Revert "OP-1810 FOC"

This reverts commit 92e50c2eada1125c0acd24fe1bf786ed07969ccc.

Conflicts:
	Makefile
	ground/openpilotgcs/src/plugins/config/config.pro
	ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp
	ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp
	ground/openpilotgcs/src/plugins/setupwizard/pages/escpage.cpp
	ground/openpilotgcs/src/plugins/setupwizard/resources/connection-diagrams.svg
	ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h

Makefile

@@ -214,9 +214,10 @@ export OPGCSSYNTHDIR := $(BUILD_DIR)/openpilotgcs-synthetics
 DIRS += $(OPGCSSYNTHDIR)
 
 # Define supported board lists
-ALL_BOARDS    := oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
+ALL_BOARDS    := coptercontrol oplinkmini revolution osd revoproto simposix discoveryf4bare gpsplatinum revonano
 
 # Short names of each board (used to display board name in parallel builds)
+coptercontrol_short    := 'cc  '
 oplinkmini_short       := 'oplm'
 revolution_short       := 'revo'
 osd_short              := 'osd '

flight/pios/inc/pios_usb_defs.h

@@ -353,6 +353,7 @@ enum usb_cdc_notification {
 
 enum usb_product_ids {
     USB_PRODUCT_ID_OPENPILOT_MAIN = 0x415A,
+    USB_PRODUCT_ID_COPTERCONTROL  = 0x415B,
     USB_PRODUCT_ID_OPLINK = 0x415C,
     USB_PRODUCT_ID_CC3D = 0x415D,
     USB_PRODUCT_ID_REVOLUTION     = 0x415E,
@@ -363,9 +364,9 @@ enum usb_product_ids {
 enum usb_op_board_ids {
     USB_OP_BOARD_ID_OPENPILOT_MAIN = 1,
     /* Board ID 2 may be unused or AHRS */
-    USB_OP_BOARD_ID_OPLINK     = 3,
-    /* USB_OP_BOARD_ID_COPTERCONTROL  = 4, */
-    USB_OP_BOARD_ID_REVOLUTION = 5,
+    USB_OP_BOARD_ID_OPLINK = 3,
+    USB_OP_BOARD_ID_COPTERCONTROL  = 4,
+    USB_OP_BOARD_ID_REVOLUTION     = 5,
     USB_OP_BOARD_ID_OSD = 6,
 } __attribute__((packed));
 

flight/targets/boards/coptercontrol/board-info.mk

@@ -0,0 +1,23 @@
+BOARD_TYPE          := 0x04
+BOARD_REVISION      := 0x02
+BOOTLOADER_VERSION  := 0x04
+HW_TYPE             := 0x01
+
+MCU                 := cortex-m3
+CHIP                := STM32F103CBT
+BOARD               := STM32103CB_CC_Rev1
+MODEL               := MD
+MODEL_SUFFIX        := _CC
+
+OPENOCD_JTAG_CONFIG := foss-jtag.revb.cfg
+OPENOCD_CONFIG      := stm32f1x.cfg
+
+# Note: These must match the values in link_$(BOARD)_memory.ld
+BL_BANK_BASE        := 0x08000000  # Start of bootloader flash
+BL_BANK_SIZE        := 0x00003000  # Should include BD_INFO region
+FW_BANK_BASE        := 0x08003000  # Start of firmware flash
+FW_BANK_SIZE        := 0x0001D000  # Should include FW_DESC_SIZE
+
+FW_DESC_SIZE        := 0x00000064
+
+OSCILLATOR_FREQ     :=   8000000

flight/targets/boards/coptercontrol/board_hw_defs.c

@@ -0,0 +1,1525 @@
+/**
+ ******************************************************************************
+ * @file       board_hw_defs.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2012.
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ * @brief Defines board specific static initializers for hardware for the CopterControl board.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#define BOARD_REVISION_CC   1
+#define BOARD_REVISION_CC3D 2
+
+#if defined(PIOS_INCLUDE_LED)
+
+#include <pios_led_priv.h>
+static const struct pios_gpio pios_leds_cc[] = {
+    [PIOS_LED_HEARTBEAT] = {
+        .pin                =             {
+            .gpio = GPIOA,
+            .init =             {
+                .GPIO_Pin   = GPIO_Pin_6,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+            },
+        },
+        .active_low         = true
+    },
+};
+
+static const struct pios_gpio_cfg pios_led_cfg_cc = {
+    .gpios     = pios_leds_cc,
+    .num_gpios = NELEMENTS(pios_leds_cc),
+};
+
+static const struct pios_gpio pios_leds_cc3d[] = {
+    [PIOS_LED_HEARTBEAT] = {
+        .pin                =             {
+            .gpio = GPIOB,
+            .init =             {
+                .GPIO_Pin   = GPIO_Pin_3,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+            },
+        },
+        .remap              = GPIO_Remap_SWJ_JTAGDisable,
+        .active_low         = true
+    },
+};
+
+static const struct pios_gpio_cfg pios_led_cfg_cc3d = {
+    .gpios     = pios_leds_cc3d,
+    .num_gpios = NELEMENTS(pios_leds_cc3d),
+};
+
+const struct pios_gpio_cfg *PIOS_BOARD_HW_DEFS_GetLedCfg(uint32_t board_revision)
+{
+    switch (board_revision) {
+    case BOARD_REVISION_CC:         return &pios_led_cfg_cc;
+
+    case BOARD_REVISION_CC3D:       return &pios_led_cfg_cc3d;
+
+    default:                        return NULL;
+    }
+}
+
+#endif /* PIOS_INCLUDE_LED */
+
+#if defined(PIOS_INCLUDE_SPI)
+
+#include <pios_spi_priv.h>
+
+/* Gyro interface */
+void PIOS_SPI_gyro_irq_handler(void);
+void DMA1_Channel2_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
+void DMA1_Channel3_IRQHandler() __attribute__((alias("PIOS_SPI_gyro_irq_handler")));
+static const struct pios_spi_cfg pios_spi_gyro_cfg = {
+    .regs = SPI1,
+    .init = {
+        .SPI_Mode              = SPI_Mode_Master,
+        .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+        .SPI_DataSize          = SPI_DataSize_8b,
+        .SPI_NSS                                   = SPI_NSS_Soft,
+        .SPI_FirstBit          = SPI_FirstBit_MSB,
+        .SPI_CRCPolynomial     = 7,
+        .SPI_CPOL              = SPI_CPOL_High,
+        .SPI_CPHA              = SPI_CPHA_2Edge,
+        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_16, /* 10 Mhz */
+    },
+    .use_crc = false,
+    .dma     = {
+        .ahb_clk = RCC_AHBPeriph_DMA1,
+
+        .irq     = {
+            .flags = (DMA1_FLAG_TC2 | DMA1_FLAG_TE2 | DMA1_FLAG_HT2 | DMA1_FLAG_GL2),
+            .init  = {
+                .NVIC_IRQChannel    = DMA1_Channel2_IRQn,
+                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+                .NVIC_IRQChannelSubPriority        = 0,
+                .NVIC_IRQChannelCmd = ENABLE,
+            },
+        },
+
+        .rx                                        = {
+            .channel = DMA1_Channel2,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&(SPI1->DR),
+                .DMA_DIR                           = DMA_DIR_PeripheralSRC,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+                .DMA_Mode     = DMA_Mode_Normal,
+                .DMA_Priority = DMA_Priority_Medium,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        },
+        .tx                                        = {
+            .channel = DMA1_Channel3,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&(SPI1->DR),
+                .DMA_DIR                           = DMA_DIR_PeripheralDST,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+                .DMA_Mode     = DMA_Mode_Normal,
+                .DMA_Priority = DMA_Priority_Medium,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        },
+    },
+    .sclk                                          = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_5,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+    .miso                                          = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_6,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .mosi                                          = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_7,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+    .slave_count                                   = 1,
+    .ssel                                          = {
+        {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_4,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+            },
+        }
+    },
+};
+
+static uint32_t pios_spi_gyro_id;
+void PIOS_SPI_gyro_irq_handler(void)
+{
+    /* Call into the generic code to handle the IRQ for this specific device */
+    PIOS_SPI_IRQ_Handler(pios_spi_gyro_id);
+}
+
+
+/* Flash/Accel Interface
+ *
+ * NOTE: Leave this declared as const data so that it ends up in the
+ * .rodata section (ie. Flash) rather than in the .bss section (RAM).
+ */
+void PIOS_SPI_flash_accel_irq_handler(void);
+void DMA1_Channel4_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler")));
+void DMA1_Channel5_IRQHandler() __attribute__((alias("PIOS_SPI_flash_accel_irq_handler")));
+static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc3d = {
+    .regs = SPI2,
+    .init = {
+        .SPI_Mode              = SPI_Mode_Master,
+        .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+        .SPI_DataSize          = SPI_DataSize_8b,
+        .SPI_NSS                                   = SPI_NSS_Soft,
+        .SPI_FirstBit          = SPI_FirstBit_MSB,
+        .SPI_CRCPolynomial     = 7,
+        .SPI_CPOL              = SPI_CPOL_High,
+        .SPI_CPHA              = SPI_CPHA_2Edge,
+        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
+    },
+    .use_crc = false,
+    .dma     = {
+        .ahb_clk = RCC_AHBPeriph_DMA1,
+
+        .irq     = {
+            .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
+            .init  = {
+                .NVIC_IRQChannel    = DMA1_Channel4_IRQn,
+                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+                .NVIC_IRQChannelSubPriority        = 0,
+                .NVIC_IRQChannelCmd = ENABLE,
+            },
+        },
+
+        .rx                                        = {
+            .channel = DMA1_Channel4,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&(SPI2->DR),
+                .DMA_DIR                           = DMA_DIR_PeripheralSRC,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+                .DMA_Mode     = DMA_Mode_Normal,
+                .DMA_Priority = DMA_Priority_High,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        },
+        .tx                                        = {
+            .channel = DMA1_Channel5,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&(SPI2->DR),
+                .DMA_DIR                           = DMA_DIR_PeripheralDST,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+                .DMA_Mode     = DMA_Mode_Normal,
+                .DMA_Priority = DMA_Priority_High,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        },
+    },
+    .sclk                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_13,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+    .miso                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_14,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+        },
+    },
+    .mosi                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_15,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+    .slave_count                                   = 2,
+    .ssel                                          = {
+        {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_12,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+            }
+        },{
+            .gpio = GPIOC,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_15,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+            },
+        }
+    },
+};
+
+static const struct pios_spi_cfg pios_spi_flash_accel_cfg_cc = {
+    .regs = SPI2,
+    .init = {
+        .SPI_Mode              = SPI_Mode_Master,
+        .SPI_Direction         = SPI_Direction_2Lines_FullDuplex,
+        .SPI_DataSize          = SPI_DataSize_8b,
+        .SPI_NSS                                   = SPI_NSS_Soft,
+        .SPI_FirstBit          = SPI_FirstBit_MSB,
+        .SPI_CRCPolynomial     = 7,
+        .SPI_CPOL              = SPI_CPOL_High,
+        .SPI_CPHA              = SPI_CPHA_2Edge,
+        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_8,
+    },
+    .use_crc = false,
+    .dma     = {
+        .ahb_clk = RCC_AHBPeriph_DMA1,
+
+        .irq     = {
+            .flags = (DMA1_FLAG_TC4 | DMA1_FLAG_TE4 | DMA1_FLAG_HT4 | DMA1_FLAG_GL4),
+            .init  = {
+                .NVIC_IRQChannel    = DMA1_Channel4_IRQn,
+                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+                .NVIC_IRQChannelSubPriority        = 0,
+                .NVIC_IRQChannelCmd = ENABLE,
+            },
+        },
+
+        .rx                                        = {
+            .channel = DMA1_Channel4,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&(SPI2->DR),
+                .DMA_DIR                           = DMA_DIR_PeripheralSRC,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+                .DMA_Mode     = DMA_Mode_Normal,
+                .DMA_Priority = DMA_Priority_High,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        },
+        .tx                                        = {
+            .channel = DMA1_Channel5,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&(SPI2->DR),
+                .DMA_DIR                           = DMA_DIR_PeripheralDST,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Byte,
+                .DMA_Mode     = DMA_Mode_Normal,
+                .DMA_Priority = DMA_Priority_High,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        },
+    },
+    .sclk                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_13,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+    .miso                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_14,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+        },
+    },
+    .mosi                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_15,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+    .slave_count                                   = 2,
+    .ssel                                          = {
+        {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_12,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+            }
+        },{
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_7,
+                .GPIO_Speed = GPIO_Speed_50MHz,
+                .GPIO_Mode  = GPIO_Mode_Out_PP,
+            },
+        }
+    },
+};
+
+static uint32_t pios_spi_flash_accel_id;
+void PIOS_SPI_flash_accel_irq_handler(void)
+{
+    /* Call into the generic code to handle the IRQ for this specific device */
+    PIOS_SPI_IRQ_Handler(pios_spi_flash_accel_id);
+}
+
+#endif /* PIOS_INCLUDE_SPI */
+
+#if defined(PIOS_INCLUDE_FLASH)
+#include "pios_flashfs_logfs_priv.h"
+#include "pios_flash_jedec_priv.h"
+
+static const struct flashfs_logfs_cfg flashfs_w25x_cfg = {
+    .fs_magic      = 0x99abcdef,
+    .total_fs_size = 0x00080000, /* 512K bytes (128 sectors = entire chip) */
+    .arena_size    = 0x00010000, /* 256 * slot size */
+    .slot_size     = 0x00000100, /* 256 bytes */
+
+    .start_offset  = 0,          /* start at the beginning of the chip */
+    .sector_size   = 0x00001000, /* 4K bytes */
+    .page_size     = 0x00000100, /* 256 bytes */
+};
+
+
+static const struct flashfs_logfs_cfg flashfs_m25p_cfg = {
+    .fs_magic      = 0x99abceef,
+    .total_fs_size = 0x00200000, /* 2M bytes (32 sectors = entire chip) */
+    .arena_size    = 0x00010000, /* 256 * slot size */
+    .slot_size     = 0x00000100, /* 256 bytes */
+
+    .start_offset  = 0,          /* start at the beginning of the chip */
+    .sector_size   = 0x00010000, /* 64K bytes */
+    .page_size     = 0x00000100, /* 256 bytes */
+};
+
+#include "pios_flash.h"
+
+#endif /* PIOS_INCLUDE_FLASH */
+
+/*
+ * ADC system
+ */
+#if defined(PIOS_INCLUDE_ADC)
+#include "pios_adc_priv.h"
+extern void PIOS_ADC_handler(void);
+void DMA1_Channel1_IRQHandler() __attribute__((alias("PIOS_ADC_handler")));
+// Remap the ADC DMA handler to this one
+static const struct pios_adc_cfg pios_adc_cfg = {
+    .dma                                           = {
+        .ahb_clk = RCC_AHBPeriph_DMA1,
+        .irq     = {
+            .flags = (DMA1_FLAG_TC1 | DMA1_FLAG_TE1 | DMA1_FLAG_HT1 | DMA1_FLAG_GL1),
+            .init  = {
+                .NVIC_IRQChannel    = DMA1_Channel1_IRQn,
+                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+                .NVIC_IRQChannelSubPriority        = 0,
+                .NVIC_IRQChannelCmd = ENABLE,
+            },
+        },
+        .rx                                        = {
+            .channel = DMA1_Channel1,
+            .init    = {
+                .DMA_PeripheralBaseAddr            = (uint32_t)&ADC1->DR,
+                .DMA_DIR                           = DMA_DIR_PeripheralSRC,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Word,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
+                .DMA_Mode     = DMA_Mode_Circular,
+                .DMA_Priority = DMA_Priority_High,
+                .DMA_M2M                           = DMA_M2M_Disable,
+            },
+        }
+    },
+    .half_flag = DMA1_IT_HT1,
+    .full_flag = DMA1_IT_TC1,
+};
+
+void PIOS_ADC_handler()
+{
+    PIOS_ADC_DMA_Handler();
+}
+#endif /* if defined(PIOS_INCLUDE_ADC) */
+
+#include "pios_tim_priv.h"
+
+static const TIM_TimeBaseInitTypeDef tim_1_2_3_4_time_base = {
+    .TIM_Prescaler         = (PIOS_MASTER_CLOCK / 1000000) - 1,
+    .TIM_ClockDivision     = TIM_CKD_DIV1,
+    .TIM_CounterMode       = TIM_CounterMode_Up,
+    .TIM_Period            = ((1000000 / PIOS_SERVO_UPDATE_HZ) - 1),
+    .TIM_RepetitionCounter = 0x0000,
+};
+
+static const struct pios_tim_clock_cfg tim_1_cfg = {
+    .timer = TIM1,
+    .time_base_init                            = &tim_1_2_3_4_time_base,
+    .irq   = {
+        .init                                  = {
+            .NVIC_IRQChannel    = TIM1_CC_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+static const struct pios_tim_clock_cfg tim_2_cfg = {
+    .timer = TIM2,
+    .time_base_init                            = &tim_1_2_3_4_time_base,
+    .irq   = {
+        .init                                  = {
+            .NVIC_IRQChannel    = TIM2_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+static const struct pios_tim_clock_cfg tim_3_cfg = {
+    .timer = TIM3,
+    .time_base_init                            = &tim_1_2_3_4_time_base,
+    .irq   = {
+        .init                                  = {
+            .NVIC_IRQChannel    = TIM3_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+static const struct pios_tim_clock_cfg tim_4_cfg = {
+    .timer = TIM4,
+    .time_base_init                            = &tim_1_2_3_4_time_base,
+    .irq   = {
+        .init                                  = {
+            .NVIC_IRQChannel    = TIM4_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+static const struct pios_tim_channel pios_tim_rcvrport_all_channels[] = {
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_6,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_5,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+        .remap = GPIO_PartialRemap_TIM3,
+    },
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_3,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_0,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_4,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_1,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM2,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_0,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM2,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_1,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+};
+
+static const struct pios_tim_channel pios_tim_servoport_all_pins[] = {
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_4,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_9,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_3,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_8,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_7,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM1,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_8,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_4,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+        .remap = GPIO_PartialRemap_TIM3,
+    },
+    {
+        .timer = TIM2,
+        .timer_chan = TIM_Channel_3,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_2,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+};
+
+
+static const struct pios_tim_channel pios_tim_servoport_rcvrport_pins[] = {
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_4,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_9,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_3,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_8,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM4,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_7,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM1,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_8,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_4,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+        .remap = GPIO_PartialRemap_TIM3,
+    },
+    {
+        .timer = TIM2,
+        .timer_chan = TIM_Channel_3,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_2,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+
+    // Receiver port pins
+    // S3-S6 inputs are used as outputs in this case
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_3,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_0,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_4,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_1,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM2,
+        .timer_chan = TIM_Channel_1,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_0,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+    {
+        .timer = TIM2,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .gpio = GPIOA,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_1,
+                .GPIO_Mode  = GPIO_Mode_AF_PP,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+    },
+};
+
+static const struct pios_tim_channel pios_tim_ppm_flexi_port = {
+    .timer = TIM2,
+    .timer_chan         = TIM_Channel_4,
+    .pin   = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Mode  = GPIO_Mode_IPD,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+        },
+    },
+    .remap              = GPIO_PartialRemap2_TIM2,
+};
+
+#if defined(PIOS_INCLUDE_USART)
+
+#include "pios_usart_priv.h"
+
+static const struct pios_usart_cfg pios_usart_generic_main_cfg = {
+    .regs = USART1,
+    .init = {
+        .USART_BaudRate   = 57600,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_No,
+        .USART_StopBits   = USART_StopBits_1,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx | USART_Mode_Tx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_9,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+};
+
+static const struct pios_usart_cfg pios_usart_generic_flexi_cfg = {
+    .regs = USART3,
+    .init = {
+        .USART_BaudRate   = 57600,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_No,
+        .USART_StopBits   = USART_StopBits_1,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx | USART_Mode_Tx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART3_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+};
+
+#if defined(PIOS_INCLUDE_DSM)
+/*
+ * Spektrum/JR DSM USART
+ */
+#include <pios_dsm_priv.h>
+
+static const struct pios_usart_cfg pios_usart_dsm_main_cfg = {
+    .regs = USART1,
+    .init = {
+        .USART_BaudRate   = 115200,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_No,
+        .USART_StopBits   = USART_StopBits_1,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_9,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+        },
+    },
+};
+
+static const struct pios_dsm_cfg pios_dsm_main_cfg = {
+    .bind               = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_Out_PP,
+        },
+    },
+};
+
+static const struct pios_usart_cfg pios_usart_dsm_flexi_cfg = {
+    .regs = USART3,
+    .init = {
+        .USART_BaudRate   = 115200,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_No,
+        .USART_StopBits   = USART_StopBits_1,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART3_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+        },
+    },
+};
+
+static const struct pios_dsm_cfg pios_dsm_flexi_cfg = {
+    .bind               = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_Out_PP,
+        },
+    },
+};
+
+#endif /* PIOS_INCLUDE_DSM */
+
+
+#if defined(PIOS_INCLUDE_SBUS)
+/*
+ * S.Bus USART
+ */
+#include <pios_sbus_priv.h>
+
+static const struct pios_usart_cfg pios_usart_sbus_main_cfg = {
+    .regs = USART1,
+    .init = {
+        .USART_BaudRate   = 100000,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_Even,
+        .USART_StopBits   = USART_StopBits_2,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_9,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+        },
+    },
+};
+
+static const struct pios_sbus_cfg pios_sbus_cfg = {
+    /* Inverter configuration */
+    .inv                = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_2,
+            .GPIO_Mode  = GPIO_Mode_Out_PP,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+        },
+    },
+    .gpio_clk_func   = RCC_APB2PeriphClockCmd,
+    .gpio_clk_periph = RCC_APB2Periph_GPIOB,
+    .gpio_inv_enable = Bit_SET,
+};
+
+#endif /* PIOS_INCLUDE_SBUS */
+
+/*
+ * HK OSD
+ */
+static const struct pios_usart_cfg pios_usart_hkosd_main_cfg = {
+    .regs = USART1,
+    .init = {
+        .USART_BaudRate   = 57600,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_No,
+        .USART_StopBits   = USART_StopBits_1,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx | USART_Mode_Tx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART1_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_9,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+};
+
+static const struct pios_usart_cfg pios_usart_hkosd_flexi_cfg = {
+    .regs = USART3,
+    .init = {
+        .USART_BaudRate   = 57600,
+        .USART_WordLength = USART_WordLength_8b,
+        .USART_Parity     = USART_Parity_No,
+        .USART_StopBits   = USART_StopBits_1,
+        .USART_HardwareFlowControl             = USART_HardwareFlowControl_None,
+        .USART_Mode                            = USART_Mode_Rx | USART_Mode_Tx,
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USART3_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .rx                                        = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_IPU,
+        },
+    },
+    .tx                                        = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_PP,
+        },
+    },
+};
+
+
+#endif /* PIOS_INCLUDE_USART */
+
+#if defined(PIOS_INCLUDE_COM)
+
+#include "pios_com_priv.h"
+
+#endif /* PIOS_INCLUDE_COM */
+
+#if defined(PIOS_INCLUDE_RTC)
+/*
+ * Realtime Clock (RTC)
+ */
+#include <pios_rtc_priv.h>
+
+void PIOS_RTC_IRQ_Handler(void);
+void RTC_IRQHandler() __attribute__((alias("PIOS_RTC_IRQ_Handler")));
+static const struct pios_rtc_cfg pios_rtc_main_cfg = {
+    .clksrc    = RCC_RTCCLKSource_HSE_Div128,
+    .prescaler = 100,
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = RTC_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_MID,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+void PIOS_RTC_IRQ_Handler(void)
+{
+    PIOS_RTC_irq_handler();
+}
+
+#endif /* if defined(PIOS_INCLUDE_RTC) */
+
+#if defined(PIOS_INCLUDE_SERVO) && defined(PIOS_INCLUDE_TIM)
+/*
+ * Servo outputs
+ */
+#include <pios_servo_priv.h>
+
+const struct pios_servo_cfg pios_servo_cfg = {
+    .tim_oc_init          = {
+        .TIM_OCMode       = TIM_OCMode_PWM1,
+        .TIM_OutputState  = TIM_OutputState_Enable,
+        .TIM_OutputNState = TIM_OutputNState_Disable,
+        .TIM_Pulse        = PIOS_SERVOS_INITIAL_POSITION,
+        .TIM_OCPolarity   = TIM_OCPolarity_High,
+        .TIM_OCNPolarity  = TIM_OCPolarity_High,
+        .TIM_OCIdleState  = TIM_OCIdleState_Reset,
+        .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+    },
+    .channels     = pios_tim_servoport_all_pins,
+    .num_channels = NELEMENTS(pios_tim_servoport_all_pins),
+};
+
+const struct pios_servo_cfg pios_servo_rcvr_cfg = {
+    .tim_oc_init          = {
+        .TIM_OCMode       = TIM_OCMode_PWM1,
+        .TIM_OutputState  = TIM_OutputState_Enable,
+        .TIM_OutputNState = TIM_OutputNState_Disable,
+        .TIM_Pulse        = PIOS_SERVOS_INITIAL_POSITION,
+        .TIM_OCPolarity   = TIM_OCPolarity_High,
+        .TIM_OCNPolarity  = TIM_OCPolarity_High,
+        .TIM_OCIdleState  = TIM_OCIdleState_Reset,
+        .TIM_OCNIdleState = TIM_OCNIdleState_Reset,
+    },
+    .channels     = pios_tim_servoport_rcvrport_pins,
+    .num_channels = NELEMENTS(pios_tim_servoport_rcvrport_pins),
+};
+
+#endif /* PIOS_INCLUDE_SERVO && PIOS_INCLUDE_TIM */
+
+/*
+ * PPM Inputs
+ */
+#if defined(PIOS_INCLUDE_PPM)
+#include <pios_ppm_priv.h>
+
+const struct pios_ppm_cfg pios_ppm_cfg = {
+    .tim_ic_init         = {
+        .TIM_ICPolarity  = TIM_ICPolarity_Rising,
+        .TIM_ICSelection = TIM_ICSelection_DirectTI,
+        .TIM_ICPrescaler = TIM_ICPSC_DIV1,
+        .TIM_ICFilter    = 0x0,
+    },
+    /* Use only the first channel for ppm */
+    .channels     = &pios_tim_rcvrport_all_channels[0],
+    .num_channels = 1,
+};
+
+const struct pios_ppm_cfg pios_ppm_pin8_cfg = {
+    .tim_ic_init         = {
+        .TIM_ICPolarity  = TIM_ICPolarity_Rising,
+        .TIM_ICSelection = TIM_ICSelection_DirectTI,
+        .TIM_ICPrescaler = TIM_ICPSC_DIV1,
+        .TIM_ICFilter    = 0x0,
+    },
+    /* Use only the first channel for ppm */
+    .channels     = &pios_tim_rcvrport_all_channels[5],
+    .num_channels = 1,
+};
+
+#endif /* PIOS_INCLUDE_PPM */
+
+#if defined(PIOS_INCLUDE_PPM_FLEXI)
+#include <pios_ppm_priv.h>
+
+const struct pios_ppm_cfg pios_ppm_flexi_cfg = {
+    .tim_ic_init         = {
+        .TIM_ICPolarity  = TIM_ICPolarity_Rising,
+        .TIM_ICSelection = TIM_ICSelection_DirectTI,
+        .TIM_ICPrescaler = TIM_ICPSC_DIV1,
+        .TIM_ICFilter    = 0x0,
+    },
+    .channels     = &pios_tim_ppm_flexi_port,
+    .num_channels = 1,
+};
+
+#endif /* PIOS_INCLUDE_PPM_FLEXI */
+
+/*
+ * PWM Inputs
+ */
+#if defined(PIOS_INCLUDE_PWM)
+#include <pios_pwm_priv.h>
+
+const struct pios_pwm_cfg pios_pwm_cfg = {
+    .tim_ic_init         = {
+        .TIM_ICPolarity  = TIM_ICPolarity_Rising,
+        .TIM_ICSelection = TIM_ICSelection_DirectTI,
+        .TIM_ICPrescaler = TIM_ICPSC_DIV1,
+        .TIM_ICFilter    = 0x0,
+    },
+    .channels     = pios_tim_rcvrport_all_channels,
+    .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels),
+};
+
+const struct pios_pwm_cfg pios_pwm_with_ppm_cfg = {
+    .tim_ic_init         = {
+        .TIM_ICPolarity  = TIM_ICPolarity_Rising,
+        .TIM_ICSelection = TIM_ICSelection_DirectTI,
+        .TIM_ICPrescaler = TIM_ICPSC_DIV1,
+        .TIM_ICFilter    = 0x0,
+    },
+    /* Leave the first channel for PPM use and use the rest for PWM */
+    .channels     = &pios_tim_rcvrport_all_channels[1],
+    .num_channels = NELEMENTS(pios_tim_rcvrport_all_channels) - 1,
+};
+
+#endif /* if defined(PIOS_INCLUDE_PWM) */
+
+
+/*
+ * SONAR Inputs
+ */
+#if defined(PIOS_INCLUDE_HCSR04)
+#include <pios_hcsr04_priv.h>
+
+static const struct pios_tim_channel pios_tim_hcsr04_port_all_channels[] = {
+    {
+        .timer = TIM3,
+        .timer_chan = TIM_Channel_2,
+        .pin   = {
+            .gpio = GPIOB,
+            .init = {
+                .GPIO_Pin   = GPIO_Pin_5,
+                .GPIO_Mode  = GPIO_Mode_IPD,
+                .GPIO_Speed = GPIO_Speed_2MHz,
+            },
+        },
+        .remap = GPIO_PartialRemap_TIM3,
+    },
+};
+
+const struct pios_hcsr04_cfg pios_hcsr04_cfg = {
+    .tim_ic_init         = {
+        .TIM_ICPolarity  = TIM_ICPolarity_Rising,
+        .TIM_ICSelection = TIM_ICSelection_DirectTI,
+        .TIM_ICPrescaler = TIM_ICPSC_DIV1,
+        .TIM_ICFilter    = 0x0,
+    },
+    .channels     = pios_tim_hcsr04_port_all_channels,
+    .num_channels = NELEMENTS(pios_tim_hcsr04_port_all_channels),
+    .trigger             = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_6,
+            .GPIO_Mode  = GPIO_Mode_Out_PP,
+            .GPIO_Speed = GPIO_Speed_2MHz,
+        },
+    },
+};
+#endif /* if defined(PIOS_INCLUDE_HCSR04) */
+
+#if defined(PIOS_INCLUDE_I2C)
+
+#include <pios_i2c_priv.h>
+
+/*
+ * I2C Adapters
+ */
+
+void PIOS_I2C_flexi_adapter_ev_irq_handler(void);
+void PIOS_I2C_flexi_adapter_er_irq_handler(void);
+void I2C2_EV_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_ev_irq_handler")));
+void I2C2_ER_IRQHandler() __attribute__((alias("PIOS_I2C_flexi_adapter_er_irq_handler")));
+
+static const struct pios_i2c_adapter_cfg pios_i2c_flexi_adapter_cfg = {
+    .regs = I2C2,
+    .init = {
+        .I2C_Mode = I2C_Mode_I2C,
+        .I2C_OwnAddress1                       = 0,
+        .I2C_Ack  = I2C_Ack_Enable,
+        .I2C_AcknowledgedAddress               = I2C_AcknowledgedAddress_7bit,
+        .I2C_DutyCycle                         = I2C_DutyCycle_2,
+        .I2C_ClockSpeed                        = 400000,                      /* bits/s */
+    },
+    .transfer_timeout_ms                       = 50,
+    .scl                                       = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_OD,
+        },
+    },
+    .sda                                       = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_OD,
+        },
+    },
+    .event                                     = {
+        .flags = 0,               /* FIXME: check this */
+        .init  = {
+            .NVIC_IRQChannel    = I2C2_EV_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .error                                     = {
+        .flags = 0,               /* FIXME: check this */
+        .init  = {
+            .NVIC_IRQChannel    = I2C2_ER_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGHEST,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+};
+
+uint32_t pios_i2c_flexi_adapter_id;
+void PIOS_I2C_flexi_adapter_ev_irq_handler(void)
+{
+    /* Call into the generic code to handle the IRQ for this specific device */
+    PIOS_I2C_EV_IRQ_Handler(pios_i2c_flexi_adapter_id);
+}
+
+void PIOS_I2C_flexi_adapter_er_irq_handler(void)
+{
+    /* Call into the generic code to handle the IRQ for this specific device */
+    PIOS_I2C_ER_IRQ_Handler(pios_i2c_flexi_adapter_id);
+}
+
+#endif /* PIOS_INCLUDE_I2C */
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+#include "pios_gcsrcvr_priv.h"
+#endif /* PIOS_INCLUDE_GCSRCVR */
+
+#if defined(PIOS_INCLUDE_RCVR)
+#include "pios_rcvr_priv.h"
+
+#endif /* PIOS_INCLUDE_RCVR */
+
+#if defined(PIOS_INCLUDE_USB)
+#include "pios_usb_priv.h"
+
+static const struct pios_usb_cfg pios_usb_main_cfg_cc = {
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USB_LP_CAN1_RX0_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .vsense                                    = {
+        .gpio = GPIOC,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_15,
+            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_OD,
+        },
+    },
+    .vsense_active_low                         = false
+};
+
+static const struct pios_usb_cfg pios_usb_main_cfg_cc3d = {
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = USB_LP_CAN1_RX0_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_LOW,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .vsense                                    = {
+        .gpio = GPIOC,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_14,
+            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Mode  = GPIO_Mode_AF_OD,
+        },
+    },
+    .vsense_active_low                         = false
+};
+
+#include "pios_usb_board_data_priv.h"
+#include "pios_usb_desc_hid_cdc_priv.h"
+#include "pios_usb_desc_hid_only_priv.h"
+
+#endif /* PIOS_INCLUDE_USB */
+
+#if defined(PIOS_INCLUDE_COM_MSG)
+
+#include <pios_com_msg_priv.h>
+
+#endif /* PIOS_INCLUDE_COM_MSG */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+#include <pios_usb_hid_priv.h>
+
+const struct pios_usb_hid_cfg pios_usb_hid_cfg = {
+    .data_if    = 2,
+    .data_rx_ep = 1,
+    .data_tx_ep = 1,
+};
+
+#endif /* PIOS_INCLUDE_USB_HID */
+
+#if defined(PIOS_INCLUDE_USB_RCTX)
+#include <pios_usb_rctx_priv.h>
+
+const struct pios_usb_rctx_cfg pios_usb_rctx_cfg = {
+    .data_if    = 2,
+    .data_tx_ep = 1,
+};
+
+#endif /* PIOS_INCLUDE_USB_RCTX */
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+#include <pios_usb_cdc_priv.h>
+
+const struct pios_usb_cdc_cfg pios_usb_cdc_cfg = {
+    .ctrl_if    = 0,
+    .ctrl_tx_ep = 2,
+
+    .data_if    = 1,
+    .data_rx_ep = 3,
+    .data_tx_ep = 3,
+};
+#endif /* PIOS_INCLUDE_USB_CDC */

