Merge remote-tracking branch 'betaflight/master' into bfdev-configurable-baro
This commit is contained in:
jflyper
commit
c53e16b20e
11
Makefile
11
Makefile
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@ -88,6 +88,7 @@ HSE_VALUE ?= 8000000
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||||||
FEATURES =
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FEATURES =
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||||||
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OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
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OFFICIAL_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3D FURYF4 NAZE REVO SIRINFPV SPARKY SPRACINGF3 SPRACINGF3EVO SPRACINGF3NEO SPRACINGF4EVO STM32F3DISCOVERY
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SKIP_TARGETS := ALIENWHOOP
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ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
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ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
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OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
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OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
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OSD_SLAVE_TARGETS = SPRACINGF3OSD
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OSD_SLAVE_TARGETS = SPRACINGF3OSD
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@ -96,6 +97,7 @@ VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
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VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
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VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
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VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
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VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
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VALID_TARGETS := $(sort $(VALID_TARGETS))
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VALID_TARGETS := $(sort $(VALID_TARGETS))
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VALID_TARGETS := $(filter-out $(SKIP_TARGETS), $(VALID_TARGETS))
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GROUP_1_TARGETS := \
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GROUP_1_TARGETS := \
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AFROMINI \
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AFROMINI \
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@ -108,13 +110,15 @@ GROUP_1_TARGETS := \
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ALIENFLIGHTF3 \
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ALIENFLIGHTF3 \
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ALIENFLIGHTF4 \
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ALIENFLIGHTF4 \
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ALIENFLIGHTNGF7 \
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ALIENFLIGHTNGF7 \
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ALIENWHOOPF4 \
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ALIENWHOOPF7 \
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ANYFCF7 \
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ANYFCF7 \
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BEEBRAIN \
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BEEBRAIN \
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BEEROTORF4 \
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BEEROTORF4 \
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BETAFLIGHTF3 \
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BETAFLIGHTF3 \
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BLUEJAYF4 \
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BLUEJAYF4 \
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CC3D \
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CC3D \
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CC3D_OPBL \
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CC3D_OPBL
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GROUP_2_TARGETS := \
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GROUP_2_TARGETS := \
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CHEBUZZF3 \
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CHEBUZZF3 \
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@ -141,7 +145,7 @@ GROUP_2_TARGETS := \
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FURYF7 \
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FURYF7 \
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IMPULSERCF3 \
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IMPULSERCF3 \
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IRCFUSIONF3 \
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IRCFUSIONF3 \
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ISHAPEDF3 \
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ISHAPEDF3
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GROUP_3_TARGETS := \
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GROUP_3_TARGETS := \
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KAKUTEF4 \
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KAKUTEF4 \
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@ -160,6 +164,7 @@ GROUP_3_TARGETS := \
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OMNIBUSF4SD \
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OMNIBUSF4SD \
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PLUMF4 \
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PLUMF4 \
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PODIUMF4 \
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PODIUMF4 \
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DYSF4PRO
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|
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GROUP_4_TARGETS := \
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GROUP_4_TARGETS := \
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RCEXPLORERF3 \
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RCEXPLORERF3 \
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@ -181,7 +186,7 @@ GROUP_4_TARGETS := \
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SPRACINGF4EVO \
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SPRACINGF4EVO \
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SPRACINGF4NEO \
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SPRACINGF4NEO \
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STM32F3DISCOVERY \
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STM32F3DISCOVERY \
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TINYBEEF3 \
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TINYBEEF3
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GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
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GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS), $(VALID_TARGETS))
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@ -26,3 +26,28 @@ uint8_t debugMode;
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#ifdef DEBUG_SECTION_TIMES
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#ifdef DEBUG_SECTION_TIMES
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uint32_t sectionTimes[2][4];
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uint32_t sectionTimes[2][4];
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#endif
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#endif
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const char * const debugModeNames[DEBUG_COUNT] = {
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"NONE",
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"CYCLETIME",
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"BATTERY",
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"GYRO",
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"ACCELEROMETER",
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"MIXER",
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"AIRMODE",
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"PIDLOOP",
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"NOTCH",
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"RC_INTERPOLATION",
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"VELOCITY",
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"DFILTER",
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"ANGLERATE",
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"ESC_SENSOR",
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"SCHEDULER",
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"STACK",
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"ESC_SENSOR_RPM",
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"ESC_SENSOR_TMP",
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"ALTITUDE",
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"FFT",
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"FFT_TIME",
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"FFT_FREQ"
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};
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|
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@ -70,3 +70,5 @@ typedef enum {
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DEBUG_FFT_FREQ,
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DEBUG_FFT_FREQ,
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DEBUG_COUNT
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DEBUG_COUNT
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} debugType_e;
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} debugType_e;
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extern const char * const debugModeNames[DEBUG_COUNT];
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@ -41,6 +41,7 @@
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#include "cms/cms_menu_builtin.h"
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#include "cms/cms_menu_builtin.h"
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#include "cms/cms_types.h"
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#include "cms/cms_types.h"
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|
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#include "common/maths.h"
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#include "common/typeconversion.h"
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#include "common/typeconversion.h"
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||||||
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|
||||||
#include "drivers/system.h"
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#include "drivers/system.h"
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@ -260,7 +261,8 @@ static void cmsPadToSize(char *buf, int size)
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||||||
static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
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static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
|
||||||
{
|
{
|
||||||
char buff[10];
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#define CMS_DRAW_BUFFER_LEN 10
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char buff[CMS_DRAW_BUFFER_LEN];
|
||||||
int cnt = 0;
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int cnt = 0;
|
||||||
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|
||||||
switch (p->type) {
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switch (p->type) {
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@ -306,8 +308,10 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
|
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case OME_TAB:
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case OME_TAB:
|
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if (IS_PRINTVALUE(p)) {
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if (IS_PRINTVALUE(p)) {
|
||||||
OSD_TAB_t *ptr = p->data;
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OSD_TAB_t *ptr = p->data;
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||||||
//cnt = displayWrite(pDisplay, RIGHT_MENU_COLUMN(pDisplay) - 5, row, (char *)ptr->names[*ptr->val]);
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char * str = (char *)ptr->names[*ptr->val];
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cnt = displayWrite(pDisplay, RIGHT_MENU_COLUMN(pDisplay), row, (char *)ptr->names[*ptr->val]);
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memcpy(buff, str, MAX(CMS_DRAW_BUFFER_LEN, strlen(str)));
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||||||
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cmsPadToSize(buff, CMS_DRAW_BUFFER_LEN);
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cnt = displayWrite(pDisplay, RIGHT_MENU_COLUMN(pDisplay), row, buff);
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||||||
CLR_PRINTVALUE(p);
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CLR_PRINTVALUE(p);
|
||||||
}
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}
|
||||||
break;
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break;
|
||||||
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|
|
||||||
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@ -24,6 +24,7 @@
|
||||||
|
|
||||||
#ifdef CMS
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#ifdef CMS
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||||||
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|
||||||
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#include "build/debug.h"
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#include "build/version.h"
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#include "build/version.h"
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||||||
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|
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#include "drivers/time.h"
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#include "drivers/time.h"
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@ -38,6 +39,7 @@
|
||||||
#include "config/parameter_group.h"
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#include "config/parameter_group.h"
|
||||||
#include "config/parameter_group_ids.h"
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#include "config/parameter_group_ids.h"
|
||||||
|
|
||||||
|
#include "fc/config.h"
|
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#include "fc/rc_controls.h"
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#include "fc/rc_controls.h"
|
||||||
|
|
||||||
#include "flight/mixer.h"
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#include "flight/mixer.h"
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||||||
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|
@ -92,6 +94,7 @@ static uint16_t motorConfig_minthrottle;
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static uint8_t motorConfig_digitalIdleOffsetValue;
|
static uint8_t motorConfig_digitalIdleOffsetValue;
|
||||||
static uint8_t voltageSensorADCConfig_vbatscale;
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static uint8_t voltageSensorADCConfig_vbatscale;
|
||||||
static uint8_t batteryConfig_vbatmaxcellvoltage;
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static uint8_t batteryConfig_vbatmaxcellvoltage;
|
||||||
|
static debugType_e systemConfig_debug_mode;
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||||||
|
|
||||||
static long cmsx_menuMiscOnEnter(void)
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static long cmsx_menuMiscOnEnter(void)
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||||||
{
|
{
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@ -99,6 +102,8 @@ static long cmsx_menuMiscOnEnter(void)
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motorConfig_digitalIdleOffsetValue = motorConfig()->digitalIdleOffsetValue / 10;
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motorConfig_digitalIdleOffsetValue = motorConfig()->digitalIdleOffsetValue / 10;
|
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voltageSensorADCConfig_vbatscale = voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale;
|
voltageSensorADCConfig_vbatscale = voltageSensorADCConfig(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale;
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batteryConfig_vbatmaxcellvoltage = batteryConfig()->vbatmaxcellvoltage;
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batteryConfig_vbatmaxcellvoltage = batteryConfig()->vbatmaxcellvoltage;
|
||||||
|
systemConfig_debug_mode = systemConfig()->debug_mode;
|
||||||
|
|
||||||
return 0;
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return 0;
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}
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}
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||||||
|
|
||||||
|
|
@ -110,6 +115,8 @@ static long cmsx_menuMiscOnExit(const OSD_Entry *self)
|
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motorConfigMutable()->digitalIdleOffsetValue = 10 * motorConfig_digitalIdleOffsetValue;
|
motorConfigMutable()->digitalIdleOffsetValue = 10 * motorConfig_digitalIdleOffsetValue;
|
||||||
voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = voltageSensorADCConfig_vbatscale;
|
voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = voltageSensorADCConfig_vbatscale;
|
||||||
batteryConfigMutable()->vbatmaxcellvoltage = batteryConfig_vbatmaxcellvoltage;
|
batteryConfigMutable()->vbatmaxcellvoltage = batteryConfig_vbatmaxcellvoltage;
|
||||||
|
systemConfigMutable()->debug_mode = systemConfig_debug_mode;
|
||||||
|
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -121,6 +128,7 @@ static OSD_Entry menuMiscEntries[]=
|
||||||
{ "DIGITAL IDLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &motorConfig_digitalIdleOffsetValue, 0, 200, 1 }, 0 },
|
{ "DIGITAL IDLE", OME_UINT8, NULL, &(OSD_UINT8_t) { &motorConfig_digitalIdleOffsetValue, 0, 200, 1 }, 0 },
|
||||||
{ "VBAT SCALE", OME_UINT8, NULL, &(OSD_UINT8_t) { &voltageSensorADCConfig_vbatscale, 1, 250, 1 }, 0 },
|
{ "VBAT SCALE", OME_UINT8, NULL, &(OSD_UINT8_t) { &voltageSensorADCConfig_vbatscale, 1, 250, 1 }, 0 },
|
||||||
{ "VBAT CLMAX", OME_UINT8, NULL, &(OSD_UINT8_t) { &batteryConfig_vbatmaxcellvoltage, 10, 50, 1 }, 0 },
|
{ "VBAT CLMAX", OME_UINT8, NULL, &(OSD_UINT8_t) { &batteryConfig_vbatmaxcellvoltage, 10, 50, 1 }, 0 },
|
||||||
|
{ "DEBUG MODE", OME_TAB, NULL, &(OSD_TAB_t) { &systemConfig_debug_mode, DEBUG_COUNT - 1, debugModeNames }, 0 },
|
||||||
{ "RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview, 0},
|
{ "RC PREV", OME_Submenu, cmsMenuChange, &cmsx_menuRcPreview, 0},
|
||||||
|
|
||||||
{ "BACK", OME_Back, NULL, NULL, 0},
|
{ "BACK", OME_Back, NULL, NULL, 0},
|
||||||
|
|
|
||||||
|
|
@ -186,9 +186,8 @@ static bool i2c_OLED_send_cmd(busDevice_t *bus, uint8_t command)
|
||||||
static bool i2c_OLED_send_cmdarray(busDevice_t *bus, const uint8_t *commands, size_t len)
|
static bool i2c_OLED_send_cmdarray(busDevice_t *bus, const uint8_t *commands, size_t len)
|
||||||
{
|
{
|
||||||
for (size_t i = 0 ; i < len ; i++) {
|
for (size_t i = 0 ; i < len ; i++) {
|
||||||
if (i2c_OLED_send_cmd(bus, commands[i])) {
|
if (!i2c_OLED_send_cmd(bus, commands[i])) {
|
||||||
// XXX Funny, i2cWrite is returning errors!?
