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Code Issues Wiki Activity

Configurable acc/gyro

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This commit is contained in:
jflyper 2018-05-10 22:25:37 +09:00
parent 5ef68ef6a3
commit fc6c24c38e
133 changed files with 1095 additions and 1116 deletions
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4
src/main/drivers/accgyro/accgyro.h
View file

@ -35,10 +35,6 @@
#pragma GCC diagnostic warning "-Wpadded"
#endif
#ifndef MPU_I2C_INSTANCE
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif
typedef enum {
GYRO_NONE = 0,
GYRO_DEFAULT,

160
src/main/drivers/accgyro/accgyro_mpu.c
View file

@ -54,9 +54,8 @@
#include "drivers/accgyro/accgyro_spi_mpu9250.h"
#include "drivers/accgyro/accgyro_mpu.h"
#ifndef MPU_I2C_INSTANCE
#define MPU_I2C_INSTANCE I2C_DEVICE
#endif
#include "pg/pg.h"
#include "pg/gyrodev.h"
#ifndef MPU_ADDRESS
#define MPU_ADDRESS 0x68
@ -64,7 +63,7 @@
#define MPU_INQUIRY_MASK 0x7E
#ifdef USE_I2C
#ifdef USE_I2C_GYRO
static void mpu6050FindRevision(gyroDev_t *gyro)
{
// There is a map of revision contained in the android source tree which is quite comprehensive and may help to understand this code
@ -103,7 +102,7 @@ static void mpu6050FindRevision(gyroDev_t *gyro)
/*
* Gyro interrupt service routine
*/
#if defined(MPU_INT_EXTI)
#ifdef USE_GYRO_EXTI
static void mpuIntExtiHandler(extiCallbackRec_t *cb)
{
#ifdef DEBUG_MPU_DATA_READY_INTERRUPT
@ -136,11 +135,11 @@ static void mpuIntExtiInit(gyroDev_t *gyro)
#endif
#if defined (STM32F7)
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, IO_CONFIG(GPIO_MODE_INPUT,0,GPIO_NOPULL)); // TODO - maybe pullup / pulldown ?
#else
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING); // TODO - maybe pullup / pulldown ?
EXTIHandlerInit(&gyro->exti, mpuIntExtiHandler);
@ -182,6 +181,7 @@ bool mpuGyroRead(gyroDev_t *gyro)
return true;
}
#ifdef USE_SPI_GYRO
bool mpuGyroReadSPI(gyroDev_t *gyro)
{
static const uint8_t dataToSend[7] = {MPU_RA_GYRO_XOUT_H | 0x80, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF, 0xFF};
@ -199,120 +199,78 @@ bool mpuGyroReadSPI(gyroDev_t *gyro)
return true;
}
#ifdef USE_SPI
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro)
typedef uint8_t (*gyroSpiDetectFn_t)(const busDevice_t *bus);
static gyroSpiDetectFn_t gyroSpiDetectFnTable[] = {
#ifdef USE_GYRO_SPI_MPU6000
mpu6000SpiDetect,
#endif
#ifdef USE_GYRO_SPI_MPU6500
mpu6500SpiDetect, // some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
#endif
#ifdef USE_GYRO_SPI_MPU9250
mpu9250SpiDetect,
#endif
#ifdef USE_GYRO_SPI_ICM20649
icm20649SpiDetect,
#endif
#ifdef USE_GYRO_SPI_ICM20689
icm20689SpiDetect, // icm20689SpiDetect detects ICM20602 and ICM20689
#endif
#ifdef USE_ACCGYRO_BMI160
bmi160Detect,
#endif
NULL // Avoid an empty array
};
static bool detectSPISensorsAndUpdateDetectionResult(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
{
UNUSED(gyro); // since there are FCs which have gyro on I2C but other devices on SPI
gyro->bus.bustype = BUSTYPE_SPI;
spiBusSetInstance(&gyro->bus, spiInstanceByDevice(SPI_CFG_TO_DEV(config->spiBus)));
gyro->bus.busdev_u.spi.csnPin = IOGetByTag(config->csnTag);
IOInit(gyro->bus.busdev_u.spi.csnPin, OWNER_GYRO_CS, RESOURCE_INDEX(config->index));
IOConfigGPIO(gyro->bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(gyro->bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
uint8_t sensor = MPU_NONE;
UNUSED(sensor);
// note, when USE_DUAL_GYRO is enabled the gyro->bus must already be initialised.
// It is hard to use hardware to optimize the detection loop here,
// as hardware type and detection function name doesn't match.
// May need a bitmap of hardware to detection function to do it right?
#ifdef USE_GYRO_SPI_MPU6000
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU6000_SPI_INSTANCE);
#endif
#ifdef MPU6000_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6000_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu6000SpiDetect(&gyro->bus);
for (size_t index = 0 ; gyroSpiDetectFnTable[index] ; index++) {
sensor = (gyroSpiDetectFnTable[index])(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU6500
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU6500_SPI_INSTANCE);
#endif
#ifdef MPU6500_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU6500_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu6500SpiDetect(&gyro->bus);
// some targets using MPU_9250_SPI, ICM_20608_SPI or ICM_20602_SPI state sensor is MPU_65xx_SPI
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_GYRO_SPI_MPU9250
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, MPU9250_SPI_INSTANCE);
#endif
#ifdef MPU9250_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(MPU9250_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = mpu9250SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_GYRO_SPI_ICM20649
#ifdef ICM20649_SPI_INSTANCE
spiBusSetInstance(&gyro->bus, ICM20649_SPI_INSTANCE);
#endif
#ifdef ICM20649_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20649_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = icm20649SpiDetect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_GYRO_SPI_ICM20689
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, ICM20689_SPI_INSTANCE);
#endif
#ifdef ICM20689_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(ICM20689_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = icm20689SpiDetect(&gyro->bus);
// icm20689SpiDetect detects ICM20602 and ICM20689
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
#ifdef USE_ACCGYRO_BMI160
#ifndef USE_DUAL_GYRO
spiBusSetInstance(&gyro->bus, BMI160_SPI_INSTANCE);
#endif
#ifdef BMI160_CS_PIN
gyro->bus.busdev_u.spi.csnPin = gyro->bus.busdev_u.spi.csnPin == IO_NONE ? IOGetByTag(IO_TAG(BMI160_CS_PIN)) : gyro->bus.busdev_u.spi.csnPin;
#endif
sensor = bmi160Detect(&gyro->bus);
if (sensor != MPU_NONE) {
gyro->mpuDetectionResult.sensor = sensor;
return true;
}
#endif
spiPreinitCsByTag(config->csnTag);
return false;
}
#endif
void mpuDetect(gyroDev_t *gyro)
void mpuDetect(gyroDev_t *gyro, const gyroDeviceConfig_t *config)
{
// MPU datasheet specifies 30ms.
delay(35);
#ifdef USE_I2C
if (gyro->bus.bustype == BUSTYPE_NONE) {
// if no bustype is selected try I2C first.
gyro->bus.bustype = BUSTYPE_I2C;
if (config->bustype == BUSTYPE_NONE) {
return;
}
if (config->bustype == BUSTYPE_GYRO_AUTO) {
gyro->bus.bustype = BUSTYPE_I2C;
} else {
gyro->bus.bustype = config->bustype;
}
#ifdef USE_I2C_GYRO
if (gyro->bus.bustype == BUSTYPE_I2C) {
gyro->bus.busdev_u.i2c.device = MPU_I2C_INSTANCE;
gyro->bus.busdev_u.i2c.address = MPU_ADDRESS;
gyro->bus.busdev_u.i2c.address = config->i2cAddress ? config->i2cAddress : MPU_ADDRESS;
uint8_t sig = 0;
bool ack = busReadRegisterBuffer(&gyro->bus, MPU_RA_WHO_AM_I, &sig, 1);
@ -339,15 +297,15 @@ void mpuDetect(gyroDev_t *gyro)
}
#endif
#ifdef USE_SPI
#ifdef USE_SPI_GYRO
gyro->bus.bustype = BUSTYPE_SPI;
detectSPISensorsAndUpdateDetectionResult(gyro);
detectSPISensorsAndUpdateDetectionResult(gyro, config);
#endif
}
void mpuGyroInit(gyroDev_t *gyro)
{
#ifdef MPU_INT_EXTI
#ifdef USE_GYRO_EXTI
mpuIntExtiInit(gyro);
#else
UNUSED(gyro);

3
src/main/drivers/accgyro/accgyro_mpu.h
View file

@ -218,10 +218,11 @@ typedef struct mpuDetectionResult_s {
} mpuDetectionResult_t;
struct gyroDev_s;
struct gyroDeviceConfig_s;
void mpuGyroInit(struct gyroDev_s *gyro);
bool mpuGyroRead(struct gyroDev_s *gyro);
bool mpuGyroReadSPI(struct gyroDev_s *gyro);
void mpuDetect(struct gyroDev_s *gyro);
void mpuDetect(struct gyroDev_s *gyro, const struct gyroDeviceConfig_s *config);
uint8_t mpuGyroDLPF(struct gyroDev_s *gyro);
uint8_t mpuGyroFCHOICE(struct gyroDev_s *gyro);
uint8_t mpuGyroReadRegister(const busDevice_t *bus, uint8_t reg);

15
src/main/drivers/accgyro/accgyro_spi_bmi160.c
View file

@ -97,11 +97,6 @@ uint8_t bmi160Detect(const busDevice_t *bus)
return BMI_160_SPI;
}
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, BMI160_SPI_DIVISOR);
@ -250,22 +245,18 @@ void bmi160ExtiHandler(extiCallbackRec_t *cb)
static void bmi160IntExtiInit(gyroDev_t *gyro)
{
static bool bmi160ExtiInitDone = false;
if (bmi160ExtiInitDone) {
if (gyro->mpuIntExtiTag == IO_TAG_NONE) {
return;
}
IO_t mpuIntIO = IOGetByTag(IO_TAG(BMI160_INT_EXTI));
IO_t mpuIntIO = IOGetByTag(gyro->mpuIntExtiTag);
IOInit(mpuIntIO, OWNER_MPU_EXTI, 0);
IOInit(mpuIntIO, OWNER_GYRO_EXTI, 0);
IOConfigGPIO(mpuIntIO, IOCFG_IN_FLOATING); // TODO - maybe pullup / pulldown ?
EXTIHandlerInit(&gyro->exti, bmi160ExtiHandler);
EXTIConfig(mpuIntIO, &gyro->exti, NVIC_PRIO_MPU_INT_EXTI, EXTI_Trigger_Rising);
EXTIEnable(mpuIntIO, true);
bmi160ExtiInitDone = true;
}