flight/targets/boards/coptercontrol/bootloader/Makefile

@@ -0,0 +1,32 @@
+#
+# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+ifndef OPENPILOT_IS_COOL
+    $(error Top level Makefile must be used to build this target)
+endif
+
+## The standard CMSIS startup
+SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c
+
+include ../board-info.mk
+include $(ROOT_DIR)/make/firmware-defs.mk
+include $(ROOT_DIR)/make/boot-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk
+
+$(info Making bootloader for CopterControl, board revision $(BOARD_REVISION))
+$(info Use BOARD_REVISION=1 for CC, BOARD_REVISION=2 for CC3D (default))

flight/targets/boards/coptercontrol/bootloader/inc/common.h

@@ -0,0 +1,115 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       common.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This file contains various common defines for the BootLoader
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef COMMON_H_
+#define COMMON_H_
+
+// #include "board.h"
+
+typedef enum {
+    start, keepgoing,
+} DownloadAction;
+
+/**************************************************/
+/* OP_DFU states                       */
+/**************************************************/
+
+typedef enum {
+    DFUidle, // 0
+    uploading, // 1
+    wrong_packet_received, // 2
+    too_many_packets, // 3
+    too_few_packets, // 4
+    Last_operation_Success, // 5
+    downloading, // 6
+    BLidle, // 7
+    Last_operation_failed, // 8
+    uploadingStarting, // 9
+    outsideDevCapabilities, // 10
+    CRC_Fail, // 11
+    failed_jump,
+// 12
+} DFUStates;
+/**************************************************/
+/* OP_DFU commands                       */
+/**************************************************/
+typedef enum {
+    Reserved, // 0
+    Req_Capabilities, // 1
+    Rep_Capabilities, // 2
+    EnterDFU, // 3
+    JumpFW, // 4
+    Reset, // 5
+    Abort_Operation, // 6
+    Upload, // 7
+    Op_END, // 8
+    Download_Req, // 9
+    Download, // 10
+    Status_Request, // 11
+    Status_Rep
+// 12
+} DFUCommands;
+
+typedef enum {
+    High_Density, Medium_Density
+} DeviceType;
+/**************************************************/
+/* OP_DFU transfer types                       */
+/**************************************************/
+typedef enum {
+    FW, // 0
+    Descript
+// 2
+} DFUTransfer;
+/**************************************************/
+/* OP_DFU transfer port                           */
+/**************************************************/
+typedef enum {
+    Usb, // 0
+    Serial
+// 2
+} DFUPort;
+/**************************************************/
+/* OP_DFU programable programable HW types        */
+/**************************************************/
+typedef enum {
+    Self_flash, // 0
+    Remote_flash_via_spi
+// 1
+} DFUProgType;
+/**************************************************/
+/* OP_DFU programable sources			          */
+/**************************************************/
+#define USB            0
+#define SPI            1
+
+#define DownloadDelay  100000
+
+#define MAX_DEL_RETRYS 3
+#define MAX_WRI_RETRYS 3
+
+#endif /* COMMON_H_ */

flight/targets/boards/coptercontrol/bootloader/inc/pios_config.h

@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ * @{
+ * @file       pios_config.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header.
+ *             Central compile time config for the project.
+ *             In particular, pios_config.h is where you define which PiOS libraries
+ *             and features are included in the firmware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_CONFIG_H
+#define PIOS_CONFIG_H
+
+/* Enable/Disable PiOS modules */
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_USB
+#define PIOS_INCLUDE_USB_HID
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_COM_MSG
+#define PIOS_INCLUDE_BL_HELPER
+#define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT
+
+#endif /* PIOS_CONFIG_H */
+
+/**
+ * @}
+ * @}
+ */

flight/targets/boards/coptercontrol/bootloader/inc/pios_usb_board_data.h

@@ -0,0 +1,53 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_USB_BOARD_DATA_H
+#define PIOS_USB_BOARD_DATA_H
+
+// Note : changing below length will require changes to the USB buffer setup
+#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
+
+#define PIOS_USB_BOARD_EP_NUM          2
+
+#include <pios_usb_defs.h> /* struct usb_* */
+
+#define PIOS_USB_BOARD_PRODUCT_ID      USB_PRODUCT_ID_COPTERCONTROL
+#define PIOS_USB_BOARD_DEVICE_VER      USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_BL)
+#define PIOS_USB_BOARD_SN_SUFFIX       "+BL"
+
+/*
+ * The bootloader uses a simplified report structure
+ *   BL: <REPORT_ID><DATA>...<DATA>
+ *   FW: <REPORT_ID><LENGTH><DATA>...<DATA>
+ * This define changes the behaviour in pios_usb_hid.c
+ */
+#define PIOS_USB_BOARD_BL_HID_HAS_NO_LENGTH_BYTE
+
+#endif /* PIOS_USB_BOARD_DATA_H */

flight/targets/boards/coptercontrol/bootloader/main.c

@@ -0,0 +1,223 @@
+/**
+ ******************************************************************************
+ * @addtogroup CopterControlBL CopterControl BootLoader
+ * @brief These files contain the code to the CopterControl Bootloader.
+ *
+ * @{
+ * @file       main.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      This is the file with the main function of the OpenPilot BootLoader
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+#include <pios_board_info.h>
+#include <op_dfu.h>
+#include <usb_lib.h>
+#include <pios_iap.h>
+#include <fifo_buffer.h>
+#include <pios_com_msg.h>
+
+/* Prototype of PIOS_Board_Init() function */
+extern void PIOS_Board_Init(void);
+extern void FLASH_Download();
+#define BSL_HOLD_STATE ((PIOS_USB_DETECT_GPIO_PORT->IDR & PIOS_USB_DETECT_GPIO_PIN) ? 0 : 1)
+
+/* Private typedef -----------------------------------------------------------*/
+typedef void (*pFunction)(void);
+/* Private define ------------------------------------------------------------*/
+/* Private macro -------------------------------------------------------------*/
+/* Private variables ---------------------------------------------------------*/
+pFunction Jump_To_Application;
+uint32_t JumpAddress;
+
+/// LEDs PWM
+uint32_t period1 = 5000; // 5 mS
+uint32_t sweep_steps1 = 100; // * 5 mS -> 500 mS
+uint32_t period2 = 5000; // 5 mS
+uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
+
+
+////////////////////////////////////////
+uint8_t tempcount = 0;
+
+/* Extern variables ----------------------------------------------------------*/
+DFUStates DeviceState;
+int16_t status           = 0;
+uint8_t JumpToApp        = FALSE;
+uint8_t GO_dfu           = FALSE;
+uint8_t USB_connected    = FALSE;
+uint8_t User_DFU_request = FALSE;
+static uint8_t mReceive_Buffer[63];
+/* Private function prototypes -----------------------------------------------*/
+uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count);
+uint8_t processRX();
+void jump_to_app();
+
+int main()
+{
+    PIOS_SYS_Init();
+    PIOS_Board_Init();
+    PIOS_IAP_Init();
+
+    USB_connected = PIOS_USB_CableConnected(0);
+
+    if (PIOS_IAP_CheckRequest() == TRUE) {
+        PIOS_DELAY_WaitmS(1000);
+        User_DFU_request = TRUE;
+        PIOS_IAP_ClearRequest();
+    }
+
+    GO_dfu = (USB_connected == TRUE) || (User_DFU_request == TRUE);
+
+    if (GO_dfu == TRUE) {
+        PIOS_Board_Init();
+        if (User_DFU_request == TRUE) {
+            DeviceState = DFUidle;
+        } else {
+            DeviceState = BLidle;
+        }
+    } else {
+        JumpToApp = TRUE;
+    }
+
+    uint32_t stopwatch  = 0;
+    uint32_t prev_ticks = PIOS_DELAY_GetuS();
+    while (TRUE) {
+        /* Update the stopwatch */
+        uint32_t elapsed_ticks = PIOS_DELAY_GetuSSince(prev_ticks);
+        prev_ticks += elapsed_ticks;
+        stopwatch  += elapsed_ticks;
+
+        if (JumpToApp == TRUE) {
+            jump_to_app();
+        }
+
+        switch (DeviceState) {
+        case Last_operation_Success:
+        case uploadingStarting:
+        case DFUidle:
+            period1 = 5000;
+            sweep_steps1 = 100;
+            PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+            period2 = 0;
+            break;
+        case uploading:
+            period1 = 5000;
+            sweep_steps1 = 100;
+            period2 = 2500;
+            sweep_steps2 = 50;
+            break;
+        case downloading:
+            period1 = 2500;
+            sweep_steps1 = 50;
+            PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+            period2 = 0;
+            break;
+        case BLidle:
+            period1 = 0;
+            PIOS_LED_On(PIOS_LED_HEARTBEAT);
+            period2 = 0;
+            break;
+        default: // error
+            period1 = 5000;
+            sweep_steps1 = 100;
+            period2 = 5000;
+            sweep_steps2 = 100;
+        }
+
+        if (period1 != 0) {
+            if (LedPWM(period1, sweep_steps1, stopwatch)) {
+                PIOS_LED_On(PIOS_LED_HEARTBEAT);
+            } else {
+                PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+            }
+        } else {
+            PIOS_LED_On(PIOS_LED_HEARTBEAT);
+        }
+
+        if (period2 != 0) {
+            if (LedPWM(period2, sweep_steps2, stopwatch)) {
+                PIOS_LED_On(PIOS_LED_HEARTBEAT);
+            } else {
+                PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+            }
+        } else {
+            PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+        }
+
+        if (stopwatch > 50 * 1000 * 1000) {
+            stopwatch = 0;
+        }
+        if ((stopwatch > 6 * 1000 * 1000) && ((DeviceState == BLidle) || (DeviceState == DFUidle && !USB_connected))) {
+            JumpToApp = TRUE;
+        }
+
+        processRX();
+        DataDownload(start);
+    }
+}
+
+void jump_to_app()
+{
+    const struct pios_board_info *bdinfo = &pios_board_info_blob;
+
+    if (((*(__IO uint32_t *)bdinfo->fw_base) & 0x2FFE0000) == 0x20000000) { /* Jump to user application */
+        FLASH_Lock();
+        RCC_APB2PeriphResetCmd(0xffffffff, ENABLE);
+        RCC_APB1PeriphResetCmd(0xffffffff, ENABLE);
+        RCC_APB2PeriphResetCmd(0xffffffff, DISABLE);
+        RCC_APB1PeriphResetCmd(0xffffffff, DISABLE);
+        _SetCNTR(0); // clear interrupt mask
+        _SetISTR(0); // clear all requests
+        JumpAddress = *(__IO uint32_t *)(bdinfo->fw_base + 4);
+        Jump_To_Application = (pFunction)JumpAddress;
+        /* Initialize user application's Stack Pointer */
+        __set_MSP(*(__IO uint32_t *)bdinfo->fw_base);
+        Jump_To_Application();
+    } else {
+        DeviceState = failed_jump;
+        return;
+    }
+}
+uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
+{
+    uint32_t curr_step  = (count / pwm_period) % pwm_sweep_steps; /* 0 - pwm_sweep_steps */
+    uint32_t pwm_duty   = pwm_period * curr_step / pwm_sweep_steps; /* fraction of pwm_period */
+
+    uint32_t curr_sweep = (count / (pwm_period * pwm_sweep_steps)); /* ticks once per full sweep */
+
+    if (curr_sweep & 1) {
+        pwm_duty = pwm_period - pwm_duty; /* reverse direction in odd sweeps */
+    }
+    return ((count % pwm_period) > pwm_duty) ? 1 : 0;
+}
+
+uint8_t processRX()
+{
+    if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
+        processComand(mReceive_Buffer);
+    }
+    return TRUE;
+}
+
+int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
+{
+    return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
+}

flight/targets/boards/coptercontrol/bootloader/pios_board.c

@@ -0,0 +1,106 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board specific static initializers for hardware for the CopterControl board.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include <pios.h>
+#include <pios_board_info.h>
+
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
+
+uint32_t pios_com_telem_usb_id;
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core subsystems on this specific hardware
+ * called from System/openpilot.c
+ */
+static bool board_init_complete = false;
+void PIOS_Board_Init(void)
+{
+    if (board_init_complete) {
+        return;
+    }
+
+    /* Enable Prefetch Buffer */
+    FLASH_PrefetchBufferCmd(FLASH_PrefetchBuffer_Enable);
+
+    /* Flash 2 wait state */
+    FLASH_SetLatency(FLASH_Latency_2);
+
+    /* Delay system */
+    PIOS_DELAY_Init();
+
+    const struct pios_board_info *bdinfo = &pios_board_info_blob;
+
+#if defined(PIOS_INCLUDE_LED)
+    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    PIOS_Assert(led_cfg);
+    PIOS_LED_Init(led_cfg);
+#endif /* PIOS_INCLUDE_LED */
+
+#if defined(PIOS_INCLUDE_USB)
+    /* Initialize board specific USB data */
+    PIOS_USB_BOARD_DATA_Init();
+
+    /* Activate the HID-only USB configuration */
+    PIOS_USB_DESC_HID_ONLY_Init();
+
+    uint32_t pios_usb_id;
+    switch (bdinfo->board_rev) {
+    case BOARD_REVISION_CC:
+        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
+        break;
+    case BOARD_REVISION_CC3D:
+        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
+        break;
+    default:
+        PIOS_Assert(0);
+    }
+#if defined(PIOS_INCLUDE_USB_HID) && defined(PIOS_INCLUDE_COM_MSG)
+    uint32_t pios_usb_hid_id;
+    if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
+        PIOS_Assert(0);
+    }
+    if (PIOS_COM_MSG_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id)) {
+        PIOS_Assert(0);
+    }
+#endif /* PIOS_INCLUDE_USB_HID && PIOS_INCLUDE_COM_MSG */
+
+#endif /* PIOS_INCLUDE_USB */
+
+    RCC_AHBPeriphClockCmd(RCC_AHBPeriph_CRC, ENABLE); // TODO Tirar
+
+    board_init_complete = true;
+}
+
+void PIOS_ADC_DMA_Handler()
+{}