|
return false;
|
||||||
// return;
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -480,10 +480,9 @@ void pwmToggleBeeper(void)
|
||||||
pwmWriteBeeper(!beeperPwm.enabled);
|
pwmWriteBeeper(!beeperPwm.enabled);
|
||||||
}
|
}
|
||||||
|
|
||||||
void beeperPwmInit(IO_t io, uint16_t frequency)
|
void beeperPwmInit(const ioTag_t tag, uint16_t frequency)
|
||||||
{
|
{
|
||||||
const ioTag_t tag=IO_TAG(BEEPER);
|
beeperPwm.io = IOGetByTag(tag);
|
||||||
beeperPwm.io = io;
|
|
||||||
const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
|
const timerHardware_t *timer = timerGetByTag(tag, TIM_USE_BEEPER);
|
||||||
if (beeperPwm.io && timer) {
|
if (beeperPwm.io && timer) {
|
||||||
IOInit(beeperPwm.io, OWNER_BEEPER, RESOURCE_INDEX(0));
|
IOInit(beeperPwm.io, OWNER_BEEPER, RESOURCE_INDEX(0));
|
||||||
|
|
|
||||||
|
|
@ -179,7 +179,7 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
|
||||||
#ifdef BEEPER
|
#ifdef BEEPER
|
||||||
void pwmWriteBeeper(bool onoffBeep);
|
void pwmWriteBeeper(bool onoffBeep);
|
||||||
void pwmToggleBeeper(void);
|
void pwmToggleBeeper(void);
|
||||||
void beeperPwmInit(IO_t io, uint16_t frequency);
|
void beeperPwmInit(const ioTag_t tag, uint16_t frequency);
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
void pwmWriteMotor(uint8_t index, float value);
|
void pwmWriteMotor(uint8_t index, float value);
|
||||||
|
|
|
||||||
|
|
@ -69,8 +69,8 @@ void beeperInit(const beeperDevConfig_t *config)
|
||||||
}
|
}
|
||||||
systemBeep(false);
|
systemBeep(false);
|
||||||
} else {
|
} else {
|
||||||
beeperIO = IOGetByTag(config->ioTag);
|
const ioTag_t beeperTag = config->ioTag;
|
||||||
beeperPwmInit(beeperIO, beeperFrequency);
|
beeperPwmInit(beeperTag, beeperFrequency);
|
||||||
}
|
}
|
||||||
#else
|
#else
|
||||||
UNUSED(config);
|
UNUSED(config);
|
||||||
|
|
|
||||||
|
|
@ -299,13 +299,34 @@ static void cliPrintLinef(const char *format, ...)
|
||||||
va_end(va);
|
va_end(va);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
||||||
static void printValuePointer(const clivalue_t *var, const void *valuePointer, bool full)
|
static void printValuePointer(const clivalue_t *var, const void *valuePointer, bool full)
|
||||||
{
|
{
|
||||||
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
|
if ((var->type & VALUE_MODE_MASK) == MODE_ARRAY) {
|
||||||
for (int i = 0; i < var->config.array.length; i++) {
|
for (int i = 0; i < var->config.array.length; i++) {
|
||||||
uint8_t value = ((uint8_t *)valuePointer)[i];
|
switch (var->type & VALUE_TYPE_MASK) {
|
||||||
|
default:
|
||||||
|
case VAR_UINT8:
|
||||||
|
// uint8_t array
|
||||||
|
cliPrintf("%d", ((uint8_t *)valuePointer)[i]);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case VAR_INT8:
|
||||||
|
// int8_t array
|
||||||
|
cliPrintf("%d", ((int8_t *)valuePointer)[i]);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case VAR_UINT16:
|
||||||
|
// uin16_t array
|
||||||
|
cliPrintf("%d", ((uint16_t *)valuePointer)[i]);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case VAR_INT16:
|
||||||
|
// int16_t array
|
||||||
|
cliPrintf("%d", ((int16_t *)valuePointer)[i]);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
cliPrintf("%d", value);
|
|
||||||
if (i < var->config.array.length - 1) {
|
if (i < var->config.array.length - 1) {
|
||||||
cliPrint(",");
|
cliPrint(",");
|
||||||
}
|
}
|
||||||
|
|
@ -376,7 +397,7 @@ static uint16_t getValueOffset(const clivalue_t *value)
|
||||||
return 0;
|
return 0;
|
||||||
}
|
}
|
||||||
|
|
||||||
static void *getValuePointer(const clivalue_t *value)
|
STATIC_UNIT_TESTED void *getValuePointer(const clivalue_t *value)
|
||||||
{
|
{
|
||||||
const pgRegistry_t* rec = pgFind(value->pgn);
|
const pgRegistry_t* rec = pgFind(value->pgn);
|
||||||
return CONST_CAST(void *, rec->address + getValueOffset(value));
|
return CONST_CAST(void *, rec->address + getValueOffset(value));
|
||||||
|
|
@ -2637,7 +2658,7 @@ static void cliDefaults(char *cmdline)
|
||||||
cliReboot();
|
cliReboot();
|
||||||
}
|
}
|
||||||
|
|
||||||
static void cliGet(char *cmdline)
|
STATIC_UNIT_TESTED void cliGet(char *cmdline)
|
||||||
{
|
{
|
||||||
const clivalue_t *val;
|
const clivalue_t *val;
|
||||||
int matchedCommands = 0;
|
int matchedCommands = 0;
|
||||||
|
|
@ -2681,7 +2702,7 @@ static uint8_t getWordLength(char *bufBegin, char *bufEnd)
|
||||||
return bufEnd - bufBegin;
|
return bufEnd - bufBegin;
|
||||||
}
|
}
|
||||||
|
|
||||||
static void cliSet(char *cmdline)
|
STATIC_UNIT_TESTED void cliSet(char *cmdline)
|
||||||
{
|
{
|
||||||
const uint32_t len = strlen(cmdline);
|
const uint32_t len = strlen(cmdline);
|
||||||
char *eqptr;
|
char *eqptr;
|
||||||
|
|
@ -2706,16 +2727,17 @@ static void cliSet(char *cmdline)
|
||||||
|
|
||||||
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
|
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
|
||||||
const clivalue_t *val = &valueTable[i];
|
const clivalue_t *val = &valueTable[i];
|
||||||
|
|
||||||
// ensure exact match when setting to prevent setting variables with shorter names
|
// ensure exact match when setting to prevent setting variables with shorter names
|
||||||
if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0 && variableNameLength == strlen(valueTable[i].name)) {
|
if (strncasecmp(cmdline, val->name, strlen(val->name)) == 0 && variableNameLength == strlen(val->name)) {
|
||||||
|
|
||||||
bool valueChanged = false;
|
bool valueChanged = false;
|
||||||
int16_t value = 0;
|
int16_t value = 0;
|
||||||
switch (valueTable[i].type & VALUE_MODE_MASK) {
|
switch (val->type & VALUE_MODE_MASK) {
|
||||||
case MODE_DIRECT: {
|
case MODE_DIRECT: {
|
||||||
int16_t value = atoi(eqptr);
|
int16_t value = atoi(eqptr);
|
||||||
|
|
||||||
if (value >= valueTable[i].config.minmax.min && value <= valueTable[i].config.minmax.max) {
|
if (value >= val->config.minmax.min && value <= val->config.minmax.max) {
|
||||||
cliSetVar(val, value);
|
cliSetVar(val, value);
|
||||||
valueChanged = true;
|
valueChanged = true;
|
||||||
}
|
}
|
||||||
|
|
@ -2723,7 +2745,7 @@ static void cliSet(char *cmdline)
|
||||||
|
|
||||||
break;
|
break;
|
||||||
case MODE_LOOKUP: {
|
case MODE_LOOKUP: {
|
||||||
const lookupTableEntry_t *tableEntry = &lookupTables[valueTable[i].config.lookup.tableIndex];
|
const lookupTableEntry_t *tableEntry = &lookupTables[val->config.lookup.tableIndex];
|
||||||
bool matched = false;
|
bool matched = false;
|
||||||
for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
|
for (uint32_t tableValueIndex = 0; tableValueIndex < tableEntry->valueCount && !matched; tableValueIndex++) {
|
||||||
matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
|
matched = strcasecmp(tableEntry->values[tableValueIndex], eqptr) == 0;
|
||||||
|
|
@ -2739,41 +2761,67 @@ static void cliSet(char *cmdline)
|
||||||
|
|
||||||
break;
|
break;
|
||||||
case MODE_ARRAY: {
|
case MODE_ARRAY: {
|
||||||
const uint8_t arrayLength = valueTable[i].config.array.length;
|
const uint8_t arrayLength = val->config.array.length;
|
||||||
char *valPtr = eqptr;
|
char *valPtr = eqptr;
|
||||||
uint8_t array[256];
|
|
||||||
char curVal[4];
|
|
||||||
for (int i = 0; i < arrayLength; i++) {
|
for (int i = 0; i < arrayLength; i++) {
|
||||||
|
// skip spaces
|
||||||
valPtr = skipSpace(valPtr);
|
valPtr = skipSpace(valPtr);
|
||||||
char *valEnd = strstr(valPtr, ",");
|
// find next comma (or end of string)
|
||||||
if ((valEnd != NULL) && (i < arrayLength - 1)) {
|
char *valEndPtr = strchr(valPtr, ',');
|
||||||
uint8_t varLength = getWordLength(valPtr, valEnd);
|
|
||||||
if (varLength <= 3) {
|
// comma found or last item?
