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Merge branch 'iNavFlight:master' into MSP-VTX

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Geoff Sim 2024-09-20 16:45:32 +01:00 • committed by GitHub
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11 changed files with 226 additions and 62 deletions
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13
docs/OSD.md
View file

@ -177,7 +177,18 @@ Here are the OSD Elements provided by INAV.
| 144 | OSD_MULTI_FUNCTION | 7.0.0 | |
| 145 | OSD_ODOMETER | 7.0.0 | For this to work correctly, stats must be enabled (`set stats=ON`). Otherwise, this will show the total flight distance. |
| 146 | OSD_PILOT_LOGO | 7.0.0 | |
| 147 | OSD_BLACKBOX | 8.0.0 | The element will be hidden unless blackbox recording is attempted. |
| 147 | OSD_CUSTOM_ELEMENT_1 | 7.0.0 | |
| 148 | OSD_CUSTOM_ELEMENT_2 | 7.0.0 | |
| 149 | OSD_CUSTOM_ELEMENT_3 | 7.0.0 | |
| 150 | OSD_ADSB_WARNING | 7.0.0 | |
| 151 | OSD_ADSB_INFO | 7.0.0 | |
| 152 | OSD_BLACKBOX | 8.0.0 | The element will be hidden unless blackbox recording is attempted. |
| 153 | OSD_FORMATION_FLIGHT | 8.0.0 | |
| 154 | OSD_CUSTOM_ELEMENT_4 | 8.0.0 | |
| 155 | OSD_CUSTOM_ELEMENT_5 | 8.0.0 | |
| 156 | OSD_CUSTOM_ELEMENT_6 | 8.0.0 | |
| 157 | OSD_CUSTOM_ELEMENT_7 | 8.0.0 | |
| 158 | OSD_CUSTOM_ELEMENT_8 | 8.0.0 | |
# Pilot Logos

44
src/main/fc/fc_msp.c
View file

@ -1710,28 +1710,19 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
#endif
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_CUSTOM_OSD_ELEMENTS:
sbufWriteU8(dst, MAX_CUSTOM_ELEMENTS);
sbufWriteU8(dst, OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1);
for (int i = 0; i < MAX_CUSTOM_ELEMENTS; i++) {
const osdCustomElement_t *customElement = osdCustomElements(i);
for (int ii = 0; ii < CUSTOM_ELEMENTS_PARTS; ii++) {
sbufWriteU8(dst, customElement->part[ii].type);
sbufWriteU16(dst, customElement->part[ii].value);
}
sbufWriteU8(dst, customElement->visibility.type);
sbufWriteU16(dst, customElement->visibility.value);
for (int ii = 0; ii < OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1; ii++) {
sbufWriteU8(dst, customElement->osdCustomElementText[ii]);
}
{
sbufWriteU8(dst, MAX_CUSTOM_ELEMENTS);
sbufWriteU8(dst, OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1);
sbufWriteU8(dst, CUSTOM_ELEMENTS_PARTS);
}
break;
#endif
default:
return false;
}
return true;
}
#endif
#ifdef USE_SAFE_HOME
static mspResult_e mspFcSafeHomeOutCommand(sbuf_t *dst, sbuf_t *src)
@ -3351,7 +3342,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
#ifdef USE_PROGRAMMING_FRAMEWORK
case MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS:
sbufReadU8Safe(&tmp_u8, src);
if ((dataSize == (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1) + (MAX_CUSTOM_ELEMENTS * 3) + 4) && (tmp_u8 < MAX_CUSTOM_ELEMENTS)) {
if ((dataSize == (OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1) + (CUSTOM_ELEMENTS_PARTS * 3) + 4) && (tmp_u8 < MAX_CUSTOM_ELEMENTS)) {
for (int i = 0; i < CUSTOM_ELEMENTS_PARTS; i++) {
osdCustomElementsMutable(tmp_u8)->part[i].type = sbufReadU8(src);
osdCustomElementsMutable(tmp_u8)->part[i].value = sbufReadU16(src);
@ -3367,7 +3358,7 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
}
break;
#endif
case MSP2_BETAFLIGHT_BIND:
if (rxConfig()->receiverType == RX_TYPE_SERIAL) {
switch (rxConfig()->serialrx_provider) {
@ -3394,7 +3385,6 @@ static mspResult_e mspFcProcessInCommand(uint16_t cmdMSP, sbuf_t *src)
}
return MSP_RESULT_ACK;
}
#endif
static const setting_t *mspReadSetting(sbuf_t *src)
{
@ -3851,6 +3841,24 @@ bool mspFCProcessInOutCommand(uint16_t cmdMSP, sbuf_t *dst, sbuf_t *src, mspResu
case MSP2_INAV_LOGIC_CONDITIONS_SINGLE:
*ret = mspFcLogicConditionCommand(dst, src);
break;
case MSP2_INAV_CUSTOM_OSD_ELEMENT:
{
const uint8_t idx = sbufReadU8(src);
if (idx < MAX_CUSTOM_ELEMENTS) {
const osdCustomElement_t *customElement = osdCustomElements(idx);
for (int ii = 0; ii < CUSTOM_ELEMENTS_PARTS; ii++) {
sbufWriteU8(dst, customElement->part[ii].type);
sbufWriteU16(dst, customElement->part[ii].value);
}
sbufWriteU8(dst, customElement->visibility.type);
sbufWriteU16(dst, customElement->visibility.value);
for (int ii = 0; ii < OSD_CUSTOM_ELEMENT_TEXT_SIZE - 1; ii++) {
sbufWriteU8(dst, customElement->osdCustomElementText[ii]);
}
}
}
break;
#endif
#ifdef USE_SAFE_HOME
case MSP2_INAV_SAFEHOME:

22
src/main/fc/settings.yaml
View file

@ -3710,6 +3710,17 @@ groups:
min: 1000
max: 5000
default_value: 1500
- name: osd_system_msg_display_time
description: System message display cycle time for multiple messages (milliseconds).
field: system_msg_display_time
default_value: 1000
min: 500
max: 5000
- name: osd_highlight_djis_missing_font_symbols
description: Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
field: highlight_djis_missing_characters
default_value: ON
type: bool
- name: osd_switch_indicator_zero_name
description: "Character to use for OSD switch incicator 0."
field: osd_switch_indicator0_name
@ -3763,17 +3774,6 @@ groups:
field: osd_switch_indicators_align_left
type: bool
default_value: ON
- name: osd_system_msg_display_time
description: System message display cycle time for multiple messages (milliseconds).
field: system_msg_display_time
default_value: 1000
min: 500
max: 5000
- name: osd_highlight_djis_missing_font_symbols
description: Show question marks where there is no symbol in the DJI font to represent the INAV OSD element's symbol. When off, blank spaces will be used. Only relevent for DJICOMPAT modes.
field: highlight_djis_missing_characters
default_value: ON
type: bool
- name: PG_OSD_COMMON_CONFIG
type: osdCommonConfig_t
headers: ["io/osd_common.h"]

30
src/main/io/osd.c
View file

@ -225,7 +225,7 @@ static bool osdDisplayHasCanvas;
#define AH_MAX_PITCH_DEFAULT 20 // Specify default maximum AHI pitch value displayed (degrees)
PG_REGISTER_WITH_RESET_TEMPLATE(osdConfig_t, osdConfig, PG_OSD_CONFIG, 12);
PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 1);
PG_REGISTER_WITH_RESET_FN(osdLayoutsConfig_t, osdLayoutsConfig, PG_OSD_LAYOUTS_CONFIG, 2);
void osdStartedSaveProcess(void) {
savingSettings = true;
@ -1671,6 +1671,31 @@ static bool osdDrawSingleElement(uint8_t item)
customElementDrawElement(buff, 2);
break;
}
case OSD_CUSTOM_ELEMENT_4:
{
customElementDrawElement(buff, 3);
break;
}
case OSD_CUSTOM_ELEMENT_5:
{
customElementDrawElement(buff, 4);
break;
}
case OSD_CUSTOM_ELEMENT_6:
{
customElementDrawElement(buff, 5);
break;
}
case OSD_CUSTOM_ELEMENT_7:
{
customElementDrawElement(buff, 6);
break;
}
case OSD_CUSTOM_ELEMENT_8:
{
customElementDrawElement(buff, 7);
break;
}
case OSD_RSSI_VALUE:
{
uint16_t osdRssi = osdConvertRSSI();
@ -2872,7 +2897,6 @@ static bool osdDrawSingleElement(uint8_t item)
break;
}
#endif
case OSD_SWITCH_INDICATOR_0:
osdDisplaySwitchIndicator(osdConfig()->osd_switch_indicator0_name, rxGetChannelValue(osdConfig()->osd_switch_indicator0_channel - 1), buff);
break;
@ -4998,7 +5022,7 @@ uint8_t drawStat_ESCTemperature(uint8_t col, uint8_t row, uint8_t statValX)
uint8_t drawStat_GForce(uint8_t col, uint8_t row, uint8_t statValX)
{
char buff[12];
char outBuff[12];
char outBuff[20];
const float max_gforce = accGetMeasuredMaxG();
const acc_extremes_t *acc_extremes = accGetMeasuredExtremes();

