diff --git a/CMakeLists.txt b/CMakeLists.txt
index 171bb4df3f..6183069ba1 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -51,8 +51,7 @@ else()
endif()
endif()
-
-project(INAV VERSION 9.0.0)
+project(INAV VERSION 8.0.1)
enable_language(ASM)
diff --git a/docs/ADSB.md b/docs/ADSB.md
index 933cb264cd..3a36d1aa34 100644
--- a/docs/ADSB.md
+++ b/docs/ADSB.md
@@ -13,6 +13,7 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
* [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
* [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
+* [ADSBee1090](https://pantsforbirds.com/adsbee-1090/) (tested)
## TT-SC1 settings
* download software for ADSB TT-SC1 from https://www.aerobits.pl/product/aero/ , file Micro_ADSB_App-vX.XX.X_win_setup.zip and install it
@@ -24,3 +25,21 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
PCB board for TT-SC1-B module https://oshwlab.com/error414/adsb-power-board
+## ADSBee 1090 settings
+* connect to ADSBee1090 via USB and set COMMS_UART to mavlink2 \
+``
+AT+PROTOCOL=COMMS_UART,MAVLINK2
+``\
+``
+AT+BAUDRATE=COMMS_UART,115200
+``\
+It's recommended to turn of wifi \
+``
+AT+ESP32_ENABLE=0
+``\
+``
+AT+SETTINGS=SAVE
+``
+* in INAV configurator ports TAB set telemetry MAVLINK, and baudrate 115200
+* https://pantsforbirds.com/adsbee-1090/quick-start/
+
diff --git a/docs/OSD.md b/docs/OSD.md
index b43da690b6..1b86538718 100644
--- a/docs/OSD.md
+++ b/docs/OSD.md
@@ -23,8 +23,8 @@ Not all OSDs are created equally. This table shows the differences between the d
| DJI WTFOS | 60 x 22 | X | | X | YES |
| HDZero | 50 x 18 | X | | X | YES |
| Avatar | 53 x 20 | X | | X | YES |
-| DJI O3 | 53 x 20 (HD) | X | | X (partial) | NO - BF Characters only |
| DJI O3 Goggles V2 + WTFOS | 53 x 20 | X | | X | YES |
+| DJI Goggles 2 and newer | 53 x 20 (HD) | X | | X | YES (no custom fonts) |
## OSD Elements
Here are the OSD Elements provided by INAV.
diff --git a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c
index c57e98d3a2..dcd5f41a6b 100644
--- a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c
+++ b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c
@@ -23,8 +23,10 @@
#ifdef USE_FULL_ASSERT
#include "stm32_assert.h"
#else
+#ifndef assert_param
#define assert_param(expr) ((void)0U)
#endif
+#endif
/** @addtogroup STM32H7xx_LL_Driver
* @{
diff --git a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c
index e7b85d92d6..7aa7d509dd 100644
--- a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c
+++ b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c
@@ -22,8 +22,10 @@
#ifdef USE_FULL_ASSERT
#include "stm32_assert.h"
#else
+#ifndef assert_param
#define assert_param(expr) ((void)0U)
#endif
+#endif
/** @addtogroup STM32H7xx_LL_Driver
* @{
diff --git a/src/main/config/config_eeprom.c b/src/main/config/config_eeprom.c
index 6d11c1804d..6c1dfc3dc7 100755
--- a/src/main/config/config_eeprom.c
+++ b/src/main/config/config_eeprom.c
@@ -118,6 +118,12 @@ void initEEPROM(void)
BUILD_BUG_ON(sizeof(configFooter_t) != 2);
BUILD_BUG_ON(sizeof(configRecord_t) != 6);
+#ifdef STM32H7A3xx
+ BUILD_BUG_ON(CONFIG_STREAMER_BUFFER_SIZE != 16);
+#elif defined(STM32H743xx)
+ BUILD_BUG_ON(CONFIG_STREAMER_BUFFER_SIZE != 32);
+#endif
+
#if defined(CONFIG_IN_EXTERNAL_FLASH)
bool eepromLoaded = loadEEPROMFromExternalFlash();
if (!eepromLoaded) {
diff --git a/src/main/config/config_streamer.c b/src/main/config/config_streamer.c
index 6a598cc9e4..2654d48f70 100644
--- a/src/main/config/config_streamer.c
+++ b/src/main/config/config_streamer.c
@@ -55,7 +55,7 @@ int config_streamer_write(config_streamer_t *c, const uint8_t *p, uint32_t size)
return -1;
}
- for (const uint8_t *pat = p; pat != (uint8_t*)p + size; pat++) {
+ for (const uint8_t *pat = p; pat != (uint8_t *)p + size; pat++) {
c->buffer.b[c->at++] = *pat;
if (c->at == sizeof(c->buffer)) {
@@ -81,7 +81,7 @@ int config_streamer_flush(config_streamer_t *c)
c->err = config_streamer_impl_write_word(c, &c->buffer.w);
c->at = 0;
}
- return c-> err;
+ return c->err;
}
int config_streamer_finish(config_streamer_t *c)
@@ -91,4 +91,4 @@ int config_streamer_finish(config_streamer_t *c)
c->unlocked = false;
}
return c->err;
-}
+}
\ No newline at end of file
diff --git a/src/main/config/config_streamer.h b/src/main/config/config_streamer.h
index 33c0954874..2c13a975d8 100644
--- a/src/main/config/config_streamer.h
+++ b/src/main/config/config_streamer.h
@@ -27,15 +27,14 @@
#ifdef CONFIG_IN_EXTERNAL_FLASH
#define CONFIG_STREAMER_BUFFER_SIZE M25P16_PAGESIZE // Must match flash device page size
-typedef uint32_t config_streamer_buffer_align_type_t;
#elif defined(STM32H7)
-#define CONFIG_STREAMER_BUFFER_SIZE 32 // Flash word = 256-bits
-typedef uint64_t config_streamer_buffer_align_type_t;
+#define CONFIG_STREAMER_BUFFER_SIZE (FLASH_NB_32BITWORD_IN_FLASHWORD * 4) // Flash word = 256-bits or 128bits, depending on the mcu
#else
#define CONFIG_STREAMER_BUFFER_SIZE 4
-typedef uint32_t config_streamer_buffer_align_type_t;
#endif
+typedef uint32_t config_streamer_buffer_align_type_t;
+
typedef struct config_streamer_s {
uintptr_t address;
uintptr_t end;
diff --git a/src/main/config/config_streamer_stm32h7.c b/src/main/config/config_streamer_stm32h7.c
index baa41ea92b..60940daf04 100644
--- a/src/main/config/config_streamer_stm32h7.c
+++ b/src/main/config/config_streamer_stm32h7.c
@@ -15,16 +15,45 @@
* along with Cleanflight. If not, see .
