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Merge branch 'patch_v3.1.7' of https://github.com/betaflight/betaflight into patch_v3.1.7
This commit is contained in:
commit
aed87872f1
4 changed files with 21 additions and 8 deletions
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@ -23,10 +23,17 @@
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#define ICM20602_WHO_AM_I_CONST (0x12)
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#define MPU6500_BIT_RESET (0x80)
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// Register 0x37/55 - INT_PIN_CFG / Pin Bypass Enable Configuration
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#define MPU6500_BIT_RESERVED (1 << 0)
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#define MPU6500_BIT_BYPASS_EN (1 << 1)
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#define MPU6500_BIT_INT_ANYRD_2CLEAR (1 << 4)
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#define MPU6500_BIT_BYPASS_EN (1 << 0)
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// Register 0x38/56 INT_ENABLE
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#define MPU6500_BIT_RAW_RDY_EN (1 << 0)
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// Register 0x6a/106 - USER_CTRL / User Control
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#define MPU6500_BIT_I2C_IF_DIS (1 << 4)
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#define MPU6500_BIT_RAW_RDY_EN (0x01)
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bool mpu6500AccDetect(accDev_t *acc);
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bool mpu6500GyroDetect(gyroDev_t *gyro);
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@ -1216,6 +1216,11 @@ void validateAndFixConfig(void)
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resetSerialConfig(serialConfig);
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}
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// Prevent invalid notch cutoff
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if (currentProfile->pidProfile.dterm_notch_cutoff >= currentProfile->pidProfile.dterm_notch_hz) {
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currentProfile->pidProfile.dterm_notch_hz = 0;
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}
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validateAndFixGyroConfig();
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#if defined(TARGET_VALIDATECONFIG)
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@ -238,6 +238,7 @@ void init(void)
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}
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#endif
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#ifdef SPEKTRUM_BIND
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if (feature(FEATURE_RX_SERIAL)) {
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switch (rxConfig()->serialrx_provider) {
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@ -250,6 +251,7 @@ void init(void)
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break;
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}
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}
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delay(200); // Make sure the satellite times out and closes the bind window. (Delay(100) below is not enough and needed for non-sat configs)
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#endif
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delay(100);
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@ -71,17 +71,16 @@
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#define USE_UART1
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#define USE_UART2
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#define USE_UART3
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#define USE_SOFTSERIAL1
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#define USE_SOFTSERIAL2
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// Disabled to make targets fit into flash space in 3.1.7
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//#define USE_SOFTSERIAL1
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//#define USE_SOFTSERIAL2
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#define SERIAL_PORT_COUNT 6
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//#define SERIAL_PORT_COUNT 6
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#define SERIAL_PORT_COUNT 4
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#define USE_ESCSERIAL
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#define ESCSERIAL_TIMER_TX_HARDWARE 0 // PWM 1
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#undef USE_SOFTSERIAL1
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#undef USE_SOFTSERIAL2
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#define UART1_TX_PIN PA9
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#define UART1_RX_PIN PA10
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