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Merge branch 'master' into dzikuvx-drop-rx-serial

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This commit is contained in:
Pawel Spychalski (DzikuVx) 2022-07-01 11:40:39 +02:00
commit 492fde2a55
95 changed files with 127 additions and 685 deletions
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15
README.md
View file

@ -6,12 +6,13 @@
* [INAV Discord Server](https://discord.gg/peg2hhbYwN)
* [INAV Official on Facebook](https://www.facebook.com/groups/INAVOfficial)
* [RC Groups Support](https://www.rcgroups.com/forums/showthread.php?2495732-Cleanflight-iNav-(navigation-rewrite)-project)
* [INAV Official on Telegram](https://t.me/INAVFlight)
## Features
* Runs on the most popular F4 and F7 flight controllers
* Runs on the most popular F4, F7 and H7 flight controllers
* On Screen Display (OSD) - both character and pixel style
* DJI OSD integration: all elements, system messages and warnings
* Outstanding performance out of the box
* Position Hold, Altitude Hold, Return To Home and Missions
* Excellent support for fixed wing UAVs: airplanes, flying wings
@ -19,11 +20,9 @@
* Multiple sensor support: GPS, Pitot tube, sonar, lidar, temperature, ESC with BlHeli_32 telemetry
* SmartAudio and IRC Tramp VTX support
* Blackbox flight recorder logging
* On Screen Display (OSD) - both character and pixel style
* DJI OSD integration: all elements, system messages and warnings
* Telemetry: SmartPort, FPort, MAVlink, LTM
* Multi-color RGB LED Strip support
* Advanced gyro filtering: Matrix Filter and RPM filter
* Advanced gyro filtering
* Logic Conditions, Global Functions and Global Variables: you can program INAV with a GUI
* And many more!
@ -56,15 +55,16 @@ Users of OpenTX radios (Taranis, Horus, Jumper, Radiomaster, Nirvana) can use IN
See: https://github.com/iNavFlight/inav/blob/master/docs/Installation.md
## Documentation, support and learning resources
* [Target documentation](https://github.com/iNavFlight/inav/tree/master/docs/boards)
* [INAV 5 on a flying wing full tutorial](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLkZlulvqsX_vRMfXd5zM7Ha)
* [INAV on a multirotor drone tutorial](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLkfcKsWobDLtBNIBzwlwRC8)
* [Fixed Wing Guide](docs/INAV_Fixed_Wing_Setup_Guide.pdf)
* [Autolaunch Guide](docs/INAV_Autolaunch.pdf)
* [Modes Guide](docs/INAV_Modes.pdf)
* [Wing Tuning Masterclass](docs/INAV_Wing_Tuning_Masterclass.pdf)
* [Official documentation](https://github.com/iNavFlight/inav/tree/master/docs)
* [Official Wiki](https://github.com/iNavFlight/inav/wiki)
* [Video series by Painless360](https://www.youtube.com/playlist?list=PLYsWjANuAm4qdXEGFSeUhOZ10-H8YTSnH)
* [Video series by Paweł Spychalski](https://www.youtube.com/playlist?list=PLOUQ8o2_nCLloACrA6f1_daCjhqY2x0fB)
* [Target documentation](https://github.com/iNavFlight/inav/tree/master/docs/boards)
## Contributing
@ -91,6 +91,5 @@ Before creating new issues please check to see if there is an existing one, sear
Please refer to the development section in the [docs/development](https://github.com/iNavFlight/inav/tree/master/docs/development) folder.
## INAV Releases
https://github.com/iNavFlight/inav/releases

29
docs/Rx.md
View file

@ -113,22 +113,6 @@ set serialrx_inverted = ON
set serialrx_halfduplex = ON
```
### XBUS
The firmware currently supports the MODE B version of the XBus protocol.
Make sure to set your TX to use "MODE B" for XBUS in the TX menus!
See here for info on JR's XBUS protocol: http://www.jrpropo.com/english/propo/XBus/
These receivers are reported working:
XG14 14ch DMSS System w/RG731BX XBus Receiver
http://www.jramericas.com/233794/JRP00631/
There exist a remote receiver made for small BNF-models like the Align T-Rex 150 helicopter. The code also supports using the Align DMSS RJ01 receiver directly with the INAV software.
To use this receiver you must power it with 3V from the hardware, and then connect the serial line as other serial RX receivers.
In order for this receiver to work, you need to specify the XBUS_MODE_B_RJ01 for serialrx_provider. Note that you need to set your radio mode for XBUS "MODE B" also for this receiver to work.
Receiver name: Align DMSS RJ01 (HER15001)
### SUMD
16 channels via serial currently supported.
@ -268,21 +252,10 @@ Allowed values: NONE, PPM, SERIAL, MSP, SPI, UIB
# get serialrx
serialrx_provider = SBUS
Allowed values: SPEK1024, SPEK2048, SBUS, SUMD, SUMH, XB-B, XB-B-RJ01, IBUS, JETIEXBUS, CRSF, FPORT, SBUS_FAST, FPORT2, SRXL2
Allowed values: SPEK1024, SPEK2048, SBUS, SUMD, SUMH, IBUS, JETIEXBUS, CRSF, FPORT, SBUS_FAST, FPORT2, SRXL2
```
### PPM/PWM input filtering.
Hardware input filtering can be enabled if you are experiencing interference on the signal sent via your PWM/PPM RX.
Use the `input_filtering_mode` CLI setting to select a mode.
| Value | Meaning |
| ----- | --------- |
| 0 | Disabled |
| 1 | Enabled |
## Receiver configuration.
### FrSky D4R-II

4
src/main/CMakeLists.txt
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@ -94,8 +94,6 @@ main_sources(COMMON_SRC
drivers/accgyro/accgyro_mpu6500.h
drivers/accgyro/accgyro_mpu9250.c
drivers/accgyro/accgyro_mpu9250.h
drivers/accgyro/accgyro_bno055.c
drivers/accgyro/accgyro_bno055.h
drivers/accgyro/accgyro_bno055_serial.c
drivers/accgyro/accgyro_bno055_serial.h
@ -412,8 +410,6 @@ main_sources(COMMON_SRC
rx/sumd.h
rx/sumh.c
rx/sumh.h
rx/xbus.c
rx/xbus.h
scheduler/scheduler.c
scheduler/scheduler.h

1
src/main/drivers/accgyro/accgyro_bno055.c
View file

@ -28,7 +28,6 @@
#include "drivers/time.h"
#include "build/debug.h"
#include "common/vector.h"
#include "drivers/accgyro/accgyro_bno055.h"
#ifdef USE_IMU_BNO055