5
src/main/drivers/accgyro/accgyro_spi_icm20649.c
View file

@ -45,11 +45,6 @@ static void icm20649SpiInit(const busDevice_t *bus)
return;
}
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
// all registers can be read/written at full speed (7MHz +-10%)
// TODO verify that this works at 9MHz and 10MHz on non F7

5
src/main/drivers/accgyro/accgyro_spi_icm20689.c
View file

@ -45,11 +45,6 @@ static void icm20689SpiInit(const busDevice_t *bus)
return;
}
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_STANDARD);

5
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
View file

@ -127,11 +127,6 @@ void mpu6000SpiAccInit(accDev_t *acc)
uint8_t mpu6000SpiDetect(const busDevice_t *bus)
{
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATON);

5
src/main/drivers/accgyro/accgyro_spi_mpu6500.c
View file

@ -41,11 +41,6 @@
static void mpu6500SpiInit(const busDevice_t *bus)
{
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_FAST);
}

5
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -151,11 +151,6 @@ static void mpu9250AccAndGyroInit(gyroDev_t *gyro) {
uint8_t mpu9250SpiDetect(const busDevice_t *bus)
{
#ifndef USE_DUAL_GYRO
IOInit(bus->busdev_u.spi.csnPin, OWNER_MPU_CS, 0);
IOConfigGPIO(bus->busdev_u.spi.csnPin, SPI_IO_CS_CFG);
IOHi(bus->busdev_u.spi.csnPin);
#endif
spiSetDivisor(bus->busdev_u.spi.instance, SPI_CLOCK_INITIALIZATON); //low speed
mpu9250SpiWriteRegister(bus, MPU_RA_PWR_MGMT_1, MPU9250_BIT_RESET);

6
src/main/drivers/accgyro_legacy/accgyro_l3gd20.c
View file

@ -82,12 +82,6 @@ static void l3gd20SpiInit(SPI_TypeDef *SPIx)
UNUSED(SPIx); // FIXME
mpul3gd20CsPin = IOGetByTag(IO_TAG(L3GD20_CS_PIN));
#ifndef USE_DUAL_GYRO
IOInit(mpul3gd20CsPin, OWNER_MPU_CS, 0);
IOConfigGPIO(mpul3gd20CsPin, SPI_IO_CS_CFG);
DISABLE_L3GD20;
#endif
spiSetDivisor(L3GD20_SPI, SPI_CLOCK_STANDARD);
}

2
src/main/drivers/accgyro_legacy/accgyro_mma845x.c
View file

@ -86,7 +86,7 @@ static uint8_t device_id;
static inline void mma8451ConfigureInterrupt(void)
{
#ifdef MMA8451_INT_PIN
IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_MPU_EXTI, 0);
IOInit(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), OWNER_GYRO_EXTI, 0);
// TODO - maybe pullup / pulldown ?
IOConfigGPIO(IOGetByTag(IO_TAG(MMA8451_INT_PIN)), IOCFG_IN_FLOATING);
#endif

3
src/main/drivers/bus.h
View file

@ -29,7 +29,8 @@ typedef enum {
BUSTYPE_NONE = 0,
BUSTYPE_I2C,
BUSTYPE_SPI,
BUSTYPE_MPU_SLAVE // Slave I2C on SPI master
BUSTYPE_MPU_SLAVE, // Slave I2C on SPI master
BUSTYPE_GYRO_AUTO // Only used by acc/gyro bus auto detection code
} busType_e;
typedef struct busDevice_s {

6
src/main/drivers/resource.c
View file

@ -49,11 +49,11 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
"SDCARD_DETECT",
"FLASH_CS",
"BARO_CS",
"MPU_CS",
"GYRO_CS",
"OSD_CS",
"RX_SPI_CS",
"SPI_CS",
"MPU_EXTI",
"GYRO_EXTI",
"BARO_EXTI",
"COMPASS_EXTI",
"USB",
@ -76,4 +76,6 @@ const char * const ownerNames[OWNER_TOTAL_COUNT] = {
"USB_MSC_PIN",
"SPI_PREINIT_IPU",
"SPI_PREINIT_OPU",
"GYRO1_CS",
"GYRO2_CS",
};

6
src/main/drivers/resource.h
View file

@ -49,11 +49,11 @@ typedef enum {
OWNER_SDCARD_DETECT,
OWNER_FLASH_CS,
OWNER_BARO_CS,
OWNER_MPU_CS,
OWNER_GYRO_CS,
OWNER_OSD_CS,
OWNER_RX_SPI_CS,
OWNER_SPI_CS,
OWNER_MPU_EXTI,
OWNER_GYRO_EXTI,
OWNER_BARO_EXTI,
OWNER_COMPASS_EXTI,
OWNER_USB,
@ -76,6 +76,8 @@ typedef enum {
OWNER_USB_MSC_PIN,
OWNER_SPI_PREINIT_IPU,
OWNER_SPI_PREINIT_OPU,
OWNER_GYRO1_CS,
OWNER_GYRO2_CS,
OWNER_TOTAL_COUNT
} resourceOwner_e;

7
src/main/interface/cli.c
View file

@ -126,6 +126,7 @@ extern uint8_t __config_end;
#include "pg/board.h"
#include "pg/bus_i2c.h"
#include "pg/bus_spi.h"
#include "pg/gyrodev.h"
#include "pg/max7456.h"
#include "pg/pinio.h"
#include "pg/pg.h"
@ -2701,7 +2702,7 @@ static void cliPrintGyroRegisters(uint8_t whichSensor)
static void cliDumpGyroRegisters(char *cmdline)
{
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
if ((gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_1) || (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_BOTH)) {
cliPrintLinef("\r\n# Gyro 1");
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
@ -2712,7 +2713,7 @@ static void cliDumpGyroRegisters(char *cmdline)
}
#else
cliPrintGyroRegisters(GYRO_CONFIG_USE_GYRO_1);
#endif // USE_DUAL_GYRO
#endif
UNUSED(cmdline);
}
#endif
@ -3823,6 +3824,8 @@ const cliResourceValue_t resourceTable[] = {
#ifdef USE_RX_SPI
DEFS( OWNER_RX_SPI_CS, PG_RX_SPI_CONFIG, rxSpiConfig_t, csnTag ),
#endif
#define PG_ARRAY_OFFSET(type, index, member) (index * sizeof(type) + offsetof(type, member))
DEFW( OWNER_GYRO_CS, PG_GYRO_DEVICE_CONFIG, gyroDeviceConfig_t, csnTag, 2 ),
};
#undef DEFS

28
src/main/interface/settings.c
View file

@ -70,6 +70,7 @@
#include "pg/beeper_dev.h"
#include "pg/dashboard.h"
#include "pg/flash.h"
#include "pg/gyrodev.h"
#include "pg/max7456.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
@ -158,7 +159,7 @@ static const char * const lookupTableAlignment[] = {
"CW270FLIP"
};
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
static const char * const lookupTableGyro[] = {
"FIRST", "SECOND", "BOTH"
};
@ -289,7 +290,10 @@ static const char * const lookupTableFailsafeSwitchMode[] = {
};
static const char * const lookupTableBusType[] = {
"NONE", "I2C", "SPI", "SLAVE"
"NONE", "I2C", "SPI", "SLAVE",
#if defined(USE_SPI_GYRO) && defined(USE_I2C_GYRO)
"GYROAUTO"
#endif
};
#ifdef USE_MAX7456
@ -458,7 +462,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_LED_STRIP
LOOKUP_TABLE_ENTRY(lookupLedStripFormatRGB),
#endif
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
LOOKUP_TABLE_ENTRY(lookupTableGyro),
#endif
LOOKUP_TABLE_ENTRY(lookupTableThrottleLimitType),
@ -485,6 +489,7 @@ const lookupTableEntry_t lookupTables[] = {
#ifdef USE_VTX_COMMON
LOOKUP_TABLE_ENTRY(lookupTableVtxLowPowerDisarm),
#endif
LOOKUP_TABLE_ENTRY(lookupTableGyroHardware),
};
#undef LOOKUP_TABLE_ENTRY
@ -526,7 +531,8 @@ const clivalue_t valueTable[] = {
#if defined(GYRO_USES_SPI) && defined(USE_32K_CAPABLE_GYRO)
{ "gyro_use_32khz", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_use_32khz) },
#endif
#ifdef USE_DUAL_GYRO
#endif
#ifdef USE_MULTI_GYRO
{ "gyro_to_use", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GYRO }, PG_GYRO_CONFIG, offsetof(gyroConfig_t, gyro_to_use) },
#endif
#if defined(USE_GYRO_DATA_ANALYSE)
@ -1153,6 +1159,20 @@ const clivalue_t valueTable[] = {
{ "rcdevice_init_dev_attempts", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, 10 }, PG_RCDEVICE_CONFIG, offsetof(rcdeviceConfig_t, initDeviceAttempts) },
{ "rcdevice_init_dev_attempt_interval", VAR_UINT32 | MASTER_VALUE, .config.minmax = { 500, 5000 }, PG_RCDEVICE_CONFIG, offsetof(rcdeviceConfig_t, initDeviceAttemptInterval) }
#endif
#define PG_ARRAY_OFFSET(type, index, member) (index * sizeof(type) + offsetof(type, member))
// PG_GYRO_DEVICE_CONFIG
{ "gyro_1_bustype", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BUS_TYPE }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 0, bustype) },
{ "gyro_1_spibus", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, SPIDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 0, spiBus) },
{ "gyro_1_i2cBus", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, I2CDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 0, i2cBus) },
{ "gyro_1_i2c_address", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, I2C_ADDR7_MAX }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 0, i2cAddress) },
#ifdef USE_MULTI_GYRO
{ "gyro_2_bustype", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_BUS_TYPE }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 1, bustype) },
{ "gyro_2_spibus", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, SPIDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 1, spiBus) },
{ "gyro_2_i2cBus", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, I2CDEV_COUNT }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 1, i2cBus) },
{ "gyro_2_i2c_address", VAR_UINT8 | MASTER_VALUE, .config.minmax = { 0, I2C_ADDR7_MAX }, PG_GYRO_DEVICE_CONFIG, PG_ARRAY_OFFSET(gyroDeviceConfig_t, 1, i2cAddress) },
#endif
};
const uint16_t valueTableEntryCount = ARRAYLEN(valueTable);

