Merge remote-tracking branch 'paparazzi/master' into telemetry

Conflicts:
	sw/airborne/firmwares/rotorcraft/autopilot.c

CHANGELOG.md

@@ -1,11 +1,86 @@
-Paparazzi 4.9 - development branch
+Paparazzi 5.0.0_stable
-==================================
+======================
+
+Stable version release
+
+General
+-------
 
 - STM libs completely replaced by libopencm3
+- [gcc-arm-embedded] (https://launchpad.net/gcc-arm-embedded) is the new recommended toolchain
+- Use findlib (ocamlfind) for ocaml packages. Faster build.
+  [#274] (https://github.com/paparazzi/paparazzi/pull/274)
+- Building/Running the groundsegment on an ARM (e.g. RaspberryPi).
 - Input2ivy uses SDL for joysticks (cross-platform, works on OSX as well now)
   [#220] (https://github.com/paparazzi/paparazzi/pull/220)
 - Option to change text papget color using a combobox
   [#194] (https://github.com/paparazzi/paparazzi/pull/194)
+- Redundant communications
+  [#429] (https://github.com/paparazzi/paparazzi/pull/429)
+- Log also contains includes like procedures now, so replay if these missions is possible.
+  [#227] (https://github.com/paparazzi/paparazzi/issues/227)
+- Paparazzi Center
+    - New simulation launcher with dialog and detection of available ones.
+      [#354] (https://github.com/paparazzi/paparazzi/pull/354)
+    - Checkbox to print extra configuration information during build.
+- GCS:
+    - Fix panning with mouse if there are no background tiles.
+      [#9] (https://github.com/paparazzi/paparazzi/issues/9)
+    - Higher zoom level for maps.
+      [#277] (https://github.com/paparazzi/paparazzi/issues/277)
+
+Hardware support
+----------------
+
+- initial support for STM32F4
+    - Apogee autopilot
+    - KroozSD autopilot
+- Parrot AR Drone 2 support: raw and sdk versions
+- CH Robotics UM6 IMU/AHRS
+- GPS/INS XSens Mti-G support
+- GPS Sirf support
+- GPS Skytraq now usable for fixedwings as well
+  [#167] (https://github.com/paparazzi/paparazzi/issues/167)
+- Mikrokopter V2 BLDC
+  [#377] (https://github.com/paparazzi/paparazzi/pull/377)
+- PX4Flow sensor
+  [#379] (https://github.com/paparazzi/paparazzi/pull/379)
+- Dropped AVR support
+
+Airborne
+--------
+
+- State interface with automatic coordinate transformations
+  [#237] (https://github.com/paparazzi/paparazzi/pull/237)
+- New AHRS filter: Multiplicative quaternion linearized Kalman Filter
+- New SPI driver with transaction queues.
+    - Fix transactions with zero length input.
+      [#348] (https://github.com/paparazzi/paparazzi/issues/348)
+- Peripherals: Cleanup and refactoring.
+    - MPU60x0 peripheral supporting SPI and I2C with slave.
+- UDP datalink.
+- Magnetometer current offset calibration.
+  [#346] (https://github.com/paparazzi/paparazzi/pull/346)
+- Gain scheduling module.
+  [#335] (https://github.com/paparazzi/paparazzi/pull/335)
+
+Rotorcraft firmware specific
+----------------------------
+
+- Quadshot transitioning vehicle support.
+- Care Free Mode
+
+
+Paparazzi 4.2.1_stable
+======================
+
+Maintenance release
+
+- fix elf PT_LOAD type in lpc21iap LPC USB download
+- fix electrical.current estimate in sim
+- fix LPC+xbee_api in rotorcraft
+- fix conversion of vsupply to decivolts if offset is used
+- more robust dfu flash script, only upload to Lisa/M
 
 
 Paparazzi 4.2.0_stable

conf/airframes/ENAC/quadrotor/blender.xml

@@ -37,7 +37,7 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD" value="B57600"/>
     </subsystem>
-    <subsystem name="stabilization" type="euler"/>
+    <subsystem name="stabilization" type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_quat"/>
     <subsystem name="ins"           type="hff"/>
   </firmware>
@@ -133,7 +133,6 @@
 
   <!-- Magnetic field for Gifhorn (declination 2°) -->
   <section name="AHRS" prefix="AHRS_">
-    <define name="PROPAGATE_FREQUENCY" value="512"/>
     <define name="PROPAGATE_LOW_PASS_RATES" value="1"/>
     <define name="H_X" value="0.3794131"/>
     <define name="H_Y" value="0.0141005"/>

conf/airframes/ENAC/quadrotor/booz2_g1.xml

@@ -47,7 +47,7 @@
     <subsystem name="gps"           type="ublox">
       <configure name="GPS_BAUD"    value="B57600"/>
     </subsystem>
-    <subsystem name="stabilization"   type="euler"/>
+    <subsystem name="stabilization" type="int_euler"/>
     <subsystem name="ahrs"          type="int_cmpl_euler"/>
     <subsystem name="ins"           type="extended"/>
   </firmware>
@@ -102,13 +102,13 @@
     <define name="ACCEL_Y_SENS" value="2.55480391706" integer="16"/>
     <define name="ACCEL_Z_SENS" value="2.57076132924" integer="16"/>
 
-    <define name="MAG_X_NEUTRAL" value="-12"/>
+    <define name="MAG_X_NEUTRAL" value="19"/>
-    <define name="MAG_Y_NEUTRAL" value="-10"/>
+    <define name="MAG_Y_NEUTRAL" value="-91"/>
-    <define name="MAG_Z_NEUTRAL" value="-11"/>
+    <define name="MAG_Z_NEUTRAL" value="-40"/>
 
-    <define name="MAG_X_SENS" value="22.008352" integer="16"/>
+    <define name="MAG_X_SENS" value="4.93239693731" integer="16"/>
-    <define name="MAG_Y_SENS" value="21.79885" integer="16"/>
+    <define name="MAG_Y_SENS" value="4.91905188125" integer="16"/>
-    <define name="MAG_Z_SENS" value="14.675745" integer="16"/>
+    <define name="MAG_Z_SENS" value="3.3560174578" integer="16"/>
 
     <define name="BODY_TO_IMU_PHI"   value="1.3" unit="deg"/>
     <define name="BODY_TO_IMU_THETA" value="-2.6" unit="deg"/>
@@ -206,9 +206,10 @@
 
 
   <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="USE_REF" value="FALSE"/>
     <define name="MAX_BANK" value="30" unit="deg"/>
-    <define name="PGAIN" value="50"/>
+    <define name="PGAIN" value="40"/>
-    <define name="DGAIN" value="100"/>
+    <define name="DGAIN" value="70"/>
     <define name="IGAIN" value="15"/>
     <define name="NGAIN" value="0"/>
     <!-- feedforward -->

conf/airframes/ardrone2_sdk.xml

@@ -14,7 +14,7 @@
 
 		<subsystem name="radio_control" type="datalink" />
 		<subsystem name="telemetry" type="udp" />
-		<subsystem name="gps" type="sirf" />
+		<subsystem name="gps" type="ardrone2" />
 		<subsystem name="ahrs" type="ardrone2" />
 		<subsystem name="ins" type="ardrone2" />
 		<subsystem name="actuators" type="ardrone2" />
@@ -97,6 +97,7 @@
 	</section>
 
 	<section name="AUTOPILOT">
+		<define name="MODE_STARTUP" value="AP_MODE_NAV" />
 		<define name="MODE_MANUAL" value="AP_MODE_RC_DIRECT" />
 		<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD" />
 		<define name="MODE_AUTO2" value="AP_MODE_NAV" />

conf/airframes/examples/quadrotor_lisa_m_2_pwm_spektrum.xml

@@ -32,7 +32,7 @@
     </subsystem>
 
     <subsystem name="telemetry"     type="transparent"/>
-    <subsystem name="imu"           type="aspirin_v2.1_new"/>
+    <subsystem name="imu"           type="aspirin_v2.1"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="stabilization" type="int_quat"/>
     <subsystem name="ahrs"          type="int_cmpl_quat">

conf/airframes/examples/quadrotor_mlkf.xml

@@ -0,0 +1,228 @@
+<!DOCTYPE airframe SYSTEM "../airframe.dtd">
+
+
+<airframe name="Quadrotor with floating point unit">
+
+  <firmware name="rotorcraft">
+    <target name="ap" board="lisa_m_2.0">
+      <configure name="FLASH_MODE" value="SWD"/>
+      <!-- MPU6000 is configured to output data at 500Hz -->
+      <configure name="AHRS_PROPAGATE_FREQUENCY" value="500"/>
+      <configure name="USE_MAGNETOMETER" value="1"/>
+    </target>
+
+    <target name="nps" board="pc">
+      <subsystem name="fdm" type="jsbsim"/>
+    </target>
+
+    <subsystem name="radio_control" type="ppm"/>
+
+    <subsystem name="motor_mixing"/>
+    <subsystem name="actuators"     type="pwm">
+      <define name="SERVO_HZ" value="400"/>
+      <define name="USE_SERVOS_7AND8"/>
+    </subsystem>
+
+    <subsystem name="telemetry"     type="transparent">
+      <configure name="MODEM_PORT" value="UART1"/>
+    </subsystem>
+    <subsystem name="imu"           type="aspirin_v2.1"/>
+    <subsystem name="gps"           type="ublox"/>
+    <subsystem name="stabilization" type="float_quat"/>
+    <subsystem name="ahrs"          type="float_mlkf">
+      <define name="AHRS_GRAVITY_UPDATE_NORM_HEURISTIC" value="TRUE"/>
+    </subsystem>
+    <subsystem name="ins"/>
+  </firmware>
+
+  <modules main_freq="512">
+    <load name="sys_mon.xml"/>
+  </modules>
+
+  <servos driver="Pwm">
+    <servo name="FRONT"   no="0" min="1000" neutral="1100" max="1900"/>
+    <servo name="BACK"    no="1" min="1000" neutral="1100" max="1900"/>
+    <servo name="RIGHT"   no="2" min="1000" neutral="1100" max="1900"/>
+    <servo name="LEFT"    no="3" min="1000" neutral="1100" max="1900"/>
+  </servos>
+
+  <commands>
+    <axis name="ROLL"   failsafe_value="0"/>
+    <axis name="PITCH"  failsafe_value="0"/>
+    <axis name="YAW"    failsafe_value="0"/>
+    <axis name="THRUST" failsafe_value="0"/>
+  </commands>
+
+  <section name="MIXING" prefix="MOTOR_MIXING_">
+    <define name="TRIM_ROLL" value="0"/>
+    <define name="TRIM_PITCH" value="0"/>
+    <define name="TRIM_YAW" value="0"/>
+    <define name="NB_MOTOR" value="4"/>
+    <define name="SCALE" value="256"/>
+    <!-- front/back turning CW, right/left CCW -->
+    <define name="ROLL_COEF"   value="{    0,    0, -256,  256 }"/>
+    <define name="PITCH_COEF"  value="{  256, -256,    0,    0 }"/>
+    <define name="YAW_COEF"    value="{ -256, -256,  256,  256 }"/>
+    <define name="THRUST_COEF" value="{  256,  256,  256,  256 }"/>
+  </section>
+
+  <command_laws>
+    <call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
+    <set servo="FRONT"  value="motor_mixing.commands[SERVO_FRONT]"/>
+    <set servo="BACK"   value="motor_mixing.commands[SERVO_BACK]"/>
+    <set servo="RIGHT"  value="motor_mixing.commands[SERVO_RIGHT]"/>
+    <set servo="LEFT"   value="motor_mixing.commands[SERVO_LEFT]"/>
+  </command_laws>
+
+  <section name="IMU" prefix="IMU_">
+    <define name="ACCEL_X_NEUTRAL" value="11"/>
+    <define name="ACCEL_Y_NEUTRAL" value="11"/>
+    <define name="ACCEL_Z_NEUTRAL" value="-25"/>
+
+    <!-- replace this with your own calibration -->
+    <define name="MAG_X_NEUTRAL" value="-179"/>
+    <define name="MAG_Y_NEUTRAL" value="-21"/>
+    <define name="MAG_Z_NEUTRAL" value="79"/>
+    <define name="MAG_X_SENS" value="4.17334785618" integer="16"/>
+    <define name="MAG_Y_SENS" value="3.98885954135" integer="16"/>
+    <define name="MAG_Z_SENS" value="4.40442339014" integer="16"/>
+    <define name="MAG_X_SIGN" value="1"/>
+    <define name="MAG_Y_SIGN" value="1"/>
+    <define name="MAG_Z_SIGN" value="1"/>
+
+    <define name="BODY_TO_IMU_PHI"   value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
+    <define name="BODY_TO_IMU_PSI"   value="0." unit="deg"/>
+  </section>
+
+  <section name="AHRS" prefix="AHRS_">
+    <define name="H_X" value="0.3770441"/>
+    <define name="H_Y" value="0.0193986"/>
+    <define name="H_Z" value="0.9259921"/>
+  </section>
+
+  <section name="INS" prefix="INS_">
+    <define name="BARO_SENS" value="22.3" integer="16"/>
+  </section>
+
+  <section name="STABILIZATION_RATE" prefix="STABILIZATION_RATE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_P" value="10000"/>
+    <define name="SP_MAX_Q" value="10000"/>
+    <define name="SP_MAX_R" value="10000"/>
+    <define name="DEADBAND_P" value="20"/>
+    <define name="DEADBAND_Q" value="20"/>
+    <define name="DEADBAND_R" value="200"/>
+    <define name="REF_TAU" value="4"/>
+
+    <!-- feedback -->
+    <define name="GAIN_P" value="400"/>
+    <define name="GAIN_Q" value="400"/>
+    <define name="GAIN_R" value="350"/>
+
+    <define name="IGAIN_P" value="75"/>
+    <define name="IGAIN_Q" value="75"/>
+    <define name="IGAIN_R" value="50"/>
+
+    <!-- feedforward -->
+    <define name="DDGAIN_P" value="300"/>
+    <define name="DDGAIN_Q" value="300"/>
+    <define name="DDGAIN_R" value="300"/>
+  </section>
+
+<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
+    <!-- setpoints -->
+    <define name="SP_MAX_PHI"     value="45." unit="deg"/>
+    <define name="SP_MAX_THETA"   value="45." unit="deg"/>
+    <define name="SP_MAX_R"       value="90." unit="deg/s"/>
+    <define name="DEADBAND_A"     value="0"/>
+    <define name="DEADBAND_E"     value="0"/>
+    <define name="DEADBAND_R"     value="250"/>
+
+    <!-- reference -->
+    <define name="REF_OMEGA_P"  value="{RadOfDeg(800)}"/>
+    <define name="REF_ZETA_P"   value="{0.85}"/>
+    <define name="REF_MAX_P"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_Q"  value="{RadOfDeg(800)}"/>
+    <define name="REF_ZETA_Q"   value="{0.85}"/>
+    <define name="REF_MAX_Q"    value="400." unit="deg/s"/>
+    <define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
+
+    <define name="REF_OMEGA_R"  value="{RadOfDeg(500)}"/>
+    <define name="REF_ZETA_R"   value="{0.85}"/>
+    <define name="REF_MAX_R"    value="180." unit="deg/s"/>
+    <define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
+
+    <!-- feedback -->
+    <define name="PHI_PGAIN"  value="{1000}"/>
+    <define name="PHI_DGAIN"  value="{1000}"/>
+    <define name="PHI_IGAIN"  value="{200}"/>
+
+    <define name="THETA_PGAIN"  value="{1000}"/>
+    <define name="THETA_DGAIN"  value="{1000}"/>
+    <define name="THETA_IGAIN"  value="{200}"/>
+
+    <define name="PSI_PGAIN"  value="{500}"/>
+    <define name="PSI_DGAIN"  value="{500}"/>
+    <define name="PSI_IGAIN"  value="{10}"/>
+
+    <!-- feedback angular acceleration error -->
+    <define name="PHI_DGAIN_D"   value="{100}"/>
+    <define name="THETA_DGAIN_D" value="{100}"/>
+    <define name="PSI_DGAIN_D"   value="{100}"/>
+
+    <!-- feedforward -->
+    <define name="PHI_DDGAIN"   value="{300}"/>
+    <define name="THETA_DDGAIN" value="{300}"/>
+    <define name="PSI_DDGAIN"   value="{300}"/>
+  </section>
+
+  <section name="GUIDANCE_V" prefix="GUIDANCE_V_">
+    <define name="MIN_ERR_Z"   value="POS_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_Z"   value="POS_BFP_OF_REAL( 10.)"/>
+    <define name="MIN_ERR_ZD"  value="SPEED_BFP_OF_REAL(-10.)"/>
+    <define name="MAX_ERR_ZD"  value="SPEED_BFP_OF_REAL( 10.)"/>
+    <define name="MAX_SUM_ERR" value="2000000"/>
+    <define name="HOVER_KP"    value="150"/>
+    <define name="HOVER_KD"    value="80"/>
+    <define name="HOVER_KI"    value="20"/>
+    <!-- 1.5m/s for full stick : BOOZ_SPEED_I_OF_F(1.5) / (MAX_PPRZ/2) -->
+    <define name="RC_CLIMB_COEF" value ="163"/>
+    <!-- BOOZ_SPEED_I_OF_F(1.5) * 20% -->
+    <define name="RC_CLIMB_DEAD_BAND" value ="160000"/>
+    <!-- NOMINAL_HOVER_THROTTLE sets a fixed value instead of the adaptive estimation -->
+    <!--define name="NOMINAL_HOVER_THROTTLE" value="0.5"/-->
+  </section>
+
+  <section name="GUIDANCE_H" prefix="GUIDANCE_H_">
+    <define name="MAX_BANK" value="20" unit="deg"/>
+    <define name="PGAIN" value="50"/>
+    <define name="DGAIN" value="100"/>
+    <define name="AGAIN" value="100"/>
+    <define name="IGAIN" value="20"/>
+  </section>
+
+  <section name="SIMULATOR" prefix="NPS_">
+    <define name="ACTUATOR_NAMES"  value="{&quot;front_motor&quot;, &quot;back_motor&quot;, &quot;right_motor&quot;, &quot;left_motor&quot;}"/>
+    <define name="INITIAL_CONDITITONS" value="&quot;reset00&quot;"/>
+    <define name="SENSORS_PARAMS" value="&quot;nps_sensors_params_default.h&quot;"/>
+    <!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
+    <define name="JS_MODE_AXIS" value="4"/>
+  </section>
+
+  <section name="AUTOPILOT">
+    <define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
+    <define name="MODE_AUTO1"  value="AP_MODE_HOVER_Z_HOLD"/>
+    <define name="MODE_AUTO2"  value="AP_MODE_NAV"/>
+  </section>
+
+  <section name="BAT">
+    <define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
+    <define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
+    <define name="LOW_BAT_LEVEL" value="9.7" unit="V"/>
+    <define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
+  </section>
+
+</airframe>