58
src/main/drivers/accgyro/accgyro_bno055.h
View file

@ -25,64 +25,6 @@
#include "common/vector.h"
#define BNO055_ADDR_PWR_MODE 0x3E
#define BNO055_ADDR_OPR_MODE 0x3D
#define BNO055_ADDR_CALIB_STAT 0x35
#define BNO055_PWR_MODE_NORMAL 0x00
#define BNO055_OPR_MODE_CONFIG 0x00
#define BNO055_OPR_MODE_NDOF 0x0C
#define BNO055_ADDR_EUL_YAW_LSB 0x1A
#define BNO055_ADDR_EUL_YAW_MSB 0x1B
#define BNO055_ADDR_EUL_ROLL_LSB 0x1C
#define BNO055_ADDR_EUL_ROLL_MSB 0x1D
#define BNO055_ADDR_EUL_PITCH_LSB 0x1E
#define BNO055_ADDR_EUL_PITCH_MSB 0x1F
#define BNO055_ADDR_MAG_RADIUS_MSB 0x6A
#define BNO055_ADDR_MAG_RADIUS_LSB 0x69
#define BNO055_ADDR_ACC_RADIUS_MSB 0x68
#define BNO055_ADDR_ACC_RADIUS_LSB 0x67
#define BNO055_ADDR_GYR_OFFSET_Z_MSB 0x66
#define BNO055_ADDR_GYR_OFFSET_Z_LSB 0x65
#define BNO055_ADDR_GYR_OFFSET_Y_MSB 0x64
#define BNO055_ADDR_GYR_OFFSET_Y_LSB 0x63
#define BNO055_ADDR_GYR_OFFSET_X_MSB 0x62
#define BNO055_ADDR_GYR_OFFSET_X_LSB 0x61
#define BNO055_ADDR_MAG_OFFSET_Z_MSB 0x60
#define BNO055_ADDR_MAG_OFFSET_Z_LSB 0x5F
#define BNO055_ADDR_MAG_OFFSET_Y_MSB 0x5E
#define BNO055_ADDR_MAG_OFFSET_Y_LSB 0x5D
#define BNO055_ADDR_MAG_OFFSET_X_MSB 0x5C
#define BNO055_ADDR_MAG_OFFSET_X_LSB 0x5B
#define BNO055_ADDR_ACC_OFFSET_Z_MSB 0x5A
#define BNO055_ADDR_ACC_OFFSET_Z_LSB 0x59
#define BNO055_ADDR_ACC_OFFSET_Y_MSB 0x58
#define BNO055_ADDR_ACC_OFFSET_Y_LSB 0x57
#define BNO055_ADDR_ACC_OFFSET_X_MSB 0x56
#define BNO055_ADDR_ACC_OFFSET_X_LSB 0x55
typedef struct {
uint8_t sys;
uint8_t gyr;
uint8_t acc;
uint8_t mag;
} bno055CalibStat_t;
typedef enum {
ACC = 0,
MAG = 1,
GYRO = 2
} bno055Sensor_e;
typedef struct {
int16_t radius[2];
int16_t offset[3][3];
} bno055CalibrationData_t;
bool bno055Init(bno055CalibrationData_t calibrationData, bool setCalibration);
fpVector3_t bno055GetEurlerAngles(void);

1
src/main/drivers/accgyro/accgyro_bno055_serial.c
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@ -30,7 +30,6 @@
#include <stdbool.h>
#include <stdint.h>
#include "io/serial.h"
#include "drivers/accgyro/accgyro_bno055.h"
#include "build/debug.h"
#include "drivers/time.h"
#include "flight/secondary_imu.h"

60
src/main/drivers/accgyro/accgyro_bno055_serial.h
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@ -25,7 +25,65 @@
#pragma once
#include "common/vector.h"
#include "drivers/accgyro/accgyro_bno055.h"
#define BNO055_ADDR_PWR_MODE 0x3E
#define BNO055_ADDR_OPR_MODE 0x3D
#define BNO055_ADDR_CALIB_STAT 0x35
#define BNO055_PWR_MODE_NORMAL 0x00
#define BNO055_OPR_MODE_CONFIG 0x00
#define BNO055_OPR_MODE_NDOF 0x0C
#define BNO055_ADDR_EUL_YAW_LSB 0x1A
#define BNO055_ADDR_EUL_YAW_MSB 0x1B
#define BNO055_ADDR_EUL_ROLL_LSB 0x1C
#define BNO055_ADDR_EUL_ROLL_MSB 0x1D
#define BNO055_ADDR_EUL_PITCH_LSB 0x1E
#define BNO055_ADDR_EUL_PITCH_MSB 0x1F
#define BNO055_ADDR_MAG_RADIUS_MSB 0x6A
#define BNO055_ADDR_MAG_RADIUS_LSB 0x69
#define BNO055_ADDR_ACC_RADIUS_MSB 0x68
#define BNO055_ADDR_ACC_RADIUS_LSB 0x67
#define BNO055_ADDR_GYR_OFFSET_Z_MSB 0x66
#define BNO055_ADDR_GYR_OFFSET_Z_LSB 0x65
#define BNO055_ADDR_GYR_OFFSET_Y_MSB 0x64
#define BNO055_ADDR_GYR_OFFSET_Y_LSB 0x63
#define BNO055_ADDR_GYR_OFFSET_X_MSB 0x62
#define BNO055_ADDR_GYR_OFFSET_X_LSB 0x61
#define BNO055_ADDR_MAG_OFFSET_Z_MSB 0x60
#define BNO055_ADDR_MAG_OFFSET_Z_LSB 0x5F
#define BNO055_ADDR_MAG_OFFSET_Y_MSB 0x5E
#define BNO055_ADDR_MAG_OFFSET_Y_LSB 0x5D
#define BNO055_ADDR_MAG_OFFSET_X_MSB 0x5C
#define BNO055_ADDR_MAG_OFFSET_X_LSB 0x5B
#define BNO055_ADDR_ACC_OFFSET_Z_MSB 0x5A
#define BNO055_ADDR_ACC_OFFSET_Z_LSB 0x59
#define BNO055_ADDR_ACC_OFFSET_Y_MSB 0x58
#define BNO055_ADDR_ACC_OFFSET_Y_LSB 0x57
#define BNO055_ADDR_ACC_OFFSET_X_MSB 0x56
#define BNO055_ADDR_ACC_OFFSET_X_LSB 0x55
typedef enum {
ACC = 0,
MAG = 1,
GYRO = 2
} bno055Sensor_e;
typedef struct {
uint8_t sys;
uint8_t gyr;
uint8_t acc;
uint8_t mag;
} bno055CalibStat_t;
typedef struct {
int16_t radius[2];
int16_t offset[3][3];
} bno055CalibrationData_t;
bool bno055SerialInit(bno055CalibrationData_t calibrationData, bool setCalibration);
void bno055SerialFetchEulerAngles(void);