3
src/main/interface/settings.h
View file

@ -92,7 +92,7 @@ typedef enum {
#ifdef USE_LED_STRIP
TABLE_RGB_GRB,
#endif
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
TABLE_GYRO,
#endif
TABLE_THROTTLE_LIMIT_TYPE,
@ -119,6 +119,7 @@ typedef enum {
#ifdef USE_VTX_COMMON
TABLE_VTX_LOW_POWER_DISARM,
#endif
TABLE_GYRO_HARDWARE,
LOOKUP_TABLE_COUNT
} lookupTableIndex_e;

89
src/main/pg/gyrodev.c Normal file
View file

@ -0,0 +1,89 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "drivers/io.h"
#include "drivers/bus_spi.h"
#include "pg/gyrodev.h"
ioTag_t selectMPUIntExtiConfigByHardwareRevision(void); // XXX Should be gone
#if defined(USE_SPI_GYRO) || defined(USE_I2C_GYRO)
static void gyroResetCommonDeviceConfig(gyroDeviceConfig_t *devconf, ioTag_t extiTag, sensor_align_e align)
{
devconf->extiTag = extiTag;
devconf->align = align;
}
#endif
#ifdef USE_SPI_GYRO
static void gyroResetSpiDeviceConfig(gyroDeviceConfig_t *devconf, SPI_TypeDef *instance, ioTag_t csnTag, ioTag_t extiTag, sensor_align_e align)
{
devconf->bustype = BUSTYPE_SPI;
devconf->spiBus = SPI_DEV_TO_CFG(spiDeviceByInstance(instance));
devconf->csnTag = csnTag;
gyroResetCommonDeviceConfig(devconf, extiTag, align);
}
#endif
#ifdef USE_I2C_GYRO
static void gyroResetI2cDeviceConfig(gyroDeviceConfig_t *devconf, I2CDevice i2cbus, ioTag_t extiTag, sensor_align_e align)
{
devconf->bustype = BUSTYPE_I2C;
devconf->i2cBus = I2C_DEV_TO_CFG(i2cbus);
devconf->i2cAddress = GYRO_I2C_ADDRESS;
gyroResetCommonDeviceConfig(devconf, extiTag, align);
}
#endif
PG_REGISTER_ARRAY_WITH_RESET_FN(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDeviceConfig, PG_GYRO_DEVICE_CONFIG, 0);
void pgResetFn_gyroDeviceConfig(gyroDeviceConfig_t *devconf)
{
devconf[0].index = 0;
// All multi-gyro boards use SPI based gyros.
#ifdef USE_SPI_GYRO
gyroResetSpiDeviceConfig(&devconf[0], GYRO_1_SPI_INSTANCE, IO_TAG(GYRO_1_CS_PIN), IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN);
#ifdef USE_MULTI_GYRO
gyroResetSpiDeviceConfig(&devconf[1], GYRO_2_SPI_INSTANCE, IO_TAG(GYRO_2_CS_PIN), IO_TAG(GYRO_2_EXTI_PIN), GYRO_2_ALIGN);
devconf[1].index = 1;
#endif
#endif
// I2C gyros appear as a sole gyro in single gyro boards.
#if defined(USE_I2C_GYRO) && !defined(USE_MULTI_GYRO)
devconf[0].i2cBus = I2C_DEV_TO_CFG(I2CINVALID); // XXX Not required?
gyroResetI2cDeviceConfig(&devconf[0], I2C_DEVICE, IO_TAG(GYRO_1_EXTI_PIN), GYRO_1_ALIGN);
#endif
// Special treatment for very rare F3 targets with variants having either I2C or SPI acc/gyro chip; mark it for run time detection.
#if defined(USE_SPI_GYRO) && defined(USE_I2C_GYRO)
devconf[0].bustype = BUSTYPE_GYRO_AUTO;
#endif
}

49
src/main/pg/gyrodev.h Normal file
View file

@ -0,0 +1,49 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
//#include <stdbool.h>
#include "pg/pg.h"
#include "drivers/io_types.h"
#include "drivers/sensor.h"
#include "sensors/gyro.h"
typedef struct gyroDeviceConfig_s {
int8_t index;
uint8_t bustype;
uint8_t spiBus;
ioTag_t csnTag;
uint8_t i2cBus;
uint8_t i2cAddress;
ioTag_t extiTag;
sensor_align_e align;
} gyroDeviceConfig_t;
#ifdef USE_MULTI_GYRO
#define MAX_GYRODEV_COUNT 2
#else
#define MAX_GYRODEV_COUNT 1
#endif
PG_DECLARE_ARRAY(gyroDeviceConfig_t, MAX_GYRODEV_COUNT, gyroDeviceConfig);

3
src/main/pg/pg_ids.h
View file

@ -134,7 +134,8 @@
#define PG_RX_SPI_CONFIG 537
#define PG_BOARD_CONFIG 538
#define PG_RCDEVICE_CONFIG 539
#define PG_BETAFLIGHT_END 539
#define PG_GYRO_DEVICE_CONFIG 540
#define PG_BETAFLIGHT_END 540
// OSD configuration (subject to change)

7
src/main/sensors/acceleration.c
View file

@ -347,14 +347,11 @@ bool accInit(uint32_t gyroSamplingInverval)
acc.dev.mpuDetectionResult = *gyroMpuDetectionResult();
acc.dev.acc_high_fsr = accelerometerConfig()->acc_high_fsr;
#ifdef USE_DUAL_GYRO
acc.dev.accAlign = ACC_1_ALIGN;
#ifdef ACC_2_ALIGN
if (gyroConfig()->gyro_to_use == GYRO_CONFIG_USE_GYRO_2) {
acc.dev.accAlign = ACC_2_ALIGN;
} else {
acc.dev.accAlign = ACC_1_ALIGN;
}
#else
acc.dev.accAlign = ALIGN_DEFAULT;
#endif
if (!accDetect(&acc.dev, accelerometerConfig()->acc_hardware)) {

