mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-20 14:55:21 +03:00
Merge remote-tracking branch 'betaflight/master' into bfdev-smartaudio
This commit is contained in:
jflyper
commit
0b981ecfb1
58 changed files with 1206 additions and 598 deletions
49
Makefile
49
Makefile
|
|
@ -76,13 +76,14 @@ LINKER_DIR = $(ROOT)/src/main/target/link
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|||
# Build tools, so we all share the same versions
|
||||
# import macros common to all supported build systems
|
||||
include $(ROOT)/make/system-id.mk
|
||||
|
||||
# developer preferences, edit these at will, they'll be gitignored
|
||||
include $(ROOT)/make/local.mk
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||||
-include $(ROOT)/make/local.mk
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||||
|
||||
# configure some directories that are relative to wherever ROOT_DIR is located
|
||||
TOOLS_DIR := $(ROOT)/tools
|
||||
BUILD_DIR := $(ROOT)/build
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||||
DL_DIR := $(ROOT)/downloads
|
||||
DL_DIR := $(ROOT)/downloads
|
||||
|
||||
export RM := rm
|
||||
|
||||
|
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@ -102,7 +103,6 @@ SAMPLE_TARGETS = ALIENFLIGHTF3 ALIENFLIGHTF4 ANYFCF7 BETAFLIGHTF3 BLUEJAYF4 CC3
|
|||
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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||||
|
||||
#VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
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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 := $(VALID_TARGETS) $(ALT_TARGETS)
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||||
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@ -123,7 +123,7 @@ endif
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-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
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||||
F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS)
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||||
F7_TARGETS = $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
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||||
F7_TARGETS = $(F7X2RE_TARGETS) $(F7X5XE_TARGETS) $(F7X5XG_TARGETS) $(F7X5XI_TARGETS) $(F7X6XG_TARGETS)
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||||
|
||||
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
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||||
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
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||||
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@ -135,7 +135,7 @@ endif
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|||
|
||||
128K_TARGETS = $(F1_TARGETS)
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256K_TARGETS = $(F3_TARGETS)
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||||
512K_TARGETS = $(F411_TARGETS) $(F7X5XE_TARGETS)
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512K_TARGETS = $(F411_TARGETS) $(F7X2RE_TARGETS) $(F7X5XE_TARGETS)
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1024K_TARGETS = $(F405_TARGETS) $(F7X5XG_TARGETS) $(F7X6XG_TARGETS)
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||||
2048K_TARGETS = $(F7X5XI_TARGETS)
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||||
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||||
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@ -192,6 +192,7 @@ STDPERIPH_DIR = $(ROOT)/lib/main/STM32F30x_StdPeriph_Driver
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STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
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EXCLUDES = stm32f30x_crc.c \
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stm32f30x_can.c
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STARTUP_SRC = startup_stm32f30x_md_gcc.S
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STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
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DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
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@ -256,12 +257,11 @@ EXCLUDES = stm32f4xx_crc.c \
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stm32f4xx_cryp_tdes.c \
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stm32f4xx_hash_sha1.c
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||||
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ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
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EXCLUDES += stm32f4xx_fsmc.c
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EXCLUDES += stm32f4xx_fsmc.c
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endif
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||||
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||||
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
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STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
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#USB
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USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
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@ -312,9 +312,11 @@ ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu
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ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
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||||
DEVICE_FLAGS = -DSTM32F411xE
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||||
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411.ld
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||||
STARTUP_SRC = startup_stm32f411xe.s
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||||
else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
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||||
DEVICE_FLAGS = -DSTM32F40_41xxx
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||||
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
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||||
STARTUP_SRC = startup_stm32f40xx.s
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||||
else
|
||||
$(error Unknown MCU for F4 target)
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||||
endif
|
||||
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@ -329,10 +331,10 @@ else ifeq ($(TARGET),$(filter $(TARGET), $(F7_TARGETS)))
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|||
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F7xx_HAL_Driver
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||||
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/Src/*.c))
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||||
EXCLUDES = stm32f7xx_hal_timebase_rtc_wakeup_template.c \
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||||
stm32f7xx_hal_timebase_rtc_alarm_template.c \
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||||
stm32f7xx_hal_timebase_tim_template.c
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||||
stm32f7xx_hal_timebase_rtc_alarm_template.c \
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||||
stm32f7xx_hal_timebase_tim_template.c
|
||||
|
||||
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
|
||||
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
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||||
|
||||
#USB
|
||||
USBCORE_DIR = $(ROOT)/lib/main/Middlewares/ST/STM32_USB_Device_Library/Core
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||||
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@ -376,15 +378,21 @@ ARCH_FLAGS = -mthumb -mcpu=cortex-m7 -mfloat-abi=hard -mfpu=fpv5-sp-d16 -fs
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|||
ifeq ($(TARGET),$(filter $(TARGET),$(F7X5XG_TARGETS)))
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||||
DEVICE_FLAGS = -DSTM32F745xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
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||||
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f745.ld
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||||
STARTUP_SRC = startup_stm32f745xx.s
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||||
else ifeq ($(TARGET),$(filter $(TARGET),$(F7X6XG_TARGETS)))
|
||||
DEVICE_FLAGS = -DSTM32F746xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
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||||
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f746.ld
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||||
STARTUP_SRC = startup_stm32f746xx.s
|
||||
else ifeq ($(TARGET),$(filter $(TARGET),$(F7X2RE_TARGETS)))
|
||||
DEVICE_FLAGS = -DSTM32F722xx -DUSE_HAL_DRIVER -D__FPU_PRESENT
|
||||
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f722.ld
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||||
STARTUP_SRC = startup_stm32f722xx.s
|
||||
else
|
||||
$(error Unknown MCU for F7 target)
|
||||
endif
|
||||
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
|
||||
|
||||
TARGET_FLAGS = -D$(TARGET)
|
||||
TARGET_FLAGS = -D$(TARGET)
|
||||
|
||||
# End F7 targets
|
||||
#
|
||||
|
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@ -396,7 +404,7 @@ STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
|
|||
EXCLUDES = stm32f10x_crc.c \
|
||||
stm32f10x_cec.c \
|
||||
stm32f10x_can.c
|
||||
|
||||
STARTUP_SRC = startup_stm32f10x_md_gcc.S
|
||||
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
|
||||
|
||||
# Search path and source files for the CMSIS sources
|
||||
|
|
@ -516,7 +524,7 @@ COMMON_SRC = \
|
|||
fc/config.c \
|
||||
fc/fc_tasks.c \
|
||||
fc/fc_msp.c \
|
||||
fc/mw.c \
|
||||
fc/fc_main.c \
|
||||
fc/rc_controls.c \
|
||||
fc/rc_curves.c \
|
||||
fc/runtime_config.c \
|
||||
|
|
@ -578,7 +586,6 @@ HIGHEND_SRC = \
|
|||
drivers/serial_escserial.c \
|
||||
drivers/serial_softserial.c \
|
||||
drivers/sonar_hcsr04.c \
|
||||
flight/gtune.c \
|
||||
flight/navigation.c \
|
||||
flight/gps_conversion.c \
|
||||
io/dashboard.c \
|
||||
|
|
@ -735,7 +742,6 @@ VCP_SRC = \
|
|||
endif
|
||||
|
||||
STM32F10x_COMMON_SRC = \
|
||||
startup_stm32f10x_md_gcc.S \
|
||||
drivers/adc_stm32f10x.c \
|
||||
drivers/bus_i2c_stm32f10x.c \
|
||||
drivers/dma.c \
|
||||
|
|
@ -747,7 +753,6 @@ STM32F10x_COMMON_SRC = \
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|||
drivers/timer_stm32f10x.c
|
||||
|
||||
STM32F30x_COMMON_SRC = \
|
||||
startup_stm32f30x_md_gcc.S \
|
||||
target/system_stm32f30x.c \
|
||||
drivers/adc_stm32f30x.c \
|
||||
drivers/bus_i2c_stm32f30x.c \
|
||||
|
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@ -760,7 +765,6 @@ STM32F30x_COMMON_SRC = \
|
|||
drivers/timer_stm32f30x.c
|
||||
|
||||
STM32F4xx_COMMON_SRC = \
|
||||
startup_stm32f40xx.s \
|
||||
target/system_stm32f4xx.c \
|
||||
drivers/accgyro_mpu.c \
|
||||
drivers/adc_stm32f4xx.c \
|
||||
|
|
@ -775,7 +779,6 @@ STM32F4xx_COMMON_SRC = \
|
|||
drivers/timer_stm32f4xx.c
|
||||
|
||||
STM32F7xx_COMMON_SRC = \
|
||||
startup_stm32f745xx.s \
|
||||
target/system_stm32f7xx.c \
|
||||
drivers/accgyro_mpu.c \
|
||||
drivers/adc_stm32f7xx.c \
|
||||
|
|
@ -798,13 +801,13 @@ F7EXCLUDES = drivers/bus_spi.c \
|
|||
|
||||
# check if target.mk supplied
|
||||
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
|
||||
TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
|
||||
TARGET_SRC := $(STARTUP_SRC) $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
|
||||
else ifeq ($(TARGET),$(filter $(TARGET),$(F7_TARGETS)))
|
||||
TARGET_SRC := $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
|
||||
TARGET_SRC := $(STARTUP_SRC) $(STM32F7xx_COMMON_SRC) $(TARGET_SRC)
|
||||
else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
|
||||
TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
|
||||
TARGET_SRC := $(STARTUP_SRC) $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
|
||||
else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
|
||||
TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
|
||||
TARGET_SRC := $(STARTUP_SRC) $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
|
||||
endif
|
||||
|
||||
ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
|
||||
|
|
|
|||
|
|
@ -1,2 +0,0 @@
|
|||
# override the toolchain version, should match the output from of your version of the toolchain: $(arm-none-eabi-gcc -dumpversion)
|
||||
#GCC_REQUIRED_VERSION=5.4.1
|
||||
|
|
@ -16,7 +16,7 @@
|
|||
# Set up ARM (STM32) SDK
|
||||
ARM_SDK_DIR := $(TOOLS_DIR)/gcc-arm-none-eabi-5_4-2016q3
|
||||
# Checked below, Should match the output of $(shell arm-none-eabi-gcc -dumpversion)
|
||||
GCC_REQUIRED_VERSION := 5.4.1
|
||||
GCC_REQUIRED_VERSION ?= 5.4.1
|
||||
|
||||
## arm_sdk_install : Install Arm SDK
|
||||
.PHONY: arm_sdk_install
|
||||
|
|
|
|||
|
|
@ -187,7 +187,7 @@ static const blackboxDeltaFieldDefinition_t blackboxMainFields[] = {
|
|||
{"debug", 2, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
|
||||
{"debug", 3, SIGNED, .Ipredict = PREDICT(0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(ALWAYS)},
|
||||
/* Motors only rarely drops under minthrottle (when stick falls below mincommand), so predict minthrottle for it and use *unsigned* encoding (which is large for negative numbers but more compact for positive ones): */
|
||||
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINTHROTTLE), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
|
||||
{"motor", 0, UNSIGNED, .Ipredict = PREDICT(MINMOTOR), .Iencode = ENCODING(UNSIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_1)},
|
||||
/* Subsequent motors base their I-frame values on the first one, P-frame values on the average of last two frames: */
|
||||
{"motor", 1, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_2)},
|
||||
{"motor", 2, UNSIGNED, .Ipredict = PREDICT(MOTOR_0), .Iencode = ENCODING(SIGNED_VB), .Ppredict = PREDICT(AVERAGE_2), .Pencode = ENCODING(SIGNED_VB), CONDITION(AT_LEAST_MOTORS_3)},
|
||||
|
|
@ -289,6 +289,9 @@ typedef struct blackboxSlowState_s {
|
|||
bool rxFlightChannelsValid;
|
||||
} __attribute__((__packed__)) blackboxSlowState_t; // We pack this struct so that padding doesn't interfere with memcmp()
|
||||
|
||||
//From mixer.c:
|
||||
extern uint16_t motorOutputHigh, motorOutputLow;
|
||||
|
||||
//From rc_controls.c
|
||||
extern uint32_t rcModeActivationMask;
|
||||
|
||||
|
|
@ -535,8 +538,8 @@ static void writeIntraframe(void)
|
|||
blackboxWriteSigned16VBArray(blackboxCurrent->accSmooth, XYZ_AXIS_COUNT);
|
||||
blackboxWriteSigned16VBArray(blackboxCurrent->debug, 4);
|
||||
|
||||
//Motors can be below minthrottle when disarmed, but that doesn't happen much
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorConfig()->minthrottle);
|
||||
//Motors can be below minimum output when disarmed, but that doesn't happen much
|
||||
blackboxWriteUnsignedVB(blackboxCurrent->motor[0] - motorOutputLow);
|
||||
|
||||
//Motors tend to be similar to each other so use the first motor's value as a predictor of the others
|
||||
const int motorCount = getMotorCount();
|
||||
|
|
@ -1166,6 +1169,8 @@ static bool blackboxWriteSysinfo()
|
|||
return false;
|
||||
}
|
||||
|
||||
const profile_t *currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
|
||||
const controlRateConfig_t *currentControlRateProfile = ¤tProfile->controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile];
|
||||
switch (xmitState.headerIndex) {
|
||||
BLACKBOX_PRINT_HEADER_LINE("Firmware type:%s", "Cleanflight");
|
||||
BLACKBOX_PRINT_HEADER_LINE("Firmware revision:%s %s (%s) %s", FC_FIRMWARE_NAME, FC_VERSION_STRING, shortGitRevision, targetName);
|
||||
|
|
@ -1175,6 +1180,7 @@ static bool blackboxWriteSysinfo()
|
|||
BLACKBOX_PRINT_HEADER_LINE("minthrottle:%d", motorConfig()->minthrottle);
|
||||
BLACKBOX_PRINT_HEADER_LINE("maxthrottle:%d", motorConfig()->maxthrottle);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_scale:0x%x", castFloatBytesToInt(1.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("motorOutput:%d,%d", motorOutputLow,motorOutputHigh);
|
||||
BLACKBOX_PRINT_HEADER_LINE("acc_1G:%u", acc.dev.acc_1G);
|
||||
|
||||
BLACKBOX_PRINT_HEADER_LINE_CUSTOM(
|
||||
|
|
@ -1200,8 +1206,6 @@ static bool blackboxWriteSysinfo()
|
|||
BLACKBOX_PRINT_HEADER_LINE("looptime:%d", gyro.targetLooptime);
|
||||
BLACKBOX_PRINT_HEADER_LINE("gyro_sync_denom:%d", gyroConfig()->gyro_sync_denom);
|
||||
BLACKBOX_PRINT_HEADER_LINE("pid_process_denom:%d", pidConfig()->pid_process_denom);
|
||||
const profile_t *currentProfile = &masterConfig.profile[masterConfig.current_profile_index];
|
||||
const controlRateConfig_t *currentControlRateProfile = ¤tProfile->controlRateProfile[masterConfig.profile[masterConfig.current_profile_index].activeRateProfile];
|
||||
BLACKBOX_PRINT_HEADER_LINE("rcRate:%d", currentControlRateProfile->rcRate8);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rcExpo:%d", currentControlRateProfile->rcExpo8);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rcYawRate:%d", currentControlRateProfile->rcYawRate8);
|
||||
|
|
@ -1254,11 +1258,11 @@ static bool blackboxWriteSysinfo()
|
|||
BLACKBOX_PRINT_HEADER_LINE("pidAtMinThrottle:%d", currentProfile->pidProfile.pidAtMinThrottle);
|
||||
|
||||
// Betaflight PID controller parameters
|
||||
BLACKBOX_PRINT_HEADER_LINE("itermThrottleGain:%d", currentProfile->pidProfile.itermThrottleGain);
|
||||
BLACKBOX_PRINT_HEADER_LINE("itermThrottleThreshold:%d", currentProfile->pidProfile.itermThrottleThreshold);
|
||||
BLACKBOX_PRINT_HEADER_LINE("setpointRelaxRatio:%d", currentProfile->pidProfile.setpointRelaxRatio);
|
||||
BLACKBOX_PRINT_HEADER_LINE("dtermSetpointWeight:%d", currentProfile->pidProfile.dtermSetpointWeight);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", currentProfile->pidProfile.yawRateAccelLimit);
|
||||
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", currentProfile->pidProfile.rateAccelLimit);
|
||||
BLACKBOX_PRINT_HEADER_LINE("yawRateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.yawRateAccelLimit));
|
||||
BLACKBOX_PRINT_HEADER_LINE("rateAccelLimit:%d", castFloatBytesToInt(currentProfile->pidProfile.rateAccelLimit));
|
||||
// End of Betaflight controller parameters
|
||||
|
||||
BLACKBOX_PRINT_HEADER_LINE("deadband:%d", rcControlsConfig()->deadband);
|
||||
|
|
@ -1282,6 +1286,7 @@ static bool blackboxWriteSysinfo()
|
|||
BLACKBOX_PRINT_HEADER_LINE("unsynced_fast_pwm:%d", motorConfig()->useUnsyncedPwm);
|
||||
BLACKBOX_PRINT_HEADER_LINE("fast_pwm_protocol:%d", motorConfig()->motorPwmProtocol);
|
||||
BLACKBOX_PRINT_HEADER_LINE("motor_pwm_rate:%d", motorConfig()->motorPwmRate);
|
||||
BLACKBOX_PRINT_HEADER_LINE("digitalIdleOffset:%d", (int)(motorConfig()->digitalIdleOffsetPercent * 100.0f));
|
||||
BLACKBOX_PRINT_HEADER_LINE("debug_mode:%d", masterConfig.debug_mode);
|
||||
BLACKBOX_PRINT_HEADER_LINE("features:%d", masterConfig.enabledFeatures);
|
||||
|
||||
|
|
@ -1325,11 +1330,6 @@ void blackboxLogEvent(FlightLogEvent event, flightLogEventData_t *data)
|
|||
blackboxWriteSignedVB(data->inflightAdjustment.newValue);
|
||||
}
|
||||
break;
|
||||
case FLIGHT_LOG_EVENT_GTUNE_RESULT:
|
||||
blackboxWrite(data->gtuneCycleResult.gtuneAxis);
|
||||
blackboxWriteSignedVB(data->gtuneCycleResult.gtuneGyroAVG);
|
||||
blackboxWriteS16(data->gtuneCycleResult.gtuneNewP);
|
||||
break;
|
||||
case FLIGHT_LOG_EVENT_LOGGING_RESUME:
|
||||
blackboxWriteUnsignedVB(data->loggingResume.logIteration);
|
||||
blackboxWriteUnsignedVB(data->loggingResume.currentTime);
|
||||
|
|
|
|||
|
|
@ -80,7 +80,10 @@ typedef enum FlightLogFieldPredictor {
|
|||
FLIGHT_LOG_FIELD_PREDICTOR_VBATREF = 9,
|
||||
|
||||
//Predict the last time value written in the main stream
|
||||
FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10
|
||||
FLIGHT_LOG_FIELD_PREDICTOR_LAST_MAIN_FRAME_TIME = 10,
|
||||
|
||||
//Predict that this field is the minimum motor output
|
||||
FLIGHT_LOG_FIELD_PREDICTOR_MINMOTOR = 11
|
||||
|
||||
} FlightLogFieldPredictor;
|
||||
|
||||
|
|
@ -103,7 +106,6 @@ typedef enum FlightLogEvent {
|
|||
FLIGHT_LOG_EVENT_SYNC_BEEP = 0,
|
||||
FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT = 13,
|
||||
FLIGHT_LOG_EVENT_LOGGING_RESUME = 14,
|
||||
FLIGHT_LOG_EVENT_GTUNE_RESULT = 20,
|
||||
FLIGHT_LOG_EVENT_FLIGHTMODE = 30, // Add new event type for flight mode status.
