Revision 8:1db19b529b22, committed 2021-02-21

Comitter:

komaida424

Date:

Sun Feb 21 05:14:57 2021 +0000

Parent:

7:16bf0085d914

Commit message:

rev 020

Changed in this revision

--- a/I2cPeripherals/I2cPeripherals.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/I2cPeripherals/I2cPeripherals.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -1,10 +1,11 @@
 #include "mbed.h"
 #include "I2cPeripherals.h"
+void wait(float);
 //Serial pc(USBTX, USBRX);
 I2cPeripherals::I2cPeripherals(PinName sda, PinName scl): _i2c(sda,scl)
 {
 
-    _i2c.frequency(200000);
+    _i2c.frequency(400000);
 //    LCD_contrast = 60;
     wait(0.5);
     LCD_addr = 0;
@@ -15,7 +16,7 @@
     ultrasonic_distance = 0;
 //pc.printf("start");
     find();
-    start();
+    start(50);
 
 }
 
@@ -108,7 +109,7 @@
                 tx[0] = 0x3E;
                 tx[1] = 0x01;
                 _i2c.write(sens[num].addr,tx,2);
-                wait_ms(10);
+                wait(0.001f);
                 break;
 #endif
 #ifdef MPU6050
@@ -124,15 +125,15 @@
                 tx[0] = 0x1A;       // DLPF(Digitel low pass filter)
                 tx[1] = 0x02;       // set 0 to 7
                 _i2c.write(sens[num].addr,tx,2);
-                wait(0.01);
+                wait(0.001);
                 tx[0] = 0x1B;
                 tx[1] = 0x18;       // +-2000deg
                 _i2c.write(sens[num].addr,tx,2);
-                wait(0.01);
+                wait(0.001);
                 tx[0] = 0x1C;
                 tx[1] = 0x18;       // 00:2g,08:4g,10:8g,18:+-16g
                 _i2c.write(sens[num].addr,tx,2);
-                wait_ms(10);
+                wait(0.001);
                 break;
 #endif
 #ifdef L3GD20
@@ -187,7 +188,7 @@
 //            tx[0]= 0x21;    // CTL_REG2
 //            tx[1]= 0x01;    // one shot start
 //            _i2c.write(sens[num].addr,tx,2);
-                wait(1);
+                wait(0.01);
                 break;
 #endif
             case 10:           //SFR02 ultrasonic
@@ -202,22 +203,23 @@
     }
 }
 
-int I2cPeripherals::_putc(int value)
+//int I2cPeripherals::_putc(int value)
+int I2cPeripherals::write_lcd(const char* value)
 {
-    if ( LCD_addr == 0 ) return value;
+    if ( LCD_addr == 0 ) return -1;
     _i2c.start();
     _i2c.write(LCD_addr);
     _i2c.write(LCD_data);
-    _i2c.write(value);
+    _i2c.write(LCD_addr,value,strlen(value));
     _i2c.stop();
-    return value;
+    return 0;
 }
-
+/*
 int I2cPeripherals::_getc()
 {
     return -1;
 }
-
+*/
 void I2cPeripherals::write_reg(int I2cAddr,char reg_addr,char* data,int len)
 {
     char tx[17];
@@ -412,7 +414,8 @@
 {
     char rx[1];
     rx[0] = 0;
-    while( 1 )  {
+    if ( i2caddr == 0 ) return;
+     while( 1 )  {
         _i2c.write(i2caddr,tx,len);
         _i2c.write(i2caddr,tx,1,true);
         _i2c.read (i2caddr,rx,1);

--- a/I2cPeripherals/I2cPeripherals.h	Tue Apr 28 01:48:21 2015 +0000
+++ b/I2cPeripherals/I2cPeripherals.h	Sun Feb 21 05:14:57 2021 +0000
@@ -2,6 +2,7 @@
 #define MBED_I2cPeripherals_H
 
 #include "mbed.h"
+#include <iostream> 
 #include "stdarg.h"
 
 #define LPS331AP    // baro
@@ -18,12 +19,13 @@
 #define ULTRASONIC_ADDR 5
 #define I2C_EEPROM_ADDR 0xA0
 
-class I2cPeripherals : public Stream
+class I2cPeripherals
 {
 public:
     I2cPeripherals(PinName , PinName );
     
     void start(int contrast=60);
+    int write_lcd(const char*);
     void write_reg(int,char,char*,int);
     void read_reg(int,char,char*,int);
     int write_EEPROM(short,char*,int);
@@ -39,8 +41,8 @@
     float height_mm();
     float height_us();
 private:
-    virtual int _putc(int value);
-    virtual int _getc();
+//    virtual int _putc(int value);
+//    virtual int _getc();
     void i2c_write(int,char*,int);
     void find();
     int ultrasonic(char);

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/IAP.lib	Sun Feb 21 05:14:57 2021 +0000
@@ -0,0 +1,1 @@
+https://os.mbed.com/users/okano/code/IAP/#59f7e32ae397