|
||||||
strncpy(curVal, valPtr, getWordLength(valPtr, valEnd));
|
if ((valEndPtr != NULL) || (i == arrayLength - 1)){
|
||||||
curVal[varLength] = '\0';
|
// process substring [valPtr, valEndPtr[
|
||||||
array[i] = (uint8_t)atoi((const char *)curVal);
|
// note: no need to copy substrings for atoi()
|
||||||
valPtr = valEnd + 1;
|
// it stops at the first character that cannot be converted...
|
||||||
} else {
|
switch (val->type & VALUE_TYPE_MASK) {
|
||||||
|
default:
|
||||||
|
case VAR_UINT8: {
|
||||||
|
// fetch data pointer
|
||||||
|
uint8_t *data = (uint8_t *)getValuePointer(val) + i;
|
||||||
|
// store value
|
||||||
|
*data = (uint8_t)atoi((const char*) valPtr);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case VAR_INT8: {
|
||||||
|
// fetch data pointer
|
||||||
|
int8_t *data = (int8_t *)getValuePointer(val) + i;
|
||||||
|
// store value
|
||||||
|
*data = (int8_t)atoi((const char*) valPtr);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case VAR_UINT16: {
|
||||||
|
// fetch data pointer
|
||||||
|
uint16_t *data = (uint16_t *)getValuePointer(val) + i;
|
||||||
|
// store value
|
||||||
|
*data = (uint16_t)atoi((const char*) valPtr);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case VAR_INT16: {
|
||||||
|
// fetch data pointer
|
||||||
|
int16_t *data = (int16_t *)getValuePointer(val) + i;
|
||||||
|
// store value
|
||||||
|
*data = (int16_t)atoi((const char*) valPtr);
|
||||||
|
}
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
} else if ((valEnd == NULL) && (i == arrayLength - 1)) {
|
// mark as changed
|
||||||
array[i] = atoi(valPtr);
|
|
||||||
|
|
||||||
uint8_t *ptr = getValuePointer(val);
|
|
||||||
memcpy(ptr, array, arrayLength);
|
|
||||||
valueChanged = true;
|
valueChanged = true;
|
||||||
} else {
|
|
||||||
break;
|
// prepare to parse next item
|
||||||
|
valPtr = valEndPtr + 1;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
break;
|
break;
|
||||||
|
|
||||||
}
|
}
|
||||||
|
|
||||||
if (valueChanged) {
|
if (valueChanged) {
|
||||||
cliPrintf("%s set to ", valueTable[i].name);
|
cliPrintf("%s set to ", val->name);
|
||||||
cliPrintVar(val, 0);
|
cliPrintVar(val, 0);
|
||||||
} else {
|
} else {
|
||||||
cliPrintLine("Invalid value");
|
cliPrintLine("Invalid value");
|
||||||
|
|
|
||||||
|
|
@ -195,31 +195,6 @@ static const char * const lookupTableGyroLpf[] = {
|
||||||
"EXPERIMENTAL"
|
"EXPERIMENTAL"
|
||||||
};
|
};
|
||||||
|
|
||||||
static const char * const lookupTableDebug[DEBUG_COUNT] = {
|
|
||||||
"NONE",
|
|
||||||
"CYCLETIME",
|
|
||||||
"BATTERY",
|
|
||||||
"GYRO",
|
|
||||||
"ACCELEROMETER",
|
|
||||||
"MIXER",
|
|
||||||
"AIRMODE",
|
|
||||||
"PIDLOOP",
|
|
||||||
"NOTCH",
|
|
||||||
"RC_INTERPOLATION",
|
|
||||||
"VELOCITY",
|
|
||||||
"DFILTER",
|
|
||||||
"ANGLERATE",
|
|
||||||
"ESC_SENSOR",
|
|
||||||
"SCHEDULER",
|
|
||||||
"STACK",
|
|
||||||
"ESC_SENSOR_RPM",
|
|
||||||
"ESC_SENSOR_TMP",
|
|
||||||
"ALTITUDE",
|
|
||||||
"FFT",
|
|
||||||
"FFT_TIME",
|
|
||||||
"FFT_FREQ"
|
|
||||||
};
|
|
||||||
|
|
||||||
#ifdef OSD
|
#ifdef OSD
|
||||||
static const char * const lookupTableOsdType[] = {
|
static const char * const lookupTableOsdType[] = {
|
||||||
"AUTO",
|
"AUTO",
|
||||||
|
|
@ -290,7 +265,7 @@ const lookupTableEntry_t lookupTables[] = {
|
||||||
#ifdef MAG
|
#ifdef MAG
|
||||||
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
|
{ lookupTableMagHardware, sizeof(lookupTableMagHardware) / sizeof(char *) },
|
||||||
#endif
|
#endif
|
||||||
{ lookupTableDebug, sizeof(lookupTableDebug) / sizeof(char *) },
|
{ debugModeNames, sizeof(debugModeNames) / sizeof(char *) },
|
||||||
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
|
{ lookupTableSuperExpoYaw, sizeof(lookupTableSuperExpoYaw) / sizeof(char *) },
|
||||||
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
|
{ lookupTablePwmProtocol, sizeof(lookupTablePwmProtocol) / sizeof(char *) },
|
||||||
{ lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
|
{ lookupTableRcInterpolation, sizeof(lookupTableRcInterpolation) / sizeof(char *) },
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,86 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
\ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
|
||||||
|
_ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||||
|
_/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
|
||||||
|
|
||||||
|
|
||||||
|
Take me to your leader-board...
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdbool.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include <platform.h>
|
||||||
|
|
||||||
|
#ifdef TARGET_CONFIG
|
||||||
|
|
||||||
|
#include "common/axis.h"
|
||||||
|
#include "config/feature.h"
|
||||||
|
#include "drivers/pwm_esc_detect.h"
|
||||||
|
#include "flight/mixer.h"
|
||||||
|
#include "flight/pid.h"
|
||||||
|
#include "io/serial.h"
|
||||||
|
#include "rx/rx.h"
|
||||||
|
#include "sensors/barometer.h"
|
||||||
|
#include "sensors/boardalignment.h"
|
||||||
|
#include "sensors/compass.h"
|
||||||
|
|
||||||
|
#ifdef BRUSHED_MOTORS_PWM_RATE
|
||||||
|
#undef BRUSHED_MOTORS_PWM_RATE
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define BRUSHED_MOTORS_PWM_RATE 666 // 666Hz };-)>~ low PWM rate seems to give better power and cooler motors...
|
||||||
|
|
||||||
|
|
||||||
|
void targetConfiguration(void)
|
||||||
|
{
|
||||||
|
if (hardwareMotorType == MOTOR_BRUSHED) {
|
||||||
|
motorConfigMutable()->dev.motorPwmRate = BRUSHED_MOTORS_PWM_RATE;
|
||||||
|
motorConfigMutable()->minthrottle = 1080;
|
||||||
|
motorConfigMutable()->maxthrottle = 2000;
|
||||||
|
pidConfigMutable()->pid_process_denom = 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
rxConfigMutable()->serialrx_provider = SERIALRX_SBUS;
|
||||||
|
#if defined(ALIENWHOOPF4)
|
||||||
|
rxConfigMutable()->sbus_inversion = 0; // TODO: what to do about F4 inversion?
|
||||||
|
#else
|
||||||
|
rxConfigMutable()->sbus_inversion = 1; // invert on F7
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Breadboard-specific settings for development purposes only
|
||||||
|
*/
|
||||||
|
#if defined(BREADBOARD)
|
||||||
|
boardAlignmentMutable()->pitchDegrees = 90; // vertical breakout board
|
||||||
|
barometerConfigMutable()->baro_hardware = BARO_DEFAULT; // still testing not on V1 or V2 pcb
|
||||||
|
#endif
|
||||||
|
|
||||||
|
compassConfigMutable()->mag_hardware = MAG_DEFAULT;
|
||||||
|
}
|
||||||
|
#endif
|
||||||
|
|
||||||
|
|
@ -0,0 +1,53 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
\ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
|
||||||
|
_ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||||
|
_/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
|
||||||
|
|
||||||
|
|
||||||
|
Take me to your leader-board...
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include <platform.h>
|
||||||
|
#include "drivers/io.h"
|
||||||
|
|
||||||
|
#include "drivers/timer.h"
|
||||||
|
#include "drivers/timer_def.h"
|
||||||
|
#include "drivers/dma.h"
|
||||||
|
|
||||||
|
/* Currently only supporting brushed quad configuration e.g. Tiny Whoop. Care must be
|
||||||
|
* taken to ensure functionality on both F4 and F7 (STM32F405RGT and STM32F722RET)
|
||||||
|
*/
|
||||||
|
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||||
|
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
|
||||||
|
DEF_TIM(TIM3, CH3, PC8, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
|
||||||
|
DEF_TIM(TIM3, CH2, PC7, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
|
||||||
|
DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0),
|
||||||
|
};
|
||||||
|
|
||||||
|
|
@ -0,0 +1,240 @@
|
||||||
|
/*
|
||||||
|
* 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/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
|
||||||
|
/*
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
\ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
|
||||||
|
_ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||||
|
_/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
|
||||||
|
|
||||||
|
|
||||||
|
Take me to your leader-board...