|
||||
FLIGHT_LOG_EVENT_LOG_END = 255
|
||||
} FlightLogEvent;
|
||||
|
|
|
|||
|
|
@ -80,6 +80,7 @@ OSD_Entry menuOsdActiveElemsEntries[] =
|
|||
{"GPS SATS.", OME_VISIBLE, NULL, &osdProfile()->item_pos[OSD_GPS_SATS], 0},
|
||||
#endif // GPS
|
||||
{"ALTITUDE", OME_VISIBLE, NULL, &osdProfile()->item_pos[OSD_ALTITUDE], 0},
|
||||
{"POWER", OME_VISIBLE, NULL, &osdProfile()->item_pos[OSD_POWER], 0},
|
||||
{"BACK", OME_Back, NULL, NULL, 0},
|
||||
{NULL, OME_END, NULL, NULL, 0}
|
||||
};
|
||||
|
|
|
|||
|
|
@ -30,7 +30,6 @@
|
|||
#define PG_CONTROL_RATE_PROFILES 12 // struct OK, needs to be split out of rc_controls.h into rate_profile.h
|
||||
#define PG_SERIAL_CONFIG 13 // struct OK
|
||||
#define PG_PID_PROFILE 14 // struct OK, CF differences
|
||||
#define PG_GTUNE_CONFIG 15 // is GTUNE still being used?
|
||||
#define PG_ARMING_CONFIG 16 // structs OK, CF naming differences
|
||||
#define PG_TRANSPONDER_CONFIG 17 // struct OK
|
||||
#define PG_SYSTEM_CONFIG 18 // just has i2c_highspeed
|
||||
|
|
|
|||
|
|
@ -42,12 +42,12 @@ typedef struct gyroDev_s {
|
|||
sensorGyroInterruptStatusFuncPtr intStatus;
|
||||
extiCallbackRec_t exti;
|
||||
float scale; // scalefactor
|
||||
volatile bool dataReady;
|
||||
uint16_t lpf;
|
||||
int16_t gyroADCRaw[XYZ_AXIS_COUNT];
|
||||
uint16_t lpf;
|
||||
volatile bool dataReady;
|
||||
sensor_align_e gyroAlign;
|
||||
const extiConfig_t *mpuIntExtiConfig;
|
||||
mpuDetectionResult_t mpuDetectionResult;
|
||||
const extiConfig_t *mpuIntExtiConfig;
|
||||
mpuConfiguration_t mpuConfiguration;
|
||||
} gyroDev_t;
|
||||
|
||||
|
|
|
|||
|
|
@ -18,8 +18,8 @@
|
|||
#pragma once
|
||||
|
||||
typedef struct drv_adxl345_config_s {
|
||||
bool useFifo;
|
||||
uint16_t dataRate;
|
||||
bool useFifo;
|
||||
} drv_adxl345_config_t;
|
||||
|
||||
bool adxl345Detect(drv_adxl345_config_t *init, accDev_t *acc);
|
||||
|
|
|
|||
|
|
@ -124,12 +124,12 @@ typedef void(*mpuResetFuncPtr)(void);
|
|||
extern mpuResetFuncPtr mpuReset;
|
||||
|
||||
typedef struct mpuConfiguration_s {
|
||||
uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
|
||||
mpuReadRegisterFunc read;
|
||||
mpuWriteRegisterFunc write;
|
||||
mpuReadRegisterFunc slowread;
|
||||
mpuWriteRegisterFunc verifywrite;
|
||||
mpuResetFuncPtr reset;
|
||||
uint8_t gyroReadXRegister; // Y and Z must registers follow this, 2 words each
|
||||
} mpuConfiguration_t;
|
||||
|
||||
enum gyro_fsr_e {
|
||||
|
|
|
|||
|
|
@ -40,7 +40,7 @@
|
|||
#define DEFIO_REC_INDEXED(idx) (ioRecs + (idx))
|
||||
|
||||
// ioTag_t accessor macros
|
||||
#define DEFIO_TAG_MAKE(gpioid, pin) ((((gpioid) + 1) << 4) | (pin))
|
||||
#define DEFIO_TAG_MAKE(gpioid, pin) ((ioTag_t)((((gpioid) + 1) << 4) | (pin)))
|
||||
#define DEFIO_TAG_ISEMPTY(tag) (!(tag))
|
||||
#define DEFIO_TAG_GPIOID(tag) (((tag) >> 4) - 1)
|
||||
#define DEFIO_TAG_PIN(tag) ((tag) & 0x0f)
|
||||
|
|
|
|||
|
|
@ -168,34 +168,21 @@ static void resetPidProfile(pidProfile_t *pidProfile)
|
|||
pidProfile->yaw_p_limit = YAW_P_LIMIT_MAX;
|
||||
pidProfile->pidSumLimit = PIDSUM_LIMIT;
|
||||
pidProfile->yaw_lpf_hz = 0;
|
||||
pidProfile->rollPitchItermIgnoreRate = 130;
|
||||
pidProfile->yawItermIgnoreRate = 32;
|
||||
pidProfile->rollPitchItermIgnoreRate = 200;
|
||||
pidProfile->yawItermIgnoreRate = 55;
|
||||
pidProfile->dterm_filter_type = FILTER_BIQUAD;
|
||||
pidProfile->dterm_lpf_hz = 100; // filtering ON by default
|
||||
pidProfile->dterm_notch_hz = 260;
|
||||
pidProfile->dterm_notch_cutoff = 160;
|
||||
pidProfile->vbatPidCompensation = 0;
|
||||
pidProfile->pidAtMinThrottle = PID_STABILISATION_ON;
|
||||
|
||||
// Betaflight PID controller parameters
|
||||
pidProfile->levelAngleLimit = 70.0f; // 70 degrees
|
||||
pidProfile->setpointRelaxRatio = 30;
|
||||
pidProfile->dtermSetpointWeight = 200;
|
||||
pidProfile->yawRateAccelLimit = 220;
|
||||
pidProfile->rateAccelLimit = 0;
|
||||
pidProfile->itermThrottleGain = 0;
|
||||
pidProfile->levelSensitivity = 2.0f;
|
||||
|
||||
#ifdef GTUNE
|
||||
pidProfile->gtune_lolimP[ROLL] = 10; // [0..200] Lower limit of ROLL P during G tune.
|
||||
pidProfile->gtune_lolimP[PITCH] = 10; // [0..200] Lower limit of PITCH P during G tune.
|
||||
pidProfile->gtune_lolimP[YAW] = 10; // [0..200] Lower limit of YAW P during G tune.
|
||||
pidProfile->gtune_hilimP[ROLL] = 100; // [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axis.
|
||||
pidProfile->gtune_hilimP[PITCH] = 100; // [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axis.
|
||||
pidProfile->gtune_hilimP[YAW] = 100; // [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axis.
|
||||
pidProfile->gtune_pwr = 0; // [0..10] Strength of adjustment
|
||||
pidProfile->gtune_settle_time = 450; // [200..1000] Settle time in ms
|
||||
pidProfile->gtune_average_cycles = 16; // [8..128] Number of looptime cycles used for gyro average calculation
|
||||
#endif
|
||||
pidProfile->yawRateAccelLimit = 20.0f;
|
||||
pidProfile->rateAccelLimit = 0.0f;
|
||||
pidProfile->itermThrottleThreshold = 350;
|
||||
pidProfile->levelSensitivity = 100.0f;
|
||||
}
|
||||
|
||||
void resetProfile(profile_t *profile)
|
||||
|
|
@ -624,7 +611,6 @@ void createDefaultConfig(master_t *config)
|
|||
config->gyroConfig.gyro_sync_denom = 4;
|
||||
config->pidConfig.pid_process_denom = 2;
|
||||
#endif
|
||||
config->pidConfig.max_angle_inclination = 700; // 70 degrees
|
||||
config->gyroConfig.gyro_soft_lpf_type = FILTER_PT1;
|
||||
config->gyroConfig.gyro_soft_lpf_hz = 90;
|
||||
config->gyroConfig.gyro_soft_notch_hz_1 = 400;
|
||||
|
|
@ -1095,7 +1081,7 @@ void changeProfile(uint8_t profileIndex)
|
|||
|
||||
void changeControlRateProfile(uint8_t profileIndex)
|
||||
{
|
||||
if (profileIndex > MAX_RATEPROFILES) {
|
||||
if (profileIndex >= MAX_RATEPROFILES) {
|
||||
profileIndex = MAX_RATEPROFILES - 1;
|
||||
}
|
||||
setControlRateProfile(profileIndex);
|
||||
|
|
|
|||
|
|
@ -63,7 +63,6 @@
|
|||
#include "flight/servos.h"
|
||||
#include "flight/pid.h"
|
||||
#include "flight/failsafe.h"
|
||||
#include "flight/gtune.h"
|
||||
#include "flight/altitudehold.h"
|
||||
|
||||
#include "config/config_profile.h"
|
||||
|
|
@ -93,13 +92,28 @@ uint8_t motorControlEnable = false;
|
|||
int16_t telemTemperature1; // gyro sensor temperature
|
||||
static uint32_t disarmAt; // Time of automatic disarm when "Don't spin the motors when armed" is enabled and auto_disarm_delay is nonzero
|
||||
|
||||
extern uint8_t PIDweight[3];
|
||||
static float throttlePIDAttenuation;
|
||||
|
||||
uint16_t filteredCycleTime;
|
||||
bool isRXDataNew;
|
||||
static bool armingCalibrationWasInitialised;
|
||||
float setpointRate[3];
|
||||
float rcInput[3];
|
||||
static float setpointRate[3], rcDeflection[3], rcDeflectionAbs[3];
|
||||
|
||||
float getThrottlePIDAttenuation(void) {
|
||||
return throttlePIDAttenuation;
|
||||
}
|
||||
|
||||
float getSetpointRate(int axis) {
|
||||
return setpointRate[axis];
|
||||
}
|
||||
|
||||
float getRcDeflection(int axis) {
|
||||
return rcDeflection[axis];
|
||||
}
|
||||
|
||||
float getRcDeflectionAbs(int axis) {
|
||||
return rcDeflectionAbs[axis];
|
||||
}
|
||||
|
||||
void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsDelta)
|
||||
{
|
||||
|
|
@ -109,30 +123,6 @@ void applyAndSaveAccelerometerTrimsDelta(rollAndPitchTrims_t *rollAndPitchTrimsD
|
|||
saveConfigAndNotify();
|
||||
}
|
||||
|
||||
#ifdef GTUNE
|
||||
|
||||
void updateGtuneState(void)
|
||||
{
|
||||
static bool GTuneWasUsed = false;
|
||||
|
||||
if (IS_RC_MODE_ACTIVE(BOXGTUNE)) {
|
||||
if (!FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
|
||||
ENABLE_FLIGHT_MODE(GTUNE_MODE);
|
||||
init_Gtune(¤tProfile->pidProfile);
|
||||
GTuneWasUsed = true;
|
||||
}
|
||||
if (!FLIGHT_MODE(GTUNE_MODE) && !ARMING_FLAG(ARMED) && GTuneWasUsed) {
|
||||
saveConfigAndNotify();
|
||||
GTuneWasUsed = false;
|
||||
}
|
||||
} else {
|
||||
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
|
||||
DISABLE_FLIGHT_MODE(GTUNE_MODE);
|
||||
}
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
bool isCalibrating()
|
||||
{
|
||||
#ifdef BARO
|
||||
|
|
@ -162,11 +152,12 @@ void calculateSetpointRate(int axis, int16_t rc) {
|
|||
|
||||
if (rcRate > 2.0f) rcRate = rcRate + (RC_RATE_INCREMENTAL * (rcRate - 2.0f));
|
||||
rcCommandf = rc / 500.0f;
|
||||
rcInput[axis] = ABS(rcCommandf);
|
||||
rcDeflection[axis] = rcCommandf;
|
||||
rcDeflectionAbs[axis] = ABS(rcCommandf);
|
||||
|
||||
if (rcExpo) {
|
||||
float expof = rcExpo / 100.0f;
|
||||
rcCommandf = rcCommandf * power3(rcInput[axis]) * expof + rcCommandf * (1-expof);
|
||||
rcCommandf = rcCommandf * power3(rcDeflection[axis]) * expof + rcCommandf * (1-expof);
|
||||
}
|
||||
|
||||
angleRate = 200.0f * rcRate * rcCommandf;
|
||||
|
|
@ -199,20 +190,45 @@ void scaleRcCommandToFpvCamAngle(void) {
|
|||
rcCommand[YAW] = constrain(yaw * cosFactor + roll * sinFactor, -500, 500);
|
||||
}
|
||||
|
||||
#define THROTTLE_BUFFER_MAX 20
|
||||
#define THROTTLE_DELTA_MS 100
|
||||
|
||||
void checkForThrottleErrorResetState(uint16_t rxRefreshRate) {
|
||||
static int index;
|
||||
static int16_t rcCommandThrottlePrevious[THROTTLE_BUFFER_MAX];
|
||||
const int rxRefreshRateMs = rxRefreshRate / 1000;
|
||||
const int indexMax = constrain(THROTTLE_DELTA_MS / rxRefreshRateMs, 1, THROTTLE_BUFFER_MAX);
|
||||
const int16_t throttleVelocityThreshold = (feature(FEATURE_3D)) ? currentProfile->pidProfile.itermThrottleThreshold / 2 : currentProfile->pidProfile.itermThrottleThreshold;
|
||||
|
||||
rcCommandThrottlePrevious[index++] = rcCommand[THROTTLE];
|
||||
if (index >= indexMax)
|
||||
index = 0;
|
||||
|
||||
const int16_t rcCommandSpeed = rcCommand[THROTTLE] - rcCommandThrottlePrevious[index];
|
||||
|
||||
if(ABS(rcCommandSpeed) > throttleVelocityThreshold)
|
||||
pidResetErrorGyroState();
|
||||
}
|
||||
|
||||
void processRcCommand(void)
|
||||
{
|
||||
static int16_t lastCommand[4] = { 0, 0, 0, 0 };
|
||||
static int16_t deltaRC[4] = { 0, 0, 0, 0 };
|
||||
static int16_t factor, rcInterpolationFactor;
|
||||
static uint16_t currentRxRefreshRate;
|
||||
uint16_t rxRefreshRate;
|
||||
bool readyToCalculateRate = false;
|
||||
|
||||
if (isRXDataNew) {
|
||||
currentRxRefreshRate = constrain(getTaskDeltaTime(TASK_RX),1000,20000);
|
||||
checkForThrottleErrorResetState(currentRxRefreshRate);
|
||||
}
|
||||
|
||||
if (rxConfig()->rcInterpolation || flightModeFlags) {
|
||||
if (isRXDataNew) {
|
||||
// Set RC refresh rate for sampling and channels to filter
|
||||
switch (rxConfig()->rcInterpolation) {
|
||||
// Set RC refresh rate for sampling and channels to filter
|
||||
switch(rxConfig()->rcInterpolation) {
|
||||
case(RC_SMOOTHING_AUTO):
|
||||
rxRefreshRate = constrain(getTaskDeltaTime(TASK_RX), 1000, 20000) + 1000; // Add slight overhead to prevent ramps
|
||||
rxRefreshRate = currentRxRefreshRate + 1000; // Add slight overhead to prevent ramps
|
||||
break;
|
||||
case(RC_SMOOTHING_MANUAL):
|
||||
rxRefreshRate = 1000 * rxConfig()->rcInterpolationInterval;
|
||||
|
|
@ -221,8 +237,9 @@ void processRcCommand(void)
|
|||
case(RC_SMOOTHING_DEFAULT):
|
||||
default:
|
||||
rxRefreshRate = rxGetRefreshRate();
|
||||
}
|
||||
}
|
||||
|
||||
if (isRXDataNew) {
|
||||
rcInterpolationFactor = rxRefreshRate / targetPidLooptime + 1;
|
||||
|
||||
if (debugMode == DEBUG_RC_INTERPOLATION) {
|
||||
|
|
@ -269,17 +286,18 @@ void updateRcCommands(void)
|
|||
int32_t prop;
|
||||
if (rcData[THROTTLE] < currentControlRateProfile->tpa_breakpoint) {
|
||||
prop = 100;
|
||||
throttlePIDAttenuation = 1.0f;
|
||||
} else {
|
||||
if (rcData[THROTTLE] < 2000) {
|
||||
prop = 100 - (uint16_t)currentControlRateProfile->dynThrPID * (rcData[THROTTLE] - currentControlRateProfile->tpa_breakpoint) / (2000 - currentControlRateProfile->tpa_breakpoint);
|
||||
} else {
|
||||
prop = 100 - currentControlRateProfile->dynThrPID;
|
||||
}
|
||||
throttlePIDAttenuation = prop / 100.0f;
|
||||
}
|
||||
|
||||
for (int axis = 0; axis < 3; axis++) {
|
||||
// non coupled PID reduction scaler used in PID controller 1 and PID controller 2.