--- a/IAP/IAP.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,274 +0,0 @@
-/**    IAP : internal Flash memory access library
- *
- *        The internal Flash memory access is described in the LPC1768 and LPC11U24 usermanual. 
- *            http://www.nxp.com/documents/user_manual/UM10360.pdf
- *            http://www.nxp.com/documents/user_manual/UM10462.pdf
- *
- *               LPC1768 --
- *                    Chapter  2: "LPC17xx Memory map"
- *                    Chapter 32: "LPC17xx Flash memory interface and programming"
- *                    refering Rev. 01 - 4 January 2010
- * 
- *               LPC11U24 --
- *                    Chapter  2: "LPC11Uxx Memory mapping"
- *                    Chapter 20: "LPC11Uxx Flash programming firmware"
- *                    refering Rev. 03 - 16 July 2012
- * 
- *        Released under the MIT License: http://mbed.org/license/mit
- *
- *        revision 1.0  09-Mar-2010   1st release
- *        revision 1.1  12-Mar-2010   chaged: to make possible to reserve flash area for user
- *                                            it can be set by USER_FLASH_AREA_START and USER_FLASH_AREA_SIZE in IAP.h
- *        revision 2.0  26-Nov-2012   LPC11U24 code added
- *        revision 2.1  26-Nov-2012   EEPROM access code imported from Suga koubou san's (http://mbed.org/users/okini3939/) library
- *                                            http://mbed.org/users/okini3939/code/M0_EEPROM_test/
- */
-
-#include    "mbed.h"
-#include    "IAP.h"
-
-#define     USER_FLASH_AREA_START_STR( x )      STR( x )
-#define     STR( x )                            #x
-
-//unsigned char user_area[ USER_FLASH_AREA_SIZE ] __attribute__((section( ".ARM.__at_" USER_FLASH_AREA_START_STR( USER_FLASH_AREA_START ) ), zero_init));
-
-
-/*
- *  Reserve of flash area is explained by Igor. Please refer next URL
- *    http://mbed.org/users/okano/notebook/iap-in-application-programming-internal-flash-eras/?page=1#comment-271
- */
- 
-//unsigned char user_area[ size ] __attribute__((section(".ARM.__at_0x78000"), zero_init));
-
-/*
- *  IAP command codes
- *  Table 589. "IAP Command Summary", Chapter 8. "IAP commands", usermanual
- */
-
-enum command_code
-        {
-            IAPCommand_Prepare_sector_for_write_operation    = 50,
-            IAPCommand_Copy_RAM_to_Flash,
-            IAPCommand_Erase_sector,
-            IAPCommand_Blank_check_sector,
-            IAPCommand_Read_part_ID,
-            IAPCommand_Read_Boot_Code_version,
-            IAPCommand_Compare,
-            IAPCommand_Reinvoke_ISP,
-            IAPCommand_Read_device_serial_number,
-#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
-            IAPCommand_EEPROM_Write = 61,
-            IAPCommand_EEPROM_Read,
-#endif
-        };
-
-
-/** Read part identification number
- *
- *  @return    device ID
- *  @see       read_serial()
- */
-
-int IAP::read_ID( void ) {
-    IAP_command[ 0 ]    = IAPCommand_Read_part_ID;
-    
-    iap_entry( IAP_command, IAP_result );
-    
-    //  return ( (int)IAP_result[ 0 ] );
-    return ( (int)IAP_result[ 1 ] );    //  to return the number itself (this command always returns CMD_SUCCESS)
-}
-
-
-/** Read device serial number
- *
- *  @return    device serial number
- *  @see       read_ID()
- */
-
-int IAP::read_serial( void ) {
-    IAP_command[ 0 ]    = IAPCommand_Read_device_serial_number;
-    
-    iap_entry( IAP_command, IAP_result );
-    
-    //  return ( (int)IAP_result[ 0 ] );
-    return ( (int)IAP_result[ 1 ] );    //  to return the number itself (this command always returns CMD_SUCCESS)
-}
-
-
-/** Blank check sector(s)
- *  
- *  @param    start    a Start Sector Number
- *  @param    end      an End Sector Number (should be greater than or equal to start sector number).
- *  @return error code: CMD_SUCCESS | BUSY | SECTOR_NOT_BLANK | INVALID_SECTOR
- */
-
-int IAP::blank_check( int start, int end ) {
-    IAP_command[ 0 ]    = IAPCommand_Blank_check_sector;
-    IAP_command[ 1 ]    = (unsigned int)start;  //  Start Sector Number
-    IAP_command[ 2 ]    = (unsigned int)end;    //  End Sector Number (should be greater than or equal to start sector number)
-
-    iap_entry( IAP_command, IAP_result );
-
-    return ( (int)IAP_result[ 0 ] );
-}
-
-
-/** Erase Sector(s)
- *  
- *  @param    start    a Start Sector Number
- *  @param    end      an End Sector Number (should be greater than or equal to start sector number).
- *  @return   error code: CMD_SUCCESS | BUSY | SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION | INVALID_SECTOR
- */
-
-int IAP::erase( int start, int end ) {
-    IAP_command[ 0 ]    = IAPCommand_Erase_sector;
-    IAP_command[ 1 ]    = (unsigned int)start;  //  Start Sector Number
-    IAP_command[ 2 ]    = (unsigned int)end;    //  End Sector Number (should be greater than or equal to start sector number)
-    IAP_command[ 3 ]    = cclk_kHz;             //  CPU Clock Frequency (CCLK) in kHz
-
-    iap_entry( IAP_command, IAP_result );
-
-    return ( (int)IAP_result[ 0 ] );
-}
-
-
-/** Prepare sector(s) for write operation
- *  
- *  @param    start    a Start Sector Number
- *  @param    end      an End Sector Number (should be greater than or equal to start sector number).
- *  @return   error code: CMD_SUCCESS | BUSY | INVALID_SECTOR
- */
-
-int IAP::prepare( int start, int end ) {
-    IAP_command[ 0 ]    = IAPCommand_Prepare_sector_for_write_operation;
-    IAP_command[ 1 ]    = (unsigned int)start;  //  Start Sector Number
-    IAP_command[ 2 ]    = (unsigned int)end;    //  End Sector Number (should be greater than or equal to start sector number).
-    
-    iap_entry( IAP_command, IAP_result );
-    
-    return ( (int)IAP_result[ 0 ] );
-}
-
-
-/** Copy RAM to Flash
- *  
- *  @param    source_addr    Source RAM address from which data bytes are to be read. This address should be a word boundary.
- *  @param    target_addr    Destination flash address where data bytes are to be written. This address should be a 256 byte boundary.
- *  @param    size           Number of bytes to be written. Should be 256 | 512 | 1024 | 4096.
- *  @return   error code: CMD_SUCCESS | SRC_ADDR_ERROR (Address not a word boundary) | DST_ADDR_ERROR (Address not on correct boundary) | SRC_ADDR_NOT_MAPPED | DST_ADDR_NOT_MAPPED | COUNT_ERROR (Byte count is not 256 | 512 | 1024 | 4096) | SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION | BUSY
- */
-
-int IAP::write( char *source_addr, char *target_addr, int size ) {
-    IAP_command[ 0 ]    = IAPCommand_Copy_RAM_to_Flash;
-    IAP_command[ 1 ]    = (unsigned int)target_addr;    //  Destination flash address where data bytes are to be written. This address should be a 256 byte boundary.
-    IAP_command[ 2 ]    = (unsigned int)source_addr;    //  Source RAM address from which data bytes are to be read. This address should be a word boundary.
-    IAP_command[ 3 ]    = size;                         //  Number of bytes to be written. Should be 256 | 512 | 1024 | 4096.
-    IAP_command[ 4 ]    = cclk_kHz;                     //  CPU Clock Frequency (CCLK) in kHz.
-
-    iap_entry( IAP_command, IAP_result );
-
-    return ( (int)IAP_result[ 0 ] );
-}
-
-
-/** Compare <address1> <address2> <no of bytes>
- *  
- *  @param    source_addr Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
- *  @param    target_addr Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
- *  @param    size         Number of bytes to be compared; should be a multiple of 4.
- *  @return   error code: CMD_SUCCESS | COMPARE_ERROR | COUNT_ERROR (Byte count is not a multiple of 4) | ADDR_ERROR | ADDR_NOT_MAPPED     
- */
-
-int IAP::compare( char *source_addr, char *target_addr, int size ) {
-    IAP_command[ 0 ]    = IAPCommand_Compare;
-    IAP_command[ 1 ]    = (unsigned int)target_addr;    //  Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
-    IAP_command[ 2 ]    = (unsigned int)source_addr;    //  Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
-    IAP_command[ 3 ]    = size;                         //  Number of bytes to be compared; should be a multiple of 4.
-
-    iap_entry( IAP_command, IAP_result );
-
-    return ( (int)IAP_result[ 0 ] );
-}
-
-/** Compare <address1> <address2> <no of bytes>
- *  
- *  @param    source_addr Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
- *  @param    target_addr Starting flash or RAM address of data bytes to be compared. This address should be a word boundary.
- *  @param    size         Number of bytes to be compared; should be a multiple of 4.
- *  @return   error code: CMD_SUCCESS | COMPARE_ERROR | COUNT_ERROR (Byte count is not a multiple of 4) | ADDR_ERROR | ADDR_NOT_MAPPED     
- */
-
-int IAP::read_BootVer(void) {
-    IAP_command[0] = IAPCommand_Read_Boot_Code_version;
-    IAP_result[1] = 0; // not sure if in high or low bits.
-    iap_entry(IAP_command, IAP_result);
-    return ((int)IAP_result[1]);
-}
-
-/** Get user reserved flash start address
- *
- *  @return    start address of user reserved flash memory
- *  @see       reserved_flash_area_size()
- */
-
-char * IAP::reserved_flash_area_start( void )
-{
-    return ( (char *)USER_FLASH_AREA_START );
-}
-
-
-/** Get user reserved flash size
- *
- *  @return    size of user reserved flash memory
- *  @see       reserved_flash_area_start()
- */
-
-int IAP::reserved_flash_area_size( void )
-{
-    return ( USER_FLASH_AREA_SIZE );
-}
-
-#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
-/** Copy RAM to EEPROM (LPC11U24)
- *  
- *  @param    source_addr    Source RAM address from which data bytes are to be read.
- *  @param    target_addr    Destination EEPROM address where data bytes are to be written.
- *  @param    size           Number of bytes to be written.
- *  @return   error code: CMD_SUCCESS | SRC_ADDR_NOT_MAPPED | DST_ADDR_NOT_MAPPED
- *  Remark: The top 64 bytes of the EEPROM memory are reserved and cannot be written to.
- */
-int IAP::write_eeprom( char *source_addr, char *target_addr, int size ) {
-    IAP_command[ 0 ]    = IAPCommand_EEPROM_Write;
-    IAP_command[ 1 ]    = (unsigned int)target_addr;    //  Destination EEPROM address where data bytes are to be written. This address should be a 256 byte boundary.
-    IAP_command[ 2 ]    = (unsigned int)source_addr;    //  Source RAM address from which data bytes are to be read. This address should be a word boundary.
-    IAP_command[ 3 ]    = size;                         //  Number of bytes to be written. Should be 256 | 512 | 1024 | 4096.
-    IAP_command[ 4 ]    = cclk_kHz;                     //  CPU Clock Frequency (CCLK) in kHz.
- 
-    iap_entry( IAP_command, IAP_result );
- 
-    return ( (int)IAP_result[ 0 ] );
-}
- 
-/** Copy EEPROM to RAM (LPC11U24)
- *  
- *  @param    source_addr    Source EEPROM address from which data bytes are to be read.
- *  @param    target_addr    Destination RAM address where data bytes are to be written.
- *  @param    size           Number of bytes to be written.
- *  @return   error code: CMD_SUCCESS | SRC_ADDR_NOT_MAPPED | DST_ADDR_NOT_MAPPED
- *  Remark: The top 64 bytes of the EEPROM memory are reserved and cannot be written to.
- */
-int IAP::read_eeprom( char *source_addr, char *target_addr, int size ) {
-    IAP_command[ 0 ]    = IAPCommand_EEPROM_Read;
-    IAP_command[ 1 ]    = (unsigned int)source_addr;    //  Source EEPROM address from which data bytes are to be read. This address should be a word boundary.
-    IAP_command[ 2 ]    = (unsigned int)target_addr;    //  Destination RAM address where data bytes are to be written. This address should be a 256 byte boundary.
-    IAP_command[ 3 ]    = size;                         //  Number of bytes to be written. Should be 256 | 512 | 1024 | 4096.
-    IAP_command[ 4 ]    = cclk_kHz;                     //  CPU Clock Frequency (CCLK) in kHz.
- 
-    iap_entry( IAP_command, IAP_result );
- 
-    return ( (int)IAP_result[ 0 ] );
-}
-#endif
-
-
-

