Mirror/inav
1
0
Fork 0
mirror of https://github.com/iNavFlight/inav.git synced 2025-07-24 08:45:31 +03:00
Code Issues Wiki Activity

Various betaflight catchups

Browse source
This commit is contained in:
Martin Budden 2016-08-09 20:12:21 +01:00
parent c65e9c9816
commit 289d0705dd
14 changed files with 51 additions and 27 deletions
Download patch file Download diff file Expand all files Collapse all files

7
src/main/config/config.h
View file

@ -47,10 +47,9 @@ typedef enum {
FEATURE_TRANSPONDER = 1 << 21, FEATURE_TRANSPONDER = 1 << 21,
FEATURE_AIRMODE = 1 << 22, FEATURE_AIRMODE = 1 << 22,
FEATURE_SUPEREXPO_RATES = 1 << 23, FEATURE_SUPEREXPO_RATES = 1 << 23,
FEATURE_OSD = 1 << 24, FEATURE_VTX = 1 << 24,
FEATURE_VTX = 1 << 25, FEATURE_RX_NRF24 = 1 << 25,
FEATURE_RX_NRF24 = 1 << 26, FEATURE_SOFTSPI = 1 << 26,
FEATURE_SOFTSPI = 1 << 27,
} features_e; } features_e;
typedef enum { typedef enum {

5
src/main/drivers/accgyro_mpu6050.c
View file

@ -1,4 +1,4 @@
/* /*
* This file is part of Cleanflight. * This file is part of Cleanflight.
* *
* Cleanflight is free software: you can redistribute it and/or modify * Cleanflight is free software: you can redistribute it and/or modify
@ -20,11 +20,10 @@
#include <stdlib.h> #include <stdlib.h>
#include "platform.h" #include "platform.h"
#include "build/build_config.h" #include "build/build_config.h"
#include "build/debug.h" #include "build/debug.h"
#include "common/maths.h" #include "common/maths.h"
#include "nvic.h" #include "nvic.h"

7
src/main/drivers/accgyro_mpu6500.c
View file

@ -93,10 +93,15 @@ void mpu6500GyroInit(uint8_t lpf)
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0); mpuConfiguration.write(MPU_RA_PWR_MGMT_1, 0);
delay(100); delay(100);
mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL); mpuConfiguration.write(MPU_RA_PWR_MGMT_1, INV_CLK_PLL);
delay(15);
mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); mpuConfiguration.write(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);
delay(15);
mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); mpuConfiguration.write(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
delay(15);
mpuConfiguration.write(MPU_RA_CONFIG, lpf); mpuConfiguration.write(MPU_RA_CONFIG, lpf);
delay(15);
mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxCalculateDivider()); // Get Divider mpuConfiguration.write(MPU_RA_SMPLRT_DIV, gyroMPU6xxxCalculateDivider()); // Get Divider
delay(100);
// Data ready interrupt configuration // Data ready interrupt configuration
#ifdef USE_MPU9250_MAG #ifdef USE_MPU9250_MAG
@ -104,9 +109,7 @@ void mpu6500GyroInit(uint8_t lpf)
#else #else
mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN mpuConfiguration.write(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 0 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN
#endif #endif
#ifdef USE_MPU_DATA_READY_SIGNAL #ifdef USE_MPU_DATA_READY_SIGNAL
mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable mpuConfiguration.write(MPU_RA_INT_ENABLE, 0x01); // RAW_RDY_EN interrupt enable
#endif #endif
} }

2
src/main/drivers/accgyro_spi_mpu6000.c
View file

@ -235,7 +235,7 @@ static void mpu6000AccAndGyroInit(void)
// Accel Sample Rate 1kHz // Accel Sample Rate 1kHz
// Gyroscope Output Rate = 1kHz when the DLPF is enabled // Gyroscope Output Rate = 1kHz when the DLPF is enabled
mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxCalculateDivider()); mpu6000WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxCalculateDivider());
delayMicroseconds(1); delayMicroseconds(15);
// Gyro +/- 1000 DPS Full Scale // Gyro +/- 1000 DPS Full Scale
mpu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3); mpu6000WriteRegister(MPU_RA_GYRO_CONFIG, INV_FSR_2000DPS << 3);

1
src/main/drivers/accgyro_spi_mpu6500.c
View file

@ -17,7 +17,6 @@
#include <stdbool.h> #include <stdbool.h>
#include <stdint.h> #include <stdint.h>
#include <stdlib.h>
#include "platform.h" #include "platform.h"