9
src/main/io/osd.h
View file

@ -286,7 +286,12 @@ typedef enum {
OSD_ADSB_WARNING, //150
OSD_ADSB_INFO,
OSD_BLACKBOX,
OSD_FORMATION_FLIGHT, //153
OSD_FORMATION_FLIGHT,
OSD_CUSTOM_ELEMENT_4,
OSD_CUSTOM_ELEMENT_5,
OSD_CUSTOM_ELEMENT_6,
OSD_CUSTOM_ELEMENT_7,
OSD_CUSTOM_ELEMENT_8, // 158
OSD_ITEM_COUNT // MUST BE LAST
} osd_items_e;
@ -444,7 +449,7 @@ typedef struct osdConfig_s {
uint8_t telemetry; // use telemetry on displayed pixel line 0
uint8_t esc_rpm_precision; // Number of characters used for the RPM numbers.
uint16_t system_msg_display_time; // system message display time for multiple messages (ms)
uint8_t mAh_precision; // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
uint8_t mAh_precision; // Number of numbers used for mAh drawn. Plently of packs now are > 9999 mAh
uint8_t ahi_pitch_interval; // redraws AHI at set pitch interval (Not pixel OSD)
char osd_switch_indicator0_name[OSD_SWITCH_INDICATOR_NAME_LENGTH + 1]; // Name to use for switch indicator 0.
uint8_t osd_switch_indicator0_channel; // RC Channel to use for switch indicator 0.