--- a/IAP/IAP.h	Tue Apr 28 01:48:21 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,339 +0,0 @@
-/**    IAP : internal Flash memory access library
- *
- *        The internal Flash memory access is described in the LPC1768 and LPC11U24 usermanual. 
- *            http://www.nxp.com/documents/user_manual/UM10360.pdf
- *            http://www.nxp.com/documents/user_manual/UM10462.pdf
- *
- *               LPC1768 --
- *                    Chapter  2: "LPC17xx Memory map"
- *                    Chapter 32: "LPC17xx Flash memory interface and programming"
- *                    refering Rev. 01 - 4 January 2010
- * 
- *               LPC11U24 --
- *                    Chapter  2: "LPC11Uxx Memory mapping"
- *                    Chapter 20: "LPC11Uxx Flash programming firmware"
- *                    refering Rev. 03 - 16 July 2012
- * 
- *        Released under the MIT License: http://mbed.org/license/mit
- *
- *        revision 1.0  09-Mar-2010   1st release
- *        revision 1.1  12-Mar-2010   chaged: to make possible to reserve flash area for user
- *                                            it can be set by USER_FLASH_AREA_START and USER_FLASH_AREA_SIZE in IAP.h
- *        revision 2.0  26-Nov.2012   LPC11U24 code added
- *        revision 2.1  26-Nov-2012   EEPROM access code imported from Suga koubou san's (http://mbed.org/users/okini3939/) library
- *                                            http://mbed.org/users/okini3939/code/M0_EEPROM_test/
- */
-
-#ifndef        MBED_IAP
-#define        MBED_IAP
-
-#include    "mbed.h"
-
-#if defined(TARGET_LPC1768)// || defined(TARGET_NUCLEO_F401RE)
-
-#define     USER_FLASH_AREA_START   FLASH_SECTOR_29
-//#define     USER_FLASH_AREA_SIZE    (FLASH_SECTOR_SIZE_16_TO_29 * 1)
-#define     USER_FLASH_AREA_SIZE    (FLASH_SECTOR_SIZE_16_TO_29 * 1)
-
-/*
- *  memory map information is available in next URL also.
- *    http://mbed.org/projects/libraries/svn/mbed/trunk/LPC1768/LPC17xx.h
- */
- 
-/**    Table for start adress of sectors
- *    
- *        LPC1768 internal flash memory sector numbers and addresses
- *
- *        LPC1768 flash memory are and sector number/size
- *        Table 568 "Sectors in a LPC17xx device", Section 5. "Sector numbers", usermanual
- *
- *        0x00000000 - 0x0007FFFF        flash (29 sectors)
- *
- *      Sector0:     0x00000000 - 0x00000FFF        4K
- *      Sector1:     0x00001000 - 0x00001FFF        4K
- *      Sector2:     0x00002000 - 0x00002FFF        4K
- *      Sector3:     0x00003000 - 0x00003FFF        4K
- *      Sector4:     0x00004000 - 0x00004FFF        4K
- *      Sector5:     0x00005000 - 0x00005FFF        4K
- *      Sector6:     0x00006000 - 0x00006FFF        4K
- *      Sector7:     0x00007000 - 0x00007FFF        4K
- *      Sector8:     0x00008000 - 0x00008FFF        4K
- *      Sector9:     0x00009000 - 0x00009FFF        4K
- *      Sector10:    0x0000A000 - 0x0000AFFF        4K
- *      Sector11:    0x0000B000 - 0x0000BFFF        4K
- *      Sector12:    0x0000C000 - 0x0000CFFF        4K
- *      Sector13:    0x0000D000 - 0x0000DFFF        4K
- *      Sector14:    0x0000E000 - 0x0000EFFF        4K
- *      Sector15:    0x0000F000 - 0x0000FFFF        4K
- *
- *      Sector16:    0x00010000 - 0x00017FFF        32K
- *      Sector17:    0x00018000 - 0x0001FFFF        32K
- *      Sector18:    0x00020000 - 0x00027FFF        32K
- *      Sector19:    0x00028000 - 0x0002FFFF        32K
- *      Sector20:    0x00030000 - 0x00037FFF        32K
- *      Sector21:    0x00038000 - 0x0003FFFF        32K
- *      Sector22:    0x00040000 - 0x00047FFF        32K
- *      Sector23:    0x00048000 - 0x0004FFFF        32K
- *      Sector24:    0x00050000 - 0x00057FFF        32K
- *      Sector25:    0x00058000 - 0x0005FFFF        32K
- *      Sector26:    0x00060000 - 0x00067FFF        32K
- *      Sector27:    0x00068000 - 0x0006FFFF        32K
- *      Sector28:    0x00070000 - 0x00077FFF        32K
- *      Sector29:    0x00078000 - 0x0007FFFF        32K
- */
-
-#define     FLASH_SECTOR_0       0x00000000
-#define     FLASH_SECTOR_1       0x00001000
-#define     FLASH_SECTOR_2       0x00002000
-#define     FLASH_SECTOR_3       0x00003000
-#define     FLASH_SECTOR_4       0x00004000
-#define     FLASH_SECTOR_5       0x00005000
-#define     FLASH_SECTOR_6       0x00006000
-#define     FLASH_SECTOR_7       0x00007000
-#define     FLASH_SECTOR_8       0x00008000
-#define     FLASH_SECTOR_9       0x00009000
-#define     FLASH_SECTOR_10      0x0000A000
-#define     FLASH_SECTOR_11      0x0000B000
-#define     FLASH_SECTOR_12      0x0000C000
-#define     FLASH_SECTOR_13      0x0000D000
-#define     FLASH_SECTOR_14      0x0000E000
-#define     FLASH_SECTOR_15      0x0000F000
-#define     FLASH_SECTOR_16      0x00010000
-#define     FLASH_SECTOR_17      0x00018000
-#define     FLASH_SECTOR_18      0x00020000
-#define     FLASH_SECTOR_19      0x00028000
-#define     FLASH_SECTOR_20      0x00030000
-#define     FLASH_SECTOR_21      0x00038000
-#define     FLASH_SECTOR_22      0x00040000
-#define     FLASH_SECTOR_23      0x00048000
-#define     FLASH_SECTOR_24      0x00050000
-#define     FLASH_SECTOR_25      0x00058000
-#define     FLASH_SECTOR_26      0x00060000
-#define     FLASH_SECTOR_27      0x00068000
-#define     FLASH_SECTOR_28      0x00070000
-#define     FLASH_SECTOR_29      0x00078000
-#define     FLASH_SECTOR_SIZE_0_TO_15    ( 4 * 1024)
-#define     FLASH_SECTOR_SIZE_16_TO_29   (32 * 1024)
-
-static char * sector_start_adress[]    = {
-    (char *)FLASH_SECTOR_0,
-    (char *)FLASH_SECTOR_1,
-    (char *)FLASH_SECTOR_2,
-    (char *)FLASH_SECTOR_3,
-    (char *)FLASH_SECTOR_4,
-    (char *)FLASH_SECTOR_5,
-    (char *)FLASH_SECTOR_6,
-    (char *)FLASH_SECTOR_7,
-    (char *)FLASH_SECTOR_8,
-    (char *)FLASH_SECTOR_9,
-    (char *)FLASH_SECTOR_10,
-    (char *)FLASH_SECTOR_11,
-    (char *)FLASH_SECTOR_12,
-    (char *)FLASH_SECTOR_13,
-    (char *)FLASH_SECTOR_14,
-    (char *)FLASH_SECTOR_15,
-    (char *)FLASH_SECTOR_16,
-    (char *)FLASH_SECTOR_17,
-    (char *)FLASH_SECTOR_18,
-    (char *)FLASH_SECTOR_19,