flight/targets/boards/coptercontrol/firmware/Makefile

@@ -0,0 +1,148 @@
+#
+# Copyright (c) 2009-2013, The OpenPilot Team, http://www.openpilot.org
+# Copyright (c) 2012, PhoenixPilot, http://github.com/PhoenixPilot
+#
+# This program is free software; you can redistribute it and/or modify
+# it under the terms of the GNU General Public License as published by
+# the Free Software Foundation; either version 3 of the License, or
+# (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful, but
+# WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+# or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+# for more details.
+#
+# You should have received a copy of the GNU General Public License along
+# with this program; if not, write to the Free Software Foundation, Inc.,
+# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+#
+
+ifndef OPENPILOT_IS_COOL
+    $(error Top level Makefile must be used to build this target)
+endif
+
+include ../board-info.mk
+include $(ROOT_DIR)/make/firmware-defs.mk
+
+# ARM DSP library
+USE_DSP_LIB ?= NO
+
+# Set to YES to build a FW version that will erase data flash memory
+ERASE_FLASH ?= NO
+
+# Set to yes to include Gcsreceiver module
+GCSRECEIVER ?= NO
+
+# Enable Diag tasks ?
+DIAG_TASKS ?= NO
+
+# List of mandatory modules to include
+MODULES += Attitude
+MODULES += Stabilization
+MODULES += Actuator
+MODULES += Receiver
+MODULES += ManualControl
+MODULES += FirmwareIAP
+MODULES += Telemetry
+
+# List of optional modules to include
+OPTMODULES += CameraStab
+OPTMODULES += ComUsbBridge
+OPTMODULES += GPS
+OPTMODULES += TxPID
+OPTMODULES += Osd/osdoutput
+#OPTMODULES += Altitude
+#OPTMODULES += Fault
+
+SRC += $(FLIGHTLIB)/notification.c
+
+# Include all camera options
+CDEFS += -DUSE_INPUT_LPF -DUSE_GIMBAL_LPF -DUSE_GIMBAL_FF
+
+
+
+# Erase flash firmware should be buildable from command line
+ifeq ($(ERASE_FLASH), YES)
+    CDEFS += -DERASE_FLASH
+endif
+
+# List C source files here (C dependencies are automatically generated).
+# Use file-extension c for "c-only"-files
+ifndef TESTAPP
+    ## The standard CMSIS startup
+    SRC += $(CMSIS_DEVICEDIR)/system_stm32f10x.c
+
+    ## Application Core
+    SRC += ../pios_usb_board_data.c
+    SRC += $(OPMODULEDIR)/System/systemmod.c
+    SRC += $(OPSYSTEM)/coptercontrol.c
+    SRC += $(OPSYSTEM)/pios_board.c
+    SRC += $(FLIGHTLIB)/alarms.c
+    SRC += $(FLIGHTLIB)/instrumentation.c
+    SRC += $(OPUAVTALK)/uavtalk.c
+    SRC += $(OPUAVOBJ)/uavobjectmanager.c
+    SRC += $(OPUAVOBJ)/uavobjectpersistence.c
+    SRC += $(OPUAVOBJ)/eventdispatcher.c
+    
+    ## UAVObjects
+    SRC += $(OPUAVSYNTHDIR)/accessorydesired.c
+    SRC += $(OPUAVSYNTHDIR)/objectpersistence.c
+    SRC += $(OPUAVSYNTHDIR)/gcstelemetrystats.c
+    SRC += $(OPUAVSYNTHDIR)/flighttelemetrystats.c
+    SRC += $(OPUAVSYNTHDIR)/faultsettings.c
+    SRC += $(OPUAVSYNTHDIR)/flightstatus.c
+    SRC += $(OPUAVSYNTHDIR)/systemstats.c
+    SRC += $(OPUAVSYNTHDIR)/systemalarms.c
+    SRC += $(OPUAVSYNTHDIR)/systemsettings.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationdesired.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettings.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank1.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank2.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationsettingsbank3.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationstatus.c
+    SRC += $(OPUAVSYNTHDIR)/stabilizationbank.c
+    SRC += $(OPUAVSYNTHDIR)/actuatorcommand.c
+    SRC += $(OPUAVSYNTHDIR)/actuatordesired.c
+    SRC += $(OPUAVSYNTHDIR)/actuatorsettings.c
+    SRC += $(OPUAVSYNTHDIR)/accelstate.c
+    SRC += $(OPUAVSYNTHDIR)/accelgyrosettings.c
+    SRC += $(OPUAVSYNTHDIR)/gyrostate.c
+    SRC += $(OPUAVSYNTHDIR)/attitudestate.c
+    SRC += $(OPUAVSYNTHDIR)/manualcontrolcommand.c
+    SRC += $(OPUAVSYNTHDIR)/watchdogstatus.c
+    SRC += $(OPUAVSYNTHDIR)/manualcontrolsettings.c
+    SRC += $(OPUAVSYNTHDIR)/flightmodesettings.c
+    SRC += $(OPUAVSYNTHDIR)/mixersettings.c
+    SRC += $(OPUAVSYNTHDIR)/firmwareiapobj.c
+    SRC += $(OPUAVSYNTHDIR)/attitudesettings.c
+    SRC += $(OPUAVSYNTHDIR)/camerastabsettings.c
+    SRC += $(OPUAVSYNTHDIR)/cameradesired.c
+    SRC += $(OPUAVSYNTHDIR)/gpspositionsensor.c
+    SRC += $(OPUAVSYNTHDIR)/gpsvelocitysensor.c
+    SRC += $(OPUAVSYNTHDIR)/gpssettings.c
+    SRC += $(OPUAVSYNTHDIR)/hwsettings.c
+    SRC += $(OPUAVSYNTHDIR)/receiveractivity.c
+    SRC += $(OPUAVSYNTHDIR)/mixerstatus.c
+    SRC += $(OPUAVSYNTHDIR)/ratedesired.c
+    SRC += $(OPUAVSYNTHDIR)/txpidsettings.c
+    SRC += $(OPUAVSYNTHDIR)/mpu6000settings.c
+    # Command line option for Gcsreceiver module
+    ifeq ($(GCSRECEIVER), YES)
+        SRC += $(OPUAVSYNTHDIR)/gcsreceiver.c
+    endif
+    # Enable Diag tasks and UAVOs needed
+    ifeq ($(DIAG_TASKS), YES)
+        CDEFS += -DDIAG_TASKS
+        SRC += $(OPUAVSYNTHDIR)/taskinfo.c
+        SRC += $(OPUAVSYNTHDIR)/callbackinfo.c
+        SRC += $(OPUAVSYNTHDIR)/perfcounter.c
+        SRC += $(OPUAVSYNTHDIR)/i2cstats.c
+    endif
+else
+    ## Test Code
+    SRC += $(OPTESTS)/test_common.c
+    SRC += $(OPTESTS)/$(TESTAPP).c
+endif
+
+include $(ROOT_DIR)/make/apps-defs.mk
+include $(ROOT_DIR)/make/common-defs.mk

flight/targets/boards/coptercontrol/firmware/coptercontrol.c

@@ -0,0 +1,117 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @brief These files are the core system files of OpenPilot.
+ * They are the ground layer just above PiOS. In practice, OpenPilot actually starts
+ * in the main() function of openpilot.c
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @brief This is where the OP firmware starts. Those files also define the compile-time
+ * options of the firmware.
+ * @{
+ * @file       openpilot.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Sets up and runs main OpenPilot tasks.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "inc/openpilot.h"
+#include <uavobjectsinit.h>
+#include <hwsettings.h>
+
+/* Task Priorities */
+#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
+
+/* Global Variables */
+
+/* Prototype of PIOS_Board_Init() function */
+extern void PIOS_Board_Init(void);
+extern void Stack_Change(void);
+
+/**
+ * OpenPilot Main function:
+ *
+ * Initialize PiOS<BR>
+ * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
+ * Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
+ * If something goes wrong, blink LED1 and LED2 every 100ms
+ *
+ */
+int main()
+{
+    /* NOTE: Do NOT modify the following start-up sequence */
+    /* Any new initialization functions should be added in OpenPilotInit() */
+
+    /* Brings up System using CMSIS functions, enables the LEDs. */
+    PIOS_SYS_Init();
+
+    /* Architecture dependant Hardware and
+     * core subsystem initialisation
+     * (see pios_board.c for your arch)
+     * */
+    PIOS_Board_Init();
+
+#ifdef ERASE_FLASH
+    PIOS_Flash_Jedec_EraseChip();
+#if defined(PIOS_LED_HEARTBEAT)
+    PIOS_LED_Off(PIOS_LED_HEARTBEAT);
+#endif /* PIOS_LED_HEARTBEAT */
+    while (1) {
+        ;
+    }
+#endif
+
+    /* Initialize modules */
+    MODULE_INITIALISE_ALL
+    /* swap the stack to use the IRQ stack */
+    Stack_Change();
+
+    /* Start the FreeRTOS scheduler, which should never return.
+     *
+     * NOTE: OpenPilot runs an operating system (FreeRTOS), which constantly calls
+     * (schedules) function files (modules). These functions never return from their
+     * while loops, which explains why each module has a while(1){} segment. Thus,
+     * the OpenPilot software actually starts at the vTaskStartScheduler() function,
+     * even though this is somewhat obscure.
+     *
+     * In addition, there are many main() functions in the OpenPilot firmware source tree
+     * This is because each main() refers to a separate hardware platform. Of course,
+     * C only allows one main(), so only the relevant main() function is compiled when
+     * making a specific firmware.
+     *
+     */
+    vTaskStartScheduler();
+
+    /* If all is well we will never reach here as the scheduler will now be running. */
+
+    /* Do some indication to user that something bad just happened */
+    while (1) {
+#if defined(PIOS_LED_HEARTBEAT)
+        PIOS_LED_Toggle(PIOS_LED_HEARTBEAT);
+#endif /* PIOS_LED_HEARTBEAT */
+        PIOS_DELAY_WaitmS(100);
+    }
+
+    return 0;
+}
+
+/**
+ * @}
+ * @}
+ */

flight/targets/boards/coptercontrol/firmware/inc/FreeRTOSConfig.h

@@ -0,0 +1,99 @@
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+* Application specific definitions.
+*
+* These definitions should be adjusted for your particular hardware and
+* application requirements.
+*
+* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+*
+* See http://www.freertos.org/a00110.html.
+*----------------------------------------------------------*/
+
+/**
+ * @addtogroup PIOS PIOS
+ * @{
+ * @addtogroup FreeRTOS FreeRTOS
+ * @{
+ */
+
+/* Notes: We use 5 task priorities */
+
+#define configUSE_PREEMPTION                         1
+#define configUSE_IDLE_HOOK                          1
+#define configUSE_TICK_HOOK                          0
+#define configUSE_MALLOC_FAILED_HOOK                 1
+#define configCPU_CLOCK_HZ                           ((unsigned long)72000000)
+#define configTICK_RATE_HZ                           ((portTickType)1000)
+#define configMAX_PRIORITIES                         ((unsigned portBASE_TYPE)5)
+#define configMINIMAL_STACK_SIZE                     ((unsigned short)48)
+#define configTOTAL_HEAP_SIZE                        ((size_t)(53 * 256))
+#define configMAX_TASK_NAME_LEN                      (6)
+#define configUSE_TRACE_FACILITY                     0
+#define configUSE_16_BIT_TICKS                       0
+#define configIDLE_SHOULD_YIELD                      0
+#define configUSE_MUTEXES                            1
+#define configUSE_RECURSIVE_MUTEXES                  1
+#define configUSE_COUNTING_SEMAPHORES                0
+#define configUSE_ALTERNATIVE_API                    0
+#define configQUEUE_REGISTRY_SIZE                    0
+
+/* Co-routine definitions. */
+#define configUSE_CO_ROUTINES                        0
+#define configMAX_CO_ROUTINE_PRIORITIES              (2)
+
+/* Set the following definitions to 1 to include the API function, or zero
+   to exclude the API function. */
+
+#define INCLUDE_vTaskPrioritySet                     1
+#define INCLUDE_uxTaskPriorityGet                    1
+#define INCLUDE_vTaskDelete                          1
+#define INCLUDE_vTaskCleanUpResources                0
+#define INCLUDE_vTaskSuspend                         1
+#define INCLUDE_vTaskDelayUntil                      1
+#define INCLUDE_vTaskDelay                           1
+#define INCLUDE_xTaskGetSchedulerState               0
+#define INCLUDE_xTaskGetCurrentTaskHandle            1
+#define INCLUDE_uxTaskGetStackHighWaterMark          1
+
+/* This is the raw value as per the Cortex-M3 NVIC.  Values can be 255
+   (lowest) to 1 (highest maskable) to 0 (highest non-maskable). */
+#define configKERNEL_INTERRUPT_PRIORITY              15 << 4 /* equivalent to NVIC priority 15 */
+        #define configMAX_SYSCALL_INTERRUPT_PRIORITY 3 << 4 /* equivalent to NVIC priority  3 */
+
+/* This is the value being used as per the ST library which permits 16
+   priority values, 0 to 15.  This must correspond to the
+   configKERNEL_INTERRUPT_PRIORITY setting.  Here 15 corresponds to the lowest
+   NVIC value of 255. */
+#define configLIBRARY_KERNEL_INTERRUPT_PRIORITY      15
+
+#if !defined(ARCH_POSIX) && !defined(ARCH_WIN32)
+#define CHECK_IRQ_STACK
+#endif
+
+/* Enable run time stats collection */
+#define configGENERATE_RUN_TIME_STATS  1
+#define INCLUDE_uxTaskGetRunTime       1
+#define INCLUDE_xTaskGetIdleTaskHandle 1
+#define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() \
+    do { \
+        (*(unsigned long *)0xe000edfc) |= (1 << 24); /* DEMCR |= DEMCR_TRCENA */ \
+        (*(unsigned long *)0xe0001000) |= 1; /* DWT_CTRL |= DWT_CYCCNT_ENA */ \
+    } \
+    while (0)
+#define portGET_RUN_TIME_COUNTER_VALUE() (*(unsigned long *)0xe0001004) /* DWT_CYCCNT */
+
+#ifdef DIAG_TASKS
+#define configCHECK_FOR_STACK_OVERFLOW 2
+#else
+#define configCHECK_FOR_STACK_OVERFLOW 1
+#endif
+
+/**
+ * @}
+ */
+
+#endif /* FREERTOS_CONFIG_H */

flight/targets/boards/coptercontrol/firmware/inc/openpilot.h

@@ -0,0 +1,52 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ * @file       openpilot.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Main OpenPilot header.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef OPENPILOT_H
+#define OPENPILOT_H
+
+/* PIOS Includes */
+#include <pios.h>
+
+/* OpenPilot Libraries */
+#include <utlist.h>
+#include <uavobjectmanager.h>
+#include <eventdispatcher.h>
+#include <uavtalk.h>
+
+#include "alarms.h"
+#include <mathmisc.h>
+
+/* Global Functions */
+void OpenPilotInit(void);
+
+#endif /* OPENPILOT_H */
+
+/**
+ * @}
+ * @}
+ */

flight/targets/boards/coptercontrol/firmware/inc/pios_board_posix.h

@@ -0,0 +1,81 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
+
+
+// ------------------------
+// PIOS_LED
+// ------------------------
+// #define PIOS_LED_LED1_GPIO_PORT			GPIOC
+// #define PIOS_LED_LED1_GPIO_PIN			GPIO_Pin_12
+// #define PIOS_LED_LED1_GPIO_CLK			RCC_APB2Periph_GPIOC
+// #define PIOS_LED_LED2_GPIO_PORT			GPIOC
+// #define PIOS_LED_LED2_GPIO_PIN			GPIO_Pin_13
+// #define PIOS_LED_LED2_GPIO_CLK			RCC_APB2Periph_GPIOC
+#define PIOS_LED_NUM 2
+// #define PIOS_LED_PORTS				{ PIOS_LED_LED1_GPIO_PORT, PIOS_LED_LED2_GPIO_PORT }
+// #define PIOS_LED_PINS				{ PIOS_LED_LED1_GPIO_PIN, PIOS_LED_LED2_GPIO_PIN }
+// #define PIOS_LED_CLKS				{ PIOS_LED_LED1_GPIO_CLK, PIOS_LED_LED2_GPIO_CLK }
+
+
+// -------------------------
+// COM
+//
+// See also pios_board_posix.c
+// -------------------------
+// #define PIOS_USART_TX_BUFFER_SIZE		256
+#define PIOS_COM_BUFFER_SIZE    1024
+#define PIOS_UDP_RX_BUFFER_SIZE PIOS_COM_BUFFER_SIZE
+
+#define PIOS_COM_TELEM_RF       0
+#define PIOS_COM_GPS            1
+#define PIOS_COM_TELEM_USB      2
+
+#ifdef PIOS_ENABLE_AUX_UART
+#define PIOS_COM_AUX            3
+#define PIOS_COM_DEBUG          PIOS_COM_AUX
+#endif
+
+/**
+ * glue macros for file IO
+ * STM32 uses DOSFS for file IO
+ */
+#define PIOS_FOPEN_READ(filename, file)                 (file = fopen((char *)filename, "r")) == NULL
+
+#define PIOS_FOPEN_WRITE(filename, file)                (file = fopen((char *)filename, "w")) == NULL
+
+#define PIOS_FREAD(file, bufferadr, length, resultadr)  (*resultadr = fread((uint8_t *)bufferadr, 1, length, *file)) != length
+
+#define PIOS_FWRITE(file, bufferadr, length, resultadr) *resultadr = fwrite((uint8_t *)bufferadr, 1, length, *file)
+
+
+#define PIOS_FCLOSE(file)                               fclose(file)
+
+#define PIOS_FUNLINK(file)                              unlink((char *)filename)
+
+#endif /* PIOS_BOARD_H */

flight/targets/boards/coptercontrol/firmware/inc/pios_config.h

@@ -0,0 +1,188 @@
+/**
+ ******************************************************************************
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ * @file       pios_config.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010-2013.
+ * @brief      PiOS configuration header, the compile time config file for the PIOS.
+ *             Defines which PiOS libraries and features are included in the firmware.
+ * @see        The GNU Public License (GPL) Version 3
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_CONFIG_H
+#define PIOS_CONFIG_H
+
+/*
+ * Below is a complete list of PIOS configurable options.
+ * Please do not remove or rearrange them. Only comment out
+ * unused options in the list. See main pios.h header for more
+ * details.
+ */
+
+/* #define PIOS_INCLUDE_DEBUG_CONSOLE */
+/* #define DEBUG_LEVEL 0 */
+/* #define PIOS_ENABLE_DEBUG_PINS */
+
+/* PIOS FreeRTOS support */
+#define PIOS_INCLUDE_FREERTOS
+
+
+/* PIOS CallbackScheduler support */
+#define PIOS_INCLUDE_CALLBACKSCHEDULER
+
+/* PIOS bootloader helper */
+#define PIOS_INCLUDE_BL_HELPER
+/* #define PIOS_INCLUDE_BL_HELPER_WRITE_SUPPORT */
+
+/* PIOS system functions */
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_INITCALL
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_TASK_MONITOR
+// #define PIOS_INCLUDE_INSTRUMENTATION
+#define PIOS_INSTRUMENTATION_MAX_COUNTERS 5
+
+/* PIOS hardware peripherals */
+#define PIOS_INCLUDE_IRQ
+#define PIOS_INCLUDE_RTC
+#define PIOS_INCLUDE_TIM
+#define PIOS_INCLUDE_USART
+#define PIOS_INCLUDE_ADC
+/* #define PIOS_INCLUDE_I2C */
+#define PIOS_INCLUDE_SPI
+#define PIOS_INCLUDE_GPIO
+#define PIOS_INCLUDE_EXTI
+#define PIOS_INCLUDE_WDG
+
+/* PIOS USB functions */
+#define PIOS_INCLUDE_USB
+#define PIOS_INCLUDE_USB_HID
+#define PIOS_INCLUDE_USB_CDC
+#define PIOS_INCLUDE_USB_RCTX
+
+/* PIOS sensor interfaces */
+#define PIOS_INCLUDE_ADXL345
+/* #define PIOS_INCLUDE_BMA180 */
+/* #define PIOS_INCLUDE_L3GD20 */
+#define PIOS_INCLUDE_MPU6000
+#define PIOS_MPU6000_ACCEL
+/* #define PIOS_INCLUDE_HMC5843 */
+/* #define PIOS_INCLUDE_HMC5X83 */
+/* #define PIOS_HMC5883_HAS_GPIOS */
+/* #define PIOS_INCLUDE_BMP085 */
+/* #define PIOS_INCLUDE_MS5611 */
+/* #define PIOS_INCLUDE_MPXV */
+/* #define PIOS_INCLUDE_ETASV3 */
+/* #define PIOS_INCLUDE_HCSR04 */
+
+#define PIOS_SENSOR_RATE 500.0f
+
+/* PIOS receiver drivers */
+#define PIOS_INCLUDE_PWM
+#define PIOS_INCLUDE_PPM
+#define PIOS_INCLUDE_PPM_FLEXI
+#define PIOS_INCLUDE_DSM
+#define PIOS_INCLUDE_SBUS
+/* #define PIOS_INCLUDE_GCSRCVR */
+/* #define PIOS_INCLUDE_OPLINKRCVR */
+
+/* PIOS abstract receiver interface */
+#define PIOS_INCLUDE_RCVR
+
+/* PIOS common peripherals */
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_IAP
+#define PIOS_INCLUDE_SERVO
+/* #define PIOS_INCLUDE_I2C_ESC */
+/* #define PIOS_INCLUDE_OVERO */
+/* #define PIOS_OVERO_SPI */
+/* #define PIOS_INCLUDE_SDCARD */
+/* #define LOG_FILENAME "startup.log" */
+#define PIOS_INCLUDE_FLASH
+#define PIOS_INCLUDE_FLASH_LOGFS_SETTINGS
+/* #define FLASH_FREERTOS */
+/* #define PIOS_INCLUDE_FLASH_EEPROM */
+/* #define PIOS_INCLUDE_FLASH_INTERNAL */
+
+/* PIOS radio modules */
+/* #define PIOS_INCLUDE_RFM22B */
+/* #define PIOS_INCLUDE_RFM22B_COM */
+/* #define PIOS_INCLUDE_PPM_OUT */
+/* #define PIOS_RFM22B_DEBUG_ON_TELEM */
+
+/* PIOS misc peripherals */
+/* #define PIOS_INCLUDE_VIDEO */
+/* #define PIOS_INCLUDE_WAVE */
+/* #define PIOS_INCLUDE_UDP */
+
+/* PIOS abstract comms interface with options */
+#define PIOS_INCLUDE_COM
+/* #define PIOS_INCLUDE_COM_MSG */
+#define PIOS_INCLUDE_TELEMETRY_RF
+/* #define PIOS_INCLUDE_COM_TELEM */
+/* #define PIOS_INCLUDE_COM_FLEXI */
+/* #define PIOS_INCLUDE_COM_AUX */
+/* #define PIOS_TELEM_PRIORITY_QUEUE */
+#define PIOS_INCLUDE_GPS
+#define PIOS_GPS_MINIMAL
+/* #define PIOS_INCLUDE_GPS_NMEA_PARSER */
+#define PIOS_INCLUDE_GPS_UBX_PARSER
+/* #define PIOS_GPS_SETS_HOMELOCATION */
+
+/* Stabilization options */
+/* #define PIOS_QUATERNION_STABILIZATION */
+#define PIOS_EXCLUDE_ADVANCED_FEATURES
+/* Performance counters */
+#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD  1995998
+
+/* Alarm Thresholds */
+#define HEAP_LIMIT_WARNING              220
+#define HEAP_LIMIT_CRITICAL             40
+#define IRQSTACK_LIMIT_WARNING          100
+#define IRQSTACK_LIMIT_CRITICAL         60
+#define CPULOAD_LIMIT_WARNING           85
+#define CPULOAD_LIMIT_CRITICAL          95
+
+/* Task stack sizes */
+#define PIOS_ACTUATOR_STACK_SIZE        820
+#define PIOS_MANUAL_STACK_SIZE          735
+#define PIOS_RECEIVER_STACK_SIZE        620
+#define PIOS_STABILIZATION_STACK_SIZE   400
+
+#ifdef DIAG_TASKS
+#define PIOS_SYSTEM_STACK_SIZE          740
+#else
+#define PIOS_SYSTEM_STACK_SIZE          660
+#endif
+#define PIOS_TELEM_RX_STACK_SIZE        410
+#define PIOS_TELEM_TX_STACK_SIZE        560
+#define PIOS_EVENTDISPATCHER_STACK_SIZE 95
+
+/* This can't be too high to stop eventdispatcher thread overflowing */
+#define PIOS_EVENTDISAPTCHER_QUEUE      10
+
+/* Revolution series */
+/* #define REVOLUTION */
+
+#endif /* PIOS_CONFIG_H */
+/**
+ * @}
+ * @}
+ */