conf/control_panel.xml.example

@@ -83,28 +83,12 @@
 
   <section name="sessions">
 
-   <session name="ARDrone2 RAW Flight">
+   <session name="ARDrone2 Flight">
       <program name="Server"/>
       <program name="GCS"/>
       <program name="Data Link">
         <arg flag="-udp"/>
       </program>
-      <program name="Joystick">
-        <arg flag="-ac" constant="ardrone2_raw"/>
-        <arg flag="extreme_3d_pro.xml"/>
-      </program>
-    </session>
-
-   <session name="ARDrone2 SDK Flight">
-      <program name="Server"/>
-      <program name="GCS"/>
-      <program name="Data Link">
-        <arg flag="-udp"/>
-      </program>
-      <program name="Joystick">
-        <arg flag="-ac" constant="ardrone2_sdk"/>
-        <arg flag="extreme_3d_pro.xml"/>
-      </program>
     </session>
     
    <session name="Flight USB-serial@9600">

conf/firmwares/subsystems/rotorcraft/fdm_jsbsim.makefile

@@ -22,7 +22,7 @@ nps.MAKEFILE = nps
 
 nps.CFLAGS  += -DSITL -DUSE_NPS
 nps.CFLAGS  += $(shell pkg-config glib-2.0 --cflags)
-nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lm -lglibivy -lgsl -lgslcblas
+nps.LDFLAGS += $(shell pkg-config glib-2.0 --libs) -lm -lglibivy -lpcre -lgsl -lgslcblas
 nps.CFLAGS  += -I$(NPSDIR) -I$(SRC_FIRMWARE) -I$(SRC_BOARD) -I../simulator -I$(PAPARAZZI_HOME)/conf/simulator/nps
 nps.LDFLAGS += $(shell sdl-config --libs)
 

conf/firmwares/subsystems/rotorcraft/gps_ardrone2.makefile

@@ -0,0 +1,20 @@
+# Hey Emacs, this is a -*- makefile -*-
+
+# ARDrone 2 Flightrecorder GPS unit
+
+
+ap.CFLAGS += -DUSE_GPS -DUSE_GPS_ARDRONE2
+
+ifneq ($(GPS_LED),none)
+  ap.CFLAGS += -DGPS_LED=$(GPS_LED)
+endif
+
+ap.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_ardrone2.h\"
+ap.srcs   += $(SRC_SUBSYSTEMS)/gps/gps_ardrone2.c
+
+$(TARGET).srcs += $(SRC_SUBSYSTEMS)/gps.c
+
+nps.CFLAGS += -DUSE_GPS
+nps.CFLAGS += -DGPS_TYPE_H=\"subsystems/gps/gps_sim.h\"
+nps.srcs += $(SRC_SUBSYSTEMS)/gps/gps_sim_nps.c
+

conf/firmwares/subsystems/shared/imu_aspirin_v2.1.makefile

@@ -39,32 +39,37 @@
 
 # for fixedwing firmware and ap only
 ifeq ($(TARGET), ap)
-  IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
+  IMU_ASPIRIN_2_CFLAGS  = -DUSE_IMU
 endif
 
-IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\"
+IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2_spi.h\"
-IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
+IMU_ASPIRIN_2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
-                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c
+IMU_ASPIRIN_2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2_spi.c
+IMU_ASPIRIN_2_SRCS   += peripherals/mpu60x0.c
+IMU_ASPIRIN_2_SRCS   += peripherals/mpu60x0_spi.c
+
+# Magnetometer
+#IMU_ASPIRIN_2_SRCS   += peripherals/hmc58xx.c
 
 include $(CFG_SHARED)/spi_master.makefile
 
 ifeq ($(ARCH), lpc21)
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE0
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
+IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_SLAVE_IDX=SPI_SLAVE0
+IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_DEV=spi1
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI1
 else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI2
 # Slave select configuration
 # SLAVE2 is on PB12 (NSS) (MPU600 CS)
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
+IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE2
 endif
 
-IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_1
-
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
 # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 
-ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
+ap.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
-ap.srcs   += $(IMU_ASPIRIN_SRCS)
+ap.srcs   += $(IMU_ASPIRIN_2_SRCS)
 
 
 #

conf/firmwares/subsystems/shared/imu_aspirin_v2.1_old.makefile

@@ -39,39 +39,32 @@
 
 # for fixedwing firmware and ap only
 ifeq ($(TARGET), ap)
-  IMU_ASPIRIN_2_CFLAGS  = -DUSE_IMU
+  IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
 endif
 
-IMU_ASPIRIN_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin_2.h\"
+IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\"
-IMU_ASPIRIN_2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
-IMU_ASPIRIN_2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_aspirin_2.c
+                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c
-IMU_ASPIRIN_2_SRCS   += peripherals/mpu60x0.c
-IMU_ASPIRIN_2_SRCS   += peripherals/mpu60x0_spi.c
-
-# Magnetometer
-#IMU_ASPIRIN_2_SRCS   += peripherals/hmc58xx.c
 
 include $(CFG_SHARED)/spi_master.makefile
 
 ifeq ($(ARCH), lpc21)
-IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE0
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
-IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_SLAVE_IDX=SPI_SLAVE0
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
-IMU_ASPIRIN_2_CFLAGS += -DASPIRIN_2_SPI_DEV=spi1
-IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI1
 else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI2
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
 # Slave select configuration
 # SLAVE2 is on PB12 (NSS) (MPU600 CS)
-IMU_ASPIRIN_2_CFLAGS += -DUSE_SPI_SLAVE2
+IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
 endif
 
-#IMU_ASPIRIN_2_CFLAGS += -DIMU_ASPIRIN_VERSION_2_1
+IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_1
 
 # Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
 # see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
 
-ap.CFLAGS += $(IMU_ASPIRIN_2_CFLAGS)
+ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-ap.srcs   += $(IMU_ASPIRIN_2_SRCS)
+ap.srcs   += $(IMU_ASPIRIN_SRCS)
 
 
 #

conf/firmwares/subsystems/shared/imu_aspirin_v2.2.makefile

@@ -2,11 +2,13 @@
 #
 # Aspirin IMU v2.2
 #
+# actually identical with v2.1 since baro is not read in IMU driver
+#
 #
 # required xml:
 #  <section name="IMU" prefix="IMU_">
 #
-#    <!-- these gyro and accel calib values are the defaults for aspirin2.2 -->
+#    <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
 #    <define name="GYRO_X_NEUTRAL" value="0"/>
 #    <define name="GYRO_Y_NEUTRAL" value="0"/>
 #    <define name="GYRO_Z_NEUTRAL" value="0"/>
@@ -37,37 +39,4 @@
 #
 
 
-# for fixedwing firmware and ap only
+include $(CFG_SHARED)/imu_aspirin_v2.1.makefile
-ifeq ($(TARGET), ap)
-  IMU_ASPIRIN_CFLAGS  = -DUSE_IMU
-endif
-
-IMU_ASPIRIN_CFLAGS += -DIMU_TYPE_H=\"imu/imu_aspirin2.h\"
-IMU_ASPIRIN_SRCS    = $(SRC_SUBSYSTEMS)/imu.c             \
-                      $(SRC_SUBSYSTEMS)/imu/imu_aspirin2.c
-
-include $(CFG_SHARED)/spi_master.makefile
-
-ifeq ($(ARCH), lpc21)
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI1
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE0
-else ifeq ($(ARCH), stm32)
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI2
-# Slave select configuration
-# SLAVE2 is on PB12 (NSS) (MPU600 CS)
-IMU_ASPIRIN_CFLAGS += -DUSE_SPI_SLAVE2
-endif
-
-IMU_ASPIRIN_CFLAGS += -DIMU_ASPIRIN_VERSION_2_2
-
-# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
-# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
-
-ap.CFLAGS += $(IMU_ASPIRIN_CFLAGS)
-ap.srcs   += $(IMU_ASPIRIN_SRCS)
-
-
-#
-# NPS simulator
-#
-include $(CFG_SHARED)/imu_nps.makefile

conf/firmwares/subsystems/shared/imu_drotek_10dof_v2.makefile

@@ -0,0 +1,81 @@
+# Hey Emacs, this is a -*- makefile -*-
+#
+# Drotek 10DOF V2 IMU via I2C
+#
+#
+# required xml:
+#  <section name="IMU" prefix="IMU_">
+#
+#    <!-- these gyro and accel calib values are the defaults for aspirin2.1 -->
+#    <define name="GYRO_X_NEUTRAL" value="0"/>
+#    <define name="GYRO_Y_NEUTRAL" value="0"/>
+#    <define name="GYRO_Z_NEUTRAL" value="0"/>
+#
+#    <define name="GYRO_X_SENS" value="4.359" integer="16"/>
+#    <define name="GYRO_Y_SENS" value="4.359" integer="16"/>
+#    <define name="GYRO_Z_SENS" value="4.359" integer="16"/>
+#
+#    <define name="ACCEL_X_NEUTRAL" value="0"/>
+#    <define name="ACCEL_Y_NEUTRAL" value="0"/>
+#    <define name="ACCEL_Z_NEUTRAL" value="0"/>
+#
+#    <define name="ACCEL_X_SENS" value="4.905" integer="16"/>
+#    <define name="ACCEL_Y_SENS" value="4.905" integer="16"/>
+#    <define name="ACCEL_Z_SENS" value="4.905" integer="16"/>
+#
+#    <!-- replace the mag calibration with your own-->
+#    <define name="MAG_X_NEUTRAL" value="-45"/>
+#    <define name="MAG_Y_NEUTRAL" value="334"/>
+#    <define name="MAG_Z_NEUTRAL" value="7"/>
+#
+#    <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
+#    <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
+#    <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
+#
+#  </section>
+#
+#
+
+
+# for fixedwing firmware and ap only
+ifeq ($(TARGET), ap)
+  IMU_DROTEK_2_CFLAGS  = -DUSE_IMU
+endif
+
+IMU_DROTEK_2_CFLAGS += -DIMU_TYPE_H=\"imu/imu_drotek_10dof_v2.h\"
+IMU_DROTEK_2_SRCS    = $(SRC_SUBSYSTEMS)/imu.c
+IMU_DROTEK_2_SRCS   += $(SRC_SUBSYSTEMS)/imu/imu_drotek_10dof_v2.c
+IMU_DROTEK_2_SRCS   += peripherals/mpu60x0.c
+IMU_DROTEK_2_SRCS   += peripherals/mpu60x0_i2c.c
+
+# Magnetometer
+IMU_DROTEK_2_SRCS   += peripherals/hmc58xx.c
+
+
+# set default i2c bus
+ifndef DROTEK_2_I2C_DEV
+ifeq ($(ARCH), lpc21)
+DROTEK_2_I2C_DEV=i2c0
+else ifeq ($(ARCH), stm32)
+DROTEK_2_I2C_DEV=i2c2
+endif
+endif
+
+# convert i2cx to upper case
+DROTEK_2_I2C_DEV_UPPER=$(shell echo $(DROTEK_2_I2C_DEV) | tr a-z A-Z)
+
+IMU_DROTEK_2_CFLAGS += -DDROTEK_2_I2C_DEV=$(DROTEK_2_I2C_DEV)
+IMU_DROTEK_2_CFLAGS += -DUSE_$(DROTEK_2_I2C_DEV_UPPER)
+
+
+# Keep CFLAGS/Srcs for imu in separate expression so we can assign it to other targets
+# see: conf/autopilot/subsystems/lisa_passthrough/imu_b2_v1.1.makefile for example
+
+ap.CFLAGS += $(IMU_DROTEK_2_CFLAGS)
+ap.srcs   += $(IMU_DROTEK_2_SRCS)
+
+
+#
+# NPS simulator
+#
+include $(CFG_SHARED)/imu_nps.makefile

conf/joystick/ms_sidewinder.xml

@@ -4,8 +4,6 @@
   axis 1: pitch
   axis 2: yaw
   axis 3: throttle (reversed)
-  axis 4: hat switch left/right (right is positive)
-  axis 5: hat switch up/down (down is positive)
 