|
||||
PIDweight[axis] = prop;
|
||||
|
||||
int32_t tmp = MIN(ABS(rcData[axis] - rxConfig()->midrc), 500);
|
||||
if (axis == ROLL || axis == PITCH) {
|
||||
|
|
@ -678,9 +696,7 @@ void subTaskPidController(void)
|
|||
// PID - note this is function pointer set by setPIDController()
|
||||
pidController(
|
||||
¤tProfile->pidProfile,
|
||||
pidConfig()->max_angle_inclination,
|
||||
&accelerometerConfig()->accelerometerTrims,
|
||||
rxConfig()->midrc
|
||||
&accelerometerConfig()->accelerometerTrims
|
||||
);
|
||||
if (debugMode == DEBUG_PIDLOOP || debugMode == DEBUG_SCHEDULER) {debug[1] = micros() - startTime;}
|
||||
}
|
||||
|
|
@ -34,3 +34,7 @@ void updateLEDs(void);
|
|||
void updateRcCommands(void);
|
||||
|
||||
void taskMainPidLoop(timeUs_t currentTimeUs);
|
||||
float getThrottlePIDAttenuation(void);
|
||||
float getSetpointRate(int axis);
|
||||
float getRcDeflection(int axis);
|
||||
float getRcDeflectionAbs(int axis);
|
||||
|
|
@ -49,7 +49,7 @@
|
|||
#include "drivers/serial_escserial.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/mw.h"
|
||||
#include "fc/fc_main.h"
|
||||
#include "fc/fc_msp.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
|
@ -401,10 +401,6 @@ void initActiveBoxIds(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
#ifdef GTUNE
|
||||
activeBoxIds[activeBoxIdCount++] = BOXGTUNE;
|
||||
#endif
|
||||
|
||||
#ifdef USE_SERVOS
|
||||
if (mixerConfig()->mixerMode == MIXER_CUSTOM_AIRPLANE) {
|
||||
activeBoxIds[activeBoxIdCount++] = BOXSERVO1;
|
||||
|
|
@ -1167,9 +1163,9 @@ static bool mspFcProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst, mspPostProcessFn
|
|||
sbufWriteU8(dst, currentProfile->pidProfile.dtermSetpointWeight);
|
||||
sbufWriteU8(dst, 0); // reserved
|
||||
sbufWriteU8(dst, 0); // reserved
|
||||
sbufWriteU8(dst, currentProfile->pidProfile.itermThrottleGain);
|
||||
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit);
|
||||
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit);
|
||||
sbufWriteU8(dst, 0); // reserved
|
||||
sbufWriteU16(dst, currentProfile->pidProfile.rateAccelLimit * 10);
|
||||
sbufWriteU16(dst, currentProfile->pidProfile.yawRateAccelLimit * 10);
|
||||
break;
|
||||
|
||||
case MSP_SENSOR_CONFIG:
|
||||
|
|
@ -1515,9 +1511,9 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
|
|||
currentProfile->pidProfile.dtermSetpointWeight = sbufReadU8(src);
|
||||
sbufReadU8(src); // reserved
|
||||
sbufReadU8(src); // reserved
|
||||
currentProfile->pidProfile.itermThrottleGain = sbufReadU8(src);
|
||||
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src);
|
||||
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src);
|
||||
sbufReadU8(src); // reserved
|
||||
currentProfile->pidProfile.rateAccelLimit = sbufReadU16(src) / 10.0f;
|
||||
currentProfile->pidProfile.yawRateAccelLimit = sbufReadU16(src) / 10.0f;
|
||||
pidInitConfig(¤tProfile->pidProfile);
|
||||
break;
|
||||
|
||||
|
|
|
|||
|
|
@ -36,7 +36,7 @@
|
|||
#include "fc/config.h"
|
||||
#include "fc/fc_msp.h"
|
||||
#include "fc/fc_tasks.h"
|
||||
#include "fc/mw.h"
|
||||
#include "fc/fc_main.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
|
|
|
|||
|
|
@ -35,7 +35,7 @@
|
|||
#include "drivers/system.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/mw.h"
|
||||
#include "fc/fc_main.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/rc_curves.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
|
|
|||
|
|
@ -42,8 +42,7 @@ typedef enum {
|
|||
UNUSED_MODE = (1 << 7), // old autotune
|
||||
PASSTHRU_MODE = (1 << 8),
|
||||
SONAR_MODE = (1 << 9),
|
||||
FAILSAFE_MODE = (1 << 10),
|
||||
GTUNE_MODE = (1 << 11)
|
||||
FAILSAFE_MODE = (1 << 10)
|
||||
} flightModeFlags_e;
|
||||
|
||||
extern uint16_t flightModeFlags;
|
||||
|
|
|
|||
|
|
@ -1,211 +0,0 @@
|
|||
/*
|
||||
* 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 <string.h>
|
||||
#include <math.h>
|
||||
|
||||
#include "platform.h"
|
||||
|
||||
#ifdef GTUNE
|
||||
|
||||
#include "common/axis.h"
|
||||
#include "common/maths.h"
|
||||
|
||||
#include "drivers/system.h"
|
||||
#include "drivers/sensor.h"
|
||||
#include "drivers/accgyro.h"
|
||||
|
||||
#include "sensors/sensors.h"
|
||||
#include "sensors/gyro.h"
|
||||
#include "sensors/acceleration.h"
|
||||
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
|
||||
#include "blackbox/blackbox.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
|
||||
extern uint16_t cycleTime;
|
||||
extern uint8_t motorCount;
|
||||
|
||||
/*
|
||||
****************************************************************************
|
||||
*** G_Tune ***
|
||||
****************************************************************************
|
||||
G_Tune Mode
|
||||
This is the multiwii implementation of ZERO-PID Algorithm
|
||||
http://technicaladventure.blogspot.com/2014/06/zero-pids-tuner-for-multirotors.html
|
||||
The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gmail.com)
|
||||
|
||||
You may use/modify this algorithm on your own risk, kindly refer to above link in any future distribution.
|
||||
*/
|
||||
|
||||
/*
|
||||
version 1.0.0: MIN & Maxis & Tuned Band
|
||||
version 1.0.1:
|
||||
a. error is gyro reading not rc - gyro.
|
||||
b. OldError = Error no averaging.
|
||||
c. No Min Maxis BOUNDRY
|
||||
version 1.0.2:
|
||||
a. no boundaries
|
||||
b. I - Factor tune.
|
||||
c. time_skip
|
||||
|
||||
Crashpilot: Reduced to just P tuning in a predefined range - so it is not "zero pid" anymore.
|
||||
Tuning is limited to just work when stick is centered besides that YAW is tuned in non Acro as well.
|
||||
See also:
|
||||
http://diydrones.com/profiles/blogs/zero-pid-tunes-for-multirotors-part-2
|
||||
http://www.multiwii.com/forum/viewtopic.php?f=8&t=5190
|
||||
Gyrosetting 2000DPS
|
||||
GyroScale = (1 / 16,4 ) * RADX(see board.h) = 0,001064225154 digit per rad/s
|
||||
|
||||
pidProfile->gtune_lolimP[ROLL] = 10; [0..200] Lower limit of ROLL P during G tune.
|
||||
pidProfile->gtune_lolimP[PITCH] = 10; [0..200] Lower limit of PITCH P during G tune.
|
||||
pidProfile->gtune_lolimP[YAW] = 10; [0..200] Lower limit of YAW P during G tune.
|
||||
pidProfile->gtune_hilimP[ROLL] = 100; [0..200] Higher limit of ROLL P during G tune. 0 Disables tuning for that axisis.
|
||||
pidProfile->gtune_hilimP[PITCH] = 100; [0..200] Higher limit of PITCH P during G tune. 0 Disables tuning for that axisis.
|
||||
pidProfile->gtune_hilimP[YAW] = 100; [0..200] Higher limit of YAW P during G tune. 0 Disables tuning for that axisis.
|
||||
pidProfile->gtune_pwr = 0; [0..10] Strength of adjustment
|
||||
pidProfile->gtune_settle_time = 450; [200..1000] Settle time in ms
|
||||
pidProfile->gtune_average_cycles = 16; [8..128] Number of looptime cycles used for gyro average calculation
|
||||
*/
|
||||
|
||||
static pidProfile_t *pidProfile;
|
||||
static int16_t delay_cycles;
|
||||
static int16_t time_skip[3];
|
||||
static int16_t OldError[3], result_P64[3];
|
||||
static int32_t AvgGyro[3];
|
||||
static bool floatPID;
|
||||
|
||||
void updateDelayCycles(void)
|
||||
{
|
||||
delay_cycles = -(((int32_t)pidProfile->gtune_settle_time * 1000) / cycleTime);
|
||||
}
|
||||
|
||||
void init_Gtune(pidProfile_t *pidProfileToTune)
|
||||
{
|
||||
uint8_t i;
|
||||
|
||||
pidProfile = pidProfileToTune;
|
||||
if (pidProfile->pidController == 2) {
|
||||
floatPID = true; // LuxFloat is using float values for PID settings
|
||||
} else {
|
||||
floatPID = false;
|
||||
}
|
||||
updateDelayCycles();
|
||||
for (i = 0; i < 3; i++) {
|
||||
if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning
|
||||
pidProfile->gtune_hilimP[i] = 0; // Disable YAW tuning for everything below a quadcopter
|
||||
}
|
||||
if (floatPID) {
|
||||
if((pidProfile->P_f[i] * 10.0f) < pidProfile->gtune_lolimP[i]) {
|
||||
pidProfile->P_f[i] = (float)(pidProfile->gtune_lolimP[i] / 10.0f);
|
||||
}
|
||||
result_P64[i] = (int16_t)pidProfile->P_f[i] << 6; // 6 bit extra resolution for P.
|
||||
} else {
|
||||
if(pidProfile->P8[i] < pidProfile->gtune_lolimP[i]) {
|
||||
pidProfile->P8[i] = pidProfile->gtune_lolimP[i];
|
||||
}
|
||||
result_P64[i] = (int16_t)pidProfile->P8[i] << 6; // 6 bit extra resolution for P.
|
||||
}
|
||||
OldError[i] = 0;
|
||||
time_skip[i] = delay_cycles;
|
||||
}
|
||||
}
|
||||
|
||||
void calculate_Gtune(uint8_t axis)
|
||||
{
|
||||
int16_t error, diff_G, threshP;
|
||||
|
||||
if(rcCommand[axis] || (axis != FD_YAW && (FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)))) { // Block tuning on stick input. Always allow G-Tune on YAW, Roll & Pitch only in acromode
|
||||
OldError[axis] = 0;
|
||||
time_skip[axis] = delay_cycles; // Some settle time after stick center. default 450ms
|
||||
} else {
|
||||
if (!time_skip[axis]) AvgGyro[axis] = 0;
|
||||
time_skip[axis]++;
|
||||
if (time_skip[axis] > 0) {
|
||||
if (axis == FD_YAW) {
|
||||
AvgGyro[axis] += 32 * ((int16_t)gyroADC[axis] / 32); // Chop some jitter and average
|
||||
} else {
|
||||
AvgGyro[axis] += 128 * ((int16_t)gyroADC[axis] / 128); // Chop some jitter and average
|
||||
}
|
||||
}
|
||||
if (time_skip[axis] == pidProfile->gtune_average_cycles) { // Looptime cycles for gyro average calculation. default 16.
|
||||
AvgGyro[axis] /= time_skip[axis]; // AvgGyro[axis] has now very clean gyrodata
|
||||
time_skip[axis] = 0;
|
||||
if (axis == FD_YAW) {
|
||||
threshP = 20;
|
||||
error = -AvgGyro[axis];
|
||||
} else {
|
||||
threshP = 10;
|
||||
error = AvgGyro[axis];
|
||||
}
|
||||
if (pidProfile->gtune_hilimP[axis] && error && OldError[axis] && error != OldError[axis]) { // Don't run when not needed or pointless to do so
|
||||
diff_G = ABS(error) - ABS(OldError[axis]);
|
||||
if ((error > 0 && OldError[axis] > 0) || (error < 0 && OldError[axis] < 0)) {
|
||||
if (diff_G > threshP) {
|
||||
if (axis == FD_YAW) {
|
||||
result_P64[axis] += 256 + pidProfile->gtune_pwr; // YAW ends up at low limit on float PID, give it some more to work with.
|
||||
} else {
|
||||
result_P64[axis] += 64 + pidProfile->gtune_pwr; // Shift balance a little on the plus side.