1
src/main/drivers/bus.h
View file

@ -144,7 +144,6 @@ typedef enum {
DEVHW_SDCARD, // Generic SD-Card
DEVHW_IRLOCK, // IR-Lock visual positioning hardware
DEVHW_PCF8574, // 8-bit I/O expander
DEVHW_BNO055, // BNO055 IMU
} devHardwareType_e;
typedef enum {

1
src/main/fc/fc_core.c
View file

@ -38,7 +38,6 @@ FILE_COMPILE_FOR_SPEED
#include "drivers/time.h"
#include "drivers/system.h"
#include "drivers/pwm_output.h"
#include "drivers/accgyro/accgyro_bno055.h"
#include "sensors/sensors.h"
#include "sensors/diagnostics.h"

1
src/main/fc/fc_msp.c
View file

@ -163,7 +163,6 @@ typedef enum {
typedef enum {
MSP_PASSTHROUGH_SERIAL_ID = 0xFD,
MSP_PASSTHROUGH_SERIAL_FUNCTION_ID = 0xFE,
MSP_PASSTHROUGH_ESC_4WAY = 0xFF,
} mspPassthroughType_e;

98
src/main/fc/fc_msp_box.c
View file

@ -46,55 +46,55 @@
#define BOX_SUFFIX_LEN 1
static const box_t boxes[CHECKBOX_ITEM_COUNT + 1] = {
{ BOXARM, "ARM", 0 },
{ BOXANGLE, "ANGLE", 1 },
{ BOXHORIZON, "HORIZON", 2 },
{ BOXNAVALTHOLD, "NAV ALTHOLD", 3 },
{ BOXHEADINGHOLD, "HEADING HOLD", 5 },
{ BOXHEADFREE, "HEADFREE", 6 },
{ BOXHEADADJ, "HEADADJ", 7 },
{ BOXCAMSTAB, "CAMSTAB", 8 },
{ BOXNAVRTH, "NAV RTH", 10 },
{ BOXNAVPOSHOLD, "NAV POSHOLD", 11 },
{ BOXMANUAL, "MANUAL", 12 },
{ BOXBEEPERON, "BEEPER", 13 },
{ BOXLEDLOW, "LEDS OFF", 15 },
{ BOXLIGHTS, "LIGHTS", 16 },
{ BOXOSD, "OSD OFF", 19 },
{ BOXTELEMETRY, "TELEMETRY", 20 },
{ BOXAUTOTUNE, "AUTO TUNE", 21 },
{ BOXBLACKBOX, "BLACKBOX", 26 },
{ BOXFAILSAFE, "FAILSAFE", 27 },
{ BOXNAVWP, "NAV WP", 28 },
{ BOXAIRMODE, "AIR MODE", 29 },
{ BOXHOMERESET, "HOME RESET", 30 },
{ BOXGCSNAV, "GCS NAV", 31 },
{ BOXFPVANGLEMIX, "FPV ANGLE MIX", 32 },
{ BOXSURFACE, "SURFACE", 33 },
{ BOXFLAPERON, "FLAPERON", 34 },
{ BOXTURNASSIST, "TURN ASSIST", 35 },
{ BOXNAVLAUNCH, "NAV LAUNCH", 36 },
{ BOXAUTOTRIM, "SERVO AUTOTRIM", 37 },
{ BOXKILLSWITCH, "KILLSWITCH", 38 },
{ BOXCAMERA1, "CAMERA CONTROL 1", 39 },
{ BOXCAMERA2, "CAMERA CONTROL 2", 40 },
{ BOXCAMERA3, "CAMERA CONTROL 3", 41 },
{ BOXOSDALT1, "OSD ALT 1", 42 },
{ BOXOSDALT2, "OSD ALT 2", 43 },
{ BOXOSDALT3, "OSD ALT 3", 44 },
{ BOXNAVCOURSEHOLD, "NAV COURSE HOLD", 45 },
{ BOXBRAKING, "MC BRAKING", 46 },
{ BOXUSER1, "USER1", BOX_PERMANENT_ID_USER1 },
{ BOXUSER2, "USER2", BOX_PERMANENT_ID_USER2 },
{ BOXLOITERDIRCHN, "LOITER CHANGE", 49 },
{ BOXMSPRCOVERRIDE, "MSP RC OVERRIDE", 50 },
{ BOXPREARM, "PREARM", 51 },
{ BOXTURTLE, "TURTLE", 52 },
{ BOXNAVCRUISE, "NAV CRUISE", 53 },
{ BOXAUTOLEVEL, "AUTO LEVEL", 54 },
{ BOXPLANWPMISSION, "WP PLANNER", 55 },
{ BOXSOARING, "SOARING", 56 },
{ CHECKBOX_ITEM_COUNT, NULL, 0xFF }
{ .boxId = BOXARM, .boxName = "ARM", .permanentId = 0 },
{ .boxId = BOXANGLE, .boxName = "ANGLE", .permanentId = 1 },
{ .boxId = BOXHORIZON, .boxName = "HORIZON", .permanentId = 2 },
{ .boxId = BOXNAVALTHOLD, .boxName = "NAV ALTHOLD", .permanentId = 3 },
{ .boxId = BOXHEADINGHOLD, .boxName = "HEADING HOLD", .permanentId = 5 },
{ .boxId = BOXHEADFREE, .boxName = "HEADFREE", .permanentId = 6 },
{ .boxId = BOXHEADADJ, .boxName = "HEADADJ", .permanentId = 7 },
{ .boxId = BOXCAMSTAB, .boxName = "CAMSTAB", .permanentId = 8 },
{ .boxId = BOXNAVRTH, .boxName = "NAV RTH", .permanentId = 10 },
{ .boxId = BOXNAVPOSHOLD, .boxName = "NAV POSHOLD", .permanentId = 11 },
{ .boxId = BOXMANUAL, .boxName = "MANUAL", .permanentId = 12 },
{ .boxId = BOXBEEPERON, .boxName = "BEEPER", .permanentId = 13 },
{ .boxId = BOXLEDLOW, .boxName = "LEDS OFF", .permanentId = 15 },
{ .boxId = BOXLIGHTS, .boxName = "LIGHTS", .permanentId = 16 },
{ .boxId = BOXOSD, .boxName = "OSD OFF", .permanentId = 19 },
{ .boxId = BOXTELEMETRY, .boxName = "TELEMETRY", .permanentId = 20 },
{ .boxId = BOXAUTOTUNE, .boxName = "AUTO TUNE", .permanentId = 21 },
{ .boxId = BOXBLACKBOX, .boxName = "BLACKBOX", .permanentId = 26 },
{ .boxId = BOXFAILSAFE, .boxName = "FAILSAFE", .permanentId = 27 },
{ .boxId = BOXNAVWP, .boxName = "NAV WP", .permanentId = 28 },
{ .boxId = BOXAIRMODE, .boxName = "AIR MODE", .permanentId = 29 },
{ .boxId = BOXHOMERESET, .boxName = "HOME RESET", .permanentId = 30 },
{ .boxId = BOXGCSNAV, .boxName = "GCS NAV", .permanentId = 31 },
{ .boxId = BOXFPVANGLEMIX, .boxName = "FPV ANGLE MIX", .permanentId = 32 },
{ .boxId = BOXSURFACE, .boxName = "SURFACE", .permanentId = 33 },
{ .boxId = BOXFLAPERON, .boxName = "FLAPERON", .permanentId = 34 },
{ .boxId = BOXTURNASSIST, .boxName = "TURN ASSIST", .permanentId = 35 },
{ .boxId = BOXNAVLAUNCH, .boxName = "NAV LAUNCH", .permanentId = 36 },
{ .boxId = BOXAUTOTRIM, .boxName = "SERVO AUTOTRIM", .permanentId = 37 },
{ .boxId = BOXKILLSWITCH, .boxName = "KILLSWITCH", .permanentId = 38 },
{ .boxId = BOXCAMERA1, .boxName = "CAMERA CONTROL 1", .permanentId = 39 },
{ .boxId = BOXCAMERA2, .boxName = "CAMERA CONTROL 2", .permanentId = 40 },
{ .boxId = BOXCAMERA3, .boxName = "CAMERA CONTROL 3", .permanentId = 41 },
{ .boxId = BOXOSDALT1, .boxName = "OSD ALT 1", .permanentId = 42 },
{ .boxId = BOXOSDALT2, .boxName = "OSD ALT 2", .permanentId = 43 },
{ .boxId = BOXOSDALT3, .boxName = "OSD ALT 3", .permanentId = 44 },
{ .boxId = BOXNAVCOURSEHOLD, .boxName = "NAV COURSE HOLD", .permanentId = 45 },
{ .boxId = BOXBRAKING, .boxName = "MC BRAKING", .permanentId = 46 },
{ .boxId = BOXUSER1, .boxName = "USER1", .permanentId = BOX_PERMANENT_ID_USER1 },
{ .boxId = BOXUSER2, .boxName = "USER2", .permanentId = BOX_PERMANENT_ID_USER2 },
{ .boxId = BOXLOITERDIRCHN, .boxName = "LOITER CHANGE", .permanentId = 49 },
{ .boxId = BOXMSPRCOVERRIDE, .boxName = "MSP RC OVERRIDE", .permanentId = 50 },
{ .boxId = BOXPREARM, .boxName = "PREARM", .permanentId = 51 },
{ .boxId = BOXTURTLE, .boxName = "TURTLE", .permanentId = 52 },
{ .boxId = BOXNAVCRUISE, .boxName = "NAV CRUISE", .permanentId = 53 },
{ .boxId = BOXAUTOLEVEL, .boxName = "AUTO LEVEL", .permanentId = 54 },
{ .boxId = BOXPLANWPMISSION, .boxName = "WP PLANNER", .permanentId = 55 },
{ .boxId = BOXSOARING, .boxName = "SOARING", .permanentId = 56 },
{ .boxId = CHECKBOX_ITEM_COUNT, .boxName = NULL, .permanentId = 0xFF }
};
// this is calculated at startup based on enabled features.