168
src/main/sensors/gyro.c
View file

@ -36,6 +36,7 @@
#include "pg/pg.h"
#include "pg/pg_ids.h"
#include "pg/gyrodev.h"
#include "drivers/accgyro/accgyro.h"
#include "drivers/accgyro/accgyro_fake.h"
@ -77,10 +78,6 @@
#endif
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
#include "hardware_revision.h"
#endif
#if ((FLASH_SIZE > 128) && (defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20689) || defined(USE_GYRO_SPI_MPU6500)))
#define USE_GYRO_SLEW_LIMITER
#endif
@ -152,7 +149,7 @@ typedef struct gyroSensor_s {
} gyroSensor_t;
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor1;
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
STATIC_UNIT_TESTED FAST_RAM_ZERO_INIT gyroSensor_t gyroSensor2;
#endif
@ -211,47 +208,34 @@ PG_RESET_TEMPLATE(gyroConfig_t, gyroConfig,
.dyn_filter_range = DYN_FILTER_RANGE_MEDIUM,
);
#ifdef USE_MULTI_GYRO
#define ACTIVE_GYRO ((gyroToUse == GYRO_CONFIG_USE_GYRO_2) ? &gyroSensor2 : &gyroSensor1)
#else
#define ACTIVE_GYRO (&gyroSensor1)
#endif
const busDevice_t *gyroSensorBus(void)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.bus;
} else {
return &gyroSensor1.gyroDev.bus;
}
#else
return &gyroSensor1.gyroDev.bus;
#endif
return &ACTIVE_GYRO->gyroDev.bus;
}
#ifdef USE_GYRO_REGISTER_DUMP
const busDevice_t *gyroSensorBusByDevice(uint8_t whichSensor)
{
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
if (whichSensor == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.bus;
} else {
return &gyroSensor1.gyroDev.bus;
}
#else
UNUSED(whichSensor);
return &gyroSensor1.gyroDev.bus;
#endif
return &gyroSensor1.gyroDev.bus;
}
#endif // USE_GYRO_REGISTER_DUMP
const mpuDetectionResult_t *gyroMpuDetectionResult(void)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return &gyroSensor2.gyroDev.mpuDetectionResult;
} else {
return &gyroSensor1.gyroDev.mpuDetectionResult;
}
#else
return &gyroSensor1.gyroDev.mpuDetectionResult;
#endif
return &ACTIVE_GYRO->gyroDev.mpuDetectionResult;
}
STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
@ -266,9 +250,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_MPU6050:
if (mpu6050GyroDetect(dev)) {
gyroHardware = GYRO_MPU6050;
#ifdef GYRO_MPU6050_ALIGN
dev->gyroAlign = GYRO_MPU6050_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -278,9 +259,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_L3G4200D:
if (l3g4200dDetect(dev)) {
gyroHardware = GYRO_L3G4200D;
#ifdef GYRO_L3G4200D_ALIGN
dev->gyroAlign = GYRO_L3G4200D_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -290,9 +268,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_MPU3050:
if (mpu3050Detect(dev)) {
gyroHardware = GYRO_MPU3050;
#ifdef GYRO_MPU3050_ALIGN
dev->gyroAlign = GYRO_MPU3050_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -302,9 +277,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_L3GD20:
if (l3gd20Detect(dev)) {
gyroHardware = GYRO_L3GD20;
#ifdef GYRO_L3GD20_ALIGN
dev->gyroAlign = GYRO_L3GD20_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -314,9 +286,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_MPU6000:
if (mpu6000SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU6000;
#ifdef GYRO_MPU6000_ALIGN
dev->gyroAlign = GYRO_MPU6000_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -348,9 +317,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
default:
gyroHardware = GYRO_MPU6500;
}
#ifdef GYRO_MPU6500_ALIGN
dev->gyroAlign = GYRO_MPU6500_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -360,9 +326,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_MPU9250:
if (mpu9250SpiGyroDetect(dev)) {
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
dev->gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -372,9 +335,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_ICM20649:
if (icm20649SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20649;
#ifdef GYRO_ICM20649_ALIGN
dev->gyroAlign = GYRO_ICM20649_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -384,9 +344,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_ICM20689:
if (icm20689SpiGyroDetect(dev)) {
gyroHardware = GYRO_ICM20689;
#ifdef GYRO_ICM20689_ALIGN
dev->gyroAlign = GYRO_ICM20689_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -396,9 +353,6 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
case GYRO_BMI160:
if (bmi160SpiGyroDetect(dev)) {
gyroHardware = GYRO_BMI160;
#ifdef GYRO_BMI160_ALIGN
dev->gyroAlign = GYRO_BMI160_ALIGN;
#endif
break;
}
FALLTHROUGH;
@ -426,14 +380,16 @@ STATIC_UNIT_TESTED gyroHardware_e gyroDetect(gyroDev_t *dev)
return gyroHardware;
}
static bool gyroInitSensor(gyroSensor_t *gyroSensor)
static bool gyroInitSensor(gyroSensor_t *gyroSensor, const gyroDeviceConfig_t *config)
{
gyroSensor->gyroDev.gyro_high_fsr = gyroConfig()->gyro_high_fsr;
gyroSensor->gyroDev.gyroAlign = config->align;
gyroSensor->gyroDev.mpuIntExtiTag = config->extiTag;
#if defined(USE_GYRO_MPU6050) || defined(USE_GYRO_MPU3050) || defined(USE_GYRO_MPU6500) || defined(USE_GYRO_SPI_MPU6500) || defined(USE_GYRO_SPI_MPU6000) \
|| defined(USE_ACC_MPU6050) || defined(USE_GYRO_SPI_MPU9250) || defined(USE_GYRO_SPI_ICM20601) || defined(USE_GYRO_SPI_ICM20649) || defined(USE_GYRO_SPI_ICM20689)
mpuDetect(&gyroSensor->gyroDev);
mpuDetect(&gyroSensor->gyroDev, config);
#endif
const gyroHardware_e gyroHardware = gyroDetect(&gyroSensor->gyroDev);
@ -536,79 +492,23 @@ bool gyroInit(void)
bool ret = false;
gyroToUse = gyroConfig()->gyro_to_use;
#if defined(USE_DUAL_GYRO) && defined(GYRO_1_CS_PIN)
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin = IOGetByTag(IO_TAG(GYRO_1_CS_PIN));
IOInit(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, RESOURCE_INDEX(0));
IOHi(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
IOConfigGPIO(gyroSensor1.gyroDev.bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
}
#endif
#if defined(USE_DUAL_GYRO) && defined(GYRO_2_CS_PIN)
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin = IOGetByTag(IO_TAG(GYRO_2_CS_PIN));
IOInit(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, OWNER_MPU_CS, RESOURCE_INDEX(1));
IOHi(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin); // Ensure device is disabled, important when two devices are on the same bus.
IOConfigGPIO(gyroSensor2.gyroDev.bus.busdev_u.spi.csnPin, SPI_IO_CS_CFG);
}
#endif
gyroSensor1.gyroDev.gyroAlign = ALIGN_DEFAULT;
#if defined(GYRO_1_EXTI_PIN)
gyroSensor1.gyroDev.mpuIntExtiTag = IO_TAG(GYRO_1_EXTI_PIN);
#elif defined(MPU_INT_EXTI)
gyroSensor1.gyroDev.mpuIntExtiTag = IO_TAG(MPU_INT_EXTI);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroSensor1.gyroDev.mpuIntExtiTag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroSensor1.gyroDev.mpuIntExtiTag = IO_TAG_NONE;
#endif // GYRO_1_EXTI_PIN
#ifdef USE_DUAL_GYRO
#ifdef GYRO_1_ALIGN
gyroSensor1.gyroDev.gyroAlign = GYRO_1_ALIGN;
#endif
gyroSensor1.gyroDev.bus.bustype = BUSTYPE_SPI;
spiBusSetInstance(&gyroSensor1.gyroDev.bus, GYRO_1_SPI_INSTANCE);
if (gyroToUse == GYRO_CONFIG_USE_GYRO_1 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
ret = gyroInitSensor(&gyroSensor1);
ret = gyroInitSensor(&gyroSensor1, gyroDeviceConfig(0));
if (!ret) {
return false; // TODO handle failure of first gyro detection better. - Perhaps update the config to use second gyro then indicate a new failure mode and reboot.
}
gyroHasOverflowProtection = gyroHasOverflowProtection && gyroSensor1.gyroDev.gyroHasOverflowProtection;
}
#else // USE_DUAL_GYRO
ret = gyroInitSensor(&gyroSensor1);
gyroHasOverflowProtection = gyroHasOverflowProtection && gyroSensor1.gyroDev.gyroHasOverflowProtection;
#endif // USE_DUAL_GYRO
#ifdef USE_DUAL_GYRO
gyroSensor2.gyroDev.gyroAlign = ALIGN_DEFAULT;
#if defined(GYRO_2_EXTI_PIN)
gyroSensor2.gyroDev.mpuIntExtiTag = IO_TAG(GYRO_2_EXTI_PIN);
#elif defined(USE_HARDWARE_REVISION_DETECTION)
gyroSensor2.gyroDev.mpuIntExtiTag = selectMPUIntExtiConfigByHardwareRevision();
#else
gyroSensor2.gyroDev.mpuIntExtiTag = IO_TAG_NONE;
#endif // GYRO_2_EXTI_PIN
#ifdef GYRO_2_ALIGN
gyroSensor2.gyroDev.gyroAlign = GYRO_2_ALIGN;
#endif
gyroSensor2.gyroDev.bus.bustype = BUSTYPE_SPI;
spiBusSetInstance(&gyroSensor2.gyroDev.bus, GYRO_2_SPI_INSTANCE);
#ifdef USE_MULTI_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2 || gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
ret = gyroInitSensor(&gyroSensor2);
ret = gyroInitSensor(&gyroSensor2, gyroDeviceConfig(1));
if (!ret) {
return false; // TODO handle failure of second gyro detection better. - Perhaps update the config to use first gyro then indicate a new failure mode and reboot.
}
gyroHasOverflowProtection = gyroHasOverflowProtection && gyroSensor2.gyroDev.gyroHasOverflowProtection;
}
#endif // USE_DUAL_GYRO
#ifdef USE_DUAL_GYRO
// Only allow using both gyros simultaneously if they are the same hardware type.
// If the user selected "BOTH" and they are not the same type, then reset to using only the first gyro.
if (gyroToUse == GYRO_CONFIG_USE_GYRO_BOTH) {
@ -620,7 +520,8 @@ bool gyroInit(void)
}
}
#endif // USE_DUAL_GYRO
#endif
return ret;
}
@ -778,7 +679,7 @@ static void gyroInitSensorFilters(gyroSensor_t *gyroSensor)
void gyroInitFilters(void)
{
gyroInitSensorFilters(&gyroSensor1);
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
gyroInitSensorFilters(&gyroSensor2);
#endif
}
@ -790,23 +691,21 @@ FAST_CODE bool isGyroSensorCalibrationComplete(const gyroSensor_t *gyroSensor)
FAST_CODE bool isGyroCalibrationComplete(void)
{
#ifdef USE_DUAL_GYRO
switch (gyroToUse) {
default:
case GYRO_CONFIG_USE_GYRO_1: {
return isGyroSensorCalibrationComplete(&gyroSensor1);
}
#ifdef USE_MULTI_GYRO
case GYRO_CONFIG_USE_GYRO_2: {
return isGyroSensorCalibrationComplete(&gyroSensor2);
}
case GYRO_CONFIG_USE_GYRO_BOTH: {
return isGyroSensorCalibrationComplete(&gyroSensor1) && isGyroSensorCalibrationComplete(&gyroSensor2);
}
}
#else
return isGyroSensorCalibrationComplete(&gyroSensor1);
#endif
}
}
static bool isOnFinalGyroCalibrationCycle(const gyroCalibration_t *gyroCalibration)
{
@ -832,7 +731,7 @@ void gyroStartCalibration(bool isFirstArmingCalibration)
{
if (!(isFirstArmingCalibration && firstArmingCalibrationWasStarted)) {
gyroSetCalibrationCycles(&gyroSensor1);
#ifdef USE_DUAL_GYRO
#ifdef USE_MULTI_GYRO
gyroSetCalibrationCycles(&gyroSensor2);
#endif
@ -1073,7 +972,6 @@ static FAST_CODE FAST_CODE_NOINLINE void gyroUpdateSensor(gyroSensor_t *gyroSens
FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
{
#ifdef USE_DUAL_GYRO
switch (gyroToUse) {
case GYRO_CONFIG_USE_GYRO_1:
gyroUpdateSensor(&gyroSensor1, currentTimeUs);
@ -1089,6 +987,7 @@ FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 0, lrintf(gyro.gyroADCf[X]));
DEBUG_SET(DEBUG_DUAL_GYRO_COMBINE, 1, lrintf(gyro.gyroADCf[Y]));
break;
#ifdef USE_MULTI_GYRO
case GYRO_CONFIG_USE_GYRO_2:
gyroUpdateSensor(&gyroSensor2, currentTimeUs);
if (isGyroSensorCalibrationComplete(&gyroSensor2)) {
@ -1125,14 +1024,9 @@ FAST_CODE void gyroUpdate(timeUs_t currentTimeUs)
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 1, lrintf(gyroSensor1.gyroDev.gyroADCf[Y] - gyroSensor2.gyroDev.gyroADCf[Y]));
DEBUG_SET(DEBUG_DUAL_GYRO_DIFF, 2, lrintf(gyroSensor1.gyroDev.gyroADCf[Z] - gyroSensor2.gyroDev.gyroADCf[Z]));
break;
}
#else
gyroUpdateSensor(&gyroSensor1, currentTimeUs);
gyro.gyroADCf[X] = gyroSensor1.gyroDev.gyroADCf[X];
gyro.gyroADCf[Y] = gyroSensor1.gyroDev.gyroADCf[Y];
gyro.gyroADCf[Z] = gyroSensor1.gyroDev.gyroADCf[Z];
#endif
}
}
bool gyroGetAccumulationAverage(float *accumulationAverage)
{
@ -1166,15 +1060,7 @@ int16_t gyroGetTemperature(void)
int16_t gyroRateDps(int axis)
{
#ifdef USE_DUAL_GYRO
if (gyroToUse == GYRO_CONFIG_USE_GYRO_2) {
return lrintf(gyro.gyroADCf[axis] / gyroSensor2.gyroDev.scale);
} else {
return lrintf(gyro.gyroADCf[axis] / gyroSensor1.gyroDev.scale);
}
#else
return lrintf(gyro.gyroADCf[axis] / gyroSensor1.gyroDev.scale);
#endif
return lrintf(gyro.gyroADCf[axis] / ACTIVE_GYRO->gyroDev.scale);
}
bool gyroOverflowDetected(void)