|
||||
}
|
||||
} else {
|
||||
if (diff_G < -threshP) {
|
||||
if (axis == FD_YAW) {
|
||||
result_P64[axis] -= 64 + pidProfile->gtune_pwr;
|
||||
} else {
|
||||
result_P64[axis] -= 32;
|
||||
}
|
||||
}
|
||||
}
|
||||
} else {
|
||||
if (ABS(diff_G) > threshP && axis != FD_YAW) {
|
||||
result_P64[axis] -= 32; // Don't use antiwobble for YAW
|
||||
}
|
||||
}
|
||||
int16_t newP = constrain((result_P64[axis] >> 6), (int16_t)pidProfile->gtune_lolimP[axis], (int16_t)pidProfile->gtune_hilimP[axis]);
|
||||
|
||||
#ifdef BLACKBOX
|
||||
if (feature(FEATURE_BLACKBOX)) {
|
||||
flightLogEvent_gtuneCycleResult_t eventData;
|
||||
|
||||
eventData.gtuneAxis = axis;
|
||||
eventData.gtuneGyroAVG = AvgGyro[axis];
|
||||
eventData.gtuneNewP = newP; // for float PID the logged P value is still mutiplyed by 10
|
||||
blackboxLogEvent(FLIGHT_LOG_EVENT_GTUNE_RESULT, (flightLogEventData_t*)&eventData);
|
||||
}
|
||||
#endif
|
||||
|
||||
if (floatPID) {
|
||||
pidProfile->P_f[axis] = (float)newP / 10.0f; // new P value for float PID
|
||||
} else {
|
||||
pidProfile->P8[axis] = newP; // new P value
|
||||
}
|
||||
}
|
||||
OldError[axis] = error;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
|
@ -1,21 +0,0 @@
|
|||
/*
|
||||
* 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
|
||||
|
||||
void init_Gtune(pidProfile_t *pidProfileToTune);
|
||||
void calculate_Gtune(uint8_t axis);
|
||||
|
|
@ -236,7 +236,8 @@ const mixer_t mixers[] = {
|
|||
|
||||
static motorMixer_t *customMixers;
|
||||
|
||||
static uint16_t disarmMotorOutput, motorOutputHigh, motorOutputLow, deadbandMotor3dHigh, deadbandMotor3dLow;
|
||||
static uint16_t disarmMotorOutput, deadbandMotor3dHigh, deadbandMotor3dLow;
|
||||
uint16_t motorOutputHigh, motorOutputLow;
|
||||
static float rcCommandThrottleRange, rcCommandThrottleRange3dLow, rcCommandThrottleRange3dHigh;
|
||||
|
||||
uint8_t getMotorCount()
|
||||
|
|
@ -533,19 +534,6 @@ void mixTable(pidProfile_t *pidProfile)
|
|||
}
|
||||
}
|
||||
|
||||
// Anti Desync feature for ESC's. Limit rapid throttle changes
|
||||
if (motorConfig->maxEscThrottleJumpMs) {
|
||||
const int16_t maxThrottleStep = constrain(motorConfig->maxEscThrottleJumpMs / (1000 / targetPidLooptime), 2, 10000);
|
||||
|
||||
// Only makes sense when it's within the range
|
||||
if (maxThrottleStep < motorOutputRange) {
|
||||
static int16_t motorPrevious[MAX_SUPPORTED_MOTORS];
|
||||
|
||||
motor[i] = constrain(motor[i], motorOutputMin, motorPrevious[i] + maxThrottleStep); // Only limit accelerating situation
|
||||
motorPrevious[i] = motor[i];
|
||||
}
|
||||
}
|
||||
|
||||
// Disarmed mode
|
||||
if (!ARMING_FLAG(ARMED)) {
|
||||
for (i = 0; i < motorCount; i++) {
|
||||
|
|
|
|||
|
|
@ -28,28 +28,22 @@
|
|||
#include "common/maths.h"
|
||||
#include "common/filter.h"
|
||||
|
||||
#include "fc/fc_main.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
#include "flight/pid.h"
|
||||
#include "flight/imu.h"
|
||||
#include "flight/navigation.h"
|
||||
#include "flight/gtune.h"
|
||||
|
||||
#include "sensors/gyro.h"
|
||||
#include "sensors/acceleration.h"
|
||||
|
||||
extern float rcInput[3];
|
||||
extern float setpointRate[3];
|
||||
|
||||
uint32_t targetPidLooptime;
|
||||
static bool pidStabilisationEnabled;
|
||||
|
||||
float axisPIDf[3];
|
||||
|
||||
// PIDweight is a scale factor for PIDs which is derived from the throttle and TPA setting, and 100 = 100% scale means no PID reduction
|
||||
uint8_t PIDweight[3];
|
||||
|
||||
#ifdef BLACKBOX
|
||||
int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
||||
#endif
|
||||
|
|
@ -146,8 +140,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
|
|||
}
|
||||
}
|
||||
|
||||
static float Kp[3], Ki[3], Kd[3], c[3];
|
||||
static float rollPitchMaxVelocity, yawMaxVelocity, relaxFactor[3];
|
||||
static float Kp[3], Ki[3], Kd[3], c[3], levelGain, horizonGain, horizonTransition, maxVelocity[3], relaxFactor[3];
|
||||
|
||||
void pidInitConfig(const pidProfile_t *pidProfile) {
|
||||
for(int axis = FD_ROLL; axis <= FD_YAW; axis++) {
|
||||
|
|
@ -157,100 +150,96 @@ void pidInitConfig(const pidProfile_t *pidProfile) {
|
|||
c[axis] = pidProfile->dtermSetpointWeight / 100.0f;
|
||||
relaxFactor[axis] = 1.0f - (pidProfile->setpointRelaxRatio / 100.0f);
|
||||
}
|
||||
yawMaxVelocity = pidProfile->yawRateAccelLimit * 1000 * dT;
|
||||
rollPitchMaxVelocity = pidProfile->rateAccelLimit * 1000 * dT;
|
||||
levelGain = pidProfile->P8[PIDLEVEL] / 10.0f;
|
||||
horizonGain = pidProfile->I8[PIDLEVEL] / 10.0f;
|
||||
horizonTransition = 100.0f / pidProfile->D8[PIDLEVEL];
|
||||
maxVelocity[FD_ROLL] = maxVelocity[FD_PITCH] = pidProfile->rateAccelLimit * 1000 * dT;
|
||||
maxVelocity[FD_YAW] = pidProfile->yawRateAccelLimit * 1000 * dT;
|
||||
}
|
||||
|
||||
float calcHorizonLevelStrength(void) {
|
||||
float horizonLevelStrength = 0.0f;
|
||||
if (horizonTransition > 0.0f) {
|
||||
const float mostDeflectedPos = MAX(getRcDeflectionAbs(FD_ROLL), getRcDeflectionAbs(FD_PITCH));
|
||||
// Progressively turn off the horizon self level strength as the stick is banged over
|
||||
horizonLevelStrength = constrainf(1 - mostDeflectedPos * horizonTransition, 0, 1);
|
||||
}
|
||||
return horizonLevelStrength;
|
||||
}
|
||||
|
||||
float pidLevel(int axis, const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim, float currentPidSetpoint) {
|
||||
// calculate error angle and limit the angle to the max inclination
|
||||
float errorAngle = pidProfile->levelSensitivity * getRcDeflection(axis);
|
||||
#ifdef GPS
|
||||
errorAngle += GPS_angle[axis];
|
||||
#endif
|
||||
errorAngle = constrainf(errorAngle, -pidProfile->levelAngleLimit, pidProfile->levelAngleLimit);
|
||||
errorAngle = (errorAngle - ((attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f));
|
||||
if(FLIGHT_MODE(ANGLE_MODE)) {
|
||||
// ANGLE mode - control is angle based, so control loop is needed
|
||||
currentPidSetpoint = errorAngle * levelGain;
|
||||
} else {
|
||||
// HORIZON mode - direct sticks control is applied to rate PID
|
||||
// mix up angle error to desired AngleRate to add a little auto-level feel
|
||||
const float horizonLevelStrength = calcHorizonLevelStrength();
|
||||
currentPidSetpoint = currentPidSetpoint + (errorAngle * horizonGain * horizonLevelStrength);
|
||||
}
|
||||
return currentPidSetpoint;
|
||||
}
|
||||
|
||||
float accelerationLimit(int axis, float currentPidSetpoint) {
|
||||
static float previousSetpoint[3];
|
||||
const float currentVelocity = currentPidSetpoint- previousSetpoint[axis];
|
||||
|
||||
if(ABS(currentVelocity) > maxVelocity[axis])
|
||||
currentPidSetpoint = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity[axis] : previousSetpoint[axis] - maxVelocity[axis];
|
||||
|
||||
previousSetpoint[axis] = currentPidSetpoint;
|
||||
return currentPidSetpoint;
|
||||
}
|
||||
|
||||
// Betaflight pid controller, which will be maintained in the future with additional features specialised for current (mini) multirotor usage.
|
||||
// Based on 2DOF reference design (matlab)
|
||||
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const rollAndPitchTrims_t *angleTrim, uint16_t midrc)
|
||||
void pidController(const pidProfile_t *pidProfile, const rollAndPitchTrims_t *angleTrim)
|
||||
{
|
||||
static float previousRateError[2];
|
||||
static float previousSetpoint[3];
|
||||
|
||||
float horizonLevelStrength = 1;
|
||||
if (FLIGHT_MODE(HORIZON_MODE)) {
|
||||
// Figure out the raw stick positions
|
||||
const int32_t stickPosAil = ABS(getRcStickDeflection(FD_ROLL, midrc));
|
||||
const int32_t stickPosEle = ABS(getRcStickDeflection(FD_PITCH, midrc));
|
||||
const int32_t mostDeflectedPos = MAX(stickPosAil, stickPosEle);
|
||||
// Progressively turn off the horizon self level strength as the stick is banged over
|
||||
horizonLevelStrength = (float)(500 - mostDeflectedPos) / 500; // 1 at centre stick, 0 = max stick deflection
|
||||
if(pidProfile->D8[PIDLEVEL] == 0){
|
||||
horizonLevelStrength = 0;
|
||||
} else {
|
||||
horizonLevelStrength = constrainf(((horizonLevelStrength - 1) * (100 / pidProfile->D8[PIDLEVEL])) + 1, 0, 1);
|
||||
}
|
||||
}
|
||||
|
||||
// Yet Highly experimental and under test and development
|
||||
// Throttle coupled to Igain like inverted TPA // 50hz calculation (should cover all rx protocols)
|
||||
static float kiThrottleGain = 1.0f;
|
||||
if (pidProfile->itermThrottleGain) {
|
||||
const uint16_t maxLoopCount = 20000 / targetPidLooptime;
|
||||
const float throttleItermGain = (float)pidProfile->itermThrottleGain * 0.001f;
|
||||
static int16_t previousThrottle;
|
||||
static uint16_t loopIncrement;
|
||||
|
||||
if (loopIncrement >= maxLoopCount) {
|
||||
kiThrottleGain = 1.0f + constrainf((float)(ABS(rcCommand[THROTTLE] - previousThrottle)) * throttleItermGain, 0.0f, 5.0f); // Limit to factor 5
|
||||
previousThrottle = rcCommand[THROTTLE];
|
||||
loopIncrement = 0;
|
||||
} else {
|
||||
loopIncrement++;
|
||||
}
|
||||
}
|
||||
|
||||
// ----------PID controller----------
|
||||
const float tpaFactor = PIDweight[0] / 100.0f; // tpa is now float
|
||||
const float tpaFactor = getThrottlePIDAttenuation();
|
||||
|
||||
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
|
||||
// Limit abrupt yaw inputs / stops
|
||||
const float maxVelocity = (axis == FD_YAW) ? yawMaxVelocity : rollPitchMaxVelocity;
|
||||
if (maxVelocity) {
|
||||
const float currentVelocity = setpointRate[axis] - previousSetpoint[axis];
|
||||
if (ABS(currentVelocity) > maxVelocity) {
|
||||
setpointRate[axis] = (currentVelocity > 0) ? previousSetpoint[axis] + maxVelocity : previousSetpoint[axis] - maxVelocity;
|
||||
}
|
||||
}
|
||||
float currentPidSetpoint = getSetpointRate(axis);
|
||||
|
||||
if(maxVelocity[axis])
|
||||
currentPidSetpoint = accelerationLimit(axis, currentPidSetpoint);
|
||||
|
||||
// Yaw control is GYRO based, direct sticks control is applied to rate PID
|
||||
if ((FLIGHT_MODE(ANGLE_MODE) || FLIGHT_MODE(HORIZON_MODE)) && axis != YAW) {
|
||||
// calculate error angle and limit the angle to the max inclination
|
||||
float errorAngle = pidProfile->levelSensitivity * rcCommand[axis];
|
||||
#ifdef GPS
|
||||
errorAngle += GPS_angle[axis];
|
||||
#endif
|
||||
errorAngle = constrainf(errorAngle, -max_angle_inclination, max_angle_inclination);
|
||||
errorAngle = (errorAngle - attitude.raw[axis] + angleTrim->raw[axis]) / 10.0f;
|
||||
if (FLIGHT_MODE(ANGLE_MODE)) {
|
||||
// ANGLE mode - control is angle based, so control loop is needed
|
||||
setpointRate[axis] = errorAngle * pidProfile->P8[PIDLEVEL] / 10.0f;
|
||||
} else {
|
||||
// HORIZON mode - direct sticks control is applied to rate PID
|
||||
// mix up angle error to desired AngleRate to add a little auto-level feel
|
||||
setpointRate[axis] = setpointRate[axis] + (errorAngle * pidProfile->I8[PIDLEVEL] * horizonLevelStrength / 10.0f);
|
||||
}
|
||||
currentPidSetpoint = pidLevel(axis, pidProfile, angleTrim, currentPidSetpoint);
|
||||
}
|
||||
|
||||
const float PVRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
|
||||
const float gyroRate = gyro.gyroADCf[axis]; // Process variable from gyro output in deg/sec
|
||||
|
||||
// --------low-level gyro-based PID based on 2DOF PID controller. ----------
|
||||
// ---------- 2-DOF PID controller with optional filter on derivative term. b = 1 and only c can be tuned (amount derivative on measurement or error). ----------
|
||||
|
||||
// -----calculate error rate
|
||||
const float errorRate = setpointRate[axis] - PVRate; // r - y
|
||||
const float errorRate = currentPidSetpoint - gyroRate; // r - y
|
||||
|
||||
// -----calculate P component and add Dynamic Part based on stick input
|
||||
float PTerm = Kp[axis] * errorRate * tpaFactor;
|
||||
if (axis == FD_YAW) {
|
||||
PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm);
|
||||
}
|
||||
|
||||
// -----calculate I component
|
||||
// Reduce strong Iterm accumulation during higher stick inputs
|
||||
const float accumulationThreshold = (axis == FD_YAW) ? pidProfile->yawItermIgnoreRate : pidProfile->rollPitchItermIgnoreRate;
|
||||
const float setpointRateScaler = constrainf(1.0f - (ABS(setpointRate[axis]) / accumulationThreshold), 0.0f, 1.0f);
|
||||
const float itermScaler = setpointRateScaler * kiThrottleGain;
|
||||
const float setpointRateScaler = constrainf(1.0f - (ABS(currentPidSetpoint) / accumulationThreshold), 0.0f, 1.0f);
|
||||
|
||||
float ITerm = previousGyroIf[axis];
|
||||
ITerm += Ki[axis] * errorRate * dT * itermScaler;;
|
||||
ITerm += Ki[axis] * errorRate * dT * setpointRateScaler;
|
||||
// limit maximum integrator value to prevent WindUp
|
||||
ITerm = constrainf(ITerm, -250.0f, 250.0f);
|
||||
previousGyroIf[axis] = ITerm;
|
||||
|
|
@ -260,16 +249,17 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
|
|||
if (axis != FD_YAW) {
|
||||
float dynC = c[axis];
|
||||
if (pidProfile->setpointRelaxRatio < 100) {
|
||||
const float rcDeflection = getRcDeflectionAbs(axis);
|
||||
dynC = c[axis];
|
||||
if (setpointRate[axis] > 0) {
|
||||
if ((setpointRate[axis] - previousSetpoint[axis]) < previousSetpoint[axis])
|
||||
dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
|
||||
} else if (setpointRate[axis] < 0) {
|
||||
if ((setpointRate[axis] - previousSetpoint[axis]) > previousSetpoint[axis])
|
||||
dynC = dynC * sq(rcInput[axis]) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
|
||||
if (currentPidSetpoint > 0) {
|
||||
if ((currentPidSetpoint - previousSetpoint[axis]) < previousSetpoint[axis])
|
||||
dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
|
||||
} else if (currentPidSetpoint < 0) {
|
||||
if ((currentPidSetpoint - previousSetpoint[axis]) > previousSetpoint[axis])
|
||||
dynC = dynC * sq(rcDeflection) * relaxFactor[axis] + dynC * (1-relaxFactor[axis]);
|
||||
}
|
||||
}
|
||||
const float rD = dynC * setpointRate[axis] - PVRate; // cr - y
|
||||
const float rD = dynC * currentPidSetpoint - gyroRate; // cr - y
|
||||
// Divide rate change by dT to get differential (ie dr/dt)
|
||||
const float delta = (rD - previousRateError[axis]) / dT;
|
||||
previousRateError[axis] = rD;
|
||||
|
|
@ -281,22 +271,14 @@ void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclinatio
|
|||
DTerm = dtermNotchFilterApplyFn(dtermFilterNotch[axis], DTerm);
|
||||
DTerm = dtermLpfApplyFn(dtermFilterLpf[axis], DTerm);
|
||||
|
||||
} else {
|
||||
PTerm = ptermYawFilterApplyFn(ptermYawFilter, PTerm);
|
||||
}
|
||||
previousSetpoint[axis] = setpointRate[axis];
|
||||
previousSetpoint[axis] = currentPidSetpoint;
|
||||
|
||||
// -----calculate total PID output
|
||||
axisPIDf[axis] = PTerm + ITerm + DTerm;
|
||||
// Disable PID control at zero throttle
|
||||
if (!pidStabilisationEnabled) axisPIDf[axis] = 0;
|
||||
|
||||
#ifdef GTUNE
|
||||
if (FLIGHT_MODE(GTUNE_MODE) && ARMING_FLAG(ARMED)) {
|
||||
calculate_Gtune(axis);
|
||||
}
|
||||
#endif
|
||||
|
||||
#ifdef BLACKBOX
|
||||
axisPID_P[axis] = PTerm;
|
||||
axisPID_I[axis] = ITerm;
|
||||
|
|
|
|||
|
|
@ -72,31 +72,23 @@ typedef struct pidProfile_s {
|
|||
uint8_t dterm_average_count; // Configurable delta count for dterm
|
||||
uint8_t vbatPidCompensation; // Scale PIDsum to battery voltage
|
||||
uint8_t pidAtMinThrottle; // Disable/Enable pids on zero throttle. Normally even without airmode P and D would be active.
|
||||
float levelAngleLimit;
|
||||
|
||||
// Betaflight PID controller parameters
|
||||
uint8_t itermThrottleGain; // Throttle coupling to iterm. Quick throttle changes will bump iterm
|
||||
uint16_t itermThrottleThreshold; // max allowed throttle delta before errorGyroReset in ms
|
||||
uint8_t setpointRelaxRatio; // Setpoint weight relaxation effect
|
||||
uint8_t dtermSetpointWeight; // Setpoint weight for Dterm (0= measurement, 1= full error, 1 > agressive derivative)
|
||||
uint16_t yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
|
||||
uint16_t rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
|
||||
float yawRateAccelLimit; // yaw accel limiter for deg/sec/ms
|
||||
float rateAccelLimit; // accel limiter roll/pitch deg/sec/ms
|
||||
float levelSensitivity;
|
||||
|
||||
#ifdef GTUNE
|
||||
uint8_t gtune_lolimP[3]; // [0..200] Lower limit of P during G tune
|
||||
uint8_t gtune_hilimP[3]; // [0..200] Higher limit of P during G tune. 0 Disables tuning for that axis.