2
src/main/fc/fc_msp_box.h
View file

@ -22,8 +22,8 @@
#include "io/piniobox.h"
typedef struct box_s {
const uint8_t boxId; // see boxId_e
const char *boxName; // GUI-readable box name
const uint8_t boxId; // see boxId_e
const uint8_t permanentId; // permanent ID used to identify BOX. This ID is unique for one function, DO NOT REUSE IT
} box_t;

8
src/main/fc/rc_modes.c
View file

@ -209,11 +209,3 @@ void updateUsedModeActivationConditionFlags(void)
isModeActivationConditionPresent(BOXNAVCRUISE) ||
isModeActivationConditionPresent(BOXNAVWP);
}
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm)
{
modeActivationConditionsMutable(macIndex)->modeId = modeId;
modeActivationConditionsMutable(macIndex)->auxChannelIndex = auxChannelIndex;
modeActivationConditionsMutable(macIndex)->range.startStep = CHANNEL_VALUE_TO_STEP(startPwm);
modeActivationConditionsMutable(macIndex)->range.endStep = CHANNEL_VALUE_TO_STEP(endPwm);
}

1
src/main/fc/rc_modes.h
View file

@ -133,4 +133,3 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range);
void updateActivatedModes(void);
void updateUsedModeActivationConditionFlags(void);
void configureModeActivationCondition(int macIndex, boxId_e modeId, uint8_t auxChannelIndex, uint16_t startPwm, uint16_t endPwm);

4
src/main/fc/settings.yaml
View file

@ -10,7 +10,7 @@ tables:
values: ["NONE", "SRF10", "VL53L0X", "MSP", "BENEWAKE", "VL53L1X", "US42", "TOF10120_I2C"]
enum: rangefinderType_e
- name: secondary_imu_hardware
values: ["NONE", "BNO055", "BNO055_SERIAL"]
values: ["NONE", "BNO055_SERIAL"]
enum: secondaryImuType_e
- name: mag_hardware
values: ["NONE", "AUTO", "HMC5883", "AK8975", "MAG3110", "AK8963", "IST8310", "QMC5883", "MPU9250", "IST8308", "LIS3MDL", "MSP", "RM3100", "VCM5883", "MLX90393", "FAKE"]
@ -28,7 +28,7 @@ tables:
values: ["NONE", "SERIAL", "MSP"]
enum: rxReceiverType_e
- name: serial_rx
values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
- name: blackbox_device
values: ["SERIAL", "SPIFLASH", "SDCARD"]
- name: motor_pwm_protocol