*/
-#include
-#include "platform.h"
-#include "drivers/system.h"
-#include "config/config_streamer.h"
+ #include
+ #include "platform.h"
+ #include "drivers/system.h"
+ #include "config/config_streamer.h"
+
+ #if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
-#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
+static uint32_t getFLASHBankForEEPROM(uint32_t address)
+{
+#ifdef DUAL_BANK
+ if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
+ return FLASH_BANK_1;
+ }
-#if defined(STM32H743xx)
+ return FLASH_BANK_2;
+#else
+ return FLASH_BANK_1;
+#endif
+}
+
+#if defined(STM32H7A3xx)
+static uint32_t getFLASHSectorForEEPROM(uint32_t address)
+{
+ uint32_t sector = 0;
+
+ if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
+ sector = (address - FLASH_BASE) / FLASH_SECTOR_SIZE;
+ } else {
+ sector = (address - (FLASH_BASE + FLASH_BANK_SIZE)) / FLASH_SECTOR_SIZE;
+ }
+
+ if (sector > FLASH_SECTOR_TOTAL) {
+ failureMode(FAILURE_FLASH_WRITE_FAILED);
+ }
+
+ return sector;
+}
+#elif defined(STM32H743xx)
/* Sectors 0-7 of 128K each */
-#define FLASH_PAGE_SIZE ((uint32_t)0x20000) // 128K sectors
static uint32_t getFLASHSectorForEEPROM(uint32_t address)
{
if (address <= 0x0801FFFF)
@@ -49,9 +78,9 @@ static uint32_t getFLASHSectorForEEPROM(uint32_t address)
}
}
#elif defined(STM32H750xx)
-# error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
+#error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
#else
-# error "Unsupported CPU!"
+#error "Unsupported CPU!"
#endif
void config_streamer_impl_unlock(void)
@@ -70,30 +99,31 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
return c->err;
}
- if (c->address % FLASH_PAGE_SIZE == 0) {
+ if (c->address % FLASH_SECTOR_SIZE == 0) {
FLASH_EraseInitTypeDef EraseInitStruct = {
- .TypeErase = FLASH_TYPEERASE_SECTORS,
- .VoltageRange = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
- .NbSectors = 1,
- .Banks = FLASH_BANK_1
- };
- EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
-
- uint32_t SECTORError;
- const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
- if (status != HAL_OK) {
- return -1;
- }
- }
-
- // On H7 HAL_FLASH_Program takes data address, not the raw word value
- const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
- if (status != HAL_OK) {
- return -2;
- }
-
- c->address += CONFIG_STREAMER_BUFFER_SIZE;
- return 0;
-}
-
+ .TypeErase = FLASH_TYPEERASE_SECTORS,
+#ifdef FLASH_VOLTAGE_RANGE_3
+ .VoltageRange = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
#endif
+ .NbSectors = 1};
+ EraseInitStruct.Banks = getFLASHBankForEEPROM(c->address);
+ EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
+
+ uint32_t SECTORError;
+ const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
+ if (status != HAL_OK) {
+ return -1;
+ }
+ }
+
+ // On H7 HAL_FLASH_Program takes data address, not the raw word value
+ const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
+ if (status != HAL_OK) {
+ return -2;
+ }
+
+ c->address += CONFIG_STREAMER_BUFFER_SIZE;
+ return 0;
+ }
+
+#endif
\ No newline at end of file
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index 88bbbf286d..ff68798400 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -67,6 +67,10 @@ typedef enum SPIDevice {
#define SPIDEV_COUNT 4
#endif
+#if defined(AT32F43x)
+typedef spi_type SPI_TypeDef;
+#endif
+
typedef struct SPIDevice_s {
#if defined(AT32F43x)
spi_type *dev;
diff --git a/src/main/drivers/osd.h b/src/main/drivers/osd.h
index a8b0bbc8e4..a69bc5b360 100644
--- a/src/main/drivers/osd.h
+++ b/src/main/drivers/osd.h
@@ -50,7 +50,8 @@ typedef enum {
VIDEO_SYSTEM_DJIWTF,
VIDEO_SYSTEM_AVATAR,
VIDEO_SYSTEM_DJICOMPAT,
- VIDEO_SYSTEM_DJICOMPAT_HD
+ VIDEO_SYSTEM_DJICOMPAT_HD,
+ VIDEO_SYSTEM_DJI_NATIVE
} videoSystem_e;
typedef enum {
diff --git a/src/main/fc/cli.c b/src/main/fc/cli.c
index 55714d059e..39305d77f3 100644
--- a/src/main/fc/cli.c
+++ b/src/main/fc/cli.c
@@ -1578,11 +1578,11 @@ static void printGeozones(uint8_t dumpMask, const geoZoneConfig_t *geoZone, cons
&& geoZone[i].fenceAction == defaultGeoZone->fenceAction
&& geoZone[i].vertexCount == defaultGeoZone->vertexCount;
- cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultGeoZone[i].shape, defaultGeoZone[i].type, defaultGeoZone[i].minAltitude, defaultGeoZone[i].maxAltitude, defaultGeoZone[i].isSealevelRef, defaultGeoZone[i].fenceAction, defaultGeoZone[i].vertexCount);
+ cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultGeoZone[i].shape, defaultGeoZone[i].type, defaultGeoZone[i].minAltitude, defaultGeoZone[i].maxAltitude, defaultGeoZone[i].isSealevelRef, defaultGeoZone[i].fenceAction, defaultGeoZone[i].vertexCount);
}
- cliDumpPrintLinef(dumpMask, equalsDefault, format, i, geoZone[i].shape, geoZone[i].type, geoZone[i].minAltitude, geoZone[i].maxAltitude, geoZone[i].isSealevelRef, geoZone[i].fenceAction, geoZone[i].vertexCount);
+ cliDumpPrintLinef(dumpMask, equalsDefault, format, i, geoZone[i].shape, geoZone[i].type, geoZone[i].minAltitude, geoZone[i].maxAltitude, geoZone[i].isSealevelRef, geoZone[i].fenceAction, geoZone[i].vertexCount);