133
src/main/io/osd/custom_elements.c
View file

@ -68,31 +68,129 @@ uint8_t customElementDrawPart(char *buff, uint8_t customElementIndex, uint8_t cu
const int customPartValue = osdCustomElements(customElementIndex)->part[customElementItemIndex].value;
switch (customPartType) {
case CUSTOM_ELEMENT_TYPE_GV:
case CUSTOM_ELEMENT_TYPE_GV_1:
{
osdFormatCentiNumber(buff, (int32_t) gvGet(customPartValue) * (int32_t) 100, 1, 0, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT:
{
osdFormatCentiNumber(buff, (int32_t) gvGet(customPartValue), 1, 2, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_GV_SMALL:
{
osdFormatCentiNumber(buff, (int32_t) ((gvGet(customPartValue) % 1000 ) * (int32_t) 100), 1, 0, 0, 3, false);
return 3;
}
case CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT:
{
osdFormatCentiNumber(buff, (int32_t) ((gvGet(customPartValue) % 100) * (int32_t) 10), 1, 1, 0, 2, false);
osdFormatCentiNumber(buff,(int32_t) (constrain(gvGet(customPartValue), -9, 9) * (int32_t) 100), 1, 0, 0, 2, false);
return 2;
}
case CUSTOM_ELEMENT_TYPE_GV_2:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -99, 99) * (int32_t) 100), 1, 0, 0, 3, false);
return 3;
}
case CUSTOM_ELEMENT_TYPE_GV_3:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -999, 999) * (int32_t) 100), 1, 0, 0, 4, false);
return 4;
}
case CUSTOM_ELEMENT_TYPE_GV_4:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -9999, 9999) * (int32_t) 100), 1, 0, 0, 5, false);
return 5;
}
case CUSTOM_ELEMENT_TYPE_GV_5:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -99999, 99999) * (int32_t) 100), 1, 0, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -99, 99) * (int32_t) 10), 1, 1, 0, 3, false);
return 3;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT_2_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -999, 999) * (int32_t) 10), 1, 1, 0, 4, false);
return 4;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT_2_2:
{
osdFormatCentiNumber(buff, (int32_t) constrain(gvGet(customPartValue), -9999, 9999), 1, 2, 0, 5, false);
return 5;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT_3_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -9999, 9999) * (int32_t) 10), 1, 1, 0, 5, false);
return 5;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT_3_2:
{
osdFormatCentiNumber(buff, (int32_t) constrain(gvGet(customPartValue), -99999, 99999), 1, 2, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(gvGet(customPartValue), -99999, 99999) * (int32_t) 10), 1, 1, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_LC_1:
{
osdFormatCentiNumber(buff,(int32_t) (constrain(logicConditionGetValue(customPartValue), -9, 9) * (int32_t) 100), 1, 0, 0, 2, false);
return 2;
}
case CUSTOM_ELEMENT_TYPE_LC_2:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -99, 99) * (int32_t) 100), 1, 0, 0, 3, false);
return 3;
}
case CUSTOM_ELEMENT_TYPE_LC_3:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -999, 999) * (int32_t) 100), 1, 0, 0, 4, false);
return 4;
}
case CUSTOM_ELEMENT_TYPE_LC_4:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -9999, 9999) * (int32_t) 100), 1, 0, 0, 5, false);
return 5;
}
case CUSTOM_ELEMENT_TYPE_LC_5:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -99999, 99999) * (int32_t) 100), 1, 0, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_LC_FLOAT_1_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -99, 99) * (int32_t) 10), 1, 1, 0, 3, false);
return 3;
}
case CUSTOM_ELEMENT_TYPE_LC_FLOAT_2_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -999, 999) * (int32_t) 10), 1, 1, 0, 4, false);
return 4;
}
case CUSTOM_ELEMENT_TYPE_LC_FLOAT_2_2:
{
osdFormatCentiNumber(buff, (int32_t) constrain(logicConditionGetValue(customPartValue), -9999, 9999), 1, 2, 0, 5, false);
return 5;
}
case CUSTOM_ELEMENT_TYPE_LC_FLOAT_3_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -9999, 9999) * (int32_t) 10), 1, 1, 0, 5, false);
return 5;
}
case CUSTOM_ELEMENT_TYPE_LC_FLOAT_3_2:
{
osdFormatCentiNumber(buff, (int32_t) constrain(logicConditionGetValue(customPartValue), -99999, 99999), 1, 2, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_LC_FLOAT_4_1:
{
osdFormatCentiNumber(buff, (int32_t) (constrain(logicConditionGetValue(customPartValue), -99999, 99999) * (int32_t) 10), 1, 1, 0, 6, false);
return 6;
}
case CUSTOM_ELEMENT_TYPE_ICON_GV:
{
*buff = (uint8_t)gvGet(customPartValue);
return 1;
}
case CUSTOM_ELEMENT_TYPE_ICON_LC:
{
*buff = (uint8_t)constrain(logicConditionGetValue(customPartValue), 1, 255);
return 1;
}
case CUSTOM_ELEMENT_TYPE_ICON_STATIC:
{
*buff = (uint8_t)customPartValue;
@ -138,4 +236,3 @@ void customElementDrawElement(char *buff, uint8_t customElementIndex){
}
prevLength[customElementIndex] = buffSeek;
}

