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‎.gitignore

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.cproject
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obj/
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patches/
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startup_stm32f10x_md_gcc.s
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.idea
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# script-generated files

‎Makefile

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fi; \
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done
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## targets-f3 : make all F3 targets
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targets-f3:
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$(V1) $(MAKE) -s targets-by-mcu MCU_TYPE=STM32F3
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## targets-f4 : make all F4 targets
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targets-f4:

‎docs/boards/Board - AlienFlight.md

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# Board - AlienFlight (ALIENFLIGHTF1 and ALIENFLIGHTF3 target)
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AlienWii is now AlienFlight. This target supports various variants of brushed and brusless flight controllers. The designs for them are released for public use at:
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http://www.alienflight.com
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All published designs are flight tested by various people. The intention here is to make this flight controllers available and enable skilled users or RC vendors to build this designs.
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Here are the general hardware specifications for this boards:
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- STM32F103CBT6 MCU (ALIENFLIGHTF1)
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- STM32F303CCT6 MCU (ALIENFLIGHTF3)
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- MPU6050/6500/9250 accelerometer/gyro(/mag) sensor unit
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- The MPU sensor interrupt is connected to the MCU for all new F3 designs and enabled in the firmware
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- 4-8 x 4.2A to 9.5A brushed ESCs, integrated, to run the strongest micro motors
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- extra-wide traces on the PCB, for maximum power throughput
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- USB port, integrated
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- (*) serial connection for external DSM2/DSMX sat receiver (e.g. Spektrum SAT, OrangeRx R100, Lemon RX or Deltang Rx31)
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- CPPM input
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- ground and 3.3V for the receiver
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- hardware bind plug for easy binding
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- motor connections are at the corners for a clean look with reduced wiring
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- small footprint
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- direct operation from an single cell lipoly battery
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- 3.3V LDO power regulator (older prototypes)
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- 3.3V buck-boost power converter (all new versions)
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- 5V buck-boost power converter for FPV (some versions)
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- battery monitoring with an LED for buzzer functionality (actually for some ALIENFLIGHTF3 variants only)
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(*) Spektrum Compatible DSM2 satellites are supported out of the box. DSMX sat will work with DSM2 protocol with default settings (DSM2, 11bit, 11ms is preset). This is chosen for maximum compatibility. For optimal connection it is recommended to adjust settings to match the capabilities of your transmitter and satellite receiver. If possible it is recommended to use the DSMX protocol since it is known as more reliable. Also to make use of additional channels you should adjust the following two parameters with the Cleanflight Configurator.
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set serialrx_provider = 1 (0 for 1024bit, 1 for 2048bit)
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set spektrum_sat_bind = 5
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For more detail of the different bind modes please refer the [Spektrum Bind](Spektrum%20bind.md) document
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Deltang receivers in serial mode will work like any other Spektrum satellite receiver (10bit, 22ms) only the bind process will be different.
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The pin layout for the ALIENFLIGHTF1 is very similar to NAZE32 or the related clones (MW32, Flip32, etc.). The hardware bind pin is connected to pin 41 (PB5). The pin layout for the ALIENFLIGHTF3 is similar to Sparky. The hardware bind pin is connected to pin 25 (PB12). The new AlienFlightF3 V2 design have the sensor connected via SPI and some slightly different pin layout. All AlienFlight/AlienWii F3 layouts running the same firmware which takes care on the differences with an hardware detection.
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The AlienFlight firmware will be built as target ALIENFLIGHTF1 or ALIENFLIGHTF3. The firmware image will come with alternative default settings which will give the user a plug and play experience. There is no computer needed to get this into the air with an small Quadcopter. An preconfigured custom mixer for an Octocopter is part of the default settings to allow clean straight wiring with the AlienFlight. The mixer can be activated with "mixer custom" in the CLI. To use the AlienFlight in an Hexa- or Octocopter or to do some more tuning. Additional configuration changes can be done as usual in the CLI or the Cleanflight configurator.
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## Flashing the firmware
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The firmware can be updated with the Cleanflight configurator as for any other target. All AlienFlight boards have an boot jumper which need to be closed for the initial flashing or for recovery from an broken firmware.