 It has 9 buttons.
  b0  - fire
@@ -18,6 +16,11 @@ It has 9 buttons.
  b7  - button D
  b8  - shift button
 
+and a POV hat.
+You can use the Hat<Position>(<hat_name>) function to trigger events,
+where <Position> is one of
+Centered/Up/Right/Down/Left/RightUp/RightDown/LeftUp/LeftDown
+so e.g. HatDown(hat)
 -->
 
 <joystick>
@@ -26,8 +29,6 @@ It has 9 buttons.
     <axis index="1" name="pitch" limit="1.00" exponent="0.7" trim="0"/>
     <axis index="2" name="yaw" limit="1.00" exponent="0.7" trim="0"/>
     <axis index="3" name="throttle"/>
-    <axis index="4" name="hat_lr"/>
-    <axis index="5" name="hat_ud"/>
     <button index="0" name="fire"/>
     <button index="1" name="fire2"/>
     <button index="2" name="up"/>
@@ -37,22 +38,40 @@ It has 9 buttons.
     <button index="6" name="C"/>
     <button index="7" name="D"/>
     <button index="8" name="shift"/>
+    <hat index="0" name="hat"/>
   </input>
 
+  <variables>
+    <!-- manual by default and when pressing A, AUTO1 on B, AUTO2 on C -->
+    <var name="mode" default="0"/>
+    <set var="mode" value="0" on_event="A"/>
+    <set var="mode" value="1" on_event="B"/>
+    <set var="mode" value="2" on_event="C"/>
+  </variables>
+
   <messages period="0.1">
 
-    <!--message class="datalink" name="RC_4CH" send_always="true">
+    <message class="datalink" name="RC_4CH" send_always="true">
-      <field name="mode" value="1-fire+A"/>
+      <field name="mode" value="mode"/>
       <field name="throttle" value="Fit(-throttle,-127,127,0,127)"/>
       <field name="roll" value="roll"/>
       <field name="pitch" value="pitch"/>
       <field name="yaw" value="yaw"/>
-    </message-->
+    </message>
 
-    <message class="datalink" name="RC_3CH" send_always="true">
+    <!-- go to "Start Engine" block if in AUTO2 and pressing shift + fire2 -->
-      <field name="throttle_mode" value="0"/>
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && shift && fire2">
-      <field name="roll" value="roll"/>
+      <field name="block_id" value="IndexOfBlock('Start Engine')"/>
-      <field name="pitch" value="pitch"/>
+    </message>
+
+    <!-- go to "Takeoff" block if in AUTO2 and pressing shift + up -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && shift && up">
+      <field name="block_id" value="IndexOfBlock('Takeoff')"/>
+    </message>
+
+    <!-- go to "land here" block if in AUTO2 and pressing shift + down -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && shift && down">
+      <field name="block_id" value="IndexOfBlock('land here')"/>
     </message>
 
   </messages>

conf/joystick/xbox_gamepad.xml

@@ -0,0 +1,91 @@
+<!-- Generic X-Box gamepad
+  e.g. Logitech wireless gamepad F710
+
+This config is for Xinput mode. Make sure slider switch on back of controller is on X (not D)
+Also make sure controller not in sports mode (mode light should be off)
+
+  Has six axes:
+  axis 0: LTS_H (left thumb stick horizontal) (or DPad horizontal in sports mode)
+  axis 1: LTS_V (left thumb stick vertical) (or DPad vertical in sports mode)
+  axis 2: LT (left trigger)
+  axis 3: RTS_H (right thumb stick horizontal)
+  axis 4: RTS_V (right thumb stick vertical)
+  axis 5: RT (right trigger)
+
+It has 11 buttons.
+ b0  - A (green)
+ b1  - B (red)
+ b2  - X (blue)
+ b3  - Y (yellow)
+ b4  - LB (left shoulder button)
+ b5  - RB (right shoulder button)
+ b6  - back
+ b7  - start
+ b8  - ?
+ b9  - LSB (left stick button)
+ b10 - RSB (right stick button)
+
+and the DPad as a hat (in normal mode)
+You can use the Hat<Position>(<hat_name>) function to trigger events,
+where <Position> is one of
+Centered/Up/Right/Down/Left/RightUp/RightDown/LeftUp/LeftDown
+so e.g. HatDown(dpad)
+
+-->
+
+<joystick>
+  <input>
+    <axis index="0" name="yaw" limit="1.00" exponent="0.7" trim="0"/>
+    <axis index="1" name="throttle"/>
+    <axis index="2" name="LT" limit="1.00" trim="127"/>
+    <axis index="3" name="roll" limit="1.00" exponent="0.7" trim="0"/>
+    <axis index="4" name="pitch" limit="1.00" exponent="0.7" trim="0"/>
+    <axis index="5" name="RT" limit="1.00" trim="127"/>
+    <button index="0" name="A"/>
+    <button index="1" name="B"/>
+    <button index="2" name="X"/>
+    <button index="3" name="Y"/>
+    <button index="4" name="LB"/>
+    <button index="5" name="RB"/>
+    <button index="6" name="back"/>
+    <button index="7" name="start"/>
+    <button index="9" name="LSB"/>
+    <button index="10" name="RSB"/>
+    <hat index="0" name="dpad"/>
+  </input>
+
+  <variables>
+    <!-- manual by default and when pressing A, AUTO1 on B, AUTO2 on Y -->
+    <var name="mode" default="0"/>
+    <set var="mode" value="0" on_event="A"/>
+    <set var="mode" value="1" on_event="B"/>
+    <set var="mode" value="2" on_event="Y"/>
+  </variables>
+
+  <messages period="0.05">
+
+    <message class="datalink" name="RC_4CH" send_always="true">
+      <field name="mode" value="mode"/>
+      <field name="throttle" value="Fit(-throttle,-127,127,0,127)"/>
+      <field name="roll" value="roll"/>
+      <field name="pitch" value="pitch"/>
+      <field name="yaw" value="yaw"/>
+    </message>
+
+    <!-- go to "Start Engine" block if in AUTO2 and pressing start button -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && start">
+      <field name="block_id" value="IndexOfBlock('Start Engine')"/>
+    </message>
+
+    <!-- go to "Takeoff" block if in AUTO2 and pressing up on dpad -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && HatUp(dpad)">
+      <field name="block_id" value="IndexOfBlock('Takeoff')"/>
+    </message>
+
+    <!-- go to "land here" block if in AUTO2 and pressing down on dpad -->
+    <message class="ground" name="JUMP_TO_BLOCK" on_event="(mode > 1) && HatDown(dpad)">
+      <field name="block_id" value="IndexOfBlock('land here')"/>
+    </message>
+
+  </messages>
+</joystick>

conf/modules/airspeed_amsys.xml

@@ -8,10 +8,11 @@
       (AMS 5812-0003-D)
     </description>
     <define name="AIRSPEED_AMSYS_I2C_DEV" value="i2c0" description="change default i2c peripheral"/>
-    <define name="AIRSPEED_AMSYS_OFFSET" value="0" description="sensor offset (default: 0)"/>
+    <define name="AIRSPEED_AMSYS_MAXPRESURE" value="2068" description="max sensor pressure (Pa) (default: 2068 for -003)(for -001 use 689)"/>
     <define name="AIRSPEED_AMSYS_SCALE" value="1.0" description="sensor scale factor (default: 1.0)"/>
+    <define name="AIRSPEED_AMSYS_FILTER" value="0." description="sensor filter (default: 0. max:1)"/>
     <define name="USE_AIRSPEED" description="flag to use the data for airspeed control"/>
-    <define name="SENSOR_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
+    <define name="AIRSPEED_AMSYS_SYNC_SEND" description="flag to transmit the data as it is acquired"/>
   </doc>
 
   <header>

conf/settings/control/stabilization_att_float_quat.xml

@@ -0,0 +1,27 @@
+<!DOCTYPE settings SYSTEM "../settings.dtd">
+
+<settings>
+  <dl_settings>
+
+    <dl_settings NAME="Att Loop">
+      <dl_setting var="stabilization_gains[0].p.x" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude" shortname="pgain phi" param="STABILIZATION_ATTITUDE_PHI_PGAIN"/>
+      <dl_setting var="stabilization_gains[0].i.x" min="0" step="1" max="800"    module="stabilization/stabilization_attitude" shortname="igain phi" param="STABILIZATION_ATTITUDE_PHI_IGAIN" />
+      <dl_setting var="stabilization_gains[0].d.x" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain p" param="STABILIZATION_ATTITUDE_PHI_DGAIN"/>
+      <dl_setting var="stabilization_gains[0].rates_d.x" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind p" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
+      <dl_setting var="stabilization_gains[0].dd.x" min="0" step="1" max="1000" module="stabilization/stabilization_attitude" shortname="ddgain p" param="STABILIZATION_ATTITUDE_PHI_DDGAIN"/>
+
+      <dl_setting var="stabilization_gains[0].p.y" min="1" step="1" max="8000"   module="stabilization/stabilization_attitude" shortname="pgain theta" param="STABILIZATION_ATTITUDE_THETA_PGAIN"/>
+      <dl_setting var="stabilization_gains[0].i.y" min="0"  step="1" max="800"    module="stabilization/stabilization_attitude" shortname="igain theta" param="STABILIZATION_ATTITUDE_THETA_IGAIN"/>
+      <dl_setting var="stabilization_gains[0].d.y" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain q" param="STABILIZATION_ATTITUDE_THETA_DGAIN"/>
+      <dl_setting var="stabilization_gains[0].rates_d.y" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind q" param="STABILIZATION_ATTITUDE_THETA_DGAIN_D"/>
+      <dl_setting var="stabilization_gains[0].dd.y" min="0"    step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain q" param="STABILIZATION_ATTITUDE_THETA_DDGAIN"/>
+
+      <dl_setting var="stabilization_gains[0].p.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="pgain psi" param="STABILIZATION_ATTITUDE_PSI_PGAIN"/>
+      <dl_setting var="stabilization_gains[0].i.z" min="0"  step="1" max="400"    module="stabilization/stabilization_attitude" shortname="igain psi" param="STABILIZATION_ATTITUDE_PSI_IGAIN"/>
+      <dl_setting var="stabilization_gains[0].d.z" min="1" step="1" max="4000"   module="stabilization/stabilization_attitude" shortname="dgain r" param="STABILIZATION_ATTITUDE_PSI_DGAIN"/>
+      <dl_setting var="stabilization_gains[0].rates_d.z" min="0" step="1" max="500" module="stabilization/stabilization_attitude" shortname="dgaind r" param="STABILIZATION_ATTITUDE_PHI_DGAIN_D"/>
+      <dl_setting var="stabilization_gains[0].dd.z" min="0" step="1" max="1000"  module="stabilization/stabilization_attitude" shortname="ddgain r" param="STABILIZATION_ATTITUDE_PSI_DDGAIN"/>
+    </dl_settings>
+
+  </dl_settings>
+</settings>

conf/system/preferences.d/paparazzi-uav-ppa

@@ -0,0 +1,3 @@
+Package: lpc21isp
+Pin: version 1.48*
+Pin-Priority: 1001

paparazzi_version

@@ -1,6 +1,6 @@
 #!/bin/sh
 
-DEF_VER=v4.9_devel
+DEF_VER=v5.0.0_stable
 
 # First try git describe (if running on a git repo),
 # then use default version from above (for release tarballs).

sw/airborne/arch/lpc21/mcu_periph/spi_arch.c

@@ -382,6 +382,7 @@ __attribute__ ((always_inline)) static inline void SpiSlaveAutomaton(struct spi_
 #if SPI_MASTER
 
 #if USE_SPI0
+#error "SPI0 is currently not implemented in the mcu_periph/spi HAL for the LPC!"
 
 // void spi0_ISR(void) __attribute__((naked));
 //

sw/airborne/arch/stm32/mcu_arch.c

@@ -33,11 +33,7 @@
 #include <inttypes.h>
 #include <libopencm3/stm32/gpio.h>
 #include <libopencm3/stm32/rcc.h>
-#if defined(STM32F1)
+#include <libopencm3/stm32/flash.h>
-#include <libopencm3/stm32/f1/flash.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/flash.h>
-#endif
 #include <libopencm3/cm3/scb.h>
 
 #include "std.h"

sw/airborne/arch/stm32/mcu_periph/can_arch.c

@@ -166,9 +166,9 @@ int can_hw_transmit(uint32_t id, const uint8_t *buf, uint8_t len)
 
 void usb_lp_can_rx0_isr(void)
 {
-  u32 id, fmi;
+  uint32_t id, fmi;
   bool ext, rtr;
-  u8 length, data[8];
+  uint8_t length, data[8];
 
   can_receive(CAN1,
               0,     /* FIFO: 0 */

sw/airborne/arch/stm32/mcu_periph/i2c_arch.c

@@ -71,7 +71,7 @@ static inline void __enable_irq(void)   { asm volatile ("cpsie i"); }
 #define __I2C_REG_CRITICAL_ZONE_STOP	__enable_irq();
 
 
-static inline void PPRZ_I2C_SEND_STOP(u32 i2c)
+static inline void PPRZ_I2C_SEND_STOP(uint32_t i2c)
 {
   // Man: p722:  Stop generation after the current byte transfer or after the current Start condition is sent.
   I2C_CR1(i2c) |= I2C_CR1_STOP;
@@ -88,7 +88,7 @@ static inline void PPRZ_I2C_SEND_STOP(u32 i2c)
 
 static inline void PPRZ_I2C_SEND_START(struct i2c_periph *periph)
 {
-  u32 i2c = (u32) periph->reg_addr;
+  uint32_t i2c = (uint32_t) periph->reg_addr;
 
   // Reset the buffer pointer to the first byte
   periph->idx_buf = 0;
@@ -134,7 +134,7 @@ enum STMI2CSubTransactionStatus {
 
 // Doc ID 13902 Rev 11 p 710/1072
 // Transfer Sequence Diagram for Master Transmitter
-static inline enum STMI2CSubTransactionStatus stmi2c_send(u32 i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
+static inline enum STMI2CSubTransactionStatus stmi2c_send(uint32_t i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
 {
   uint16_t SR1 = I2C_SR1(i2c);
 