-    (char *)FLASH_SECTOR_20,
-    (char *)FLASH_SECTOR_21,
-    (char *)FLASH_SECTOR_22,
-    (char *)FLASH_SECTOR_23,
-    (char *)FLASH_SECTOR_24,
-    (char *)FLASH_SECTOR_25,
-    (char *)FLASH_SECTOR_26,
-    (char *)FLASH_SECTOR_27,
-    (char *)FLASH_SECTOR_28,
-    (char *)FLASH_SECTOR_29    
-};
-
-#elif defined(TARGET_NUCLEO_F401RE)         //dummy
-
-#define     FLASH_SECTOR_29      0x00078000
-#define     FLASH_SECTOR_SIZE_0_TO_15    ( 4 * 1024)
-#define     FLASH_SECTOR_SIZE_16_TO_29   (32 * 1024)
-#define     USER_FLASH_AREA_START   FLASH_SECTOR_29
-//#define     USER_FLASH_AREA_SIZE    (FLASH_SECTOR_SIZE_16_TO_29 * 1)
-#define     USER_FLASH_AREA_SIZE    (FLASH_SECTOR_SIZE_16_TO_29 * 1)
-
-
-#elif defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
-
-#define     USER_FLASH_AREA_START   FLASH_SECTOR_15
-#define     USER_FLASH_AREA_SIZE    (FLASH_SECTOR_SIZE * 1)
- 
-#define     FLASH_SECTOR_0       0x00000000
-#define     FLASH_SECTOR_1       0x00001000
-#define     FLASH_SECTOR_2       0x00002000
-#define     FLASH_SECTOR_3       0x00003000
-#define     FLASH_SECTOR_4       0x00004000
-#define     FLASH_SECTOR_5       0x00005000
-#define     FLASH_SECTOR_6       0x00006000
-#define     FLASH_SECTOR_7       0x00007000
-#define     FLASH_SECTOR_8       0x00008000
-#define     FLASH_SECTOR_9       0x00009000
-#define     FLASH_SECTOR_10      0x0000A000
-#define     FLASH_SECTOR_11      0x0000B000
-#define     FLASH_SECTOR_12      0x0000C000
-#define     FLASH_SECTOR_13      0x0000D000
-#define     FLASH_SECTOR_14      0x0000E000
-#define     FLASH_SECTOR_15      0x0000F000
-#define     FLASH_SECTOR_SIZE    (4 * 1024)
-
-static char * sector_start_adress[]    = {
-    (char *)FLASH_SECTOR_0,
-    (char *)FLASH_SECTOR_1,
-    (char *)FLASH_SECTOR_2,
-    (char *)FLASH_SECTOR_3,
-    (char *)FLASH_SECTOR_4,
-    (char *)FLASH_SECTOR_5,
-    (char *)FLASH_SECTOR_6,
-    (char *)FLASH_SECTOR_7,
-    (char *)FLASH_SECTOR_8,
-    (char *)FLASH_SECTOR_9,
-    (char *)FLASH_SECTOR_10,
-    (char *)FLASH_SECTOR_11,
-    (char *)FLASH_SECTOR_12,
-    (char *)FLASH_SECTOR_13,
-    (char *)FLASH_SECTOR_14,
-    (char *)FLASH_SECTOR_15
-};
-
-#elif defined(TARGET_LPC11U24) || defined(TARGET_LPC1114)
-
-#define     USER_FLASH_AREA_START   FLASH_SECTOR_7
-#define     USER_FLASH_AREA_SIZE    (FLASH_SECTOR_SIZE * 1)
- 
-/**    Table for start adress of sectors
- *    
- *        LPC11U24 internal flash memory sector numbers and addresses
- *
- *        LPC11U24 flash memory are and sector number/size
- *        Table 334 "LPC11U1x/2x flash sectors", Section 20. "Sector numbers", usermanual
- *
- *        0x00000000 - 0x00007FFF        flash (8 sectors)
- *
- *      Sector0:     0x00000000 - 0x00000FFF        4K
- *      Sector1:     0x00001000 - 0x00001FFF        4K
- *      Sector2:     0x00002000 - 0x00002FFF        4K
- *      Sector3:     0x00003000 - 0x00003FFF        4K
- *      Sector4:     0x00004000 - 0x00004FFF        4K
- *      Sector5:     0x00005000 - 0x00005FFF        4K
- *      Sector6:     0x00006000 - 0x00006FFF        4K
- *      Sector7:     0x00007000 - 0x00007FFF        4K
- */
-
-#define     FLASH_SECTOR_0       0x00000000
-#define     FLASH_SECTOR_1       0x00001000
-#define     FLASH_SECTOR_2       0x00002000
-#define     FLASH_SECTOR_3       0x00003000
-#define     FLASH_SECTOR_4       0x00004000
-#define     FLASH_SECTOR_5       0x00005000
-#define     FLASH_SECTOR_6       0x00006000
-#define     FLASH_SECTOR_7       0x00007000
-#define     FLASH_SECTOR_SIZE    (4 * 1024)
-
-static char * sector_start_adress[]    = {
-    (char *)FLASH_SECTOR_0,
-    (char *)FLASH_SECTOR_1,
-    (char *)FLASH_SECTOR_2,
-    (char *)FLASH_SECTOR_3,
-    (char *)FLASH_SECTOR_4,
-    (char *)FLASH_SECTOR_5,
-    (char *)FLASH_SECTOR_6,
-    (char *)FLASH_SECTOR_7,
-};
-
-#endif
-
-
-/**    Error code by IAP routine
- *  
- *        Table 588 "ISP Return Codes Summary", Section 7.15 "ISP Return Codes", usermanual
- */
-
-enum error_code
-    {
-            CMD_SUCCESS,
-            INVALID_COMMAND,
-            SRC_ADDR_ERROR,
-            DST_ADDR_ERROR,
-            SRC_ADDR_NOT_MAPPED,
-            DST_ADDR_NOT_MAPPED,
-            COUNT_ERROR,
-            INVALID_SECTOR,
-            SECTOR_NOT_BLANK,
-            SECTOR_NOT_PREPARED_FOR_WRITE_OPERATION,
-            COMPARE_ERROR,
-            BUSY,
-            PARAM_ERROR,
-            ADDR_ERROR,
-            ADDR_NOT_MAPPED,
-            CMD_LOCKED,
-            INVALID_CODE,
-            INVALID_BAUD_RATE,
-            INVALID_STOP_BIT,
-            CODE_READ_PROTECTION_ENABLED
-    };
-
-
-
-/*
- *  IAP routine entry
- *
- *        "IAP commands"
- */
-
-#define     IAP_LOCATION    0x1fff1ff1
-typedef     void (*IAP_call)(unsigned int [], unsigned int []);
-
-/**    IAP class
- *  
- *        Interface for internal flash memory access
- */
-
-
-class IAP {
-public:
-
-    /*
-     *  SystemCoreClock ??? :  
-     *    http://mbed.org/forum/mbed/topic/229/
-     *    http://mbed.org/users/simon/programs/SystemCoreClock/16mhsh/
-     */
-
-    
-    /**    Constructor for IAP
-     *
-     */
-
-    IAP() : iap_entry( reinterpret_cast<IAP_call>(IAP_LOCATION) ), cclk_kHz( SystemCoreClock / 1000 ) {}
-    int read_ID( void );
-    int read_serial( void );
-    int blank_check( int start, int end );
-    int erase( int start, int end );
-    int prepare( int start, int end );
-    int write( char *source_addr, char *target_addr, int size );
-    int compare( char *source_addr, char *target_addr, int size );
-    int read_BootVer( void );
-    
-    char *reserved_flash_area_start( void );
-    int   reserved_flash_area_size( void );
-
-#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
-    int write_eeprom( char *source_addr, char *target_addr, int size );
-    int read_eeprom( char *source_addr, char *target_addr, int size );
-#endif
-
-private:
-    IAP_call        iap_entry;
-    unsigned int    IAP_command[ 5 ];
-    unsigned int    IAP_result[ 5 ];
-    int             cclk_kHz;
-    
-    //int cpu_clock( void );
-}
-;
-
-#endif    //  #ifndef  MBED_IAP

