mirror of https://github.com/ArduPilot/ardupilot
166 lines
10 KiB
Markdown
166 lines
10 KiB
Markdown
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* almost all code is fully rewritten
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* added check for all input parameters - no more HardFaults if setted wrong pin numbers
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* external I2C bus moved out from FlexiPort by Soft_I2C driver so we always has at least 3 UARTs
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* added 1 full-functional UART (only for quads) and 1 RX-only UART for DSM satellite receiver on OpLink connector
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* Unlike many other boards, fully implemented registerPeriodicCallback & Co calls
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* implemented simple preemptive multitasking
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* stack now in CCM memory
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* PPM and PWM inputs works via Timer's driver handlers
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* added DSM and SBUS parsing on PPM input
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* all hardware description tables are now 'const' and locates in flash
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* more reliable reset for I2C bus on hangups
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* all drivers support set_retries()
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* all delays - even microseconds - are very presize by using hardware clock counter (DWT_CYCCNT) in free-running mode
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* separated USB and UART drivers
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* new SoftwareSerial driver based on ST appnote
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* now it uses MPU6000 DRDY output
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* removed all compiler's warnings
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* ported and slightly altered bootloader to support flashing and start firmware automatically at addresses 8010000 and 8020000
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(2 low 16k flash pages are used to emulate EEPROM)
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* EEPROM emulation altered to ensure the reliability of data storage at power failures
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* optimized EEPROM usage by changing from 1-byte to 2-byte writes
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* all internal calls use static private methods
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* removed unused files
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* micros() call uses 32-bit hardware timer instead of awful systick_micros()
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* added parameters support for HAL
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* OneShot supported
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* added translation layer between system PWM modes and borad PWM modes
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* added descriptors for all STM internal hardware
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* added support to reboot to DFU mode (via "reboot to PX4 bootloader" in MP)
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* after any Fault or Panic() automatically reboots to DFU mode
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* diversity on RC_Input
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* unified exception handling
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* added ability to bind Spectrum satellite without managed 3.3 DC-DC (requires short power off)
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* added support for Arduino32 reset sequence - negative DTR edge on 1200 baud or '1eaf' packet with high DTR
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* fixed hang on dataflash malfunction
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* fixed USB characters loss *without* hangup if disconnected
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* added failsafe on receiver's hangup - if no channel changes in 60 seconds
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* changed to simplify support of slightly different boards - eg. AirbotF4
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* full support for AirbotF4 (separate binaries)
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* added support for servos on Input port unused pins
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* Added handling of FLASH_SR error bits, including automatic clearing of write protection
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* added Arduino-like support of relay on arbitrary pin
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* simplified UART driver, buffering now used even in non-blocking mode
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* EEPROM emulation locks flash after each write
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* EEPROM error handling
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* fixed Ardupilot's stealing of Servos even they marked as "Unused"
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* added compilation date & time to log output
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* added SBUS input via any USART with hardware inverter as on Airbot boards
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* added per-board read_me.md files
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* fixed Dataflash logs bug from mainstream - now logs are persists between reboots!
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* DMA mode for lagre SPI transfers
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* USB virtual com-port can be connected to any UART - eg. for OSD or 3DR modems setup
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* any UART can be connected to ESC for 4-way interface
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* support for logs on SD card for AirbotV2 board
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* fixed 2nd Dataflash logs bug from mainstream - now logs are persists between reboots even on boards having chips with 64k sector
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* I2C wait time limited to 30ms - no more forever hangs by external compass errors
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* FlexiPort can be switched between UART and I2C by parameter
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* The RCoutput module has been completely rewritten.
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* For the PWM outputs, the error in setting the timer frequency has been compensated.
