Merge branch 'master' of https://github.com/borisbstyle/betaflight
This commit is contained in:
commit
166d81679b
|
@ -72,6 +72,7 @@
|
||||||
#include "flight/altitudehold.h"
|
#include "flight/altitudehold.h"
|
||||||
#include "flight/failsafe.h"
|
#include "flight/failsafe.h"
|
||||||
#include "flight/imu.h"
|
#include "flight/imu.h"
|
||||||
|
#include "flight/pid.h"
|
||||||
#include "flight/navigation.h"
|
#include "flight/navigation.h"
|
||||||
|
|
||||||
#include "config/runtime_config.h"
|
#include "config/runtime_config.h"
|
||||||
|
|
|
@ -53,6 +53,7 @@
|
||||||
#include "flight/altitudehold.h"
|
#include "flight/altitudehold.h"
|
||||||
#include "flight/failsafe.h"
|
#include "flight/failsafe.h"
|
||||||
#include "flight/imu.h"
|
#include "flight/imu.h"
|
||||||
|
#include "flight/pid.h"
|
||||||
#include "flight/navigation.h"
|
#include "flight/navigation.h"
|
||||||
|
|
||||||
#include "config/runtime_config.h"
|
#include "config/runtime_config.h"
|
||||||
|
|
|
@ -23,6 +23,7 @@
|
||||||
#include "debug.h"
|
#include "debug.h"
|
||||||
|
|
||||||
#include "build_config.h"
|
#include "build_config.h"
|
||||||
|
#include "debug.h"
|
||||||
|
|
||||||
#include "blackbox/blackbox_io.h"
|
#include "blackbox/blackbox_io.h"
|
||||||
|
|
||||||
|
|
|
@ -21,8 +21,8 @@
|
||||||
#define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
|
#define I2C_LONG_TIMEOUT ((uint32_t)(10 * I2C_SHORT_TIMEOUT))
|
||||||
#define I2C_DEFAULT_TIMEOUT I2C_SHORT_TIMEOUT
|
#define I2C_DEFAULT_TIMEOUT I2C_SHORT_TIMEOUT
|
||||||
|
|
||||||
#include "drivers/io.h"
|
#include "io.h"
|
||||||
#include "drivers/rcc.h"
|
#include "rcc.h"
|
||||||
|
|
||||||
#ifndef I2C_DEVICE
|
#ifndef I2C_DEVICE
|
||||||
#define I2C_DEVICE I2CINVALID
|
#define I2C_DEVICE I2CINVALID
|
||||||
|
|
|
@ -18,7 +18,7 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include "drivers/io.h"
|
#include "io.h"
|
||||||
|
|
||||||
// old EXTI interface, to be replaced
|
// old EXTI interface, to be replaced
|
||||||
typedef struct extiConfig_s {
|
typedef struct extiConfig_s {
|
||||||
|
|
|
@ -17,7 +17,7 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include "drivers/io.h"
|
#include "io.h"
|
||||||
|
|
||||||
#ifdef BEEPER
|
#ifdef BEEPER
|
||||||
#define BEEP_TOGGLE systemBeepToggle()
|
#define BEEP_TOGGLE systemBeepToggle()
|
||||||
|
|
|
@ -15,19 +15,21 @@
|
||||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#include "io/escservo.h"
|
#pragma once
|
||||||
#include "io/rc_controls.h"
|
|
||||||
#include "flight/pid.h"
|
|
||||||
|
|
||||||
#include "sensors/barometer.h"
|
|
||||||
|
|
||||||
extern int32_t AltHold;
|
extern int32_t AltHold;
|
||||||
extern int32_t vario;
|
extern int32_t vario;
|
||||||
|
|
||||||
void calculateEstimatedAltitude(uint32_t currentTime);
|
void calculateEstimatedAltitude(uint32_t currentTime);
|
||||||
|
|
||||||
void configureAltitudeHold(pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, rcControlsConfig_t *initialRcControlsConfig, escAndServoConfig_t *initialEscAndServoConfig);
|
struct pidProfile_s;
|
||||||
void applyAltHold(airplaneConfig_t *airplaneConfig);
|
struct barometerConfig_s;
|
||||||
|
struct rcControlsConfig_s;
|
||||||
|
struct escAndServoConfig_s;
|
||||||
|
void configureAltitudeHold(struct pidProfile_s *initialPidProfile, struct barometerConfig_s *intialBarometerConfig, struct rcControlsConfig_s *initialRcControlsConfig, struct escAndServoConfig_s *initialEscAndServoConfig);
|
||||||
|
|
||||||
|