31
src/main/flight/secondary_imu.c
View file

@ -37,7 +37,6 @@
#include "config/parameter_group_ids.h"
#include "drivers/sensor.h"
#include "drivers/accgyro/accgyro_bno055.h"
#include "drivers/accgyro/accgyro_bno055_serial.h"
#include "fc/settings.h"
@ -47,7 +46,7 @@
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
PG_REGISTER_WITH_RESET_FN(secondaryImuConfig_t, secondaryImuConfig, PG_SECONDARY_IMU, 1);
PG_REGISTER_WITH_RESET_FN(secondaryImuConfig_t, secondaryImuConfig, PG_SECONDARY_IMU, 2);
EXTENDED_FASTRAM secondaryImuState_t secondaryImuState;
@ -100,15 +99,7 @@ void secondaryImuInit(void)
requestedSensors[SENSOR_INDEX_IMU2] = secondaryImuConfig()->hardwareType;
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
secondaryImuState.active = bno055Init(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
if (secondaryImuState.active) {
detectedSensors[SENSOR_INDEX_IMU2] = SECONDARY_IMU_BNO055;
rescheduleTask(TASK_SECONDARY_IMU, TASK_PERIOD_HZ(10));
}
} else if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
secondaryImuState.active = bno055SerialInit(calibrationData, (secondaryImuConfig()->calibrationRadiusAcc && secondaryImuConfig()->calibrationRadiusMag));
if (secondaryImuState.active) {
@ -174,19 +165,7 @@ void taskSecondaryImu(timeUs_t currentTimeUs)
*/
UNUSED(currentTimeUs);
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
bno055FetchEulerAngles(secondaryImuState.eulerAngles.raw);
secondaryImuProcess();
/*
* Every 2 seconds fetch current calibration state
*/
if (tick == 20)
{
secondaryImuState.calibrationStatus = bno055GetCalibStat();
tick = 0;
}
} else if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
/*
* Every 2 seconds fetch current calibration state
*/
@ -203,9 +182,7 @@ void taskSecondaryImu(timeUs_t currentTimeUs)
void secondaryImuFetchCalibration(void) {
bno055CalibrationData_t calibrationData;
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055) {
calibrationData = bno055GetCalibrationData();
} else if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
if (secondaryImuConfig()->hardwareType == SECONDARY_IMU_BNO055_SERIAL) {
calibrationData = bno055SerialGetCalibrationData();
} else {
return;

4
src/main/flight/secondary_imu.h
View file

@ -27,14 +27,12 @@
#include "config/parameter_group.h"
#include "common/time.h"
#include "sensors/sensors.h"
#include "drivers/accgyro/accgyro_bno055.h"
#include "drivers/accgyro/accgyro_bno055_serial.h"
#include "sensors/diagnostics.h"
typedef enum {
SECONDARY_IMU_NONE = 0,
SECONDARY_IMU_BNO055 = 1,
SECONDARY_IMU_BNO055_SERIAL = 2,
SECONDARY_IMU_BNO055_SERIAL = 1,
} secondaryImuType_e;
typedef struct secondaryImuConfig_s {

7
src/main/rx/rx.c
View file

@ -62,7 +62,6 @@
#include "rx/srxl2.h"
#include "rx/sumd.h"
#include "rx/sumh.h"
#include "rx/xbus.h"
#include "rx/ghst.h"
#include "rx/mavlink.h"
@ -215,12 +214,6 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
enabled = sumhInit(rxConfig, rxRuntimeConfig);
break;
#endif
#ifdef USE_SERIALRX_XBUS
case SERIALRX_XBUS_MODE_B:
case SERIALRX_XBUS_MODE_B_RJ01:
enabled = xBusInit(rxConfig, rxRuntimeConfig);
break;
#endif
#ifdef USE_SERIALRX_IBUS
case SERIALRX_IBUS:
enabled = ibusInit(rxConfig, rxRuntimeConfig);

2
src/main/rx/rx.h
View file

@ -73,8 +73,6 @@ typedef enum {
SERIALRX_SBUS = 2,
SERIALRX_SUMD = 3,
SERIALRX_SUMH = 4,
SERIALRX_XBUS_MODE_B = 5,
SERIALRX_XBUS_MODE_B_RJ01 = 6,
SERIALRX_IBUS = 7,
SERIALRX_JETIEXBUS = 8,
SERIALRX_CRSF = 9,