|
||||
uint8_t gtune_pwr; // [0..10] Strength of adjustment
|
||||
uint16_t gtune_settle_time; // [200..1000] Settle time in ms
|
||||
uint8_t gtune_average_cycles; // [8..128] Number of looptime cycles used for gyro average calculation
|
||||
#endif
|
||||
} pidProfile_t;
|
||||
|
||||
typedef struct pidConfig_s {
|
||||
uint8_t pid_process_denom; // Processing denominator for PID controller vs gyro sampling rate
|
||||
uint16_t max_angle_inclination;
|
||||
} pidConfig_t;
|
||||
|
||||
union rollAndPitchTrims_u;
|
||||
void pidController(const pidProfile_t *pidProfile, uint16_t max_angle_inclination, const union rollAndPitchTrims_u *angleTrim, uint16_t midrc);
|
||||
void pidController(const pidProfile_t *pidProfile, const union rollAndPitchTrims_u *angleTrim);
|
||||
|
||||
extern float axisPIDf[3];
|
||||
extern int32_t axisPID_P[3], axisPID_I[3], axisPID_D[3];
|
||||
|
|
|
|||
|
|
@ -152,6 +152,9 @@ hsvColor_t *colors;
|
|||
modeColorIndexes_t *modeColors;
|
||||
specialColorIndexes_t specialColors;
|
||||
|
||||
#define LF(name) LED_FUNCTION_ ## name
|
||||
#define LO(name) LED_FLAG_OVERLAY(LED_OVERLAY_ ## name)
|
||||
#define LD(name) LED_FLAG_DIRECTION(LED_DIRECTION_ ## name)
|
||||
#define DEFINE_LED(x, y, col, dir, func, ol, params) (LED_MOV_POS(CALCULATE_LED_XY(x, y)) | LED_MOV_COLOR(col) | LED_MOV_DIRECTION(dir) | LED_MOV_FUNCTION(func) | LED_MOV_OVERLAY(ol) | LED_MOV_PARAMS(params))
|
||||
|
||||
static inline uint8_t ledGetXY(const ledConfig_t *lcfg) { return ((*lcfg >> LED_POS_OFFSET) & LED_BIT_MASK(LED_POS_BITCNT)); }
|
||||
|
|
|
|||
|
|
@ -24,7 +24,6 @@ typedef struct motorConfig_s {
|
|||
uint16_t minthrottle; // Set the minimum throttle command sent to the ESC (Electronic Speed Controller). This is the minimum value that allow motors to run at a idle speed.
|
||||
uint16_t maxthrottle; // This is the maximum value for the ESCs at full power this value can be increased up to 2000
|
||||
uint16_t mincommand; // This is the value for the ESCs when they are not armed. In some cases, this value must be lowered down to 900 for some specific ESCs
|
||||
uint16_t maxEscThrottleJumpMs;
|
||||
uint16_t motorPwmRate; // The update rate of motor outputs (50-498Hz)
|
||||
uint8_t motorPwmProtocol; // Pwm Protocol
|
||||
uint8_t useUnsyncedPwm;
|
||||
|
|
|
|||
|
|
@ -360,6 +360,12 @@ static void osdDrawSingleElement(uint8_t item)
|
|||
break;
|
||||
}
|
||||
|
||||
case OSD_POWER:
|
||||
{
|
||||
sprintf(buff, "%dW", amperage * vbat / 1000);
|
||||
break;
|
||||
}
|
||||
|
||||
default:
|
||||
return;
|
||||
}
|
||||
|
|
@ -402,6 +408,7 @@ void osdDrawElements(void)
|
|||
osdDrawSingleElement(OSD_ROLL_PIDS);
|
||||
osdDrawSingleElement(OSD_PITCH_PIDS);
|
||||
osdDrawSingleElement(OSD_YAW_PIDS);
|
||||
osdDrawSingleElement(OSD_POWER);
|
||||
|
||||
#ifdef GPS
|
||||
#ifdef CMS
|
||||
|
|
@ -436,6 +443,7 @@ void osdResetConfig(osd_profile_t *osdProfile)
|
|||
osdProfile->item_pos[OSD_ROLL_PIDS] = OSD_POS(2, 10) | VISIBLE_FLAG;
|
||||
osdProfile->item_pos[OSD_PITCH_PIDS] = OSD_POS(2, 11) | VISIBLE_FLAG;
|
||||
osdProfile->item_pos[OSD_YAW_PIDS] = OSD_POS(2, 12) | VISIBLE_FLAG;
|
||||
osdProfile->item_pos[OSD_POWER] = OSD_POS(15, 1);
|
||||
|
||||
osdProfile->rssi_alarm = 20;
|
||||
osdProfile->cap_alarm = 2200;
|
||||
|
|
|
|||
|
|
@ -45,6 +45,7 @@ typedef enum {
|
|||
OSD_ROLL_PIDS,
|
||||
OSD_PITCH_PIDS,
|
||||
OSD_YAW_PIDS,
|
||||
OSD_POWER,
|
||||
OSD_ITEM_COUNT // MUST BE LAST
|
||||
} osd_items_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -715,8 +715,6 @@ const clivalue_t valueTable[] = {
|
|||
#ifdef USE_DSHOT
|
||||
{ "digital_idle_percent", VAR_FLOAT | MASTER_VALUE, &motorConfig()->digitalIdleOffsetPercent, .config.minmax = { 0, 20} },
|
||||
#endif
|
||||
{ "max_esc_throttle_jump", VAR_UINT16 | MASTER_VALUE, &motorConfig()->maxEscThrottleJumpMs, .config.minmax = { 0, 1000 } },
|
||||
|
||||
{ "3d_deadband_low", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_low, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME upper limit should match code in the mixer, 1500 currently
|
||||
{ "3d_deadband_high", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->deadband3d_high, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } }, // FIXME lower limit should match code in the mixer, 1500 currently,
|
||||
{ "3d_neutral", VAR_UINT16 | MASTER_VALUE, &flight3DConfig()->neutral3d, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
|
||||
|
|
@ -757,18 +755,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "nav_slew_rate", VAR_UINT8 | MASTER_VALUE, &gpsProfile()->nav_slew_rate, .config.minmax = { 0, 100 } },
|
||||
#endif
|
||||
|
||||
#ifdef GTUNE
|
||||
{ "gtune_loP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_ROLL], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_loP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_PITCH], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_loP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_lolimP[FD_YAW], .config.minmax = { 10, 200 } },
|
||||
{ "gtune_hiP_rll", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_ROLL], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_hiP_ptch", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_PITCH], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_hiP_yw", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_hilimP[FD_YAW], .config.minmax = { 0, 200 } },
|
||||
{ "gtune_pwr", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_pwr, .config.minmax = { 0, 10 } },
|
||||
{ "gtune_settle_time", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_settle_time, .config.minmax = { 200, 1000 } },
|
||||
{ "gtune_average_cycles", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.gtune_average_cycles, .config.minmax = { 8, 128 } },
|
||||
#endif
|
||||
|
||||
#ifdef BEEPER
|
||||
{ "beeper_inversion", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &beeperConfig()->isInverted, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "beeper_od", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, &beeperConfig()->isOpenDrain, .config.lookup = { TABLE_OFF_ON } },
|
||||
|
|
@ -847,7 +833,6 @@ const clivalue_t valueTable[] = {
|
|||
{ "yaw_motor_direction", VAR_INT8 | MASTER_VALUE, &mixerConfig()->yaw_motor_direction, .config.minmax = { -1, 1 } },
|
||||
{ "yaw_p_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yaw_p_limit, .config.minmax = { YAW_P_LIMIT_MIN, YAW_P_LIMIT_MAX } },
|
||||
{ "pidsum_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.pidSumLimit, .config.minmax = { 0.1, 1.0 } },
|
||||
{ "max_angle_inclination", VAR_UINT16 | MASTER_VALUE, &pidConfig()->max_angle_inclination, .config.minmax = { 100, 900 } },
|
||||
#ifdef USE_SERVOS
|
||||
{ "servo_center_pulse", VAR_UINT16 | MASTER_VALUE, &servoConfig()->servoCenterPulse, .config.minmax = { PWM_RANGE_ZERO, PWM_RANGE_MAX } },
|
||||
{ "tri_unarmed_servo", VAR_INT8 | MASTER_VALUE | MODE_LOOKUP, &servoMixerConfig()->tri_unarmed_servo, .config.lookup = { TABLE_OFF_ON } },
|
||||
|
|
@ -906,11 +891,11 @@ const clivalue_t valueTable[] = {
|
|||
{ "dterm_notch_cutoff", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dterm_notch_cutoff, .config.minmax = { 1, 500 } },
|
||||
{ "vbat_pid_compensation", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.vbatPidCompensation, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "pid_at_min_throttle", VAR_UINT8 | PROFILE_VALUE | MODE_LOOKUP, &masterConfig.profile[0].pidProfile.pidAtMinThrottle, .config.lookup = { TABLE_OFF_ON } },
|
||||
{ "iterm_throttle_gain", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleGain, .config.minmax = {0, 200 } },
|
||||
{ "anti_gravity_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.itermThrottleThreshold, .config.minmax = {20, 1000 } },
|
||||
{ "setpoint_relax_ratio", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.setpointRelaxRatio, .config.minmax = {0, 100 } },
|
||||
{ "dterm_setpoint_weight", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.dtermSetpointWeight, .config.minmax = {0, 255 } },
|
||||
{ "yaw_rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0, 1000 } },
|
||||
{ "rate_accel_limit", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0, 1000 } },
|
||||
{ "yaw_accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawRateAccelLimit, .config.minmax = {0.1f, 50.0f } },
|
||||
{ "accel_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rateAccelLimit, .config.minmax = {0.1f, 50.0f } },
|
||||
|
||||
{ "accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.rollPitchItermIgnoreRate, .config.minmax = {15, 1000 } },
|
||||
{ "yaw_accum_threshold", VAR_UINT16 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.yawItermIgnoreRate, .config.minmax = {15, 1000 } },
|
||||
|
|
@ -939,7 +924,8 @@ const clivalue_t valueTable[] = {
|
|||
{ "i_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.I8[PIDVEL], .config.minmax = { 0, 200 } },
|
||||
{ "d_vel", VAR_UINT8 | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.D8[PIDVEL], .config.minmax = { 0, 200 } },
|
||||
|
||||
{ "level_sensitivity", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 0.1, 3.0 } },
|
||||
{ "level_stick_sensitivity", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelSensitivity, .config.minmax = { 10.0f, 200.0f } },
|
||||
{ "level_angle_limit", VAR_FLOAT | PROFILE_VALUE, &masterConfig.profile[0].pidProfile.levelAngleLimit, .config.minmax = { 10.0f, 120.0f } },
|
||||
|
||||
#ifdef BLACKBOX
|
||||
{ "blackbox_rate_num", VAR_UINT8 | MASTER_VALUE, &blackboxConfig()->rate_num, .config.minmax = { 1, 32 } },
|
||||
|
|
@ -996,6 +982,7 @@ const clivalue_t valueTable[] = {
|
|||
{ "osd_pid_roll_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_ROLL_PIDS], .config.minmax = { 0, UINT16_MAX } },
|
||||
{ "osd_pid_pitch_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_PITCH_PIDS], .config.minmax = { 0, UINT16_MAX } },
|
||||
{ "osd_pid_yaw_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_YAW_PIDS], .config.minmax = { 0, UINT16_MAX } },
|
||||
{ "osd_power_pos", VAR_UINT16 | MASTER_VALUE, &osdProfile()->item_pos[OSD_POWER], .config.minmax = { 0, UINT16_MAX } },
|
||||
#endif
|
||||
#ifdef USE_MAX7456
|
||||
{ "vcd_video_system", VAR_UINT8 | MASTER_VALUE, &vcdProfile()->video_system, .config.minmax = { 0, 2 } },
|
||||
|
|
|
|||
593
src/main/startup/startup_stm32f746xx.s
Normal file
593
src/main/startup/startup_stm32f746xx.s
Normal file
|
|
@ -0,0 +1,593 @@
|
|||
/**
|
||||
******************************************************************************
|
||||
* @file startup_stm32f746xx.s
|
||||
* @author MCD Application Team
|
||||
* @version V1.1.0
|
||||
* @date 22-April-2016
|
||||
* @brief STM32F746xx Devices vector table for GCC toolchain based application.
|
||||
* This module performs:
|
||||
* - Set the initial SP
|
||||
* - Set the initial PC == Reset_Handler,
|
||||
* - Set the vector table entries with the exceptions ISR address
|
||||
* - Branches to main in the C library (which eventually
|
||||
* calls main()).
|
||||
* After Reset the Cortex-M7 processor is in Thread mode,
|
||||
* priority is Privileged, and the Stack is set to Main.
|
||||
******************************************************************************
|
||||
* @attention
|
||||
*
|
||||
* <h2><center>© COPYRIGHT 2016 STMicroelectronics</center></h2>
|
||||
*
|
||||
* Redistribution and use in source and binary forms, with or without modification,
|
||||
* are permitted provided that the following conditions are met:
|
||||
* 1. Redistributions of source code must retain the above copyright notice,
|
||||
* this list of conditions and the following disclaimer.
|
||||
* 2. Redistributions in binary form must reproduce the above copyright notice,
|
||||
* this list of conditions and the following disclaimer in the documentation
|
||||
* and/or other materials provided with the distribution.
|
||||
* 3. Neither the name of STMicroelectronics nor the names of its contributors
|
||||
* may be used to endorse or promote products derived from this software
|
||||
* without specific prior written permission.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
|
||||
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
|
||||
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
|
||||
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
|
||||
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
|
||||
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
|
||||
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
|
||||
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
|
||||
* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
|
||||
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
|
||||
*
|
||||
******************************************************************************
|
||||
*/
|
||||
|
||||
.syntax unified
|
||||
.cpu cortex-m7
|
||||
.fpu softvfp
|
||||
.thumb
|
||||
|
||||
.global g_pfnVectors
|
||||
.global Default_Handler
|
||||
|
||||
/* start address for the initialization values of the .data section.
|
||||
defined in linker script */
|
||||
.word _sidata
|
||||
/* start address for the .data section. defined in linker script */
|
||||
.word _sdata
|
||||
/* end address for the .data section. defined in linker script */
|
||||
.word _edata
|
||||
/* start address for the .bss section. defined in linker script */
|
||||
.word _sbss
|
||||
/* end address for the .bss section. defined in linker script */
|
||||
.word _ebss
|
||||
/* stack used for SystemInit_ExtMemCtl; always internal RAM used */
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor first
|
||||
* starts execution following a reset event. Only the absolutely
|
||||
* necessary set is performed, after which the application
|
||||
* supplied main() routine is called.
|
||||
* @param None
|
||||
* @retval : None
|
||||
*/
|
||||
|
||||
.section .text.Reset_Handler
|
||||
.weak Reset_Handler
|
||||
.type Reset_Handler, %function
|
||||
Reset_Handler:
|
||||
/* Copy the data segment initializers from flash to SRAM */
|
||||
movs r1, #0
|
||||
b LoopCopyDataInit
|
||||
|
||||
CopyDataInit:
|
||||
ldr r3, =_sidata
|
||||
ldr r3, [r3, r1]
|
||||
str r3, [r0, r1]
|
||||
adds r1, r1, #4
|
||||
|
||||
LoopCopyDataInit:
|
||||
ldr r0, =_sdata
|
||||
ldr r3, =_edata
|
||||
adds r2, r0, r1
|
||||
cmp r2, r3
|
||||
bcc CopyDataInit
|
||||
ldr r2, =_sbss
|
||||
b LoopFillZerobss
|
||||
/* Zero fill the bss segment. */
|
||||
FillZerobss:
|
||||
movs r3, #0
|
||||
str r3, [r2], #4
|
||||
|
||||
LoopFillZerobss:
|
||||
ldr r3, = _ebss
|
||||
cmp r2, r3
|
||||
bcc FillZerobss
|
||||
|
||||
/*FPU settings*/
|
||||
ldr r0, =0xE000ED88 /* Enable CP10,CP11 */
|
||||
ldr r1,[r0]
|
||||
orr r1,r1,#(0xF << 20)
|
||||
str r1,[r0]
|
||||
|
||||
/* Call the clock system initialization function.*/
|
||||
bl SystemInit
|
||||
/* Call the application's entry point.*/
|
||||
bl main
|
||||
bx lr
|
||||
|
||||
LoopForever:
|
||||
b LoopForever
|
||||
|
||||
.size Reset_Handler, .-Reset_Handler
|
||||
|
||||
/**
|
||||
* @brief This is the code that gets called when the processor receives an
|
||||
* unexpected interrupt. This simply enters an infinite loop, preserving
|
||||
* the system state for examination by a debugger.
|
||||
* @param None
|
||||
* @retval None
|
||||
*/
|
||||
.section .text.Default_Handler,"ax",%progbits
|
||||
Default_Handler:
|
||||
Infinite_Loop:
|
||||
b Infinite_Loop
|
||||
.size Default_Handler, .-Default_Handler
|
||||
/******************************************************************************
|
||||
*
|
||||
* The minimal vector table for a Cortex M7. Note that the proper constructs
|
||||
* must be placed on this to ensure that it ends up at physical address
|
||||
* 0x0000.0000.