flight/targets/boards/coptercontrol/firmware/inc/pios_config_posix.h

@@ -0,0 +1,48 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_config.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      PiOS configuration header.
+ *             Central compile time config for the project.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+
+#ifndef PIOS_CONFIG_POSIX_H
+#define PIOS_CONFIG_POSIX_H
+
+
+/* Enable/Disable PiOS Modules */
+#define PIOS_INCLUDE_SYS
+#define PIOS_INCLUDE_DELAY
+#define PIOS_INCLUDE_LED
+#define PIOS_INCLUDE_FREERTOS
+#define PIOS_INCLUDE_CALLBACKSCHEDULER
+#define PIOS_INCLUDE_TASK_MONITOR
+#define PIOS_INCLUDE_COM
+#define PIOS_INCLUDE_UDP
+#define PIOS_INCLUDE_SERVO
+
+
+/* Defaults for Logging */
+#define LOG_FILENAME        "PIOS.LOG"
+#define STARTUP_LOG_ENABLED 1
+
+#endif /* PIOS_CONFIG_POSIX_H */

flight/targets/boards/coptercontrol/firmware/inc/pios_usb_board_data.h

@@ -0,0 +1,47 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_USB_BOARD_DATA_H
+#define PIOS_USB_BOARD_DATA_H
+
+// Note : changing below length will require changes to the USB buffer setup
+#define PIOS_USB_BOARD_CDC_DATA_LENGTH 64
+#define PIOS_USB_BOARD_CDC_MGMT_LENGTH 32
+#define PIOS_USB_BOARD_HID_DATA_LENGTH 64
+
+#define PIOS_USB_BOARD_EP_NUM          4
+
+#include <pios_usb_defs.h> /* USB_* macros */
+
+#define PIOS_USB_BOARD_PRODUCT_ID      USB_PRODUCT_ID_COPTERCONTROL
+#define PIOS_USB_BOARD_DEVICE_VER      USB_OP_DEVICE_VER(USB_OP_BOARD_ID_COPTERCONTROL, USB_OP_BOARD_MODE_FW)
+#define PIOS_USB_BOARD_SN_SUFFIX       "+FW"
+
+#endif /* PIOS_USB_BOARD_DATA_H */

flight/targets/boards/coptercontrol/firmware/pios_board.c

@@ -0,0 +1,920 @@
+/**
+ *****************************************************************************
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @author     PhoenixPilot, http://github.com/PhoenixPilot, Copyright (C) 2012
+ * @addtogroup OpenPilotSystem OpenPilot System
+ * @{
+ * @addtogroup OpenPilotCore OpenPilot Core
+ * @{
+ * @brief Defines board specific static initializers for hardware for the CopterControl board.
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "inc/openpilot.h"
+#include <pios_board_info.h>
+#include <uavobjectsinit.h>
+#include <hwsettings.h>
+#include <manualcontrolsettings.h>
+#include <gcsreceiver.h>
+#include <taskinfo.h>
+#include <sanitycheck.h>
+#include <actuatorsettings.h>
+
+#ifdef PIOS_INCLUDE_INSTRUMENTATION
+#include <pios_instrumentation.h>
+#endif
+#if defined(PIOS_INCLUDE_ADXL345)
+#include <pios_adxl345.h>
+#endif
+
+/*
+ * Pull in the board-specific static HW definitions.
+ * Including .c files is a bit ugly but this allows all of
+ * the HW definitions to be const and static to limit their
+ * scope.
+ *
+ * NOTE: THIS IS THE ONLY PLACE THAT SHOULD EVER INCLUDE THIS FILE
+ */
+#include "../board_hw_defs.c"
+
+/* One slot per selectable receiver group.
+ *  eg. PWM, PPM, GCS, DSMMAINPORT, DSMFLEXIPORT, SBUS
+ * NOTE: No slot in this map for NONE.
+ */
+uint32_t pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE];
+
+static SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook();
+static void ActuatorSettingsUpdatedCb(UAVObjEvent *ev);
+
+#define PIOS_COM_TELEM_RF_RX_BUF_LEN     32
+#define PIOS_COM_TELEM_RF_TX_BUF_LEN     12
+
+#define PIOS_COM_GPS_RX_BUF_LEN          32
+
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN    65
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN    65
+
+#define PIOS_COM_BRIDGE_RX_BUF_LEN       65
+#define PIOS_COM_BRIDGE_TX_BUF_LEN       12
+
+#define PIOS_COM_HKOSD_TX_BUF_LEN        22
+
+#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
+#define PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN 40
+uint32_t pios_com_debug_id;
+#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
+
+uint32_t pios_com_telem_rf_id;
+uint32_t pios_com_telem_usb_id;
+uint32_t pios_com_vcp_id;
+uint32_t pios_com_gps_id;
+uint32_t pios_com_bridge_id;
+uint32_t pios_com_hkosd_id;
+
+uint32_t pios_usb_rctx_id;
+
+uintptr_t pios_uavo_settings_fs_id;
+uintptr_t pios_user_fs_id = 0;
+/**
+ * Configuration for MPU6000 chip
+ */
+#if defined(PIOS_INCLUDE_MPU6000)
+#include "pios_mpu6000.h"
+#include "pios_mpu6000_config.h"
+static const struct pios_exti_cfg pios_exti_mpu6000_cfg __exti_config = {
+    .vector = PIOS_MPU6000_IRQHandler,
+    .line   = EXTI_Line3,
+    .pin    = {
+        .gpio = GPIOA,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_3,
+            .GPIO_Speed = GPIO_Speed_10MHz,
+            .GPIO_Mode  = GPIO_Mode_IN_FLOATING,
+        },
+    },
+    .irq                                       = {
+        .init                                  = {
+            .NVIC_IRQChannel    = EXTI3_IRQn,
+            .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+            .NVIC_IRQChannelSubPriority        = 0,
+            .NVIC_IRQChannelCmd = ENABLE,
+        },
+    },
+    .exti                                      = {
+        .init                                  = {
+            .EXTI_Line    = EXTI_Line3, // matches above GPIO pin
+            .EXTI_Mode    = EXTI_Mode_Interrupt,
+            .EXTI_Trigger = EXTI_Trigger_Rising,
+            .EXTI_LineCmd = ENABLE,
+        },
+    },
+};
+
+static const struct pios_mpu6000_cfg pios_mpu6000_cfg = {
+    .exti_cfg   = &pios_exti_mpu6000_cfg,
+    .Fifo_store = PIOS_MPU6000_FIFO_TEMP_OUT | PIOS_MPU6000_FIFO_GYRO_X_OUT | PIOS_MPU6000_FIFO_GYRO_Y_OUT | PIOS_MPU6000_FIFO_GYRO_Z_OUT,
+    // Clock at 8 khz, downsampled by 8 for 1000 Hz
+    .Smpl_rate_div_no_dlp = 7,
+    // Clock at 1 khz, downsampled by 1 for 1000 Hz
+    .Smpl_rate_div_dlp    = 0,
+    .interrupt_cfg  = PIOS_MPU6000_INT_CLR_ANYRD,
+    .interrupt_en   = PIOS_MPU6000_INTEN_DATA_RDY,
+    .User_ctl             = PIOS_MPU6000_USERCTL_DIS_I2C,
+    .Pwr_mgmt_clk   = PIOS_MPU6000_PWRMGMT_PLL_X_CLK,
+    .accel_range    = PIOS_MPU6000_ACCEL_8G,
+    .gyro_range     = PIOS_MPU6000_SCALE_2000_DEG,
+    .filter               = PIOS_MPU6000_LOWPASS_256_HZ,
+    .orientation    = PIOS_MPU6000_TOP_180DEG,
+    .fast_prescaler = PIOS_SPI_PRESCALER_4,
+    .std_prescaler  = PIOS_SPI_PRESCALER_64,
+    .max_downsample = 2
+};
+#endif /* PIOS_INCLUDE_MPU6000 */
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core subsystems on this specific hardware
+ * called from System/openpilot.c
+ */
+int32_t init_test;
+void PIOS_Board_Init(void)
+{
+    /* Delay system */
+    PIOS_DELAY_Init();
+
+    const struct pios_board_info *bdinfo = &pios_board_info_blob;
+
+#if defined(PIOS_INCLUDE_LED)
+    const struct pios_gpio_cfg *led_cfg  = PIOS_BOARD_HW_DEFS_GetLedCfg(bdinfo->board_rev);
+    PIOS_Assert(led_cfg);
+    PIOS_LED_Init(led_cfg);
+#endif /* PIOS_INCLUDE_LED */
+
+#ifdef PIOS_INCLUDE_INSTRUMENTATION
+    PIOS_Instrumentation_Init(PIOS_INSTRUMENTATION_MAX_COUNTERS);
+#endif
+
+#if defined(PIOS_INCLUDE_SPI)
+    /* Set up the SPI interface to the serial flash */
+
+    switch (bdinfo->board_rev) {
+    case BOARD_REVISION_CC:
+        if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc)) {
+            PIOS_Assert(0);
+        }
+        break;
+    case BOARD_REVISION_CC3D:
+        if (PIOS_SPI_Init(&pios_spi_flash_accel_id, &pios_spi_flash_accel_cfg_cc3d)) {
+            PIOS_Assert(0);
+        }
+        break;
+    default:
+        PIOS_Assert(0);
+    }
+
+#endif
+
+    uintptr_t flash_id;
+    switch (bdinfo->board_rev) {
+    case BOARD_REVISION_CC:
+        if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 1)) {
+            PIOS_DEBUG_Assert(0);
+        }
+        if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_w25x_cfg, &pios_jedec_flash_driver, flash_id)) {
+            PIOS_DEBUG_Assert(0);
+        }
+        break;
+    case BOARD_REVISION_CC3D:
+        if (PIOS_Flash_Jedec_Init(&flash_id, pios_spi_flash_accel_id, 0)) {
+            PIOS_DEBUG_Assert(0);
+        }
+        if (PIOS_FLASHFS_Logfs_Init(&pios_uavo_settings_fs_id, &flashfs_m25p_cfg, &pios_jedec_flash_driver, flash_id)) {
+            PIOS_DEBUG_Assert(0);
+        }
+        break;
+    default:
+        PIOS_DEBUG_Assert(0);
+    }
+
+    /* Initialize the task monitor */
+    if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
+        PIOS_Assert(0);
+    }
+
+    /* Initialize the delayed callback library */
+    PIOS_CALLBACKSCHEDULER_Initialize();
+
+    /* Initialize UAVObject libraries */
+    EventDispatcherInitialize();
+    UAVObjInitialize();
+
+#if defined(PIOS_INCLUDE_RTC)
+    /* Initialize the real-time clock and its associated tick */
+    PIOS_RTC_Init(&pios_rtc_main_cfg);
+#endif
+    PIOS_IAP_Init();
+    // check for safe mode commands from gcs
+    if (PIOS_IAP_ReadBootCmd(0) == PIOS_IAP_CLEAR_FLASH_CMD_0 &&
+        PIOS_IAP_ReadBootCmd(1) == PIOS_IAP_CLEAR_FLASH_CMD_1 &&
+        PIOS_IAP_ReadBootCmd(2) == PIOS_IAP_CLEAR_FLASH_CMD_2) {
+        PIOS_FLASHFS_Format(pios_uavo_settings_fs_id);
+        PIOS_IAP_WriteBootCmd(0, 0);
+        PIOS_IAP_WriteBootCmd(1, 0);
+        PIOS_IAP_WriteBootCmd(2, 0);
+    }
+
+    HwSettingsInitialize();
+
+#ifndef ERASE_FLASH
+#ifdef PIOS_INCLUDE_WDG
+    /* Initialize watchdog as early as possible to catch faults during init */
+    PIOS_WDG_Init();
+#endif
+#endif
+
+    /* Initialize the alarms library */
+    AlarmsInitialize();
+
+    /* Check for repeated boot failures */
+    uint16_t boot_count = PIOS_IAP_ReadBootCount();
+    if (boot_count < 3) {
+        PIOS_IAP_WriteBootCount(++boot_count);
+        AlarmsClear(SYSTEMALARMS_ALARM_BOOTFAULT);
+    } else {
+        /* Too many failed boot attempts, force hwsettings to defaults */
+        HwSettingsSetDefaults(HwSettingsHandle(), 0);
+        AlarmsSet(SYSTEMALARMS_ALARM_BOOTFAULT, SYSTEMALARMS_ALARM_CRITICAL);
+    }
+
+    /* Set up pulse timers */
+    PIOS_TIM_InitClock(&tim_1_cfg);
+    PIOS_TIM_InitClock(&tim_2_cfg);
+    PIOS_TIM_InitClock(&tim_3_cfg);
+    PIOS_TIM_InitClock(&tim_4_cfg);
+
+#if defined(PIOS_INCLUDE_USB)
+    /* Initialize board specific USB data */
+    PIOS_USB_BOARD_DATA_Init();
+
+
+    /* Flags to determine if various USB interfaces are advertised */
+    bool usb_hid_present = false;
+    bool usb_cdc_present = false;
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+    if (PIOS_USB_DESC_HID_CDC_Init()) {
+        PIOS_Assert(0);
+    }
+    usb_hid_present = true;
+    usb_cdc_present = true;
+#else
+    if (PIOS_USB_DESC_HID_ONLY_Init()) {
+        PIOS_Assert(0);
+    }
+    usb_hid_present = true;
+#endif
+
+    uint32_t pios_usb_id;
+
+    switch (bdinfo->board_rev) {
+    case BOARD_REVISION_CC:
+        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc);
+        break;
+    case BOARD_REVISION_CC3D:
+        PIOS_USB_Init(&pios_usb_id, &pios_usb_main_cfg_cc3d);
+        break;
+    default:
+        PIOS_Assert(0);
+    }
+
+#if defined(PIOS_INCLUDE_USB_CDC)
+
+    uint8_t hwsettings_usb_vcpport;
+    /* Configure the USB VCP port */
+    HwSettingsUSB_VCPPortGet(&hwsettings_usb_vcpport);
+
+    if (!usb_cdc_present) {
+        /* Force VCP port function to disabled if we haven't advertised VCP in our USB descriptor */
+        hwsettings_usb_vcpport = HWSETTINGS_USB_VCPPORT_DISABLED;
+    }
+
+    switch (hwsettings_usb_vcpport) {
+    case HWSETTINGS_USB_VCPPORT_DISABLED:
+        break;
+    case HWSETTINGS_USB_VCPPORT_USBTELEMETRY:
+#if defined(PIOS_INCLUDE_COM)
+        {
+            uint32_t pios_usb_cdc_id;
+            if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
+                PIOS_Assert(0);
+            }
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+                              rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+                              tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_COM */
+        break;
+    case HWSETTINGS_USB_VCPPORT_COMBRIDGE:
+#if defined(PIOS_INCLUDE_COM)
+        {
+            uint32_t pios_usb_cdc_id;
+            if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
+                PIOS_Assert(0);
+            }
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+                              rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
+                              tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_COM */
+        break;
+    case HWSETTINGS_USB_VCPPORT_DEBUGCONSOLE:
+#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
+        {
+            uint32_t pios_usb_cdc_id;
+            if (PIOS_USB_CDC_Init(&pios_usb_cdc_id, &pios_usb_cdc_cfg, pios_usb_id)) {
+                PIOS_Assert(0);
+            }
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_debug_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+                              NULL, 0,
+                              tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
+#endif /* PIOS_INCLUDE_COM */
+        break;
+    }
+#endif /* PIOS_INCLUDE_USB_CDC */
+
+#if defined(PIOS_INCLUDE_USB_HID)
+    /* Configure the usb HID port */
+    uint8_t hwsettings_usb_hidport;
+    HwSettingsUSB_HIDPortGet(&hwsettings_usb_hidport);
+
+    if (!usb_hid_present) {
+        /* Force HID port function to disabled if we haven't advertised HID in our USB descriptor */
+        hwsettings_usb_hidport = HWSETTINGS_USB_HIDPORT_DISABLED;
+    }
+
+    switch (hwsettings_usb_hidport) {
+    case HWSETTINGS_USB_HIDPORT_DISABLED:
+        break;
+    case HWSETTINGS_USB_HIDPORT_USBTELEMETRY:
+#if defined(PIOS_INCLUDE_COM)
+        {
+            uint32_t pios_usb_hid_id;
+            if (PIOS_USB_HID_Init(&pios_usb_hid_id, &pios_usb_hid_cfg, pios_usb_id)) {
+                PIOS_Assert(0);
+            }
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_RX_BUF_LEN);
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+                              rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
+                              tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_COM */
+        break;
+    case HWSETTINGS_USB_HIDPORT_RCTRANSMITTER:
+#if defined(PIOS_INCLUDE_USB_RCTX)
+        {
+            if (PIOS_USB_RCTX_Init(&pios_usb_rctx_id, &pios_usb_rctx_cfg, pios_usb_id)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_USB_RCTX */
+        break;
+    }
+
+#endif /* PIOS_INCLUDE_USB_HID */
+
+#endif /* PIOS_INCLUDE_USB */
+
+    /* Configure the main IO port */
+    uint8_t hwsettings_DSMxBind;
+    HwSettingsDSMxBindGet(&hwsettings_DSMxBind);
+    uint8_t hwsettings_cc_mainport;
+    HwSettingsCC_MainPortGet(&hwsettings_cc_mainport);
+
+    switch (hwsettings_cc_mainport) {
+    case HWSETTINGS_CC_MAINPORT_DISABLED:
+        break;
+    case HWSETTINGS_CC_MAINPORT_TELEMETRY:
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
+        {
+            uint32_t pios_usart_generic_id;
+            if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
+                              rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+                              tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+        break;
+    case HWSETTINGS_CC_MAINPORT_SBUS:
+#if defined(PIOS_INCLUDE_SBUS)
+        {
+            uint32_t pios_usart_sbus_id;
+            if (PIOS_USART_Init(&pios_usart_sbus_id, &pios_usart_sbus_main_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_sbus_id;
+            if (PIOS_SBus_Init(&pios_sbus_id, &pios_sbus_cfg, &pios_usart_com_driver, pios_usart_sbus_id)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_sbus_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_sbus_rcvr_id, &pios_sbus_rcvr_driver, pios_sbus_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_SBUS] = pios_sbus_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_SBUS */
+        break;
+    case HWSETTINGS_CC_MAINPORT_GPS:
+#if defined(PIOS_INCLUDE_GPS)
+        {
+            uint32_t pios_usart_generic_id;
+            if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
+                              rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+                              NULL, 0)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_GPS */
+        break;
+    case HWSETTINGS_CC_MAINPORT_DSM:
+#if defined(PIOS_INCLUDE_DSM)
+        {
+            uint32_t pios_usart_dsm_id;
+            if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_main_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_dsm_id;
+            if (PIOS_DSM_Init(&pios_dsm_id,
+                              &pios_dsm_main_cfg,
+                              &pios_usart_com_driver,
+                              pios_usart_dsm_id,
+                              0)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_dsm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMMAINPORT] = pios_dsm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_DSM */
+        break;
+    case HWSETTINGS_CC_MAINPORT_DEBUGCONSOLE:
+#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
+        {
+            uint32_t pios_usart_generic_id;
+            if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
+                              NULL, 0,
+                              tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
+#endif /* PIOS_INCLUDE_COM */
+        break;
+    case HWSETTINGS_CC_MAINPORT_COMBRIDGE:
+    {
+        uint32_t pios_usart_generic_id;
+        if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_main_cfg)) {
+            PIOS_Assert(0);
+        }
+
+        uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
+        PIOS_Assert(rx_buffer);
+        uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
+        PIOS_Assert(tx_buffer);
+        if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
+                          rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
+                          tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
+            PIOS_Assert(0);
+        }
+    }
+    break;
+    case HWSETTINGS_CC_MAINPORT_OSDHK:
+    {
+        uint32_t pios_usart_hkosd_id;
+        if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_main_cfg)) {
+            PIOS_Assert(0);
+        }
+
+        uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
+        PIOS_Assert(tx_buffer);
+        if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
+                          NULL, 0,
+                          tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
+            PIOS_Assert(0);
+        }
+    }
+    break;
+    }
+
+    /* Configure the flexi port */
+    uint8_t hwsettings_cc_flexiport;
+    HwSettingsCC_FlexiPortGet(&hwsettings_cc_flexiport);
+
+    switch (hwsettings_cc_flexiport) {
+    case HWSETTINGS_CC_FLEXIPORT_DISABLED:
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_TELEMETRY:
+#if defined(PIOS_INCLUDE_TELEMETRY_RF)
+        {
+            uint32_t pios_usart_generic_id;
+            if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
+                PIOS_Assert(0);
+            }
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_RX_BUF_LEN);
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RF_TX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_telem_rf_id, &pios_usart_com_driver, pios_usart_generic_id,
+                              rx_buffer, PIOS_COM_TELEM_RF_RX_BUF_LEN,
+                              tx_buffer, PIOS_COM_TELEM_RF_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_TELEMETRY_RF */
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_COMBRIDGE:
+    {
+        uint32_t pios_usart_generic_id;
+        if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
+            PIOS_Assert(0);
+        }
+
+        uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_RX_BUF_LEN);
+        uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_BRIDGE_TX_BUF_LEN);
+        PIOS_Assert(rx_buffer);
+        PIOS_Assert(tx_buffer);
+        if (PIOS_COM_Init(&pios_com_bridge_id, &pios_usart_com_driver, pios_usart_generic_id,
+                          rx_buffer, PIOS_COM_BRIDGE_RX_BUF_LEN,
+                          tx_buffer, PIOS_COM_BRIDGE_TX_BUF_LEN)) {
+            PIOS_Assert(0);
+        }
+    }
+    break;
+    case HWSETTINGS_CC_FLEXIPORT_GPS:
+#if defined(PIOS_INCLUDE_GPS)
+        {
+            uint32_t pios_usart_generic_id;
+            if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
+                PIOS_Assert(0);
+            }
+            uint8_t *rx_buffer = (uint8_t *)pios_malloc(PIOS_COM_GPS_RX_BUF_LEN);
+            PIOS_Assert(rx_buffer);
+            if (PIOS_COM_Init(&pios_com_gps_id, &pios_usart_com_driver, pios_usart_generic_id,
+                              rx_buffer, PIOS_COM_GPS_RX_BUF_LEN,
+                              NULL, 0)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_GPS */
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_PPM:
+#if defined(PIOS_INCLUDE_PPM_FLEXI)
+        {
+            uint32_t pios_ppm_id;
+            PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_flexi_cfg);
+
+            uint32_t pios_ppm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_PPM_FLEXI */
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_DSM:
+#if defined(PIOS_INCLUDE_DSM)
+        {
+            uint32_t pios_usart_dsm_id;
+            if (PIOS_USART_Init(&pios_usart_dsm_id, &pios_usart_dsm_flexi_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_dsm_id;
+            if (PIOS_DSM_Init(&pios_dsm_id,
+                              &pios_dsm_flexi_cfg,
+                              &pios_usart_com_driver,
+                              pios_usart_dsm_id,
+                              hwsettings_DSMxBind)) {
+                PIOS_Assert(0);
+            }
+
+            uint32_t pios_dsm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_dsm_rcvr_id, &pios_dsm_rcvr_driver, pios_dsm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_DSMFLEXIPORT] = pios_dsm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_DSM */
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_DEBUGCONSOLE:
+#if defined(PIOS_INCLUDE_COM)
+#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
+        {
+            uint32_t pios_usart_generic_id;
+            if (PIOS_USART_Init(&pios_usart_generic_id, &pios_usart_generic_flexi_cfg)) {
+                PIOS_Assert(0);
+            }
+
+            uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN);
+            PIOS_Assert(tx_buffer);
+            if (PIOS_COM_Init(&pios_com_debug_id, &pios_usart_com_driver, pios_usart_generic_id,
+                              NULL, 0,
+                              tx_buffer, PIOS_COM_DEBUGCONSOLE_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
+#endif /* PIOS_INCLUDE_COM */
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_I2C:
+#if defined(PIOS_INCLUDE_I2C)
+        {
+            if (PIOS_I2C_Init(&pios_i2c_flexi_adapter_id, &pios_i2c_flexi_adapter_cfg)) {
+                PIOS_Assert(0);
+            }
+        }
+#endif /* PIOS_INCLUDE_I2C */
+        break;
+    case HWSETTINGS_CC_FLEXIPORT_OSDHK:
+    {
+        uint32_t pios_usart_hkosd_id;
+        if (PIOS_USART_Init(&pios_usart_hkosd_id, &pios_usart_hkosd_flexi_cfg)) {
+            PIOS_Assert(0);
+        }
+
+        uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_HKOSD_TX_BUF_LEN);
+        PIOS_Assert(tx_buffer);
+        if (PIOS_COM_Init(&pios_com_hkosd_id, &pios_usart_com_driver, pios_usart_hkosd_id,
+                          NULL, 0,
+                          tx_buffer, PIOS_COM_HKOSD_TX_BUF_LEN)) {
+            PIOS_Assert(0);
+        }
+    }
+    break;
+    }
+
+    /* Configure the rcvr port */
+    uint8_t hwsettings_rcvrport;
+    HwSettingsCC_RcvrPortGet(&hwsettings_rcvrport);
+
+    switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
+    case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
+#if defined(PIOS_INCLUDE_HCSR04)
+        {
+            uint32_t pios_hcsr04_id;
+            PIOS_HCSR04_Init(&pios_hcsr04_id, &pios_hcsr04_cfg);
+        }
+#endif
+        break;
+    case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
+#if defined(PIOS_INCLUDE_PWM)
+        {
+            uint32_t pios_pwm_id;
+            PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_cfg);
+
+            uint32_t pios_pwm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_PWM */
+        break;
+    case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
+#if defined(PIOS_INCLUDE_PPM)
+        {
+            uint32_t pios_ppm_id;
+            if (hwsettings_rcvrport == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT) {
+                PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_pin8_cfg);
+            } else {
+                PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
+            }
+
+            uint32_t pios_ppm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_PPM */
+        break;
+    case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
+        /* This is a combination of PPM and PWM inputs */
+#if defined(PIOS_INCLUDE_PPM)
+        {
+            uint32_t pios_ppm_id;
+            PIOS_PPM_Init(&pios_ppm_id, &pios_ppm_cfg);
+
+            uint32_t pios_ppm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PPM] = pios_ppm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_PPM */
+#if defined(PIOS_INCLUDE_PWM)
+        {
+            uint32_t pios_pwm_id;
+            PIOS_PWM_Init(&pios_pwm_id, &pios_pwm_with_ppm_cfg);
+
+            uint32_t pios_pwm_rcvr_id;
+            if (PIOS_RCVR_Init(&pios_pwm_rcvr_id, &pios_pwm_rcvr_driver, pios_pwm_id)) {
+                PIOS_Assert(0);
+            }
+            pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_PWM] = pios_pwm_rcvr_id;
+        }
+#endif /* PIOS_INCLUDE_PWM */
+        break;
+    case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
+        break;
+    }
+
+#if defined(PIOS_INCLUDE_GCSRCVR)
+    GCSReceiverInitialize();
+    uint32_t pios_gcsrcvr_id;
+    PIOS_GCSRCVR_Init(&pios_gcsrcvr_id);
+    uint32_t pios_gcsrcvr_rcvr_id;
+    if (PIOS_RCVR_Init(&pios_gcsrcvr_rcvr_id, &pios_gcsrcvr_rcvr_driver, pios_gcsrcvr_id)) {
+        PIOS_Assert(0);
+    }
+    pios_rcvr_group_map[MANUALCONTROLSETTINGS_CHANNELGROUPS_GCS] = pios_gcsrcvr_rcvr_id;
+#endif /* PIOS_INCLUDE_GCSRCVR */
+
+    /* Remap AFIO pin for PB4 (Servo 5 Out)*/
+    GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
+
+#ifndef PIOS_ENABLE_DEBUG_PINS
+    switch ((HwSettingsCC_RcvrPortOptions)hwsettings_rcvrport) {
+    case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
+        PIOS_Servo_Init(&pios_servo_cfg);
+        break;
+    case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
+        PIOS_Servo_Init(&pios_servo_rcvr_cfg);
+        break;
+    }
+#else
+    PIOS_DEBUG_Init(pios_tim_servoport_all_pins, NELEMENTS(pios_tim_servoport_all_pins));
+#endif /* PIOS_ENABLE_DEBUG_PINS */
+
+    switch (bdinfo->board_rev) {
+    case BOARD_REVISION_CC:
+        // Revision 1 with invensense gyros, start the ADC
+#if defined(PIOS_INCLUDE_ADC)
+        PIOS_ADC_Init(&pios_adc_cfg);
+#endif
+#if defined(PIOS_INCLUDE_ADXL345)
+        PIOS_ADXL345_Init(pios_spi_flash_accel_id, 0);
+#endif
+        break;
+    case BOARD_REVISION_CC3D:
+        // Revision 2 with MPU6000 gyros, start a SPI interface and connect to it
+        GPIO_PinRemapConfig(GPIO_Remap_SWJ_JTAGDisable, ENABLE);
+
+#if defined(PIOS_INCLUDE_MPU6000)
+        // Set up the SPI interface to the serial flash
+        if (PIOS_SPI_Init(&pios_spi_gyro_id, &pios_spi_gyro_cfg)) {
+            PIOS_Assert(0);
+        }
+        PIOS_MPU6000_Init(pios_spi_gyro_id, 0, &pios_mpu6000_cfg);
+        PIOS_MPU6000_CONFIG_Configure();
+        init_test = !PIOS_MPU6000_Driver.test(0);
+#endif /* PIOS_INCLUDE_MPU6000 */
+
+        break;
+    default:
+        PIOS_Assert(0);
+    }
+
+    /* Make sure we have at least one telemetry link configured or else fail initialization */
+    PIOS_Assert(pios_com_telem_rf_id || pios_com_telem_usb_id);
+
+    // Attach the board config check hook
+    SANITYCHECK_AttachHook(&CopterControlConfigHook);
+    // trigger a config check if actuatorsettings are updated
+    ActuatorSettingsInitialize();
+    ActuatorSettingsConnectCallback(ActuatorSettingsUpdatedCb);
+}
+
+SystemAlarmsExtendedAlarmStatusOptions CopterControlConfigHook()
+{
+    // inhibit usage of oneshot for non supported RECEIVER port modes
+    uint8_t recmode;
+
+    HwSettingsCC_RcvrPortGet(&recmode);
+    uint8_t flexiMode;
+    uint8_t modes[ACTUATORSETTINGS_BANKMODE_NUMELEM];
+    ActuatorSettingsBankModeGet(modes);
+    HwSettingsCC_FlexiPortGet(&flexiMode);
+
+    switch ((HwSettingsCC_RcvrPortOptions)recmode) {
+    // Those modes allows oneshot usage
+    case HWSETTINGS_CC_RCVRPORT_DISABLEDONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_OUTPUTSONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT:
+        if ((recmode == HWSETTINGS_CC_RCVRPORT_PPM_PIN8ONESHOT ||
+             flexiMode == HWSETTINGS_CC_FLEXIPORT_PPM) &&
+            (modes[3] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
+             modes[3] == ACTUATORSETTINGS_BANKMODE_ONESHOT125)) {
+            return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;
+        } else {
+            return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
+        }
+
+    // inhibit oneshot for the following modes
+    case HWSETTINGS_CC_RCVRPORT_PPMNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPMOUTPUTSNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PPMPWMNOONESHOT:
+    case HWSETTINGS_CC_RCVRPORT_PWMNOONESHOT:
+        for (uint8_t i = 0; i < ACTUATORSETTINGS_BANKMODE_NUMELEM; i++) {
+            if (modes[i] == ACTUATORSETTINGS_BANKMODE_PWMSYNC ||
+                modes[i] == ACTUATORSETTINGS_BANKMODE_ONESHOT125) {
+                return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
+            }
+
+            return SYSTEMALARMS_EXTENDEDALARMSTATUS_NONE;
+        }
+    }
+    return SYSTEMALARMS_EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT;;
+}
+// trigger a configuration check if ActuatorSettings are changed.
+void ActuatorSettingsUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
+{
+    configuration_check();
+}
+
+/**
+ * @}
+ */