31
src/main/target/AG3X/target.h
View file

@ -42,21 +42,28 @@
#define BEEPER_INVERTED
#define USE_ACC
#define USE_GYRO
#define USE_ACC_SPI_MPU6000
#define USE_GYRO_SPI_MPU6000
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define ACC_MPU6000_ALIGN CW0_DEG_FLIP
#define GYRO_MPU6000_ALIGN CW0_DEG_FLIP
#define USE_ACC_SPI_MPU6500
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define MPU6500_CS_PIN MPU6000_CS_PIN
#define MPU6500_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define ACC_MPU6500_ALIGN CW0_DEG_FLIP
#define GYRO_MPU6500_ALIGN CW0_DEG_FLIP
#define USE_MULTI_GYRO
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_EXTI_PIN NONE
#define ACC_1_ALIGN CW0_DEG_FLIP
#define GYRO_1_ALIGN CW0_DEG_FLIP
#define GYRO_2_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PC15
#define GYRO_2_EXTI_PIN NONE
#define ACC_2_ALIGN CW0_DEG_FLIP
#define GYRO_2_ALIGN CW0_DEG_FLIP
#define USE_MAG
#define USE_MAG_HMC5883

22
src/main/target/AIKONF4/target.h
View file

@ -33,24 +33,22 @@
#define INVERTER_PIN_UART1 PC0
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_MPU_DATA_READY_SIGNAL
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define USE_GYRO_SPI_MPU6500
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW0_DEG
#define ACC_MPU6000_ALIGN CW0_DEG
#define USE_GYRO_SPI_MPU6500
#define USE_ACC_SPI_MPU6500
#define MPU6500_CS_PIN MPU6000_CS_PIN
#define MPU6500_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define GYRO_MPU6500_ALIGN GYRO_MPU6000_ALIGN
#define ACC_MPU6500_ALIGN ACC_MPU6000_ALIGN
#define ACC_1_ALIGN CW0_DEG
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO
#define USE_BARO_BMP280

21
src/main/target/AIR32/target.h
View file

@ -30,26 +30,27 @@
// MPU6050 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA15
#define USE_MPU_DATA_READY_SIGNAL
//#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_GYRO
#define USE_ACC
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW180_DEG
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW180_DEG
// MPU6050 support has been dropped according to board wiki
// https://github.com/betaflight/betaflight/wiki/Board---AIR32
//#define USE_GYRO_MPU6050
//#define USE_ACC_MPU6050
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define MPU6000_CS_PIN PB12
#define MPU6000_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define GYRO_1_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
//#define USE_BARO
//#define USE_BARO_MS5611

11
src/main/target/AIRHEROF3/target.h
View file

@ -32,23 +32,24 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_SPI
#define USE_SPI_DEVICE_2
#define MPU6500_CS_PIN PB12
#define MPU6500_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_BARO
#define USE_BARO_SPI_BMP280

4
src/main/target/ALIENFLIGHTF1/target.h
View file

@ -37,12 +37,12 @@
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_UART1
#define USE_UART2

3
src/main/target/ALIENFLIGHTF3/config.c
View file

@ -37,6 +37,7 @@
#include "flight/pid.h"
#include "pg/beeper_dev.h"
#include "pg/gyrodev.h"
#include "pg/rx.h"
#include "rx/rx.h"
@ -60,6 +61,8 @@
// alternative defaults settings for AlienFlight targets
void targetConfiguration(void)
{
gyroDeviceConfigMutable(0)->extiTag = selectMPUIntExtiConfigByHardwareRevision();
/* depending on revision ... depends on the LEDs to be utilised. */
if (hardwareRevision == AFF3_REV_2) {
statusLedConfigMutable()->inversion = 0

12
src/main/target/ALIENFLIGHTF3/target.h
View file

@ -49,15 +49,15 @@
#define USE_GYRO_MPU6050
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
// No baro support.
//#define USE_BARO
@ -106,8 +106,8 @@
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#define MPU6500_CS_PIN SPI3_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN SPI3_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI3
#define USE_ADC

11
src/main/target/ALIENFLIGHTF4/target.h
View file

@ -38,21 +38,22 @@
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC14
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC14
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_MAG
#define USE_MAG_HMC5883

11
src/main/target/ALIENFLIGHTNGF7/target.h
View file

@ -36,21 +36,22 @@
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC14
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC14
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_MAG
#define USE_MAG_HMC5883

11
src/main/target/ALIENWHOOP/target.h
View file

@ -121,10 +121,11 @@
*/
// Interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC14
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC14
// MPU
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
// MAG
@ -136,11 +137,11 @@
// GYRO
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
// ACC
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
/* Optional Digital Pressure Sensor (barometer) - Bosch BMP280
* TODO: not implemented on V1 or V2 pcb

12
src/main/target/ANYFCF7/target.h
View file

@ -31,20 +31,22 @@
#define BEEPER_PIN PB2 // Unused pin, can be mapped to elsewhere
#define BEEPER_INVERTED
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PC4
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PINPC4
#define USE_EXTI
#define USE_MAG

12
src/main/target/ANYFCM7/target.h
View file

@ -31,20 +31,22 @@
#define BEEPER_PIN PB2 // Unused pin, can be mapped to elsewhere
#define BEEPER_INVERTED
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PC4
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PINPC4
#define USE_EXTI
#define USE_MAG

15
src/main/target/BEEBRAIN_V2F/target.h
View file

@ -32,23 +32,24 @@
#define LED1_PIN PB2
#define USE_EXTI
#define MPU_INT_EXTI PB6
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PB6
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#if defined(BEESTORM)
#define GYRO_MPU6500_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#else
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#endif
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#if defined(BEESTORM)
#define ACC_MPU6500_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#else
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#endif
#define SERIAL_PORT_COUNT 4
@ -85,8 +86,8 @@
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
#define MPU6500_CS_PIN PA15
#define MPU6500_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN PA15
#define GYRO_1_SPI_INSTANCE SPI3
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI1

11
src/main/target/BEEROTORF4/target.h
View file

@ -33,21 +33,22 @@
// ICM20689 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PA8
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA8
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define ICM20689_CS_PIN SPI1_NSS_PIN
#define ICM20689_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_BARO
#define USE_BARO_BMP280

12
src/main/target/BETAFLIGHTF3/target.h
View file

@ -51,20 +51,22 @@
#define USABLE_TIMER_CHANNEL_COUNT 10
#define MPU6000_CS_PIN PA15
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA15
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PC13
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_EXTI
#define REMAP_TIM16_DMA

11
src/main/target/BETAFLIGHTF4/target.h
View file

@ -32,22 +32,23 @@
// PC13 used as inverter select GPIO for UART2
#define INVERTER_PIN_UART2 PC13
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO

13
src/main/target/BLUEJAYF4/target.h
View file

@ -47,22 +47,21 @@
// MPU6500 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC5
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC5
#define USE_MPU_DATA_READY_SIGNAL
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define MPU6500_CS_PIN PC4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_GYRO
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_MAG
#define USE_MAG_HMC5883

11
src/main/target/CC3D/target.h
View file

@ -31,7 +31,8 @@
#define BEEPER_OPT PA2
#define USE_EXTI
#define MPU_INT_EXTI PA3
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA3
#define USE_MPU_DATA_READY_SIGNAL
//#define DEBUG_MPU_DATA_READY_INTERRUPT
@ -39,8 +40,8 @@
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define FLASH_CS_PIN PB12
#define FLASH_SPI_INSTANCE SPI2
@ -50,11 +51,11 @@
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
// MPU6000 interrupts
#define USE_MPU_DATA_READY_SIGNAL

4
src/main/target/CHEBUZZF3/target.h
View file

@ -69,7 +69,7 @@
//#define L3GD20_CS_PIN PE3
//#define GYRO_L3GD20_ALIGN CW270_DEG
#define GYRO_MPU6050_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_MPU6050
@ -81,7 +81,7 @@
//#define LSM303DLHC_I2C_INT1_PIN PE4
//#define LSM303DLHC_I2C_INT2_PIN PE5
#define ACC_MPU6050_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_BARO
#define USE_BARO_MS5611

6
src/main/target/CHEBUZZF3/target.mk
View file

@ -6,12 +6,6 @@ TARGET_SRC = \
drivers/accgyro/accgyro_mpu.c \
drivers/accgyro/accgyro_mpu3050.c \
drivers/accgyro/accgyro_mpu6050.c \
drivers/accgyro_legacy/accgyro_l3gd20.c \
drivers/accgyro_legacy/accgyro_lsm303dlhc.c \
drivers/accgyro_legacy/accgyro_adxl345.c \
drivers/accgyro_legacy/accgyro_bma280.c \
drivers/accgyro_legacy/accgyro_mma845x.c \
drivers/accgyro_legacy/accgyro_l3g4200d.c \
drivers/barometer/barometer_ms5611.c \
drivers/barometer/barometer_bmp280.c \
drivers/compass/compass_ak8975.c

38
src/main/target/CJMCU/config.c Normal file
View file

@ -0,0 +1,38 @@
/*
* This file is part of Cleanflight and Betaflight.
*
* Cleanflight and Betaflight are free software. You can redistribute
* this software and/or modify this software 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 and Betaflight are distributed in the hope that they
* 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 this software.
*
* If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include "platform.h"
#ifdef USE_TARGET_CONFIG
#include "drivers/io_types.h"
#include "hardware_revision.h"
#include "pg/pg.h"
#include "pg/gyrodev.h"
void targetConfiguration(void)
{
gyroDeviceConfigMutable(0)->extiTag = selectMPUIntExtiConfigByHardwareRevision();
}
#endif

1
src/main/target/CJMCU/target.h
View file

@ -22,6 +22,7 @@
#define TARGET_BOARD_IDENTIFIER "CJM1" // CJMCU
#define USE_HARDWARE_REVISION_DETECTION
#define USE_TARGET_CONFIG
#define TARGET_BUS_INIT
#define LED0_PIN PC14

25
src/main/target/CLRACINGF4/target.h
View file

@ -38,32 +38,29 @@
#define INVERTER_PIN_UART1 PC0 // PC0 used as inverter select GPIO
#define CAMERA_CONTROL_PIN PB9 // define dedicated camera_osd_control pin
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
// MPU 6000
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_GYRO
// MPU 6000
#define USE_ACC_SPI_MPU6000
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW0_DEG
#define ACC_MPU6000_ALIGN CW0_DEG
// ICM-20602
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define GYRO_MPU6500_ALIGN CW0_DEG
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI3