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
*/
|
||||||
|
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
/* Multi-Arch Support for 168MHz or 216MHz ARM Cortex processors - STM32F405RGT or STM32F7RET
|
||||||
|
*/
|
||||||
|
#if defined(ALIENWHOOPF4)
|
||||||
|
#define TARGET_BOARD_IDENTIFIER "AWF4"
|
||||||
|
#define USBD_PRODUCT_STRING "AlienWhoopF4"
|
||||||
|
#else
|
||||||
|
#define TARGET_BOARD_IDENTIFIER "AWF7"
|
||||||
|
#define USBD_PRODUCT_STRING "AlienWhoopF7"
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define TARGET_CONFIG // see config.c for target specific customizations
|
||||||
|
|
||||||
|
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||||
|
#define BRUSHED_MOTORS
|
||||||
|
#define BRUSHED_ESC_AUTODETECT
|
||||||
|
|
||||||
|
/* Visual Alerts - SMD LEDs
|
||||||
|
*/
|
||||||
|
#define LED0_PIN PC12 // conflicts UART5
|
||||||
|
#define LED1_PIN PD2 // conflicts UART5
|
||||||
|
|
||||||
|
/* Lost Quad Mode and Alerts - RCX03-787 Low Voltage Active Buzzer
|
||||||
|
*/
|
||||||
|
#if defined(V2DRAFT) // a few boards exist with older pinout
|
||||||
|
#define BEEPER PC13 // PC13... limited... current (3 mA)...
|
||||||
|
#else
|
||||||
|
#define BEEPER PA2 // PC13... limited... current (3 mA)...
|
||||||
|
#endif
|
||||||
|
#define BEEPER_INVERTED // [and] must not be used [to drive LED etc]
|
||||||
|
|
||||||
|
/* Serial Peripheral Interface (SPI) - Up to 50 Mbit/s on F7
|
||||||
|
*/
|
||||||
|
#define USE_SPI
|
||||||
|
#define USE_SPI_DEVICE_1 // SPI1 can communicate at up to 42 Mbits/s on F4
|
||||||
|
#define USE_SPI_DEVICE_2 // SPI2 and SPI3 can communicate at up to 21 Mbit/s on F4
|
||||||
|
#define USE_SPI_DEVICE_3 // All SPIs can be served by the DMA controller.
|
||||||
|
#if defined(ALIENWHOOPF7)
|
||||||
|
//TODO:
|
||||||
|
//#define USE_SPI_DEVICE_4
|
||||||
|
//#define USE_SPI_DEVICE_5
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#define SPI1_NSS_PIN PA4 // LQFP64 pin 20 (PA4)
|
||||||
|
#define SPI1_SCK_PIN PA5 // LQFP64 pin 21 (PA5)
|
||||||
|
#define SPI1_MISO_PIN PA6 // LQFP64 pin 22 (PA6)
|
||||||
|
#define SPI1_MOSI_PIN PA7 // LQFP64 pin 23 (PA7)
|
||||||
|
|
||||||
|
#define SPI2_NSS_PIN PB12 // LQFP64 pin 33 (PB12)
|
||||||
|
#define SPI2_SCK_PIN PB13 // LQFP64 pin 34 (PB13)
|
||||||
|
#define SPI2_MISO_PIN PB14 // LQFP64 pin 35 (PB14)
|
||||||
|
#define SPI2_MOSI_PIN PB15 // LQFP64 pin 36 (PB15)
|
||||||
|
|
||||||
|
#define SPI3_NSS_PIN PA15 // LQFP64 pin 50 (PA15)
|
||||||
|
//#define SPI3_SCK_PIN PC10 // LQFP64 pin 51 (PC10)
|
||||||
|
//#define SPI3_MISO_PIN PC11 // LQFP64 pin 52 (PC11)
|
||||||
|
//#define SPI3_MOSI_PIN PC12 // LQFP64 pin 53 (PC12)
|
||||||
|
#define SPI3_SCK_PIN PB3 // LQFP64 pin 55 (PB3)
|
||||||
|
#define SPI3_MISO_PIN PB4 // LQFP64 pin 56 (PB4)
|
||||||
|
#define SPI3_MOSI_PIN PB5 // LQFP64 pin 57 (PB5)
|
||||||
|
|
||||||
|
#if defined(ALIENWHOOPF7)
|
||||||
|
//TODO: define SPI4 and SPI5 for F7 target
|
||||||
|
//#define SPI4_NSS_PIN
|
||||||
|
//#define SPI4_SCK_PIN
|
||||||
|
//#define SPI4_MISO_PIN
|
||||||
|
//#define SPI4_MOSI_PIN
|
||||||
|
//#define SPI5_NSS_PIN
|
||||||
|
//#define SPI5_SCK_PIN
|
||||||
|
//#define SPI5_MISO_PIN
|
||||||
|
//#define SPI5_MOSI_PIN
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Motion Processing Unit (MPU) - Invensense 6-axis MPU-6500 or 9-axis MPU-9250
|
||||||
|
*/
|
||||||
|
// Interrupt
|
||||||
|
#define USE_EXTI
|
||||||
|
#define MPU_INT_EXTI PC14
|
||||||
|
// MPU
|
||||||
|
#define MPU6500_CS_PIN SPI1_NSS_PIN
|
||||||
|
#define MPU6500_SPI_INSTANCE SPI1
|
||||||
|
#define USE_MPU_DATA_READY_SIGNAL
|
||||||
|
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||||
|
// MAG
|
||||||
|
#define MAG
|
||||||
|
#define USE_MAG_AK8963
|
||||||
|
#define MAG_AK8963_ALIGN CW0_DEG
|
||||||
|
#define USE_MAG_DATA_READY_SIGNAL
|
||||||
|
#define ENSURE_MAG_DATA_READY_IS_HIGH
|
||||||
|
// GYRO
|
||||||
|
#define GYRO
|
||||||
|
#define USE_GYRO_SPI_MPU6500
|
||||||
|
#define GYRO_MPU6500_ALIGN CW0_DEG
|
||||||
|
// ACC
|
||||||
|
#define ACC
|
||||||
|
#define USE_ACC_SPI_MPU6500
|
||||||
|
#define ACC_MPU6500_ALIGN CW0_DEG
|
||||||
|
|
||||||
|
/* Optional Digital Pressure Sensor (barometer) - Bosch BMP280
|
||||||
|
* TODO: not implemented on V1 or V2 pcb
|
||||||
|
*/
|
||||||
|
#define BARO
|
||||||
|
#define USE_BARO_BMP280
|
||||||
|
#define USE_BARO_SPI_BMP280
|
||||||
|
#define BMP280_SPI_INSTANCE SPI3
|
||||||
|
#define BMP280_CS_PIN SPI3_NSS_PIN
|
||||||
|
|
||||||
|
/* Serial ports etc.
|
||||||
|
*/
|
||||||
|
#define USE_VCP
|
||||||
|
#define USE_UART1
|
||||||
|
#define USE_UART2
|
||||||
|
#define USE_UART3
|
||||||
|
#define USE_UART4
|
||||||
|
#define USE_UART5
|
||||||
|
|
||||||
|
#define SERIAL_PORT_COUNT 6
|
||||||
|
|
||||||
|
// USART1
|
||||||
|
#define UART1_TX_PIN PA9 // PB1 INCOMPAT F4 -> F7
|
||||||
|
#define UART1_RX_PIN PA10 // PB0 INCOMPAT F4 -> F7
|
||||||
|
|
||||||
|
// USART2
|
||||||
|
#define UART2_TX_PIN PA2 //PA12
|
||||||
|
#define UART2_RX_PIN PA3 //PA13
|
||||||
|
|
||||||
|
// USART3
|
||||||
|
#define UART3_TX_PIN PC10 // PB10 INCOMPAT F4 -> F7
|
||||||
|
#define UART3_RX_PIN PC11 // PB11 INCOMPAT F4 -> F7
|
||||||
|
|
||||||
|
// UART4 async only on F4
|
||||||
|
#define UART4_TX_PIN PA0 // PC10 currently used by USART3
|
||||||
|
#define UART4_RX_PIN PA1 // PC11 currently used by USART3
|
||||||
|
|
||||||
|
// UART5 async only on F4
|
||||||
|
//#define UART5_TX_PIN PB3 // PC12
|
||||||
|
//#define UART5_RX_PIN PB4 // PD2
|
||||||
|
|
||||||
|
/* Receiver - e.g. FrSky XM/XM+ or Spektrum/Lemon DSM/DSMX capable of 3.3V
|
||||||
|
*/
|
||||||
|
/* Assume Spektrum following defines inherited from common_fc_pre.h:
|
||||||
|
//#define USE_SERIALRX_SPEKTRUM
|
||||||
|
//#define USE_SPEKTRUM_BIND
|
||||||
|
//#define USE_SPEKTRUM_BIND_PLUG
|
||||||
|
*/
|
||||||
|
#if defined(V2DRAFT) // a few of these boards still exist
|
||||||
|
#define BINDPLUG_PIN PB14
|
||||||
|
#define SPEKTRUM_BIND_PIN PA3
|
||||||
|
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||||
|
#define RX_CHANNELS_AETR // FrSky AETR TAER SpektrumRC
|
||||||
|
#else
|
||||||
|
#define BINDPLUG_PIN PC13 // formerly used for beeper (erroneously) on V1 pcb
|
||||||
|
#define SPEKTRUM_BIND_PIN UART3_RX_PIN
|
||||||
|
#define SERIALRX_UART SERIAL_PORT_USART3
|
||||||
|
#define RX_CHANNELS_TAER //RX_CHANNELS_AETR
|
||||||
|
#endif
|
||||||
|
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM1024 //SERIALRX_SBUS
|
||||||
|
|
||||||
|
/* Defaults - What do we want out of the box?