struct airplaneConfig_t;
|
||||||
|
void applyAltHold(struct airplaneConfig_s *airplaneConfig);
|
||||||
void updateAltHoldState(void);
|
void updateAltHoldState(void);
|
||||||
void updateSonarAltHoldState(void);
|
void updateSonarAltHoldState(void);
|
||||||
|
|
||||||
|
|
|
@ -69,9 +69,10 @@ typedef struct accProcessor_s {
|
||||||
accProcessorState_e state;
|
accProcessorState_e state;
|
||||||
} accProcessor_t;
|
} accProcessor_t;
|
||||||
|
|
||||||
|
struct pidProfile_s;
|
||||||
void imuConfigure(
|
void imuConfigure(
|
||||||
imuRuntimeConfig_t *initialImuRuntimeConfig,
|
imuRuntimeConfig_t *initialImuRuntimeConfig,
|
||||||
pidProfile_t *initialPidProfile,
|
struct pidProfile_s *initialPidProfile,
|
||||||
accDeadband_t *initialAccDeadband,
|
accDeadband_t *initialAccDeadband,
|
||||||
uint16_t throttle_correction_angle
|
uint16_t throttle_correction_angle
|
||||||
);
|
);
|
||||||
|
|
|
@ -14,7 +14,6 @@
|
||||||
* You should have received a copy of the GNU General Public License
|
* You should have received a copy of the GNU General Public License
|
||||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
*/
|
*/
|
||||||
#include "rx/rx.h"
|
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
|
|
|
@ -63,6 +63,8 @@
|
||||||
|
|
||||||
#include "io/display.h"
|
#include "io/display.h"
|
||||||
|
|
||||||
|
#include "rx/rx.h"
|
||||||
|
|
||||||
#include "scheduler/scheduler.h"
|
#include "scheduler/scheduler.h"
|
||||||
|
|
||||||
extern profile_t *currentProfile;
|
extern profile_t *currentProfile;
|
||||||
|
|
|
@ -17,8 +17,6 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include "rx/rx.h"
|
|
||||||
|
|
||||||
typedef enum {
|
typedef enum {
|
||||||
BOXARM = 0,
|
BOXARM = 0,
|
||||||
BOXANGLE,
|
BOXANGLE,
|
||||||
|
@ -167,8 +165,9 @@ typedef struct rcControlsConfig_s {
|
||||||
bool areUsingSticksToArm(void);
|
bool areUsingSticksToArm(void);
|
||||||
|
|
||||||
bool areSticksInApModePosition(uint16_t ap_mode);
|
bool areSticksInApModePosition(uint16_t ap_mode);
|
||||||
throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
|
struct rxConfig_s;
|
||||||
void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
|
throttleStatus_e calculateThrottleStatus(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
|
||||||
|
void processRcStickPositions(struct rxConfig_s *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
|
||||||
|
|
||||||
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
|
bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
|
||||||
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
|
void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
|
||||||
|
@ -257,7 +256,7 @@ bool isAirmodeActive(void);
|
||||||
bool isSuperExpoActive(void);
|
bool isSuperExpoActive(void);
|
||||||
void resetAdjustmentStates(void);
|
void resetAdjustmentStates(void);
|
||||||
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
|
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
|
||||||
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);
|
void processRcAdjustments(controlRateConfig_t *controlRateConfig, struct rxConfig_s *rxConfig);
|
||||||
|
|
||||||
bool isUsingSticksForArming(void);
|
bool isUsingSticksForArming(void);
|
||||||
|
|
||||||
|
|
|
@ -18,12 +18,13 @@
|
||||||
#include <stdbool.h>
|
#include <stdbool.h>
|
||||||
#include <stdint.h>
|
#include <stdint.h>
|
||||||
|
|
||||||
#include "io/rc_controls.h"
|
#include "config/config.h"
|
||||||
#include "io/escservo.h"
|
|
||||||
|
|
||||||
|