}
-}
+}
static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertices, const vertexConfig_t *defaultVertices)
{
@@ -1594,11 +1594,11 @@ static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertice
&& vertices[i].lat == defaultVertices->lat
&& vertices[i].lon == defaultVertices->lon
&& vertices[i].zoneId == defaultVertices->zoneId;
-
+
cliDefaultPrintLinef(dumpMask, equalsDefault, format, defaultVertices[i].zoneId, defaultVertices[i].idx, defaultVertices[i].lat, defaultVertices[i].lon);
}
-
- cliDumpPrintLinef(dumpMask, equalsDefault, format, vertices[i].zoneId, vertices[i].idx, vertices[i].lat, vertices[i].lon);
+
+ cliDumpPrintLinef(dumpMask, equalsDefault, format, vertices[i].zoneId, vertices[i].idx, vertices[i].lat, vertices[i].lon);
}
if (!defaultVertices) {
@@ -1608,10 +1608,10 @@ static void printGeozoneVertices(uint8_t dumpMask, const vertexConfig_t *vertice
}
static void cliGeozone(char* cmdLine)
-{
+{
if (isEmpty(cmdLine)) {
printGeozones(DUMP_MASTER, geoZonesConfig(0), NULL);
- } else if (sl_strcasecmp(cmdLine, "vertex") == 0) {
+ } else if (sl_strcasecmp(cmdLine, "vertex") == 0) {
printGeozoneVertices(DUMP_MASTER, geoZoneVertices(0), NULL);
} else if (sl_strncasecmp(cmdLine, "vertex reset", 12) == 0) {
const char* ptr = &cmdLine[12];
@@ -1648,7 +1648,7 @@ static void cliGeozone(char* cmdLine)
const char* ptr = cmdLine;
uint8_t argumentCount = 1;
- if ((ptr = nextArg(ptr))) {
+ if ((ptr = nextArg(ptr))) {
zoneId = fastA2I(ptr);
if (zoneId < 0) {
return;
@@ -1678,7 +1678,7 @@ static void cliGeozone(char* cmdLine)
cliShowParseError();
return;
}
-
+
if ((ptr = nextArg(ptr))) {
argumentCount++;
lon = fastA2I(ptr);
@@ -1695,7 +1695,7 @@ static void cliGeozone(char* cmdLine)
cliShowParseError();
return;
}
-
+
for (uint8_t i = 0; i < MAX_VERTICES_IN_CONFIG; i++) {
if (geoZoneVertices(i)->zoneId == zoneId && geoZoneVertices(i)->idx == vertexZoneIdx) {
geoZoneVerticesMutable(i)->lat = lat;
@@ -1719,8 +1719,8 @@ static void cliGeozone(char* cmdLine)
geoZoneVerticesMutable(vertexIdx)->lat = lat;
geoZoneVerticesMutable(vertexIdx)->lon = lon;
geoZoneVerticesMutable(vertexIdx)->zoneId = zoneId;
- geoZoneVerticesMutable(vertexIdx)->idx = vertexZoneIdx;
-
+ geoZoneVerticesMutable(vertexIdx)->idx = vertexZoneIdx;
+
uint8_t totalVertices = geozoneGetUsedVerticesCount();
cliPrintLinef("# %u vertices free (Used %u of %u)", MAX_VERTICES_IN_CONFIG - totalVertices, totalVertices, MAX_VERTICES_IN_CONFIG);
@@ -1733,7 +1733,7 @@ static void cliGeozone(char* cmdLine)
} else {
geozoneReset(-1);
geozoneResetVertices(-1, -1);
- }
+ }
} else {
int8_t idx = 0, isPolygon = 0, isInclusive = 0, fenceAction = 0, seaLevelRef = 0, vertexCount = 0;
int32_t minAltitude = 0, maxAltitude = 0;
@@ -1745,7 +1745,7 @@ static void cliGeozone(char* cmdLine)
cliShowArgumentRangeError("geozone index", 0, MAX_GEOZONES_IN_CONFIG - 1);
return;
}
-
+
if ((ptr = nextArg(ptr))) {
argumentCount++;
isPolygon = fastA2I(ptr);
@@ -1787,7 +1787,7 @@ static void cliGeozone(char* cmdLine)
}
if ((ptr = nextArg(ptr))){
- argumentCount++;
+ argumentCount++;
fenceAction = fastA2I(ptr);
if (fenceAction < 0 || fenceAction > GEOFENCE_ACTION_RTH) {
cliShowArgumentRangeError("fence action", 0, GEOFENCE_ACTION_RTH);
@@ -1812,7 +1812,7 @@ static void cliGeozone(char* cmdLine)
if ((ptr = nextArg(ptr))){
argumentCount++;
- }
+ }
if (argumentCount != 8) {
cliShowParseError();
@@ -4190,14 +4190,19 @@ static void cliStatus(char *cmdline)
#if defined(USE_OSD)
if (armingFlags & ARMING_DISABLED_NAVIGATION_UNSAFE) {
navArmingBlocker_e reason = navigationIsBlockingArming(NULL);
- if (reason & NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
+ if (reason == NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
cliPrintLinef(" %s", OSD_MSG_JUMP_WP_MISCONFIG);
- if (reason & NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
+ if (reason == NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
cliPrintLinef(" %s", OSD_MSG_WAITING_GPS_FIX);
} else {
- if (reason & NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE)
- cliPrintLinef(" %s", OSD_MSG_DISABLE_NAV_FIRST);
- if (reason & NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
+ if (reason == NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE) {
+ if(armingFlags & ARMING_DISABLED_RC_LINK) {
+ cliPrintLinef(" ENABLE RX TO CLEAR NAV");
+ } else {
+ cliPrintLinef(" %s", OSD_MSG_DISABLE_NAV_FIRST);
+ }
+ }
+ if (reason == NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
cliPrintLinef(" FIRST WP TOO FAR");
}
}
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index a21d51d477..74afae23d9 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -67,7 +67,7 @@ tables:
values: ["MAH", "WH"]
enum: osd_stats_energy_unit_e
- name: osd_video_system
- values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT"]
+ values: ["AUTO", "PAL", "NTSC", "HDZERO", "DJIWTF", "AVATAR", "BF43COMPAT", "BFHDCOMPAT", "DJI_NATIVE"]
enum: videoSystem_e