|
||||||
|
*/
|
||||||
|
#if defined(BREADBOARD)
|
||||||
|
#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP )
|
||||||
|
#else
|
||||||
|
#define DEFAULT_FEATURES (FEATURE_RX_SERIAL | FEATURE_MOTOR_STOP | FEATURE_FAILSAFE) // FEATURE_TELEMETRY changes bind pin from rx to tx
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#undef VTX_COMMON
|
||||||
|
#undef VTX_CONTROL
|
||||||
|
#undef VTX_SMARTAUDIO
|
||||||
|
#undef VTX_TRAMP
|
||||||
|
|
||||||
|
/* OLED Support
|
||||||
|
*/
|
||||||
|
#if defined(BREADBOARD)
|
||||||
|
#define CMS
|
||||||
|
#define USE_I2C
|
||||||
|
#define USE_I2C_DEVICE_1
|
||||||
|
#define I2C_DEVICE (I2CDEV_1)
|
||||||
|
#define USE_I2C_PULLUP
|
||||||
|
#define I2C1_SCL PB6
|
||||||
|
#define I2C1_SDA PB7
|
||||||
|
#else
|
||||||
|
#undef CMS
|
||||||
|
#undef USE_I2C
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* MCU Pin Mapping - LPFQ64 Flags
|
||||||
|
*/
|
||||||
|
#define TARGET_IO_PORTA 0xffff
|
||||||
|
#define TARGET_IO_PORTB 0xffff
|
||||||
|
#define TARGET_IO_PORTC 0xffff
|
||||||
|
#if defined(ALIENWHOOPF4)
|
||||||
|
// STM32F405RGT
|
||||||
|
#define TARGET_IO_PORTD (BIT(2))
|
||||||
|
#else
|
||||||
|
// STM32F722RET
|
||||||
|
#define TARGET_IO_PORTD 0xffff
|
||||||
|
#define TARGET_IO_PORTE 0xffff
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* Timers
|
||||||
|
*/
|
||||||
|
#define USABLE_TIMER_CHANNEL_COUNT 4
|
||||||
|
#define USED_TIMERS ( TIM_N(3) | TIM_N(8) )
|
||||||
|
|
||||||
|
|
@ -0,0 +1,25 @@
|
||||||
|
#
|
||||||
|
#
|
||||||
|
# \ | _ _| __| \ |\ \ /| | _ \ _ \ _ \
|
||||||
|
# _ \ | | _| . | \ \ \ / __ | ( |( |__/
|
||||||
|
# _/ _\____|___|___|_|\_| \_/\_/ _| _|\___/\___/_|
|
||||||
|
#
|
||||||
|
#
|
||||||
|
ifeq ($(TARGET), ALIENWHOOPF4)
|
||||||
|
F405_TARGETS += $(TARGET) # STM32F405RGT
|
||||||
|
else
|
||||||
|
ifeq ($(TARGET), ALIENWHOOPF7)
|
||||||
|
F7X2RE_TARGETS += $(TARGET) # STM32F722RET
|
||||||
|
else
|
||||||
|
# Nothing to do for generic ALIENWHOOP... an MCU arch should be specified
|
||||||
|
endif
|
||||||
|
endif
|
||||||
|
|
||||||
|
FEATURES += VCP
|
||||||
|
|
||||||
|
TARGET_SRC = \
|
||||||
|
drivers/accgyro/accgyro_mpu6500.c \
|
||||||
|
drivers/accgyro/accgyro_spi_mpu6500.c \
|
||||||
|
drivers/barometer/barometer_bmp280.c \
|
||||||
|
drivers/barometer/barometer_spi_bmp280.c \
|
||||||
|
drivers/compass/compass_ak8963.c
|
||||||
|
|
@ -44,13 +44,16 @@
|
||||||
#define USE_EXTI
|
#define USE_EXTI
|
||||||
|
|
||||||
#define MAG
|
#define MAG
|
||||||
//#define USE_MAG_HMC5883
|
#define USE_MAG_HMC5883
|
||||||
//#define HMC5883_BUS I2C_DEVICE_EXT
|
#define MAG_I2C_INSTANCE (I2CDEV_2)
|
||||||
|
|
||||||
//#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
|
//#define MAG_HMC5883_ALIGN CW270_DEG_FLIP
|
||||||
//#define MAG_HMC5883_ALIGN CW90_DEG
|
//#define MAG_HMC5883_ALIGN CW90_DEG
|
||||||
|
|
||||||
#define BARO
|
#define BARO
|
||||||
#define USE_BARO_MS5611
|
#define USE_BARO_MS5611
|
||||||
|
#define USE_BARO_BMP280
|
||||||
|
#define BARO_I2C_INSTANCE (I2CDEV_2)
|
||||||
|
|
||||||
#define USABLE_TIMER_CHANNEL_COUNT 16
|
#define USABLE_TIMER_CHANNEL_COUNT 16
|
||||||
|
|
||||||
|
|
@ -128,8 +131,9 @@
|
||||||
#define SDCARD_DMA_CHANNEL DMA_CHANNEL_4
|
#define SDCARD_DMA_CHANNEL DMA_CHANNEL_4
|
||||||
|
|
||||||
#define USE_I2C
|
#define USE_I2C
|
||||||
#define USE_I2C_DEVICE_4
|
#define USE_I2C_DEVICE_2 // External I2C
|
||||||
#define I2C_DEVICE (I2CDEV_4)
|
#define USE_I2C_DEVICE_4 // Onboard I2C
|
||||||
|
#define I2C_DEVICE (I2CDEV_2)
|
||||||
|
|
||||||
#define USE_ADC
|
#define USE_ADC
|
||||||
#define VBAT_ADC_PIN PC0
|
#define VBAT_ADC_PIN PC0
|
||||||
|
|
|
||||||
|
|
@ -4,6 +4,8 @@ FEATURES += SDCARD VCP
|
||||||
TARGET_SRC = \
|
TARGET_SRC = \
|
||||||
drivers/accgyro/accgyro_spi_mpu6000.c \
|
drivers/accgyro/accgyro_spi_mpu6000.c \
|
||||||
drivers/barometer/barometer_ms5611.c \
|
drivers/barometer/barometer_ms5611.c \
|
||||||
|
drivers/barometer/barometer_bmp280.c \
|
||||||
|
drivers/compass/compass_hmc5883l.c \
|
||||||
drivers/light_ws2811strip.c \
|
drivers/light_ws2811strip.c \
|
||||||
drivers/light_ws2811strip_hal.c
|
drivers/light_ws2811strip_hal.c
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -26,25 +26,22 @@
|
||||||
#include "drivers/dma.h"
|
#include "drivers/dma.h"
|
||||||
|
|
||||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||||
DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM, TIMER_INPUT_ENABLED), // PPM
|
DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM, TIMER_INPUT_ENABLED), // PPM DMA(1,4)
|
||||||
DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM1 (1,4)
|
|
||||||
DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2 (2,3)
|
|
||||||
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM3 (2,5)
|
|
||||||
DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM4 (1,1)
|
|
||||||
|
|
||||||
#ifdef BFF3_USE_HEXA_DSHOT
|
// Motors 1-4
|
||||||
// For HEXA dshot
|
DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM1 DMA(1,6)
|
||||||
DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,3)
|
DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2 DMA(2,3)
|
||||||
DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (2,1)
|
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM3 DMA(2,5)
|
||||||
#else
|
DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM4 DMA(1,7)
|
||||||
// For softserial
|
|
||||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,2) !LED
|
|
||||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (1,3)
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
// Motors 5-6 or SoftSerial
|
||||||
|
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM5 DMA(1,2) !LED
|
||||||
|
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM6 DMA(1,3)
|
||||||
|
|
||||||
|
// Motors 7-8 or UART2
|
||||||
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM7/UART2_RX
|
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM7/UART2_RX
|
||||||
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM8/UART2_TX
|
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // PWM8/UART2_TX
|
||||||
|
|
||||||
// When using softserial config, LED will have DMA conflict with PB0 (SOFTSERIAL1_RX).
|
// No LED for Hexa-Dshot; DMA conflict with Motor 5 (PB0); consider PPM if not used.