348
src/main/rx/xbus.c
View file

@ -1,348 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdlib.h>
#include "platform.h"
#ifdef USE_SERIALRX_XBUS
#include "common/utils.h"
#include "drivers/serial.h"
#include "drivers/time.h"
#include "io/serial.h"
#include "rx/rx.h"
#include "rx/xbus.h"
#include "telemetry/telemetry.h"
//
// Serial driver for JR's XBus (MODE B) receiver
//
#define XBUS_CHANNEL_COUNT 12
#define XBUS_RJ01_CHANNEL_COUNT 12
// Frame is: ID(1 byte) + 12*channel(2 bytes) + CRC(2 bytes) = 27
#define XBUS_FRAME_SIZE 27
#define XBUS_RJ01_FRAME_SIZE 33
#define XBUS_RJ01_MESSAGE_LENGTH 30
#define XBUS_RJ01_OFFSET_BYTES 3
#define XBUS_CRC_AND_VALUE 0x8000
#define XBUS_CRC_POLY 0x1021
#define XBUS_BAUDRATE 115200
#define XBUS_RJ01_BAUDRATE 250000
#define XBUS_MAX_FRAME_TIME 8000
// NOTE!
// This is actually based on ID+LENGTH (nibble each)
// 0xA - Multiplex ID (also used by JR, no idea why)
// 0x1 - 12 channels
// 0x2 - 16 channels
// However, the JR XG14 that is used for test at the moment
// does only use 0xA1 as its output. This is why the implementation
// is based on these numbers only. Maybe update this in the future?
#define XBUS_START_OF_FRAME_BYTE (0xA1)
// Pulse length convertion from [0...4095] to µs:
// 800µs -> 0x000
// 1500µs -> 0x800
// 2200µs -> 0xFFF
// Total range is: 2200 - 800 = 1400 <==> 4095
// Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12)
#define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12))
static bool xBusFrameReceived = false;
static bool xBusDataIncoming = false;
static uint8_t xBusFramePosition;
static uint8_t xBusFrameLength;
static uint8_t xBusChannelCount;
static uint8_t xBusProvider;
// Use max values for ram areas
static volatile uint8_t xBusFrame[XBUS_RJ01_FRAME_SIZE];
static uint16_t xBusChannelData[XBUS_RJ01_CHANNEL_COUNT];
// The xbus mode B CRC calculations
static uint16_t xBusCRC16(uint16_t crc, uint8_t value)
{
uint8_t i;
crc = crc ^ (int16_t)value << 8;
for (i = 0; i < 8; i++) {
if (crc & XBUS_CRC_AND_VALUE) {
crc = crc << 1 ^ XBUS_CRC_POLY;
} else {
crc = crc << 1;
}
}
return crc;
}
// Full RJ01 message CRC calculations
uint8_t xBusRj01CRC8(uint8_t inData, uint8_t seed)
{
uint8_t bitsLeft;
uint8_t temp;
for (bitsLeft = 8; bitsLeft > 0; bitsLeft--) {
temp = ((seed ^ inData) & 0x01);
if (temp == 0) {
seed >>= 1;
} else {
seed ^= 0x18;
seed >>= 1;
seed |= 0x80;
}
inData >>= 1;
}
return seed;
}
static void xBusUnpackModeBFrame(uint8_t offsetBytes)
{
// Calculate the CRC of the incoming frame
uint16_t crc = 0;
uint16_t inCrc = 0;
uint8_t i = 0;
uint16_t value;
uint8_t frameAddr;
// Calculate on all bytes except the final two CRC bytes
for (i = 0; i < XBUS_FRAME_SIZE - 2; i++) {
inCrc = xBusCRC16(inCrc, xBusFrame[i+offsetBytes]);
}
// Get the received CRC
crc = ((uint16_t)xBusFrame[offsetBytes + XBUS_FRAME_SIZE - 2]) << 8;
crc = crc + ((uint16_t)xBusFrame[offsetBytes + XBUS_FRAME_SIZE - 1]);
if (crc == inCrc) {
// Unpack the data, we have a valid frame
for (i = 0; i < xBusChannelCount; i++) {
frameAddr = offsetBytes + 1 + i * 2;
value = ((uint16_t)xBusFrame[frameAddr]) << 8;
value = value + ((uint16_t)xBusFrame[frameAddr + 1]);
// Convert to internal format
xBusChannelData[i] = XBUS_CONVERT_TO_USEC(value);
}
xBusFrameReceived = true;
}
}
static void xBusUnpackRJ01Frame(void)
{
// Calculate the CRC of the incoming frame
uint8_t outerCrc = 0;
uint8_t i = 0;
// When using the Align RJ01 receiver with
// a MODE B setting in the radio (XG14 tested)
// the MODE_B -frame is packed within some
// at the moment unknown bytes before and after:
// 0xA1 LEN __ 0xA1 12*(High + Low) CRC1 CRC2 + __ __ CRC_OUTER
// Compared to a standard MODE B frame that only
// contains the "middle" package.
// Hence, at the moment, the unknown header and footer
// of the RJ01 MODEB packages are discarded.
// However, the LAST byte (CRC_OUTER) is infact an 8-bit
// CRC for the whole package, using the Dallas-One-Wire CRC
// method.
// So, we check both these values as well as the provided length
// of the outer/full message (LEN)
//
// Check we have correct length of message
//
if (xBusFrame[1] != XBUS_RJ01_MESSAGE_LENGTH)
{
// Unknown package as length is not ok
return;
}
//
// CRC calculation & check for full message
//
for (i = 0; i < xBusFrameLength - 1; i++) {
outerCrc = xBusRj01CRC8(outerCrc, xBusFrame[i]);
}
if (outerCrc != xBusFrame[xBusFrameLength - 1])
{
// CRC does not match, skip this frame
return;
}
// Now unpack the "embedded MODE B frame"
xBusUnpackModeBFrame(XBUS_RJ01_OFFSET_BYTES);
}
// Receive ISR callback
static void xBusDataReceive(uint16_t c, void *rxCallbackData)
{
UNUSED(rxCallbackData);
timeUs_t now;
static timeUs_t xBusTimeLast;
timeDelta_t xBusTimeInterval;
// Check if we shall reset frame position due to time
now = micros();
xBusTimeInterval = cmpTimeUs(now, xBusTimeLast);
xBusTimeLast = now;
if (xBusTimeInterval > XBUS_MAX_FRAME_TIME) {
xBusFramePosition = 0;
xBusDataIncoming = false;
}
// Check if we shall start a frame?
if ((xBusFramePosition == 0) && (c == XBUS_START_OF_FRAME_BYTE)) {
xBusDataIncoming = true;
}
// Only do this if we are receiving to a frame
if (xBusDataIncoming == true) {
// Store in frame copy
xBusFrame[xBusFramePosition] = (uint8_t)c;
xBusFramePosition++;
}
// Done?
if (xBusFramePosition == xBusFrameLength) {
switch (xBusProvider) {
case SERIALRX_XBUS_MODE_B:
xBusUnpackModeBFrame(0);
break;
case SERIALRX_XBUS_MODE_B_RJ01:
xBusUnpackRJ01Frame();
break;
}
xBusDataIncoming = false;
xBusFramePosition = 0;
}
}
// Indicate time to read a frame from the data...
static uint8_t xBusFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
{
UNUSED(rxRuntimeConfig);
if (!xBusFrameReceived) {
return RX_FRAME_PENDING;
}
xBusFrameReceived = false;
return RX_FRAME_COMPLETE;
}
static uint16_t xBusReadRawRC(const rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan)
{
uint16_t data;
// Deliver the data wanted
if (chan >= rxRuntimeConfig->channelCount) {
return 0;
}
data = xBusChannelData[chan];
return data;
}
bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
{
uint32_t baudRate;
switch (rxConfig->serialrx_provider) {
case SERIALRX_XBUS_MODE_B:
rxRuntimeConfig->channelCount = XBUS_CHANNEL_COUNT;
xBusFrameReceived = false;
xBusDataIncoming = false;
xBusFramePosition = 0;
baudRate = XBUS_BAUDRATE;
xBusFrameLength = XBUS_FRAME_SIZE;
xBusChannelCount = XBUS_CHANNEL_COUNT;
xBusProvider = SERIALRX_XBUS_MODE_B;
break;
case SERIALRX_XBUS_MODE_B_RJ01:
rxRuntimeConfig->channelCount = XBUS_RJ01_CHANNEL_COUNT;
xBusFrameReceived = false;
xBusDataIncoming = false;
xBusFramePosition = 0;
baudRate = XBUS_RJ01_BAUDRATE;
xBusFrameLength = XBUS_RJ01_FRAME_SIZE;
xBusChannelCount = XBUS_RJ01_CHANNEL_COUNT;
xBusProvider = SERIALRX_XBUS_MODE_B_RJ01;
break;
default:
return false;
break;
}
rxRuntimeConfig->rxRefreshRate = 11000;
rxRuntimeConfig->rcReadRawFn = xBusReadRawRC;
rxRuntimeConfig->rcFrameStatusFn = xBusFrameStatus;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_RX_SERIAL);
if (!portConfig) {
return false;
}
#ifdef USE_TELEMETRY
bool portShared = telemetryCheckRxPortShared(portConfig);
#else
bool portShared = false;
#endif
serialPort_t *xBusPort = openSerialPort(portConfig->identifier,
FUNCTION_RX_SERIAL,
xBusDataReceive,
NULL,
baudRate,
portShared ? MODE_RXTX : MODE_RX,
SERIAL_NOT_INVERTED | (tristateWithDefaultOffIsActive(rxConfig->halfDuplex) ? SERIAL_BIDIR : 0)
);
#ifdef USE_TELEMETRY
if (portShared) {
telemetrySharedPort = xBusPort;
}
#endif
return xBusPort != NULL;
}
#endif // USE_SERIALRX_XBUS