flight/targets/boards/coptercontrol/firmware/pios_board_posix.c

@@ -0,0 +1,145 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board specific static initializers for hardware for the OpenPilot board.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "inc/openpilot.h"
+#include <pios_udp_priv.h>
+#include <pios_com_priv.h>
+#include <uavobjectsinit.h>
+
+/**
+ * PIOS_Board_Init()
+ * initializes all the core systems on this specific hardware
+ * called from System/openpilot.c
+ */
+void PIOS_Board_Init(void)
+{
+    /* Delay system */
+    PIOS_DELAY_Init();
+
+    /* Initialize the delayed callback library */
+    PIOS_CALLBACKSCHEDULER_Initialize();
+
+    /* Initialize UAVObject libraries */
+    EventDispatcherInitialize();
+    UAVObjInitialize();
+
+    /* Initialize the alarms library */
+    AlarmsInitialize();
+
+    /* Initialize the task monitor */
+    if (PIOS_TASK_MONITOR_Initialize(TASKINFO_RUNNING_NUMELEM)) {
+        PIOS_Assert(0);
+    }
+
+    /* Initialize the PiOS library */
+    PIOS_COM_Init();
+}
+
+
+const struct pios_udp_cfg pios_udp0_cfg = {
+    .ip   = "0.0.0.0",
+    .port = 9000,
+};
+const struct pios_udp_cfg pios_udp1_cfg = {
+    .ip   = "0.0.0.0",
+    .port = 9001,
+};
+const struct pios_udp_cfg pios_udp2_cfg = {
+    .ip   = "0.0.0.0",
+    .port = 9002,
+};
+
+#ifdef PIOS_COM_AUX
+/*
+ * AUX USART
+ */
+const struct pios_udp_cfg pios_udp3_cfg = {
+    .ip   = "0.0.0.0",
+    .port = 9003,
+};
+#endif
+
+/*
+ * Board specific number of devices.
+ */
+struct pios_udp_dev pios_udp_devs[] = {
+#define PIOS_UDP_TELEM 0
+    {
+        .cfg = &pios_udp0_cfg,
+    },
+#define PIOS_UDP_GPS   1
+    {
+        .cfg = &pios_udp1_cfg,
+    },
+#define PIOS_UDP_LOCAL 2
+    {
+        .cfg = &pios_udp2_cfg,
+    },
+#ifdef PIOS_COM_AUX
+#define PIOS_UDP_AUX   3
+    {
+        .cfg = &pios_udp3_cfg,
+    },
+#endif
+};
+
+uint8_t pios_udp_num_devices = NELEMENTS(pios_udp_devs);
+
+/*
+ * COM devices
+ */
+
+/*
+ * Board specific number of devices.
+ */
+extern const struct pios_com_driver pios_serial_com_driver;
+extern const struct pios_com_driver pios_udp_com_driver;
+
+struct pios_com_dev pios_com_devs[] = {
+    {
+        .id     = PIOS_UDP_TELEM,
+        .driver = &pios_udp_com_driver,
+    },
+    {
+        .id     = PIOS_UDP_GPS,
+        .driver = &pios_udp_com_driver,
+    },
+    {
+        .id     = PIOS_UDP_LOCAL,
+        .driver = &pios_udp_com_driver,
+    },
+#ifdef PIOS_COM_AUX
+    {
+        .id     = PIOS_UDP_AUX,
+        .driver = &pios_udp_com_driver,
+    },
+#endif
+};
+
+const uint8_t pios_com_num_devices = NELEMENTS(pios_com_devs);
+
+/**
+ * @}
+ */

flight/targets/boards/coptercontrol/pios_board.h

@@ -0,0 +1,279 @@
+/**
+ ******************************************************************************
+ *
+ * @file       pios_board.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Defines board hardware for the OpenPilot Version 1.1 hardware.
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#ifndef PIOS_BOARD_H
+#define PIOS_BOARD_H
+// ------------------------
+// Timers and Channels Used
+// ------------------------
+/*
+   Timer | Channel 1 | Channel 2 | Channel 3 | Channel 4
+   ------+-----------+-----------+-----------+----------
+   TIM1  |  Servo 4  |           |           |
+   TIM2  |  RC In 5  |  RC In 6  |  Servo 6  |
+   TIM3  |  Servo 5  |  RC In 2  |  RC In 3  |  RC In 4
+   TIM4  |  RC In 1  |  Servo 3  |  Servo 2  |  Servo 1
+   ------+-----------+-----------+-----------+----------
+ */
+
+// ------------------------
+// DMA Channels Used
+// ------------------------
+/* Channel 1  -                                 */
+/* Channel 2  -                                 */
+/* Channel 3  -                                 */
+/* Channel 4  -                                 */
+/* Channel 5  -                                 */
+/* Channel 6  -                                 */
+/* Channel 7  -                                 */
+/* Channel 8  -                                 */
+/* Channel 9  -                                 */
+/* Channel 10 -                                 */
+/* Channel 11 -                                 */
+/* Channel 12 -                                 */
+
+// ------------------------
+// BOOTLOADER_SETTINGS
+// ------------------------
+#define BOARD_READABLE           TRUE
+#define BOARD_WRITABLE           TRUE
+#define MAX_DEL_RETRYS           3
+
+// ------------------------
+// WATCHDOG_SETTINGS
+// ------------------------
+#define PIOS_WATCHDOG_TIMEOUT    250
+#define PIOS_WDG_REGISTER        BKP_DR4
+#define PIOS_WDG_ACTUATOR        0x0001
+#define PIOS_WDG_STABILIZATION   0x0002
+#define PIOS_WDG_ATTITUDE        0x0004
+#define PIOS_WDG_MANUAL          0x0008
+#define PIOS_WDG_AUTOTUNE        0x0010
+
+// ------------------------
+// TELEMETRY
+// ------------------------
+#define TELEM_QUEUE_SIZE         10
+
+// ------------------------
+// PIOS_LED
+// ------------------------
+#define PIOS_LED_HEARTBEAT       0
+
+// -------------------------
+// System Settings
+// -------------------------
+#define PIOS_MASTER_CLOCK        72000000
+#define PIOS_PERIPHERAL_CLOCK    (PIOS_MASTER_CLOCK / 2)
+
+// -------------------------
+// Interrupt Priorities
+// -------------------------
+#define PIOS_IRQ_PRIO_LOW        12              // lower than RTOS
+#define PIOS_IRQ_PRIO_MID        8               // higher than RTOS
+#define PIOS_IRQ_PRIO_HIGH       5               // for SPI, ADC, I2C etc...
+#define PIOS_IRQ_PRIO_HIGHEST    4               // for USART etc...
+// ------------------------
+// PIOS_I2C
+// See also pios_board.c
+// ------------------------
+#define PIOS_I2C_MAX_DEVS        1
+extern uint32_t pios_i2c_flexi_adapter_id;
+#define PIOS_I2C_MAIN_ADAPTER    (pios_i2c_flexi_adapter_id)
+#define PIOS_I2C_ESC_ADAPTER     (pios_i2c_flexi_adapter_id)
+#define PIOS_I2C_BMP085_ADAPTER  (pios_i2c_flexi_adapter_id)
+
+// ------------------------
+// PIOS_BMP085
+// ------------------------
+#define PIOS_BMP085_OVERSAMPLING 3
+
+// -------------------------
+// SPI
+//
+// See also pios_board.c
+// -------------------------
+#define PIOS_SPI_MAX_DEVS   2
+
+// -------------------------
+// PIOS_USART
+// -------------------------
+#define PIOS_USART_MAX_DEVS 2
+
+// -------------------------
+// PIOS_COM
+//
+// See also pios_board.c
+// -------------------------
+#define PIOS_COM_MAX_DEVS  3
+
+extern uint32_t pios_com_telem_rf_id;
+#define PIOS_COM_TELEM_RF  (pios_com_telem_rf_id)
+
+#if defined(PIOS_INCLUDE_GPS)
+extern uint32_t pios_com_gps_id;
+#define PIOS_COM_GPS       (pios_com_gps_id)
+#endif /* PIOS_INCLUDE_GPS */
+
+extern uint32_t pios_com_bridge_id;
+#define PIOS_COM_BRIDGE    (pios_com_bridge_id)
+
+extern uint32_t pios_com_vcp_id;
+#define PIOS_COM_VCP       (pios_com_vcp_id)
+
+extern uint32_t pios_com_telem_usb_id;
+#define PIOS_COM_TELEM_USB (pios_com_telem_usb_id)
+
+#if defined(PIOS_INCLUDE_DEBUG_CONSOLE)
+extern uint32_t pios_com_debug_id;
+#define PIOS_COM_DEBUG     (pios_com_debug_id)
+#endif /* PIOS_INCLUDE_DEBUG_CONSOLE */
+
+extern uint32_t pios_com_hkosd_id;
+#define PIOS_COM_OSDHK     (pios_com_hkosd_id)
+
+// -------------------------
+// ADC
+// PIOS_ADC_PinGet(0) = Gyro Z
+// PIOS_ADC_PinGet(1) = Gyro Y
+// PIOS_ADC_PinGet(2) = Gyro X
+// -------------------------
+// #define PIOS_ADC_OVERSAMPLING_RATE		1
+#define PIOS_ADC_USE_TEMP_SENSOR         1
+#define PIOS_ADC_TEMP_SENSOR_ADC         ADC1
+#define PIOS_ADC_TEMP_SENSOR_ADC_CHANNEL 1
+
+#define PIOS_ADC_PIN1_GPIO_PORT          GPIOA                   // PA4 (Gyro X)
+#define PIOS_ADC_PIN1_GPIO_PIN           GPIO_Pin_4              // ADC12_IN4
+#define PIOS_ADC_PIN1_GPIO_CHANNEL       ADC_Channel_4
+#define PIOS_ADC_PIN1_ADC                ADC2
+#define PIOS_ADC_PIN1_ADC_NUMBER         1
+
+#define PIOS_ADC_PIN2_GPIO_PORT          GPIOA                   // PA5 (Gyro Y)
+#define PIOS_ADC_PIN2_GPIO_PIN           GPIO_Pin_5              // ADC123_IN5
+#define PIOS_ADC_PIN2_GPIO_CHANNEL       ADC_Channel_5
+#define PIOS_ADC_PIN2_ADC                ADC1
+#define PIOS_ADC_PIN2_ADC_NUMBER         2
+
+#define PIOS_ADC_PIN3_GPIO_PORT          GPIOA                   // PA3 (Gyro Z)
+#define PIOS_ADC_PIN3_GPIO_PIN           GPIO_Pin_3              // ADC12_IN3
+#define PIOS_ADC_PIN3_GPIO_CHANNEL       ADC_Channel_3
+#define PIOS_ADC_PIN3_ADC                ADC2
+#define PIOS_ADC_PIN3_ADC_NUMBER         2
+
+#define PIOS_ADC_NUM_PINS                3
+
+#define PIOS_ADC_PORTS                   { PIOS_ADC_PIN1_GPIO_PORT, PIOS_ADC_PIN2_GPIO_PORT, PIOS_ADC_PIN3_GPIO_PORT }
+#define PIOS_ADC_PINS                    { PIOS_ADC_PIN1_GPIO_PIN, PIOS_ADC_PIN2_GPIO_PIN, PIOS_ADC_PIN3_GPIO_PIN }
+#define PIOS_ADC_CHANNELS                { PIOS_ADC_PIN1_GPIO_CHANNEL, PIOS_ADC_PIN2_GPIO_CHANNEL, PIOS_ADC_PIN3_GPIO_CHANNEL }
+#define PIOS_ADC_MAPPING                 { PIOS_ADC_PIN1_ADC, PIOS_ADC_PIN2_ADC, PIOS_ADC_PIN3_ADC }
+#define PIOS_ADC_CHANNEL_MAPPING         { PIOS_ADC_PIN1_ADC_NUMBER, PIOS_ADC_PIN2_ADC_NUMBER, PIOS_ADC_PIN3_ADC_NUMBER }
+#define PIOS_ADC_NUM_CHANNELS            (PIOS_ADC_NUM_PINS + PIOS_ADC_USE_TEMP_SENSOR)
+#define PIOS_ADC_NUM_ADC_CHANNELS        2
+#define PIOS_ADC_USE_ADC2                1
+#define PIOS_ADC_CLOCK_FUNCTION          RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1 | RCC_APB2Periph_ADC2, ENABLE)
+#define PIOS_ADC_ADCCLK                  RCC_PCLK2_Div8
+/* RCC_PCLK2_Div2: ADC clock = PCLK2/2 */
+/* RCC_PCLK2_Div4: ADC clock = PCLK2/4 */
+/* RCC_PCLK2_Div6: ADC clock = PCLK2/6 */
+/* RCC_PCLK2_Div8: ADC clock = PCLK2/8 */
+#define PIOS_ADC_SAMPLE_TIME             ADC_SampleTime_239Cycles5
+/* Sample time: */
+/* With an ADCCLK = 14 MHz and a sampling time of 239.5 cycles: */
+/* Tconv = 239.5 + 12.5 = 252 cycles = 18<31>s */
+/* (1 / (ADCCLK / CYCLES)) = Sample Time (<28>S) */
+#define PIOS_ADC_IRQ_PRIO                PIOS_IRQ_PRIO_LOW
+
+// Currently analog acquistion hard coded at 480 Hz
+// PCKL2 = HCLK / 16
+// ADCCLK = PCLK2 / 2
+#define PIOS_ADC_RATE                    (72.0e6f / 1.0f / 8.0f / 252.0f / (PIOS_ADC_NUM_CHANNELS >> PIOS_ADC_USE_ADC2))
+#define PIOS_ADC_MAX_OVERSAMPLING        48
+
+#define PIOS_ADC_TEMPERATURE_PIN         0
+
+// ------------------------
+// PIOS_RCVR
+// See also pios_board.c
+// ------------------------
+#define PIOS_RCVR_MAX_DEVS           3
+#define PIOS_RCVR_MAX_CHANNELS       12
+#define PIOS_GCSRCVR_TIMEOUT_MS      100
+
+// -------------------------
+// Receiver PPM input
+// -------------------------
+#define PIOS_PPM_MAX_DEVS            1
+#define PIOS_PPM_NUM_INPUTS          12
+
+// -------------------------
+// Receiver PWM input
+// -------------------------
+#define PIOS_PWM_MAX_DEVS            1
+#define PIOS_PWM_NUM_INPUTS          6
+
+// -------------------------
+// Receiver DSM input
+// -------------------------
+#define PIOS_DSM_MAX_DEVS            2
+#define PIOS_DSM_NUM_INPUTS          12
+
+// -------------------------
+// Receiver S.Bus input
+// -------------------------
+#define PIOS_SBUS_MAX_DEVS           1
+#define PIOS_SBUS_NUM_INPUTS         (16 + 2)
+
+// -------------------------
+// Servo outputs
+// -------------------------
+#define PIOS_SERVO_UPDATE_HZ         50
+#define PIOS_SERVOS_INITIAL_POSITION 0 /* dont want to start motors, have no pulse till settings loaded */
+#define PIOS_SERVO_BANKS             6
+
+// --------------------------
+// Timer controller settings
+// --------------------------
+#define PIOS_TIM_MAX_DEVS            3
+
+// -------------------------
+// GPIO
+// -------------------------
+#define PIOS_GPIO_PORTS              {}
+#define PIOS_GPIO_PINS               {}
+#define PIOS_GPIO_CLKS               {}
+#define PIOS_GPIO_NUM                0
+
+// -------------------------
+// USB
+// -------------------------
+#define PIOS_USB_HID_MAX_DEVS        1
+
+#define PIOS_USB_ENABLED             1
+#define PIOS_USB_DETECT_GPIO_PORT    GPIOC
+#define PIOS_USB_MAX_DEVS            1
+#define PIOS_USB_DETECT_GPIO_PIN     GPIO_Pin_15
+
+#endif /* PIOS_BOARD_H */