#include "io/escservo.h"
|
||||||
|
#include "io/rc_controls.h"
|
||||||
#include "io/rc_curves.h"
|
#include "io/rc_curves.h"
|
||||||
|
|
||||||
#include "config/config.h"
|
#include "rx/rx.h"
|
||||||
|
|
||||||
#define THROTTLE_LOOKUP_LENGTH 12
|
#define THROTTLE_LOOKUP_LENGTH 12
|
||||||
static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
|
static int16_t lookupThrottleRC[THROTTLE_LOOKUP_LENGTH]; // lookup table for expo & mid THROTTLE
|
||||||
|
|
|
@ -41,6 +41,8 @@
|
||||||
#include "drivers/timer.h"
|
#include "drivers/timer.h"
|
||||||
#include "drivers/pwm_rx.h"
|
#include "drivers/pwm_rx.h"
|
||||||
#include "drivers/system.h"
|
#include "drivers/system.h"
|
||||||
|
|
||||||
|
#include "rx/rx.h"
|
||||||
#include "rx/pwm.h"
|
#include "rx/pwm.h"
|
||||||
#include "rx/sbus.h"
|
#include "rx/sbus.h"
|
||||||
#include "rx/spektrum.h"
|
#include "rx/spektrum.h"
|
||||||
|
@ -51,8 +53,6 @@
|
||||||
#include "rx/ibus.h"
|
#include "rx/ibus.h"
|
||||||
#include "rx/jetiexbus.h"
|
#include "rx/jetiexbus.h"
|
||||||
|
|
||||||
#include "rx/rx.h"
|
|
||||||
|
|
||||||
|
|
||||||
//#define DEBUG_RX_SIGNAL_LOSS
|
//#define DEBUG_RX_SIGNAL_LOSS
|
||||||
|
|
||||||
|
|
|
@ -17,7 +17,5 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include "rx/rx.h"
|
|
||||||
|
|
||||||
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataPtr *callback);
|
||||||
uint8_t xBusFrameStatus(void);
|
uint8_t xBusFrameStatus(void);
|
||||||
|
|
|
@ -35,6 +35,8 @@
|
||||||
#include "io/rc_controls.h"
|
#include "io/rc_controls.h"
|
||||||
#include "io/beeper.h"
|
#include "io/beeper.h"
|
||||||
|
|
||||||
|
#include "rx/rx.h"
|
||||||
|
|
||||||
#define VBATT_PRESENT_THRESHOLD_MV 10
|
#define VBATT_PRESENT_THRESHOLD_MV 10
|
||||||
#define VBATT_LPF_FREQ 0.4f
|
#define VBATT_LPF_FREQ 0.4f
|
||||||
|
|
||||||
|
|
|
@ -0,0 +1,103 @@
|
||||||
|
/*
|
||||||
|
* This file is part of Cleanflight.
|
||||||
|
*
|
||||||
|
* Cleanflight 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.
|
||||||
|
*
|
||||||
|
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include <platform.h>
|
||||||
|
#include "drivers/io.h"
|
||||||
|
#include "drivers/pwm_mapping.h"
|
||||||
|
|
||||||
|
const uint16_t multiPPM[] = {
|
||||||
|
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||||
|
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8), // Swap to servo if needed
|
||||||
|
0xFFFF
|
||||||
|
};
|
||||||
|
|
||||||
|
const uint16_t multiPWM[] = {
|
||||||
|
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
|
||||||
|
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
|
||||||
|
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or servo #1 (swap to servo if needed)
|
||||||
|
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2 or servo #2 (swap to servo if needed)
|
||||||
|
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1 or #3
|
||||||
|
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #4 or #6
|
||||||
|
0xFFFF
|
||||||
|
};
|
||||||
|
|
||||||
|
const uint16_t airPPM[] = {
|
||||||
|
PWM1 | (MAP_TO_PPM_INPUT << 8), // PPM input
|
||||||
|
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
|
||||||
|
PWM9 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM10 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM11 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM12 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM2 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM3 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM4 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM5 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