20
src/main/rx/xbus.h
View file

@ -1,20 +0,0 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it 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.
*
* Cleanflight 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 Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
bool xBusInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig);

1
src/main/target/AIKONF4/target.h
View file

@ -102,7 +102,6 @@
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS

1
src/main/target/AIRBOTF4/target.h
View file

@ -64,7 +64,6 @@
#define USE_PITOT_ADC
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define M25P16_CS_PIN PB3
#define M25P16_SPI_BUS BUS_SPI3

1
src/main/target/AIRBOTF7/target.h
View file

@ -78,7 +78,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/ALIENFLIGHTF4/target.h
View file

@ -62,7 +62,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/ALIENFLIGHTNGF7/target.h
View file

@ -63,7 +63,6 @@
#define AK8963_SPI_BUS BUS_SPI3
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

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

@ -52,7 +52,6 @@
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/ANYFCF7/target.h
View file

@ -48,7 +48,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO

1
src/main/target/ANYFCM7/target.h
View file

@ -48,7 +48,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/ASGARD32F4/target.h
View file

@ -162,4 +162,3 @@
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/ASGARD32F7/target.h
View file

@ -166,4 +166,3 @@
#define TARGET_IO_PORTD 0xffff
#define PITOT_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2

1
src/main/target/BEEROTORF4/target.h
View file

@ -55,7 +55,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAX7456
#define MAX7456_SPI_BUS BUS_SPI3

1
src/main/target/BETAFLIGHTF4/target.h
View file

@ -128,7 +128,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/BLUEJAYF4/target.h
View file

@ -53,7 +53,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/CLRACINGF4AIR/target.h
View file

@ -114,7 +114,6 @@
#define I2C2_SDA PB11
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define MAG_I2C_BUS BUS_I2C2
#endif

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

@ -56,7 +56,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C3
#define BNO055_I2C_BUS BUS_I2C3
#ifdef QUANTON
#define IMU_MPU6000_ALIGN CW90_DEG

1
src/main/target/DALRCF405/target.h
View file

@ -95,7 +95,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS

1
src/main/target/DALRCF722DUAL/target.h
View file

@ -82,7 +82,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_SPI

1
src/main/target/F4BY/target.h
View file

@ -55,7 +55,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/FF_F35_LIGHTNING/target.h
View file

@ -126,7 +126,6 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_VBAT | FEATURE_CURRENT_METER | FEATURE_OSD | FEATURE_GPS | FEATURE_TELEMETRY)

5
src/main/target/FIREWORKSV2/target.h
View file

@ -227,8 +227,3 @@
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD 0xffff
#if defined(OMNIBUSF4V6)
#define BNO055_I2C_BUS BUS_I2C1
#else
#define BNO055_I2C_BUS BUS_I2C2
#endif

3
src/main/target/FISHDRONEF4/target.h
View file

@ -64,8 +64,6 @@
// *************** Temperature sensor *****************
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
// *************** BARO *****************************
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1
@ -112,7 +110,6 @@
#define UART1_RX_PIN PA10
#define UART1_TX_PIN PA9
// provide for xBUS Receiver
#define USE_UART2
#define UART2_RX_PIN PA3
#define UART2_TX_PIN PA2

2
src/main/target/FLYWOOF411/target.h
View file

@ -76,8 +76,6 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883

2
src/main/target/FLYWOOF7DUAL/target.h
View file

@ -112,8 +112,6 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG_HMC5883

2
src/main/target/FOXEERF405/target.h
View file

@ -116,8 +116,6 @@
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define BNO055_I2C_BUS BUS_I2C1
/*** ADC ***/
#define USE_ADC
#define ADC_CHANNEL_1_PIN PC0

2
src/main/target/FOXEERF722DUAL/target.h
View file

@ -124,8 +124,6 @@
#define USE_MAG_MAG3110
#define USE_MAG_LIS3MDL
#define BNO055_I2C_BUS BUS_I2C1
/*** ADC ***/
#define USE_ADC
#define ADC_CHANNEL_1_PIN PC0

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

@ -122,7 +122,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C3
#define BNO055_I2C_BUS BUS_I2C3
#define PITOT_I2C_BUS BUS_I2C3
#define USE_RANGEFINDER

1
src/main/target/FRSKY_ROVERF7/target.h
View file

@ -66,7 +66,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
// *************** SPI2 Flash ***********************

1
src/main/target/FURYF4OSD/target.h
View file

@ -133,7 +133,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

1
src/main/target/HGLRCF722/target.h
View file

@ -86,7 +86,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/IFLIGHTF4_SUCCEXD/target.h
View file

@ -111,7 +111,6 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

2
src/main/target/IFLIGHTF4_TWING/target.h
View file

@ -78,8 +78,6 @@
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
// *************** OSD *****************************
#define USE_SPI_DEVICE_2
#define SPI2_SCK_PIN PB13

1
src/main/target/IFLIGHTF7_TWING/target.h
View file

@ -80,7 +80,6 @@
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
// *************** FLASH **************************
#define M25P16_CS_PIN PB9

1
src/main/target/IFLIGHT_H743_AIO_V2/target.h
View file

@ -81,7 +81,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

1
src/main/target/JHEH7AIO/target.h
View file

@ -69,7 +69,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/KAKUTEF4/target.h
View file

@ -68,7 +68,6 @@
# define USE_MAG_LIS3MDL
# define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
# define USE_BARO
# define BARO_I2C_BUS BUS_I2C1

3
src/main/target/KAKUTEF7/target.h
View file

@ -178,6 +178,3 @@
#define TARGET_IO_PORTE 0xffff
#define MAX_PWM_OUTPUT_PORTS 6
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/KAKUTEF7MINIV3/target.h
View file

@ -165,7 +165,6 @@
#define RANGEFINDER_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
/*** Used pins ***/
#define TARGET_IO_PORTA 0xffff

1
src/main/target/KAKUTEH7/target.h
View file

@ -118,7 +118,6 @@
#define USE_MAG_VCM5883
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

2
src/main/target/MAMBAF405US/target.h
View file

@ -175,7 +175,6 @@
#define WS2811_PIN PB3
// ******* FEATURES ********
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART1
#define SERIALRX_PROVIDER SERIALRX_SBUS
@ -197,4 +196,3 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS

2
src/main/target/MAMBAF405_2022A/target.h
View file

@ -166,7 +166,6 @@
#define WS2811_PIN PB3
// ******* FEATURES ********
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART1
#define SERIALRX_PROVIDER SERIALRX_SBUS
@ -188,7 +187,6 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
// *************** PINIO ***************************
#define USE_PINIO