|
||||
*
|
||||
*******************************************************************************/
|
||||
.section .isr_vector,"a",%progbits
|
||||
.type g_pfnVectors, %object
|
||||
.size g_pfnVectors, .-g_pfnVectors
|
||||
|
||||
|
||||
g_pfnVectors:
|
||||
.word _estack
|
||||
.word Reset_Handler
|
||||
.word NMI_Handler
|
||||
.word HardFault_Handler
|
||||
.word MemManage_Handler
|
||||
.word BusFault_Handler
|
||||
.word UsageFault_Handler
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word 0
|
||||
.word SVC_Handler
|
||||
.word DebugMon_Handler
|
||||
.word 0
|
||||
.word PendSV_Handler
|
||||
.word SysTick_Handler
|
||||
|
||||
/* External Interrupts */
|
||||
.word WWDG_IRQHandler /* Window WatchDog */
|
||||
.word PVD_IRQHandler /* PVD through EXTI Line detection */
|
||||
.word TAMP_STAMP_IRQHandler /* Tamper and TimeStamps through the EXTI line */
|
||||
.word RTC_WKUP_IRQHandler /* RTC Wakeup through the EXTI line */
|
||||
.word FLASH_IRQHandler /* FLASH */
|
||||
.word RCC_IRQHandler /* RCC */
|
||||
.word EXTI0_IRQHandler /* EXTI Line0 */
|
||||
.word EXTI1_IRQHandler /* EXTI Line1 */
|
||||
.word EXTI2_IRQHandler /* EXTI Line2 */
|
||||
.word EXTI3_IRQHandler /* EXTI Line3 */
|
||||
.word EXTI4_IRQHandler /* EXTI Line4 */
|
||||
.word DMA1_Stream0_IRQHandler /* DMA1 Stream 0 */
|
||||
.word DMA1_Stream1_IRQHandler /* DMA1 Stream 1 */
|
||||
.word DMA1_Stream2_IRQHandler /* DMA1 Stream 2 */
|
||||
.word DMA1_Stream3_IRQHandler /* DMA1 Stream 3 */
|
||||
.word DMA1_Stream4_IRQHandler /* DMA1 Stream 4 */
|
||||
.word DMA1_Stream5_IRQHandler /* DMA1 Stream 5 */
|
||||
.word DMA1_Stream6_IRQHandler /* DMA1 Stream 6 */
|
||||
.word ADC_IRQHandler /* ADC1, ADC2 and ADC3s */
|
||||
.word CAN1_TX_IRQHandler /* CAN1 TX */
|
||||
.word CAN1_RX0_IRQHandler /* CAN1 RX0 */
|
||||
.word CAN1_RX1_IRQHandler /* CAN1 RX1 */
|
||||
.word CAN1_SCE_IRQHandler /* CAN1 SCE */
|
||||
.word EXTI9_5_IRQHandler /* External Line[9:5]s */
|
||||
.word TIM1_BRK_TIM9_IRQHandler /* TIM1 Break and TIM9 */
|
||||
.word TIM1_UP_TIM10_IRQHandler /* TIM1 Update and TIM10 */
|
||||
.word TIM1_TRG_COM_TIM11_IRQHandler /* TIM1 Trigger and Commutation and TIM11 */
|
||||
.word TIM1_CC_IRQHandler /* TIM1 Capture Compare */
|
||||
.word TIM2_IRQHandler /* TIM2 */
|
||||
.word TIM3_IRQHandler /* TIM3 */
|
||||
.word TIM4_IRQHandler /* TIM4 */
|
||||
.word I2C1_EV_IRQHandler /* I2C1 Event */
|
||||
.word I2C1_ER_IRQHandler /* I2C1 Error */
|
||||
.word I2C2_EV_IRQHandler /* I2C2 Event */
|
||||
.word I2C2_ER_IRQHandler /* I2C2 Error */
|
||||
.word SPI1_IRQHandler /* SPI1 */
|
||||
.word SPI2_IRQHandler /* SPI2 */
|
||||
.word USART1_IRQHandler /* USART1 */
|
||||
.word USART2_IRQHandler /* USART2 */
|
||||
.word USART3_IRQHandler /* USART3 */
|
||||
.word EXTI15_10_IRQHandler /* External Line[15:10]s */
|
||||
.word RTC_Alarm_IRQHandler /* RTC Alarm (A and B) through EXTI Line */
|
||||
.word OTG_FS_WKUP_IRQHandler /* USB OTG FS Wakeup through EXTI line */
|
||||
.word TIM8_BRK_TIM12_IRQHandler /* TIM8 Break and TIM12 */
|
||||
.word TIM8_UP_TIM13_IRQHandler /* TIM8 Update and TIM13 */
|
||||
.word TIM8_TRG_COM_TIM14_IRQHandler /* TIM8 Trigger and Commutation and TIM14 */
|
||||
.word TIM8_CC_IRQHandler /* TIM8 Capture Compare */
|
||||
.word DMA1_Stream7_IRQHandler /* DMA1 Stream7 */
|
||||
.word FMC_IRQHandler /* FMC */
|
||||
.word SDMMC1_IRQHandler /* SDMMC1 */
|
||||
.word TIM5_IRQHandler /* TIM5 */
|
||||
.word SPI3_IRQHandler /* SPI3 */
|
||||
.word UART4_IRQHandler /* UART4 */
|
||||
.word UART5_IRQHandler /* UART5 */
|
||||
.word TIM6_DAC_IRQHandler /* TIM6 and DAC1&2 underrun errors */
|
||||
.word TIM7_IRQHandler /* TIM7 */
|
||||
.word DMA2_Stream0_IRQHandler /* DMA2 Stream 0 */
|
||||
.word DMA2_Stream1_IRQHandler /* DMA2 Stream 1 */
|
||||
.word DMA2_Stream2_IRQHandler /* DMA2 Stream 2 */
|
||||
.word DMA2_Stream3_IRQHandler /* DMA2 Stream 3 */
|
||||
.word DMA2_Stream4_IRQHandler /* DMA2 Stream 4 */
|
||||
.word ETH_IRQHandler /* Ethernet */
|
||||
.word ETH_WKUP_IRQHandler /* Ethernet Wakeup through EXTI line */
|
||||
.word CAN2_TX_IRQHandler /* CAN2 TX */
|
||||
.word CAN2_RX0_IRQHandler /* CAN2 RX0 */
|
||||
.word CAN2_RX1_IRQHandler /* CAN2 RX1 */
|
||||
.word CAN2_SCE_IRQHandler /* CAN2 SCE */
|
||||
.word OTG_FS_IRQHandler /* USB OTG FS */
|
||||
.word DMA2_Stream5_IRQHandler /* DMA2 Stream 5 */
|
||||
.word DMA2_Stream6_IRQHandler /* DMA2 Stream 6 */
|
||||
.word DMA2_Stream7_IRQHandler /* DMA2 Stream 7 */
|
||||
.word USART6_IRQHandler /* USART6 */
|
||||
.word I2C3_EV_IRQHandler /* I2C3 event */
|
||||
.word I2C3_ER_IRQHandler /* I2C3 error */
|
||||
.word OTG_HS_EP1_OUT_IRQHandler /* USB OTG HS End Point 1 Out */
|
||||
.word OTG_HS_EP1_IN_IRQHandler /* USB OTG HS End Point 1 In */
|
||||
.word OTG_HS_WKUP_IRQHandler /* USB OTG HS Wakeup through EXTI */
|
||||
.word OTG_HS_IRQHandler /* USB OTG HS */
|
||||
.word DCMI_IRQHandler /* DCMI */
|
||||
.word 0 /* Reserved */
|
||||
.word RNG_IRQHandler /* Rng */
|
||||
.word FPU_IRQHandler /* FPU */
|
||||
.word UART7_IRQHandler /* UART7 */
|
||||
.word UART8_IRQHandler /* UART8 */
|
||||
.word SPI4_IRQHandler /* SPI4 */
|
||||
.word SPI5_IRQHandler /* SPI5 */
|
||||
.word SPI6_IRQHandler /* SPI6 */
|
||||
.word SAI1_IRQHandler /* SAI1 */
|
||||
.word LTDC_IRQHandler /* LTDC */
|
||||
.word LTDC_ER_IRQHandler /* LTDC_ER */
|
||||
.word DMA2D_IRQHandler /* DMA2D */
|
||||
.word SAI2_IRQHandler /* SAI2 */
|
||||
.word QUADSPI_IRQHandler /* QUADSPI */
|
||||
.word LPTIM1_IRQHandler /* LPTIM1 */
|
||||
.word CEC_IRQHandler /* HDMI_CEC */
|
||||
.word I2C4_EV_IRQHandler /* I2C4 Event */
|
||||
.word I2C4_ER_IRQHandler /* I2C4 Error */
|
||||
.word SPDIF_RX_IRQHandler /* SPDIF_RX */
|
||||
|
||||
/*******************************************************************************
|
||||
*
|
||||
* Provide weak aliases for each Exception handler to the Default_Handler.
|
||||
* As they are weak aliases, any function with the same name will override
|
||||
* this definition.
|
||||
*
|
||||
*******************************************************************************/
|
||||
.weak NMI_Handler
|
||||
.thumb_set NMI_Handler,Default_Handler
|
||||
|
||||
.weak HardFault_Handler
|
||||
.thumb_set HardFault_Handler,Default_Handler
|
||||
|
||||
.weak MemManage_Handler
|
||||
.thumb_set MemManage_Handler,Default_Handler
|
||||
|
||||
.weak BusFault_Handler
|
||||
.thumb_set BusFault_Handler,Default_Handler
|
||||
|
||||
.weak UsageFault_Handler
|
||||
.thumb_set UsageFault_Handler,Default_Handler
|
||||
|
||||
.weak SVC_Handler
|
||||
.thumb_set SVC_Handler,Default_Handler
|
||||
|
||||
.weak DebugMon_Handler
|
||||
.thumb_set DebugMon_Handler,Default_Handler
|
||||
|
||||
.weak PendSV_Handler
|
||||
.thumb_set PendSV_Handler,Default_Handler
|
||||
|
||||
.weak SysTick_Handler
|
||||
.thumb_set SysTick_Handler,Default_Handler
|
||||
|
||||
.weak WWDG_IRQHandler
|
||||
.thumb_set WWDG_IRQHandler,Default_Handler
|
||||
|
||||
.weak PVD_IRQHandler
|
||||
.thumb_set PVD_IRQHandler,Default_Handler
|
||||
|
||||
.weak TAMP_STAMP_IRQHandler
|
||||
.thumb_set TAMP_STAMP_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_WKUP_IRQHandler
|
||||
.thumb_set RTC_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak FLASH_IRQHandler
|
||||
.thumb_set FLASH_IRQHandler,Default_Handler
|
||||
|
||||
.weak RCC_IRQHandler
|
||||
.thumb_set RCC_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI0_IRQHandler
|
||||
.thumb_set EXTI0_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI1_IRQHandler
|
||||
.thumb_set EXTI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI2_IRQHandler
|
||||
.thumb_set EXTI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI3_IRQHandler
|
||||
.thumb_set EXTI3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI4_IRQHandler
|
||||
.thumb_set EXTI4_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream0_IRQHandler
|
||||
.thumb_set DMA1_Stream0_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream1_IRQHandler
|
||||
.thumb_set DMA1_Stream1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream2_IRQHandler
|
||||
.thumb_set DMA1_Stream2_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream3_IRQHandler
|
||||
.thumb_set DMA1_Stream3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream4_IRQHandler
|
||||
.thumb_set DMA1_Stream4_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream5_IRQHandler
|
||||
.thumb_set DMA1_Stream5_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream6_IRQHandler
|
||||
.thumb_set DMA1_Stream6_IRQHandler,Default_Handler
|
||||
|
||||
.weak ADC_IRQHandler
|
||||
.thumb_set ADC_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_TX_IRQHandler
|
||||
.thumb_set CAN1_TX_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_RX0_IRQHandler
|
||||
.thumb_set CAN1_RX0_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_RX1_IRQHandler
|
||||
.thumb_set CAN1_RX1_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN1_SCE_IRQHandler
|
||||
.thumb_set CAN1_SCE_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI9_5_IRQHandler
|
||||
.thumb_set EXTI9_5_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_BRK_TIM9_IRQHandler
|
||||
.thumb_set TIM1_BRK_TIM9_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_UP_TIM10_IRQHandler
|
||||
.thumb_set TIM1_UP_TIM10_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_TRG_COM_TIM11_IRQHandler
|
||||
.thumb_set TIM1_TRG_COM_TIM11_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM1_CC_IRQHandler
|
||||
.thumb_set TIM1_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM2_IRQHandler
|
||||
.thumb_set TIM2_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM3_IRQHandler
|
||||
.thumb_set TIM3_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM4_IRQHandler
|
||||
.thumb_set TIM4_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_EV_IRQHandler
|
||||
.thumb_set I2C1_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C1_ER_IRQHandler
|
||||
.thumb_set I2C1_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_EV_IRQHandler
|
||||
.thumb_set I2C2_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C2_ER_IRQHandler
|
||||
.thumb_set I2C2_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI1_IRQHandler
|
||||
.thumb_set SPI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI2_IRQHandler
|
||||
.thumb_set SPI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART1_IRQHandler
|
||||
.thumb_set USART1_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART2_IRQHandler
|
||||
.thumb_set USART2_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART3_IRQHandler
|
||||
.thumb_set USART3_IRQHandler,Default_Handler
|
||||
|
||||
.weak EXTI15_10_IRQHandler
|
||||
.thumb_set EXTI15_10_IRQHandler,Default_Handler
|
||||
|
||||
.weak RTC_Alarm_IRQHandler
|
||||
.thumb_set RTC_Alarm_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_FS_WKUP_IRQHandler
|
||||
.thumb_set OTG_FS_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_BRK_TIM12_IRQHandler
|
||||
.thumb_set TIM8_BRK_TIM12_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_UP_TIM13_IRQHandler
|
||||
.thumb_set TIM8_UP_TIM13_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_TRG_COM_TIM14_IRQHandler
|
||||
.thumb_set TIM8_TRG_COM_TIM14_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM8_CC_IRQHandler
|
||||
.thumb_set TIM8_CC_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA1_Stream7_IRQHandler
|
||||
.thumb_set DMA1_Stream7_IRQHandler,Default_Handler
|
||||
|
||||
.weak FMC_IRQHandler
|
||||
.thumb_set FMC_IRQHandler,Default_Handler
|
||||
|
||||
.weak SDMMC1_IRQHandler
|
||||
.thumb_set SDMMC1_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM5_IRQHandler
|
||||
.thumb_set TIM5_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI3_IRQHandler
|
||||
.thumb_set SPI3_IRQHandler,Default_Handler
|
||||
|
||||
.weak UART4_IRQHandler
|
||||
.thumb_set UART4_IRQHandler,Default_Handler
|
||||
|
||||
.weak UART5_IRQHandler
|
||||
.thumb_set UART5_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM6_DAC_IRQHandler
|
||||
.thumb_set TIM6_DAC_IRQHandler,Default_Handler
|
||||
|
||||
.weak TIM7_IRQHandler
|
||||
.thumb_set TIM7_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream0_IRQHandler
|
||||
.thumb_set DMA2_Stream0_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream1_IRQHandler
|
||||
.thumb_set DMA2_Stream1_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream2_IRQHandler
|
||||
.thumb_set DMA2_Stream2_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream3_IRQHandler
|
||||
.thumb_set DMA2_Stream3_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream4_IRQHandler
|
||||
.thumb_set DMA2_Stream4_IRQHandler,Default_Handler
|
||||
|
||||
.weak ETH_IRQHandler
|
||||
.thumb_set ETH_IRQHandler,Default_Handler
|
||||
|
||||
.weak ETH_WKUP_IRQHandler
|
||||
.thumb_set ETH_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_TX_IRQHandler
|
||||
.thumb_set CAN2_TX_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_RX0_IRQHandler
|
||||
.thumb_set CAN2_RX0_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_RX1_IRQHandler
|
||||
.thumb_set CAN2_RX1_IRQHandler,Default_Handler
|
||||
|
||||
.weak CAN2_SCE_IRQHandler
|
||||
.thumb_set CAN2_SCE_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_FS_IRQHandler
|
||||
.thumb_set OTG_FS_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream5_IRQHandler
|
||||
.thumb_set DMA2_Stream5_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream6_IRQHandler
|
||||
.thumb_set DMA2_Stream6_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2_Stream7_IRQHandler
|
||||
.thumb_set DMA2_Stream7_IRQHandler,Default_Handler
|
||||
|
||||
.weak USART6_IRQHandler
|
||||
.thumb_set USART6_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C3_EV_IRQHandler
|
||||
.thumb_set I2C3_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C3_ER_IRQHandler
|
||||
.thumb_set I2C3_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_EP1_OUT_IRQHandler
|
||||
.thumb_set OTG_HS_EP1_OUT_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_EP1_IN_IRQHandler
|
||||
.thumb_set OTG_HS_EP1_IN_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_WKUP_IRQHandler
|
||||
.thumb_set OTG_HS_WKUP_IRQHandler,Default_Handler
|
||||
|
||||
.weak OTG_HS_IRQHandler
|
||||
.thumb_set OTG_HS_IRQHandler,Default_Handler
|
||||
|
||||
.weak DCMI_IRQHandler
|
||||
.thumb_set DCMI_IRQHandler,Default_Handler
|
||||
|
||||
.weak RNG_IRQHandler
|
||||
.thumb_set RNG_IRQHandler,Default_Handler
|
||||
|
||||
.weak FPU_IRQHandler
|
||||
.thumb_set FPU_IRQHandler,Default_Handler
|
||||
|
||||
.weak UART7_IRQHandler
|
||||
.thumb_set UART7_IRQHandler,Default_Handler
|
||||
|
||||
.weak UART8_IRQHandler
|
||||
.thumb_set UART8_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI4_IRQHandler
|
||||
.thumb_set SPI4_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI5_IRQHandler
|
||||
.thumb_set SPI5_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPI6_IRQHandler
|
||||
.thumb_set SPI6_IRQHandler,Default_Handler
|
||||
|
||||
.weak SAI1_IRQHandler
|
||||
.thumb_set SAI1_IRQHandler,Default_Handler
|
||||
|
||||
.weak LTDC_IRQHandler
|
||||
.thumb_set LTDC_IRQHandler,Default_Handler
|
||||
|
||||
.weak LTDC_ER_IRQHandler
|
||||