@@ -215,7 +215,7 @@ static inline enum STMI2CSubTransactionStatus stmi2c_send(u32 i2c, struct i2c_pe
 
 // Doc ID 13902 Rev 11 p 714/1072
 // Transfer Sequence Diagram for Master Receiver for N=1
-static inline enum STMI2CSubTransactionStatus stmi2c_read1(u32 i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
+static inline enum STMI2CSubTransactionStatus stmi2c_read1(uint32_t i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
 {
   uint16_t SR1 = I2C_SR1(i2c);
 
@@ -278,7 +278,7 @@ static inline enum STMI2CSubTransactionStatus stmi2c_read1(u32 i2c, struct i2c_p
 
 // Doc ID 13902 Rev 11 p 713/1072
 // Transfer Sequence Diagram for Master Receiver for N=2
-static inline enum STMI2CSubTransactionStatus stmi2c_read2(u32 i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
+static inline enum STMI2CSubTransactionStatus stmi2c_read2(uint32_t i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
 {
   uint16_t SR1 = I2C_SR1(i2c);
 
@@ -348,7 +348,7 @@ static inline enum STMI2CSubTransactionStatus stmi2c_read2(u32 i2c, struct i2c_p
 
 // Doc ID 13902 Rev 11 p 712/1072
 // Transfer Sequence Diagram for Master Receiver for N>2
-static inline enum STMI2CSubTransactionStatus stmi2c_readmany(u32 i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
+static inline enum STMI2CSubTransactionStatus stmi2c_readmany(uint32_t i2c, struct i2c_periph *periph, struct i2c_transaction *trans)
 {
   uint16_t SR1 = I2C_SR1(i2c);
 
@@ -473,51 +473,51 @@ static inline void i2c_error(struct i2c_periph *periph)
   uint8_t err_nr = 0;
 #endif
   periph->errors->er_irq_cnt;
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_AF) != 0) { /* Acknowledge failure */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_AF) != 0) { /* Acknowledge failure */
     periph->errors->ack_fail_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_AF;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_AF;
 #ifdef I2C_DEBUG_LED
     err_nr = 1;
 #endif
   }
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_BERR) != 0) {     /* Misplaced Start or Stop condition */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_BERR) != 0) {     /* Misplaced Start or Stop condition */
     periph->errors->miss_start_stop_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_BERR;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_BERR;
 #ifdef I2C_DEBUG_LED
     err_nr = 2;
 #endif
   }
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_ARLO) != 0) {     /* Arbitration lost */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_ARLO) != 0) {     /* Arbitration lost */
     periph->errors->arb_lost_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_ARLO;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_ARLO;
 #ifdef I2C_DEBUG_LED
     err_nr = 3;
 #endif
   }
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_OVR) != 0) {      /* Overrun/Underrun */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_OVR) != 0) {      /* Overrun/Underrun */
     periph->errors->over_under_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_OVR;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_OVR;
 #ifdef I2C_DEBUG_LED
     err_nr = 4;
 #endif
   }
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_PECERR) != 0) {   /* PEC Error in reception */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_PECERR) != 0) {   /* PEC Error in reception */
     periph->errors->pec_recep_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_PECERR;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_PECERR;
 #ifdef I2C_DEBUG_LED
     err_nr = 5;
 #endif
   }
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_TIMEOUT) != 0) {  /* Timeout or Tlow error */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_TIMEOUT) != 0) {  /* Timeout or Tlow error */
     periph->errors->timeout_tlow_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_TIMEOUT;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_TIMEOUT;
 #ifdef I2C_DEBUG_LED
     err_nr = 6;
 #endif
   }
-  if ((I2C_SR1((u32)periph->reg_addr) & I2C_SR1_SMBALERT) != 0) { /* SMBus alert */
+  if ((I2C_SR1((uint32_t)periph->reg_addr) & I2C_SR1_SMBALERT) != 0) { /* SMBus alert */
     periph->errors->smbus_alert_cnt++;
-    I2C_SR1((u32)periph->reg_addr) &= ~I2C_SR1_SMBALERT;
+    I2C_SR1((uint32_t)periph->reg_addr) &= ~I2C_SR1_SMBALERT;
 #ifdef I2C_DEBUG_LED
     err_nr = 7;
 #endif
@@ -531,7 +531,7 @@ static inline void i2c_error(struct i2c_periph *periph)
 }
 
 
-static inline void stmi2c_clear_pending_interrupts(u32 i2c)
+static inline void stmi2c_clear_pending_interrupts(uint32_t i2c)
 {
   uint16_t SR1 = I2C_SR1(i2c);
 
@@ -648,7 +648,7 @@ static inline void i2c_irq(struct i2c_periph *periph)
 #endif
 
   // Save Some Direct Access to the I2C Registers ...
-  u32 i2c = (u32) periph->reg_addr;
+  uint32_t i2c = (uint32_t) periph->reg_addr;
 
   /////////////////////////////
   // Check if we were ready ...
@@ -944,7 +944,7 @@ void i2c1_hw_init(void) {
 }
 
 void i2c1_ev_isr(void) {
-  u32 i2c = (u32) i2c1.reg_addr;
+  uint32_t i2c = (uint32_t) i2c1.reg_addr;
   I2C_CR2(i2c) &= ~I2C_CR2_ITERREN;
   i2c_irq(&i2c1);
   i2c1_watchdog_counter = 0;
@@ -952,7 +952,7 @@ void i2c1_ev_isr(void) {
 }
 
 void i2c1_er_isr(void) {
-  u32 i2c = (u32) i2c1.reg_addr;
+  uint32_t i2c = (uint32_t) i2c1.reg_addr;
   I2C_CR2(i2c) &= ~I2C_CR2_ITEVTEN;
   i2c_irq(&i2c1);
   i2c1_watchdog_counter = 0;
@@ -1033,7 +1033,7 @@ void i2c2_hw_init(void) {
 }
 
 void i2c2_ev_isr(void) {
-  u32 i2c = (u32) i2c2.reg_addr;
+  uint32_t i2c = (uint32_t) i2c2.reg_addr;
   I2C_CR2(i2c) &= ~I2C_CR2_ITERREN;
   i2c_irq(&i2c2);
   i2c2_watchdog_counter = 0;
@@ -1041,7 +1041,7 @@ void i2c2_ev_isr(void) {
 }
 
 void i2c2_er_isr(void) {
-  u32 i2c = (u32) i2c2.reg_addr;
+  uint32_t i2c = (uint32_t) i2c2.reg_addr;
   I2C_CR2(i2c) &= ~I2C_CR2_ITEVTEN;
   i2c_irq(&i2c2);
   i2c2_watchdog_counter = 0;
@@ -1121,7 +1121,7 @@ void i2c3_hw_init(void) {
 }
 
 void i2c3_ev_isr(void) {
-  u32 i2c = (u32) i2c3.reg_addr;
+  uint32_t i2c = (uint32_t) i2c3.reg_addr;
   I2C_CR2(i2c) &= ~I2C_CR2_ITERREN;
   i2c_irq(&i2c3);
   i2c3_watchdog_counter = 0;
@@ -1129,7 +1129,7 @@ void i2c3_ev_isr(void) {
 }
 
 void i2c3_er_isr(void) {
-  u32 i2c = (u32) i2c3.reg_addr;
+  uint32_t i2c = (uint32_t) i2c3.reg_addr;
   I2C_CR2(i2c) &= ~I2C_CR2_ITEVTEN;
   i2c_irq(&i2c3);
   i2c3_watchdog_counter = 0;
@@ -1151,7 +1151,7 @@ void i2c_setbitrate(struct i2c_periph *periph, int bitrate)
     volatile int devider;
     volatile int risetime;
 
-    u32 i2c = (u32) periph->reg_addr;
+    uint32_t i2c = (uint32_t) periph->reg_addr;
 
     /*****************************************************
     Bitrate:
@@ -1361,7 +1361,7 @@ bool_t i2c_idle(struct i2c_periph* periph)
   // This is actually a difficult function:
   // -simply reading the status flags can clear bits and corrupt the transaction
 
-  u32 i2c = (u32) periph->reg_addr;
+  uint32_t i2c = (uint32_t) periph->reg_addr;
 
 #ifdef I2C_DEBUG_LED
 #ifdef USE_I2C1

sw/airborne/arch/stm32/mcu_periph/spi_arch.c

@@ -69,11 +69,11 @@
  * Libopencm3 specifc communication parameters for a SPI peripheral in master mode.
  */
 struct locm3_spi_comm {
-  u32 br;       ///< baudrate (clock divider)
+  uint32_t br;       ///< baudrate (clock divider)
-  u32 cpol;     ///< clock polarity
+  uint32_t cpol;     ///< clock polarity
-  u32 cpha;     ///< clock phase
+  uint32_t cpha;     ///< clock phase
-  u32 dff;      ///< data frame format 8/16 bits
+  uint32_t dff;      ///< data frame format 8/16 bits
-  u32 lsbfirst; ///< frame format lsb/msb first
+  uint32_t lsbfirst; ///< frame format lsb/msb first
 };
 
 /**
@@ -81,19 +81,19 @@ struct locm3_spi_comm {
  * which allows for more code reuse.
  */
 struct spi_periph_dma {
-  u32 spi;                    ///< SPI peripheral identifier
+  uint32_t spi;                    ///< SPI peripheral identifier
-  u32 spidr;                  ///< SPI DataRegister address for DMA
+  uint32_t spidr;                  ///< SPI DataRegister address for DMA
-  u32 dma;                    ///< DMA controller base address (DMA1 or DMA2)
+  uint32_t dma;                    ///< DMA controller base address (DMA1 or DMA2)
-  u8  rx_chan;                ///< receive DMA channel number
+  uint8_t  rx_chan;                ///< receive DMA channel number
-  u8  tx_chan;                ///< transmit DMA channel number
+  uint8_t  tx_chan;                ///< transmit DMA channel number
-  u8  rx_nvic_irq;            ///< receive interrupt
+  uint8_t  rx_nvic_irq;            ///< receive interrupt
-  u8  tx_nvic_irq;            ///< transmit interrupt
+  uint8_t  tx_nvic_irq;            ///< transmit interrupt
-  u16 tx_dummy_buf;           ///< dummy tx buffer for receive only cases
+  uint16_t tx_dummy_buf;           ///< dummy tx buffer for receive only cases
   bool_t tx_extra_dummy_dma;  ///< extra tx dummy dma flag for tx_len < rx_len
-  u16 rx_dummy_buf;           ///< dummy rx buffer for receive only cases
+  uint16_t rx_dummy_buf;           ///< dummy rx buffer for receive only cases
   bool_t rx_extra_dummy_dma;  ///< extra rx dummy dma flag for tx_len > rx_len
   struct locm3_spi_comm comm; ///< current communication paramters
-  u8  comm_sig;               ///< comm config signature used to check for changes
+  uint8_t  comm_sig;               ///< comm config signature used to check for changes
 };
 
 
@@ -112,8 +112,8 @@ static struct spi_periph_dma spi3_dma;
 
 static void spi_start_dma_transaction(struct spi_periph* periph, struct spi_transaction* _trans);
 static void spi_next_transaction(struct spi_periph* periph);
-static void spi_configure_dma(u32 dma, u8 chan, u32 periph_addr, u32 buf_addr,
+static void spi_configure_dma(uint32_t dma, uint8_t chan, uint32_t periph_addr, uint32_t buf_addr,
-                              u16 len, enum SPIDataSizeSelect dss, bool_t increment);
+                              uint16_t len, enum SPIDataSizeSelect dss, bool_t increment);
 static void process_rx_dma_interrupt(struct spi_periph* periph);
 static void process_tx_dma_interrupt(struct spi_periph* periph);
 static void spi_arch_int_enable(struct spi_periph *spi);
@@ -436,8 +436,8 @@ static void set_comm_from_transaction(struct locm3_spi_comm* c, struct spi_trans
  * Helpers for SPI transactions with DMA
  *
  *****************************************************************************/
-static void spi_configure_dma(u32 dma, u8 chan, u32 periph_addr, u32 buf_addr,
+static void spi_configure_dma(uint32_t dma, uint8_t chan, uint32_t periph_addr, uint32_t buf_addr,
-                              u16 len, enum SPIDataSizeSelect dss, bool_t increment)
+                              uint16_t len, enum SPIDataSizeSelect dss, bool_t increment)
 {
   dma_channel_reset(dma, chan);
   dma_set_peripheral_address(dma, chan, periph_addr);
@@ -519,12 +519,12 @@ static void spi_start_dma_transaction(struct spi_periph* periph, struct spi_tran
     dma->comm_sig = sig;
 
     /* apply the new configuration */
-    spi_disable((u32)periph->reg_addr);
+    spi_disable((uint32_t)periph->reg_addr);
-    spi_init_master((u32)periph->reg_addr, dma->comm.br, dma->comm.cpol,
+    spi_init_master((uint32_t)periph->reg_addr, dma->comm.br, dma->comm.cpol,
                     dma->comm.cpha, dma->comm.dff, dma->comm.lsbfirst);
-    spi_enable_software_slave_management((u32)periph->reg_addr);
+    spi_enable_software_slave_management((uint32_t)periph->reg_addr);
-    spi_set_nss_high((u32)periph->reg_addr);
+    spi_set_nss_high((uint32_t)periph->reg_addr);
-    spi_enable((u32)periph->reg_addr);
+    spi_enable((uint32_t)periph->reg_addr);
   }
 
   /*
@@ -554,12 +554,12 @@ static void spi_start_dma_transaction(struct spi_periph* periph, struct spi_tran
    */
   if (trans->input_length == 0) {
     /* run the dummy rx dma for the complete transaction length */
-    spi_configure_dma(dma->dma, dma->rx_chan, (u32)dma->spidr,
+    spi_configure_dma(dma->dma, dma->rx_chan, (uint32_t)dma->spidr,
-                      (u32)&(dma->rx_dummy_buf), trans->output_length, trans->dss, FALSE);
+                      (uint32_t)&(dma->rx_dummy_buf), trans->output_length, trans->dss, FALSE);
   } else {
     /* run the real rx dma for input_length */
-    spi_configure_dma(dma->dma, dma->rx_chan, (u32)dma->spidr,
+    spi_configure_dma(dma->dma, dma->rx_chan, (uint32_t)dma->spidr,
-                      (u32)trans->input_buf, trans->input_length, trans->dss, TRUE);
+                      (uint32_t)trans->input_buf, trans->input_length, trans->dss, TRUE);
     /* use dummy rx dma for the rest */
     if (trans->output_length > trans->input_length) {
       /* Enable use of second dma transfer with dummy buffer (cleared in ISR) */
@@ -581,11 +581,11 @@ static void spi_start_dma_transaction(struct spi_periph* periph, struct spi_tran
    * the dummy is used right from the start.
    */
   if (trans->output_length == 0) {
-    spi_configure_dma(dma->dma, dma->tx_chan, (u32)dma->spidr,
+    spi_configure_dma(dma->dma, dma->tx_chan, (uint32_t)dma->spidr,
-                      (u32)&(dma->tx_dummy_buf), trans->input_length, trans->dss, FALSE);
+                      (uint32_t)&(dma->tx_dummy_buf), trans->input_length, trans->dss, FALSE);
   } else {
-    spi_configure_dma(dma->dma, dma->tx_chan, (u32)dma->spidr,
+    spi_configure_dma(dma->dma, dma->tx_chan, (uint32_t)dma->spidr,
-                      (u32)trans->output_buf, trans->output_length, trans->dss, TRUE);
+                      (uint32_t)trans->output_buf, trans->output_length, trans->dss, TRUE);
     if (trans->input_length > trans->output_length) {
       /* Enable use of second dma transfer with dummy buffer (cleared in ISR) */
       dma->tx_extra_dummy_dma = TRUE;
@@ -604,8 +604,8 @@ static void spi_start_dma_transaction(struct spi_periph* periph, struct spi_tran
   dma_enable_channel(dma->dma, dma->tx_chan);
 