26
src/main/target/CLRACINGF7/target.h
View file

@ -30,29 +30,27 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
//MPU-6000
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_GYRO
//MPU-6000
#define USE_ACC_SPI_MPU6000
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW0_DEG
#define ACC_MPU6000_ALIGN CW0_DEG
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
// ICM-20602
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define GYRO_MPU6500_ALIGN CW0_DEG
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI3

11
src/main/target/COLIBRI/target.h
View file

@ -37,20 +37,21 @@
#define INVERTER_PIN_UART2 PB2 // PB2 used as inverter select GPIO
#define MPU6000_CS_PIN PC4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG_FLIP
#define ACC_1_ALIGN CW270_DEG_FLIP
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG_FLIP
#define GYRO_1_ALIGN CW270_DEG_FLIP
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC0
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC0
#define USE_MPU_DATA_READY_SIGNAL
#define USE_MAG

18
src/main/target/COLIBRI_RACE/target.h
View file

@ -40,7 +40,8 @@
// MPU6500 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PA5
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA5
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
@ -52,25 +53,18 @@
#define SPI1_MOSI_PIN PB5
#define SPI1_NSS_PIN PA4
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_BARO
#define USE_BARO_MS5611

11
src/main/target/CRAZYBEEF3FR/target.h
View file

@ -63,16 +63,17 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PINPC13
#define USE_MPU_DATA_READY_SIGNAL
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6000_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define USE_VCP
#define USE_UART3

10
src/main/target/CRAZYFLIE2/target.h
View file

@ -82,17 +82,20 @@
#define USE_I2C_DEVICE_3
#define I2C_DEVICE (I2CDEV_3)
// This board only uses I2C acc/gyro
#undef USE_MULTI_GYRO
// MPU9250 has the AD0 pin held high so the
// address is 0x69 instead of the default 0x68
#define MPU_ADDRESS 0x69
#define USE_GYRO
#define USE_GYRO_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_MAG
#define USE_MPU9250_MAG // Enables bypass configuration on the MPU9250 I2C bus
@ -100,7 +103,8 @@
#define MAG_AK8963_ALIGN CW270_DEG
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_SERIALRX_TARGET_CUSTOM
#define SERIALRX_UART SERIAL_PORT_USART6

11
src/main/target/DALRCF405/target.h
View file

@ -40,7 +40,8 @@
#define SPI1_MOSI_PIN PA7
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
@ -55,14 +56,14 @@
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW90_DEG
//------MPU6000
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
//Baro & MAG-------------------------------
#define USE_I2C

18
src/main/target/DOGE/target.h
View file

@ -57,10 +57,8 @@
#define SPI2_NSS_PIN PB12
// tqfp48 pin 3
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
// tqfp48 pin 25
#define BMP280_CS_PIN SPI2_NSS_PIN
@ -73,19 +71,14 @@
#define FLASH_SPI_INSTANCE SPI2
#define USE_GYRO
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_BARO
#define USE_BARO_BMP280
@ -121,7 +114,8 @@
// mpu_int definition in sensors/initialisation.c
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW

11
src/main/target/EACHIF3/target.h
View file

@ -26,7 +26,8 @@
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA15
#define USE_MPU_DATA_READY_SIGNAL
@ -35,20 +36,20 @@
#define USE_SPI_DEVICE_2
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_SPI_INSTANCE SPI1
#define SPI1_SCK_PIN PB3
#define SPI1_MISO_PIN PB4
#define SPI1_MOSI_PIN PB5
#define MPU6500_CS_PIN PA5
#define GYRO_1_CS_PIN PA5
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define USE_RX_SPI

11
src/main/target/ELLE0/target.h
View file

@ -31,22 +31,23 @@
// MPU9250 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PB5
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN 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
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
// Using MPU6050 for the moment.
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
//#define USE_BARO
//#define USE_BARO_MS5611

11
src/main/target/F4BY/target.h
View file

@ -36,19 +36,20 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PB0
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PB0
#define USE_MPU_DATA_READY_SIGNAL
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_MAG
#define USE_MAG_HMC5883

42
src/main/target/FF_FORTINIF4/target.h
View file

@ -52,44 +52,32 @@
/*------------SENSORS--------------*/
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_GYRO
#define USE_ACC
#if !defined(FF_FORTINIF4_REV03)
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ICM20689_CS_PIN SPI1_NSS_PIN
#define ICM20689_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6500
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW180_DEG
#define GYRO_1_SPI_INSTANCE SPI1
#if defined(FF_FORTINIF4_REV03)
#define GYRO_1_CS_PIN PA4
#else
#define GYRO_1_CS_PIN PA8
#endif
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
#define USE_ACC_MPU6500
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_1_ALIGN CW180_DEG
/*---------------------------------*/
#if !defined(FF_FORTINIF4_REV03)

11
src/main/target/FF_PIKOBLX/target.h
View file

@ -45,20 +45,21 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA15
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#define MPU6000_CS_GPIO GPIOB
#define MPU6000_CS_PIN PB12
#define MPU6000_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define USE_VCP
#define USE_UART1

25
src/main/target/FF_PIKOF4/target.h
View file

@ -46,38 +46,29 @@
/*------------SENSORS--------------*/
// MPU interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#if defined(FF_PIKOF4OSD)
#define MPU6000_CS_PIN PA15
#define MPU6000_SPI_INSTANCE SPI3
#define MPU6500_CS_PIN PA15
#define MPU6500_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN PA15
#define GYRO_1_SPI_INSTANCE SPI3
#else
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#endif
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
/*---------------------------------*/
#if defined(FF_PIKOF4OSD)

11
src/main/target/FISHDRONEF4/target.h
View file

@ -38,23 +38,24 @@
#define INVERTER_PIN_UART6 PC8
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
// *************** Gyro & ACC **********************
#define USE_SPI
#define USE_SPI_DEVICE_1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
// *************** UART *****************************
#define USE_VCP

11
src/main/target/FOXEERF405/target.h
View file

@ -40,7 +40,8 @@
#define SPI1_MOSI_PIN PA7
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
@ -55,14 +56,14 @@
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW90_DEG
//------MPU6000
#define MPU6000_CS_PIN PB2
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PB2
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
//Baro & MAG-------------------------------
#define USE_I2C

15
src/main/target/FRSKYF3/target.h
View file

@ -53,29 +53,30 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PINPC13
#define USE_MPU_DATA_READY_SIGNAL
#define EXTI15_10_CALLBACK_HANDLER_COUNT 1 // MPU_INT, SDCardDetect
#define MPU_ADDRESS 0x69
#ifdef MYMPU6000
#define MPU6000_SPI_INSTANCE SPI2
#define MPU6000_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#else
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#endif
#define USE_VCP

11
src/main/target/FRSKYF4/target.h
View file

@ -31,8 +31,8 @@
#define INVERTER_PIN_UART6 PC8
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
@ -40,11 +40,12 @@
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define ACC_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO

34
src/main/target/FURYF3/target.h
View file

@ -64,40 +64,28 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PA3
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA3
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define ICM20689_CS_PIN PA4
#define ICM20689_SPI_INSTANCE SPI1
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW180_DEG
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW90_DEG
#define USE_GYRO_SPI_ICM20689
// MPU6000 and ICM20689 are CW180 aligned.
// MPU6500 is CW90 aligned, but can't handle this.
// Must be configured after flashing.
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW90_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_1_ALIGN CW180_DEG
#define USE_SPI
#define USE_SPI_DEVICE_1

33
src/main/target/FURYF4/target.h
View file

@ -39,41 +39,24 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define ICM20689_CS_PIN PA4
#define ICM20689_SPI_INSTANCE SPI1
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW180_DEG
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
#define USE_GYRO_SPI_ICM20689
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_1_ALIGN CW180_DEG
#ifdef FURYF4OSD
#define USE_MAX7456

11
src/main/target/FURYF7/target.h
View file

@ -32,19 +32,20 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define ICM20689_CS_PIN PA4
#define ICM20689_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
//#define USE_BARO
//#define USE_BARO_MS5611

11
src/main/target/IMPULSERCF3/target.h
View file

@ -50,17 +50,18 @@
#define BEEPER_PIN PC15
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_FLASHFS
#define USE_FLASH_M25P16
@ -93,8 +94,8 @@
#define FLASH_CS_PIN PB12
#define FLASH_SPI_INSTANCE SPI2
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_MAX7456
#define MAX7456_SPI_INSTANCE SPI1

7
src/main/target/IRCFUSIONF3/target.h
View file

@ -26,17 +26,18 @@
#define LED0_PIN PB3
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_BARO
#define USE_BARO_BMP085

5
src/main/target/ISHAPEDF3/target.h
View file

@ -31,7 +31,8 @@
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
@ -40,11 +41,9 @@
#define USE_GYRO
#define USE_GYRO_MPU6500
//#define USE_GYRO_SPI_MPU6500
#define USE_ACC
#define USE_ACC_MPU6500
//#define USE_ACC_SPI_MPU6500
#define USE_BARO
#define USE_BARO_BMP280

11
src/main/target/KAKUTEF4/target.h
View file

@ -56,21 +56,22 @@
// ICM20689 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PC5
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC5
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define ICM20689_CS_PIN PC4
#define ICM20689_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#if defined(FLYWOOF405)
//------MPU6000

23
src/main/target/KAKUTEF7/target.h
View file

@ -31,26 +31,24 @@
#define BEEPER_PIN PD15
#define BEEPER_INVERTED
//define camera control
#define CAMERA_CONTROL_PIN PE13
#define USE_ACC
#define USE_GYRO
#define USE_EXTI
// ICM-20689
#define USE_ACC_SPI_ICM20689
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW270_DEG
#define ACC_ICM20689_ALIGN CW270_DEG
#define MPU_INT_EXTI PE1
#define ICM20689_CS_PIN SPI4_NSS_PIN
#define ICM20689_SPI_INSTANCE SPI4
#define GYRO_1_CS_PIN ICM20689_CS_PIN
#define GYRO_1_SPI_INSTANCE ICM20689_SPI_INSTANCE
#define ACC_1_ALIGN ACC_ICM20689_ALIGN
#define GYRO_1_ALIGN GYRO_ICM20689_ALIGN
#define GYRO_1_CS_PIN SPI4_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI4
#define GYRO_1_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PE1
#define USE_MPU_DATA_READY_SIGNAL
#define USE_EXTI
#define USE_VCP
#define USE_USB_DETECT
@ -173,4 +171,3 @@
#define USABLE_TIMER_CHANNEL_COUNT 8
#define USED_TIMERS ( TIM_N(1) | TIM_N(5) | TIM_N(3) | TIM_N(4) | TIM_N(8) )