.thumb_set LTDC_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak DMA2D_IRQHandler
|
||||
.thumb_set DMA2D_IRQHandler,Default_Handler
|
||||
|
||||
.weak SAI2_IRQHandler
|
||||
.thumb_set SAI2_IRQHandler,Default_Handler
|
||||
|
||||
.weak QUADSPI_IRQHandler
|
||||
.thumb_set QUADSPI_IRQHandler,Default_Handler
|
||||
|
||||
.weak LPTIM1_IRQHandler
|
||||
.thumb_set LPTIM1_IRQHandler,Default_Handler
|
||||
|
||||
.weak CEC_IRQHandler
|
||||
.thumb_set CEC_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C4_EV_IRQHandler
|
||||
.thumb_set I2C4_EV_IRQHandler,Default_Handler
|
||||
|
||||
.weak I2C4_ER_IRQHandler
|
||||
.thumb_set I2C4_ER_IRQHandler,Default_Handler
|
||||
|
||||
.weak SPDIF_RX_IRQHandler
|
||||
.thumb_set SPDIF_RX_IRQHandler,Default_Handler
|
||||
|
||||
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
|
||||
|
||||
|
|
@ -1,40 +0,0 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
#include "drivers/io.h"
|
||||
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/dma.h"
|
||||
|
||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
// PPM / UART2 RX
|
||||
{ TIM8, IO_TAG(PA15), TIM_Channel_1, TIM_USE_PPM, 0, GPIO_AF_2, NULL, 0 }, // PPM
|
||||
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 }, // PWM1
|
||||
{ TIM3, IO_TAG(PA7), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 }, // PWM2
|
||||
{ TIM15, IO_TAG(PA2), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_9, NULL, 0 }, // PWM3
|
||||
{ TIM2, IO_TAG(PA1), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // PWM4
|
||||
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 }, // PWM5
|
||||
{ TIM3, IO_TAG(PA6), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_2, NULL, 0 }, // PWM6
|
||||
{ TIM15, IO_TAG(PA3), TIM_Channel_2, TIM_USE_MOTOR, 1, GPIO_AF_9, NULL, 0 }, // PWM7
|
||||
{ TIM2, IO_TAG(PA0), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // PWM8
|
||||
{ TIM2, IO_TAG(PB10), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // UART3_TX (AF7)
|
||||
{ TIM2, IO_TAG(PB11), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_1, NULL, 0 }, // UART3_RX (AF7)
|
||||
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM_USE_LED, 1, GPIO_AF_6, DMA1_Channel2, DMA1_CH2_HANDLER }, //LED_STRIP
|
||||
};
|
||||
|
|
@ -146,6 +146,7 @@
|
|||
|
||||
#define USE_ADC
|
||||
#define VBAT_ADC_PIN PC3
|
||||
#define CURRENT_METER_ADC_PIN PC2
|
||||
|
||||
#define USE_ESC_SENSOR
|
||||
#define LED_STRIP
|
||||
|
|
@ -162,10 +163,10 @@
|
|||
#define SPEKTRUM_BIND
|
||||
#define BIND_PIN PB11
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 7
|
||||
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9))
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 7
|
||||
#define USED_TIMERS ( TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(9) )
|
||||
|
|
|
|||
|
|
@ -17,6 +17,7 @@
|
|||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
#include <string.h>
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
|
|
@ -25,12 +26,74 @@
|
|||
#include "sensors/battery.h"
|
||||
|
||||
#include "config/config_master.h"
|
||||
#include "config/feature.h"
|
||||
#include "io/ledstrip.h"
|
||||
|
||||
void targetApplyDefaultLedStripConfig(ledConfig_t *ledConfigs)
|
||||
{
|
||||
const ledConfig_t defaultLedStripConfig[] = {
|
||||
DEFINE_LED( 0, 0, 6, LD(WEST), LF(COLOR), LO(WARNING), 0 ),
|
||||
DEFINE_LED( 0, 1, 6, LD(WEST), LF(COLOR), LO(WARNING), 0 ),
|
||||
DEFINE_LED( 0, 8, 6, LD(WEST), LF(COLOR), LO(WARNING), 0 ),
|
||||
DEFINE_LED( 7, 15, 6, 0, LF(COLOR), 0, 0 ),
|
||||
DEFINE_LED( 8, 15, 6, 0, LF(COLOR), 0, 0 ),
|
||||
DEFINE_LED( 7, 14, 6, 0, LF(COLOR), 0, 0 ),
|
||||
DEFINE_LED( 8, 14, 6, 0, LF(COLOR), 0, 0 ),
|
||||
DEFINE_LED( 15, 8, 6, LD(EAST), LF(COLOR), LO(WARNING), 0 ),
|
||||
DEFINE_LED( 15, 1, 6, LD(EAST), LF(COLOR), LO(WARNING), 0 ),
|
||||
DEFINE_LED( 15, 0, 6, LD(EAST), LF(COLOR), LO(WARNING), 0 ),
|
||||
};
|
||||
memcpy(ledConfigs, &defaultLedStripConfig, MIN(LED_MAX_STRIP_LENGTH, sizeof(defaultLedStripConfig)));
|
||||
}
|
||||
|
||||
// alternative defaults settings for COLIBRI RACE targets
|
||||
void targetConfiguration(master_t *config)
|
||||
{
|
||||
config->motorConfig.minthrottle = 1025;
|
||||
config->motorConfig.maxthrottle = 1980;
|
||||
config->motorConfig.mincommand = 1000;
|
||||
config->servoConfig.servoCenterPulse = 1500;
|
||||
|
||||
config->batteryConfig.vbatmaxcellvoltage = 45;
|
||||
config->batteryConfig.vbatmincellvoltage = 30;
|
||||
config->batteryConfig.vbatwarningcellvoltage = 35;
|
||||
|
||||
config->flight3DConfig.deadband3d_low = 1406;
|
||||
config->flight3DConfig.deadband3d_high = 1514;
|
||||
config->flight3DConfig.neutral3d = 1460;
|
||||
config->flight3DConfig.deadband3d_throttle = 0;
|
||||
|
||||
config->failsafeConfig.failsafe_procedure = 1;
|
||||
config->failsafeConfig.failsafe_throttle_low_delay = 10;
|
||||
|
||||
config->gyroConfig.gyro_sync_denom = 1;
|
||||
config->pidConfig.pid_process_denom = 3;
|
||||
config->blackboxConfig.rate_num = 1;
|
||||
config->blackboxConfig.rate_denom = 1;
|
||||
|
||||
config->rcControlsConfig.deadband = 5;
|
||||
config->rcControlsConfig.yaw_deadband = 5;
|
||||
|
||||
config->failsafeConfig.failsafe_delay = 10;
|
||||
|
||||
config->telemetryConfig.telemetry_inversion = 1;
|
||||
|
||||
config->profile[0].pidProfile.vbatPidCompensation = 1;
|
||||
|
||||
config->profile[0].pidProfile.P8[ROLL] = 46; // new PID with preliminary defaults test carefully
|
||||
config->profile[0].pidProfile.I8[ROLL] = 48;
|
||||
config->profile[0].pidProfile.D8[ROLL] = 23;
|
||||
config->profile[0].pidProfile.P8[PITCH] = 89;
|
||||
config->profile[0].pidProfile.I8[PITCH] = 59;
|
||||
config->profile[0].pidProfile.D8[PITCH] = 25;
|
||||
config->profile[0].pidProfile.P8[YAW] = 129;
|
||||
config->profile[0].pidProfile.I8[YAW] = 50;
|
||||
config->profile[0].pidProfile.D8[YAW] = 20;
|
||||
|
||||
config->profile[0].controlRateProfile[0].rates[FD_ROLL] = 86;
|
||||
config->profile[0].controlRateProfile[0].rates[FD_PITCH] = 86;
|
||||
config->profile[0].controlRateProfile[0].rates[FD_YAW] = 80;
|
||||
|
||||
targetApplyDefaultLedStripConfig(config->ledStripConfig.ledConfigs);
|
||||
|
||||
}
|
||||
|
|
|
|||
|
|
@ -29,7 +29,7 @@
|
|||
#include "drivers/rx_pwm.h"
|
||||
|
||||
#include "fc/config.h"
|
||||
#include "fc/mw.h"
|
||||
#include "fc/fc_main.h"
|
||||
#include "fc/rc_controls.h"
|
||||
#include "fc/runtime_config.h"
|
||||
|
||||
|
|
@ -704,6 +704,7 @@ static bool bstSlaveProcessFeedbackCommand(uint8_t bstRequest)
|
|||
bstWrite8(currentControlRateProfile->thrExpo8);
|
||||
bstWrite16(currentControlRateProfile->tpa_breakpoint);
|
||||
bstWrite8(currentControlRateProfile->rcYawExpo8);
|
||||
bstWrite8(currentControlRateProfile->rcYawRate8);
|
||||
break;
|
||||
case BST_PID:
|
||||
for (i = 0; i < PID_ITEM_COUNT; i++) {
|
||||
|
|
@ -1108,6 +1109,9 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
|
|||
if (bstReadDataSize() >= 11) {
|
||||
currentControlRateProfile->rcYawExpo8 = bstRead8();
|
||||
}
|
||||
if (bstReadDataSize() >= 12) {
|
||||
currentControlRateProfile->rcYawRate8 = bstRead8();
|
||||
}
|
||||
} else {
|
||||
ret = BST_FAILED;
|
||||
}
|
||||
|
|
@ -1256,6 +1260,13 @@ static bool bstSlaveProcessWriteCommand(uint8_t bstWriteCommand)
|
|||
case BST_SET_FEATURE:
|
||||
featureClearAll();
|
||||
featureSet(bstRead32()); // features bitmap
|
||||
#ifdef SERIALRX_UART
|
||||
if (featureConfigured(FEATURE_RX_SERIAL)) {
|
||||
serialConfig()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_RX_SERIAL;
|
||||
} else {
|
||||
serialConfig()->portConfigs[SERIALRX_UART].functionMask = FUNCTION_NONE;
|
||||
}
|
||||
#endif
|
||||
break;
|
||||
case BST_SET_BOARD_ALIGNMENT:
|
||||
boardAlignment()->rollDegrees = bstRead16();
|
||||
|
|
|
|||
|
|
@ -36,8 +36,6 @@
|
|||
#define MPU_INT_EXTI PA5
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1
|
||||
|
|
@ -116,10 +114,10 @@
|
|||
|
||||
#define LED_STRIP
|
||||
|
||||
#define DEFAULT_FEATURES FEATURE_VBAT
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
#define DEFAULT_FEATURES (FEATURE_RX_PPM | FEATURE_VBAT | FEATURE_FAILSAFE | FEATURE_AIRMODE | FEATURE_LED_STRIP)
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
#define SERIALRX_UART SERIAL_PORT_USART3
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
|
|
|
|||
51
src/main/target/ELLE0/target.c
Normal file
51
src/main/target/ELLE0/target.c
Normal file
|
|
@ -0,0 +1,51 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
#include "drivers/io.h"
|
||||
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/timer_def.h"
|
||||
#include "drivers/dma.h"
|
||||
|
||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
DEF_TIM(TIM2, CH3, PA2, TIM_USE_PWM | TIM_USE_PPM, TIMER_INPUT_ENABLED, 0 ), // PPM IN DMA1_ST1 (shared with RX1)
|
||||
DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO1 DMA2_ST2
|
||||
DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO2 DMA2_ST3
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1 ), // SERVO3 DMA2_ST4
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO4 DMA2_ST7
|
||||
DEF_TIM(TIM5, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO5 DMA1_ST2
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO6 DMA1_ST4
|
||||
DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO7 DMA1_ST7
|
||||
DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // SERVO8 DMA1_ST3
|
||||
};
|
||||
|
||||
// Telemetry
|
||||
//UART1 RX: DMA2_ST5
|
||||
//UART1 TX: DMA2_ST7
|
||||
|
||||
// RX1
|
||||
//UART2 RX: DMA1_ST5
|
||||
//UART2 TX: DMA1_ST6
|
||||
|
||||
// I2C
|
||||
//UART3 RX: DMA1_ST1
|
||||
//UART3 TX: DMA1_ST3
|
||||
|
||||
|
||||
105
src/main/target/ELLE0/target.h
Normal file
105
src/main/target/ELLE0/target.h
Normal file
|
|
@ -0,0 +1,105 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#define TARGET_BOARD_IDENTIFIER "ELL0"
|
||||
|
||||
#define CONFIG_START_FLASH_ADDRESS 0x08080000 //0x08080000 to 0x080A0000 (FLASH_Sector_8)
|
||||
#define TARGET_XTAL_MHZ 25
|
||||
|
||||
#define USBD_PRODUCT_STRING "Elle0"
|
||||
|
||||
#define LED0 PA8
|
||||
#define LED1 PB4
|
||||
#define LED2 PC2
|
||||
|
||||
// MPU9250 interrupt
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PB5
|
||||
//#define DEBUG_MPU_DATA_READY_INTERRUPT
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define MPU6500_CS_PIN PB12
|
||||
#define MPU6500_SPI_INSTANCE SPI2
|
||||
|
||||
// Using MPU6050 for the moment.
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
//#define BARO
|
||||
//#define USE_BARO_MS5611
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_AK8963
|
||||
#define MAG_AK8963_ALIGN CW0_DEG_FLIP
|
||||
|
||||
#define USE_VCP
|
||||
|
||||
/* Telemetry (Overlaps with DMA from motors) */
|
||||
//#define USE_UART1
|
||||
//#define UART1_RX_PIN PA10
|
||||
//#define UART1_TX_PIN PA9
|
||||
//#define UART1_AHB1_PERIPHERALS RCC_AHB1Periph_DMA2
|
||||
|
||||
/* RX1 */
|
||||
#define USE_UART2
|
||||
#define UART2_RX_PIN PA3
|
||||
#define UART2_TX_PIN PA2
|
||||
|
||||
/* I2C */
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PB10
|
||||
|
||||
/* RX2 */
|
||||
//#define USE_UART5
|
||||
//#define UART5_RX_PIN PD2
|
||||
//#define UART5_TX_PIN PC12
|
||||
|
||||
#define SERIAL_PORT_COUNT 3
|
||||
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_2 //MPU9250
|
||||
#define SPI2_NSS_PIN PB12
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_ADC
|
||||
#define VBAT_ADC_PIN PC4
|
||||
#define CURRENT_METER_ADC_PIN PC5
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_VBAT)
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_SPEKTRUM2048
|
||||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
#define RX_CHANNELS_TAER
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD (BIT(2))
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 9
|
||||
#define USED_TIMERS (TIM_N(2) | TIM_N(4) | TIM_N(5) | TIM_N(8))
|
||||
9
src/main/target/ELLE0/target.mk
Normal file
9
src/main/target/ELLE0/target.mk
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
F405_TARGETS += $(TARGET)
|
||||
FEATURES += VCP
|
||||
HSE_VALUE = 25000000
|
||||
|
||||
TARGET_SRC = \
|
||||
drivers/accgyro_mpu.c \
|
||||
drivers/accgyro_mpu6500.c \
|
||||
drivers/accgyro_spi_mpu6500.c \
|
||||
drivers/compass_ak8963.c
|
||||
|
|
@ -103,6 +103,9 @@
|
|||
|
||||
#define SERIAL_PORT_COUNT 6 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 8 // PWM 9
|
||||
|
||||
#define USE_SPI
|
||||
#define USE_SPI_DEVICE_1
|
||||
#define SPI1_SCK_PIN PA5
|
||||
|
|
|
|||
|
|
@ -133,6 +133,9 @@
|
|||
|
||||
#define SERIAL_PORT_COUNT 4 //VCP, USART1, USART3, USART6
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1
|
||||
|
|
|
|||
|
|
@ -69,6 +69,9 @@
|
|||
|
||||
#define SERIAL_PORT_COUNT 4 // VCP, USART1, USART3, USART6
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
// *************** OSD *****************************
|
||||
#define USE_SPI_DEVICE_2
|
||||
#define SPI2_NSS_PIN PB12
|
||||
|
|
|
|||
|
|
@ -55,6 +55,9 @@
|
|||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
|
|
|
|||
|
|
@ -47,6 +47,9 @@
|
|||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 3
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
|
|
|
|||
|
|
@ -61,6 +61,9 @@
|
|||
#define USE_SOFTSERIAL2
|
||||
#define SERIAL_PORT_COUNT 5
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define UART1_TX_PIN PA9
|
||||
#define UART1_RX_PIN PA10
|
||||
|
||||
|
|
|
|||
|
|
@ -93,6 +93,9 @@
|
|||
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define USE_SPI
|
||||
|
||||
#define USE_SPI_DEVICE_1 //ICM20689
|
||||
|
|
|
|||
|
|
@ -147,11 +147,16 @@
|
|||
|
||||
#define LED_STRIP
|
||||
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_PPM
|
||||
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_SBUS
|
||||
#define SERIALRX_UART SERIAL_PORT_USART2
|
||||
#define SBUS_TELEMETRY_UART SERIAL_PORT_USART1
|
||||
|
||||
#ifdef LUXV2_RACE
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
#define DEFAULT_FEATURES FEATURE_BLACKBOX
|
||||
#define DEFAULT_FEATURES ( FEATURE_BLACKBOX | FEATURE_TELEMETRY )
|
||||
#else
|
||||
#define DEFAULT_FEATURES FEATURE_TELEMETRY
|
||||
#endif
|
||||
|
||||
#define SPEKTRUM_BIND
|
||||
|
|
@ -160,6 +165,9 @@
|
|||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
|
|
|
|||
|
|
@ -61,6 +61,9 @@
|
|||
#define USE_UART3
|
||||
#define SERIAL_PORT_COUNT 4
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define UART1_TX_PIN PB6
|
||||
#define UART1_RX_PIN PB7
|
||||
|
||||
|
|
|
|||
|
|
@ -70,7 +70,7 @@ void targetConfiguration(master_t *config)
|
|||
config->profile[profileId].pidProfile.I8[YAW] = 45;
|
||||
config->profile[profileId].pidProfile.P8[PIDLEVEL] = 50;
|
||||
config->profile[profileId].pidProfile.D8[PIDLEVEL] = 50;
|
||||
config->profile[profileId].pidProfile.levelSensitivity = 1.0f;
|
||||
config->profile[profileId].pidProfile.levelSensitivity = 50.0f;
|
||||
|
||||
for (int rateProfileId = 0; rateProfileId < MAX_RATEPROFILES; rateProfileId++) {
|
||||
config->profile[profileId].controlRateProfile[rateProfileId].rcRate8 = 100;
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
# NERO7
|
||||
# NERO
|
||||
|
||||
Placeholder for NERO7 (an STM32F722RE target) - in both 30.5x30.5 and 20x20 (mini) formats.