   /* Enable SPI transfers via DMA */
-  spi_enable_rx_dma((u32)periph->reg_addr);
+  spi_enable_rx_dma((uint32_t)periph->reg_addr);
-  spi_enable_tx_dma((u32)periph->reg_addr);
+  spi_enable_tx_dma((uint32_t)periph->reg_addr);
 }
 
 
@@ -619,7 +619,7 @@ static void spi_start_dma_transaction(struct spi_periph* periph, struct spi_tran
 void spi1_arch_init(void) {
 
   // set dma options
-  spi1_dma.spidr = (u32)&SPI1_DR;
+  spi1_dma.spidr = (uint32_t)&SPI1_DR;
   spi1_dma.dma = DMA1;
   spi1_dma.rx_chan = DMA_CHANNEL2;
   spi1_dma.tx_chan = DMA_CHANNEL3;
@@ -690,7 +690,7 @@ void spi1_arch_init(void) {
 void spi2_arch_init(void) {
 
   // set dma options
-  spi2_dma.spidr = (u32)&SPI2_DR;
+  spi2_dma.spidr = (uint32_t)&SPI2_DR;
   spi2_dma.dma = DMA1;
   spi2_dma.rx_chan = DMA_CHANNEL4;
   spi2_dma.tx_chan = DMA_CHANNEL5;
@@ -760,7 +760,7 @@ void spi2_arch_init(void) {
 void spi3_arch_init(void) {
 
   // set the default configuration
-  spi3_dma.spidr = (u32)&SPI3_DR;
+  spi3_dma.spidr = (uint32_t)&SPI3_DR;
   spi3_dma.dma = DMA2;
   spi3_dma.rx_chan = DMA_CHANNEL1;
   spi3_dma.tx_chan = DMA_CHANNEL2;
@@ -914,7 +914,7 @@ void process_rx_dma_interrupt(struct spi_periph *periph) {
   dma_disable_transfer_complete_interrupt(dma->dma, dma->rx_chan);
 
   /* Disable SPI Rx request */
-  spi_disable_rx_dma((u32)periph->reg_addr);
+  spi_disable_rx_dma((uint32_t)periph->reg_addr);
 
   /* Disable DMA rx channel */
   dma_disable_channel(dma->dma, dma->rx_chan);
@@ -931,10 +931,10 @@ void process_rx_dma_interrupt(struct spi_periph *periph) {
     dma->rx_extra_dummy_dma = FALSE;
 
     /* Use the difference in length between rx and tx */
-    u16 len_remaining = trans->output_length - trans->input_length;
+    uint16_t len_remaining = trans->output_length - trans->input_length;
 
-    spi_configure_dma(dma->dma, dma->rx_chan, (u32)dma->spidr,
+    spi_configure_dma(dma->dma, dma->rx_chan, (uint32_t)dma->spidr,
-                      (u32)&(dma->rx_dummy_buf), len_remaining, trans->dss, FALSE);
+                      (uint32_t)&(dma->rx_dummy_buf), len_remaining, trans->dss, FALSE);
     dma_set_read_from_peripheral(dma->dma, dma->rx_chan);
     dma_set_priority(dma->dma, dma->rx_chan, DMA_CCR_PL_HIGH);
 
@@ -943,7 +943,7 @@ void process_rx_dma_interrupt(struct spi_periph *periph) {
     /* Enable DMA channels */
     dma_enable_channel(dma->dma, dma->rx_chan);
     /* Enable SPI transfers via DMA */
-    spi_enable_rx_dma((u32)periph->reg_addr);
+    spi_enable_rx_dma((uint32_t)periph->reg_addr);
   }
   else {
     /*
@@ -976,7 +976,7 @@ void process_tx_dma_interrupt(struct spi_periph *periph) {
   dma_disable_transfer_complete_interrupt(dma->dma, dma->tx_chan);
 
   /* Disable SPI TX request */
-  spi_disable_tx_dma((u32)periph->reg_addr);
+  spi_disable_tx_dma((uint32_t)periph->reg_addr);
 
   /* Disable DMA tx channel */
   dma_disable_channel(dma->dma, dma->tx_chan);
@@ -992,10 +992,10 @@ void process_tx_dma_interrupt(struct spi_periph *periph) {
     dma->tx_extra_dummy_dma = FALSE;
 
     /* Use the difference in length between tx and rx */
-    u16 len_remaining = trans->input_length - trans->output_length;
+    uint16_t len_remaining = trans->input_length - trans->output_length;
 
-    spi_configure_dma(dma->dma, dma->tx_chan, (u32)dma->spidr,
+    spi_configure_dma(dma->dma, dma->tx_chan, (uint32_t)dma->spidr,
-                      (u32)&(dma->tx_dummy_buf), len_remaining, trans->dss, FALSE);
+                      (uint32_t)&(dma->tx_dummy_buf), len_remaining, trans->dss, FALSE);
     dma_set_read_from_memory(dma->dma, dma->tx_chan);
     dma_set_priority(dma->dma, dma->tx_chan, DMA_CCR_PL_MEDIUM);
 
@@ -1004,7 +1004,7 @@ void process_tx_dma_interrupt(struct spi_periph *periph) {
     /* Enable DMA channels */
     dma_enable_channel(dma->dma, dma->tx_chan);
     /* Enable SPI transfers via DMA */
-    spi_enable_tx_dma((u32)periph->reg_addr);
+    spi_enable_tx_dma((uint32_t)periph->reg_addr);
 
   }
 }

sw/airborne/arch/stm32/mcu_periph/uart_arch.c

@@ -42,40 +42,40 @@
 void uart_periph_set_baudrate(struct uart_periph* p, uint32_t baud) {
 
   /* Configure USART */
-  usart_set_baudrate((u32)p->reg_addr, baud);
+  usart_set_baudrate((uint32_t)p->reg_addr, baud);
-  usart_set_databits((u32)p->reg_addr, 8);
+  usart_set_databits((uint32_t)p->reg_addr, 8);
-  usart_set_stopbits((u32)p->reg_addr, USART_STOPBITS_1);
+  usart_set_stopbits((uint32_t)p->reg_addr, USART_STOPBITS_1);
-  usart_set_parity((u32)p->reg_addr, USART_PARITY_NONE);
+  usart_set_parity((uint32_t)p->reg_addr, USART_PARITY_NONE);
 
   /* Disable Idle Line interrupt */
-  USART_CR1((u32)p->reg_addr) &= ~USART_CR1_IDLEIE;
+  USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_IDLEIE;
 
   /* Disable LIN break detection interrupt */
-  USART_CR2((u32)p->reg_addr) &= ~USART_CR2_LBDIE;
+  USART_CR2((uint32_t)p->reg_addr) &= ~USART_CR2_LBDIE;
 
   /* Enable USART1 Receive interrupts */
-  USART_CR1((u32)p->reg_addr) |= USART_CR1_RXNEIE;
+  USART_CR1((uint32_t)p->reg_addr) |= USART_CR1_RXNEIE;
 
   /* Enable the USART */
-  usart_enable((u32)p->reg_addr);
+  usart_enable((uint32_t)p->reg_addr);
 
 }
 
 void uart_periph_set_mode(struct uart_periph* p, bool_t tx_enabled, bool_t rx_enabled, bool_t hw_flow_control) {
-  u32 mode = 0;
+  uint32_t mode = 0;
   if (tx_enabled)
     mode |= USART_MODE_TX;
   if (rx_enabled)
     mode |= USART_MODE_RX;
 
   /* set mode to Tx, Rx or TxRx */
-  usart_set_mode((u32)p->reg_addr, mode);
+  usart_set_mode((uint32_t)p->reg_addr, mode);
 
   if (hw_flow_control) {
-    usart_set_flow_control((u32)p->reg_addr, USART_FLOWCONTROL_RTS_CTS);
+    usart_set_flow_control((uint32_t)p->reg_addr, USART_FLOWCONTROL_RTS_CTS);
   }
   else {
-    usart_set_flow_control((u32)p->reg_addr, USART_FLOWCONTROL_NONE);
+    usart_set_flow_control((uint32_t)p->reg_addr, USART_FLOWCONTROL_NONE);
   }
 }
 
@@ -86,7 +86,7 @@ void uart_transmit(struct uart_periph* p, uint8_t data ) {
   if (temp == p->tx_extract_idx)
     return;                          // no room
 
-  USART_CR1((u32)p->reg_addr) &= ~USART_CR1_TXEIE; // Disable TX interrupt
+  USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_TXEIE; // Disable TX interrupt
 
   // check if in process of sending data
   if (p->tx_running) { // yes, add to queue
@@ -95,61 +95,61 @@ void uart_transmit(struct uart_periph* p, uint8_t data ) {
   }
   else { // no, set running flag and write to output register
     p->tx_running = TRUE;
-    usart_send((u32)p->reg_addr, data);
+    usart_send((uint32_t)p->reg_addr, data);
   }
 
-  USART_CR1((u32)p->reg_addr) |= USART_CR1_TXEIE; // Enable TX interrupt
+  USART_CR1((uint32_t)p->reg_addr) |= USART_CR1_TXEIE; // Enable TX interrupt
 
 }
 
 static inline void usart_isr(struct uart_periph* p) {
 
-  if (((USART_CR1((u32)p->reg_addr) & USART_CR1_TXEIE) != 0) &&
+  if (((USART_CR1((uint32_t)p->reg_addr) & USART_CR1_TXEIE) != 0) &&
-      ((USART_SR((u32)p->reg_addr) & USART_SR_TXE) != 0)) {
+      ((USART_SR((uint32_t)p->reg_addr) & USART_SR_TXE) != 0)) {
     // check if more data to send
     if (p->tx_insert_idx != p->tx_extract_idx) {
-      usart_send((u32)p->reg_addr,p->tx_buf[p->tx_extract_idx]);
+      usart_send((uint32_t)p->reg_addr,p->tx_buf[p->tx_extract_idx]);
       p->tx_extract_idx++;
       p->tx_extract_idx %= UART_TX_BUFFER_SIZE;
     }
     else {
       p->tx_running = FALSE;   // clear running flag
-      USART_CR1((u32)p->reg_addr) &= ~USART_CR1_TXEIE; // Disable TX interrupt
+      USART_CR1((uint32_t)p->reg_addr) &= ~USART_CR1_TXEIE; // Disable TX interrupt
     }
   }
 
-  if (((USART_CR1((u32)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
+  if (((USART_CR1((uint32_t)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
-      ((USART_SR((u32)p->reg_addr) & USART_SR_RXNE) != 0) &&
+      ((USART_SR((uint32_t)p->reg_addr) & USART_SR_RXNE) != 0) &&
-      ((USART_SR((u32)p->reg_addr) & USART_SR_ORE) == 0) &&
+      ((USART_SR((uint32_t)p->reg_addr) & USART_SR_ORE) == 0) &&
-      ((USART_SR((u32)p->reg_addr) & USART_SR_NE) == 0) &&
+      ((USART_SR((uint32_t)p->reg_addr) & USART_SR_NE) == 0) &&
-      ((USART_SR((u32)p->reg_addr) & USART_SR_FE) == 0)) {
+      ((USART_SR((uint32_t)p->reg_addr) & USART_SR_FE) == 0)) {
     uint16_t temp = (p->rx_insert_idx + 1) % UART_RX_BUFFER_SIZE;;
-    p->rx_buf[p->rx_insert_idx] = usart_recv((u32)p->reg_addr);
+    p->rx_buf[p->rx_insert_idx] = usart_recv((uint32_t)p->reg_addr);
     // check for more room in queue
     if (temp != p->rx_extract_idx)
       p->rx_insert_idx = temp; // update insert index
   }
   else {
     /* ORE, NE or FE error - read USART_DR reg and log the error */
-    if (((USART_CR1((u32)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
+    if (((USART_CR1((uint32_t)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
-        ((USART_SR((u32)p->reg_addr) & USART_SR_ORE) != 0)) {
+        ((USART_SR((uint32_t)p->reg_addr) & USART_SR_ORE) != 0)) {
-      usart_recv((u32)p->reg_addr);
+      usart_recv((uint32_t)p->reg_addr);
       p->ore++;
     }
-    if (((USART_CR1((u32)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
+    if (((USART_CR1((uint32_t)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
-        ((USART_SR((u32)p->reg_addr) & USART_SR_NE) != 0)) {
+        ((USART_SR((uint32_t)p->reg_addr) & USART_SR_NE) != 0)) {
-      usart_recv((u32)p->reg_addr);
+      usart_recv((uint32_t)p->reg_addr);
       p->ne_err++;
     }
-    if (((USART_CR1((u32)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
+    if (((USART_CR1((uint32_t)p->reg_addr) & USART_CR1_RXNEIE) != 0) &&
-        ((USART_SR((u32)p->reg_addr) & USART_SR_FE) != 0)) {
+        ((USART_SR((uint32_t)p->reg_addr) & USART_SR_FE) != 0)) {
-      usart_recv((u32)p->reg_addr);
+      usart_recv((uint32_t)p->reg_addr);
       p->fe_err++;
     }
   }
 }
 
-static inline void usart_enable_irq(u8 IRQn) {
+static inline void usart_enable_irq(uint8_t IRQn) {
   /* Note:
    * In libstm32 times the priority of this interrupt was set to
    * preemption priority 2 and sub priority 1

sw/airborne/arch/stm32/subsystems/actuators/actuators_pwm_arch.c

@@ -65,7 +65,7 @@ int32_t actuators_pwm_values[ACTUATORS_PWM_NB];
 