|
||||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED (1,2)
|
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED DMA(1,2)
|
||||||
};
|
};
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1 @@
|
||||||
|
#DYSF4PRO
|
||||||
|
|
@ -19,12 +19,16 @@
|
||||||
#define TARGET_BOARD_IDENTIFIER "OBSD"
|
#define TARGET_BOARD_IDENTIFIER "OBSD"
|
||||||
#elif defined(LUXF4OSD)
|
#elif defined(LUXF4OSD)
|
||||||
#define TARGET_BOARD_IDENTIFIER "LUX4"
|
#define TARGET_BOARD_IDENTIFIER "LUX4"
|
||||||
|
#elif defined(DYSF4PRO)
|
||||||
|
#define TARGET_BOARD_IDENTIFIER "DYS4"
|
||||||
#else
|
#else
|
||||||
#define TARGET_BOARD_IDENTIFIER "OBF4"
|
#define TARGET_BOARD_IDENTIFIER "OBF4"
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
#if defined(LUXF4OSD)
|
#if defined(LUXF4OSD)
|
||||||
#define USBD_PRODUCT_STRING "LuxF4osd"
|
#define USBD_PRODUCT_STRING "LuxF4osd"
|
||||||
|
#elif defined(DYSF4PRO)
|
||||||
|
#define USBD_PRODUCT_STRING "DysF4Pro"
|
||||||
#else
|
#else
|
||||||
#define USBD_PRODUCT_STRING "OmnibusF4"
|
#define USBD_PRODUCT_STRING "OmnibusF4"
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -190,11 +190,11 @@
|
||||||
#define UART3_RX_PIN PB11
|
#define UART3_RX_PIN PB11
|
||||||
#define UART3_TX_PIN PB10
|
#define UART3_TX_PIN PB10
|
||||||
|
|
||||||
#if defined(REVOLT)
|
#if defined(REVOLT) || defined(REVO)
|
||||||
#define USE_UART4
|
#define USE_UART4
|
||||||
#define UART4_RX_PIN PA1
|
#define UART4_RX_PIN PA1
|
||||||
#define UART4_TX_PIN PA0
|
#define UART4_TX_PIN PA0
|
||||||
#endif // REVOLT
|
#endif // REVOLT || REVO
|
||||||
|
|
||||||
#define USE_UART6
|
#define USE_UART6
|
||||||
#define UART6_RX_PIN PC7
|
#define UART6_RX_PIN PC7
|
||||||
|
|
@ -203,7 +203,7 @@
|
||||||
#define USE_SOFTSERIAL1
|
#define USE_SOFTSERIAL1
|
||||||
#define USE_SOFTSERIAL2
|
#define USE_SOFTSERIAL2
|
||||||
|
|
||||||
#if defined(REVOLT)
|
#if defined(REVOLT) || defined(REVO)
|
||||||
#define SERIAL_PORT_COUNT 7 //VCP, USART1, USART3, UART4, USART6, SOFTSERIAL x 2
|
#define SERIAL_PORT_COUNT 7 //VCP, USART1, USART3, UART4, USART6, SOFTSERIAL x 2
|
||||||
#else
|
#else
|
||||||
#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART3, USART6, SOFTSERIAL x 2
|
#define SERIAL_PORT_COUNT 6 //VCP, USART1, USART3, USART6, SOFTSERIAL x 2
|
||||||
|
|
|
||||||
|
|
@ -21,19 +21,39 @@
|
||||||
#include <platform.h>
|
#include <platform.h>
|
||||||
|
|
||||||
#ifdef TARGET_CONFIG
|
#ifdef TARGET_CONFIG
|
||||||
|
#include "blackbox/blackbox.h"
|
||||||
|
|
||||||
|
#include "fc/config.h"
|
||||||
|
|
||||||
#include "flight/pid.h"
|
#include "flight/pid.h"
|
||||||
|
|
||||||
|
#include "hardware_revision.h"
|
||||||
|
|
||||||
|
|
||||||
// alternative defaults settings for YuPiF4 targets
|
// alternative defaults settings for YuPiF4 targets
|
||||||
void targetConfiguration(void)
|
void targetConfiguration(void)
|
||||||
{
|
{
|
||||||
pidProfilesMutable(0)->pid[PID_ROLL].P = 35;
|
/* Changes depending on versions */
|
||||||
|
if (hardwareRevision == YUPIF4_RACE2) {
|
||||||
|
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
|
||||||
|
} else if (hardwareRevision == YUPIF4_MINI) {
|
||||||
|
beeperDevConfigMutable()->frequency = 0;
|
||||||
|
blackboxConfigMutable()->device = BLACKBOX_DEVICE_NONE;
|
||||||
|
adcConfigMutable()->current.enabled = 0;
|
||||||
|
} else if (hardwareRevision == YUPIF4_NAV) {
|
||||||
|
beeperDevConfigMutable()->ioTag = IO_TAG(BEEPER_OPT);
|
||||||
|
} else {
|
||||||
|
adcConfigMutable()->current.enabled = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
/* Specific PID values for YupiF4 */
|
||||||
|
pidProfilesMutable(0)->pid[PID_ROLL].P = 30;
|
||||||
pidProfilesMutable(0)->pid[PID_ROLL].I = 45;
|
pidProfilesMutable(0)->pid[PID_ROLL].I = 45;
|
||||||
pidProfilesMutable(0)->pid[PID_ROLL].D = 30;
|
pidProfilesMutable(0)->pid[PID_ROLL].D = 20;
|
||||||
pidProfilesMutable(0)->pid[PID_PITCH].P = 40;
|
pidProfilesMutable(0)->pid[PID_PITCH].P = 30;
|
||||||
pidProfilesMutable(0)->pid[PID_PITCH].I = 50;
|
pidProfilesMutable(0)->pid[PID_PITCH].I = 50;
|
||||||
pidProfilesMutable(0)->pid[PID_PITCH].D = 30;
|
pidProfilesMutable(0)->pid[PID_PITCH].D = 20;
|
||||||
pidProfilesMutable(0)->pid[PID_YAW].P = 50;
|
pidProfilesMutable(0)->pid[PID_YAW].P = 40;
|
||||||
pidProfilesMutable(0)->pid[PID_YAW].I = 50;
|
pidProfilesMutable(0)->pid[PID_YAW].I = 50;
|
||||||
}
|
}
|
||||||
#endif
|
#endif
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,70 @@
|
||||||
|
/*
|
||||||
|
* 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 <stdbool.h>
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <stdlib.h>
|
||||||
|
|
||||||
|
#include "platform.h"
|
||||||
|
|
||||||
|
#include "build/build_config.h"
|
||||||
|
|
||||||
|
#include "drivers/io.h"
|
||||||
|
#include "drivers/time.h"
|
||||||
|
|
||||||
|
#include "hardware_revision.h"
|
||||||
|
|
||||||
|
uint8_t hardwareRevision = UNKNOWN;
|
||||||
|
|
||||||
|
void detectHardwareRevision(void)
|
||||||
|
{
|
||||||
|
IO_t pin1 = IOGetByTag(IO_TAG(PC13));
|
||||||
|
IOInit(pin1, OWNER_SYSTEM, 1);
|
||||||
|
IOConfigGPIO(pin1, IOCFG_IPU);
|
||||||
|
|
||||||
|
IO_t pin2 = IOGetByTag(IO_TAG(PC14));
|
||||||
|
IOInit(pin2, OWNER_SYSTEM, 1);
|
||||||
|
IOConfigGPIO(pin2, IOCFG_IPU);
|
||||||
|
|
||||||
|
IO_t pin3 = IOGetByTag(IO_TAG(PC15));
|
||||||
|
IOInit(pin3, OWNER_SYSTEM, 1);
|
||||||
|
IOConfigGPIO(pin3, IOCFG_IPU);
|
||||||
|
|
||||||
|
// Check hardware revision
|
||||||
|
delayMicroseconds(10); // allow configuration to settle
|
||||||
|
|
||||||
|
/*
|
||||||
|
Hardware pins : Pin1 = PC13 / Pin2 = PC14 / Pin3 = PC15
|
||||||
|
no Hardware pins tied to ground => Race V1
|
||||||
|
if Pin 1 is the only one tied to ground => Mini
|
||||||
|
if Pin 2 is the only one tied to ground => Race V2
|
||||||
|
if Pin 3 is the only one tied to ground => Navigation
|
||||||
|
Other combinations available for potential evolutions
|
||||||
|
*/
|
||||||
|
if (!IORead(pin1)) {
|
||||||
|
hardwareRevision = YUPIF4_MINI;
|
||||||
|
} else if (!IORead(pin2)) {
|
||||||
|
hardwareRevision = YUPIF4_RACE2;
|
||||||
|
} else if (!IORead(pin3)) {
|
||||||
|
hardwareRevision = YUPIF4_NAV;
|
||||||
|
} else {
|
||||||
|
hardwareRevision = YUPIF4_RACE1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void updateHardwareRevision(void) {
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,30 @@
|
||||||
|
/*
|
||||||
|
* 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
|
||||||
|
|
||||||
|
typedef enum yupif4HardwareRevision_t {
|
||||||
|
UNKNOWN = 0,
|
||||||
|
YUPIF4_RACE1, // Race V1
|
||||||
|
YUPIF4_RACE2, // Race V2
|
||||||
|
YUPIF4_MINI, // Mini
|
||||||
|
YUPIF4_NAV, // Navigation
|
||||||
|
} yupif4HardwareRevision_e;
|
||||||
|
|
||||||
|
extern uint8_t hardwareRevision;
|
||||||
|
|
||||||
|
void detectHardwareRevision(void);
|
||||||
|
void updateHardwareRevision(void);
|
||||||
|
|
@ -25,13 +25,15 @@
|
||||||
|
|
||||||
|
|
||||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0 ), // PPM IN
|
DEF_TIM(TIM8, CH3, PC8, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0 ), // PPM IN
|
||||||
DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S1_OUT - DMA1_ST2
|
DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S1_OUT - DMA1_ST2
|
||||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST4
|
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S2_OUT - DMA1_ST4
|
||||||
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST1
|
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST1
|
||||||
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
|
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1 ), // S4_OUT - DMA1_ST6
|
||||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
|
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0 ), // S5_OUT - DMA1_ST7
|
||||||
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST2
|
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S6_OUT - DMA1_ST3
|
||||||
DEF_TIM(TIM3, CH4, PC9, TIM_USE_BEEPER, TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
|