--- a/Limiter/Limiter.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/Limiter/Limiter.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -1,37 +1,22 @@
 #include "mbed.h"
 #include "Limiter.h"
 
-Limiter::Limiter(float LIMIT)
+Limiter::Limiter(float RATE)
 {
-    _limit = LIMIT;
-    _rate = 0.05;   
-    _last= 0;
-    skip = false;
-}
-
-void Limiter::differential(float DIFF)
-{
-    _limit = DIFF;
+    _rate = RATE;
+    _lastval = 0.0;
 }
 
-void Limiter::rate(float RATE)
+void Limiter::setup(float _cutoffreq,float _interval)
 {
-    _rate = RATE;    
+    _period = 1 / _cutoffreq;
+    _rate = _period / ( _period + _interval );
+    _lastval = 0.0;
 }
 
-float Limiter::calc(float now)
+float Limiter::calc(float _now)
 {
-    if ( !skip ) { 
-        skip = true; 
-        return _last = now;
-    }
-    float differential = ( now - _last );
-//    if ( differential < _limit && differential > -_limit ) _last = now;
-    if ( differential > _limit ) _last += _limit * _rate;
-    else    {
-        if ( differential < -_limit ) _last -= _limit * _rate;
-        else _last = now;
-    }
-    return _last;
+    _lastval = _rate * _lastval + ( 1 - _rate ) * _now;
+    return _lastval;
 }
 ;

--- a/Limiter/Limiter.h	Tue Apr 28 01:48:21 2015 +0000
+++ b/Limiter/Limiter.h	Sun Feb 21 05:14:57 2021 +0000
@@ -7,14 +7,12 @@
 class Limiter
 {
 public:
-    Limiter(float limit);
-    void differential(float);
-    void rate(float);
+    Limiter(float);
+    void setup(float,float);
     float calc(float);
 private:
-    float _last;
-    float _limit;
+    float _period;
     float _rate;
-    bool skip;
+    float _lastval;
 };
 #endif
\ No newline at end of file

--- a/PulseOut/PulseOut.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,45 +0,0 @@
-#include "mbed.h"
-#include "InterruptIn.h"
-#include "PulseOut.h"
-
-PulseOut::PulseOut(PinName _outpin,bool _positive) : pulse(_outpin)     //constructa  
-{
-    if ( _positive )
-        pulse = 0;
-    else
-        pulse = 1;
-    positive = _positive;
-    width = 0; 
-}
-
-void PulseOut::pulsewidth_us(int _width)
-{
-    width = _width;
-}
- 
-void PulseOut::start()
-{ 
-    if ( width == 0 ) return;
-    _timeout.attach_us(this,&PulseOut::stop,width);
-    if ( positive )
-        pulse = 1;
-    else
-        pulse = 0;    
-}
-
-void PulseOut::period_us(int period)
-{
-    //dummy
-} 
-
-void PulseOut::stop()
-{
-    if ( positive )
-        pulse = 0;
-    else
-        pulse = 1;    
-    _timeout.detach();
-}
-;
-
-

--- a/PulseOut/PulseOut.h	Tue Apr 28 01:48:21 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,23 +0,0 @@
-#ifndef PULSEOUT_H
-#define PULSEOUT_H
-#define POSITIVE true
-#define NEGATIVE false
-
-#include "mbed.h"
-
-class PulseOut  
-{
-private:
-    Timeout _timeout;
-    void stop();
-    DigitalOut pulse;
-    bool positive;
-    int width;
-
-public:
-    PulseOut(PinName,bool mode=true); 
-    void pulsewidth_us(int);
-    void period_us(int);
-    void start();
-};
-#endif
\ No newline at end of file

--- a/PulseWidthCounter/PulseWidthCounter.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/PulseWidthCounter/PulseWidthCounter.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -2,15 +2,15 @@
 #include "InterruptIn.h"
 #include "PulseWidthCounter.h"
 
-PulseWidthCounter::PulseWidthCounter(PinName _interrupt,bool positive) : interrupt(_interrupt)     //constructa  
+PulseWidthCounter::PulseWidthCounter(PinName inpin,bool positive) : pulsein(inpin)     //constructa  
 {
     if ( positive ) 
-    {   interrupt.rise(this,&PulseWidthCounter::start);
-        interrupt.fall(this,&PulseWidthCounter::stop);
+    {   pulsein.rise(callback(this,&PulseWidthCounter::start));
+        pulsein.fall(callback(this,&PulseWidthCounter::stop));
     }
     else
-    {   interrupt.fall(this,&PulseWidthCounter::start);
-        interrupt.rise(this,&PulseWidthCounter::stop);
+    {   pulsein.fall(callback(this,&PulseWidthCounter::start));
+        pulsein.rise(callback(this,&PulseWidthCounter::stop));
     }
 }
 

--- a/PulseWidthCounter/PulseWidthCounter.h	Tue Apr 28 01:48:21 2015 +0000
+++ b/PulseWidthCounter/PulseWidthCounter.h	Sun Feb 21 05:14:57 2021 +0000
@@ -11,12 +11,12 @@
     Timer _time;
     void start();
     void stop();
-    InterruptIn interrupt;
+    InterruptIn pulsein;
 
 public:
  //   Timer time;
     PulseWidthCounter(PinName,bool positive=true); 
-
+    PulseWidthCounter(const PulseWidthCounter& pwc);
     int count;
 };
 #endif
\ No newline at end of file

--- a/SerialLcd/SerialLcd.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/SerialLcd/SerialLcd.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -1,13 +1,20 @@
 #include "mbed.h"
 #include "SerialLcd.h"
+void wait(float);
 
 SerialLcd::SerialLcd(PinName TX,PinName RX): _lcd(TX,RX)
 {   
 //    LCD_contrast = 60; 
 }
 
+int SerialLcd::write(const char* value) {
+    size_t len = strlen(value);
+    return _lcd.write(value,len);
+}
+
 int SerialLcd::_putc(int value) {
-    _lcd.putc(value);
+    const uint8_t buf = value;
+    _lcd.write(&buf,1);
     return value;
 }
 
@@ -17,15 +24,19 @@
 
 void SerialLcd::cls()
 {
-    _lcd.putc(0xFE);
-    _lcd.putc(0x01);
+    char buf[2];
+    buf[0] = 0xFE;
+    buf[1] = 0x01;
+    _lcd.write(buf,2);
     wait(0.01);
 }
 
 void SerialLcd::locate(int clm,int row)
 {
-    _lcd.putc(0xFE);
-    _lcd.putc( 0x80 + (row * 0x40) + clm );
+    char buf[2];
+    buf[0] = 0xFE;
+    buf[1] = 0x80 + (row * 0x40) + clm ;
+    _lcd.write(buf,2);
     wait(0.01);
 }
 ;

--- a/SerialLcd/SerialLcd.h	Tue Apr 28 01:48:21 2015 +0000
+++ b/SerialLcd/SerialLcd.h	Sun Feb 21 05:14:57 2021 +0000
@@ -2,7 +2,8 @@
 #define MBED_SERIALLCD_H
 
 #include "mbed.h"
-#include "stdarg.h"
+#include <Stream.h>
+//#include "stdarg.h"
 
 class SerialLcd : public Stream
 {
@@ -11,10 +12,11 @@
     
     void cls();
     void locate(int,int);
+    int write(const char*);
 private:
     virtual int _putc(int value);
     virtual int _getc();
-    Serial _lcd;
+    BufferedSerial _lcd;
     int LCD_addr;
     char LCD_cmd;
     char LCD_data;

--- a/SoftPWM/SoftPWM.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/SoftPWM/SoftPWM.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -1,6 +1,7 @@
 #include "mbed.h"
 #include "InterruptIn.h"
 #include "SoftPWM.h"
+void wait(float);
 
 SoftPWM::SoftPWM(PinName _outpin,bool _positive) : pulse(_outpin)     //constructa  
 {
@@ -30,7 +31,8 @@
 
 void SoftPWM::start()
 {
-    _ticker.attach(this,&SoftPWM::TickerInterrapt,interval);
+    uint32_t itv = interval;
+    _ticker.attach(callback(this,&SoftPWM::TickerInterrapt),itv);
 }
 
 void SoftPWM::stop()
@@ -80,7 +82,7 @@
 void SoftPWM::TickerInterrapt()
 { 
     if ( width <= 0 ) return;
-    _timeout.attach(this,&SoftPWM::end,width);
+    _timeout.attach(callback(this,&SoftPWM::end),width);
     if ( positive )
         pulse = 1;
     else

--- a/config.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/config.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -27,7 +27,7 @@
                 CONFRESET,
                 FINAL   };
 