- name: osd_telemetry
values: ["OFF", "ON","TEST"]
diff --git a/src/main/io/displayport_msp_osd.c b/src/main/io/displayport_msp_osd.c
index ca9f96848f..cb7a3a4976 100644
--- a/src/main/io/displayport_msp_osd.c
+++ b/src/main/io/displayport_msp_osd.c
@@ -494,6 +494,7 @@ displayPort_t* mspOsdDisplayPortInit(const videoSystem_e videoSystem)
break;
case VIDEO_SYSTEM_DJICOMPAT_HD:
case VIDEO_SYSTEM_AVATAR:
+ case VIDEO_SYSTEM_DJI_NATIVE:
currentOsdMode = HD_5320;
screenRows = AVATAR_ROWS;
screenCols = AVATAR_COLS;
diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c
index cd23edd6b3..811186d0bd 100644
--- a/src/main/navigation/navigation_multicopter.c
+++ b/src/main/navigation/navigation_multicopter.c
@@ -140,19 +140,14 @@ bool adjustMulticopterAltitudeFromRCInput(void)
const int16_t rcThrottleAdjustment = applyDeadbandRescaled(rcCommand[THROTTLE] - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);
if (rcThrottleAdjustment) {
- // set velocity proportional to stick movement
- float rcClimbRate;
+ /* Set velocity proportional to stick movement
+ * Scale from altHoldThrottleRCZero to maxthrottle or minthrottle to altHoldThrottleRCZero */
- // Make sure we can satisfy max_manual_climb_rate in both up and down directions
- if (rcThrottleAdjustment > 0) {
- // Scaling from altHoldThrottleRCZero to maxthrottle
- rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(getMaxThrottle() - altHoldThrottleRCZero - rcControlsConfig()->alt_hold_deadband);
- }
- else {
- // Scaling from minthrottle to altHoldThrottleRCZero
- rcClimbRate = rcThrottleAdjustment * navConfig()->mc.max_manual_climb_rate / (float)(altHoldThrottleRCZero - getThrottleIdleValue() - rcControlsConfig()->alt_hold_deadband);
- }
+ // Calculate max up or min down limit value scaled for deadband
+ int16_t limitValue = rcThrottleAdjustment > 0 ? getMaxThrottle() : getThrottleIdleValue();
+ limitValue = applyDeadbandRescaled(limitValue - altHoldThrottleRCZero, rcControlsConfig()->alt_hold_deadband, -500, 500);
+ int16_t rcClimbRate = ABS(rcThrottleAdjustment) * navConfig()->mc.max_manual_climb_rate / limitValue;
updateClimbRateToAltitudeController(rcClimbRate, 0, ROC_TO_ALT_CONSTANT);
return true;
diff --git a/src/main/rx/jetiexbus.c b/src/main/rx/jetiexbus.c
index 9e3c04d2c1..a793bdae2c 100644
--- a/src/main/rx/jetiexbus.c
+++ b/src/main/rx/jetiexbus.c
@@ -39,6 +39,7 @@
#include
#include
+#include
#include "platform.h"
@@ -48,6 +49,7 @@
#include "build/debug.h"
#include "common/utils.h"
+#include "common/maths.h"
#include "drivers/time.h"
@@ -83,13 +85,15 @@
serialPort_t *jetiExBusPort;
-uint32_t jetiTimeStampRequest = 0;
+volatile uint32_t jetiTimeStampRequest = 0;
+
+volatile bool jetiExBusCanTx = false;
static uint8_t jetiExBusFramePosition;
static uint8_t jetiExBusFrameLength;
-static uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
-uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
+static volatile uint8_t jetiExBusFrameState = EXBUS_STATE_ZERO;
+volatile uint8_t jetiExBusRequestState = EXBUS_STATE_ZERO;
// Use max values for ram areas
static uint8_t jetiExBusChannelFrame[EXBUS_MAX_CHANNEL_FRAME_SIZE];
@@ -117,16 +121,18 @@ void jetiExBusDecodeChannelFrame(uint8_t *exBusFrame)
{
uint16_t value;
uint8_t frameAddr;
+ uint8_t channelDataLen = exBusFrame[EXBUS_HEADER_LEN - 1];
+ uint8_t receivedChannelCount = MIN((channelDataLen) / 2, JETIEXBUS_CHANNEL_COUNT);
// Decode header
switch (((uint16_t)exBusFrame[EXBUS_HEADER_SYNC] << 8) | ((uint16_t)exBusFrame[EXBUS_HEADER_REQ])) {
case EXBUS_CHANNELDATA_DATA_REQUEST: // not yet specified
case EXBUS_CHANNELDATA:
- for (uint8_t i = 0; i < JETIEXBUS_CHANNEL_COUNT; i++) {
- frameAddr = EXBUS_HEADER_LEN + i * 2;
+ for (uint8_t i = 0; i < receivedChannelCount; i++) {
+ frameAddr = EXBUS_HEADER_LEN + (i * 2);
value = ((uint16_t)exBusFrame[frameAddr + 1]) << 8;
- value += (uint16_t)exBusFrame[frameAddr];
+ value |= (uint16_t)exBusFrame[frameAddr];
// Convert to internal format
jetiExBusChannelData[i] = value >> 3;
}
@@ -152,7 +158,7 @@ void jetiExBusFrameReset(void)
*/
// Receive ISR callback
-static void jetiExBusDataReceive(uint16_t c, void *data)
+FAST_CODE NOINLINE static void jetiExBusDataReceive(uint16_t c, void *data)
{
UNUSED(data);
@@ -189,6 +195,14 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
}
}
+ if(jetiExBusFramePosition == 1) {
+ if(c == 0x01) {
+ jetiExBusCanTx = true;
+ } else {
+ jetiExBusCanTx = false;
+ }
+ }
+
if (jetiExBusFramePosition == jetiExBusFrameMaxSize) {
// frame overrun
jetiExBusFrameReset();
@@ -204,7 +218,6 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
// Check the header for the message length
if (jetiExBusFramePosition == EXBUS_HEADER_LEN) {
-
if ((jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) && (jetiExBusFrame[EXBUS_HEADER_MSG_LEN] <= EXBUS_MAX_CHANNEL_FRAME_SIZE)) {
jetiExBusFrameLength = jetiExBusFrame[EXBUS_HEADER_MSG_LEN];
return;
@@ -223,9 +236,12 @@ static void jetiExBusDataReceive(uint16_t c, void *data)
// Done?