PWM6 | (MAP_TO_SERVO_OUTPUT << 8),
|
||||||
|
0xFFFF
|
||||||
|
};
|
||||||
|
|
||||||
|
const uint16_t airPWM[] = {
|
||||||
|
PWM1 | (MAP_TO_PWM_INPUT << 8), // input #1
|
||||||
|
PWM2 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM3 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM4 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM5 | (MAP_TO_PWM_INPUT << 8),
|
||||||
|
PWM6 | (MAP_TO_PWM_INPUT << 8), // input #6
|
||||||
|
PWM7 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #1
|
||||||
|
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8), // motor #2
|
||||||
|
PWM9 | (MAP_TO_SERVO_OUTPUT << 8), // servo #1
|
||||||
|
PWM10 | (MAP_TO_SERVO_OUTPUT << 8), // servo #2
|
||||||
|
PWM11 | (MAP_TO_SERVO_OUTPUT << 8), // servo #3
|
||||||
|
PWM12 | (MAP_TO_SERVO_OUTPUT << 8), // servo #4
|
||||||
|
0xFFFF
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||||
|
{ TIM1, IO_TAG(PE9), TIM_Channel_1, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // PPM
|
||||||
|
{ TIM1, IO_TAG(PE11), TIM_Channel_2, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S2_IN
|
||||||
|
{ TIM1, IO_TAG(PE13), TIM_Channel_3, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S3_IN
|
||||||
|
{ TIM1, IO_TAG(PE14), TIM_Channel_4, TIM1_CC_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM1 }, // S4_IN
|
||||||
|
{ TIM9, IO_TAG(PE6), TIM_Channel_1, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S5_IN
|
||||||
|
{ TIM9, IO_TAG(PE7), TIM_Channel_2, TIM1_BRK_TIM9_IRQn, 0, IOCFG_AF_PP, GPIO_AF_TIM9 }, // S6_IN
|
||||||
|
|
||||||
|
{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S1_OUT
|
||||||
|
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S2_OUT
|
||||||
|
{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM2_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM2 }, // S3_OUT
|
||||||
|
{ TIM3, IO_TAG(PB5), TIM_Channel_2, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S4_OUT
|
||||||
|
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S5_OUT
|
||||||
|
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM3_IRQn, 1, IOCFG_AF_PP, GPIO_AF_TIM3 }, // S6_OUT
|
||||||
|
};
|
|
@ -0,0 +1,180 @@
|
||||||
|
/*
|
||||||
|
* This file is part of Cleanflight.
|
||||||
|
*
|
||||||
|
* Cleanflight 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.
|
||||||
|
*
|
||||||
|
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#define TARGET_BOARD_IDENTIFIER "VRRA"
|
||||||
|
#define CONFIG_START_FLASH_ADDRESS (0x08080000) //0x08080000 to 0x080A0000 (FLASH_Sector_8)
|
||||||
|
|
||||||
|
#define USBD_PRODUCT_STRING "VRRACE"
|
||||||
|
|
||||||
|
#define LED0 PD14
|
||||||
|
#define LED1 PD15
|
||||||
|
#define BEEPER PA0
|
||||||
|
#define BEEPER_INVERTED
|
||||||
|
|
||||||
|
#define INVERTER PD7
|
||||||
|
#define INVERTER_USART USART6
|
||||||
|
|
||||||
|
#define MPU6500_CS_PIN PE10
|
||||||
|
#define MPU6500_SPI_INSTANCE SPI2
|
||||||
|
|
||||||
|
#define ACC
|
||||||
|
#define USE_ACC_SPI_MPU6500
|
||||||
|
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||||
|
|
||||||
|
#define GYRO
|
||||||
|
#define USE_GYRO_SPI_MPU6500
|
||||||
|
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||||
|
|
||||||
|
// MPU6500 interrupts
|
||||||
|
#define USE_MPU_DATA_READY_SIGNAL
|
||||||
|
#define EXTI_CALLBACK_HANDLER_COUNT 2 // MPU data ready (mag disabled)
|
||||||
|
#define MPU_INT_EXTI PD10