12
src/main/target/KISSFC/target.h
View file

@ -36,19 +36,21 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PB2
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PB2
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#ifdef KISSCC
#define USE_TARGET_CONFIG
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define TARGET_DEFAULT_MIXER MIXER_QUADX_1234
@ -56,11 +58,11 @@
#else
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#endif
#define USE_VCP

8
src/main/target/KISSFCV2F7/target.h
View file

@ -34,16 +34,16 @@
#define BEEPER_PIN PC9
#define BEEPER_INVERTED
#define MPU6000_CS_PIN PB12
#define MPU6000_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define USE_SPI

14
src/main/target/KIWIF4/target.h
View file

@ -49,21 +49,19 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#if defined(KIWIF4) || defined(KIWIF4V2)
#define USE_MAX7456

11
src/main/target/KROOZX/target.h
View file

@ -39,21 +39,22 @@
#define INVERTER_PIN_UART1 PB13
#define INVERTER_PIN_UART6 PB12
#define MPU6000_CS_PIN PB2
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PB2
#define GYRO_1_SPI_INSTANCE SPI1
// MPU6000 interrupts
#define USE_EXTI
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PA4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA4
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_MAG
#define USE_MAG_HMC5883

11
src/main/target/LUMBAF3/target.h
View file

@ -27,15 +27,16 @@
#define BEEPER_PIN PC15
#define USE_EXTI
#define MPU_INT_EXTI PA3
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA3
#define USE_MPU_DATA_READY_SIGNAL
#define USE_SPI
#define USE_SPI_DEVICE_1
#define USE_SPI_DEVICE_2
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define FLASH_CS_PIN PB12
#define FLASH_SPI_INSTANCE SPI2
@ -45,11 +46,11 @@
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define USE_VCP
#define USE_UART1

19
src/main/target/LUX_RACE/target.h
View file

@ -51,7 +51,8 @@
// MPU6500 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PA5
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA5
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
@ -92,31 +93,27 @@
#define SDCARD_DMA_CHANNEL_TX DMA1_Channel5
#endif
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN SPI1_NSS_PIN
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_GYRO
#ifdef LUXV2_RACE
#define USE_GYRO_MPU6000
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#else
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#endif
#define USE_ACC
#ifdef LUXV2_RACE
#define USE_ACC_MPU6000
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#else
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#endif
#define USE_VCP

21
src/main/target/MATEKF405/target.h
View file

@ -40,29 +40,28 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define MPU6000_CS_PIN PC2
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC2
#define GYRO_1_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PC2
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC2
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_EXTI
#define MPU_INT_EXTI PC3
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC3
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW270_DEG
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW270_DEG
//#define GYRO_1_ALIGN CW180_DEG // XXX MPU6500 align, must be configured after flashing
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW270_DEG
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define ACC_1_ALIGN CW270_DEG
//#define ACC_1_ALIGN CW180_DEG // XXX MPU6500 align, must be configured after flashing
#define USE_MAG
#define USE_MAG_HMC5883

19
src/main/target/MATEKF411/target.h
View file

@ -38,27 +38,22 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN PA4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_EXTI
#define MPU_INT_EXTI PA1
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA1
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_GYRO_SPI_MPU6500
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
// *************** Baro **************************
#define USE_I2C

11
src/main/target/MATEKF411RX/target.h
View file

@ -37,19 +37,20 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_EXTI
#define MPU_INT_EXTI PA1
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA1
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
// *************** SPI2 OSD *****************************
#define USE_SPI_DEVICE_2

17
src/main/target/MATEKF722/target.h
View file

@ -41,29 +41,28 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
#define MPU6500_CS_PIN PC2
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC2
#define GYRO_1_SPI_INSTANCE SPI1
#define ICM20689_CS_PIN PC2
#define ICM20689_SPI_INSTANCE SPI1
#define USE_EXTI
#define MPU_INT_EXTI PC3
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC3
#define USE_MPU_DATA_READY_SIGNAL
#define USE_GYRO
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW180_DEG
#define USE_GYRO_SPI_ICM20689
#define GYRO_ICM20689_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW180_DEG
//#define GYRO_ICM20689_ALIGN CW90_DEG // XXX has to be post-flash configured
#define USE_ACC
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW180_DEG
#define USE_ACC_SPI_ICM20689
#define ACC_ICM20689_ALIGN CW90_DEG
#define ACC_1_ALIGN CW180_DEG
//#define ACC_ICM20689_ALIGN CW90_DEG // XXX has to be post-flash configured
// *************** Baro **************************
#define USE_I2C

4
src/main/target/MICROSCISKY/target.h
View file

@ -51,11 +51,11 @@
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_BARO
#define USE_BARO_MS5611

7
src/main/target/MIDELICF3/target.h
View file

@ -38,14 +38,15 @@
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_EXTI
#define MPU_INT_EXTI PA13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA13
#define USE_MPU_DATA_READY_SIGNAL
#define USE_VCP

17
src/main/target/MOTOLAB/target.h
View file

@ -33,7 +33,8 @@
// MPU6050 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PA15
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA15
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
@ -41,20 +42,16 @@
#define USE_ACC
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW180_DEG
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW180_DEG
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define MPU6000_CS_GPIO GPIOB
#define MPU6000_CS_PIN PB12
#define MPU6000_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define ACC_1_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_VCP
#define USE_UART1

11
src/main/target/MOTOLABF4/target.h
View file

@ -38,20 +38,21 @@
#define BEEPER_PIN PB4
#define BEEPER_INVERTED
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC5
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC5
#define USE_MPU_DATA_READY_SIGNAL
//#define ENSURE_MPU_DATA_READY_IS_LOW
//#define EXTI_CALLBACK_HANDLER_COUNT 1 // MPU data ready

7
src/main/target/MULTIFLITEPICO/target.h
View file

@ -31,17 +31,18 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_MPU_DATA_READY_SIGNAL
#define ENSURE_MPU_DATA_READY_IS_LOW
#define USE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define USE_BARO
#define USE_BARO_MS5611

2
src/main/target/NAZE/config.c
View file

@ -61,6 +61,8 @@ void targetConfiguration(void)
motorConfigMutable()->minthrottle = 1049;
gyroDeviceConfigMutable()->extiTag = selectMPUIntExtiConfigByHardwareRevision();
gyroConfigMutable()->gyro_hardware_lpf = GYRO_HARDWARE_LPF_1KHZ_SAMPLE;
gyroConfigMutable()->gyro_soft_lpf_hz = 100;
gyroConfigMutable()->gyro_soft_notch_hz_1 = 0;

14
src/main/target/NAZE/target.h
View file

@ -58,7 +58,8 @@
#define USE_EXTI
#define MAG_INT_EXTI PC14
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define MMA8451_INT_PIN PA5
#define USE_MPU_DATA_READY_SIGNAL
@ -74,8 +75,8 @@
#define FLASH_CS_PIN NAZE_SPI_CS_PIN
#define FLASH_SPI_INSTANCE NAZE_SPI_INSTANCE
#define MPU6500_CS_PIN NAZE_SPI_CS_PIN
#define MPU6500_SPI_INSTANCE NAZE_SPI_INSTANCE
#define GYRO_1_CS_PIN NAZE_SPI_CS_PIN
#define GYRO_1_SPI_INSTANCE NAZE_SPI_INSTANCE
#define USE_FLASHFS
#define USE_FLASH_M25P16
@ -86,9 +87,7 @@
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU3050_ALIGN CW0_DEG
#define GYRO_MPU6050_ALIGN CW0_DEG
#define GYRO_MPU6500_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_ACC
//#define USE_ACC_ADXL345
@ -99,10 +98,9 @@
#define USE_ACC_SPI_MPU6500
//#define ACC_ADXL345_ALIGN CW270_DEG
#define ACC_MPU6050_ALIGN CW0_DEG
//#define ACC_MMA8452_ALIGN CW90_DEG
//#define ACC_BMA280_ALIGN CW0_DEG
#define ACC_MPU6500_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_BARO
#define USE_BARO_MS5611 // needed for Flip32 board

4
src/main/target/NAZE/target.mk
View file

@ -2,10 +2,6 @@ F1_TARGETS += $(TARGET)
FEATURES = ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_legacy/accgyro_adxl345.c \
drivers/accgyro_legacy/accgyro_bma280.c \
drivers/accgyro_legacy/accgyro_l3g4200d.c \
drivers/accgyro_legacy/accgyro_mma845x.c \
drivers/accgyro/accgyro_mpu.c \
drivers/accgyro/accgyro_mpu3050.c \
drivers/accgyro/accgyro_mpu6050.c \

13
src/main/target/NERO/target.h
View file

@ -37,22 +37,21 @@
// MPU6500 interrupt
#define USE_EXTI
#define MPU_INT_EXTI PB2
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PB2
#define USE_MPU_DATA_READY_SIGNAL
//#define DEBUG_MPU_DATA_READY_INTERRUPT
#define MPU6500_CS_PIN PC4
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PC4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define ACC_MPU6500_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define USE_GYRO
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
#define GYRO_MPU6500_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define USE_SDCARD

10
src/main/target/NOX/target.h
View file

@ -41,14 +41,12 @@
#define USE_GYRO_SPI_MPU6500
#define USE_GYRO_SPI_MPU6000
#define MPU6500_CS_PIN PB12
#define MPU6500_SPI_INSTANCE SPI2
#define MPU6000_CS_PIN PB12
#define MPU6000_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define GYRO_1_SPI_INSTANCE SPI2
#define USE_EXTI
#define MPU_INT_EXTI PA8
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PA8
#define USE_MPU_DATA_READY_SIGNAL
#define USE_BARO

7
src/main/target/NUCLEOF446RE/target.h
View file

@ -51,11 +51,8 @@
#define USE_ACC_SPI_MPU6500
#define USE_ACC_SPI_MPU9250
#define MPU9250_CS_PIN PB12
#define MPU9250_SPI_INSTANCE SPI2
#define MPU6500_CS_PIN PB12
#define MPU6500_SPI_INSTANCE SPI2
#define GYRO_1_SPI_INSTANCE SPI2
#define GYRO_1_CS_PIN PB12
#define USE_EXTI