if (jetiExBusFrameLength == jetiExBusFramePosition) {
- if (jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS)
+ if (jetiExBusFrameState == EXBUS_STATE_IN_PROGRESS) {
jetiExBusFrameState = EXBUS_STATE_RECEIVED;
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
+ }
if (jetiExBusRequestState == EXBUS_STATE_IN_PROGRESS) {
+ jetiExBusFrameState = EXBUS_STATE_ZERO;
jetiExBusRequestState = EXBUS_STATE_RECEIVED;
jetiTimeStampRequest = now;
}
@@ -268,6 +284,8 @@ bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfi
rxRuntimeConfig->rcReadRawFn = jetiExBusReadRawRC;
rxRuntimeConfig->rcFrameStatusFn = jetiExBusFrameStatus;
+ memset(jetiExBusChannelData, 0, sizeof(uint16_t) * JETIEXBUS_CHANNEL_COUNT);
+
jetiExBusFrameReset();
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
diff --git a/src/main/rx/jetiexbus.h b/src/main/rx/jetiexbus.h
index d23999e9b0..5029cad7c3 100644
--- a/src/main/rx/jetiexbus.h
+++ b/src/main/rx/jetiexbus.h
@@ -21,7 +21,7 @@
#define EXBUS_CRC_LEN 2
#define EXBUS_OVERHEAD (EXBUS_HEADER_LEN + EXBUS_CRC_LEN)
#define EXBUS_MAX_CHANNEL_FRAME_SIZE (EXBUS_HEADER_LEN + JETIEXBUS_CHANNEL_COUNT*2 + EXBUS_CRC_LEN)
-#define EXBUS_MAX_REQUEST_FRAME_SIZE 9
+#define EXBUS_MAX_REQUEST_FRAME_SIZE 32 //9
#define EXBUS_EX_REQUEST (0x3A)
@@ -42,11 +42,13 @@ enum {
EXBUS_STATE_PROCESSED
};
-extern uint8_t jetiExBusRequestState;
-extern uint32_t jetiTimeStampRequest;
+extern volatile uint8_t jetiExBusRequestState;
+extern volatile uint32_t jetiTimeStampRequest;
extern uint8_t jetiExBusRequestFrame[EXBUS_MAX_REQUEST_FRAME_SIZE];
struct serialPort_s;
extern struct serialPort_s *jetiExBusPort;
+extern volatile bool jetiExBusCanTx;
+
uint16_t jetiExBusCalcCRC16(uint8_t *pt, uint8_t msgLen);
bool jetiExBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);
diff --git a/src/main/target/MATEKF405/CMakeLists.txt b/src/main/target/MATEKF405/CMakeLists.txt
index ebf457cda2..d5c4656763 100644
--- a/src/main/target/MATEKF405/CMakeLists.txt
+++ b/src/main/target/MATEKF405/CMakeLists.txt
@@ -1,2 +1,3 @@
target_stm32f405xg(MATEKF405)
target_stm32f405xg(MATEKF405OSD)
+target_stm32f405xg(MATEKF405MINI)
diff --git a/src/main/target/MATEKF405/target.h b/src/main/target/MATEKF405/target.h
index 50786e8efc..a33807c06a 100644
--- a/src/main/target/MATEKF405/target.h
+++ b/src/main/target/MATEKF405/target.h
@@ -53,15 +53,7 @@
#define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5
-#ifdef MATEKF405OSD
-// *************** SD Card **************************
-#define USE_SDCARD
-#define USE_SDCARD_SPI
-#define SDCARD_SPI_BUS BUS_SPI3
-#define SDCARD_CS_PIN PC1
-
-#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
-#else
+#ifdef MATEKF405MINI
// *************** M25P256 flash ********************
#define USE_FLASHFS
#define USE_FLASH_M25P16
@@ -69,6 +61,14 @@
#define M25P16_CS_PIN PC0
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#else
+// *************** SD Card **************************
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS BUS_SPI3
+#define SDCARD_CS_PIN PC1
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
#endif
// *************** OSD *****************************
@@ -173,11 +173,7 @@
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
#define RSSI_ADC_CHANNEL ADC_CHN_3
-#ifdef MATEKF405
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_BLACKBOX )
-#else
-#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY )
-#endif
#define CURRENT_METER_SCALE 179
#define USE_LED_STRIP
diff --git a/src/main/target/ORBITF435/CMakeLists.txt b/src/main/target/ORBITF435/CMakeLists.txt
new file mode 100644
index 0000000000..6ffb8ec5a3
--- /dev/null
+++ b/src/main/target/ORBITF435/CMakeLists.txt
@@ -0,0 +1,2 @@
+target_at32f43x_xGT7(ORBITF435)
+target_at32f43x_xGT7(ORBITF435_SD)
\ No newline at end of file
diff --git a/src/main/target/ORBITF435/config.c b/src/main/target/ORBITF435/config.c
new file mode 100644
index 0000000000..e2ccf38659
--- /dev/null
+++ b/src/main/target/ORBITF435/config.c
@@ -0,0 +1,67 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#include
+#include
+#include
+
+#include "fc/fc_msp_box.h"
+#include "io/piniobox.h"
+#include "io/serial.h"
+
+#include "common/axis.h"
+
+#include "config/config_master.h"
+#include "config/feature.h"
+
+#include "drivers/sensor.h"
+#include "drivers/pwm_esc_detect.h"
+#include "drivers/pwm_output.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/serial.h"
+
+#include "fc/rc_controls.h"
+
+#include "flight/failsafe.h"
+#include "flight/mixer.h"
+#include "flight/pid.h"
+
+#include "rx/rx.h"
+
+#include "io/serial.h"
+
+#include "sensors/battery.h"
+#include "sensors/sensors.h"
+
+#include "telemetry/telemetry.h"
+
+void targetConfiguration(void)
+{
+
+ serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART3)].functionMask = FUNCTION_ESCSERIAL;
+ serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART6)].functionMask = FUNCTION_GPS;
+ serialConfigMutable()->portConfigs[findSerialPortIndexByIdentifier(SERIAL_PORT_USART2)].functionMask = FUNCTION_RX_SERIAL;
+
+ pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; //VTX power switch
+}
diff --git a/src/main/target/ORBITF435/target.c b/src/main/target/ORBITF435/target.c
new file mode 100644
index 0000000000..25b5aae207
--- /dev/null
+++ b/src/main/target/ORBITF435/target.c
@@ -0,0 +1,52 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+#include
+
+#include "platform.h"
+
+#include "drivers/bus.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/timer.h"
+#include "drivers/pinio.h"
+#include "drivers/sensor.h"
+
+BUSDEV_REGISTER_SPI_TAG(busdev_icm42688, DEVHW_ICM42605, ICM42688_SPI_BUS, ICM42688_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42688_ALIGN);
+
+timerHardware_t timerHardware[] = {
+ DEF_TIM(TMR3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 4), // M1
+ DEF_TIM(TMR3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 5), // M2
+ DEF_TIM(TMR2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 2), // M3
+ DEF_TIM(TMR2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 3), // M4
+ DEF_TIM(TMR2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // M5
+ DEF_TIM(TMR4, CH1, PB6, TIM_USE_OUTPUT_AUTO, 0, 6), // M6
+ DEF_TIM(TMR4, CH2, PB7, TIM_USE_OUTPUT_AUTO, 0, 7), // M7
+ DEF_TIM(TMR2, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 1), // M8
+
+ //DEF_TIM(TMR9, CH2, PA3, TIM_USE_PPM, 0, 0), // PPM
+ //DEF_TIM(TMR12, CH1, PB14, TIM_USE_CAMERA_CONTROL, 0, -1), // Camera Control
+ DEF_TIM(TMR5, CH1, PA0, TIM_USE_LED , 0, 8) //2812LED
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
diff --git a/src/main/target/ORBITF435/target.h b/src/main/target/ORBITF435/target.h
new file mode 100644
index 0000000000..99c54fecbb
--- /dev/null
+++ b/src/main/target/ORBITF435/target.h
@@ -0,0 +1,193 @@
+/*
+ * This file is part of INAV Project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this file,
+ * You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * Alternatively, the contents of this file may be used under the terms
+ * of the GNU General Public License Version 3, as described below:
+ *
+ * This file is free software: you may copy, redistribute and/or modify
+ * it under the terms of the GNU General Public License as published by the
+ * Free Software Foundation, either version 3 of the License, or (at your
+ * option) any later version.