 /** Set PWM channel configuration
  */
-static inline void actuators_pwm_arch_channel_init(u32 timer_peripheral,
+static inline void actuators_pwm_arch_channel_init(uint32_t timer_peripheral,
 						enum tim_oc_id oc_id) {
 
   timer_disable_oc_output(timer_peripheral, oc_id);
@@ -80,13 +80,13 @@ static inline void actuators_pwm_arch_channel_init(u32 timer_peripheral,
 /** Set GPIO configuration
  */
 #if defined(STM32F4)
-static inline void set_servo_gpio(u32 gpioport, u16 pin, u8 af_num, u32 en) {
+static inline void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t af_num, uint32_t en) {
   rcc_peripheral_enable_clock(&RCC_AHB1ENR, en);
   gpio_mode_setup(gpioport, GPIO_MODE_AF, GPIO_PUPD_NONE, pin);
   gpio_set_af(gpioport, af_num, pin);
 }
 #elif defined(STM32F1)
-static inline void set_servo_gpio(u32 gpioport, u16 pin, u8 none, u32 en) {
+static inline void set_servo_gpio(uint32_t gpioport, uint16_t pin, uint8_t none, uint32_t en) {
   rcc_peripheral_enable_clock(&RCC_APB2ENR, en | RCC_APB2ENR_AFIOEN);
   gpio_set_mode(gpioport, GPIO_MODE_OUTPUT_50_MHZ,
                 GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, pin);
@@ -95,7 +95,7 @@ static inline void set_servo_gpio(u32 gpioport, u16 pin, u8 none, u32 en) {
 
 /** Set Timer configuration
  */
-static inline void set_servo_timer(u32 timer, u32 period, u8 channels_mask) {
+static inline void set_servo_timer(uint32_t timer, uint32_t period, uint8_t channels_mask) {
   timer_reset(timer);
 
   /* Timer global mode:

sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.c

@@ -52,6 +52,20 @@ uint32_t ppm_last_pulse_time;
 bool_t   ppm_data_valid;
 static uint32_t timer_rollover_cnt;
 
+/*
+ * Timer clock frequency (before prescaling) is twice the frequency
+ * of the APB domain to which the timer is connected.
+ */
+
+#ifdef STM32F1
+/**
+ * HCLK = 72MHz, Timer clock also 72MHz since
+ * TIM1_CLK = APB2 = 72MHz
+ * TIM2_CLK = 2 * APB1 = 2 * 32MHz
+ */
+#define PPM_TIMER_CLK       AHB_CLK
+#endif
+
 #if USE_PPM_TIM2
 
 PRINT_CONFIG_MSG("Using TIM2 for PPM input.")
@@ -60,6 +74,14 @@ PRINT_CONFIG_MSG("Using TIM2 for PPM input.")
 #define PPM_PERIPHERAL      RCC_APB1ENR_TIM2EN
 #define PPM_TIMER           TIM2
 
+#ifdef STM32F4
+/* Since APB prescaler != 1 :
+ * Timer clock frequency (before prescaling) is twice the frequency
+ * of the APB domain to which the timer is connected.
+ */
+#define PPM_TIMER_CLK       (rcc_ppre1_frequency * 2)
+#endif
+
 #elif USE_PPM_TIM1
 
 PRINT_CONFIG_MSG("Using TIM1 for PPM input.")
@@ -68,6 +90,12 @@ PRINT_CONFIG_MSG("Using TIM1 for PPM input.")
 #define PPM_PERIPHERAL      RCC_APB2ENR_TIM1EN
 #define PPM_TIMER           TIM1
 
+#ifdef STM32F4
+#define PPM_TIMER_CLK       (rcc_ppre2_frequency * 2)
+#endif
+
+#else
+#error Unknown PPM input timer configuration.
 #endif
 
 void ppm_arch_init ( void ) {
@@ -86,7 +114,7 @@ void ppm_arch_init ( void ) {
   timer_set_mode(PPM_TIMER, TIM_CR1_CKD_CK_INT,
                  TIM_CR1_CMS_EDGE, TIM_CR1_DIR_UP);
   timer_set_period(PPM_TIMER, 0xFFFF);
-  timer_set_prescaler(PPM_TIMER, (AHB_CLK / (RC_PPM_TICKS_PER_USEC*ONE_MHZ_CLK)) - 1);
+  timer_set_prescaler(PPM_TIMER, (PPM_TIMER_CLK / (RC_PPM_TICKS_PER_USEC*ONE_MHZ_CLK)) - 1);
 
  /* TIM configuration: Input Capture mode ---------------------
      The Rising edge is used as active edge
@@ -96,7 +124,7 @@ void ppm_arch_init ( void ) {
 #elif defined PPM_PULSE_TYPE && PPM_PULSE_TYPE == PPM_PULSE_TYPE_NEGATIVE
   timer_ic_set_polarity(PPM_TIMER, PPM_CHANNEL, TIM_IC_FALLING);
 #else
-#error "Unknown PM_PULSE_TYPE"
+#error "Unknown PPM_PULSE_TYPE"
 #endif
   timer_ic_set_input(PPM_TIMER, PPM_CHANNEL, PPM_TIMER_INPUT);
   timer_ic_set_prescaler(PPM_TIMER, PPM_CHANNEL, TIM_IC_PSC_OFF);

sw/airborne/arch/stm32/subsystems/radio_control/ppm_arch.h

@@ -33,10 +33,17 @@
 #include "mcu_periph/sys_time.h"
 
 /**
- * The ppm counter is running at cpu freq / 72 or 168 / 8
+ * The ppm counter is set-up to have 1/6 us resolution.
- * so the counter has 1/8 us resolution
+ *
+ * The timer clock frequency (before prescaling):
+ * STM32F1:
+ *   TIM1 -> APB2 = HCLK = 72MHz
+ *   TIM2 -> 2 * APB1 = 2 * 36MHz = 72MHz
+ * STM32F4:
+ *   TIM1 -> 2 * APB2 = 2 * 84MHz = 168MHz
+ *   TIM2 -> 2 * APB1 = 2 * 42MHz = 84MHz
  */
-#define RC_PPM_TICKS_PER_USEC 8
+#define RC_PPM_TICKS_PER_USEC 6
 
 #define RC_PPM_TICKS_OF_USEC(_v)        ((_v)*RC_PPM_TICKS_PER_USEC)
 #define RC_PPM_SIGNED_TICKS_OF_USEC(_v) (int32_t)((_v)*RC_PPM_TICKS_PER_USEC)

sw/airborne/arch/stm32/subsystems/settings_arch.c

@@ -35,12 +35,7 @@
 
 #include "subsystems/settings.h"
 
-#if defined(STM32F1)
+#include <libopencm3/stm32/flash.h>
-#include <libopencm3/stm32/f1/flash.h>
-#elif defined(STM32F4)
-#include <libopencm3/stm32/f4/flash.h>
-#endif
-
 #include <libopencm3/stm32/crc.h>
 #include <libopencm3/stm32/dbgmcu.h>
 

sw/airborne/boards/ardrone/at_com.h

@@ -29,6 +29,8 @@
 #ifndef BOARDS_ARDRONE_AT_COM_H
 #define BOARDS_ARDRONE_AT_COM_H
 
+#define NAVDATA_HEADER  (0x55667788)
+
 //Define the AT_REF bits
 typedef enum {
   REF_TAKEOFF    = 1U << 9,
@@ -149,6 +151,55 @@ typedef struct _navdata_phys_measures_t {
   uint32_t        vrefIDG;              // ref volt IDG gyro [LSB]
 } __attribute__ ((packed)) navdata_phys_measures_t;
 
+//Navdata gps packet
+typedef double float64_t;               //TODO: Fix this nicely, but this is only used here
+typedef float float32_t;               //TODO: Fix this nicely, but this is only used here
+typedef struct _navdata_gps_t {
+  uint16_t      tag;                    /*!< Navdata block ('option') identifier */
+  uint16_t      size;                   /*!< set this to the size of this structure */
+  float64_t     lat;                    /*!< Latitude */
+  float64_t     lon;                    /*!< Longitude */
+  float64_t     elevation;              /*!< Elevation */
+  float64_t     hdop;                   /*!< hdop */
+  int32_t       data_available;         /*!< When there is data available */
+  uint8_t       unk_0[8];
+  float64_t     lat0;                   /*!< Latitude ??? */
+  float64_t     lon0;                   /*!< Longitude ??? */
+  float64_t     lat_fuse;               /*!< Latitude fused */
+  float64_t     lon_fuse;               /*!< Longitude fused */
+  uint32_t      gps_state;              /*!< State of the GPS, still need to figure out */
+  uint8_t       unk_1[40];
+  float64_t     vdop;                   /*!< vdop */
+  float64_t     pdop;                   /*!< pdop */
+  float32_t     speed;                  /*!< speed */
+  uint32_t      last_frame_timestamp;   /*!< Timestamp from the last frame */
+  float32_t     degree;                 /*!< Degree */
+  float32_t     degree_mag;             /*!< Degree of the magnetic */
+  uint8_t       unk_2[16];
+  struct{
+    uint8_t     sat;
+    uint8_t     unk;
+  }channels[12];
+  int32_t       gps_plugged;            /*!< When the gps is plugged */
+  uint8_t       unk_3[108];
+  float64_t     gps_time;               /*!< The gps time of week */
+  uint16_t      week;                   /*!< The gps week */
+  uint8_t       gps_fix;                /*!< The gps fix */
+  uint8_t       num_sattelites;         /*!< Number of sattelites */
+  uint8_t       unk_4[24];
+  float64_t     ned_vel_c0;             /*!< NED velocity */
+  float64_t     ned_vel_c1;             /*!< NED velocity */
+  float64_t     ned_vel_c2;             /*!< NED velocity */
+  float64_t     pos_accur_c0;           /*!< Position accuracy */
+  float64_t     pos_accur_c1;           /*!< Position accuracy */
+  float64_t     pos_accur_c2;           /*!< Position accuracy */
+  float32_t     speed_acur;             /*!< Speed accuracy */
+  float32_t     time_acur;              /*!< Time accuracy */
+  uint8_t       unk_5[72];
+  float32_t     temprature;
+  float32_t     pressure;
+} __attribute__ ((packed)) navdata_gps_t;
+
 //External functions
 extern void init_at_com(void);
 extern void at_com_recieve_navdata(unsigned char* buffer);

sw/airborne/boards/ardrone2_sdk.h

@@ -6,7 +6,7 @@
 /* Internal communication */
 #define ARDRONE_NAVDATA_PORT 5554
 #define ARDRONE_AT_PORT 5556
-#define ARDRONE_NAVDATA_BUFFER_SIZE 2048
+#define ARDRONE_NAVDATA_BUFFER_SIZE 4096
 #define ARDRONE_IP "192.168.1.1"
 
 /* Default actuators driver */

sw/airborne/boards/krooz_sd.h

@@ -3,7 +3,7 @@
 
 #define BOARD_KROOZ
 
-/* Krooz/M has a 12MHz external clock and 168MHz internal. */
+/* KroozSD has a 12MHz external clock and 168MHz internal. */
 #define EXT_CLK 12000000
 #define AHB_CLK 168000000
 
@@ -210,7 +210,7 @@
 #define BOARD_HAS_BARO 1
 
 /* PWM */
-#define PWM_USE_TIM2 1
+//#define PWM_USE_TIM2 1
 #define PWM_USE_TIM3 1
 #define PWM_USE_TIM4 1
 #define PWM_USE_TIM5 1
@@ -383,11 +383,11 @@
 #define USE_PPM_TIM2 1
 
 #define PPM_CHANNEL         TIM_IC2
-#define PPM_TIMER_INPUT     TIM_IC_IN_TI1
+#define PPM_TIMER_INPUT     TIM_IC_IN_TI2
 #define PPM_IRQ             NVIC_TIM2_IRQ
 //#define PPM_IRQ2            NVIC_TIM2_UP_TIM10_IRQ
 // Capture/Compare InteruptEnable and InterruptFlag
-#define PPM_CC_EN           TIM_DIER_CC2IE
+#define PPM_CC_IE           TIM_DIER_CC2IE
 #define PPM_CC_IF           TIM_SR_CC2IF
 #define PPM_GPIO_PORT       GPIOB
 #define PPM_GPIO_PIN        GPIO3

sw/airborne/boards/lisa_l_1.0.h

@@ -59,7 +59,7 @@
  */
 #define UART1_GPIO_AF 0
 #define UART1_GPIO_PORT_RX GPIO_BANK_USART1_RX
-#define UART1_GPIO_RX GPIO_BANK_USART1_RX
+#define UART1_GPIO_RX GPIO_USART1_RX
 #define UART1_GPIO_PORT_TX GPIO_BANK_USART1_TX
 #define UART1_GPIO_TX GPIO_USART1_TX
 
@@ -129,6 +129,7 @@
 #define PPM_CC_IF           TIM_SR_CC2IF
 #define PPM_GPIO_PORT       GPIOA
 #define PPM_GPIO_PIN        GPIO1
+#define PPM_GPIO_AF         0
 
 
 /* ADC */

sw/airborne/firmwares/fixedwing/main_fbw.c

@@ -253,7 +253,7 @@ void event_task_fbw( void) {
     trimmed_commands[COMMAND_PITCH] += ChopAbs(command_pitch_trim, MAX_PPRZ/10);
     #endif
     #ifdef COMMAND_YAW
-    trimmed_commands[COMMAND_YAW] = ChopAbs(command_yaw_trim, MAX_PPRZ);
+    trimmed_commands[COMMAND_YAW] += ChopAbs(command_yaw_trim, MAX_PPRZ);
     #endif
 
     SetActuatorsFromCommands(trimmed_commands, autopilot_mode);

sw/airborne/firmwares/rotorcraft/autopilot.c

@@ -78,6 +78,11 @@ static inline int ahrs_is_aligned(void) {
 #include "autopilot_arming_yaw.h"
 #endif
 
+#ifndef MODE_STARTUP
+#define MODE_STARTUP AP_MODE_KILL
+PRINT_CONFIG_MSG("Using AP_MODE_KILL as MODE_STARTUP")
+#endif
+
 static void send_alive(void) {
   DOWNLINK_SEND_ALIVE(DefaultChannel, DefaultDevice, 16, MD5SUM);
 }
@@ -168,7 +173,7 @@ static void send_baro_raw(void) {
 }
 
 void autopilot_init(void) {
-  autopilot_mode = AP_MODE_KILL;
+  autopilot_mode = MODE_STARTUP;
   autopilot_motors_on = FALSE;
   kill_throttle = ! autopilot_motors_on;
   autopilot_in_flight = FALSE;
@@ -200,6 +205,36 @@ void autopilot_init(void) {
 }
 
 
+static inline void autopilot_check_in_flight_no_rc( bool_t motors_on ) {
+  if (autopilot_in_flight) {
+    if (autopilot_in_flight_counter > 0) {
+      if (stabilization_cmd[COMMAND_THRUST] == 0) {
+        autopilot_in_flight_counter--;
+        if (autopilot_in_flight_counter == 0) {
+          autopilot_in_flight = FALSE;
+        }
+      }
+      else {  /* !THROTTLE_STICK_DOWN */
+        autopilot_in_flight_counter = AUTOPILOT_IN_FLIGHT_TIME;
+      }
+    }
+  }
+  else { /* not in flight */
+    if (autopilot_in_flight_counter < AUTOPILOT_IN_FLIGHT_TIME &&
+        motors_on) {
+      if (stabilization_cmd[COMMAND_THRUST] > 0) {
+        autopilot_in_flight_counter++;
+        if (autopilot_in_flight_counter == AUTOPILOT_IN_FLIGHT_TIME)
+          autopilot_in_flight = TRUE;
+      }
+      else { /*  THROTTLE_STICK_DOWN */
+        autopilot_in_flight_counter = 0;
+      }
+    }
+  }
+}
+
+
 void autopilot_periodic(void) {
 