-void FlashLED(int);
+void FlashLED(int,float tm=0.1);
 char Check_Stick_Dir(char);
 void Param_Set_Prompt1(char *,int *,int,int,int,int,char);
 void Param_Set_Prompt1(char *,float *,int,float,float,float,char);
@@ -45,6 +45,7 @@
 void LCD_printf(char *);
 void LCD_cls();
 void LCD_locate(int,int);
+void wait(float);
 
 Timer elaps;
 
@@ -444,7 +445,7 @@
             case PARMSET*10:    //パラメーター設定
                 LCD_printf("Parameter Set");
                 Set_Arrow(1);
-                hmax = 9;
+                hmax = 8;
                 break;
             case PARMSET*10+1:
                 Param_Set_Prompt1("LCD>Contrast",&conf.LCD_Contrast,2,0,63,1,sw);
@@ -480,33 +481,9 @@
                 Param_Set_Prompt1("Flight Timer",&conf.Flight_Time,2,0,600,10,sw);
                 break;
             case PARMSET*10+8:
-                Param_Set_Prompt1("Thro Limit val",&conf.Thro_Limit_Val,2,0,200,1,sw);
-                throLimit.differential(conf.Thro_Limit_Val);
-                break;
-            case PARMSET*10+9:
-                Param_Set_Prompt1("Thro Limit Rate",&conf.Thro_Limit_Rate,3,0,1,0.01,sw);
-                throLimit.rate(conf.Thro_Limit_Rate);
-                break;
-/*            case PARMSET*10+7:
-                LCD_locate(0,0);
-                LCD_printf("Model Type");
-                LCD_locate(0,1);
-                switch ( sw ) {
-                    case 'D':
-                        if ( conf.Model_Type > 0 ) conf.Model_Type -= 1;
-                        else conf.Model_Type = 3;
-                        break;
-                    case 'U':
-                        if ( conf.Model_Type < 4 ) conf.Model_Type += 1;
-                        else conf.Model_Type = 0;
-                }
-                LCD_printf( (char*)ModelName[conf.Model_Type] );
-                Set_Arrow(2);
-                break;
-            case PARMSET*10+8:
                 Param_Set_Prompt1("Active Gyro Gain",&conf.Active_Gyro_Gain,3,0.0f,1.0f,0.01f,sw);
                 break;
-*/
+
             //設定データの保存
             case CONFSTORE*10:       //E2PROM Store
                 LCD_printf("Config Save");

--- a/config.h	Tue Apr 28 01:48:21 2015 +0000
+++ b/config.h	Sun Feb 21 05:14:57 2021 +0000
@@ -3,7 +3,7 @@
 
 //#define SERIAL_LCD
 //#define SOFT_PWM
-#define LPCXpresso
+//#define LPCXpresso
 //#define LocalFileOut
 
 #define TX_TYPE 0               // 0:FM 1:IR
@@ -78,7 +78,7 @@
     float Thro_Limit_Rate;
 public:
     config() {
-        Revision = 3.11;
+        Revision = 1.01;
         Struct_Size = sizeof(config);
         Stick_Ref[0] = 1500;
         Stick_Ref[1] = 1500;
@@ -115,7 +115,7 @@
         Gyro_Gain_Setting = -1;
         Cutoff_Freq=0.15;
         Flight_Time=360;
-        LCD_Contrast = 60;
+        LCD_Contrast = 33;
         PWM_Mode = 1;
         Throttl_Trim = 0;
         PWM_Interval = 3000; 

--- a/main.cpp	Tue Apr 28 01:48:21 2015 +0000
+++ b/main.cpp	Sun Feb 21 05:14:57 2021 +0000
@@ -21,15 +21,18 @@
 #include "PulseWidthCounter.h"
 #include "string"
 #include "SerialLcd.h"
+
+//#if defined(TARGET_NUCLEO_FXXXXX)
+//    #include "eeprom_flash.h"
+//#endif
 //#include "PID.h"
-#include "SoftPWM.h"
-#include "PulseOut.h"
+//#include "SoftPWM.h"
 #include "Limiter.h"
-#ifndef TARGET_NUCLEO_F401RE
-    #include  "IAP.h"
-#endif
+#include  "IAP.h"
 
+#define DEBUG
 //Serial pc(USBTX, USBRX); 
+//Serial pc(PA_9,PA_10); 
 