8
src/main/drivers/accgyro_spi_mpu9250.c
View file

@ -27,7 +27,8 @@
#include <stdint.h> #include <stdint.h>
#include "platform.h" #include "platform.h"
#include "light_led.h"
#include "build/debug.h"
#include "common/axis.h" #include "common/axis.h"
#include "common/maths.h" #include "common/maths.h"
@ -38,8 +39,7 @@
#include "exti.h" #include "exti.h"
#include "bus_spi.h" #include "bus_spi.h"
#include "gyro_sync.h" #include "gyro_sync.h"
#include "build/debug.h" #include "light_led.h"
#include "sensor.h" #include "sensor.h"
#include "accgyro.h" #include "accgyro.h"
@ -168,7 +168,7 @@ static void mpu9250AccAndGyroInit(uint8_t lpf) {
verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF verifympu9250WriteRegister(MPU_RA_CONFIG, 0); //8KHz, 250DLPF
} }
verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxGetDividerDrops()); // Get Divider Drops verifympu9250WriteRegister(MPU_RA_SMPLRT_DIV, gyroMPU6xxxCalculateDivider()); // Get Divider Drops
verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3); verifympu9250WriteRegister(MPU_RA_ACCEL_CONFIG, INV_FSR_8G << 3);
verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN verifympu9250WriteRegister(MPU_RA_INT_PIN_CFG, 0 << 7 | 0 << 6 | 0 << 5 | 1 << 4 | 0 << 3 | 0 << 2 | 1 << 1 | 0 << 0); // INT_ANYRD_2CLEAR, BYPASS_EN

6
src/main/io/serial_cli.c
View file

@ -199,7 +199,7 @@ static const char * const featureNames[] = {
"SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM", "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
"RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125", "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "ONESHOT125",
"BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE", "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
"SUPEREXPO", "OSD", "VTX", "RX_NRF24", "SOFTSPI", NULL "SUPEREXPO", "VTX", "RX_NRF24", "SOFTSPI", NULL
}; };
// sync this with rxFailsafeChannelMode_e // sync this with rxFailsafeChannelMode_e
@ -218,7 +218,7 @@ static const char * const sensorTypeNames[] = {
#define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR) #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG | SENSOR_SONAR)
// sync with gyroSensor_e // sync with gyroSensor_e
static const char * const gyroNames[] = { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE"}; static const char * const gyroNames[] = { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "MPU9250", "FAKE"};
// sync with accelerationSensor_e // sync with accelerationSensor_e
static const char * const accNames[] = { "None", "", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE"}; static const char * const accNames[] = { "None", "", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE"};
// sync with baroSensor_e // sync with baroSensor_e
@ -415,7 +415,7 @@ static const char * const lookupTableNRF24RX[] = {
"CX10", "CX10",
"CX10A", "CX10A",
"H8_3D", "H8_3D",
"REF" "INAV"
}; };
#endif #endif

13
src/main/io/serial_msp.c
View file

@ -1050,7 +1050,7 @@ static bool processOutCommand(uint8_t cmdMSP)
break; break;
case MSP_RX_CONFIG: case MSP_RX_CONFIG:
headSerialReply(17); headSerialReply(21);
serialize8(masterConfig.rxConfig.serialrx_provider); serialize8(masterConfig.rxConfig.serialrx_provider);
serialize16(masterConfig.rxConfig.maxcheck); serialize16(masterConfig.rxConfig.maxcheck);
serialize16(masterConfig.rxConfig.midrc); serialize16(masterConfig.rxConfig.midrc);
@ -1058,6 +1058,9 @@ static bool processOutCommand(uint8_t cmdMSP)
serialize8(masterConfig.rxConfig.spektrum_sat_bind); serialize8(masterConfig.rxConfig.spektrum_sat_bind);
serialize16(masterConfig.rxConfig.rx_min_usec); serialize16(masterConfig.rxConfig.rx_min_usec);
serialize16(masterConfig.rxConfig.rx_max_usec); serialize16(masterConfig.rxConfig.rx_max_usec);
serialize8(0); // for compatibillity with betaflight
serialize8(0); // for compatibillity with betaflight
serialize16(0); // for compatibillity with betaflight
serialize8(masterConfig.rxConfig.nrf24rx_protocol); serialize8(masterConfig.rxConfig.nrf24rx_protocol);
serialize32(masterConfig.rxConfig.nrf24rx_id); serialize32(masterConfig.rxConfig.nrf24rx_id);
break; break;
@ -1589,9 +1592,15 @@ static bool processInCommand(void)
masterConfig.rxConfig.rx_max_usec = read16(); masterConfig.rxConfig.rx_max_usec = read16();
} }
if (currentPort->dataSize > 12) { if (currentPort->dataSize > 12) {
// for compatibility with betaflight
read8();
read8();
read16();
}
if (currentPort->dataSize > 16) {
masterConfig.rxConfig.nrf24rx_protocol = read8(); masterConfig.rxConfig.nrf24rx_protocol = read8();
} }
if (currentPort->dataSize > 13) { if (currentPort->dataSize > 17) {
masterConfig.rxConfig.nrf24rx_id = read32(); masterConfig.rxConfig.nrf24rx_id = read32();
} }
break; break;