|
||||||
|
#define USE_EXTI
|
||||||
|
|
||||||
|
/*
|
||||||
|
#define BARO
|
||||||
|
#define USE_BARO_MS5611
|
||||||
|
#define MS5611_I2C_INSTANCE I2CDEV_1
|
||||||
|
|
||||||
|
#define USE_SDCARD
|
||||||
|
|
||||||
|
#define SDCARD_DETECT_INVERTED
|
||||||
|
|
||||||
|
#define SDCARD_DETECT_PIN PD2
|
||||||
|
#define SDCARD_SPI_INSTANCE SPI2
|
||||||
|
#define SDCARD_SPI_CS_PIN PB12
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
#define SDCARD_DETECT_PIN PD2
|
||||||
|
#define SDCARD_DETECT_EXTI_LINE EXTI_Line2
|
||||||
|
#define SDCARD_DETECT_EXTI_PIN_SOURCE EXTI_PinSource2
|
||||||
|
#define SDCARD_DETECT_EXTI_PORT_SOURCE EXTI_PortSourceGPIOD
|
||||||
|
#define SDCARD_DETECT_EXTI_IRQn EXTI2_IRQn
|
||||||
|
|
||||||
|
#define SDCARD_SPI_INSTANCE SPI3
|
||||||
|
#define SDCARD_SPI_CS_PIN PB3
|
||||||
|
*/
|
||||||
|
|
||||||
|
// SPI2 is on the APB1 bus whose clock runs at 84MHz. Divide to under 400kHz for init:
|
||||||
|
/*
|
||||||
|
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 256 // 328kHz
|
||||||
|
*/
|
||||||
|
// Divide to under 25MHz for normal operation:
|
||||||
|
/*
|
||||||
|
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
|
||||||
|
*/
|
||||||
|
|
||||||
|
/*
|
||||||
|
#define SDCARD_DMA_CHANNEL_TX DMA1_Stream4
|
||||||
|
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF4
|
||||||
|
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
|
||||||
|
#define SDCARD_DMA_CHANNEL DMA_Channel_0
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
#define USE_FLASHFS
|
||||||
|
#define USE_FLASH_M25P16
|
||||||
|
#define M25P16_CS_PIN PB3
|
||||||
|
#define M25P16_SPI_INSTANCE SPI3
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define USE_VCP
|
||||||
|
#define VBUS_SENSING_PIN PA9
|
||||||
|
//#define VBUS_SENSING_ENABLED
|
||||||
|
|
||||||
|
#define USE_UART1
|
||||||
|
#define UART1_RX_PIN PB7
|
||||||
|
#define UART1_TX_PIN PB6
|
||||||
|
|
||||||
|
#define USE_UART2
|
||||||
|
#define UART2_RX_PIN PD6
|
||||||
|
#define UART2_TX_PIN PD5
|
||||||
|
|
||||||
|
#define USE_UART3
|
||||||
|
#define UART3_RX_PIN PD9
|
||||||
|
#define UART3_TX_PIN PD8
|
||||||
|
|
||||||
|
#define USE_UART6
|
||||||
|
#define UART6_RX_PIN PC7
|
||||||
|
#define UART6_TX_PIN PC6
|
||||||
|
|
||||||
|
#define USE_SOFTSERIAL1
|
||||||
|
|
||||||
|
#define SOFTSERIAL_1_TIMER TIM1
|
||||||
|
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 2 // PWM 3
|
||||||
|
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 1 // PWM 2
|
||||||
|
|
||||||
|
|
||||||
|
#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART2, USART3, USART6, SOFTSERIAL1
|
||||||
|
|
||||||
|
|
||||||
|
#define USE_SPI
|
||||||
|
|
||||||
|
#define USE_SPI_DEVICE_1
|
||||||
|
|
||||||
|
#define USE_SPI_DEVICE_2
|
||||||
|
#define SPI2_NSS_PIN PE10
|
||||||
|
#define SPI2_SCK_PIN PB13
|
||||||
|
#define SPI2_MISO_PIN PB14
|
||||||
|
#define SPI2_MOSI_PIN PB15
|
||||||
|
|
||||||
|
/*
|
||||||
|
#define USE_SPI_DEVICE_3
|
||||||
|
#define SPI3_NSS_PIN PB3
|
||||||
|
#define SPI3_SCK_PIN PC10
|
||||||
|
#define SPI3_MISO_PIN PC11
|
||||||
|
#define SPI3_MOSI_PIN PC12
|
||||||
|
|
||||||
|
#define USE_I2C
|
||||||
|
#define I2C_DEVICE (I2CDEV_1) // PB8-SCL, PB8-SDA
|
||||||
|
#define USE_I2C_PULLUP
|
||||||
|
#define I2C1_SCL PB8
|
||||||
|
#define I2C1_SDA PB9
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define USE_ADC
|
||||||
|
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||||
|
#define VBAT_ADC_PIN PC0
|
