"Register 104" bits 2 to 0 are used to reset the analog and digital signal paths of the gyroscope, accelerometer, and temperature sensors. so that 'BIT_GYRO' should be 0x04 instead of 3.
reference: https://www.invensense.com/wp-content/uploads/2015/02/MPU-6000-Register-Map1.pdf @4.27 Register 104 – Signal Path Reset SIGNAL_PATH_RESET
Comment and code behavior do not match.
The code is set to 2000, but the comment is 1000.
To use, include `cli/cli_debug_print.h` in your code and be sure `USE_CLI_DEBUG_PRINT` is defined. Then you'll have access to the following functions to print debugging messages in the CLI:
```
cliDebugPrintLineFeed
cliDebugPrint
cliDebugPrintLine
cliDebugPrintf
cliDebugPrintLinef
```
Output is suppressed when the CLI is not open.
May interfere with the autocomplete initialization when first entering the CLI if your code is outputting data when the CLI first opens. But as this is only meant for debugging it shouldn't be much of a concern.
You may also need to rate limit your messages if printing data in a loop.
All of the debugging code must be removed from any completed code before submission.
NUCLEOF103RG is a target for Nucleo-F103RG (Nucleo-F103RB transplanted
with STM32F103RG which has 1MB of FLASH).
Such hardware with this target comes in handy when a firmware that
doesn't fit in smaller FLASH variant when compiled with DEBUG option.
The target definition files are straight copy of NAZE, except LED0_PIN
has been redefined to use Nucleo's LD2 (User LED).
It is also easy to convert exisiting F1 targets to be built to run on
the Nucleo-F103RG board:
- Add
#define FLASH_PAGE_SIZE 0x800
to target.h
- Also add
#undef USE_DSHOT
#undef USE_LED_STRIP
#undef USE_TRANSPONDER
#undef USE_CAMERA_CONTROL
to target.h to avoid non-F1 compatible code from getting in.
- Add
FLASH_SIZE = 1024
to target.mk
Affected all unified targets as USE_VTX_RTC6705 must be defined to allow supporting that VTX option. Would cause the low power index settings for RTC6705 to override the settings for other VTX type and set the vtxtable power level index to 2 instead of 1.
Adds a fixed delay after the motors are enabled before DSHOT commands can be sent. Fixes a problem caused by sending DSHOT commands too soon and prevent the ESC from properly detecting the protocol.