3
src/main/target/MAMBAF722/target.h
View file

@ -179,7 +179,6 @@
#define WS2811_PIN PB3
// ******* FEATURES ********
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART1
#define SERIALRX_PROVIDER SERIALRX_SBUS
@ -209,7 +208,5 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#endif

2
src/main/target/MAMBAF722_2022A/target.h
View file

@ -158,7 +158,6 @@
#define WS2811_PIN PB3
// ******* FEATURES ********
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART1
#define SERIALRX_PROVIDER SERIALRX_SBUS
@ -181,7 +180,6 @@
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
// *************** PINIO ***************************
#define USE_PINIO

3
src/main/target/MAMBAF722_X8/target.h
View file

@ -145,7 +145,6 @@
#define WS2811_PIN PB3
// ******* FEATURES ********
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_UART SERIAL_PORT_USART1
#define SERIALRX_PROVIDER SERIALRX_SBUS
@ -168,5 +167,3 @@
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS

1
src/main/target/MAMBAH743/target.h
View file

@ -99,7 +99,6 @@
#define USE_MAG_VCM5883
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

2
src/main/target/MATEKF405/target.h
View file

@ -162,8 +162,6 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS

2
src/main/target/MATEKF405CAN/target.h
View file

@ -73,8 +73,6 @@
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
// *************** SPI2 RM3100 **************************
#define USE_SPI_DEVICE_2

1
src/main/target/MATEKF405SE/target.h
View file

@ -76,7 +76,6 @@
#define RANGEFINDER_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
// *************** SPI2 OSD ***************************

1
src/main/target/MATEKF405TE/target.h
View file

@ -106,7 +106,6 @@
#define RANGEFINDER_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
// *************** UART *****************************
#define USE_VCP

1
src/main/target/MATEKF411/target.h
View file

@ -121,7 +121,6 @@
#define USE_BARO_SPL06
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_MAG
#define MAG_I2C_BUS BUS_I2C1

1
src/main/target/MATEKF411SE/target.h
View file

@ -118,7 +118,6 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

1
src/main/target/MATEKF411TE/target.h
View file

@ -96,7 +96,6 @@
#define PITOT_I2C_BUS BUS_I2C1
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP

2
src/main/target/MATEKF722/target.h
View file

@ -158,5 +158,3 @@
#define MAX_PWM_OUTPUT_PORTS 7
#define USE_DSHOT
#define USE_ESC_SENSOR
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/MATEKF722PX/target.h
View file

@ -67,7 +67,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

3
src/main/target/MATEKF722SE/target.h
View file

@ -193,6 +193,3 @@
#define MAX_PWM_OUTPUT_PORTS 8
#define USE_DSHOT
#define USE_ESC_SENSOR
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/MATEKF765/target.h
View file

@ -101,7 +101,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

1
src/main/target/MATEKH743/target.h
View file

@ -121,7 +121,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

1
src/main/target/OMNIBUSF4/target.h
View file

@ -99,7 +99,6 @@
#define USE_MAG_AK8975
#define TEMPERATURE_I2C_BUS I2C_EXT_BUS
#define BNO055_I2C_BUS I2C_EXT_BUS
#define USE_BARO

1
src/main/target/OMNIBUSF7/target.h
View file

@ -155,7 +155,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C2

1
src/main/target/OMNIBUSF7NXT/target.h
View file

@ -59,7 +59,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define USE_BARO_LPS25H

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

@ -54,7 +54,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/RUSH_BLADE_F7/target.h
View file

@ -66,7 +66,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

2
src/main/target/SKYSTARSF405HD/target.h
View file

@ -134,8 +134,6 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS

2
src/main/target/SKYSTARSF722HD/target.h
View file

@ -128,8 +128,6 @@
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
#define BNO055_I2C_BUS DEFAULT_I2C_BUS
#define USE_RANGEFINDER
#define USE_RANGEFINDER_MSP
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS

1
src/main/target/SPARKY2/target.h
View file

@ -52,7 +52,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

2
src/main/target/SPEEDYBEEF4/target.h
View file

@ -123,8 +123,6 @@
#define SERIAL_PORT_COUNT 6
#endif
#define BNO055_I2C_BUS BUS_I2C1
/*** BARO & MAG ***/
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

1
src/main/target/SPEEDYBEEF7/target.h
View file

@ -119,7 +119,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define PITOT_I2C_BUS BUS_I2C2
#define USE_RANGEFINDER

2
src/main/target/SPEEDYBEEF7MINI/target.h
View file

@ -171,5 +171,3 @@
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/SPRACINGF4EVO/target.h
View file

@ -59,7 +59,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_VCP

2
src/main/target/SPRACINGF7DUAL/target.h
View file

@ -62,8 +62,6 @@
#define USE_BARO_BMP280
#define USE_BARO_MS5611
#define BNO055_I2C_BUS BUS_I2C1
#define MAG_I2C_BUS BUS_I2C1
#define USE_MAG
#define USE_MAG_HMC5883

1
src/main/target/TMOTORF7V2/target.h
View file

@ -116,7 +116,6 @@
#define USE_MAG_LIS3MDL
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define PITOT_I2C_BUS BUS_I2C1
#define USE_RANGEFINDER

1
src/main/target/YUPIF4/target.h
View file

@ -66,7 +66,6 @@
#define USE_MAG_QMC5883
#define TEMPERATURE_I2C_BUS BUS_I2C2
#define BNO055_I2C_BUS BUS_I2C2
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C2

1
src/main/target/YUPIF7/target.h
View file

@ -45,7 +45,6 @@
#define USE_MAG_HMC5883
#define USE_MAG_QMC5883
#define TEMPERATURE_I2C_BUS BUS_I2C1
#define BNO055_I2C_BUS BUS_I2C1
#define USE_BARO
#define BARO_I2C_BUS BUS_I2C1

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

@ -205,7 +205,6 @@
#define USE_SERIALRX_SUMD
#define USE_SERIALRX_SUMH
#define USE_SERIALRX_XBUS
#define USE_TELEMETRY_HOTT
#define USE_HOTT_TEXTMODE

7
src/main/target/common_hardware.c
View file

@ -417,11 +417,4 @@
BUSDEV_REGISTER_I2C(busdev_pcf8574, DEVHW_PCF8574, PCF8574_I2C_BUS, 0x20, NONE, DEVFLAGS_NONE, 0);
#endif
#ifdef USE_IMU_BNO055
#ifndef BNO055_I2C_BUS
#define BNO055_I2C_BUS BUS_I2C1
#endif
BUSDEV_REGISTER_I2C(busdev_bno055, DEVHW_BNO055, BNO055_I2C_BUS, 0x29, NONE, DEVFLAGS_NONE, 0);
#endif
#endif // USE_TARGET_HARDWARE_DESCRIPTORS