‎docs/boards/Board - CC3D.md

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# Board - CC3D
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The OpenPilot Copter Control 3D aka CC3D is a board more tuned to Acrobatic flying or GPS based
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auto-piloting. It only has one sensor, the MPU6000 SPI based Accelerometer/Gyro.
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It also features a 16Mbit SPI based EEPROM chip. It has 6 ports labeled as inputs (one pin each)
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and 6 ports labeled as motor/servo outputs (3 pins each).
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If issues are found with this board please report via the [github issue tracker](https://github.com/cleanflight/cleanflight/issues).
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The board has a USB port directly connected to the processor. Other boards like the Naze and Flip32
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have an on-board USB to uart adapter which connect to the processor's serial port instead.
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The board cannot currently be used for hexacopters/octocopters.
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Tricopter & Airplane support is untested, please report success or failure if you try it.
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# Pinouts
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The 8 pin RC_Input connector has the following pinouts when used in RX_PPM/RX_SERIAL mode
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| Pin | Function | Notes |
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| --- | --------- | -------------------------------- |
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| 1 | Ground | |
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| 2 | +5V | |
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| 3 | Unused | |
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| 4 | SoftSerial1 TX / Sonar trigger | |
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| 5 | SoftSerial1 RX / Sonar Echo / RSSI_ADC | Used either for SOFTSERIAL, SONAR or RSSI_ADC*. Only one feature can be enabled at any time. |
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| 6 | Current | Enable `feature CURRENT_METER`. Connect to the output of a current sensor, 0v-3.3v input |
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| 7 | Battery Voltage sensor | Enable `feature VBAT`. Connect to main battery using a voltage divider, 0v-3.3v input |
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| 8 | PPM Input | Enable `feature RX_PPM` |
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*Connect to the output of a PWM-RSSI conditioner, 0v-3.3v input.
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The 6 pin RC_Output connector has the following pinouts when used in RX_PPM/RX_SERIAL mode
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| Pin | Function | Notes |
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| --- | ----------| ------|
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| 1 | MOTOR 1 | |
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| 2 | MOTOR 2 | |
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| 3 | MOTOR 3 | |
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| 4 | MOTOR 4 | |
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| 5 | LED Strip | |
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| 6 | Unused | |
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The 8 pin RC_Input connector has the following pinouts when used in RX_PARALLEL_PWM mode
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| Pin | Function | Notes |
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| --- | ---------| ------|
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| 1 | Ground | |
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| 2 | +5V | |
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| 3 | Unused | |
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| 4 | CH1 | |
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| 5 | CH2 | |
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| 6 | CH3 | |
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| 7 | CH4/Battery Voltage sensor | CH4 if battery voltage sensor is disabled |
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| 8 | CH5/CH4 | CH4 if battery voltage monitor is enabled|
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The 6 pin RC_Output connector has the following pinouts when used in RX_PARALLEL_PWM mode
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| Pin | Function | Notes |
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| --- | ---------| ------|
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| 1 | MOTOR 1 | |
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| 2 | MOTOR 2 | |
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| 3 | MOTOR 3 | |
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| 4 | MOTOR 4 | |
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| 5 | Unused | |
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| 6 | Unused | |
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# Serial Ports
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| Value | Identifier | Board Markings | Notes |
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| ----- | ------------ | -------------- | ------------------------------------------|
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| 1 | VCP | USB PORT | |
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| 2 | USART1 | MAIN PORT | Connected to an MCU controllable inverter |
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| 3 | USART3 | FLEX PORT | |
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| 4 | SoftSerial | RC connector | Pins 4 and 5 (Tx and Rx respectively) |
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The SoftSerial port is not available when RX_PARALLEL_PWM is used. The transmission data rate is limited to 19200 baud.
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To connect the GUI to the flight controller you just need a USB cable to use the Virtual Com Port (VCP) or you can use UART1 (Main Port).
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CLI access is only available via the VCP by default.
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# Main Port
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The main port has MSP support enabled on it by default.
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The main port is connected to an inverter which is automatically enabled as required. For example, if the main port is used for SBus Serial RX then an external inverter is not required.
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# Flex Port
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The flex port will be enabled in I2C mode unless USART3 is used. You can connect external I2C sensors and displays to this port.