   RunOnceEvery(NAV_PRESCALER, nav_periodic_task());
@@ -226,6 +261,10 @@ INFO("Using FAILSAFE_GROUND_DETECT")
     SetRotorcraftCommands(stabilization_cmd, autopilot_in_flight, autopilot_motors_on);
   }
 
+  // when we dont have RC, check in flight by looking at throttle
+  if (radio_control.status != RC_OK) {
+    autopilot_check_in_flight_no_rc(autopilot_motors_on);
+  }
 }
 
 

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude.h

@@ -19,7 +19,7 @@
  * Boston, MA 02111-1307, USA.
  */
 
-/** @file firmwares/rotorcraft/stabilization_attitude.h
+/** @file firmwares/rotorcraft/stabilization/stabilization_attitude.h
  *  General attitude stabilization interface for rotorcrafts.
  *  The actual implementation is automatically included.
  */

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c

@@ -24,6 +24,7 @@
 #include "subsystems/radio_control.h"
 
 #include "firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.h"
+#include "paparazzi.h"
 
 #include "generated/airframe.h"
 

sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_rc_setpoint.c

@@ -84,16 +84,16 @@ float stabilization_attitude_get_heading_f(void) {
  * @param[out] sp         attitude setpoint as euler angles
  */
 void stabilization_attitude_read_rc_setpoint_eulers(struct Int32Eulers *sp, bool_t in_flight) {
-  const int32_t max_phi_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI) /  MAX_PPRZ;
+  const int32_t max_rc_phi = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_PHI);
-  const int32_t max_theta_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA) /  MAX_PPRZ;
+  const int32_t max_rc_theta = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_THETA);
-  const int32_t max_r_scale = (int32_t)ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R) /  MAX_PPRZ;
+  const int32_t max_rc_r = (int32_t) ANGLE_BFP_OF_REAL(STABILIZATION_ATTITUDE_SP_MAX_R);
 
-  sp->phi = ((int32_t) radio_control.values[RADIO_ROLL]  * max_phi_scale);
+  sp->phi = (int32_t) ((radio_control.values[RADIO_ROLL] * max_rc_phi) /  MAX_PPRZ);
-  sp->theta = ((int32_t) radio_control.values[RADIO_PITCH] * max_theta_scale);
+  sp->theta = (int32_t) ((radio_control.values[RADIO_PITCH] * max_rc_theta) /  MAX_PPRZ);
 
   if (in_flight) {
     if (YAW_DEADBAND_EXCEEDED()) {
-      sp->psi += ((int32_t) radio_control.values[RADIO_YAW] * max_r_scale / RC_UPDATE_FREQ);
+      sp->psi += (int32_t) ((radio_control.values[RADIO_YAW] * max_rc_r) /  MAX_PPRZ / RC_UPDATE_FREQ);
       INT32_ANGLE_NORMALIZE(sp->psi);
     }
     if (autopilot_mode == AP_MODE_FORWARD) {

sw/airborne/math/pprz_geodetic_int.c

@@ -142,9 +142,34 @@ void ned_of_ecef_vect_i(struct NedCoor_i* ned, struct LtpDef_i* def, struct Ecef
   ENU_OF_TO_NED(*ned, enu);
 }
 
-/* check if resolution of INT32_TRIG_FRAC (14) is enough here */
+
+void ecef_of_enu_vect_i(struct EcefCoor_i* ecef, struct LtpDef_i* def, struct EnuCoor_i* enu) {
+
+  const int64_t tmpx = (int64_t)def->ltp_of_ecef.m[0] * enu->x +
+                       (int64_t)def->ltp_of_ecef.m[3] * enu->y +
+                       (int64_t)def->ltp_of_ecef.m[6] * enu->z;
+  ecef->x = (int32_t)(tmpx>>HIGH_RES_TRIG_FRAC);
+
+  const int64_t tmpy = (int64_t)def->ltp_of_ecef.m[1] * enu->x +
+                       (int64_t)def->ltp_of_ecef.m[4] * enu->y +
+                       (int64_t)def->ltp_of_ecef.m[7] * enu->z;
+  ecef->y = (int32_t)(tmpy>>HIGH_RES_TRIG_FRAC);
+
+  /* first element is always zero http://en.wikipedia.org/wiki/Geodetic_system#From_ENU_to_ECEF */
+  const int64_t tmpz = (int64_t)def->ltp_of_ecef.m[5] * enu->y +
+                       (int64_t)def->ltp_of_ecef.m[8] * enu->z;
+  ecef->z = (int32_t)(tmpz>>HIGH_RES_TRIG_FRAC);
+
+}
+
+void ecef_of_ned_vect_i(struct EcefCoor_i* ecef, struct LtpDef_i* def, struct NedCoor_i* ned) {
+  struct EnuCoor_i enu;
+  ENU_OF_TO_NED(enu, *ned);
+  ecef_of_enu_vect_i(ecef, def, &enu);
+}
+
 void ecef_of_enu_point_i(struct EcefCoor_i* ecef, struct LtpDef_i* def, struct EnuCoor_i* enu) {
-  INT32_RMAT_TRANSP_VMULT(*ecef, def->ltp_of_ecef, *enu);
+  ecef_of_enu_vect_i(ecef, def, enu);
   INT32_VECT3_ADD(*ecef, def->ecef);
 }
 
@@ -154,16 +179,6 @@ void ecef_of_ned_point_i(struct EcefCoor_i* ecef, struct LtpDef_i* def, struct N
   ecef_of_enu_point_i(ecef, def, &enu);
 }
 
-void ecef_of_enu_vect_i(struct EcefCoor_i* ecef, struct LtpDef_i* def, struct EnuCoor_i* enu) {
-  INT32_RMAT_TRANSP_VMULT(*ecef, def->ltp_of_ecef, *enu);
-}
-
-void ecef_of_ned_vect_i(struct EcefCoor_i* ecef, struct LtpDef_i* def, struct NedCoor_i* ned) {
-  struct EnuCoor_i enu;
-  ENU_OF_TO_NED(enu, *ned);
-  ecef_of_enu_vect_i(ecef, def, &enu);
-}
-
 
 void enu_of_lla_point_i(struct EnuCoor_i* enu, struct LtpDef_i* def, struct LlaCoor_i* lla) {
   struct EcefCoor_i ecef;

sw/airborne/modules/ins/ins_xsens700.c

@@ -22,8 +22,9 @@
  *
  */
 
-/** \file xsens.c
+/**
- * \brief Parser for the Xsens protocol
+ * @file modules/ins/ins_xsens700.c
+ * Parser for the Xsens protocol.
  */
 
 #include "ins_module.h"

sw/airborne/modules/loggers/high_speed_logger_spi_link.c

@@ -62,8 +62,8 @@ void high_speed_logger_spi_link_periodic(void)
     high_speed_logger_spi_link_data.acc_y      = imu.accel_unscaled.y;
     high_speed_logger_spi_link_data.acc_z      = imu.accel_unscaled.z;
     high_speed_logger_spi_link_data.mag_x      = imu.mag_unscaled.x;
-    high_speed_logger_spi_link_data.mag_y      = imu.mag_unscaled.x;
+    high_speed_logger_spi_link_data.mag_y      = imu.mag_unscaled.y;
-    high_speed_logger_spi_link_data.mag_z      = imu.mag_unscaled.x;
+    high_speed_logger_spi_link_data.mag_z      = imu.mag_unscaled.z;
 
     spi_submit(&(HIGH_SPEED_LOGGER_SPI_LINK_DEVICE), &high_speed_logger_spi_link_transaction);
   }

sw/airborne/modules/meteo/humid_pcap01.c

@@ -195,14 +195,6 @@ void pcap01readRegister(uint8_t reg)
 *
 *         function where current measurement data from pcap01 is read into
 *         global sensor variable
-*
-* \param       control   Control command
-*						 possible commands:
-*						 PCAP01_PU_RESET : Hard reset of the device
-*						 PCAP01_IN_RESET : Software reset
-*						 PCAP01_START : Start measurement
-*						 PCAP01_START : Start measurement
-*						 PCAP01_TERM : Stop measurement
 */
 void pcap01_periodic(void)
 {

sw/airborne/modules/sensors/airspeed_amsys.c

@@ -42,16 +42,16 @@
 #ifndef AIRSPEED_AMSYS_SCALE
 #define AIRSPEED_AMSYS_SCALE 1
 #endif
-#ifndef AIRSPEED_AMSYS_OFFSET
-#define AIRSPEED_AMSYS_OFFSET 0
-#endif
 #define AIRSPEED_AMSYS_OFFSET_MAX 29491
 #define AIRSPEED_AMSYS_OFFSET_MIN 3277
 #define AIRSPEED_AMSYS_OFFSET_NBSAMPLES_INIT 40
 #define AIRSPEED_AMSYS_OFFSET_NBSAMPLES_AVRG 60
 #define AIRSPEED_AMSYS_NBSAMPLES_AVRG 10
 #ifndef AIRSPEED_AMSYS_MAXPRESURE
-#define AIRSPEED_AMSYS_MAXPRESURE 2068//2073 //Pascal
+#define AIRSPEED_AMSYS_MAXPRESURE 2068 //003-2068, 001-689 //Pascal
+#endif
+#ifndef AIRSPEED_AMSYS_FILTER
+#define AIRSPEED_AMSYS_FILTER 0
 #endif
 #ifndef AIRSPEED_AMSYS_I2C_DEV
 #define AIRSPEED_AMSYS_I2C_DEV i2c0
@@ -68,8 +68,9 @@
 uint16_t airspeed_amsys_raw;
 uint16_t tempAS_amsys_raw;
 bool_t airspeed_amsys_valid;
-float airspeed_tmp;
+float airspeed_amsys_offset;
-float pressure_amsys; //Pascal
+float airspeed_amsys_tmp;
+float airspeed_amsys_p; //Pascal
 float airspeed_amsys; //mps
 float airspeed_scale;
 float airspeed_filter;
@@ -79,17 +80,23 @@ struct i2c_transaction airspeed_amsys_i2c_trans;
 volatile bool_t airspeed_amsys_i2c_done;
 float airspeed_temperature = 0.0;
 float airspeed_old = 0.0;
-
+bool_t airspeed_amsys_offset_init;
+double airspeed_amsys_offset_tmp;
+uint16_t airspeed_amsys_cnt;
 
 void airspeed_amsys_init( void ) {
 	airspeed_amsys_raw = 0;
 	airspeed_amsys = 0.0;
-	pressure_amsys = 0.0;
+	airspeed_amsys_p = 0.0;
+	airspeed_amsys_offset = 0;
+	airspeed_amsys_offset_tmp = 0;
 	airspeed_amsys_i2c_done = TRUE;
 	airspeed_amsys_valid = TRUE;
-	airspeed_scale = AIRSPEED_SCALE;
+	airspeed_amsys_offset_init = FALSE;
-	airspeed_filter = AIRSPEED_FILTER;
+	airspeed_scale = AIRSPEED_AMSYS_SCALE;
+	airspeed_filter = AIRSPEED_AMSYS_FILTER;
 	airspeed_amsys_i2c_trans.status = I2CTransDone;
+	airspeed_amsys_cnt = AIRSPEED_AMSYS_OFFSET_NBSAMPLES_INIT + AIRSPEED_AMSYS_OFFSET_NBSAMPLES_AVRG;
 }
 
 void airspeed_amsys_read_periodic( void ) {
@@ -101,10 +108,21 @@ void airspeed_amsys_read_periodic( void ) {
 		i2c_receive(&AIRSPEED_AMSYS_I2C_DEV, &airspeed_amsys_i2c_trans, AIRSPEED_AMSYS_ADDR, 4);
 #endif
 
+#if USE_AIRSPEED
+		stateSetAirspeed_f(&airspeed_amsys);
+#endif
+
 #else // SITL
 		extern float sim_air_speed;
 		stateSetAirspeed_f(&sim_air_speed);
 #endif //SITL
+
+
+#ifdef AIRSPEED_AMSYS_SYNC_SEND
+		DOWNLINK_SEND_AMSYS_AIRSPEED(DefaultChannel, DefaultDevice, &airspeed_amsys_raw, &airspeed_amsys_p, &airspeed_amsys_tmp, &airspeed_amsys, &airspeed_amsys_offset);
+#else
+		RunOnceEvery(10, DOWNLINK_SEND_AMSYS_AIRSPEED(DefaultChannel, DefaultDevice, &airspeed_amsys_raw, &airspeed_amsys_p, &airspeed_amsys_tmp, &airspeed_amsys, &airspeed_temperature));
+#endif
 }
 
 void airspeed_amsys_read_event( void ) {
@@ -134,23 +152,38 @@ void airspeed_amsys_read_event( void ) {
 			airspeed_amsys_raw = AIRSPEED_AMSYS_OFFSET_MAX;
 
 		// calculate raw to pressure
-		pressure_amsys = (float)(airspeed_amsys_raw-AIRSPEED_AMSYS_OFFSET_MIN)*AIRSPEED_AMSYS_MAXPRESURE/(float)(AIRSPEED_AMSYS_OFFSET_MAX-AIRSPEED_AMSYS_OFFSET_MIN);
+		airspeed_amsys_p = (float)(airspeed_amsys_raw-AIRSPEED_AMSYS_OFFSET_MIN)*AIRSPEED_AMSYS_MAXPRESURE/(float)(AIRSPEED_AMSYS_OFFSET_MAX-AIRSPEED_AMSYS_OFFSET_MIN);
+		if (!airspeed_amsys_offset_init) {
+			--airspeed_amsys_cnt;
+			// Check if averaging completed
+			if (airspeed_amsys_cnt == 0) {
+				// Calculate average
+				airspeed_amsys_offset = (float)(airspeed_amsys_offset_tmp / AIRSPEED_AMSYS_OFFSET_NBSAMPLES_AVRG);
+				airspeed_amsys_offset_init = TRUE;
+			}
+			// Check if averaging needs to continue
+			else if (airspeed_amsys_cnt <= AIRSPEED_AMSYS_OFFSET_NBSAMPLES_AVRG)
+				airspeed_amsys_offset_tmp += airspeed_amsys_p;
+
+			airspeed_amsys = 0.;
+
+		}
+		else {
+			airspeed_amsys_p =  airspeed_amsys_p - airspeed_amsys_offset;
+			if (airspeed_amsys_p <= 0) airspeed_amsys_p=0.000000001;
+			airspeed_amsys_tmp = sqrtf(2*(airspeed_amsys_p)*airspeed_scale/1.2041); // convert pressure to airspeed
+			// Lowpassfiltering
+			airspeed_amsys = airspeed_filter * airspeed_old + (1 - airspeed_filter) * airspeed_amsys_tmp;
+			airspeed_old = airspeed_amsys;
+			//New value available
+		}
+
+	} /*else {
+		airspeed_amsys = 0.0;
+	}*/
 