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S7_OUT
|
||||||
|
DEF_TIM(TIM3, CH4, PC9, TIM_USE_BEEPER, TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM
|
||||||
|
DEF_TIM(TIM12, CH1, PB14, TIM_USE_BEEPER, TIMER_OUTPUT_ENABLED, 0 ), // BEEPER PWM OPT
|
||||||
};
|
};
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -21,12 +21,15 @@
|
||||||
|
|
||||||
#define USBD_PRODUCT_STRING "YupiF4"
|
#define USBD_PRODUCT_STRING "YupiF4"
|
||||||
|
|
||||||
|
#define USE_HARDWARE_REVISION_DETECTION
|
||||||
|
|
||||||
#define LED0_PIN PB6
|
#define LED0_PIN PB6
|
||||||
#define LED1_PIN PB4
|
#define LED1_PIN PB4
|
||||||
#define LED2_PIN PB5
|
#define LED2_PIN PB5
|
||||||
|
|
||||||
#define BEEPER PC9
|
#define BEEPER PC9
|
||||||
#define BEEPER_PWM_HZ 2200 // Beeper PWM frequency in Hz
|
#define BEEPER_OPT PB14
|
||||||
|
#define BEEPER_PWM_HZ 3150 // Beeper PWM frequency in Hz
|
||||||
|
|
||||||
#define INVERTER_PIN_UART6 PB15
|
#define INVERTER_PIN_UART6 PB15
|
||||||
|
|
||||||
|
|
@ -36,16 +39,16 @@
|
||||||
#define MPU_INT_EXTI PC4
|
#define MPU_INT_EXTI PC4
|
||||||
|
|
||||||
//ICM 20689
|
//ICM 20689
|
||||||
#define ICM20689_CS_PIN PA4
|
#define ICM20689_CS_PIN PA4
|
||||||
#define ICM20689_SPI_INSTANCE SPI1
|
#define ICM20689_SPI_INSTANCE SPI1
|
||||||
|
|
||||||
#define ACC
|
#define ACC
|
||||||
#define USE_ACC_SPI_ICM20689
|
#define USE_ACC_SPI_ICM20689
|
||||||
#define ACC_ICM20689_ALIGN CW90_DEG
|
#define ACC_ICM20689_ALIGN CW90_DEG
|
||||||
|
|
||||||
#define GYRO
|
#define GYRO
|
||||||
#define USE_GYRO_SPI_ICM20689
|
#define USE_GYRO_SPI_ICM20689
|
||||||
#define GYRO_ICM20689_ALIGN CW90_DEG
|
#define GYRO_ICM20689_ALIGN CW90_DEG
|
||||||
|
|
||||||
// MPU 6500
|
// MPU 6500
|
||||||
#define MPU6500_CS_PIN PA4
|
#define MPU6500_CS_PIN PA4
|
||||||
|
|
@ -78,6 +81,9 @@
|
||||||
#define UART6_TX_PIN PC6
|
#define UART6_TX_PIN PC6
|
||||||
|
|
||||||
#define USE_SOFTSERIAL1
|
#define USE_SOFTSERIAL1
|
||||||
|
#define SOFTSERIAL1_RX_PIN PB0 // PWM5
|
||||||
|
#define SOFTSERIAL1_TX_PIN PB1 // PWM7
|
||||||
|
|
||||||
#define USE_SOFTSERIAL2
|
#define USE_SOFTSERIAL2
|
||||||
|
|
||||||
#define SERIAL_PORT_COUNT 6 // VCP, UART1, UART3, UART6, SOFTSERIAL x 2
|
#define SERIAL_PORT_COUNT 6 // VCP, UART1, UART3, UART6, SOFTSERIAL x 2
|
||||||
|
|
@ -103,7 +109,6 @@
|
||||||
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
|
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
|
||||||
#define SDCARD_DMA_CHANNEL DMA_Channel_0
|
#define SDCARD_DMA_CHANNEL DMA_Channel_0
|
||||||
|
|
||||||
|
|
||||||
// SPI Ports
|
// SPI Ports
|
||||||
#define USE_SPI
|
#define USE_SPI
|
||||||
|
|
||||||
|
|
@ -127,18 +132,18 @@
|
||||||
#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD*2)
|
#define MAX7456_SPI_CLK (SPI_CLOCK_STANDARD*2)
|
||||||
#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
|
#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
|
||||||
|
|
||||||
|
|
||||||
// ADC inputs
|
// ADC inputs
|
||||||
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
|
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
|
||||||
#define USE_ADC
|
#define USE_ADC
|
||||||
#define VBAT_ADC_PIN PC1
|
|
||||||
#define RSSI_ADC_GPIO_PIN PC0
|
#define RSSI_ADC_GPIO_PIN PC0
|
||||||
|
#define VBAT_ADC_PIN PC1
|
||||||
|
#define CURRENT_METER_ADC_PIN PC2
|
||||||
|
|
||||||
// Default configuration
|
// Default configuration
|
||||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
|
||||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||||
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||||
#define SERIALRX_UART SERIAL_PORT_USART6
|
#define SERIALRX_UART SERIAL_PORT_USART6
|
||||||
|
#define DEFAULT_FEATURES (FEATURE_OSD)
|
||||||
|
|
||||||
// Target IO and timers
|
// Target IO and timers
|
||||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||||
|
|
@ -148,5 +153,5 @@
|
||||||
#define TARGET_IO_PORTC 0xffff
|
#define TARGET_IO_PORTC 0xffff
|
||||||
#define TARGET_IO_PORTD (BIT(2))
|
#define TARGET_IO_PORTD (BIT(2))
|
||||||
|
|
||||||
#define USABLE_TIMER_CHANNEL_COUNT 8
|
#define USABLE_TIMER_CHANNEL_COUNT 10
|
||||||
#define USED_TIMERS (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8))
|
#define USED_TIMERS (TIM_N(2) | TIM_N(3) | TIM_N(4) | TIM_N(5) | TIM_N(8) | TIM_N(12))
|
||||||
|
|
|
||||||
|
|
@ -52,6 +52,16 @@ blackbox_encoding_unittest_SRC := \
|
||||||
$(USER_DIR)/common/printf.c \
|
$(USER_DIR)/common/printf.c \
|
||||||
$(USER_DIR)/common/typeconversion.c
|
$(USER_DIR)/common/typeconversion.c
|
||||||
|
|
||||||
|
cli_unittest_SRC := \
|
||||||
|
$(USER_DIR)/fc/cli.c \
|
||||||
|
$(USER_DIR)/config/feature.c \
|
||||||
|
$(USER_DIR)/config/parameter_group.c \
|
||||||
|
$(USER_DIR)/common/typeconversion.c
|
||||||
|
|
||||||
|
cli_unittest_DEFINES := \
|
||||||
|
USE_CLI \
|
||||||
|
SystemCoreClock=1000000 \
|
||||||
|
OSD
|
||||||
|
|
||||||
cms_unittest_SRC := \
|
cms_unittest_SRC := \
|
||||||
$(USER_DIR)/cms/cms.c \
|
$(USER_DIR)/cms/cms.c \
|
||||||
|
|
|
||||||
|
|
@ -0,0 +1,267 @@
|
||||||
|
/*
|
||||||
|
* 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 <stdbool.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
#include <limits.h>
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
|
||||||
|
extern "C" {
|
||||||
|
#include "platform.h"
|
||||||
|
#include "target.h"
|
||||||
|
#include "fc/runtime_config.h"
|
||||||
|
#include "fc/fc_msp.h"
|
||||||
|
#include "config/parameter_group.h"
|
||||||
|
#include "config/feature.h"
|
||||||
|
#include "config/parameter_group_ids.h"
|
||||||
|
#include "sensors/battery.h"
|
||||||
|
#include "drivers/buf_writer.h"
|
||||||
|
#include "flight/mixer.h"
|
||||||
|
#include "flight/servos.h"
|
||||||
|
#include "flight/pid.h"
|
||||||
|
#include "io/ledstrip.h"
|
||||||
|
#include "io/serial.h"
|
||||||
|
#include "io/osd.h"
|
||||||
|
#include "fc/settings.h"
|
||||||
|
#include "rx/rx.h"
|
||||||
|
#include "io/beeper.h"
|
||||||
|
#include "fc/rc_adjustments.h"
|
||||||
|
#include "scheduler/scheduler.h"
|
||||||
|
#include "fc/runtime_config.h"
|
||||||
|
#include "build/version.h"
|
||||||
|
#include "fc/config.h"
|
||||||
|
#include "drivers/buf_writer.h"
|
||||||
|
#include "fc/cli.h"
|
||||||
|
|
||||||
|
void cliSet(char *cmdline);
|
||||||
|
void cliGet(char *cmdline);
|
||||||
|
void *getValuePointer(const clivalue_t *value);
|
||||||
|
|
||||||
|
const clivalue_t valueTable[] = {
|
||||||
|
{ "array_unit_test", VAR_INT8 | MODE_ARRAY | MASTER_VALUE, .config.array.length = 3, PG_RESERVED_FOR_TESTING_1, 0 }
|
||||||
|
};
|
||||||
|
const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);
|
||||||
|
const lookupTableEntry_t lookupTables[] = {};
|
||||||
|
|
||||||
|
|
||||||
|
PG_REGISTER(osdConfig_t, osdConfig, PG_OSD_CONFIG, 0);
|
||||||
|
PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
|
||||||
|
PG_REGISTER(ledStripConfig_t, ledStripConfig, PG_LED_STRIP_CONFIG, 0);
|
||||||
|
PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
|
||||||
|
PG_REGISTER_ARRAY(adjustmentRange_t, MAX_ADJUSTMENT_RANGE_COUNT, adjustmentRanges, PG_ADJUSTMENT_RANGE_CONFIG, 0);
|
||||||
|
PG_REGISTER_ARRAY(modeActivationCondition_t, MAX_MODE_ACTIVATION_CONDITION_COUNT, modeActivationConditions, PG_MODE_ACTIVATION_PROFILE, 0);
|
||||||
|
PG_REGISTER(mixerConfig_t, mixerConfig, PG_MIXER_CONFIG, 0);
|
||||||
|
PG_REGISTER_ARRAY(motorMixer_t, MAX_SUPPORTED_MOTORS, customMotorMixer, PG_MOTOR_MIXER, 0);
|
||||||
|
PG_REGISTER_ARRAY(servoParam_t, MAX_SUPPORTED_SERVOS, servoParams, PG_SERVO_PARAMS, 0);
|
||||||
|
PG_REGISTER_ARRAY(servoMixer_t, MAX_SERVO_RULES, customServoMixers, PG_SERVO_MIXER, 0);
|
||||||
|
PG_REGISTER(featureConfig_t, featureConfig, PG_FEATURE_CONFIG, 0);
|
||||||
|
PG_REGISTER(beeperConfig_t, beeperConfig, PG_BEEPER_CONFIG, 0);
|
||||||
|
PG_REGISTER(rxConfig_t, rxConfig, PG_RX_CONFIG, 0);
|
||||||
|
PG_REGISTER(serialConfig_t, serialConfig, PG_SERIAL_CONFIG, 0);
|
||||||
|
PG_REGISTER_ARRAY(rxChannelRangeConfig_t, NON_AUX_CHANNEL_COUNT, rxChannelRangeConfigs, PG_RX_CHANNEL_RANGE_CONFIG, 0);
|
||||||
|