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You cannot use USART3 and I2C at the same time.
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## Flex port pinout
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| Pin | Signal | Notes |
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| --- | ------------------ | ----------------------- |
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| 1 | GND | |
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| 2 | VCC unregulated | |
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| 3 | I2C SCL / UART3 TX | 3.3v level |
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| 4 | I2C SDA / UART3 RX | 3.3v level (5v tolerant |
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# Flashing
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Since CleanFlight version 1.11.0 "single binary image mode" is the only way to get CleanFlight on CC3D. Prior the version 1.11.0 there was a possibility to use "OpenPilot Bootloader compatible image mode", which allows you to easily switch between OpenPilot and CleanFlight, please refer to documentation from releases prior to 1.11.0 for more details.
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## Single binary image mode.
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The entire flash ram on the target processor is flashed with a single image.
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The image can be flashed by using a USB to UART adapter connected to the main port when the CC3D is put into the STM32 bootloader mode, achieved by powering on the CC3D with the SBL/3.3v pads bridged.
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# Restoring OpenPilot bootloader
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If you have a JLink debugger, you can use JLinkExe to flash the open pilot bootloader.
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1. Run JLinkExe `/Applications/SEGGER/JLink/JLinkExe`
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2. `device STM32F103CB`
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3. `r`
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4. `h`
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5. `loadbin opbl.bin, 0x08000000`
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6. `q`
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7. Re-plug CC3D.
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Here's an example session:
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```
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$ /Applications/SEGGER/JLink/JLinkExe
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SEGGER J-Link Commander V4.90c ('?' for help)
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Compiled Aug 29 2014 09:52:38
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DLL version V4.90c, compiled Aug 29 2014 09:52:33
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Firmware: J-Link ARM-OB STM32 compiled Aug 22 2012 19:52:04
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Hardware: V7.00
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S/N: -1
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Feature(s): RDI,FlashDL,FlashBP,JFlash,GDBFull
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VTarget = 3.300V
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Info: Could not measure total IR len. TDO is constant high.
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Info: Could not measure total IR len. TDO is constant high.
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No devices found on JTAG chain. Trying to find device on SWD.
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Info: Found SWD-DP with ID 0x1BA01477
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Info: Found Cortex-M3 r1p1, Little endian.
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Info: FPUnit: 6 code (BP) slots and 2 literal slots
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Info: TPIU fitted.
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Cortex-M3 identified.
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Target interface speed: 100 kHz
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J-Link>device STM32F103CB
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Info: Device "STM32F103CB" selected (128 KB flash, 20 KB RAM).
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Reconnecting to target...
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Info: Found SWD-DP with ID 0x1BA01477
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Info: Found SWD-DP with ID 0x1BA01477
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Info: Found Cortex-M3 r1p1, Little endian.
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Info: FPUnit: 6 code (BP) slots and 2 literal slots
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Info: TPIU fitted.
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J-Link>r
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Reset delay: 0 ms
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Reset type NORMAL: Resets core & peripherals via SYSRESETREQ & VECTRESET bit.
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J-Link>h
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PC = 0800010C, CycleCnt = 00000000
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R0 = 0000000C, R1 = 0000003F, R2 = 00000000, R3 = 00000008
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R4 = 00003000, R5 = 023ACEFC, R6 = 200000F0, R7 = 20000304
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R8 = 023B92BC, R9 = 00000000, R10= ED691105, R11= F626177C
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R12= 000F0000
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SP(R13)= 20000934, MSP= 20000934, PSP= 20000934, R14(LR) = FFFFFFFF
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XPSR = 01000000: APSR = nzcvq, EPSR = 01000000, IPSR = 000 (NoException)
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CFBP = 00000000, CONTROL = 00, FAULTMASK = 00, BASEPRI = 00, PRIMASK = 00
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J-Link>loadbin opbl.bin, 0x08000000
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Downloading file [opbl.bin]...
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WARNING: CPU is running at low speed (8004 kHz).
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Info: J-Link: Flash download: Flash download into internal flash skipped. Flash contents already match
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Info: J-Link: Flash download: Total time needed: 0.898s (Prepare: 0.709s, Compare: 0.128s, Erase: 0.000s, Program: 0.000s, Verify: 0.000s, Restore: 0.059s)
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O.K.
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J-Link>q
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$
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```