-		airspeed_tmp = sqrtf(2*(pressure_amsys)*airspeed_scale/1.2041); //without offset
 
-	// 	Lowpass filter
-		airspeed_amsys = airspeed_filter * airspeed_old + (1 - airspeed_filter) * airspeed_tmp;
-		airspeed_old = airspeed_amsys;
 
-#if USE_AIRSPEED
-		stateSetAirspeed_f(&airspeed_amsys);
-#endif
-#ifdef SENSOR_SYNC_SEND
-		DOWNLINK_SEND_AMSYS_AIRSPEED(DefaultChannel, DefaultDevice, &airspeed_amsys_raw, &pressure_amsys, &airspeed_tmp, &airspeed_amsys, &airspeed_temperature);
-#else
-		RunOnceEvery(10, DOWNLINK_SEND_AMSYS_AIRSPEED(DefaultChannel, DefaultDevice, &airspeed_amsys_raw, &pressure_amsys, &airspeed_tmp, &airspeed_amsys, &airspeed_temperature));
-#endif
-	}
 
 	// Transaction has been read
 	airspeed_amsys_i2c_trans.status = I2CTransDone;

sw/airborne/modules/sensors/airspeed_otf.c

@@ -20,8 +20,9 @@
  *
  */
 
-/** \file met_ap_otf.c
+/**
- *  \brief UART interface for Aeroprobe On-The-Fly! air data computer
+ * @file modules/sensors/airspeed_otf.c
+ * UART interface for Aeroprobe On-The-Fly! air data computer.
  *
  */
 

sw/airborne/modules/sensors/baro_amsys.h

@@ -33,7 +33,6 @@
 extern uint16_t baro_amsys_adc;
 // extern float baro_amsys_offset;
 extern bool_t baro_amsys_valid;
-// extern bool_t baro_amsys_updated;
 // extern bool_t baro_amsys_enabled;
 extern float baro_amsys_altitude;
 // extern float baro_amsys_r;

sw/airborne/modules/sensors/baro_ets.h

@@ -50,7 +50,6 @@
 extern uint16_t baro_ets_adc;
 extern uint16_t baro_ets_offset;
 extern bool_t baro_ets_valid;
-extern bool_t baro_ets_updated;
 extern bool_t baro_ets_enabled;
 extern float baro_ets_altitude;
 extern float baro_ets_r;

sw/airborne/modules/sensors/baro_ms5611_i2c.c

@@ -20,8 +20,9 @@
  *
  */
 
-/** \file baro_ms5611_i2c.c
+/**
- *  \brief Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C
+ * @file modules/sensors/baro_ms5611_i2c.c
+ * Measurement Specialties (Intersema) MS5611-01BA pressure/temperature sensor interface for I2C.
  *
  */
 

sw/airborne/peripherals/mpu60x0.c

@@ -31,18 +31,38 @@
 
 void mpu60x0_set_default_config(struct Mpu60x0Config *c)
 {
+  c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
   c->smplrt_div = MPU60X0_DEFAULT_SMPLRT_DIV;
   c->dlpf_cfg = MPU60X0_DEFAULT_DLPF_CFG;
   c->gyro_range = MPU60X0_DEFAULT_FS_SEL;
   c->accel_range = MPU60X0_DEFAULT_AFS_SEL;
-  c->i2c_bypass = TRUE;
   c->drdy_int_enable = FALSE;
-  c->clk_sel = MPU60X0_DEFAULT_CLK_SEL;
+
+  /* Number of bytes to read starting with MPU60X0_REG_INT_STATUS
+   * By default read only gyro and accel data -> 15 bytes.
+   * Increase to include slave data.
+   */
+  c->nb_bytes = 15;
+  c->nb_slaves = 0;
+
+  c->i2c_bypass = FALSE;
 }
 
 void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config)
 {
   switch (config->init_status) {
+    case MPU60X0_CONF_RESET:
+      /* device reset, set register values to defaults */
+      mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, (1<<6));
+      config->init_status++;
+    break;
+    case MPU60X0_CONF_USER_RESET:
+      /* trigger FIFO, I2C_MST and SIG_COND resets */
+      mpu_set(mpu, MPU60X0_REG_USER_CTRL, ((1 << MPU60X0_FIFO_RESET) |
+                                           (1 << MPU60X0_I2C_MST_RESET) |
+                                           (1 << MPU60X0_SIG_COND_RESET)));
+      config->init_status++;
+      break;
     case MPU60X0_CONF_PWR:
       /* switch to gyroX clock by default */
       mpu_set(mpu, MPU60X0_REG_PWR_MGMT_1, ((config->clk_sel)|(0<<6)));
@@ -68,9 +88,15 @@ void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Conf
       mpu_set(mpu, MPU60X0_REG_ACCEL_CONFIG, (config->accel_range<<3));
       config->init_status++;
       break;
-    case MPU60X0_CONF_I2C_BYPASS:
+    case MPU60X0_CONF_I2C_SLAVES:
-      mpu_set(mpu, MPU60X0_REG_INT_PIN_CFG, (config->i2c_bypass<<1));
+      /* if any, set MPU for I2C slaves and configure them*/
-      config->init_status++;
+      if (config->nb_slaves > 0) {
+        /* returns TRUE when all slaves are configured */
+        if (mpu60x0_configure_i2c_slaves(mpu_set, mpu))
+          config->init_status++;
+      }
+      else
+        config->init_status++;
       break;
     case MPU60X0_CONF_INT_ENABLE:
       /* configure data ready interrupt */

sw/airborne/peripherals/mpu60x0.h

@@ -48,34 +48,62 @@
 
 enum Mpu60x0ConfStatus {
   MPU60X0_CONF_UNINIT,
+  MPU60X0_CONF_RESET,
+  MPU60X0_CONF_USER_RESET,
   MPU60X0_CONF_PWR,
   MPU60X0_CONF_SD,
   MPU60X0_CONF_DLPF,
   MPU60X0_CONF_GYRO,
   MPU60X0_CONF_ACCEL,
-  MPU60X0_CONF_I2C_BYPASS,
+  MPU60X0_CONF_I2C_SLAVES,
   MPU60X0_CONF_INT_ENABLE,
   MPU60X0_CONF_DONE
 };
 
+/// Configuration function prototype
+typedef void (*Mpu60x0ConfigSet)(void* mpu, uint8_t _reg, uint8_t _val);
+
+/// function prototype for configuration of a single I2C slave
+typedef bool_t (*Mpu60x0I2cSlaveConfigure)(Mpu60x0ConfigSet mpu_set, void* mpu);
+
+struct Mpu60x0I2cSlave {
+  Mpu60x0I2cSlaveConfigure configure;
+};
+
 struct Mpu60x0Config {
   uint8_t smplrt_div;                   ///< Sample rate divider
   enum Mpu60x0DLPF dlpf_cfg;            ///< Digital Low Pass Filter
   enum Mpu60x0GyroRanges gyro_range;    ///< deg/s Range
   enum Mpu60x0AccelRanges accel_range;  ///< g Range
-  bool_t i2c_bypass;                    ///< bypass mpu i2c
   bool_t drdy_int_enable;               ///< Enable Data Ready Interrupt
   uint8_t clk_sel;                      ///< Clock select
+  uint8_t nb_bytes;                     ///< number of bytes to read starting with MPU60X0_REG_INT_STATUS
   enum Mpu60x0ConfStatus init_status;   ///< init status
   bool_t initialized;                   ///< config done flag
+
+  /** Bypass MPU I2C.
+   * Only effective if using the I2C implementation.
+   */
+  bool_t i2c_bypass;
+
+  uint8_t nb_slaves;                    ///< number of used I2C slaves
+  struct Mpu60x0I2cSlave slaves[5];     ///< I2C slaves
+  enum Mpu60x0MstClk i2c_mst_clk;       ///< MPU I2C master clock speed
+  uint8_t i2c_mst_delay;                ///< MPU I2C slaves delayed sample rate
 };
 
 extern void mpu60x0_set_default_config(struct Mpu60x0Config *c);
 
-/// Configuration function prototype
-typedef void (*Mpu60x0ConfigSet)(void* mpu, uint8_t _reg, uint8_t _val);
-
 /// Configuration sequence called once before normal use
 extern void mpu60x0_send_config(Mpu60x0ConfigSet mpu_set, void* mpu, struct Mpu60x0Config* config);
 
+/**
+ * Configure I2C slaves of the MPU.
+ * This is I2C/SPI implementation specific.
+ * @param mpu_set configuration function
+ * @param mpu Mpu60x0Spi or Mpu60x0I2c peripheral
+ * @return TRUE when all slaves are configured
+ */
+extern bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void* mpu);
+
 #endif // MPU60X0_H

sw/airborne/peripherals/mpu60x0_i2c.c

@@ -44,6 +44,8 @@ void mpu60x0_i2c_init(struct Mpu60x0_I2c *mpu, struct i2c_periph *i2c_p, uint8_t
   mpu->data_available = FALSE;
   mpu->config.initialized = FALSE;
   mpu->config.init_status = MPU60X0_CONF_UNINIT;
+
+  mpu->slave_init_status = MPU60X0_I2C_CONF_UNINIT;
 }
 
 
@@ -70,7 +72,7 @@ void mpu60x0_i2c_read(struct Mpu60x0_I2c *mpu)
   if (mpu->config.initialized && mpu->i2c_trans.status == I2CTransDone) {
     /* set read bit and multiple byte bit, then address */
     mpu->i2c_trans.buf[0] = MPU60X0_REG_INT_STATUS;
-    i2c_transceive(mpu->i2c_p, &(mpu->i2c_trans), mpu->i2c_trans.slave_addr, 1, 15);
+    i2c_transceive(mpu->i2c_p, &(mpu->i2c_trans), mpu->i2c_trans.slave_addr, 1, mpu->config.nb_bytes);
   }
 }
 
@@ -84,14 +86,19 @@ void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
     }
     else if (mpu->i2c_trans.status == I2CTransSuccess) {
       // Successfull reading
-      if (bit_is_set(mpu->i2c_trans.buf[0],0)) {
+      if (bit_is_set(mpu->i2c_trans.buf[0], 0)) {
         // new data
-        mpu->data_accel.vect.x = Int16FromBuf(mpu->i2c_trans.buf,1);
+        mpu->data_accel.vect.x = Int16FromBuf(mpu->i2c_trans.buf, 1);
-        mpu->data_accel.vect.y = Int16FromBuf(mpu->i2c_trans.buf,3);
+        mpu->data_accel.vect.y = Int16FromBuf(mpu->i2c_trans.buf, 3);
-        mpu->data_accel.vect.z = Int16FromBuf(mpu->i2c_trans.buf,5);
+        mpu->data_accel.vect.z = Int16FromBuf(mpu->i2c_trans.buf, 5);
-        mpu->data_rates.rates.p = Int16FromBuf(mpu->i2c_trans.buf,9);
+        mpu->data_rates.rates.p = Int16FromBuf(mpu->i2c_trans.buf, 9);
-        mpu->data_rates.rates.q = Int16FromBuf(mpu->i2c_trans.buf,11);
+        mpu->data_rates.rates.q = Int16FromBuf(mpu->i2c_trans.buf, 11);
-        mpu->data_rates.rates.r = Int16FromBuf(mpu->i2c_trans.buf,13);
+        mpu->data_rates.rates.r = Int16FromBuf(mpu->i2c_trans.buf, 13);
+
+        // if we are reading slaves through the mpu, copy the ext_sens_data
+        if ((mpu->config.i2c_bypass == FALSE) && (mpu->config.nb_slaves > 0))
+          memcpy(mpu->data_ext, (void *) &(mpu->i2c_trans.buf[15]), mpu->config.nb_bytes - 15);
+
         mpu->data_available = TRUE;
       }
       mpu->i2c_trans.status = I2CTransDone;
@@ -103,12 +110,75 @@ void mpu60x0_i2c_event(struct Mpu60x0_I2c *mpu)
         mpu->config.init_status--; // Retry config (TODO max retry)
       case I2CTransSuccess:
       case I2CTransDone:
-        mpu->i2c_trans.status = I2CTransDone;
         mpu60x0_send_config(mpu60x0_i2c_write_to_reg, (void*)mpu, &(mpu->config));
-        if (mpu->config.initialized) mpu->i2c_trans.status = I2CTransDone;
+        if (mpu->config.initialized)
+          mpu->i2c_trans.status = I2CTransDone;
         break;
       default:
         break;
     }
   }
 }
+
+/** @todo: only one slave so far. */
+bool_t mpu60x0_configure_i2c_slaves(Mpu60x0ConfigSet mpu_set, void* mpu)
+{
+  struct Mpu60x0_I2c* mpu_i2c = (struct Mpu60x0_I2c*)(mpu);
+
+  if (mpu_i2c->slave_init_status == MPU60X0_I2C_CONF_UNINIT)
+    mpu_i2c->slave_init_status++;
+
+  switch (mpu_i2c->slave_init_status) {
+    case MPU60X0_I2C_CONF_I2C_MST_DIS:
+      mpu_set(mpu, MPU60X0_REG_USER_CTRL, 0);
+      mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_I2C_BYPASS_EN:
+      /* switch to I2C passthrough */
+      mpu_set(mpu, MPU60X0_REG_INT_PIN_CFG, (1<<1));
+      mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_SLAVES_CONFIGURE:
+      /* configure each slave. TODO: currently only one */
+      if (mpu_i2c->config.slaves[0].configure(mpu_set, mpu))
+        mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_I2C_BYPASS_DIS:
+      if (mpu_i2c->config.i2c_bypass) {
+        /* if bypassing I2C skip MPU I2C master setup */
+        mpu_i2c->slave_init_status = MPU60X0_I2C_CONF_DONE;
+      }
+      else {
+        /* disable I2C passthrough again */
+        mpu_set(mpu, MPU60X0_REG_INT_PIN_CFG, (0<<1));
+        mpu_i2c->slave_init_status++;
+      }
+      break;
+    case MPU60X0_I2C_CONF_I2C_MST_CLK:
+      /* configure MPU I2C master clock and stop/start between slave reads */
+      mpu_set(mpu, MPU60X0_REG_I2C_MST_CTRL,
+              ((1<<4) | mpu_i2c->config.i2c_mst_clk));
+      mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_I2C_MST_DELAY:
+      /* Set I2C slaves delayed sample rate */
+      mpu_set(mpu, MPU60X0_REG_I2C_MST_DELAY, mpu_i2c->config.i2c_mst_delay);
+      mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_I2C_SMPLRT:
+      /* I2C slave0 sample rate/2 = 100/2 = 50Hz */
+      mpu_set(mpu, MPU60X0_REG_I2C_SLV4_CTRL, 0);
+      mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_I2C_MST_EN:
+      /* enable internal I2C master */
+      mpu_set(mpu, MPU60X0_REG_USER_CTRL, (1 << MPU60X0_I2C_MST_EN));
+      mpu_i2c->slave_init_status++;
+      break;
+    case MPU60X0_I2C_CONF_DONE:
+      return TRUE;
+    default:
+      break;
+  }
+  return FALSE;
+}