 #if defined(TARGET_LPC1768)
     DigitalInOut pwmpin[] = { p21,p22,p23,p24 };
@@ -39,59 +42,106 @@
     DigitalOut led1(LED1);
 //    DigitalOut led2(LED2);
     InterruptIn ch1(p5);
-    PulseWidthCounter ch[6] = { p6,p7,p8,p9,p10,p11 };
+    PulseWidthCounter ch[6] = { PulseWidthCounter(p6),
+                                PulseWidthCounter(p7),
+                                PulseWidthCounter(p8),
+                                PulseWidthCounter(p9),
+                                PulseWidthCounter(p10),
+                                PulseWidthCounter(p11) };
     PwmOut pwm[6] = { p21,p22,p23,p24,p25,p26 };
-//    SoftPWM pwm[6] = { p21,p22,p23,p24,p25,p26 };
-    SoftPWM buzz(p20);
+//    SoftPWM buzz(p20);
     I2cPeripherals i2c(p28,p27); //sda scl
     SerialLcd lcd(p13,p14);
+    #define PwmNum          6
     #define MEM_SIZE        256
     #define TARGET_SECTOR   29     //  use sector 29 as target sector if it is on LPC1768
     IAP iap;
-#elif defined(TARGET_NUCLEO_F401RE)
-    DigitalOut led1(LED1);
+#elif defined(TARGET_STM32F1)
+//#define NAZE32BORD
+  #ifdef NAZE32BORD
+    DigitalOut led1(PC_13);
+    InterruptIn ch1(PA_0);
+    PulseWidthCounter ch[6] = { PA_8,PA_11,PB_6,PB_7,PB_8,PB_9};
+    PwmOut pwm[6] = { PA_0,PA_1,PA_2,PA_3,PA_6,PA_7 };
+//    SoftPWM buzz(PA_2);
+//    I2cPeripherals i2c(I2C_SDA,I2C_SCL); //sda scl
+    I2cPeripherals i2c(PB_9,PB_8); //sda scl
+    SerialLcd lcd(PA_2);
+    #define PwmNum          6
+    #define MEM_SIZE        256
+    #define STM32_EEPROM                 //24AAXX/24LCXX/24FCXX EEPROM
+  #else
+    DigitalOut led1(PC_13);
+    InterruptIn ch1(PA_0);
+    PulseWidthCounter ch[6] = { PA_11,PA_12,PA_15,PB_3,PB_4,PB_5};
+    PwmOut pwm[6] = { PA_6,PA_7,PB_0,PB_1,PB_10,PB_11 };
+//    SoftPWM buzz(PA_2);
+//    I2cPeripherals i2c(I2C_SDA,I2C_SCL); //sda scl
+    I2cPeripherals i2c(PB_9,PB_8); //sda scl
+    SerialLcd lcd(PA_2);
+    #define PwmNum          6
+    #define MEM_SIZE        256
+    #define STM32_EEPROM                 //24AAXX/24LCXX/24FCXX EEPROM
+  #endif
+#elif defined(TARGET_STM32F3)
+    DigitalOut led1(PB_3);
+    InterruptIn ch1(PA_0);
+    PulseWidthCounter ch[6] = { PA_0,PA_1,PB_11,PB_10,PB_4,PB_5};
+    PwmOut pwm[6] = { PA_6,PA_7,PA_11,PA_12,PB_8,PB_9 };
+//    SoftPWM buzz(PA_2);
+//    I2cPeripherals i2c(I2C_SDA,I2C_SCL); //sda scl
+    I2cPeripherals i2c(PB_7,PB_6); //sda scl
+    SerialLcd lcd(PA_9);
+    #define PwmNum          6
+    #define MEM_SIZE        256
+    #define STM32_EEPROM                 //24AAXX/24LCXX/24FCXX EEPROM
+#elif defined(TARGET_NUCLEO_F4)
+    DigitalOut led1(PA_5);
     InterruptIn ch1(PC_2);
 //    PulseWidthCounter ch[6] = { PA_0,PA_1,PA_4,PB_0,PC_1,PC_0 };
     PulseWidthCounter ch[6] = { A0,A1,A2,A3,A4,A5 };
-    PwmOut pwm[6] = { D8,D9,D10,D11,D12,D14 };
-//    PwmOut pwm[6] = { D2,D3,D4,D5,D6,D7 };
-//    SoftPWM pwm[6] = { PB_3,PB_4,PB_10,PC_6,PB_6,PA_7 };
-    SoftPWM buzz(PB_13);
+    PwmOut pwm[6] = { D3,D5,D6,D9,D11,D12 };
+//    SoftPWM buzz(PB_13);
 //    I2cPeripherals i2c(I2C_SDA,I2C_SCL); //sda scl
-    I2cPeripherals i2c(D5,D7); //sda scl
-    SerialLcd lcd(PA_11,PA_12);
+    I2cPeripherals i2c(PB_9,PB_8); //sda scl
+    SerialLcd lcd(PA_11);
+    #define PwmNum          6
     #define MEM_SIZE        256
-    #define EXTERNAL_EEPROM                 //24AAXX/24LCXX/24FCXX EEPROM
+    #define STM32_EEPROM                 //24AAXX/24LCXX/24FCXX EEPROM
 #elif defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
     DigitalInOut pwmpin[] = { P0_14,P0_2,P0_23,P0_17 };
     DigitalOut led1(P0_21);
 //    DigitalOut led2(P0_21);
     InterruptIn ch1(P0_9);
     PulseWidthCounter ch[5] = { P0_8,P0_10,P0_7,P0_22,P1_15 };
-//    SoftPWM pwm[4] = { P0_14,P0_2,P0_23,P0_17 };
-    PulseOut pwm[6] = { P0_14,P0_2,P0_23,P0_17,p0_20,p015 };
-    Ticker Tpwm;
-    #define SOFTPWM
-    SoftPWM buzz(P1_19);
+    PwmOut pwm[4] = { P0_14,P0_2,P0_23,P0_17 };
+//    SoftPWM buzz(P1_19);
     I2cPeripherals i2c(P0_5,P0_4); //sda scl
     SerialLcd lcd(P0_19,P0_18);
+    #define PwmNum          4
     #define MEM_SIZE        256
     #define TARGET_EEPROM_ADDRESS   64
-//    #define EXTERNAL_EEPROM
     #define INTERNAL_EEPROM
     IAP iap;
 #elif defined(TARGET_LPC1114)   // LPC1114
-    DigitalInOut pwmpin[] = { dp1,dp2,dp18,dp24 };
+//    DigitalInOut pwmpin[] = { dp1,dp2,dp18,dp24 };
     DigitalOut led1(dp28);
     InterruptIn ch1(dp4);
-    PulseWidthCounter ch[5] = { dp9,dp10,dp11,dp13,dp26 };
-//    SoftPWM pwm[4] = { dp1,dp2,dp18,dp24 };
-    PulseOut pwm[6] = { dp1,dp2,dp18,dp24,dp17,dp6 };
-    Ticker Tpwm;
-    #define SOFTPWM
-    SoftPWM buzz(dp25);
+//    PulseWidthCounter ch[5] = { dp9,dp10,dp11,dp13,dp26 };
+    PwmOut pwm[4] = { dp1,dp2,dp18,dp24 };
+//    SoftPWM buzz(dp25);
     I2cPeripherals i2c(dp5,dp27); //sda scl
     SerialLcd lcd(dp16,dp15);
+    #define PwmNum          4
+    #define MEM_SIZE        256
+    #define EXTERNAL_EEPROM
+#elif defined(TARGET_TEENSY3_1)   // Teensy3.1
+    DigitalOut led1(D13);
+    InterruptIn ch1(D2);
+    PwmOut pwm[6] = { D3,D4,D5,D6,d20,D21 };
+    I2cPeripherals i2c(D18,D19); //sda scl
+    SerialLcd lcd(D3,D4);   //TX,RX
+    #define PwmNum          6
     #define MEM_SIZE        256
     #define EXTERNAL_EEPROM
 #endif
@@ -99,13 +149,13 @@
 Timer CurTime;
 //Timer ElapTime;
 Timer CycleTime;
-Timer FlyghtTime;
+//Timer FlyghtTime;
 config conf;
 //PID pid[4];
-Limiter throLimit = 100;
-Limiter gyroLimit[3] = {300,300,300};
-Limiter accLimit[3] = {0.5,0.5,0.5};
-Limiter pwmLimit[4] = {50,50,50,50};
+//Limiter throLimit = 100;
+Limiter gyroLimit[3] = {0.9,0.9,0.9};
+Limiter accLimit[3] = {0.95,0.95,0.95};
+//Limiter pwmLimit[4] = {50,50,50,50};
 //PID height;
 float TotalTime = 0;;
 int channel = 0;
@@ -153,7 +203,7 @@
 float Rdata;
 
 void initialize();
-void FlashLED(int );
+void FlashLED(int ,float tm=0.1);
 void SetUp();
 void SetUpPrompt(config&,I2cPeripherals&);
 void PWM_Out(bool);
@@ -172,12 +222,8 @@
 void LCD_printf(char *);
 void LCD_cls();
 void LCD_locate(int,int);
-#ifdef SOFTPWM
-void Tpwm_interrupt()
-{
-    for ( int i=0; i<4; i++ ) pwm[i].start();    
-}
-#endif
+void wait(float);
+
 void PulseCheck()               //cppm信号のチェック
 {
     channel++;
@@ -206,6 +252,18 @@
     initialize();
 
     Get_Stick_Pos();
+#ifdef DEBUG
+            char str[18];
+            while ( THR > 1800 ) {
+                LCD_locate(0,0);
+                sprintf(str,"TR=%4d,AL=%4d",THR,AIL);
+                LCD_printf(str);
+                LCD_locate(0,1);
+                sprintf(str,"EL=%4d,RD=%4d",ELE,RUD);
+                LCD_printf(str);
+                Get_Stick_Pos();
+            }
+#endif
     while (  Stick[COL] > Thro_Zero || conf.StartMode == 'C'
              || ( conf.Model_Type == Quad_3D && Stick[GAIN] < 0 ) )          //Shrottol Low
     {
@@ -231,12 +289,12 @@
             {
                 if ( i > 100 )                          //wait 2 sec
                 {
-                    FlyghtTime.stop();
+//                    FlyghtTime.stop();
                     if ( Stick[PIT] < -Stick_Limit )    {       //Elevetor Down
                         loop_cnt = 0;
                         FlashLED(5);
 
-                        for ( int x=0; x<6; x++ ) {
+                        for ( int x=0; x<PwmNum; x++ ) {
                             pwm[x].pulsewidth_us(PWM_Init[conf.Model_Type][x]);
                         }
                         i2c.start(conf.LCD_Contrast);
@@ -258,39 +316,38 @@
 
 void  initialize()
 {
-    buzz.period_us(400);
     i2c.start(conf.LCD_Contrast);
-    for ( int i=0;i<6;i++ ) pwm[i].pulsewidth_us(0);
+    for ( int i=0;i<PwmNum;i++ ) pwm[i].pulsewidth_us(0);
     ReadConfig();               //config.inf file read
 
     channel = 0;
+//#if defined(TARGET_LPC1114)   // LPC1114
+
     ch1.rise(&PulseCheck);      //input pulse count
     wait(0.2);
     if ( channel > 50 )    {
+        FlashLED(50,0.02);
         ch1.rise(&PulseAnalysis);
-        InPulseMode = 'S';
-    }
+        InPulseMode = 'S';    }
     else InPulseMode = 'P';
+//#endif
     led1 = 0;
     CycleTime.start();
-    throLimit.differential(conf.Thro_Limit_Val);
-    throLimit.rate(conf.Thro_Limit_Rate);
-#ifdef SOFTPWM
-    Tpwm.attach_us(&Tpwm_interrupt,conf.PWM_Interval);
-#endif
-    Base_Press = (float)i2c.pressure() / 4096;
-    FlashLED(3);
+//    throLimit.differential(conf.Thro_Limit_Val);
+//    throLimit.rate(conf.Thro_Limit_Rate);
+//    Base_Press = (float)i2c.pressure() / 4096;
+    FlashLED(10,0.05);
 }
 
-void FlashLED(int cnt)
+void FlashLED(int cnt,float tm)
 {
     for ( int i = 0 ; i < cnt ; i++ ) {
         led1 = !led1;
-        buzz = 0.5f;
-        wait(0.1);
+//        buzz = 0.5f;
+        wait(tm);
         led1 = !led1;
-        buzz = 0.0f;
-        wait(0.1);
+//        buzz = 0.0f;
+        wait(tm);
     }
 }
 
