0;
@@ -576,6 +590,8 @@ static void writeIntraframe(void)
     blackboxHistory[2] = blackboxHistory[0];
     //And advance the current state over to a blank space ready to be filled
     blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
+
+    blackboxLoggedAnyFrames = true;
 }
 
 static void blackboxWriteMainStateArrayUsingAveragePredictor(int arrOffsetInHistory, int count)
@@ -691,6 +707,8 @@ static void writeInterframe(void)
     blackboxHistory[2] = blackboxHistory[1];
     blackboxHistory[1] = blackboxHistory[0];
     blackboxHistory[0] = ((blackboxHistory[0] - blackboxHistoryRing + 1) % 3) + blackboxHistoryRing;
+
+    blackboxLoggedAnyFrames = true;
 }
 
 /* Write the contents of the global "slowHistory" to the log as an "S" frame. Because this data is logged so
@@ -785,8 +803,20 @@ static void validateBlackboxConfig()
         masterConfig.blackbox_rate_denom /= div;
     }
 
-    if (masterConfig.blackbox_device >= BLACKBOX_DEVICE_END) {
-        masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
+    // If we've chosen an unsupported device, change the device to serial
+    switch (masterConfig.blackbox_device) {
+#ifdef USE_FLASHFS
+        case BLACKBOX_DEVICE_FLASH:
+#endif
+#ifdef USE_SDCARD
+        case BLACKBOX_DEVICE_SDCARD:
+#endif
+        case BLACKBOX_DEVICE_SERIAL:
+            // Device supported, leave the setting alone
+        break;
+
+        default:
+            masterConfig.blackbox_device = BLACKBOX_DEVICE_SERIAL;
     }
 }
 
@@ -832,7 +862,7 @@ void startBlackbox(void)
          */
         blackboxLastArmingBeep = getArmingBeepTimeMicros();
 
-        blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
+        blackboxSetState(BLACKBOX_STATE_PREPARE_LOG_FILE);
     }
 }
 
@@ -841,18 +871,20 @@ void startBlackbox(void)
  */
 void finishBlackbox(void)
 {
-    if (blackboxState == BLACKBOX_STATE_RUNNING || blackboxState == BLACKBOX_STATE_PAUSED) {
-        blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
+    switch (blackboxState) {
+        case BLACKBOX_STATE_DISABLED:
+        case BLACKBOX_STATE_STOPPED:
+        case BLACKBOX_STATE_SHUTTING_DOWN:
+            // We're already stopped/shutting down
+        break;
 
-        blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
-    } else if (blackboxState != BLACKBOX_STATE_DISABLED && blackboxState != BLACKBOX_STATE_STOPPED
-            && blackboxState != BLACKBOX_STATE_SHUTTING_DOWN) {
-        /*
-         * We're shutting down in the middle of transmitting headers, so we can't log a "log completed" event.
-         * Just give the port back and stop immediately.
-         */
-        blackboxDeviceClose();
-        blackboxSetState(BLACKBOX_STATE_STOPPED);
+        case BLACKBOX_STATE_RUNNING:
+        case BLACKBOX_STATE_PAUSED:
+            blackboxLogEvent(FLIGHT_LOG_EVENT_LOG_END, NULL);
+
+            // Fall through
+        default:
+            blackboxSetState(BLACKBOX_STATE_SHUTTING_DOWN);
     }
 }
 
@@ -1298,6 +1330,11 @@ void handleBlackbox(void)
     }
 
     switch (blackboxState) {
+        case BLACKBOX_STATE_PREPARE_LOG_FILE:
+            if (blackboxDeviceBeginLog()) {
+                blackboxSetState(BLACKBOX_STATE_SEND_HEADER);
+            }
+        break;
         case BLACKBOX_STATE_SEND_HEADER:
             //On entry of this state, xmitState.headerIndex is 0 and startTime is intialised
 
@@ -1364,7 +1401,7 @@ void handleBlackbox(void)
                  * (overflowing circular buffers causes all data to be discarded, so the first few logged iterations
                  * could wipe out the end of the header if we weren't careful)
                  */
-                if (blackboxDeviceFlush()) {
+                if (blackboxDeviceFlushForce()) {
                     blackboxSetState(BLACKBOX_STATE_RUNNING);
                 }
             }
@@ -1398,15 +1435,15 @@ void handleBlackbox(void)
             blackboxAdvanceIterationTimers();
         break;
         case BLACKBOX_STATE_SHUTTING_DOWN:
-            //On entry of this state, startTime is set and a flush is performed
+            //On entry of this state, startTime is set
 
             /*
              * Wait for the log we've transmitted to make its way to the logger before we release the serial port,
              * since releasing the port clears the Tx buffer.
              *
              * Don't wait longer than it could possibly take if something funky happens.
              */
-            if (millis() > xmitState.u.startTime + BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS || blackboxDeviceFlush()) {
+            if (blackboxDeviceEndLog(blackboxLoggedAnyFrames) && (millis() > xmitState.u.startTime + BLACKBOX_SHUTDOWN_TIMEOUT_MILLIS || blackboxDeviceFlushForce())) {
                 blackboxDeviceClose();
                 blackboxSetState(BLACKBOX_STATE_STOPPED);
             }

src/main/blackbox/blackbox.h

@@ -25,3 +25,5 @@ void initBlackbox(void);
 void handleBlackbox(void);
 void startBlackbox(void);
 void finishBlackbox(void);
+
+bool blackboxMayEditConfig();