flight/targets/boards/coptercontrol/pios_usb_board_data.c

@@ -0,0 +1,102 @@
+/**
+ ******************************************************************************
+ * @addtogroup PIOS PIOS Core hardware abstraction layer
+ * @{
+ * @addtogroup PIOS_USB_BOARD Board specific USB definitions
+ * @brief Board specific USB definitions
+ * @{
+ *
+ * @file       pios_usb_board_data.c
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @brief      Board specific USB definitions
+ * @see        The GNU Public License (GPL) Version 3
+ *
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#include "inc/pios_usb_board_data.h" /* struct usb_*, USB_* */
+#include <pios_sys.h> /* PIOS_SYS_SerialNumberGet */
+#include <pios_usbhook.h> /* PIOS_USBHOOK_* */
+#include <pios_usb_util.h> /* PIOS_USB_UTIL_AsciiToUtf8 */
+
+static const uint8_t usb_product_id[28] = {
+    sizeof(usb_product_id),
+    USB_DESC_TYPE_STRING,
+    'C',                   0,
+    'o',                   0,
+    'p',                   0,
+    't',                   0,
+    'e',                   0,
+    'r',                   0,
+    'C',                   0,
+    'o',                   0,
+    'n',                   0,
+    't',                   0,
+    'r',                   0,
+    'o',                   0,
+    'l',                   0,
+};
+
+static uint8_t usb_serial_number[2 + PIOS_SYS_SERIAL_NUM_ASCII_LEN * 2 + (sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1) * 2] = {
+    sizeof(usb_serial_number),
+    USB_DESC_TYPE_STRING,
+};
+
+static const struct usb_string_langid usb_lang_id = {
+    .bLength = sizeof(usb_lang_id),
+    .bDescriptorType = USB_DESC_TYPE_STRING,
+    .bLangID = htousbs(USB_LANGID_ENGLISH_US),
+};
+
+static const uint8_t usb_vendor_id[28] = {
+    sizeof(usb_vendor_id),
+    USB_DESC_TYPE_STRING,
+    'o',                  0,
+    'p',                  0,
+    'e',                  0,
+    'n',                  0,
+    'p',                  0,
+    'i',                  0,
+    'l',                  0,
+    'o',                  0,
+    't',                  0,
+    '.',                  0,
+    'o',                  0,
+    'r',                  0,
+    'g',                  0
+};
+
+int32_t PIOS_USB_BOARD_DATA_Init(void)
+{
+    /* Load device serial number into serial number string */
+    uint8_t sn[PIOS_SYS_SERIAL_NUM_ASCII_LEN + 1];
+
+    PIOS_SYS_SerialNumberGet((char *)sn);
+
+    /* Concatenate the device serial number and the appropriate suffix ("+BL" or "+FW") into the USB serial number */
+    uint8_t *utf8 = &(usb_serial_number[2]);
+    utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, sn, PIOS_SYS_SERIAL_NUM_ASCII_LEN);
+    utf8 = PIOS_USB_UTIL_AsciiToUtf8(utf8, (uint8_t *)PIOS_USB_BOARD_SN_SUFFIX, sizeof(PIOS_USB_BOARD_SN_SUFFIX) - 1);
+
+    PIOS_USBHOOK_RegisterString(USB_STRING_DESC_PRODUCT, (uint8_t *)&usb_product_id, sizeof(usb_product_id));
+    PIOS_USBHOOK_RegisterString(USB_STRING_DESC_SERIAL, (uint8_t *)&usb_serial_number, sizeof(usb_serial_number));
+
+    PIOS_USBHOOK_RegisterString(USB_STRING_DESC_LANG, (uint8_t *)&usb_lang_id, sizeof(usb_lang_id));
+    PIOS_USBHOOK_RegisterString(USB_STRING_DESC_VENDOR, (uint8_t *)&usb_vendor_id, sizeof(usb_vendor_id));
+
+    return 0;
+}

ground/openpilotgcs/src/plugins/config/cc_hw_settings.ui

@@ -0,0 +1,658 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>CC_HW_Widget</class>
+ <widget class="QWidget" name="CC_HW_Widget">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>646</width>
+    <height>596</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="tab">
+      <attribute name="title">
+       <string>HW settings</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>624</width>
+            <height>510</height>
+           </rect>
+          </property>
+          <layout class="QGridLayout" name="gridLayout_3">
+           <property name="leftMargin">
+            <number>12</number>
+           </property>
+           <property name="topMargin">
+            <number>12</number>
+           </property>
+           <property name="rightMargin">
+            <number>12</number>
+           </property>
+           <property name="bottomMargin">
+            <number>12</number>
+           </property>
+           <item row="6" column="0" colspan="3">
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Minimum">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>0</width>
+               <height>50</height>
+              </size>
+             </property>
+             <property name="title">
+              <string>Messages</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_3">
+              <item>
+               <widget class="QLabel" name="problems">
+                <property name="font">
+                 <font>
+                  <weight>75</weight>
+                  <bold>true</bold>
+                 </font>
+                </property>
+                <property name="text">
+                 <string/>
+                </property>
+                <property name="textFormat">
+                 <enum>Qt::AutoText</enum>
+                </property>
+                <property name="wordWrap">
+                 <bool>true</bool>
+                </property>
+               </widget>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item row="0" column="1">
+            <widget class="QLabel" name="label_6">
+             <property name="sizePolicy">
+              <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+               <horstretch>0</horstretch>
+               <verstretch>0</verstretch>
+              </sizepolicy>
+             </property>
+             <property name="minimumSize">
+              <size>
+               <width>500</width>
+               <height>0</height>
+              </size>
+             </property>
+             <property name="maximumSize">
+              <size>
+               <width>500</width>
+               <height>16777215</height>
+              </size>
+             </property>
+             <property name="font">
+              <font>
+               <weight>75</weight>
+               <bold>true</bold>
+              </font>
+             </property>
+             <property name="text">
+              <string>Changes on this page only take effect after board reset or power cycle</string>
+             </property>
+             <property name="alignment">
+              <set>Qt::AlignCenter</set>
+             </property>
+             <property name="wordWrap">
+              <bool>true</bool>
+             </property>
+            </widget>
+           </item>
+           <item row="5" column="1">
+            <spacer name="verticalSpacer">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>25</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="3" column="1">
+            <layout class="QHBoxLayout" name="horizontalLayout">
+             <item>
+              <layout class="QGridLayout" name="gridLayout_2">
+               <item row="0" column="1">
+                <widget class="QComboBox" name="telemetrySpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="0">
+                <widget class="QLabel" name="GpsSpeedLabel">
+                 <property name="minimumSize">
+                  <size>
+                   <width>55</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>GPS speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="0" column="0">
+                <widget class="QLabel" name="telemetrySpeedLabel">
+                 <property name="text">
+                  <string>Telemetry speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="1">
+                <widget class="QComboBox" name="comUsbBridgeSpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="2" column="1">
+                <widget class="QComboBox" name="gpsSpeed">
+                 <property name="toolTip">
+                  <string>Select the speed here.</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="1" column="0">
+                <widget class="QLabel" name="ComUsbBridgeSpeedLabel">
+                 <property name="minimumSize">
+                  <size>
+                   <width>55</width>
+                   <height>0</height>
+                  </size>
+                 </property>
+                 <property name="text">
+                  <string>ComUsbBridge speed:</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="0">
+                <widget class="QLabel" name="GpsProtocolLabel">
+                 <property name="text">
+                  <string>GPS protocol :</string>
+                 </property>
+                </widget>
+               </item>
+               <item row="3" column="1">
+                <widget class="QComboBox" name="gpsProtocol"/>
+               </item>
+              </layout>
+             </item>
+             <item>
+              <spacer name="horizontalSpacer_3">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+            </layout>
+           </item>
+           <item row="2" column="1">
+            <layout class="QGridLayout" name="gridLayout" rowstretch="0,0,0,0,0,0,0,0">
+             <item row="4" column="0">
+              <widget class="QComboBox" name="cbFlexi"/>
+             </item>
+             <item row="6" column="0">
+              <widget class="QComboBox" name="cbTele"/>
+             </item>
+             <item row="3" column="3">
+              <widget class="QLabel" name="label_8">
+               <property name="text">
+                <string>USB HID Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="7" column="0">
+              <widget class="QLabel" name="label_4">
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="3">
+              <widget class="QLabel" name="label_9">
+               <property name="text">
+                <string>USB VCP Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="1" rowspan="5" colspan="2">
+              <widget class="QLabel" name="label_2">
+               <property name="text">
+                <string/>
+               </property>
+               <property name="scaledContents">
+                <bool>false</bool>
+               </property>
+              </widget>
+             </item>
+             <item row="5" column="0">
+              <widget class="QLabel" name="label_3">
+               <property name="text">
+                <string>Main Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="3" column="0">
+              <widget class="QLabel" name="label_5">
+               <property name="text">
+                <string>Flexi Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignBottom|Qt::AlignLeading|Qt::AlignLeft</set>
+               </property>
+              </widget>
+             </item>
+             <item row="4" column="3">
+              <widget class="QComboBox" name="cbUsbHid"/>
+             </item>
+             <item row="4" column="4">
+              <spacer name="horizontalSpacer_2">
+               <property name="orientation">
+                <enum>Qt::Horizontal</enum>
+               </property>
+               <property name="sizeHint" stdset="0">
+                <size>
+                 <width>40</width>
+                 <height>20</height>
+                </size>
+               </property>
+              </spacer>
+             </item>
+             <item row="6" column="3">
+              <widget class="QComboBox" name="cbUsbVcp"/>
+             </item>
+             <item row="2" column="1" colspan="2" alignment="Qt::AlignLeft">
+              <widget class="QComboBox" name="cbRcvr"/>
+             </item>
+             <item row="1" column="1" colspan="2" alignment="Qt::AlignLeft">
+              <widget class="QLabel" name="label_7">
+               <property name="text">
+                <string>Receiver Port</string>
+               </property>
+               <property name="alignment">
+                <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+           <item row="2" column="0">
+            <spacer name="horizontalSpacer_4">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="2" column="2">
+            <spacer name="horizontalSpacer_5">
+             <property name="orientation">
+              <enum>Qt::Horizontal</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>40</width>
+               <height>20</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+           <item row="1" column="1">
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeType">
+              <enum>QSizePolicy::Fixed</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_2">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>369</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="cchwHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToRAM">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="palette">
+        <palette>
+         <active>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </active>
+         <inactive>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="0">
+             <red>255</red>
+             <green>255</green>
+             <blue>255</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </inactive>
+         <disabled>
+          <colorrole role="Base">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+          <colorrole role="Window">
+           <brush brushstyle="SolidPattern">
+            <color alpha="255">
+             <red>232</red>
+             <green>232</green>
+             <blue>232</blue>
+            </color>
+           </brush>
+          </colorrole>
+         </disabled>
+        </palette>
+       </property>
+       <property name="toolTip">
+        <string>Send to OpenPilot but don't write in SD.
+Beware of not locking yourself out!</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>16</width>
+         <height>16</height>
+        </size>
+       </property>
+       <property name="checkable">
+        <bool>false</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveTelemetryToSD">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>16777215</width>
+         <height>16777215</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Applies and Saves all settings to SD.
+Beware of not locking yourself out!</string>
+       </property>
+       <property name="autoFillBackground">
+        <bool>false</bool>
+       </property>
+       <property name="styleSheet">
+        <string notr="true"/>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>

ground/openpilotgcs/src/plugins/config/ccattitude.ui

@@ -0,0 +1,597 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>ccattitude</class>
+ <widget class="QWidget" name="ccattitude">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>780</width>
+    <height>566</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Form</string>
+  </property>
+  <layout class="QVBoxLayout" name="verticalLayout_5">
+   <item>
+    <widget class="QTabWidget" name="tabWidget">
+     <property name="currentIndex">
+      <number>0</number>
+     </property>
+     <widget class="QWidget" name="Attitude">
+      <attribute name="title">
+       <string>Attitude</string>
+      </attribute>
+      <layout class="QVBoxLayout" name="verticalLayout_3">
+       <property name="leftMargin">
+        <number>0</number>
+       </property>
+       <property name="topMargin">
+        <number>0</number>
+       </property>
+       <property name="rightMargin">
+        <number>0</number>
+       </property>
+       <property name="bottomMargin">
+        <number>0</number>
+       </property>
+       <item>
+        <widget class="QScrollArea" name="scrollArea">
+         <property name="palette">
+          <palette>
+           <active>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </active>
+           <inactive>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="255">
+               <red>255</red>
+               <green>255</green>
+               <blue>255</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </inactive>
+           <disabled>
+            <colorrole role="Base">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+            <colorrole role="Window">
+             <brush brushstyle="SolidPattern">
+              <color alpha="0">
+               <red>232</red>
+               <green>232</green>
+               <blue>232</blue>
+              </color>
+             </brush>
+            </colorrole>
+           </disabled>
+          </palette>
+         </property>
+         <property name="frameShape">
+          <enum>QFrame::NoFrame</enum>
+         </property>
+         <property name="frameShadow">
+          <enum>QFrame::Plain</enum>
+         </property>
+         <property name="widgetResizable">
+          <bool>true</bool>
+         </property>
+         <widget class="QWidget" name="scrollAreaWidgetContents">
+          <property name="geometry">
+           <rect>
+            <x>0</x>
+            <y>0</y>
+            <width>758</width>
+            <height>486</height>
+           </rect>
+          </property>
+          <layout class="QVBoxLayout" name="verticalLayout">
+           <property name="leftMargin">
+            <number>12</number>
+           </property>
+           <property name="topMargin">
+            <number>12</number>
+           </property>
+           <property name="rightMargin">
+            <number>12</number>
+           </property>
+           <property name="bottomMargin">
+            <number>12</number>
+           </property>
+           <item>
+            <widget class="QGroupBox" name="groupBox">
+             <property name="title">
+              <string>Rotate virtual attitude relative to board</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout" columnstretch="0,1,0,1,0,1,0">
+              <item row="0" column="1">
+               <widget class="QLabel" name="label_2">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+                </property>
+                <property name="text">
+                 <string>Roll</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <widget class="QSpinBox" name="rollBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="4">
+               <spacer name="horizontalSpacer_9">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="5">
+               <widget class="QSpinBox" name="yawBias">
+                <property name="minimum">
+                 <number>-180</number>
+                </property>
+                <property name="maximum">
+                 <number>180</number>
+                </property>
+               </widget>
+              </item>
+              <item row="0" column="5">
+               <widget class="QLabel" name="label_4">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+                </property>
+                <property name="text">
+                 <string>Yaw</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="2">
+               <spacer name="horizontalSpacer_8">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="0" column="3">
+               <widget class="QLabel" name="label_3">
+                <property name="styleSheet">
+                 <string notr="true">background-color: qlineargradient(spread:reflect, x1:0.507, y1:0, x2:0.507, y2:0.772, stop:0.208955 rgba(74, 74, 74, 255), stop:0.78607 rgba(36, 36, 36, 255));
+color: rgb(255, 255, 255);
+border-radius: 5;
+margin:1px;
+font:bold;</string>
+                </property>
+                <property name="text">
+                 <string>Pitch</string>
+                </property>
+                <property name="alignment">
+                 <set>Qt::AlignCenter</set>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="3">
+               <widget class="QSpinBox" name="pitchBias">
+                <property name="minimum">
+                 <number>-90</number>
+                </property>
+                <property name="maximum">
+                 <number>90</number>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="0">
+               <spacer name="horizontalSpacer_7">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="6">
+               <spacer name="horizontalSpacer_10">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_2">
+             <property name="title">
+              <string>Calibration</string>
+             </property>
+             <layout class="QGridLayout" name="gridLayout_2">
+              <item row="0" column="0" colspan="3">
+               <layout class="QHBoxLayout" name="horizontalLayout_2">
+                <item>
+                 <spacer name="horizontalSpacer_2">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+                <item>
+                 <widget class="QLabel" name="label">
+                  <property name="text">
+                   <string>Place aircraft very flat, and then click level to compute the accelerometer and gyro bias</string>
+                  </property>
+                  <property name="wordWrap">
+                   <bool>true</bool>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_3">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+              <item row="1" column="0">
+               <widget class="QPushButton" name="zeroBias">
+                <property name="maximumSize">
+                 <size>
+                  <width>500</width>
+                  <height>16777215</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Launch horizontal calibration.</string>
+                </property>
+                <property name="text">
+                 <string>Level</string>
+                </property>
+               </widget>
+              </item>
+              <item row="1" column="1">
+               <spacer name="horizontalSpacer_4">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>10</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item row="1" column="2">
+               <widget class="QProgressBar" name="zeroBiasProgress">
+                <property name="minimumSize">
+                 <size>
+                  <width>300</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="value">
+                 <number>0</number>
+                </property>
+               </widget>
+              </item>
+              <item row="2" column="0" colspan="3">
+               <layout class="QHBoxLayout" name="horizontalLayout_3">
+                <item>
+                 <widget class="QCheckBox" name="zeroGyroBiasOnArming">
+                  <property name="toolTip">
+                   <string>If enabled, a fast recalibration of gyro zero point will be done
+whenever the frame is armed. Do not move the airframe while
+arming it in that case!</string>
+                  </property>
+                  <property name="text">
+                   <string>Zero gyros while arming aircraft</string>
+                  </property>
+                 </widget>
+                </item>
+                <item>
+                 <spacer name="horizontalSpacer_6">
+                  <property name="orientation">
+                   <enum>Qt::Horizontal</enum>
+                  </property>
+                  <property name="sizeHint" stdset="0">
+                   <size>
+                    <width>40</width>
+                    <height>20</height>
+                   </size>
+                  </property>
+                 </spacer>
+                </item>
+               </layout>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <widget class="QGroupBox" name="groupBox_3">
+             <property name="title">
+              <string>Filtering</string>
+             </property>
+             <layout class="QHBoxLayout" name="horizontalLayout_5">
+              <item>
+               <widget class="QLabel" name="label_5">
+                <property name="minimumSize">
+                 <size>
+                  <width>0</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string/>
+                </property>
+                <property name="text">
+                 <string>Accelerometers</string>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer_12">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeType">
+                 <enum>QSizePolicy::Fixed</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>10</width>
+                  <height>0</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+              <item>
+               <widget class="QDoubleSpinBox" name="accelTauSpinbox">
+                <property name="minimumSize">
+                 <size>
+                  <width>60</width>
+                  <height>0</height>
+                 </size>
+                </property>
+                <property name="toolTip">
+                 <string>Accelerometer filtering.
+
+Sets the amount of lowpass filtering of accelerometer data 
+for the attitude estimation. Higher values apply a stronger 
+filter, which may help with drifting in attitude mode.
+
+Range: 0.00 - 0.20, Good starting value: 0.05 - 0.10
+Start low and raise until drift stops.
+
+A setting of 0.00 disables the filter.</string>
+                </property>
+                <property name="decimals">
+                 <number>2</number>
+                </property>
+                <property name="maximum">
+                 <double>0.200000000000000</double>
+                </property>
+                <property name="singleStep">
+                 <double>0.010000000000000</double>
+                </property>
+               </widget>
+              </item>
+              <item>
+               <spacer name="horizontalSpacer_5">
+                <property name="orientation">
+                 <enum>Qt::Horizontal</enum>
+                </property>
+                <property name="sizeHint" stdset="0">
+                 <size>
+                  <width>40</width>
+                  <height>20</height>
+                 </size>
+                </property>
+               </spacer>
+              </item>
+             </layout>
+            </widget>
+           </item>
+           <item>
+            <spacer name="verticalSpacer_2">
+             <property name="orientation">
+              <enum>Qt::Vertical</enum>
+             </property>
+             <property name="sizeHint" stdset="0">
+              <size>
+               <width>20</width>
+               <height>10</height>
+              </size>
+             </property>
+            </spacer>
+           </item>
+          </layout>
+         </widget>
+        </widget>
+       </item>
+      </layout>
+     </widget>
+    </widget>
+   </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <property name="spacing">
+      <number>4</number>
+     </property>
+     <item>
+      <spacer name="horizontalSpacer">
+       <property name="orientation">
+        <enum>Qt::Horizontal</enum>
+       </property>
+       <property name="sizeHint" stdset="0">
+        <size>
+         <width>380</width>
+         <height>20</height>
+        </size>
+       </property>
+      </spacer>
+     </item>
+     <item>
+      <widget class="QPushButton" name="ccAttitudeHelp">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Fixed">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="maximumSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Takes you to the wiki page</string>
+       </property>
+       <property name="text">
+        <string/>
+       </property>
+       <property name="icon">
+        <iconset resource="../coreplugin/core.qrc">
+         <normaloff>:/core/images/helpicon.svg</normaloff>:/core/images/helpicon.svg</iconset>
+       </property>
+       <property name="iconSize">
+        <size>
+         <width>25</width>
+         <height>25</height>
+        </size>
+       </property>
+       <property name="flat">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="applyButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="text">
+        <string>Apply</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QPushButton" name="saveButton">
+       <property name="minimumSize">
+        <size>
+         <width>0</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="toolTip">
+        <string>Click to permanently save the accel bias in the CopterControl Flash.</string>
+       </property>
+       <property name="text">
+        <string>Save</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../coreplugin/core.qrc"/>
+ </resources>
+ <connections/>
+</ui>

ground/openpilotgcs/src/plugins/config/config.pro

@@ -21,6 +21,8 @@ HEADERS += \
     configinputwidget.h \
     configoutputwidget.h \
     configvehicletypewidget.h \
+    config_cc_hw_widget.h \
+    configccattitudewidget.h \
     configstabilizationwidget.h \
     assertions.h \
     defaultattitudewidget.h \
@@ -67,6 +69,8 @@ SOURCES += \
     configinputwidget.cpp \
     configoutputwidget.cpp \
     configvehicletypewidget.cpp \
+    config_cc_hw_widget.cpp \
+    configccattitudewidget.cpp \
     configstabilizationwidget.cpp \
     defaultattitudewidget.cpp \
     defaulthwsettingswidget.cpp \
@@ -104,10 +108,12 @@ FORMS += \
     airframe_ground.ui \
     airframe_multirotor.ui \
     airframe_custom.ui \
+    cc_hw_settings.ui \
     stabilization.ui \
     input.ui \
     input_wizard.ui \
     output.ui \
+    ccattitude.ui \
     defaultattitude.ui \
     defaulthwsettings.ui \
     inputchannelform.ui \