2
src/main/rx/nrf24_inav.c
View file

@ -230,7 +230,7 @@ static void inavNrf24Setup(nrf24_protocol_t protocol, const uint32_t *nrf24rx_id
UNUSED(protocol); UNUSED(protocol);
NRF24L01_Initialize(BV(NRF24L01_00_CONFIG_EN_CRC) | BV( NRF24L01_00_CONFIG_CRCO)); // sets PWR_UP, EN_CRC, CRCO - 2 byte CRC NRF24L01_Initialize(BV(NRF24L01_00_CONFIG_EN_CRC) | BV( NRF24L01_00_CONFIG_CRCO)); // sets PWR_UP, EN_CRC, CRCO - 2 byte CRC
NRF24L01_Setup(); NRF24L01_SetupBasic();
nrf24rxIdPtr = (uint32_t*)nrf24rx_id; nrf24rxIdPtr = (uint32_t*)nrf24rx_id;
if (nrf24rx_id == NULL || *nrf24rx_id == 0) { if (nrf24rx_id == NULL || *nrf24rx_id == 0) {

1
src/main/sensors/gyro.h
View file

@ -26,6 +26,7 @@ typedef enum {
GYRO_L3GD20, GYRO_L3GD20,
GYRO_MPU6000, GYRO_MPU6000,
GYRO_MPU6500, GYRO_MPU6500,
GYRO_MPU9250,
GYRO_FAKE GYRO_FAKE
} gyroSensor_e; } gyroSensor_e;

16
src/main/sensors/initialisation.c
View file

@ -22,7 +22,6 @@
#include "build/build_config.h" #include "build/build_config.h"
#include "common/axis.h" #include "common/axis.h"
#include "drivers/io.h" #include "drivers/io.h"
@ -46,6 +45,7 @@
#include "drivers/bus_spi.h" #include "drivers/bus_spi.h"
#include "drivers/accgyro_spi_mpu6000.h" #include "drivers/accgyro_spi_mpu6000.h"
#include "drivers/accgyro_spi_mpu6500.h" #include "drivers/accgyro_spi_mpu6500.h"
#include "drivers/accgyro_spi_mpu9250.h"
#include "drivers/gyro_sync.h" #include "drivers/gyro_sync.h"
#include "drivers/barometer.h" #include "drivers/barometer.h"
@ -296,6 +296,20 @@ bool detectGyro(void)
#endif #endif
; // fallthrough ; // fallthrough
case GYRO_MPU9250:
#ifdef USE_GYRO_SPI_MPU9250
if (mpu9250SpiGyroDetect(&gyro))
{
gyroHardware = GYRO_MPU9250;
#ifdef GYRO_MPU9250_ALIGN
gyroAlign = GYRO_MPU9250_ALIGN;
#endif
break;
}
#endif
; // fallthrough
case GYRO_FAKE: case GYRO_FAKE:
#ifdef USE_FAKE_GYRO #ifdef USE_FAKE_GYRO
if (fakeGyroDetect(&gyro)) { if (fakeGyroDetect(&gyro)) {

6
src/main/target/CC3D/target.h
View file

@ -64,7 +64,7 @@
#define MAG #define MAG
#define USE_MAG_HMC5883 #define USE_MAG_HMC5883
#define USE_MAG_AK8975 #define USE_MAG_AK8975
#define USE_MAG_MAG3110 //#define USE_MAG_MAG3110
#define USE_VCP #define USE_VCP
#define USE_UART1 #define USE_UART1
@ -85,7 +85,7 @@
//#define USE_RX_V202 //#define USE_RX_V202
#define USE_RX_CX10 #define USE_RX_CX10
//#define USE_RX_H8_3D //#define USE_RX_H8_3D
#define USE_RX_REF #define USE_RX_INAV
#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C #define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_V202_1M //#define NRF24_DEFAULT_PROTOCOL NRF24RX_V202_1M
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_H8_3D //#define NRF24_DEFAULT_PROTOCOL NRF24RX_H8_3D
@ -190,7 +190,7 @@
#undef SPEKTRUM_BIND #undef SPEKTRUM_BIND
#else #else
#define TARGET_MOTOR_COUNT 6 #define TARGET_MOTOR_COUNT 4
#define DISABLE_UNCOMMON_MIXERS #define DISABLE_UNCOMMON_MIXERS
#endif //OPBL #endif //OPBL

2
src/main/target/CJMCU/target.h
View file

@ -70,7 +70,7 @@
#define USE_RX_NRF24 #define USE_RX_NRF24
#define USE_RX_CX10 #define USE_RX_CX10
#define USE_RX_H8_3D #define USE_RX_H8_3D
#define USE_RX_REF #define USE_RX_INAV
//#define USE_RX_SYMA //#define USE_RX_SYMA
//#define USE_RX_V202 //#define USE_RX_V202
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C //#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C

2
src/main/target/NAZE/target.h
View file

@ -142,7 +142,7 @@
#define USE_RX_CX10 #define USE_RX_CX10
#define USE_RX_H8_3D #define USE_RX_H8_3D
#define USE_RX_REF #define USE_RX_INAV
//#define USE_RX_SYMA //#define USE_RX_SYMA
//#define USE_RX_V202 //#define USE_RX_V202
//#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C //#define NRF24_DEFAULT_PROTOCOL NRF24RX_SYMA_X5C