added test driver for software i2c. disabled by default. no, that wasn't the cause of cycletime jumps.

increased flash size to 128k, moved config data in last kbyte of that. as a result all settings are reset, please save them.
corrected hex6x mixer.
added telemetry to makefile.

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@180 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

Author: timecop

Makefile

@@ -47,6 +47,7 @@ COMMON_SRC	 = startup_stm32f10x_md_gcc.S \
 		   sensors.c \
 		   serial.c \
 		   spektrum.c \
+		   telemetry.c \
 		   drv_i2c.c \
 		   drv_system.c \
 		   drv_uart.c \

obj/baseflight.hex

@@ -118,6 +118,8 @@ typedef struct sensor_t
 #define BEEP_ON                  ;
 #endif
 
+#undef SOFT_I2C                 // enable to test software i2c
+
 #ifdef FY90Q
  // FY90Q
 #include "drv_system.h"         // timers, delays, etc

src/board.h

@@ -3,7 +3,7 @@
 #include <string.h>
 
 #ifndef FLASH_PAGE_COUNT
-#define FLASH_PAGE_COUNT 64
+#define FLASH_PAGE_COUNT 128
 #endif
 
 #define FLASH_PAGE_SIZE                 ((uint16_t)0x400)

src/config.c

@@ -1,5 +1,7 @@
 #include "board.h"
 
+#ifndef SOFT_I2C
+
 // I2C2
 // SCL  PB10
 // SDA  PB11
@@ -347,3 +349,5 @@ static void i2cUnstick(void)
     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
     GPIO_Init(GPIOB, &GPIO_InitStructure);
 }
+
+#endif

src/drv_i2c.c

@@ -163,12 +163,21 @@ void mixTable(void)
             break;
 
         case MULTITYPE_HEX6X:
+#if 0
             motor[0] = PIDMIX(-1 / 2, +1 / 2, +1);      //REAR_R
             motor[1] = PIDMIX(-1 / 2, -1 / 2, +1);      //FRONT_R
             motor[2] = PIDMIX(+1 / 2, +1 / 2, -1);      //REAR_L
             motor[3] = PIDMIX(+1 / 2, -1 / 2, -1);      //FRONT_L
             motor[4] = PIDMIX(-1, +0, -1);      //RIGHT
             motor[5] = PIDMIX(+1, +0, +1);      //LEFT
+#else
+            motor[0] = PIDMIX(-4/5,+9/10,+1); //REAR_R 
+            motor[1] = PIDMIX(-4/5,-9/10,+1); //FRONT_R 
+            motor[2] = PIDMIX(+4/5,+9/10,-1); //REAR_L 
+            motor[3] = PIDMIX(+4/5,-9/10,-1); //FRONT_L 
+            motor[4] = PIDMIX(-4/5 ,+0 ,-1); //RIGHT 
+            motor[5] = PIDMIX(+4/5 ,+0 ,+1); //LEFT
+#endif
             break;
 
         case MULTITYPE_OCTOX8:

src/mixer.c

@@ -22,7 +22,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */
 /* Specify the memory areas */
 MEMORY
 {
-  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 64K
+  FLASH (rx)      : ORIGIN = 0x08000000, LENGTH = 127K
   RAM (xrw)       : ORIGIN = 0x20000000, LENGTH = 20K
   MEMORY_B1 (rx)  : ORIGIN = 0x60000000, LENGTH = 0K
 }