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.cpp

@@ -0,0 +1,156 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtelemetrywidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief The Configuration Gadget used to update settings in the firmware
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "config_cc_hw_widget.h"
+#include "hwsettings.h"
+#include <QDebug>
+#include <QStringList>
+#include <QWidget>
+#include <QTextEdit>
+#include <QVBoxLayout>
+#include <QPushButton>
+#include <QDesktopServices>
+#include <QUrl>
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+
+
+ConfigCCHWWidget::ConfigCCHWWidget(QWidget *parent) : ConfigTaskWidget(parent)
+{
+    m_telemetry = new Ui_CC_HW_Widget();
+    m_telemetry->setupUi(this);
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
+    if (!settings->useExpertMode()) {
+        m_telemetry->saveTelemetryToRAM->setVisible(false);
+    }
+
+
+    UAVObjectUtilManager *utilMngr = pm->getObject<UAVObjectUtilManager>();
+    int id = utilMngr->getBoardModel();
+
+    switch (id) {
+    case 0x0101:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0101.svg"));
+        break;
+    case 0x0301:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0301.svg"));
+        break;
+    case 0x0401:
+        m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
+        break;
+    case 0x0402:
+        m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
+        break;
+    case 0x0201:
+        m_telemetry->label_2->setPixmap(QPixmap(":/uploader/images/deviceID-0201.svg"));
+        break;
+    default:
+        m_telemetry->label_2->setPixmap(QPixmap(":/configgadget/images/coptercontrol.svg"));
+        break;
+    }
+    addApplySaveButtons(m_telemetry->saveTelemetryToRAM, m_telemetry->saveTelemetryToSD);
+    addWidgetBinding("HwSettings", "CC_FlexiPort", m_telemetry->cbFlexi);
+    addWidgetBinding("HwSettings", "CC_MainPort", m_telemetry->cbTele);
+    addWidgetBinding("HwSettings", "CC_RcvrPort", m_telemetry->cbRcvr);
+    addWidgetBinding("HwSettings", "USB_HIDPort", m_telemetry->cbUsbHid);
+    addWidgetBinding("HwSettings", "USB_VCPPort", m_telemetry->cbUsbVcp);
+    addWidgetBinding("HwSettings", "TelemetrySpeed", m_telemetry->telemetrySpeed);
+    addWidgetBinding("HwSettings", "GPSSpeed", m_telemetry->gpsSpeed);
+    // Add Gps protocol configuration
+
+    HwSettings *hwSettings = HwSettings::GetInstance(getObjectManager());
+    HwSettings::DataFields hwSettingsData = hwSettings->getData();
+
+    if (hwSettingsData.OptionalModules[HwSettings::OPTIONALMODULES_GPS] != HwSettings::OPTIONALMODULES_ENABLED) {
+        m_telemetry->gpsProtocol->setEnabled(false);
+        m_telemetry->gpsProtocol->setToolTip(tr("Enable GPS module and reboot the board to be able to select GPS protocol"));
+    } else {
+        addWidgetBinding("GPSSettings", "DataProtocol", m_telemetry->gpsProtocol);
+    }
+
+    addWidgetBinding("HwSettings", "ComUsbBridgeSpeed", m_telemetry->comUsbBridgeSpeed);
+    connect(m_telemetry->cchwHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+    enableSaveButtons(false);
+    populateWidgets();
+    refreshWidgetsValues();
+    forceConnectedState();
+}
+
+ConfigCCHWWidget::~ConfigCCHWWidget()
+{
+    // Do nothing
+}
+
+void ConfigCCHWWidget::refreshValues()
+{}
+
+void ConfigCCHWWidget::widgetsContentsChanged()
+{
+    ConfigTaskWidget::widgetsContentsChanged();
+
+    if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) &&
+         (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
+        ((m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE) &&
+         (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE)) ||
+        ((m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_DEBUGCONSOLE) &&
+         (m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE))) {
+        enableSaveButtons(false);
+        m_telemetry->problems->setText(tr("Warning: you have configured more than one DebugConsole, this currently is not supported"));
+    } else if (((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_TELEMETRY) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_TELEMETRY)) ||
+               ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_GPS) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_GPS)) ||
+               ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_DEBUGCONSOLE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_DEBUGCONSOLE)) ||
+               ((m_telemetry->cbTele->currentIndex() == HwSettings::CC_MAINPORT_COMBRIDGE) && (m_telemetry->cbFlexi->currentIndex() == HwSettings::CC_FLEXIPORT_COMBRIDGE))) {
+        enableSaveButtons(false);
+        m_telemetry->problems->setText(tr("Warning: you have configured both MainPort and FlexiPort for the same function, this currently is not supported"));
+    } else if ((m_telemetry->cbUsbHid->currentIndex() == HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() == HwSettings::USB_VCPPORT_USBTELEMETRY)) {
+        enableSaveButtons(false);
+        m_telemetry->problems->setText(tr("Warning: you have configured both USB HID Port and USB VCP Port for the same function, this currently is not supported"));
+    } else if ((m_telemetry->cbUsbHid->currentIndex() != HwSettings::USB_HIDPORT_USBTELEMETRY) && (m_telemetry->cbUsbVcp->currentIndex() != HwSettings::USB_VCPPORT_USBTELEMETRY)) {
+        enableSaveButtons(false);
+        m_telemetry->problems->setText(tr("Warning: you have disabled USB Telemetry on both USB HID Port and USB VCP Port, this currently is not supported"));
+    } else {
+        m_telemetry->problems->setText("");
+        enableSaveButtons(true);
+    }
+}
+
+void ConfigCCHWWidget::enableSaveButtons(bool enable)
+{
+    m_telemetry->saveTelemetryToRAM->setEnabled(enable);
+    m_telemetry->saveTelemetryToSD->setEnabled(enable);
+}
+
+void ConfigCCHWWidget::openHelp()
+{
+    QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/D4AUAQ"), QUrl::StrictMode));
+}
+
+/**
+ * @}
+ * @}
+ */

ground/openpilotgcs/src/plugins/config/config_cc_hw_widget.h

@@ -0,0 +1,56 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configtelemetrytwidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Telemetry configuration panel
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef CONFIGCCHWWIDGET_H
+#define CONFIGCCHWWIDGET_H
+
+#include "ui_cc_hw_settings.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include <QWidget>
+#include <QList>
+#include "smartsavebutton.h"
+
+class ConfigCCHWWidget : public ConfigTaskWidget {
+    Q_OBJECT
+
+public:
+    ConfigCCHWWidget(QWidget *parent = 0);
+    ~ConfigCCHWWidget();
+private slots:
+    void openHelp();
+    void refreshValues();
+    void widgetsContentsChanged();
+    void enableSaveButtons(bool enable);
+
+private:
+    Ui_CC_HW_Widget *m_telemetry;
+    QSvgRenderer *m_renderer;
+};
+
+#endif // CONFIGCCHWWIDGET_H

ground/openpilotgcs/src/plugins/config/configccattitudewidget.cpp

@@ -0,0 +1,239 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configccattitudewidget.cpp
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Configure Attitude module on CopterControl
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#include "configccattitudewidget.h"
+#include "ui_ccattitude.h"
+#include "utils/coordinateconversions.h"
+#include "attitudesettings.h"
+#include <QMutexLocker>
+#include <QMessageBox>
+#include <QDebug>
+#include <QDesktopServices>
+#include <QUrl>
+#include "accelstate.h"
+#include "accelgyrosettings.h"
+#include "gyrostate.h"
+#include <extensionsystem/pluginmanager.h>
+#include <coreplugin/generalsettings.h>
+#include <calibration/calibrationutils.h>
+ConfigCCAttitudeWidget::ConfigCCAttitudeWidget(QWidget *parent) :
+    ConfigTaskWidget(parent),
+    ui(new Ui_ccattitude)
+{
+    ui->setupUi(this);
+    connect(ui->zeroBias, SIGNAL(clicked()), this, SLOT(startAccelCalibration()));
+
+    ExtensionSystem::PluginManager *pm = ExtensionSystem::PluginManager::instance();
+    Core::Internal::GeneralSettings *settings = pm->getObject<Core::Internal::GeneralSettings>();
+    if (!settings->useExpertMode()) {
+        ui->applyButton->setVisible(false);
+    }
+
+    addApplySaveButtons(ui->applyButton, ui->saveButton);
+    addUAVObject("AttitudeSettings");
+    addUAVObject("AccelGyroSettings");
+
+    // Connect the help button
+    connect(ui->ccAttitudeHelp, SIGNAL(clicked()), this, SLOT(openHelp()));
+
+    addWidgetBinding("AttitudeSettings", "ZeroDuringArming", ui->zeroGyroBiasOnArming);
+    addWidgetBinding("AttitudeSettings", "AccelTau", ui->accelTauSpinbox);
+
+    addWidgetBinding("AttitudeSettings", "BoardRotation", ui->rollBias, AttitudeSettings::BOARDROTATION_ROLL);
+    addWidgetBinding("AttitudeSettings", "BoardRotation", ui->pitchBias, AttitudeSettings::BOARDROTATION_PITCH);
+    addWidgetBinding("AttitudeSettings", "BoardRotation", ui->yawBias, AttitudeSettings::BOARDROTATION_YAW);
+    addWidget(ui->zeroBias);
+    populateWidgets();
+    refreshWidgetsValues();
+    forceConnectedState();
+}
+
+ConfigCCAttitudeWidget::~ConfigCCAttitudeWidget()
+{
+    delete ui;
+}
+
+void ConfigCCAttitudeWidget::sensorsUpdated(UAVObject *obj)
+{
+    if (!timer.isActive()) {
+        // ignore updates that come in after the timer has expired
+        return;
+    }
+
+    AccelState *accelState = AccelState::GetInstance(getObjectManager());
+    GyroState *gyroState   = GyroState::GetInstance(getObjectManager());
+
+    // Accumulate samples until we have _at least_ NUM_SENSOR_UPDATES samples
+    // for both gyros and accels.
+    // Note that, at present, we stash the samples and then compute the bias
+    // at the end, even though the mean could be accumulated as we go.
+    // In future, a better algorithm could be used.
+    if (obj->getObjID() == AccelState::OBJID) {
+        accelUpdates++;
+        AccelState::DataFields accelStateData = accelState->getData();
+        x_accum.append(accelStateData.x);
+        y_accum.append(accelStateData.y);
+        z_accum.append(accelStateData.z);
+    } else if (obj->getObjID() == GyroState::OBJID) {
+        gyroUpdates++;
+        GyroState::DataFields gyroStateData = gyroState->getData();
+        x_gyro_accum.append(gyroStateData.x);
+        y_gyro_accum.append(gyroStateData.y);
+        z_gyro_accum.append(gyroStateData.z);
+    }
+
+    // update the progress indicator
+    ui->zeroBiasProgress->setValue((float)qMin(accelUpdates, gyroUpdates) / NUM_SENSOR_UPDATES * 100);
+
+    // If we have enough samples, then stop sampling and compute the biases
+    if (accelUpdates >= NUM_SENSOR_UPDATES && gyroUpdates >= NUM_SENSOR_UPDATES) {
+        timer.stop();
+        disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
+        disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
+
+        float x_bias = OpenPilot::CalibrationUtils::listMean(x_accum);
+        float y_bias = OpenPilot::CalibrationUtils::listMean(y_accum);
+        float z_bias = OpenPilot::CalibrationUtils::listMean(z_accum) + 9.81;
+
+        float x_gyro_bias = OpenPilot::CalibrationUtils::listMean(x_gyro_accum);
+        float y_gyro_bias = OpenPilot::CalibrationUtils::listMean(y_gyro_accum);
+        float z_gyro_bias = OpenPilot::CalibrationUtils::listMean(z_gyro_accum);
+        accelState->setMetadata(initialAccelStateMdata);
+        gyroState->setMetadata(initialGyroStateMdata);
+
+        AccelGyroSettings::DataFields accelGyroSettingsData = AccelGyroSettings::GetInstance(getObjectManager())->getData();
+        AttitudeSettings::DataFields attitudeSettingsData   = AttitudeSettings::GetInstance(getObjectManager())->getData();
+        // We offset the gyro bias by current bias to help precision
+        accelGyroSettingsData.accel_bias[0] += x_bias;
+        accelGyroSettingsData.accel_bias[1] += y_bias;
+        accelGyroSettingsData.accel_bias[2] += z_bias;
+        accelGyroSettingsData.gyro_bias[0]   = -x_gyro_bias;
+        accelGyroSettingsData.gyro_bias[1]   = -y_gyro_bias;
+        accelGyroSettingsData.gyro_bias[2]   = -z_gyro_bias;
+        attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
+        AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
+        AccelGyroSettings::GetInstance(getObjectManager())->setData(accelGyroSettingsData);
+        this->setDirty(true);
+
+        // reenable controls
+        enableControls(true);
+    }
+}
+
+void ConfigCCAttitudeWidget::timeout()
+{
+    UAVDataObject *obj = AccelState::GetInstance(getObjectManager());
+
+    disconnect(obj, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
+    disconnect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
+
+    AccelState *accelState = AccelState::GetInstance(getObjectManager());
+    GyroState *gyroState   = GyroState::GetInstance(getObjectManager());
+    accelState->setMetadata(initialAccelStateMdata);
+    gyroState->setMetadata(initialGyroStateMdata);
+
+    QMessageBox msgBox;
+    msgBox.setText(tr("Calibration timed out before receiving required updates."));
+    msgBox.setStandardButtons(QMessageBox::Ok);
+    msgBox.setDefaultButton(QMessageBox::Ok);
+    msgBox.exec();
+
+    // reset progress indicator
+    ui->zeroBiasProgress->setValue(0);
+    // reenable controls
+    enableControls(true);
+}
+
+void ConfigCCAttitudeWidget::startAccelCalibration()
+{
+    // disable controls during sampling
+    enableControls(false);
+
+    accelUpdates = 0;
+    gyroUpdates  = 0;
+    x_accum.clear();
+    y_accum.clear();
+    z_accum.clear();
+    x_gyro_accum.clear();
+    y_gyro_accum.clear();
+    z_gyro_accum.clear();
+
+    // Disable gyro bias correction to see raw data
+    AttitudeSettings::DataFields attitudeSettingsData = AttitudeSettings::GetInstance(getObjectManager())->getData();
+    attitudeSettingsData.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_FALSE;
+    AttitudeSettings::GetInstance(getObjectManager())->setData(attitudeSettingsData);
+
+    // Set up to receive updates
+    UAVDataObject *accelState = AccelState::GetInstance(getObjectManager());
+    UAVDataObject *gyroState  = GyroState::GetInstance(getObjectManager());
+    connect(accelState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
+    connect(gyroState, SIGNAL(objectUpdated(UAVObject *)), this, SLOT(sensorsUpdated(UAVObject *)));
+
+    // Speed up updates
+    initialAccelStateMdata = accelState->getMetadata();
+    UAVObject::Metadata accelStateMdata = initialAccelStateMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(accelStateMdata, UAVObject::UPDATEMODE_PERIODIC);
+    accelStateMdata.flightTelemetryUpdatePeriod = 30; // ms
+    accelState->setMetadata(accelStateMdata);
+
+    initialGyroStateMdata = gyroState->getMetadata();
+    UAVObject::Metadata gyroStateMdata = initialGyroStateMdata;
+    UAVObject::SetFlightTelemetryUpdateMode(gyroStateMdata, UAVObject::UPDATEMODE_PERIODIC);
+    gyroStateMdata.flightTelemetryUpdatePeriod = 30; // ms
+    gyroState->setMetadata(gyroStateMdata);
+
+    // Set up timeout timer
+    timer.setSingleShot(true);
+    timer.start(5000 + (NUM_SENSOR_UPDATES * qMax(accelStateMdata.flightTelemetryUpdatePeriod,
+                                                  gyroStateMdata.flightTelemetryUpdatePeriod)));
+    connect(&timer, SIGNAL(timeout()), this, SLOT(timeout()));
+}
+
+void ConfigCCAttitudeWidget::openHelp()
+{
+    QDesktopServices::openUrl(QUrl(tr("http://wiki.openpilot.org/x/44Cf"), QUrl::StrictMode));
+}
+
+void ConfigCCAttitudeWidget::setAccelFiltering(bool active)
+{
+    Q_UNUSED(active);
+    setDirty(true);
+}
+
+void ConfigCCAttitudeWidget::enableControls(bool enable)
+{
+    ui->zeroBias->setEnabled(enable);
+    ui->zeroGyroBiasOnArming->setEnabled(enable);
+    ui->accelTauSpinbox->setEnabled(enable);
+    ConfigTaskWidget::enableControls(enable);
+}
+
+void ConfigCCAttitudeWidget::updateObjectsFromWidgets()
+{
+    ConfigTaskWidget::updateObjectsFromWidgets();
+
+    ui->zeroBiasProgress->setValue(0);
+}

ground/openpilotgcs/src/plugins/config/configccattitudewidget.h

@@ -0,0 +1,74 @@
+/**
+ ******************************************************************************
+ *
+ * @file       configccattitudewidget.h
+ * @author     The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
+ * @addtogroup GCSPlugins GCS Plugins
+ * @{
+ * @addtogroup ConfigPlugin Config Plugin
+ * @{
+ * @brief Configure the properties of the attitude module in CopterControl
+ *****************************************************************************/
+/*
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * This program is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
+ * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
+ * for more details.
+ *
+ * You should have received a copy of the GNU General Public License along
+ * with this program; if not, write to the Free Software Foundation, Inc.,
+ * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+#ifndef CCATTITUDEWIDGET_H
+#define CCATTITUDEWIDGET_H
+
+#include "ui_ccattitude.h"
+#include "../uavobjectwidgetutils/configtaskwidget.h"
+#include "extensionsystem/pluginmanager.h"
+#include "uavobjectmanager.h"
+#include "uavobject.h"
+#include <QWidget>
+#include <QTimer>
+
+class Ui_Widget;
+
+class ConfigCCAttitudeWidget : public ConfigTaskWidget {
+    Q_OBJECT
+
+public:
+    explicit ConfigCCAttitudeWidget(QWidget *parent = 0);
+    ~ConfigCCAttitudeWidget();
+
+    virtual void updateObjectsFromWidgets();
+
+private slots:
+    void sensorsUpdated(UAVObject *obj);
+    void timeout();
+    void startAccelCalibration();
+    void openHelp();
+    void setAccelFiltering(bool active);
+
+private:
+    Ui_ccattitude *ui;
+    QTimer timer;
+    UAVObject::Metadata initialAccelStateMdata;
+    UAVObject::Metadata initialGyroStateMdata;
+
+    int accelUpdates;
+    int gyroUpdates;
+
+    QList<double> x_accum, y_accum, z_accum;
+    QList<double> x_gyro_accum, y_gyro_accum, z_gyro_accum;
+
+    static const float DEFAULT_ENABLED_ACCEL_TAU = 0.1;
+    static const int NUM_SENSOR_UPDATES = 300;
+protected:
+    virtual void enableControls(bool enable);
+};
+
+#endif // CCATTITUDEWIDGET_H

ground/openpilotgcs/src/plugins/config/configgadget.qrc

@@ -12,7 +12,9 @@
         <file>images/fixedwing-shapes.svg</file>
         <file>images/ground-shapes.svg</file>
         <file>images/ccpm_setup.svg</file>
+        <file>images/PipXtreme.png</file>
         <file>images/help.png</file>
+        <file>images/coptercontrol.svg</file>
         <file>images/TX2.svg</file>
         <file>images/output_selected.png</file>
         <file>images/output_normal.png</file>

ground/openpilotgcs/src/plugins/config/configgadgetwidget.cpp

@@ -28,12 +28,14 @@
 #include "configgadgetwidget.h"
 
 #include "configvehicletypewidget.h"
+#include "configccattitudewidget.h"
 #include "configinputwidget.h"
 #include "configoutputwidget.h"
 #include "configstabilizationwidget.h"
 #include "configcamerastabilizationwidget.h"
 #include "configtxpidwidget.h"
 #include "configrevohwwidget.h"
+#include "config_cc_hw_widget.h"
 #include "configoplinkwidget.h"
 #include "configrevowidget.h"
 #include "configrevonanohwwidget.h"
@@ -182,15 +184,21 @@ void ConfigGadgetWidget::onAutopilotConnect()
     UAVObjectUtilManager *utilMngr     = pm->getObject<UAVObjectUtilManager>();
     if (utilMngr) {
         int board = utilMngr->getBoardModel();
-        if ((board & 0xff00) == 0x0900) {
+        if ((board & 0xff00) == 1024) {
+            // CopterControl family
+            QWidget *qwd = new ConfigCCAttitudeWidget(this);
+            stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
+
+            qwd = new ConfigCCHWWidget(this);
+            stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
+        } else if ((board & 0xff00) == 0x0900) {
             // Revolution family
             QWidget *qwd = new ConfigRevoWidget(this);
             stackWidget->replaceTab(ConfigGadgetWidget::sensors, qwd);
-            if (board == 0x0903) {
-                qwd = new ConfigRevoHWWidget(this);
+
+            qwd = new ConfigRevoHWWidget(this);
             } else if (board == 0x0905) {
                 qwd = new ConfigRevoNanoHWWidget(this);
-            }
             stackWidget->replaceTab(ConfigGadgetWidget::hardware, qwd);
         } else {
             // Unknown board

ground/openpilotgcs/src/plugins/config/configoutputwidget.cpp

@@ -353,8 +353,12 @@ void ConfigOutputWidget::refreshWidgetsValues(UAVObject *obj)
 
     if (utilMngr) {
         int board = utilMngr->getBoardModel();
-        // Setup labels and combos for banks according to board type
-        if (board == 0x0903) {
+         // Setup labels and combos for banks according to board type
+        if ((board & 0xff00) == 0x0400) {
+            // Coptercontrol family of boards 4 timer banks
+            bankLabels << "1 (1-3)" << "2 (4)" << "3 (5,7-8)" << "4 (6,9-10)";
+            channelBanks << 1 << 1 << 1 << 2 << 3 << 4 << 3 << 3 << 4 << 4;
+        } else if (board == 0x0903) {
             // Revolution family of boards 6 timer banks
             bankLabels << "1 (1-2)" << "2 (3)" << "3 (4)" << "4 (5-6)" << "5 (7,12)" << "6 (8-11)";
             channelBanks << 1 << 1 << 2 << 3 << 4 << 4 << 5 << 6 << 6 << 6 << 6 << 5;
@@ -472,7 +476,10 @@ void ConfigOutputWidget::updateWarnings(UAVObject *)
     if (systemAlarms.Alarm[SystemAlarms::ALARM_SYSTEMCONFIGURATION] > SystemAlarms::ALARM_WARNING) {
         switch (systemAlarms.ExtendedAlarmStatus[SystemAlarms::EXTENDEDALARMSTATUS_SYSTEMCONFIGURATION]) {
         case SystemAlarms::EXTENDEDALARMSTATUS_UNSUPPORTEDCONFIG_ONESHOT:
-            setWarning(tr("OneShot and PWMSync output DO NOT work with Receiver Port is 'PWM'<br>"));
+            setWarning(tr("OneShot and PWMSync output only works with Receiver Port settings marked with '+OneShot'<br>"
+                          "When using Receiver Port setting 'PPM_PIN8+OneShot' "
+                          "<b><font color='%1'>Bank %2</font></b> must be set to PWM")
+                       .arg(m_banks.at(3).color().name()).arg(m_banks.at(3).label()->text()));
             return;
         }
     }

ground/openpilotgcs/src/plugins/config/images/coptercontrol.svg

@@ -0,0 +1,2647 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
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+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
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+   xmlns:svg="http://www.w3.org/2000/svg"
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+       clipPathUnits="userSpaceOnUse"
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+     borderopacity="1"
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+     gridtolerance="10"
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ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.cpp

@@ -89,8 +89,6 @@ void ConnectionManager::init()
     // new connection object from plugins
     QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(objectAdded(QObject *)), this, SLOT(objectAdded(QObject *)));
     QObject::connect(ExtensionSystem::PluginManager::instance(), SIGNAL(aboutToRemoveObject(QObject *)), this, SLOT(aboutToRemoveObject(QObject *)));
-
-    ccWarningClosed = true;
 }
 
 
@@ -437,23 +435,16 @@ void ConnectionManager::devChanged(IConnection *connection)
     }
     // clear device list combobox
     m_availableDevList->clear();
-    ccFound = false;
 
     // remove registered devices of this IConnection from the list
     updateConnectionList(connection);
 
     updateConnectionDropdown();
 
-    if (ccFound && ccWarningClosed) {
-        ccWarningClosed = false;
-        QMessageBox::information(this, tr("CopterControl Not Supported"),
-                                 tr("This version of OpenPilot GCS does not support CC and CC3D boards.\n\nPlease use OpenPilot GCS version 15.02.xx instead"));
-        ccWarningClosed = true;
-    }
-
     qDebug() << "# devices " << m_devList.count();
     emit availableDevicesChanged(m_devList);
 
+
     // disable connection button if the liNameif (m_availableDevList->count() > 0)
     if (m_availableDevList->count() > 0) {
         m_connectBtn->setEnabled(true);
@@ -466,21 +457,17 @@ void ConnectionManager::updateConnectionDropdown()
 {
     // add all the list again to the combobox
     foreach(DevListItem d, m_devList) {
-        if (!d.getConName().contains("CopterControl")) {
-            m_availableDevList->addItem(d.getConName());
-            m_availableDevList->setItemData(m_availableDevList->count() - 1, d.getConName(), Qt::ToolTipRole);
-            if (!m_ioDev && d.getConName().startsWith("USB")) {
-                if (m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect()) {
-                    m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
-                }
-                if (m_mainWindow->generalSettings()->autoConnect() && polling) {
-                    qDebug() << "Automatically opening device";
-                    connectDevice(d);
-                    qDebug() << "ConnectionManager::updateConnectionDropdown autoconnected USB device";
-                }
+        m_availableDevList->addItem(d.getConName());
+        m_availableDevList->setItemData(m_availableDevList->count() - 1, d.getConName(), Qt::ToolTipRole);
+        if (!m_ioDev && d.getConName().startsWith("USB")) {
+            if (m_mainWindow->generalSettings()->autoConnect() || m_mainWindow->generalSettings()->autoSelect()) {
+                m_availableDevList->setCurrentIndex(m_availableDevList->count() - 1);
+            }
+            if (m_mainWindow->generalSettings()->autoConnect() && polling) {
+                qDebug() << "Automatically opening device";
+                connectDevice(d);
+                qDebug() << "ConnectionManager::updateConnectionDropdown autoconnected USB device";
             }
-        } else {
-            ccFound = true;
         }
     }
     if (m_ioDev) {

ground/openpilotgcs/src/plugins/coreplugin/connectionmanager.h

@@ -38,7 +38,6 @@
 #include <QtCore/QLinkedList>
 #include <QPushButton>
 #include <QComboBox>
-#include <QMessageBox>
 