|
||||
Placeholder for NERO (an STM32F722RE target) - in both 30.5x30.5 and 20x20 (mini) formats.
|
||||
|
||||
Samples are being made now, with production run expected once STM32 release the 722RE in production quantities.
|
||||
|
|
@ -20,26 +20,33 @@
|
|||
#include <platform.h>
|
||||
#include "drivers/io.h"
|
||||
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/dma.h"
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/timer_def.h"
|
||||
|
||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
#ifdef OMNIBUSF4SD
|
||||
{ TIM4, IO_TAG(PB8), TIM_Channel_3, TIM_USE_PWM | TIM_USE_PPM, 0, GPIO_AF_TIM4, NULL, 0, 0}, // PPM
|
||||
{ TIM4, IO_TAG(PB9), TIM_Channel_4, TIM_USE_PWM, 0, GPIO_AF_TIM4, NULL, 0, 0}, // S2_IN
|
||||
DEF_TIM(TIM4, CH3, PB8, TIM_USE_PWM | TIM_USE_PPM, TIMER_OUTPUT_NONE, 0), // PPM
|
||||
DEF_TIM(TIM4, CH4, PB9, TIM_USE_PWM, TIMER_OUTPUT_NONE, 0), // S2_IN
|
||||
#else
|
||||
{ TIM12, IO_TAG(PB14), TIM_Channel_1, TIM_USE_PWM | TIM_USE_PPM, 0, GPIO_AF_TIM12, NULL, 0, 0 }, // PPM
|
||||
{ TIM12, IO_TAG(PB15), TIM_Channel_2, TIM_USE_PWM, 0, GPIO_AF_TIM12, NULL, 0, 0 }, // S2_IN
|
||||
DEF_TIM(TIM12, CH1, PB14, TIM_USE_PWM | TIM_USE_PPM, TIMER_OUTPUT_NONE, 0), // PPM
|
||||
DEF_TIM(TIM12, CH2, PB15, TIM_USE_PWM, TIMER_OUTPUT_NONE, 0), // S2_IN
|
||||
#endif
|
||||
{ TIM8, IO_TAG(PC6), TIM_Channel_1, TIM_USE_PWM, 0, GPIO_AF_TIM8, NULL, 0, 0 }, // S3_IN
|
||||
{ TIM8, IO_TAG(PC7), TIM_Channel_2, TIM_USE_PWM, 0, GPIO_AF_TIM8, NULL, 0, 0 }, // S4_IN
|
||||
{ TIM8, IO_TAG(PC8), TIM_Channel_3, TIM_USE_PWM, 0, GPIO_AF_TIM8, NULL, 0, 0 }, // S5_IN
|
||||
{ TIM8, IO_TAG(PC9), TIM_Channel_4, TIM_USE_PWM, 0, GPIO_AF_TIM8, NULL, 0, 0 }, // S6_IN
|
||||
DEF_TIM(TIM8, CH1, PC6, TIM_USE_PWM, TIMER_OUTPUT_NONE, 0), // S3_IN
|
||||
DEF_TIM(TIM8, CH2, PC7, TIM_USE_PWM, TIMER_OUTPUT_NONE, 0), // S4_IN
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_PWM, TIMER_OUTPUT_NONE, 0), // S5_IN
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_PWM, TIMER_OUTPUT_NONE, 0), // S6_IN
|
||||
|
||||
{ TIM3, IO_TAG(PB0), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream7, DMA_Channel_5, DMA1_ST7_HANDLER }, // S1_OUT
|
||||
{ TIM3, IO_TAG(PB1), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM3, DMA1_Stream2, DMA_Channel_5, DMA1_ST2_HANDLER }, // S2_OUT
|
||||
{ TIM2, IO_TAG(PA3), TIM_Channel_4, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream6, DMA_Channel_3, DMA1_ST6_HANDLER }, // S4_OUT
|
||||
{ TIM2, IO_TAG(PA2), TIM_Channel_3, TIM_USE_MOTOR, 1, GPIO_AF_TIM2, DMA1_Stream1, DMA_Channel_3, DMA1_ST1_HANDLER }, // S4_OUT
|
||||
{ TIM5, IO_TAG(PA1), TIM_Channel_2, TIM_USE_MOTOR | TIM_USE_LED, 1, GPIO_AF_TIM5, DMA1_Stream4, DMA_Channel_6, DMA1_ST4_HANDLER }, // S5_OUT - GPIO_PartialRemap_TIM3
|
||||
{ TIM1, IO_TAG(PA8), TIM_Channel_1, TIM_USE_MOTOR, 1, GPIO_AF_TIM1, NULL, 0, 0 }, // S6_OUT
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0), // S1_OUT D1_ST7
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0), // S2_OUT D1_ST2
|
||||
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 1), // S3_OUT D1_ST6
|
||||
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0), // S4_OUT D1_ST1
|
||||
|
||||
#ifdef OMNIBUSF4SD
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0), // S5_OUT
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_STANDARD, 0), // S6_OUT
|
||||
#else
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_STANDARD, 0), // S5_OUT
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD, 0), // S6_OUT
|
||||
#endif
|
||||
};
|
||||
|
|
|
|||
|
|
@ -55,10 +55,10 @@
|
|||
#define USE_BARO_MS5611
|
||||
#define USE_BARO_BMP085
|
||||
|
||||
//#define MAG
|
||||
//#define USE_MAG_AK8975
|
||||
//#define USE_MAG_HMC5883
|
||||
//#define MAG_HMC5883_ALIGN CW270_DEG
|
||||
#define MAG
|
||||
#define USE_MAG_AK8975
|
||||
#define USE_MAG_HMC5883
|
||||
#define MAG_HMC5883_ALIGN CW270_DEG
|
||||
|
||||
#define USE_MAG_DATA_READY_SIGNAL
|
||||
#define ENSURE_MAG_DATA_READY_IS_HIGH
|
||||
|
|
|
|||
0
src/main/target/SPRACINGF3EVO/AIORACERF3.mk
Normal file
0
src/main/target/SPRACINGF3EVO/AIORACERF3.mk
Normal file
|
|
@ -27,6 +27,16 @@
|
|||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
// PPM / UART2 RX
|
||||
DEF_TIM(TIM8, CH1, PA15, TIM_USE_PPM, 0 ), // PPM
|
||||
#ifdef AIORACERF3
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // PWM1
|
||||
DEF_TIM(TIM3, CH2, PA7, TIM_USE_MOTOR, 1 ), // PWM2
|
||||
DEF_TIM(TIM15, CH1, PA2, TIM_USE_MOTOR, 1 ), // PWM3
|
||||
DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, 1 ), // PWM4
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 1 ), // PWM5
|
||||
DEF_TIM(TIM3, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM6
|
||||
DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM7
|
||||
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM8
|
||||
#else
|
||||
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM1 [TIM2_CH1 (D1_CH5)]
|
||||
DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, 1 ), // PWM2 [TIM2_CH2 (D1_CH7)] [TIM15_CH1N (D1_CH5)]
|
||||
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM3 [TIM2_CH3 (D1_CH1)] [TIM15_CH1 (D1_CH5)]
|
||||
|
|
@ -35,6 +45,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
|||
DEF_TIM(TIM3, CH2, PA7, TIM_USE_MOTOR, 1 ), // PWM6
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 1 ), // PWM7
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // PWM8
|
||||
#endif
|
||||
DEF_TIM(TIM2, CH3, PB10, TIM_USE_MOTOR, 1 ), // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
|
||||
DEF_TIM(TIM2, CH4, PB11, TIM_USE_MOTOR, 1 ), // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED | TIM_USE_TRANSPONDER, 1 ), // LED_STRIP / TRANSPONDER
|
||||
|
|
|
|||
|
|
@ -17,7 +17,11 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#ifdef AIORACERF3
|
||||
#define TARGET_BOARD_IDENTIFIER "ARF3"
|
||||
#else
|
||||
#define TARGET_BOARD_IDENTIFIER "SPEV"
|
||||
#endif
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
|
|
|
|||
|
|
@ -51,11 +51,11 @@
|
|||
#define BARO
|
||||
#define USE_BARO_BMP280
|
||||
|
||||
//#define MAG
|
||||
//#define USE_MPU9250_MAG // Enables bypass configuration
|
||||
//#define USE_MAG_AK8975
|
||||
//#define USE_MAG_HMC5883 // External
|
||||
//#define MAG_AK8975_ALIGN CW90_DEG_FLIP
|
||||
#define MAG
|
||||
#define USE_MPU9250_MAG // Enables bypass configuration
|
||||
#define USE_MAG_AK8975
|
||||
#define USE_MAG_HMC5883 // External
|
||||
#define MAG_AK8975_ALIGN CW90_DEG_FLIP
|
||||
|
||||
//#define SONAR
|
||||
//#define SONAR_ECHO_PIN PB1
|
||||
|
|
|
|||
|
|
@ -72,6 +72,9 @@
|
|||
#define UART3_TX_PIN PB10
|
||||
#define UART3_RX_PIN PB11
|
||||
|
||||
#define USE_ESCSERIAL
|
||||
#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
|
||||
|
||||
#define USE_I2C
|
||||
#define I2C_DEVICE (I2CDEV_1) // PB6/SCL, PB7/SDA
|
||||
|
||||
|
|
@ -179,7 +182,6 @@
|
|||
#define HARDWARE_BIND_PLUG
|
||||
#define BINDPLUG_PIN PD2
|
||||
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
// IO - assuming 303 in 64pin package, TODO
|
||||
|
|
|
|||
41
src/main/target/TINYBEEF3/target.c
Normal file
41
src/main/target/TINYBEEF3/target.c
Normal file
|
|
@ -0,0 +1,41 @@
|
|||
/*
|
||||
* This file is part of Cleanflight.
|
||||
*
|
||||
* Cleanflight is free software: you can redistribute it and/or modify
|
||||
* it under the terms of the GNU General Public License as published by
|
||||
* the Free Software Foundation, either version 3 of the License, or
|
||||
* (at your option) any later version.
|
||||
*
|
||||
* Cleanflight is distributed in the hope that it will be useful,
|
||||
* but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
* GNU General Public License for more details.
|
||||
*
|
||||
* You should have received a copy of the GNU General Public License
|
||||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
#include "drivers/io.h"
|
||||
|
||||
#include "drivers/timer.h"
|
||||
#include "drivers/timer_def.h"
|
||||
#include "drivers/dma.h"
|
||||
|
||||
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
|
||||
// PPM / UART2 RX
|
||||
DEF_TIM(TIM8, CH1, PA15, TIM_USE_PPM, 0 ), // PPM
|
||||
DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, 1 ), // PWM1
|
||||
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, 1 ), // PWM2
|
||||
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, 1 ), // PWM3
|
||||
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1 ), // PWM4
|
||||
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1 ), // PWM5
|
||||
DEF_TIM(TIM15, CH2, PA3, TIM_USE_MOTOR, 1 ), // PWM6
|
||||
DEF_TIM(TIM3, CH1, PA6, TIM_USE_MOTOR, 1 ), // PWM7
|
||||
DEF_TIM(TIM3, CH2, PA7, TIM_USE_MOTOR, 1 ), // PWM8
|
||||
DEF_TIM(TIM2, CH3, PB10, TIM_USE_MOTOR, 1 ), // RC_CH4 - PB10 - *TIM2_CH3, UART3_TX (AF7)
|
||||
DEF_TIM(TIM2, CH4, PB11, TIM_USE_MOTOR, 1 ), // RC_CH3 - PB11 - *TIM2_CH4, UART3_RX (AF7)
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED | TIM_USE_TRANSPONDER, 1 ), // LED_STRIP / TRANSPONDER
|
||||
};
|
||||
|
|
@ -17,7 +17,7 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "ARF3"
|
||||
#define TARGET_BOARD_IDENTIFIER "TBF3"
|
||||
|
||||
#define CONFIG_FASTLOOP_PREFERRED_ACC ACC_DEFAULT
|
||||
|
||||
|
|
@ -26,18 +26,16 @@
|
|||
#define BEEPER PC15
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
|
||||
|
||||
#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
|
||||
|
||||
#define USE_EXTI
|
||||
#define MPU_INT_EXTI PC13
|
||||
#define EXTI15_10_CALLBACK_HANDLER_COUNT 2 // MPU_INT, SDCardDetect
|
||||
#define USE_MPU_DATA_READY_SIGNAL
|
||||
#define ENSURE_MPU_DATA_READY_IS_LOW
|
||||
|
||||
#define USE_MAG_DATA_READY_SIGNAL
|
||||
#define ENSURE_MAG_DATA_READY_IS_HIGH
|
||||
|
||||
#define USE_ESC_TELEMETRY
|
||||
|
||||
#define GYRO
|
||||
#define USE_GYRO_SPI_MPU6500
|
||||
|
|
@ -45,14 +43,14 @@
|
|||
#define ACC
|
||||
#define USE_ACC_SPI_MPU6500
|
||||
|
||||
#define ACC_MPU6500_ALIGN CW180_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW180_DEG
|
||||
#define ACC_MPU6500_ALIGN CW270_DEG
|
||||
#define GYRO_MPU6500_ALIGN CW270_DEG
|
||||
|
||||
#define BARO
|
||||
#define USE_BARO_BMP280
|
||||
|
||||
#define MAG
|
||||
#define USE_MAG_AK8963
|
||||
//#define MAG
|
||||
//#define USE_MAG_AK8963
|
||||
//#define USE_MAG_HMC5883 // External
|
||||
|
||||
#define MAG_AK8963_ALIGN CW90_DEG_FLIP
|
||||
|
|
@ -120,24 +118,13 @@
|
|||
#define BOARD_HAS_VOLTAGE_DIVIDER
|
||||
#define USE_ADC
|
||||
#define ADC_INSTANCE ADC2
|
||||
#define VBAT_ADC_PIN PA5
|
||||
#define CURRENT_METER_ADC_PIN PA4
|
||||
#define VBAT_ADC_PIN PA4
|
||||
#define CURRENT_METER_ADC_PIN PA5
|
||||
#define RSSI_ADC_PIN PB2
|
||||
|
||||
#define LED_STRIP
|
||||
|
||||
#define TRANSPONDER
|
||||
#define TRANSPONDER_GPIO GPIOA
|
||||
#define TRANSPONDER_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
|
||||
#define TRANSPONDER_GPIO_AF GPIO_AF_6
|
||||
#define TRANSPONDER_PIN GPIO_Pin_8
|
||||
#define TRANSPONDER_PIN_SOURCE GPIO_PinSource8
|
||||
#define TRANSPONDER_TIMER TIM1
|
||||
#define TRANSPONDER_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM1
|
||||
#define TRANSPONDER_DMA_CHANNEL DMA1_Channel2
|
||||
#define TRANSPONDER_IRQ DMA1_Channel2_IRQn
|
||||
#define TRANSPONDER_DMA_TC_FLAG DMA1_FLAG_TC2
|
||||
#define TRANSPONDER_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
|
||||
|
||||
|
|
@ -156,5 +143,5 @@
|
|||
#define TARGET_IO_PORTC (BIT(13)|BIT(14)|BIT(15))
|
||||
#define TARGET_IO_PORTF (BIT(0)|BIT(1)|BIT(4))
|
||||
|
||||
#define USABLE_TIMER_CHANNEL_COUNT 12 // PPM, 8 PWM, UART3 RX/TX, LED Strip
|
||||
#define USED_TIMERS (TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(8) | TIM_N(15))
|
||||
|
||||
|
|
@ -7,6 +7,7 @@ TARGET_SRC = \
|
|||
drivers/accgyro_spi_mpu6500.c \
|
||||
drivers/barometer_bmp280.c \
|
||||
drivers/compass_ak8963.c \
|
||||
drivers/serial_usb_vcp.c \
|
||||
drivers/transponder_ir.c \
|
||||
drivers/transponder_ir_stm32f30x.c \
|
||||
io/transponder_ir.c
|
||||
Loading…
Add table
Add a link
Reference in a new issue