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Code Issues Wiki Activity

Merge remote-tracking branch 'origin/maintenance-8.x.x'

Browse source
This commit is contained in:
Marcelo Bezerra 2025-03-30 13:20:53 +02:00
commit 44e02e18f8
30 changed files with 571 additions and 132 deletions
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3
CMakeLists.txt
View file

@ -51,8 +51,7 @@ else()
endif()
endif()
project(INAV VERSION 9.0.0)
project(INAV VERSION 8.0.1)
enable_language(ASM)

19
docs/ADSB.md
View file

@ -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
![TT-SC1 settings](Screenshots/ADSB_TTSC01_settings.png)
## 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/

2
docs/OSD.md
View file

@ -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.

2
lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_mdma.c
View file

@ -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
* @{

2
lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_rcc.c
View file

@ -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
* @{

6
src/main/config/config_eeprom.c
View file

@ -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) {

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

@ -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;

42
src/main/config/config_streamer_stm32h7.c
View file

@ -22,9 +22,38 @@
#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
#if defined(STM32H743xx)
static uint32_t getFLASHBankForEEPROM(uint32_t address)
{
#ifdef DUAL_BANK
if (address < (FLASH_BASE + FLASH_BANK_SIZE)) {
return FLASH_BANK_1;
}
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)
@ -70,13 +99,14 @@ 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,
#ifdef FLASH_VOLTAGE_RANGE_3
.VoltageRange = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
.NbSectors = 1,
.Banks = FLASH_BANK_1
};
#endif
.NbSectors = 1};
EraseInitStruct.Banks = getFLASHBankForEEPROM(c->address);
EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
uint32_t SECTORError;

4
src/main/drivers/bus_spi.h
View file

@ -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;

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

@ -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 {

13
src/main/fc/cli.c
View file

@ -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)
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)
}
}
if (reason == NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
cliPrintLinef(" FIRST WP TOO FAR");
}
}

2
src/main/fc/settings.yaml
View file

@ -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"]

1
src/main/io/displayport_msp_osd.c
View file

@ -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;

17
src/main/navigation/navigation_multicopter.c
View file

@ -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;

36
src/main/rx/jetiexbus.c
View file

@ -39,6 +39,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>
#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);

8
src/main/rx/jetiexbus.h
View file

@ -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);

1
src/main/target/MATEKF405/CMakeLists.txt
View file

@ -1,2 +1,3 @@
target_stm32f405xg(MATEKF405)
target_stm32f405xg(MATEKF405OSD)
target_stm32f405xg(MATEKF405MINI)

22
src/main/target/MATEKF405/target.h
View file

@ -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

2
src/main/target/ORBITF435/CMakeLists.txt Normal file
View file

@ -0,0 +1,2 @@
target_at32f43x_xGT7(ORBITF435)
target_at32f43x_xGT7(ORBITF435_SD)

67
src/main/target/ORBITF435/config.c Normal file
View file

@ -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 <stdint.h>
#include <stdbool.h>
#include <platform.h>
#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
}

52
src/main/target/ORBITF435/target.c Normal file
View file

@ -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 <stdint.h>
#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]);

193
src/main/target/ORBITF435/target.h Normal file
View file

@ -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))

6
src/main/target/SKYSTARSF405WING/target.c
View file

@ -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

3
src/main/target/SKYSTARSF405WING/target.h
View file

@ -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

8
src/main/target/TBS_LUCID_H7/target.c
View file

@ -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

8
src/main/target/TBS_LUCID_H7/target.h
View file

@ -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

64
src/main/telemetry/jetiexbus.c
View file

@ -145,7 +145,15 @@ const exBusSensor_t jetiExSensors[] = {
{"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
}
@ -422,6 +448,23 @@ 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;
@ -534,14 +580,8 @@ 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;
}
}
}
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;
}

2
src/main/telemetry/jetiexbus.h
View file

@ -17,6 +17,8 @@
#pragma once
#define JETI_EXBUS_TELEMETRY_FRAME_LEN 128
void initJetiExBusTelemetry(void);
void checkJetiExBusTelemetryState(void);
void handleJetiExBusTelemetry(void);

6
src/main/telemetry/ltm.c
View file

@ -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)