 #include "core_global.h"
 #include <QTimer>
@@ -150,8 +149,6 @@ protected:
 private:
     bool connectDevice();
     bool polling;
-    bool ccFound;
-    bool ccWarningClosed;
     Internal::MainWindow *m_mainWindow;
     QList <IConnection *> connectionBackup;
     QTimer *reconnect;

ground/openpilotgcs/src/plugins/ophid/inc/ophid_usbmon.h

@@ -135,9 +135,10 @@ public:
     };
 
     enum USBConstants {
-        idVendor_OpenPilot   = 0x20a0,
-        idProduct_OpenPilot  = 0x415a,
-        idProduct_OPLinkMini = 0x415c
+        idVendor_OpenPilot      = 0x20a0,
+        idProduct_OpenPilot     = 0x415a,
+        idProduct_CopterControl = 0x415b,
+        idProduct_OPLinkMini    = 0x415c
     };
 
     static USBMonitor *instance();

ground/openpilotgcs/src/plugins/setupwizard/connectiondiagram.cpp

@@ -81,6 +81,10 @@ void ConnectionDiagram::setupGraphicsScene()
         QList<QString> elementsToShow;
 
         switch (m_configSource->getControllerType()) {
+        case VehicleConfigurationSource::CONTROLLER_CC:
+        case VehicleConfigurationSource::CONTROLLER_CC3D:
+            elementsToShow << "controller-cc";
+            break;
         case VehicleConfigurationSource::CONTROLLER_REVO:
             elementsToShow << "controller-revo";
             break;
@@ -160,6 +164,14 @@ void ConnectionDiagram::setupGraphicsScene()
         QString prefix = "";
         QString suffix = "";
         switch (m_configSource->getControllerType()) {
+        case VehicleConfigurationSource::CONTROLLER_CC:
+        case VehicleConfigurationSource::CONTROLLER_CC3D:
+            prefix = "cc-";
+            if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT ||
+                m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) {
+                suffix = "-oneshot";
+            }
+            break;
         case VehicleConfigurationSource::CONTROLLER_REVO:
             prefix = "revo-";
             break;

ground/openpilotgcs/src/plugins/setupwizard/pages/controllerpage.cpp

@@ -80,6 +80,9 @@ bool ControllerPage::isComplete() const
 bool ControllerPage::validatePage()
 {
     getWizard()->setControllerType((SetupWizard::CONTROLLER_TYPE)ui->boardTypeCombo->itemData(ui->boardTypeCombo->currentIndex()).toInt());
+    if (getWizard()->getControllerType() == SetupWizard::CONTROLLER_CC || getWizard()->getControllerType() == SetupWizard::CONTROLLER_CC3D) {
+        getWizard()->setGpsType(SetupWizard::GPS_DISABLED);
+    }
     return true;
 }
 
@@ -98,6 +101,12 @@ SetupWizard::CONTROLLER_TYPE ControllerPage::getControllerType()
     case 0x0301:
         return SetupWizard::CONTROLLER_OPLINK;
 
+    case 0x0401:
+        return SetupWizard::CONTROLLER_CC;
+
+    case 0x0402:
+        return SetupWizard::CONTROLLER_CC3D;
+
     case 0x0903:
         return SetupWizard::CONTROLLER_REVO;
 
@@ -123,6 +132,8 @@ void ControllerPage::setupBoardTypes()
     QVariant v(0);
 
     ui->boardTypeCombo->addItem(tr("<Unknown>"), SetupWizard::CONTROLLER_UNKNOWN);
+    ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl"), SetupWizard::CONTROLLER_CC);
+    ui->boardTypeCombo->addItem(tr("OpenPilot CopterControl 3D"), SetupWizard::CONTROLLER_CC3D);
     ui->boardTypeCombo->addItem(tr("OpenPilot Revolution"), SetupWizard::CONTROLLER_REVO);
     ui->boardTypeCombo->addItem(tr("OpenPilot OPLink Radio Modem"), SetupWizard::CONTROLLER_OPLINK);
     ui->boardTypeCombo->addItem(tr("OpenPilot DiscoveryF4"), SetupWizard::CONTROLLER_DISCOVERYF4);

ground/openpilotgcs/src/plugins/setupwizard/pages/escpage.cpp

@@ -77,9 +77,10 @@ bool EscPage::isSynchOrOneShotAvailable()
 
     switch (getWizard()->getControllerType()) {
     case SetupWizard::CONTROLLER_NANO:
+    case SetupWizard::CONTROLLER_CC:
+    case SetupWizard::CONTROLLER_CC3D:
         available = getWizard()->getInputType() != SetupWizard::INPUT_PWM;
         break;
-
     default:
         break;
     }

ground/openpilotgcs/src/plugins/setupwizard/pages/inputpage.cpp

@@ -74,6 +74,27 @@ bool InputPage::restartNeeded(VehicleConfigurationSource::INPUT_TYPE selectedTyp
     HwSettings *hwSettings = HwSettings::GetInstance(uavoManager);
     HwSettings::DataFields data = hwSettings->getData();
     switch (getWizard()->getControllerType()) {
+    case SetupWizard::CONTROLLER_CC:
+    case SetupWizard::CONTROLLER_CC3D:
+    {
+        switch (selectedType) {
+        case VehicleConfigurationSource::INPUT_PWM:
+            return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PWMNOONESHOT;
+
+        case VehicleConfigurationSource::INPUT_PPM:
+            return data.CC_RcvrPort != HwSettings::CC_RCVRPORT_PPMNOONESHOT;
+
+        case VehicleConfigurationSource::INPUT_SBUS:
+            return data.CC_MainPort != HwSettings::CC_MAINPORT_SBUS;
+
+        case VehicleConfigurationSource::INPUT_DSM:
+            // TODO: Handle all of the DSM types ?? Which is most common?
+            return data.CC_MainPort != HwSettings::CC_MAINPORT_DSM;
+
+        default: return true;
+        }
+        break;
+    }
     case SetupWizard::CONTROLLER_REVO:
     case SetupWizard::CONTROLLER_DISCOVERYF4:
     case SetupWizard::CONTROLLER_NANO:

ground/openpilotgcs/src/plugins/setupwizard/setupwizard.cpp

@@ -95,6 +95,8 @@ int SetupWizard::nextId() const
     case PAGE_CONTROLLER:
     {
         switch (getControllerType()) {
+        case CONTROLLER_CC:
+        case CONTROLLER_CC3D:
         case CONTROLLER_REVO:
         case CONTROLLER_DISCOVERYF4:
             return PAGE_INPUT;
@@ -207,6 +209,8 @@ int SetupWizard::nextId() const
     case PAGE_SUMMARY:
     {
         switch (getControllerType()) {
+        case CONTROLLER_CC:
+        case CONTROLLER_CC3D:
         case CONTROLLER_REVO:
         case CONTROLLER_NANO:
         case CONTROLLER_DISCOVERYF4:
@@ -238,6 +242,12 @@ QString SetupWizard::getSummaryText()
 
     summary.append("<b>").append(tr("Controller type: ")).append("</b>");
     switch (getControllerType()) {
+    case CONTROLLER_CC:
+        summary.append(tr("OpenPilot CopterControl"));
+        break;
+    case CONTROLLER_CC3D:
+        summary.append(tr("OpenPilot CopterControl 3D"));
+        break;
     case CONTROLLER_REVO:
         summary.append(tr("OpenPilot Revolution"));
         break;

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationhelper.cpp

@@ -100,7 +100,15 @@ bool VehicleConfigurationHelper::setupHardwareSettings(bool save)
 
 bool VehicleConfigurationHelper::isApplicable(UAVObject *dataObj)
 {
-    return true;
+    switch (m_configSource->getControllerType()) {
+    case VehicleConfigurationSource::CONTROLLER_CC:
+    case VehicleConfigurationSource::CONTROLLER_CC3D:
+        if (dataObj->getName() == "EKFConfiguration") {
+            return false;
+        }
+    default:
+        return true;
+    }
 }
 
 void VehicleConfigurationHelper::addModifiedObject(UAVDataObject *object, QString description)
@@ -128,6 +136,39 @@ void VehicleConfigurationHelper::applyHardwareConfiguration()
     data.OptionalModules[HwSettings::OPTIONALMODULES_AIRSPEED] = 0;
 
     switch (m_configSource->getControllerType()) {
+    case VehicleConfigurationSource::CONTROLLER_CC:
+    case VehicleConfigurationSource::CONTROLLER_CC3D:
+        // Reset all ports
+        data.CC_RcvrPort  = HwSettings::CC_RCVRPORT_DISABLEDONESHOT;
+
+        // Default mainport to be active telemetry link
+        data.CC_MainPort  = HwSettings::CC_MAINPORT_TELEMETRY;
+
+        data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_DISABLED;
+        switch (m_configSource->getInputType()) {
+        case VehicleConfigurationSource::INPUT_PWM:
+            data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PWMNOONESHOT;
+            break;
+        case VehicleConfigurationSource::INPUT_PPM:
+            if (m_configSource->getEscType() == VehicleConfigurationSource::ESC_ONESHOT ||
+                m_configSource->getEscType() == VehicleConfigurationSource::ESC_SYNCHED) {
+                data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPM_PIN8ONESHOT;
+            } else {
+                data.CC_RcvrPort = HwSettings::CC_RCVRPORT_PPMNOONESHOT;
+            }
+            break;
+        case VehicleConfigurationSource::INPUT_SBUS:
+            // We have to set teletry on flexport since s.bus needs the mainport.
+            data.CC_MainPort  = HwSettings::CC_MAINPORT_SBUS;
+            data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_TELEMETRY;
+            break;
+        case VehicleConfigurationSource::INPUT_DSM:
+            data.CC_FlexiPort = HwSettings::CC_FLEXIPORT_DSM;
+            break;
+        default:
+            break;
+        }
+        break;
     case VehicleConfigurationSource::CONTROLLER_REVO:
     case VehicleConfigurationSource::CONTROLLER_NANO:
     case VehicleConfigurationSource::CONTROLLER_DISCOVERYF4:
@@ -393,7 +434,10 @@ void VehicleConfigurationHelper::applyActuatorConfiguration()
             // Servo always on channel 4
             data.BankUpdateFreq[0] = escFrequence;
             data.BankMode[0] = bankMode;
-            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
+            if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC ||
+                m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_CC3D) {
+                data.BankUpdateFreq[1] = servoFrequence;
+            } else if (m_configSource->getControllerType() == VehicleConfigurationSource::CONTROLLER_REVO) {
                 data.BankUpdateFreq[1] = escFrequence;
                 data.BankMode[1] = bankMode;
                 data.BankUpdateFreq[2] = servoFrequence;
@@ -596,6 +640,20 @@ void VehicleConfigurationHelper::applySensorBiasConfiguration()
         addModifiedObject(accelGyroSettings, tr("Writing gyro and accelerometer bias settings"));
 
         switch (m_configSource->getControllerType()) {
+        case VehicleConfigurationSource::CONTROLLER_CC:
+        case VehicleConfigurationSource::CONTROLLER_CC3D:
+        {
+            AttitudeSettings *copterControlCalibration = AttitudeSettings::GetInstance(m_uavoManager);
+            Q_ASSERT(copterControlCalibration);
+            AttitudeSettings::DataFields data = copterControlCalibration->getData();
+
+            data.AccelTau = DEFAULT_ENABLED_ACCEL_TAU;
+            data.BiasCorrectGyro = AttitudeSettings::BIASCORRECTGYRO_TRUE;
+
+            copterControlCalibration->setData(data);
+            addModifiedObject(copterControlCalibration, tr("Writing board settings"));
+            break;
+        }
         case VehicleConfigurationSource::CONTROLLER_REVO:
         case VehicleConfigurationSource::CONTROLLER_NANO:
         {

ground/openpilotgcs/src/plugins/setupwizard/vehicleconfigurationsource.h

@@ -57,7 +57,7 @@ class VehicleConfigurationSource {
 public:
     VehicleConfigurationSource();
 
-    enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
+    enum CONTROLLER_TYPE { CONTROLLER_UNKNOWN, CONTROLLER_CC, CONTROLLER_CC3D, CONTROLLER_REVO, CONTROLLER_NANO, CONTROLLER_OPLINK, CONTROLLER_DISCOVERYF4 };
     enum VEHICLE_TYPE { VEHICLE_UNKNOWN, VEHICLE_MULTI, VEHICLE_FIXEDWING, VEHICLE_HELI, VEHICLE_SURFACE };
     enum VEHICLE_SUB_TYPE { MULTI_ROTOR_UNKNOWN, MULTI_ROTOR_TRI_Y, MULTI_ROTOR_QUAD_X, MULTI_ROTOR_QUAD_PLUS, MULTI_ROTOR_QUAD_H,
                             MULTI_ROTOR_HEXA, MULTI_ROTOR_HEXA_H, MULTI_ROTOR_HEXA_X, MULTI_ROTOR_HEXA_COAX_Y, MULTI_ROTOR_OCTO,

ground/openpilotgcs/src/plugins/uavobjectutil/devicedescriptorstruct.h

@@ -14,18 +14,43 @@ public:
     static QString idToBoardName(int id)
     {
         switch (id) {
+        case 0x0101:
+            // MB
+            return QString("OpenPilot MainBoard");
+
+            break;
+        case 0x0201:
+            // INS
+            return QString("OpenPilot INS");
+
+            break;
         case 0x0301:
             // OPLink Mini
             return QString("OPLink");
 
+            break;
+        case 0x0401:
+            // Coptercontrol
+            return QString("CopterControl");
+
+            break;
+        case 0x0402:
+            // Coptercontrol 3D
+            // It would be nice to say CC3D here but since currently we use string comparisons
+            // for firmware compatibility and the filename path that would break
+            return QString("CopterControl");
+
+            break;
         case 0x0901:
             // Revolution
             return QString("Revolution");
 
+            break;
         case 0x0903:
             // Revo Mini
             return QString("Revolution");
 
+            break;
         case 0x0904:
             return QString("DiscoveryF4");
 
@@ -36,6 +61,8 @@ public:
 
         default:
             return QString("");
+
+            break;
         }
     }
     deviceDescriptorStruct() {}

ground/openpilotgcs/src/plugins/uploader/devicewidget.cpp

@@ -78,11 +78,6 @@ void DeviceWidget::populate()
 {
     int id = m_dfu->devices[deviceID].ID;
 
-    // Exclude CC/CC3D
-    if ((id == 0x0401) || (id == 0x0402)) {
-        return;
-    }
-
     myDevice->lbldevID->setText(tr("Device ID: ") + QString::number(id, 16));
     // DeviceID tells us what sort of HW we have detected:
     // display a nice icon:
@@ -91,10 +86,22 @@ void DeviceWidget::populate()
     myDevice->lblHWRev->setText(tr("HW Revision: ") + QString::number(id & 0x00FF, 16));
 
     switch (id) {
+    case 0x0101:
+    case 0x0201:
+        devicePic.load("");
+        break;
     case 0x0301:
         devicePic.load(":/uploader/images/gcs-board-oplink.png");
         break;
+    case 0x0401:
+        devicePic.load(":/uploader/images/gcs-board-cc.png");
+        break;
+    case 0x0402:
+        devicePic.load(":/uploader/images/gcs-board-cc3d.png");
+        break;
     case 0x0903:
+        devicePic.load(":/uploader/images/gcs-board-revo.png");
+        break;
     case 0x0904:
         devicePic.load(":/uploader/images/gcs-board-revo.png");
         break;
@@ -357,7 +364,8 @@ void DeviceWidget::uploadFirmware()
         // - Check whether board type matches firmware:
         int board = m_dfu->devices[deviceID].ID;
         int firmwareBoard = ((desc.at(12) & 0xff) << 8) + (desc.at(13) & 0xff);
-        if ((board == 0x901 && firmwareBoard == 0x902) || // L3GD20 revo supports Revolution firmware
+        if ((board == 0x401 && firmwareBoard == 0x402) ||
+            (board == 0x901 && firmwareBoard == 0x902) || // L3GD20 revo supports Revolution firmware
             (board == 0x902 && firmwareBoard == 0x903)) { // RevoMini1 supporetd by RevoMini2 firmware
             // These firmwares are designed to be backwards compatible
         } else if (firmwareBoard != board) {

ground/openpilotgcs/src/plugins/uploader/images/deviceID-0101.svg

@@ -0,0 +1,2466 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<!-- Created with Inkscape (http://www.inkscape.org/) -->
+
+<svg
+   xmlns:dc="http://purl.org/dc/elements/1.1/"
+   xmlns:cc="http://creativecommons.org/ns#"
+   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
+   xmlns:svg="http://www.w3.org/2000/svg"
+   xmlns="http://www.w3.org/2000/svg"
+   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
+   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
+   width="381.84375"
+   height="236.375"
+   id="svg2"
+   version="1.1"
+   inkscape:version="0.48.0 r9654"
+   sodipodi:docname="deviceID-1.svg"
+   style="display:inline">
+  <defs
+     id="defs4" />
+  <sodipodi:namedview
+     id="base"
+     pagecolor="#ffffff"
+     bordercolor="#666666"
+     borderopacity="1.0"
+     inkscape:pageopacity="0.0"
+     inkscape:pageshadow="2"
+     inkscape:zoom="1.4"
+     inkscape:cx="116.34582"
+     inkscape:cy="151.29577"
+     inkscape:document-units="px"
+     inkscape:current-layer="layer3"
+     showgrid="false"
+     inkscape:window-width="1366"
+     inkscape:window-height="691"
+     inkscape:window-x="0"
+     inkscape:window-y="24"
+     inkscape:window-maximized="1"
+     fit-margin-top="0"
+     fit-margin-left="0"
+     fit-margin-right="0"
+     fit-margin-bottom="0" />
+  <metadata
+     id="metadata7">
+    <rdf:RDF>
+      <cc:Work
+         rdf:about="">
+        <dc:format>image/svg+xml</dc:format>
+        <dc:type
+           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
+        <dc:title />
+      </cc:Work>
+    </rdf:RDF>
+  </metadata>
+  <g
+     inkscape:groupmode="layer"
+     id="layer3"
+     inkscape:label="Mb pcb"
+     style="display:inline"
+     transform="translate(-195.96875,-338.1875)">
+    <g
+       id="device"
+       inkscape:label="#g4184">
+      <rect
+         ry="10"
+         y="348.28586"
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+             transform="matrix(0,-1,1,0,0,0)" /></g><rect
+           ry="1.9272836"
+           y="590.15265"
+           x="432.12994"
+           height="40.883862"
+           width="34.998043"
+           id="rect14232"
+           style="fill:#6a6a6a;fill-opacity:1;stroke:#000000;stroke-width:1.59135258;stroke-miterlimit:4;stroke-opacity:1;stroke-dasharray:none" /></g><text
+         xml:space="preserve"
+         style="font-size:18px;font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;text-align:start;line-height:125%;letter-spacing:0px;word-spacing:0px;writing-mode:lr-tb;text-anchor:start;fill:#000000;fill-opacity:1;stroke:none;font-family:Arial;-inkscape-font-specification:Sans Bold"
+         x="123.07243"
+         y="109.6582"
+         id="text3548"
+         sodipodi:linespacing="125%"><tspan
+           sodipodi:role="line"
+           id="tspan3550"
+           x="123.07243"
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+           style="font-size:20px;fill:#ffffff">CC3D</tspan></text>
+</g></g></svg>

ground/openpilotgcs/src/plugins/uploader/op_dfu.cpp

@@ -1074,6 +1074,7 @@ int DFUObject::receiveData(void *data, int size)
 #define BOARD_ID_MB   1
 #define BOARD_ID_INS  2
 #define BOARD_ID_PIP  3
+#define BOARD_ID_CC   4
 #define BOARD_ID_REVO 9
 
 /**
@@ -1097,6 +1098,9 @@ OP_DFU::eBoardType DFUObject::GetBoardType(int boardNum)
     case BOARD_ID_PIP: // PIP RF Modem
         brdType = eBoardPip;
         break;
+    case BOARD_ID_CC: // CopterControl family
+        brdType = eBoardCC;
+        break;
     case BOARD_ID_REVO: // Revo board
         brdType = eBoardRevo;
         break;

ground/openpilotgcs/src/plugins/uploader/op_dfu.h

@@ -92,6 +92,7 @@ enum eBoardType {
     eBoardMainbrd = 1,
     eBoardINS,
     eBoardPip     = 3,
+    eBoardCC = 4,
     eBoardRevo    = 9,
 };
 

ground/openpilotgcs/src/plugins/uploader/runningdevicewidget.cpp

@@ -72,9 +72,19 @@ void RunningDeviceWidget::populate()
     myDevice->devicePicture->scene()->clear();
 
     switch (id) {
+    case 0x0101:
+    case 0x0201:
+        devicePic.load("");
+        break;
     case 0x0301:
         devicePic.load(":/uploader/images/gcs-board-oplink.png");
         break;
+    case 0x0401:
+        devicePic.load(":/uploader/images/gcs-board-cc.png");
+        break;
+    case 0x0402:
+        devicePic.load(":/uploader/images/gcs-board-cc3d.png");
+        break;
     case 0x0903:
         devicePic.load(":/uploader/images/gcs-board-revo.png");
         break;

ground/openpilotgcs/src/plugins/uploader/uploader.qrc

@@ -5,9 +5,17 @@
         <file>images/process-stop.svg</file>
         <file>images/dialog-apply.svg</file>
         <file>images/gtk-info.svg</file>
+        <file>images/deviceID-0401.svg</file>
+        <file>images/deviceID-0301.svg</file>
+        <file>images/deviceID-0201.svg</file>
+        <file>images/deviceID-0101.svg</file>
         <file>images/application-certificate.svg</file>
         <file>images/warning.svg</file>
         <file>images/error.svg</file>
+        <file>images/deviceID-0402.svg</file>
+        <file>images/gcs-board-cc.png</file>
+        <file>images/gcs-board-cc3d.png</file>
+        <file>images/pipx.png</file>
         <file>images/gcs-board-oplink.png</file>
         <file>images/gcs-board-revo.png</file>
         <file>images/gcs-board-nano.png</file>

ground/openpilotgcs/src/plugins/uploader/uploadergadgetwidget.cpp

@@ -752,6 +752,10 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
     case 0x301:
         filename = "fw_oplinkmini";
         break;
+    case 0x401:
+    case 0x402:
+        filename = "fw_coptercontrol";
+        break;
     case 0x501:
         filename = "fw_osd";
         break;
@@ -813,6 +817,7 @@ bool UploaderGadgetWidget::autoUpdate(bool erase)
     commonSystemBoot(false, erase);
 
     // Wait for board to connect to GCS again after boot and erase
+    // For older board like CC3D this can take some time
     // Theres a special case with OPLink
     if (!telemetryManager->isConnected() && !m_oplinkwatchdog.isConnected()) {
         progressUpdate(erase ? BOOTING_AND_ERASING : BOOTING, QVariant());

ground/openpilotgcs/src/plugins/usagetracker/usagetrackerplugin.cpp

@@ -182,11 +182,18 @@ void UsageTrackerPlugin::collectUsageParameters(QMap<QString, QString> &paramete
         parameters["conf_receiver"] = getUAVFieldValue(objManager, "ManualControlSettings", "ChannelGroups", 0);
         parameters["conf_vehicle"]  = getUAVFieldValue(objManager, "SystemSettings", "AirframeType");
 
-        // Revolution family
-        parameters["conf_rport"]    = getUAVFieldValue(objManager, "HwSettings", "RM_RcvrPort");
-        parameters["conf_mport"]    = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
-        parameters["conf_fport"]    = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
-        parameters["conf_fusion"]   = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
+        if ((boardModel & 0xff00) == 0x0400) {
+            // CopterControl family
+            parameters["conf_rport"] = getUAVFieldValue(objManager, "HwSettings", "CC_RcvrPort");
+            parameters["conf_mport"] = getUAVFieldValue(objManager, "HwSettings", "CC_MainPort");
+            parameters["conf_fport"] = getUAVFieldValue(objManager, "HwSettings", "CC_FlexiPort");
+        } else if ((boardModel & 0xff00) == 0x0900) {
+            // Revolution family
+            parameters["conf_rport"]  = getUAVFieldValue(objManager, "HwSettings", "RM_RcvrPort");
+            parameters["conf_mport"]  = getUAVFieldValue(objManager, "HwSettings", "RM_MainPort");
+            parameters["conf_fport"]  = getUAVFieldValue(objManager, "HwSettings", "RM_FlexiPort");
+            parameters["conf_fusion"] = getUAVFieldValue(objManager, "RevoSettings", "FusionAlgorithm");
+        }
 
         parameters["conf_uport"]    = getUAVFieldValue(objManager, "HwSettings", "USB_HIDPort");
         parameters["conf_vport"]    = getUAVFieldValue(objManager, "HwSettings", "USB_VCPPort");