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* added parameter to set PWM mode
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* added used memory reporting
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* added I2C error reporting
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* realized low-power idle state with WFE, TIMER6 is used to generate events each 1uS
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* added HAL_RC_INPUT parameter to allow to force RC input mode
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* added used stack reporting
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* added generation of .DFU file
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* time-consuming operations moved out from ISR level to IO_Completion level with low priority
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* added support for Clock Security System - if HSE fails in air system will use HSI instead
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* added boardEmergencyHandler which will be called on any Fault or Panic() before halt - eg. to release parachute
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* motor layout switched to per-board basis
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* console assignment switched to per-board basis
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* HAL switched to new DMA api with completion interrupts
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* AirbotV2 is fully supported with SD card and OSD
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* added support for reading from SD card via USB - HAL parameter allows to be USB MassStorege
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* added check for stack overflow for all tasks
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* all boards formats internal flash chip as FAT and allows access via USB
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* added spi flash autodetection
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* added support for TRIM command on FAT-formatted Dataflash
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* rewritten SD library to support 'errno' and early distinguish between file and dir
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* compass processing (4027uS) and baro processing(1271uS) moved out from interrupt level to task level, because its
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execution time spoils loop time (500Hz = 2000uS for all)
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* added reformatting of DataFlash in case of hard filesystem errors, which fixes FatFs bug when there is no free space
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after file overflows and then deleted
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* added autodetect for all known types of baro on external I2C bus
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* added autodetect for all known types of compass on external I2C bus
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* added check to I2C_Mgr for same device on same bus - to prevent autodetection like MS5611 (already initialized) as BMP_085
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* added time offset HAL parameter
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* added time syncronization between board's time and GPS time - so logs now will show real local date&time
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* i2c driver is fully rewritten, added parsing of bus error flags - ARLO & BERR
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* errors at STOP don't cause data loss or time errors - bus reset scheduled as once io_task
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* added parsing of TIMEOUT bus flag
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* added asyncronous bus reset in case when loockup occures after STOP generation
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* full BusReset changed to SoftReset on 1st try
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* new SoftI2C driver uses timer and works in interrupts
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* added support for SUMD and non-inverted SBUS via PPM pins
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* added support for SUMD via UARTs
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* MPU not uses FIFO - data readed out via interrupts
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* added parametr allowing to defer EEPROM save up to disarm
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* optimized preemptive multitask, which does not context switch if next task is the same as current. Real context switch occures in ~4% of calls to task scheduler
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* all work with task list moved out to ISR level so there is no race condition anymore
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* all work with semaphores moved out to the same ISR level so serialized by hardware and don't requires disabling interrupts
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* added parameter RC_FS to enable all RC failsafe
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* added disabling of data cache on flash write, just for case (upstream has this update too)
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* added a way to schedule context switch from ISR, eg. at data receive or IO_Complete
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* added timeout to SPI flags waiting
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* now task having started any IO (DMA or interrupts) goes to pause and resumes in IO_Completion ISR, not eating CPU time in wait loop
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* optimized I2C wait times to work on noisy lines
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* greatly reduced time of reformatting of DataFlash to FAT
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* I2C driver fully rewritten again to work via interrupts - no DMA, no polling
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* compass and baro gives bus semaphore ASAP to allow bus operations when calculations does
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* full status on only 2 leds - GPS sats count, failsafe, compass calibration, autotune etc
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* support for SBUS on any UART
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* PWM_IN is rewritten to use HAL drivers, as result its size decreased four times (!)
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* working PPM on AirbotV2/V3
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* buzzer support
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* added ability to connect buzzer to arbitrary pin (parameter BUZZ_PIN)
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* added priority to SPI DMA transfers, to prevent such issues - https://github.com/betaflight/betaflight/issues/2631
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* overclocking support
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* OSD is working
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* 'boards' folder moved from 'wirish' to HAL directory, to help to find them
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* added translation of decoded serial data from PPMn input port to fake UARTs
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* reduced to ~1.5uS time from interrupt to resuming task that was waiting that interrupt
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* unified NVIC handling
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* SoftSerial driver rewritten to not use PWM dependency. Now it can use any pin with timer for RX and any pin for TX, and there
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can be any number of SoftSerial UARTs
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* added per-task stack usage
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* SPI driver rewritten: added ISR mode instead of polling, all transfers are monolitic (not divded to send and receive parts), setup for receive now in ISR
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* all DataFlash reads and writes now in single SPI transfer
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* removed usage of one-byte SPI functions from SD driver
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* added support of criticalSections to Scheduler, which protect code from task switch without disabling interrupts
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* added CS assert/release delays to SPI device descriptrion table
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* added partial MPU support (only to protect from process stack overflow)
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* removed -fpermissive from GCC options
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* class SD is slightly redesigned, reducing the memory consumption by half (!)
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* optimized dma_init_transfer() function: now it twice faster and requires 3 times less memory
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* added SD size to bootlog
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* SPI via interrupts now works
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* added pin names to simplify porting of boards
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* added DSM rssi as last channel
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* IO tasks excluded from priority boost on yield()
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* added awakening of main thread after receiving of data from MPU
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* ArduCopter loop at 1KHz! fixed all issues, mean scheduling error is only 10uS - 10 times less than OS tick!
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* narowed type for timer_channel
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* added support for PWM outputs on N-channels of advanced timers
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* added support for inverted buzzer
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* added support for passive buzzer
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* added support for Devo telemetry protocol
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* fixed Soft_I2C timeout
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* all waits for SD answers moved to ISR as finite state machine
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* a try to support Ardupilot parameters on builtin OSD (untested)
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* removed unnecessary diagnostics which cause MAVlink corruption
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* added gyro drift compensation, parameter HAL_CORRECT_GYRO is a integrator time in seconds (30 is a good starting point).
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* added diagnosis of the cause of failsafe triggering
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* Parameter HAL_RC_FS now sets a time of RC failsafe in seconds (60 is a good value for digital protocols)
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* added MAVlink messages about SD card errors
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* renamed board *_MP32V1F4 to *_Revolution to simplify things
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* fixed bug in RC_Input that cause permanent Failsafe
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* added motor clipping reporting and baro compensation by GPS from https://github.com/DuraCopter/ardupilot
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* ...
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* a lot of minor enhancements
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