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