‎docs/boards/Board - CJMCU.md

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# Board - CJMCU
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The CJMCU is a tiny (80mm) board running a STM32F103, which contains a 3-Axis Compass (HMC5883L)
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and an Accelerometer/Gyro (MPU6050).
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This board does not have an onboard USB-Serial converter, so an external adapter is needed.
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# Hardware revisions
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| Revision | Notes |
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| -------- | ----- |
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| 1 | No boot jumper pads by LED1. Uses blue and red LEDs |
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| 2 | Boot jumper pads presoldered with pins and a jumper by LED1. Uses green and red LEDs. |
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Version 2 boards are supported from firmware v1.4.0 onwards, do NOT flash earlier versions to version 2 boards.
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# Pins
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## RX Connections
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| Pin Label | Description |
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| --------- | ------------------------ |
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| PA0 | RC Channel 1 |
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| PA1 | RC Channel 2 |
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| PA2 | RC Channel 3 / USART2 TX |
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| PA3 | RC Channel 4 / USART2 RX |
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| VCC | Power (See note) |
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| GND | Ground |
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NOTE: The VCC RX Pin is not regulated and will supply what ever voltage is provided to the board, this will mean it'll provide 5v if a 5v serial connection is used. Be careful if you are using a voltage sensitive RX. A regulated 3.3v supply can be found on the top pin of column 1, just below the RX GND pin.
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## Serial Connections
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USART1 (along with power) is on the following pins.
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| Pin Label | Description |
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| --------- | --------------- |
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| TX1 | UART1 TX |
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| RX1 | UART2 RX |
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| GND | Ground |
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| 3V3 | Power +3.3v |
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| 5V | Power +5v |
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USART2 is the following pins.
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| Pin Label | Description |
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| --------- | ----------- |
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| PA2 | USART2 TX |
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| PA3 | USART2 RX |
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## Power Connections
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| Pin Label | Description |
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| --------- | ----------------------- |
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| Power + | Power - 1 Cell 3.7v Max |
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| Power - | Ground |
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## Motor Connections
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In standard QUADX configuration, the motors are mapped:
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| Cleanflight | CJMCU |
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| ----------- | ------ |
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| Motor 1 | Motor3 |
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| Motor 2 | Motor2 |
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| Motor 3 | Motor4 |
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| Motor 4 | Motor1 |
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It is therefore simplest to wire the motors:
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* Motor 1 -> Clockwise
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* Motor 2 -> Anti-Clockwise
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* Motor 3 -> Clockwise
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* Motor 4 -> Anti-Clockwise
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If you are using the Hubsan x4/Ladybird motors, clockwise are Blue (GND) / Red (VCC) wires, anticlockwise
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are Black (GND) / White (VCC).
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i.e. there is one wire on each motor out of the standard RED/BLACK VCC/GND polarity colors that can be used to identify polarity.
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If you have wired as above, Motor1/Motor2 on the board will be forward.
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# Connecting a Serial-USB Adapter
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You will need a USB -> Serial UART adapter. Connect:
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| Adapter | CJMCU |
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| ----------------- | -------------------------- |
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| Either 3.3v OR 5v | The correct 3.3v OR 5v pin |
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| RX | TX |
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| TX | RX |
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When first connected this should power up the board, and will be in bootloader mode. If this does not happen, check
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the charge switch is set to POW.
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After the flashing process has been completed, this will allow access via the cleanflight configurator to change
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settings or flash a new firmware.
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WARNING: If the motors are connected and the board boots into the bootloader, they will start
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to spin after around 20 seconds, it is recommended not to connect the motors until the board
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is flashed.
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# Flashing
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To flash the board:
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* Open Cleanflight Configurator
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* Choose the latest CJMCU firmware from the list.
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* Select "Load Firmware [Online]" and wait for the firmware to download.
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* Tick "No Reboot Sequence" and "Full Chip Erase"
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* Connect the USB->Serial adapter to the board
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* Select the USB-UART adapter from the top left box
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* Click "Flash Firmware"
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* You should see "Programming: SUCCESSFUL" in the log box
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* Click "Connect" -> This should open the "Initial Setup" tab and you should see sensor data from the quad shown
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* Unplug the quad and short the 2 "BOOT0" pins. Revision 1 boards require this to be soldered, revision 2 boards can connect the included jumper to the two pre-soldered pins - This prevents the board from going into bootloader mode on next
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boot, if anything goes wrong, simply disconnect these two pins and the bootloader will start, allowing you to reflash. You cannot
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overwrite the bootloader.
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# Charging
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The CJMCU has on it a TP4056 Lithium battery charging IC that can charge a 1S battery at 1A using a provided 5v supply attached to the 5v serial pin.
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To charge an attached battery:
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* Set the power switch to OFF
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* Set the charge switch to CHG
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* Plug in a 1S battery to the battery pins
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* Plug in a 5v supply to the 5v serial pins
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The charger will finish when either the battery reaches 4.2v, or the battery's voltage is greater than the charger's input voltage.
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The two nearby LEDs will show the status of charging:
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| Status | Green LED | Red LED |
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|--------------------|-----------|-----------|
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| Charging | On | Off |
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| Finished | Off | On |
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| 5v not connected | Off | Off |
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| Batt not connected | Flashing | On |
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# Helpful Hints
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* If you are only using a 4 channel RX, in the auxiliary configuration tab, you can add a "Horizon" mode range around 1500
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for one of the the AUX channels which will result in it being always on
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* Enabling the feature MOTOR_STOP helps with crashes so it doesn't try to keep spinning on its back
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* When the power runs low, the quad will start jumping around a bit, if the flight behaviour seems strange, check your batteries charge
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