Merge branch 'master' of https://github.com/betaflight/betaflight
This commit is contained in:
KiteAnton
commit
b3e93d9ef2
|
|
@ -160,7 +160,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
|
|||
.taskName = "TELEMETRY",
|
||||
.taskFunc = taskTelemetry,
|
||||
.desiredPeriod = 1000000 / 250, // 250 Hz
|
||||
.staticPriority = TASK_PRIORITY_IDLE,
|
||||
.staticPriority = TASK_PRIORITY_LOW,
|
||||
},
|
||||
#endif
|
||||
|
||||
|
|
|
|||
|
|
@ -29,19 +29,16 @@
|
|||
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/accgyro.h"
|
||||
#include "drivers/compass.h"
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/pwm_rx.h"
|
||||
#include "drivers/serial.h"
|
||||
#include "drivers/pwm_output.h"
|
||||
#include "drivers/max7456.h"
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/gyro.h"
|
||||
#include "sensors/compass.h"
|
||||
#include "sensors/acceleration.h"
|
||||
#include "sensors/barometer.h"
|
||||
#include "sensors/boardalignment.h"
|
||||
|
|
@ -54,9 +51,6 @@
|
|||
#include "io/rc_controls.h"
|
||||
#include "io/rc_curves.h"
|
||||
#include "io/ledstrip.h"
|
||||
#include "io/gps.h"
|
||||
#include "io/osd.h"
|
||||
#include "io/vtx.h"
|
||||
|
||||
#include "rx/rx.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -24,113 +24,33 @@
|
|||
|
||||
#define BEEPER PA12
|
||||
|
||||
#define BARO_XCLR_PIN PC13
|
||||
#define BARO_EOC_PIN PC14
|
||||
|
||||
#define INVERTER PB2 // PB2 (BOOT1) abused as inverter select GPIO
|
||||
#define INVERTER_USART USART2
|
||||
|
||||
#define USE_EXTI
|
||||
#define MAG_INT_EXTI PC14
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 3 // MPU data ready, MAG data ready, BMP085 EOC
|
||||
#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
//#define DEBUG_MAG_DATA_READY_INTERRUPT
|
||||
#define USE_MAG_DATA_READY_SIGNAL
|
||||
|
||||
// SPI2
|
||||
// PB15 28 SPI2_MOSI
|
||||
// PB14 27 SPI2_MISO
|
||||
// PB13 26 SPI2_SCK
|
||||
// PB12 25 SPI2_NSS
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_2
|
||||
|
||||
#define NAZE_SPI_INSTANCE SPI2
|
||||
#define NAZE_SPI_CS_GPIO GPIOB
|
||||
#define NAZE_SPI_CS_PIN PB12
|
||||
#define NAZE_CS_GPIO_CLK_PERIPHERAL RCC_APB2Periph_GPIOB
|
||||
|
||||
// We either have this 16mbit flash chip on SPI or the MPU6500 acc/gyro depending on board revision:
|
||||
#define M25P16_CS_GPIO NAZE_SPI_CS_GPIO
|
||||
#define M25P16_CS_PIN NAZE_SPI_CS_PIN
|
||||
#define M25P16_SPI_INSTANCE NAZE_SPI_INSTANCE
|
||||
|
||||
#define MPU6500_CS_GPIO_CLK_PERIPHERAL NAZE_CS_GPIO_CLK_PERIPHERAL
|
||||
#define MPU6500_CS_GPIO NAZE_SPI_CS_GPIO
|
||||
#define MPU6500_CS_PIN NAZE_SPI_CS_PIN
|
||||
#define MPU6500_SPI_INSTANCE NAZE_SPI_INSTANCE
|
||||
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_MPU3050
|
||||
#define USE_GYRO_MPU6050
|
||||
#define USE_GYRO_MPU6500