+ *
+ * This file is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
+ * Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see http://www.gnu.org/licenses/.
+ */
+
+#pragma once
+
+#ifdef ORBITF435
+#define TARGET_BOARD_IDENTIFIER "ORB4"
+#define USBD_PRODUCT_STRING "ORBITF435"
+#else
+#define TARGET_BOARD_IDENTIFIER "ORB4SD"
+#define USBD_PRODUCT_STRING "ORBITF435_SD"
+#endif
+
+/*** Indicators ***/
+#define LED0 PC13 //Blue
+
+#define BEEPER PC15
+#define BEEPER_INVERTED
+
+/*** PINIO ***/
+#define USE_PINIO
+#define USE_PINIOBOX
+#define PINIO1_PIN PC8
+#define PINIO1_FLAGS PINIO_FLAGS_INVERTED
+
+// *************** UART *****************************
+#define USE_VCP
+#define USB_DETECT_PIN PC9
+#define USE_UART_INVERTER
+
+#define USE_UART1
+#define USE_UART2
+#define USE_UART3
+#define USE_UART4
+#define USE_UART5
+#define USE_UART6
+
+#define UART1_TX_PIN PA9
+#define UART1_RX_PIN PA10
+
+#define UART2_TX_PIN PA2
+#define UART2_RX_PIN PA3
+#define INVERTER_PIN_UART2_RX PB2
+
+#define UART3_TX_PIN PC10 // No connection
+#define UART3_RX_PIN PC11 // ESC TLM
+
+#define UART4_TX_PIN PH3
+#define UART4_RX_PIN PH2
+
+#define UART5_TX_PIN PC12
+#define UART5_RX_PIN PD2
+
+#define UART6_TX_PIN PC6
+#define UART6_RX_PIN PC7
+
+#define SERIAL_PORT_COUNT 7 //VCP, UART1, UART2, UART3, UART4, UART5, UART6
+
+#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+#define SERIALRX_UART SERIAL_PORT_USART2
+
+// *************** Gyro & ACC **********************
+#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS
+
+#define USE_SPI
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN PA5
+#define SPI1_MISO_PIN PA6
+#define SPI1_MOSI_PIN PA7
+
+#define USE_IMU_ICM42605 //Using ICM42688
+#define IMU_ICM42688_ALIGN CW270_DEG
+#define ICM42688_CS_PIN PA4
+#define ICM42688_SPI_BUS BUS_SPI1
+
+// *************** I2C(Baro & I2C) **************************
+#define USE_I2C
+#define USE_BARO
+#define USE_MAG
+#define USE_RANGEFINDER
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL PB8
+#define I2C1_SDA PB9
+
+#define BARO_I2C_BUS BUS_I2C1
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define USE_BARO_DPS310
+#define USE_BARO_SPL06
+
+#define MAG_I2C_BUS BUS_I2C1
+#define USE_MAG_ALL
+
+#define TEMPERATURE_I2C_BUS BUS_I2C1
+#define PITOT_I2C_BUS BUS_I2C1
+#define RANGEFINDER_I2C_BUS BUS_I2C1
+
+// *************** Internal SD card && FLASH **************************
+#define USE_SPI_DEVICE_3
+#define SPI3_SCK_PIN PB3
+#define SPI3_MISO_PIN PB4
+#define SPI3_MOSI_PIN PB5
+
+#if defined(ORBITF435_SD)
+//SDCARD Definations
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS BUS_SPI3
+#define SDCARD_CS_PIN PC14
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN PA8
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+#else
+//FLASHFS Definations
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS BUS_SPI3
+#define M25P16_CS_PIN PB15
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#endif
+
+// *************** OSD *****************************
+#define USE_SPI_DEVICE_2
+#define USE_OSD
+
+#define SPI2_SCK_PIN PB13
+#define SPI2_MISO_PIN PC2
+#define SPI2_MOSI_PIN PC3
+
+#define USE_MAX7456
+#define MAX7456_SPI_BUS BUS_SPI2
+#define MAX7456_CS_PIN PB12
+
+// *************** ADC *****************************
+
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN PC0
+#define ADC_CHANNEL_2_PIN PC1
+#define ADC_CHANNEL_3_PIN PC5
+
+#define VBAT_ADC_CHANNEL ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
+#define RSSI_ADC_CHANNEL ADC_CHN_3
+
+#define VBAT_SCALE_DEFAULT 1010
+#define CURRENT_METER_SCALE 125
+
+// *************** LED *****************************
+#define USE_LED_STRIP
+#define WS2811_PIN PA0
+
+#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_BLACKBOX | FEATURE_TELEMETRY | FEATURE_OSD | FEATURE_LED_STRIP)
+
+
+#define USE_DSHOT
+#define USE_SERIALSHOT
+#define USE_ESCSERIAL
+#define USE_ESC_SENSOR
+#define USE_RPM_FILTER
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE
+
+#define MAX_PWM_OUTPUT_PORTS 11
+
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0xffff
+#define TARGET_IO_PORTE BIT(2)
+#define TARGET_IO_PORTH (BIT(1)|BIT(2)|BIT(3))
\ No newline at end of file
diff --git a/src/main/target/SKYSTARSF405WING/target.c b/src/main/target/SKYSTARSF405WING/target.c
index 19260ea4b2..98f833aec7 100644
--- a/src/main/target/SKYSTARSF405WING/target.c
+++ b/src/main/target/SKYSTARSF405WING/target.c
@@ -25,12 +25,12 @@
#include "drivers/timer_def_stm32f4xx.h"
timerHardware_t timerHardware[] = {
- DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S1 D(2,1,6) UP256
- DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 D(2,7,7) UP217
DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 D(2,2,0) UP217
+ DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 D(2,7,7) UP217
+ DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S1 D(2,1,6) UP256
DEF_TIM(TIM1, CH3N, PB15, TIM_USE_OUTPUT_AUTO, 0, 0), // S4 D(2,6,0) UP256
- DEF_TIM(TIM1, CH3N, PB15, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 D(2,6,0) UP256
+ DEF_TIM(TIM2, CH3, PB10, TIM_USE_OUTPUT_AUTO, 0, 0), // S5 D(2,6,0) UP256
DEF_TIM(TIM2, CH4, PB11, TIM_USE_OUTPUT_AUTO, 0, 0), // S6 D(1,7,3) UP173
DEF_TIM(TIM2, CH2, PB3, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 D(1,6,3) UP173
DEF_TIM(TIM2, CH1, PA15, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 D(1,5,3) UP173
diff --git a/src/main/target/SKYSTARSF405WING/target.h b/src/main/target/SKYSTARSF405WING/target.h
index 2c219712ad..1eba71a1e4 100644
--- a/src/main/target/SKYSTARSF405WING/target.h
+++ b/src/main/target/SKYSTARSF405WING/target.h
@@ -38,7 +38,7 @@
#define SPI1_MOSI_PIN PA7
#define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN CW180_DEG
+#define IMU_ICM42605_ALIGN CW270_DEG_FLIP
#define ICM42605_SPI_BUS BUS_SPI1
#define ICM42605_CS_PIN PC14
@@ -130,6 +130,7 @@
#define USE_PINIOBOX
#define PINIO1_PIN PA4
#define PINIO2_PIN PB5
+#define PINIO1_FLAGS PINIO_FLAGS_INVERTED
// *************** LEDSTRIP ************************
#define USE_LED_STRIP
diff --git a/src/main/target/TBS_LUCID_H7/target.c b/src/main/target/TBS_LUCID_H7/target.c
index 30e16b8482..88b2df3e3b 100644
--- a/src/main/target/TBS_LUCID_H7/target.c
+++ b/src/main/target/TBS_LUCID_H7/target.c
@@ -32,10 +32,10 @@
#include "drivers/timer.h"
#include "drivers/sensor.h"
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_mpu6000, DEVHW_MPU6000, GYRO1_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm42688, DEVHW_ICM42605, GYRO1_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_mpu6000, DEVHW_MPU6000, GYRO2_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_MPU6000_ALIGN);
-BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm42688, DEVHW_ICM42605, GYRO2_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_mpu6000, DEVHW_MPU6000, GYRO1_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro1_icm42688, DEVHW_ICM42605, GYRO1_SPI_BUS, GYRO1_CS_PIN, NONE, 0, DEVFLAGS_NONE, IMU_1_ICM42605_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_mpu6000, DEVHW_MPU6000, GYRO2_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_MPU6000_ALIGN);
+BUSDEV_REGISTER_SPI_TAG(busdev_gyro2_icm42688, DEVHW_ICM42605, GYRO2_SPI_BUS, GYRO2_CS_PIN, NONE, 1, DEVFLAGS_NONE, IMU_2_ICM42605_ALIGN);
timerHardware_t timerHardware[] = {
DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S1
diff --git a/src/main/target/TBS_LUCID_H7/target.h b/src/main/target/TBS_LUCID_H7/target.h
index c215c4bef8..61953d0078 100644
--- a/src/main/target/TBS_LUCID_H7/target.h
+++ b/src/main/target/TBS_LUCID_H7/target.h
@@ -98,13 +98,15 @@
#define GYRO1_SPI_BUS BUS_SPI1
#define GYRO1_CS_PIN PC15
#define GYRO2_SPI_BUS BUS_SPI4
-#define GYRO2_CS_PIN PC13
+#define GYRO2_CS_PIN PE11
#define USE_IMU_MPU6000
-#define IMU_MPU6000_ALIGN CW0_DEG_FLIP
+#define IMU_1_MPU6000_ALIGN CW0_DEG_FLIP
+#define IMU_2_MPU6000_ALIGN CW90_DEG_FLIP
#define USE_IMU_ICM42605
-#define IMU_ICM42605_ALIGN CW90_DEG_FLIP
+#define IMU_1_ICM42605_ALIGN CW90_DEG_FLIP
+#define IMU_2_ICM42605_ALIGN CW0_DEG_FLIP
#define USE_MAX7456
#define MAX7456_SPI_BUS BUS_SPI2
diff --git a/src/main/telemetry/jetiexbus.c b/src/main/telemetry/jetiexbus.c
index b0ffad8434..56073e54cc 100644
--- a/src/main/telemetry/jetiexbus.c
+++ b/src/main/telemetry/jetiexbus.c
@@ -138,14 +138,22 @@ const exBusSensor_t jetiExSensors[] = {
{"GPS Speed", "m/s", EX_TYPE_22b, DECIMAL_MASK(2)},
{"GPS H-Distance", "m", EX_TYPE_22b, DECIMAL_MASK(0)},
{"GPS H-Direction", "\xB0", EX_TYPE_22b, DECIMAL_MASK(1)},
- {"INAV D2", "", EX_TYPE_DES, 0 }, // device descripton
+ {"INAV D2", "", EX_TYPE_DES, 0 }, // device descripton
{"GPS Heading", "\xB0", EX_TYPE_22b, DECIMAL_MASK(1)},
{"GPS Altitude", "m", EX_TYPE_22b, DECIMAL_MASK(2)},
{"G-Force X", "", EX_TYPE_22b, DECIMAL_MASK(3)},
{"G-Force Y", "", EX_TYPE_22b, DECIMAL_MASK(3)},
{"G-Force Z", "", EX_TYPE_22b, DECIMAL_MASK(3)},
{"RPM", "", EX_TYPE_22b, DECIMAL_MASK(0)},
- {"Trip Distance", "m", EX_TYPE_22b, DECIMAL_MASK(1)}
+ {"Trip Distance", "m", EX_TYPE_22b, DECIMAL_MASK(1)},