||||||
|
#define RSSI_ADC_GPIO_PIN PB1
|
||||||
|
#define CURRENT_METER_ADC_PIN PA5
|
||||||
|
|
||||||
|
#define DEFAULT_FEATURES (FEATURE_VBAT | FEATURE_ONESHOT125 | FEATURE_SOFTSERIAL | FEATURE_TELEMETRY)
|
||||||
|
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||||
|
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||||
|
|
||||||
|
//#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||||
|
|
||||||
|
/*
|
||||||
|
#define SPEKTRUM_BIND
|
||||||
|
// USART3 Rx, PB11
|
||||||
|
#define BIND_PIN PB11
|
||||||
|
*/
|
||||||
|
|
||||||
|
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||||
|
|
||||||
|
#define TARGET_IO_PORTA 0xffff
|
||||||
|
#define TARGET_IO_PORTB 0xffff
|
||||||
|
#define TARGET_IO_PORTC 0xffff
|
||||||
|
#define TARGET_IO_PORTD 0xffff
|
||||||
|
#define TARGET_IO_PORTE 0xffff
|
||||||
|
|
||||||
|
#define USABLE_TIMER_CHANNEL_COUNT 12
|
||||||
|
#define USED_TIMERS ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(12) | TIM_N(8) | TIM_N(9) )
|
|
@ -0,0 +1,7 @@
|
||||||
|
F405_TARGETS += $(TARGET)
|
||||||
|
FEATURES += VCP
|
||||||
|
|
||||||
|
TARGET_SRC = \
|
||||||
|
drivers/accgyro_spi_mpu6000.c \
|
||||||
|
drivers/accgyro_spi_mpu6500.c \
|
||||||
|
drivers/accgyro_mpu6500.c
|
|
@ -17,14 +17,13 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include "rx/rx.h"
|
|
||||||
|
|
||||||
typedef enum {
|
typedef enum {
|
||||||
FRSKY_VFAS_PRECISION_LOW = 0,
|
FRSKY_VFAS_PRECISION_LOW = 0,
|
||||||
FRSKY_VFAS_PRECISION_HIGH
|
FRSKY_VFAS_PRECISION_HIGH
|
||||||
} frskyVFasPrecision_e;
|
} frskyVFasPrecision_e;
|
||||||
|
|
||||||
void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
|
struct rxConfig_s;
|
||||||
|
void handleFrSkyTelemetry(struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
|
||||||
void checkFrSkyTelemetryState(void);
|
void checkFrSkyTelemetryState(void);
|
||||||
|
|
||||||
void initFrSkyTelemetry(telemetryConfig_t *telemetryConfig);
|
void initFrSkyTelemetry(telemetryConfig_t *telemetryConfig);
|
||||||
|
|
|
@ -488,7 +488,8 @@ typedef struct HOTT_AIRESC_MSG_s {
|
||||||
void handleHoTTTelemetry(void);
|
void handleHoTTTelemetry(void);
|
||||||
void checkHoTTTelemetryState(void);
|
void checkHoTTTelemetryState(void);
|
||||||
|
|
||||||
void initHoTTTelemetry(telemetryConfig_t *telemetryConfig);
|
struct telemetryConfig_s;
|
||||||
|
void initHoTTTelemetry(struct telemetryConfig_s *telemetryConfig);
|
||||||
void configureHoTTTelemetryPort(void);
|
void configureHoTTTelemetryPort(void);
|
||||||
void freeHoTTTelemetryPort(void);
|
void freeHoTTTelemetryPort(void);
|
||||||
|
|
||||||
|
|
|
@ -19,7 +19,8 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
void initLtmTelemetry(telemetryConfig_t *initialTelemetryConfig);
|
struct telemetryConfig_s;
|
||||||
|
void initLtmTelemetry(struct telemetryConfig_s *initialTelemetryConfig);
|
||||||
void handleLtmTelemetry(void);
|
void handleLtmTelemetry(void);
|
||||||
void checkLtmTelemetryState(void);
|
void checkLtmTelemetryState(void);
|
||||||
|
|
||||||
|
|
|
@ -7,7 +7,8 @@
|
||||||
|
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
void initSmartPortTelemetry(telemetryConfig_t *);
|
struct telemetryConfig_s;
|
||||||
|
void initSmartPortTelemetry(struct telemetryConfig_s *);
|
||||||
|
|
||||||
void handleSmartPortTelemetry(void);
|
void handleSmartPortTelemetry(void);
|
||||||
void checkSmartPortTelemetryState(void);
|
void checkSmartPortTelemetryState(void);
|
||||||
|
|
Loading…
Reference in New Issue