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
||||
#define GYRO_MPU3050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6050_ALIGN CW0_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW0_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_ADXL345
|
||||
#define USE_ACC_BMA280
|
||||
#define USE_ACC_MMA8452
|
||||
#define USE_ACC_MPU6050
|
||||
#define USE_ACC_MPU6500
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
|
||||
#define ACC_ADXL345_ALIGN CW270_DEG
|
||||
#define ACC_MPU6050_ALIGN CW0_DEG
|
||||
#define ACC_MMA8452_ALIGN CW90_DEG
|
||||
#define ACC_BMA280_ALIGN CW0_DEG
|
||||
#define ACC_MPU6500_ALIGN CW0_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_BMP085
|
||||
#define USE_BARO_BMP280
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_HMC5883
|
||||
#define MAG_HMC5883_ALIGN CW180_DEG
|
||||
|
||||
#define SONAR
|
||||
#define SONAR_TRIGGER_PIN PB0
|
||||
#define SONAR_ECHO_PIN PB1
|
||||
#define SONAR_TRIGGER_PIN_PWM PB8
|
||||
#define SONAR_ECHO_PIN_PWM PB9
|
||||
|
||||
#define DISPLAY
|
||||
|
||||
#define USE_UART1
|
||||
#define USE_UART2
|
||||
#define USE_UART3
|
||||
#define USE_SOFTSERIAL1
|
||||
#define USE_SOFTSERIAL2
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
#define SERIAL_PORT_COUNT 3
|
||||
|
||||
#define SOFTSERIAL_1_TIMER TIM3
|
||||
#define SOFTSERIAL_1_TIMER_RX_HARDWARE 4 // PWM 5
|
||||
#define SOFTSERIAL_1_TIMER_TX_HARDWARE 5 // PWM 6
|
||||
#define SOFTSERIAL_2_TIMER TIM3
|
||||
#define SOFTSERIAL_2_TIMER_RX_HARDWARE 6 // PWM 7
|
||||
#define SOFTSERIAL_2_TIMER_TX_HARDWARE 7 // PWM 8
|
||||
|
||||
// USART3 only on NAZE32_SP - Flex Port
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_2)
|
||||
|
||||
// #define SOFT_I2C // enable to test software i2c
|
||||
// #define SOFT_I2C_PB1011 // If SOFT_I2C is enabled above, need to define pinout as well (I2C1 = PB67, I2C2 = PB1011)
|
||||
// #define SOFT_I2C_PB67
|
||||
|
||||
#define USE_ADC
|
||||
#define CURRENT_METER_ADC_PIN PB1
|
||||
#define VBAT_ADC_PIN PA4
|
||||
|
|
|
|||
|
|
@ -1,20 +1,8 @@
|
|||
F1_TARGETS += $(TARGET)
|
||||
FEATURES = ONBOARDFLASH HIGHEND
|
||||
FEATURES = HIGHEND
|
||||
|
||||
TARGET_SRC = \
|
||||
drivers/accgyro_adxl345.c \
|
||||
drivers/accgyro_bma280.c \
|
||||
drivers/accgyro_l3g4200d.c \
|
||||
drivers/accgyro_mma845x.c \
|
||||
drivers/accgyro_mpu.c \
|
||||
drivers/accgyro_mpu3050.c \
|
||||
drivers/accgyro_mpu6050.c \
|
||||
drivers/accgyro_mpu6500.c \
|
||||
drivers/accgyro_spi_mpu6500.c \
|
||||
drivers/barometer_bmp085.c \
|
||||
drivers/barometer_bmp280.c \
|
||||
drivers/barometer_ms5611.c \
|
||||
drivers/compass_hmc5883l.c \
|
||||
drivers/light_ws2811strip.c \
|
||||
drivers/light_ws2811strip_stm32f10x.c \
|
||||
drivers/sonar_hcsr04.c
|
||||
drivers/light_ws2811strip_stm32f10x.c
|
||||
|
|
|
|||
Loading…
Reference in New Issue