+ {"DEBUG0", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG1", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG2", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG3", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG4", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG5", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG6", "", EX_TYPE_22b, DECIMAL_MASK(0)},
+ {"DEBUG7", "", EX_TYPE_22b, DECIMAL_MASK(0)}
};
// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
@@ -172,6 +180,14 @@ enum exSensors_e {
EX_GFORCE_Z,
EX_RPM,
EX_TRIP_DISTANCE,
+ EX_DEBUG0,
+ EX_DEBUG1,
+ EX_DEBUG2,
+ EX_DEBUG3,
+ EX_DEBUG4,
+ EX_DEBUG5,
+ EX_DEBUG6,
+ EX_DEBUG7
};
union{
@@ -183,8 +199,7 @@ union{
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
-static uint8_t jetiExBusTelemetryFrame[40];
-static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
+static uint8_t jetiExBusTelemetryFrame[JETI_EXBUS_TELEMETRY_FRAME_LEN];
static uint8_t firstActiveSensor = 0;
static uint32_t exSensorEnabled = 0;
@@ -283,6 +298,17 @@ void initJetiExBusTelemetry(void)
}
#endif
+ if (debugMode != DEBUG_NONE) {
+ bitArraySet(&exSensorEnabled, EX_DEBUG0);
+ bitArraySet(&exSensorEnabled, EX_DEBUG1);
+ bitArraySet(&exSensorEnabled, EX_DEBUG2);
+ bitArraySet(&exSensorEnabled, EX_DEBUG3);
+ bitArraySet(&exSensorEnabled, EX_DEBUG4);
+ bitArraySet(&exSensorEnabled, EX_DEBUG5);
+ bitArraySet(&exSensorEnabled, EX_DEBUG6);
+ bitArraySet(&exSensorEnabled, EX_DEBUG7);
+ }
+
firstActiveSensor = getNextActiveSensor(0); // find the first active sensor
}
@@ -421,6 +447,23 @@ int32_t getSensorValue(uint8_t sensor)
case EX_TRIP_DISTANCE:
return getTotalTravelDistance() / 10;
+
+ case EX_DEBUG0:
+ return debug[0];
+ case EX_DEBUG1:
+ return debug[1];
+ case EX_DEBUG2:
+ return debug[2];
+ case EX_DEBUG3:
+ return debug[3];
+ case EX_DEBUG4:
+ return debug[4];
+ case EX_DEBUG5:
+ return debug[5];
+ case EX_DEBUG6:
+ return debug[6];
+ case EX_DEBUG7:
+ return debug[7];
default:
return -1;
@@ -503,12 +546,16 @@ void checkJetiExBusTelemetryState(void)
return;
}
-void handleJetiExBusTelemetry(void)
+void NOINLINE handleJetiExBusTelemetry(void)
{
static uint16_t framesLost = 0; // only for debug
static uint8_t item = 0;
uint32_t timeDiff;
+ if(!jetiExBusCanTx) {
+ return;
+ }
+
// Check if we shall reset frame position due to time
if (jetiExBusRequestState == EXBUS_STATE_RECEIVED) {
@@ -523,7 +570,6 @@ void handleJetiExBusTelemetry(void)
if ((jetiExBusRequestFrame[EXBUS_HEADER_DATA_ID] == EXBUS_EX_REQUEST) && (jetiExBusCalcCRC16(jetiExBusRequestFrame, jetiExBusRequestFrame[EXBUS_HEADER_MSG_LEN]) == 0)) {
if (serialRxBytesWaiting(jetiExBusPort) == 0) {
- jetiExBusTransceiveState = EXBUS_TRANS_TX;
item = sendJetiExBusTelemetry(jetiExBusRequestFrame[EXBUS_HEADER_PACKET_ID], item);
jetiExBusRequestState = EXBUS_STATE_PROCESSED;
return;
@@ -534,13 +580,7 @@ void handleJetiExBusTelemetry(void)
}
}
- // check the state if transmit is ready
- if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
- if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
- jetiExBusTransceiveState = EXBUS_TRANS_RX;
- jetiExBusRequestState = EXBUS_STATE_ZERO;
- }
- }
+ jetiExBusRequestState = EXBUS_STATE_ZERO;
}
uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
@@ -587,7 +627,7 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
}
serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
- jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
+ jetiExBusCanTx = false;
return item;
}
diff --git a/src/main/telemetry/jetiexbus.h b/src/main/telemetry/jetiexbus.h
index 9c8327db4a..3c6b465ed0 100644
--- a/src/main/telemetry/jetiexbus.h
+++ b/src/main/telemetry/jetiexbus.h
@@ -17,6 +17,8 @@
#pragma once
+#define JETI_EXBUS_TELEMETRY_FRAME_LEN 128
+
void initJetiExBusTelemetry(void);
void checkJetiExBusTelemetryState(void);
void handleJetiExBusTelemetry(void);
diff --git a/src/main/telemetry/ltm.c b/src/main/telemetry/ltm.c
index 45ab37deec..2b56e646cf 100644
--- a/src/main/telemetry/ltm.c
+++ b/src/main/telemetry/ltm.c
@@ -212,9 +212,9 @@ void ltm_sframe(sbuf_t *dst)
void ltm_aframe(sbuf_t *dst)
{
sbufWriteU8(dst, 'A');
- sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.pitch));
- sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.roll));
- sbufWriteU16(dst, DECIDEGREES_TO_DEGREES(attitude.values.yaw));
+ sbufWriteU16(dst, (int16_t)DECIDEGREES_TO_DEGREES(attitude.values.pitch));
+ sbufWriteU16(dst, (int16_t)DECIDEGREES_TO_DEGREES(attitude.values.roll));
+ sbufWriteU16(dst, (int16_t)DECIDEGREES_TO_DEGREES(attitude.values.yaw));
}
#if defined(USE_GPS)