@@ -321,32 +378,36 @@
     char *send;
     char *recv;
     int i;
+    char buf[MEM_SIZE];
     config *conf_ptr;
     
     if ( sizeof(config) > MEM_SIZE ) {
-        LCD_printf("config size over");
+//        pc.printf("config size over");
         wait(3);
         return;
     }
 //#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
-#if defined(INTERNAL_EEPROM) || defined(EXTERNAL_EEPROM)
-    char buf[MEM_SIZE];
+#if defined(INTERNAL_EEPROM) || defined(EXTERNAL_EEPROM) || defined(STM32_EEPROM)
     #if defined(INTERNAL_EEPROM)
     iap.read_eeprom( (char*)TARGET_EEPROM_ADDRESS, buf, MEM_SIZE );
-    #else
+    #elif defined(EXTERNAL_EEPROM) 
     //External Flash Memory Wreite
     short pos = 0;
     if ( i2c.read_EEPROM(pos,buf,MEM_SIZE) != 0 )   {
         while(1)   {
             FlashLED(3);
             wait(0.5);
-return;
         }
     }
+    #else       //STM32 emulate eeprom
+//    EEPROM_Read(0,buf,MEM_SIZE)
+    readEEPROM(0,(uint32_t*)buf,sizeof(config));
     #endif
     send = buf;
+    conf_ptr = (config*)buf;
+//pc.printf("rev=%f",conf_ptr->Revision);
     recv = (char*)&conf;
-    conf_ptr = (config*)buf;
+//    conf_ptr = (config*)buf;
     if ( conf_ptr->Revision == conf.Revision && conf_ptr->Struct_Size == sizeof(config) ) {
         for ( i=0;i<sizeof(config);i++ ) recv[i] = send[i];
         return;
@@ -376,11 +437,11 @@
     fwrite(&conf,1,sizeof(config),fp);
     fclose(fp);
 #else
-    char mem[MEM_SIZE];
+    char mem[MEM_SIZE]= " ";;
     char *send;
     int i;
     if ( sizeof(config) > MEM_SIZE ) {
-        LCD_printf("config size over");
+//        pc.printf("config size over");
         wait(3);
         return;
     }
@@ -388,26 +449,38 @@
     for ( i=0;i<sizeof(config);i++ ) mem[i] = send[i];
     for ( i=sizeof(config);i<MEM_SIZE;i++ ) mem[i] = 0x00;
 //#if defined(TARGET_LPC11U24) || defined(TARGET_LPC11U35_401) || defined(TARGET_LPC11U35_501)
-#if defined(INTERNAL_EEPROM)
-    iap.write_eeprom( mem, (char*)TARGET_EEPROM_ADDRESS, MEM_SIZE );
-#elif defined(EXTERNAL_EEPROM)
+    #if defined(INTERNAL_EEPROM)
+        iap.write_eeprom( mem, (char*)TARGET_EEPROM_ADDRESS, MEM_SIZE );
+    #elif defined(EXTERNAL_EEPROM)
 //External Flash Memory Wreite
-    short pos = 0;
-    i2c.write_EEPROM( pos,mem,MEM_SIZE) ;
-#else
-    iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
-    iap.erase( TARGET_SECTOR, TARGET_SECTOR );
-    iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
-    iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE );
-#endif
+        short pos = 0;
+        i2c.write_EEPROM( pos,mem,MEM_SIZE) ;
+    #elif defined(STM32_EEPROM)
+//    EEPROM_Write(0,buf,MEM_SIZE);
+        enableEEPROMWriting();
+        writeEEPROM(0, (uint32_t *)mem,sizeof(config));
+        disableEEPROMWriting();
+//    pc.printf("rev=%f,rev=%d",((config*)mem)->Revision,readEEPROMWord(0));
+    #else
+        iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
+        iap.erase( TARGET_SECTOR, TARGET_SECTOR );
+        iap.prepare( TARGET_SECTOR, TARGET_SECTOR );
+        iap.write( mem, sector_start_adress[ TARGET_SECTOR ], MEM_SIZE );
+    #endif
+        for ( i=0; i<4; i++ )   {
+            FlashLED(10,0.03);
+            wait(0.5);
+        }
 #endif
 }
 
 void Get_Stick_Pos(void)
 {
+#ifndef TARGET_LPC1114   // LPC1114
     if ( InPulseMode == 'P' ) {
         for (int i=0;i<5;i++) CH[i] = ch[i].count;
     }
+#endif
 //    Stick_Save[ROL] = Stick[ROL];
 //    Stick_Save[PIT] = Stick[PIT];
 //    Stick_Save[YAW] = Stick[YAW];
@@ -543,8 +616,8 @@
     TotalTime += interval;
     if ( TotalTime > 0.5f )    {
         led1 = !led1; 
-        if ( ( !buzz ) && ( (float)conf.Flight_Time < FlyghtTime.read() ) ) buzz=0.5;
-        else buzz=0.0;
+ //       if ( ( !buzz ) && ( (float)conf.Flight_Time < FlyghtTime.read() ) ) buzz=0.5;
+ //       else buzz=0.0;
         TotalTime = 0;
     }
     
@@ -664,7 +737,7 @@
         break;
     }
     j = conf.Model_Type;
-    for ( i=0; i<6; i++ ) {
+    for ( i=0; i<PwmNum; i++ ) {
         if ( M[i] > Pulse_Max )   M[i] = Pulse_Max; 
         if ( M[i] < Pulse_Min )   M[i] = Pulse_Min;
         if ( Servo_idx[j][i] == 1 )
@@ -685,7 +758,7 @@
     }
     if ( mode ) {
 //        h = conf.Stick_Ref[THR];
-        for ( i=0;i<6;i++ ) {
+        for ( i=0;i<PwmNum;i++ ) {
 //           while ( !pwmpin[i] );
             if ( conf.PWM_Mode == 1 )
                 pwm[i].pulsewidth_us(M[i]);
@@ -699,7 +772,7 @@
 void ESC_SetUp(void)    {
     while(1)    {
         Get_Stick_Pos();
-        for ( int i=0;i<4;i++ ) pwm[i].pulsewidth_us(conf.Stick_Ref[COL]+Stick[COL]);
+        for ( int i=0;i<PwmNum;i++ ) pwm[i].pulsewidth_us(conf.Stick_Ref[COL]+Stick[COL]);
         wait(0.015);
     }
 }
@@ -707,22 +780,17 @@
 void Flight_SetUp(void)
 {
     int i;
-#ifdef SOFTPWM
-    Tpwm.detach();
-    Tpwm.attach_us(&Tpwm_interrupt,conf.PWM_Interval);
-#else
-    for ( i=0;i<6;i++ ) pwm[i].pulsewidth_us(0);
-    for ( i=0;i<6;i++ ) pwm[i].period_us(conf.PWM_Interval);
-#endif
-    for ( i=0; i<6; i++ ) {
+    for ( i=0;i<PwmNum;i++ ) pwm[i].pulsewidth_us(0);
+    for ( i=0;i<PwmNum;i++ ) pwm[i].period_us(conf.PWM_Interval);
+    for ( i=0; i<PwmNum; i++ ) {
         pwm[i].pulsewidth_us(PWM_Init[conf.Model_Type][i]);
     }
     hov_control = false;
-    throLimit.differential(conf.Thro_Limit_Val);
-    throLimit.rate(conf.Thro_Limit_Rate);
+//    throLimit.differential(conf.Thro_Limit_Val);
+//    throLimit.rate(conf.Thro_Limit_Rate);
     Angle[ROL]=Angle[PIT]=Angle[YAW]=0;
     loop_cnt = 0;
-    FlyghtTime.start();
+//    FlyghtTime.start();
     CycleTime.start();
     pid_interval = 0;
     Stick_Save[COL] = Stick[COL];
@@ -743,8 +811,13 @@
 
 void LCD_printf(char* str)
 {
-    lcd.printf(str);
-    i2c.printf(str);
+    lcd.write(str);
+    i2c.write_lcd(str);
+}
+
+void wait(float tm)
+{
+    wait_us(tm*1000000);
 }
 ;
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mbed-os.lib	Sun Feb 21 05:14:57 2021 +0000
@@ -0,0 +1,1 @@
+https://github.com/armmbed/mbed-os/#bfde5aa1e74802771eaeacfa74789f71677325cb

--- a/mbed.bld	Tue Apr 28 01:48:21 2015 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,1 +0,0 @@
-http://mbed.org/users/mbed_official/code/mbed/builds/552587b429a1
\ No newline at end of file