PG_REGISTER_ARRAY(rxFailsafeChannelConfig_t, MAX_SUPPORTED_RC_CHANNEL_COUNT, rxFailsafeChannelConfigs, PG_RX_FAILSAFE_CHANNEL_CONFIG, 0);
|
||||||
|
PG_REGISTER(pidConfig_t, pidConfig, PG_PID_CONFIG, 0);
|
||||||
|
|
||||||
|
PG_REGISTER_WITH_RESET_FN(int8_t, unitTestData, PG_RESERVED_FOR_TESTING_1, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
#include "unittest_macros.h"
|
||||||
|
#include "gtest/gtest.h"
|
||||||
|
TEST(CLIUnittest, TestCliSet)
|
||||||
|
{
|
||||||
|
|
||||||
|
cliSet((char *)"array_unit_test = 123, -3 , 1");
|
||||||
|
|
||||||
|
const clivalue_t cval = {
|
||||||
|
.name = "array_unit_test",
|
||||||
|
.type = MODE_ARRAY | MASTER_VALUE | VAR_INT8,
|
||||||
|
.pgn = PG_RESERVED_FOR_TESTING_1,
|
||||||
|
.offset = 0
|
||||||
|
};
|
||||||
|
|
||||||
|
printf("\n===============================\n");
|
||||||
|
int8_t *data = (int8_t *)getValuePointer(&cval);
|
||||||
|
for(int i=0; i<3; i++){
|
||||||
|
printf("data[%d] = %d\n", i, data[i]);
|
||||||
|
}
|
||||||
|
printf("\n===============================\n");
|
||||||
|
|
||||||
|
|
||||||
|
EXPECT_EQ(123, data[0]);
|
||||||
|
EXPECT_EQ( -3, data[1]);
|
||||||
|
EXPECT_EQ( 1, data[2]);
|
||||||
|
|
||||||
|
|
||||||
|
//cliGet((char *)"osd_item_vbat");
|
||||||
|
//EXPECT_EQ(false, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
// STUBS
|
||||||
|
extern "C" {
|
||||||
|
|
||||||
|
float motor_disarmed[MAX_SUPPORTED_MOTORS];
|
||||||
|
|
||||||
|
uint16_t batteryWarningVoltage;
|
||||||
|
uint8_t useHottAlarmSoundPeriod (void) { return 0; }
|
||||||
|
const uint32_t baudRates[] = {0, 9600, 19200, 38400, 57600, 115200, 230400, 250000, 400000}; // see baudRate_e
|
||||||
|
|
||||||
|
uint32_t micros(void) {return 0;}
|
||||||
|
|
||||||
|
int32_t getAmperage(void) {
|
||||||
|
return 100;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint16_t getBatteryVoltage(void) {
|
||||||
|
return 42;
|
||||||
|
}
|
||||||
|
|
||||||
|
batteryState_e getBatteryState(void) {
|
||||||
|
return BATTERY_OK;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t calculateBatteryPercentageRemaining(void) {
|
||||||
|
return 67;
|
||||||
|
}
|
||||||
|
|
||||||
|
uint8_t getMotorCount() {
|
||||||
|
return 4;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void setPrintfSerialPort(struct serialPort_s) {}
|
||||||
|
|
||||||
|
void tfp_printf(const char * expectedFormat, ...) {
|
||||||
|
va_list args;
|
||||||
|
|
||||||
|
va_start(args, expectedFormat);
|
||||||
|
vprintf(expectedFormat, args);
|
||||||
|
va_end(args);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void tfp_format(void *, void (*) (void *, char), const char * expectedFormat, va_list va) {
|
||||||
|
vprintf(expectedFormat, va);
|
||||||
|
}
|
||||||
|
|
||||||
|
static const box_t boxes[] = { { 0, "DUMMYBOX", 0 } };
|
||||||
|
const box_t *findBoxByPermanentId(uint8_t) { return &boxes[0]; }
|
||||||
|
const box_t *findBoxByBoxId(boxId_e) { return &boxes[0]; }
|
||||||
|
|
||||||
|
int8_t unitTestDataArray[3];
|
||||||
|
|
||||||
|
void pgResetFn_unitTestData(int8_t *ptr) {
|
||||||
|
ptr = &unitTestDataArray[0];
|
||||||
|
}
|
||||||
|
|
||||||
|
uint32_t getBeeperOffMask(void) { return 0; }
|
||||||
|
uint32_t getPreferredBeeperOffMask(void) { return 0; }
|
||||||
|
|
||||||
|
void beeper(beeperMode_e) {}
|
||||||
|
void beeperSilence(void) {}
|
||||||
|
void beeperConfirmationBeeps(uint8_t) {}
|
||||||
|
void beeperWarningBeeps(uint8_t) {}
|
||||||
|
void beeperUpdate(timeUs_t) {}
|
||||||
|
uint32_t getArmingBeepTimeMicros(void) {return 0;}
|
||||||
|
beeperMode_e beeperModeForTableIndex(int) {return BEEPER_SILENCE;}
|
||||||
|
const char *beeperNameForTableIndex(int) {return NULL;}
|
||||||
|
int beeperTableEntryCount(void) {return 0;}
|
||||||
|
bool isBeeperOn(void) {return false;}
|
||||||
|
void beeperOffSetAll(uint8_t) {}
|
||||||
|
void setBeeperOffMask(uint32_t) {}
|
||||||
|
void setPreferredBeeperOffMask(uint32_t) {}
|
||||||
|
|
||||||
|
void beeperOffSet(uint32_t) {}
|
||||||
|
void beeperOffClear(uint32_t) {}
|
||||||
|
void beeperOffClearAll(void) {}
|
||||||
|
bool parseColor(int, const char *) {return false; }
|
||||||
|
void resetEEPROM(void) {}
|
||||||
|
void bufWriterFlush(bufWriter_t *) {}
|
||||||
|
void mixerResetDisarmedMotors(void) {}
|
||||||
|
void gpsEnablePassthrough(struct serialPort_s *) {}
|
||||||
|
bool parseLedStripConfig(int, const char *){return false; }
|
||||||
|
const char rcChannelLetters[] = "AERT12345678abcdefgh";
|
||||||
|
|
||||||
|
void parseRcChannels(const char *, rxConfig_t *){}
|
||||||
|
void mixerLoadMix(int, motorMixer_t *) {}
|
||||||
|
bool setModeColor(ledModeIndex_e, int, int) { return false; }
|
||||||
|
float convertExternalToMotor(uint16_t ){ return 1.0; }
|
||||||
|
uint8_t getCurrentPidProfileIndex(void){ return 1; }
|
||||||
|
uint8_t getCurrentControlRateProfileIndex(void){ return 1; }
|
||||||
|
void changeControlRateProfile(uint8_t) {}
|
||||||
|
void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *) {}
|
||||||
|
void writeEEPROM() {}
|
||||||
|
serialPortConfig_t *serialFindPortConfiguration(serialPortIdentifier_e) {return NULL; }
|
||||||
|
baudRate_e lookupBaudRateIndex(uint32_t){return BAUD_9600; }
|
||||||
|
serialPortUsage_t *findSerialPortUsageByIdentifier(serialPortIdentifier_e){ return NULL; }
|
||||||
|
serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, uint32_t, portMode_t, portOptions_t) { return NULL; }
|
||||||
|
void serialSetBaudRate(serialPort_t *, uint32_t) {}
|
||||||
|
void serialSetMode(serialPort_t *, portMode_t) {}
|
||||||
|
void serialPassthrough(serialPort_t *, serialPort_t *, serialConsumer *, serialConsumer *) {}
|
||||||
|
uint32_t millis(void) { return 0; }
|
||||||
|
uint8_t getBatteryCellCount(void) { return 1; }
|
||||||
|
void servoMixerLoadMix(int) {}
|
||||||
|
const char * getBatteryStateString(void){ return "_getBatteryStateString_"; }
|
||||||
|
|
||||||
|
uint32_t stackTotalSize(void) { return 0x4000; }
|
||||||
|
uint32_t stackHighMem(void) { return 0x80000000; }
|
||||||
|
uint16_t getEEPROMConfigSize(void) { return 1024; }
|
||||||
|
|
||||||
|
uint8_t __config_start = 0x00;
|
||||||
|
uint8_t __config_end = 0x10;
|
||||||
|
uint16_t averageSystemLoadPercent = 0;
|
||||||
|
|
||||||
|
timeDelta_t getTaskDeltaTime(cfTaskId_e){ return 0; }
|
||||||
|
armingDisableFlags_e getArmingDisableFlags(void) { return ARMING_DISABLED_NO_GYRO; }
|
||||||
|
|
||||||
|
const char *armingDisableFlagNames[]= {
|
||||||
|
"DUMMYDISABLEFLAGNAME"
|
||||||
|
};
|
||||||
|
|
||||||
|
void getTaskInfo(cfTaskId_e, cfTaskInfo_t *) {}
|
||||||
|
void getCheckFuncInfo(cfCheckFuncInfo_t *) {}
|
||||||
|
|
||||||
|
const char * const targetName = "UNITTEST";
|
||||||
|
const char* const buildDate = "Jan 01 2017";
|
||||||
|
const char * const buildTime = "00:00:00";
|
||||||
|
const char * const shortGitRevision = "MASTER";
|
||||||
|
|
||||||
|
uint32_t serialRxBytesWaiting(const serialPort_t *) {return 0;}
|
||||||
|
uint8_t serialRead(serialPort_t *){return 0;}
|
||||||
|
|
||||||
|
void bufWriterAppend(bufWriter_t *, uint8_t ch){ printf("%c", ch); }
|
||||||
|
void serialWriteBufShim(void *, const uint8_t *, int) {}
|
||||||
|
bufWriter_t *bufWriterInit(uint8_t *, int, bufWrite_t, void *) {return NULL;}
|
||||||
|
void schedulerSetCalulateTaskStatistics(bool) {}
|
||||||
|
void setArmingDisabled(armingDisableFlags_e) {}
|
||||||
|
|
||||||
|
void waitForSerialPortToFinishTransmitting(serialPort_t *) {}
|
||||||
|
void stopPwmAllMotors(void) {}
|
||||||
|
void systemResetToBootloader(void) {}
|
||||||
|
void resetConfigs(void) {}
|
||||||
|
void systemReset(void) {}
|
||||||
|
|
||||||
|
void changePidProfile(uint8_t) {}
|
||||||
|
bool serialIsPortAvailable(serialPortIdentifier_e) { return false; }
|
||||||
|
void generateLedConfig(ledConfig_t *, char *, size_t) {}
|
||||||
|
bool isSerialTransmitBufferEmpty(const serialPort_t *) {return true; }
|
||||||
|
void serialWrite(serialPort_t *, uint8_t ch) { printf("%c", ch);}
|
||||||
|
|
||||||
|
|
||||||
|
}
|
||||||
Loading…
Reference in New Issue