10
src/main/target/NUCLEOF7/target.h
View file

@ -33,19 +33,23 @@
#define BEEPER_PIN PA0
#define BEEPER_INVERTED
#undef USE_MULTI_GYRO // XXX Drop this if target has I2C configured
#define USE_ACC
#define USE_FAKE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_FAKE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
// MPU6050 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PB15
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PB15
#define USE_EXTI
#define USE_MAG

10
src/main/target/NUCLEOF722/target.h
View file

@ -33,19 +33,23 @@
//#define BEEPER_PIN PA0
//#define BEEPER_INVERTED
#undef USE_MULTI_GYRO
#define USE_ACC
#define USE_FAKE_ACC
#define USE_ACC_MPU6050
#define ACC_MPU6050_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#define USE_GYRO
#define USE_FAKE_GYRO
#define USE_GYRO_MPU6050
#define GYRO_MPU6050_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
// MPU6050 interrupts
#define USE_MPU_DATA_READY_SIGNAL
#define MPU_INT_EXTI PB15
#define USE_EXTI
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PINPB15
#define USE_EXTI
#define USE_MAG

11
src/main/target/OMNIBUS/target.h
View file

@ -56,19 +56,20 @@
#define BEEPER_INVERTED
#define USE_EXTI
#define MPU_INT_EXTI PC13
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC13
#define USE_MPU_DATA_READY_SIGNAL
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6000_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define BMP280_SPI_INSTANCE SPI1
#define BMP280_CS_PIN PA13

35
src/main/target/OMNIBUSF4/target.h
View file

@ -71,29 +71,33 @@
#define INVERTER_PIN_UART1 PC0 // DYS F4 Pro; Omnibus F4 AIO (1st gen) have a FIXED inverter on UART1
#endif
#define USE_EXTI
#define USE_MULTI_GYRO
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
#if defined(OMNIBUSF4SD)
#define GYRO_MPU6000_ALIGN CW270_DEG
#define ACC_MPU6000_ALIGN CW270_DEG
#define GYRO_1_ALIGN CW270_DEG
#define ACC_1_ALIGN CW270_DEG
#elif defined(XRACERF4) || defined(EXUAVF4PRO)
#define GYRO_MPU6000_ALIGN CW90_DEG
#define ACC_MPU6000_ALIGN CW90_DEG
#define GYRO_1_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#else
#define GYRO_MPU6000_ALIGN CW180_DEG
#define ACC_MPU6000_ALIGN CW180_DEG
#define GYRO_1_ALIGN CW180_DEG
#define ACC_1_ALIGN CW180_DEG
#endif
// Support for iFlight OMNIBUS F4 V3
@ -102,12 +106,15 @@
#if defined (OMNIBUSF4SD) || defined(OMNIBUSF4BASE)
#define USE_ACC_SPI_MPU6500
#define USE_GYRO_SPI_MPU6500
#define MPU6500_CS_PIN MPU6000_CS_PIN
#define MPU6500_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define GYRO_MPU6500_ALIGN GYRO_MPU6000_ALIGN
#define ACC_MPU6500_ALIGN ACC_MPU6000_ALIGN
#endif
// Dummy defines
#define GYRO_2_SPI_INSTANCE GYRO_1_SPI_INSTANCE
#define GYRO_2_CS_PIN NONE
#define GYRO_2_ALIGN ALIGN_DEFAULT
#define GYRO_2_EXTI_PIN NONE
#define ACC_2_ALIGN ALIGN_DEFAULT
#define USE_MAG
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883

4
src/main/target/OMNIBUSF4FW/target.h
View file

@ -68,7 +68,9 @@
// MPU6000 interrupts
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define GYRO_2_EXTI_PIN NONE
#define USE_MPU_DATA_READY_SIGNAL
#define USE_MAG

80
src/main/target/OMNIBUSF7/target.h
View file

@ -46,66 +46,48 @@
#define USE_GYRO
#define USE_DUAL_GYRO
// ICM-20608-G
#define USE_ACC_MPU6500
#define USE_ACC_SPI_MPU6500
#define USE_GYRO_MPU6500
#define USE_GYRO_SPI_MPU6500
//#define MPU_INT_EXTI PE8
// MPU6000
#define USE_ACC_MPU6000
#define USE_ACC_SPI_MPU6000
#define USE_GYRO_MPU6000
#define USE_GYRO_SPI_MPU6000
//#define MPU_INT_EXTI PD0
// Provisioned, but not used
#define GYRO_1_EXTI_PIN NONE
#define GYRO_2_EXTI_PIN NONE
#if defined(OMNIBUSF7V2)
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN SPI3_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN MPU6500_CS_PIN
#define GYRO_2_CS_PIN MPU6000_CS_PIN
#define GYRO_MPU6500_ALIGN CW90_DEG
#define ACC_MPU6500_ALIGN CW90_DEG
#define GYRO_MPU6000_ALIGN ALIGN_DEFAULT
#define ACC_MPU6000_ALIGN ALIGN_DEFAULT
#define ACC_1_ALIGN ACC_MPU6500_ALIGN
#define ACC_2_ALIGN ACC_MPU6000_ALIGN
#define GYRO_1_ALIGN GYRO_MPU6500_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6000_ALIGN
#define GYRO_1_SPI_INSTANCE MPU6500_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE MPU6000_SPI_INSTANCE
#elif defined(FPVM_BETAFLIGHTF7)
#define MPU6000_CS_PIN SPI1_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI1
#define MPU6500_CS_PIN SPI3_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN MPU6000_CS_PIN
#define GYRO_2_CS_PIN MPU6500_CS_PIN
#define GYRO_MPU6500_ALIGN CW270_DEG
#define ACC_MPU6500_ALIGN CW270_DEG
#define GYRO_MPU6000_ALIGN CW90_DEG
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_1_ALIGN ACC_MPU6000_ALIGN
#define ACC_2_ALIGN ACC_MPU6500_ALIGN
#define GYRO_1_ALIGN GYRO_MPU6000_ALIGN
#define GYRO_2_ALIGN GYRO_MPU6500_ALIGN
#define GYRO_1_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE MPU6500_SPI_INSTANCE
#else
#define MPU6000_CS_PIN SPI3_NSS_PIN
#define MPU6000_SPI_INSTANCE SPI3
#define MPU6500_CS_PIN SPI1_NSS_PIN
#define MPU6500_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN MPU6000_CS_PIN
#define GYRO_2_CS_PIN MPU6500_CS_PIN
#define ACC_1_ALIGN ALIGN_DEFAULT
#define ACC_2_ALIGN ALIGN_DEFAULT
#define GYRO_1_ALIGN ALIGN_DEFAULT
#define GYRO_1_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN PA15
#define GYRO_2_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PA4
#define GYRO_1_ALIGN CW90_DEG
#define GYRO_2_ALIGN ALIGN_DEFAULT
#define GYRO_1_SPI_INSTANCE MPU6000_SPI_INSTANCE
#define GYRO_2_SPI_INSTANCE MPU6500_SPI_INSTANCE
#define ACC_1_ALIGN CW90_DEG
#define ACC_2_ALIGN ALIGN_DEFAULT
#elif defined(FPVM_BETAFLIGHTF7)
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_2_SPI_INSTANCE SPI3
#define GYRO_2_CS_PIN PA15
#define GYRO_1_ALIGN CW90_DEG
#define ACC_1_ALIGN CW90_DEG
#define GYRO_2_ALIGN CW270_DEG
#define ACC_2_ALIGN CW270_DEG
#else
#define GYRO_1_SPI_INSTANCE SPI3
#define GYRO_1_CS_PIN PA15
#define GYRO_2_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PA4
#define GYRO_1_ALIGN ALIGN_DEFAULT
#define ACC_1_ALIGN ALIGN_DEFAULT
#define GYRO_2_ALIGN ALIGN_DEFAULT
#define ACC_2_ALIGN ALIGN_DEFAULT
#endif
// TODO: dual gyro support

1
src/main/target/OMNINXT/hardware_revision.c
View file

@ -296,6 +296,7 @@ void updateHardwareRevision(void)
// Empty
}
// XXX Can be gone as sensors/gyro.c is not calling this anymore
ioTag_t selectMPUIntExtiConfigByHardwareRevision(void)
{
return IO_TAG_NONE;

13
src/main/target/OMNINXT/target.h
View file

@ -46,6 +46,10 @@
#define USE_ACC
#define USE_GYRO
// MPU interrupts
//#define USE_EXTI
//#define USE_GYRO_EXTI
//#define USE_MPU_DATA_READY_SIGNAL
// For debugging with NUC405RG
#define USE_FAKE_ACC
@ -57,25 +61,20 @@
#define USE_ACC_SPI_MPU6500
#define USE_GYRO_SPI_MPU6500
#define USE_DUAL_GYRO
#define GYRO_1_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PB12 // Onboard IMU
#define GYRO_1_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
#define GYRO_1_EXTI_PIN NONE
#define GYRO_2_SPI_INSTANCE SPI1
#define GYRO_2_CS_PIN PA8 // External IMU
#define GYRO_2_ALIGN CW0_DEG
#define ACC_2_ALIGN CW0_DEG
#define GYRO_2_EXTI_PIN NONE
#define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
// MPU interrupts
//#define USE_EXTI
//#define MPU_INT_EXTI PC4
//#define USE_MPU_DATA_READY_SIGNAL
#define USE_MAG
#define MAG_I2C_INSTANCE (I2CDEV_1)
#define USE_MAG_HMC5883

11
src/main/target/PYRODRONEF4/target.h
View file

@ -30,7 +30,8 @@
#define INVERTER_PIN_UART1 PC3 // PC3 used as sBUS inverter select GPIO
#define USE_EXTI
#define MPU_INT_EXTI PC4
#define USE_GYRO_EXTI
#define GYRO_1_EXTI_PIN PC4
#define USE_MPU_DATA_READY_SIGNAL
// DEFINE SPI USAGE
@ -38,14 +39,14 @@
#define USE_SPI_DEVICE_1
// MPU 6000
#define MPU6000_CS_PIN PA4
#define MPU6000_SPI_INSTANCE SPI1
#define GYRO_1_CS_PIN PA4
#define GYRO_1_SPI_INSTANCE SPI1
#define USE_ACC
#define USE_ACC_SPI_MPU6000
#define USE_GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW0_DEG
#define ACC_MPU6000_ALIGN CW0_DEG
#define GYRO_1_ALIGN CW0_DEG
#define ACC_1_ALIGN CW0_DEG
// DEFINE OSD
#define USE_SPI_DEVICE_2

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