29
src/main/io/osd/custom_elements.h
View file

@ -21,17 +21,36 @@
#define OSD_CUSTOM_ELEMENT_TEXT_SIZE 16
#define CUSTOM_ELEMENTS_PARTS 3
#define MAX_CUSTOM_ELEMENTS 3
#define MAX_CUSTOM_ELEMENTS 8
typedef enum {
CUSTOM_ELEMENT_TYPE_NONE = 0,
CUSTOM_ELEMENT_TYPE_TEXT = 1,
CUSTOM_ELEMENT_TYPE_ICON_STATIC = 2,
CUSTOM_ELEMENT_TYPE_ICON_GV = 3,
CUSTOM_ELEMENT_TYPE_GV = 4,
CUSTOM_ELEMENT_TYPE_GV_FLOAT = 5,
CUSTOM_ELEMENT_TYPE_GV_SMALL = 6,
CUSTOM_ELEMENT_TYPE_GV_SMALL_FLOAT = 7,
CUSTOM_ELEMENT_TYPE_ICON_LC = 4,
CUSTOM_ELEMENT_TYPE_GV_1 = 5,
CUSTOM_ELEMENT_TYPE_GV_2 = 6,
CUSTOM_ELEMENT_TYPE_GV_3 = 7,
CUSTOM_ELEMENT_TYPE_GV_4 = 8,
CUSTOM_ELEMENT_TYPE_GV_5 = 9,
CUSTOM_ELEMENT_TYPE_GV_FLOAT_1_1 = 10,
CUSTOM_ELEMENT_TYPE_GV_FLOAT_2_1 = 11,
CUSTOM_ELEMENT_TYPE_GV_FLOAT_2_2 = 12,
CUSTOM_ELEMENT_TYPE_GV_FLOAT_3_1 = 13,
CUSTOM_ELEMENT_TYPE_GV_FLOAT_3_2 = 14,
CUSTOM_ELEMENT_TYPE_GV_FLOAT_4_1 = 15,
CUSTOM_ELEMENT_TYPE_LC_1 = 16,
CUSTOM_ELEMENT_TYPE_LC_2 = 17,
CUSTOM_ELEMENT_TYPE_LC_3 = 18,
CUSTOM_ELEMENT_TYPE_LC_4 = 19,
CUSTOM_ELEMENT_TYPE_LC_5 = 20,
CUSTOM_ELEMENT_TYPE_LC_FLOAT_1_1 = 21,
CUSTOM_ELEMENT_TYPE_LC_FLOAT_2_1 = 22,
CUSTOM_ELEMENT_TYPE_LC_FLOAT_2_2 = 23,
CUSTOM_ELEMENT_TYPE_LC_FLOAT_3_1 = 24,
CUSTOM_ELEMENT_TYPE_LC_FLOAT_3_2 = 25,
CUSTOM_ELEMENT_TYPE_LC_FLOAT_4_1 = 26,
} osdCustomElementType_e;
typedef enum {

3
src/main/msp/msp_protocol_v2_inav.h
View file

@ -109,7 +109,8 @@
#define MSP2_ADSB_VEHICLE_LIST 0x2090
#define MSP2_INAV_CUSTOM_OSD_ELEMENTS 0x2100
#define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2101
#define MSP2_INAV_CUSTOM_OSD_ELEMENT 0x2101
#define MSP2_INAV_SET_CUSTOM_OSD_ELEMENTS 0x2102
#define MSP2_INAV_SERVO_CONFIG 0x2200
#define MSP2_INAV_SET_SERVO_CONFIG 0x2201

2
src/main/navigation/navigation_pos_estimator.c
View file

@ -617,7 +617,7 @@ static bool estimationCalculateCorrection_Z(estimationContext_t * ctx)
ctx->estPosCorr.z += gpsAltResudual * positionEstimationConfig()->w_z_gps_p * ctx->dt;
ctx->estVelCorr.z += gpsAltResudual * sq(positionEstimationConfig()->w_z_gps_p) * ctx->dt;
ctx->estVelCorr.z += gpsVelZResudual * positionEstimationConfig()->w_z_gps_v * ctx->dt;
ctx->newEPV = updateEPE(posEstimator.est.epv, ctx->dt, MAX(posEstimator.gps.epv, gpsAltResudual), positionEstimationConfig()->w_z_gps_p);
ctx->newEPV = updateEPE(posEstimator.est.epv, ctx->dt, MAX(posEstimator.gps.epv, fabsf(gpsAltResudual)), positionEstimationConfig()->w_z_gps_p);
// Accelerometer bias
ctx->accBiasCorr.z -= gpsAltResudual * sq(positionEstimationConfig()->w_z_gps_p);

1
src/main/target/FLYWOOF745/config.c
View file

@ -32,6 +32,5 @@ void targetConfiguration(void)
// Make sure S1-S4 default to Motors
timerOverridesMutable(timer2id(TIM3))->outputMode = OUTPUT_MODE_MOTORS;
timerOverridesMutable(timer2id(TIM8))->outputMode = OUTPUT_MODE_MOTORS;
timerOverridesMutable(timer2id(TIM1))->outputMode = OUTPUT_MODE_MOTORS;
}

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

@ -130,7 +130,7 @@
#define VBAT_ADC_CHANNEL ADC_CHN_1
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTA (0xffff & ~(BIT(14)|BIT(13)))
#define TARGET_IO_PORTB 0xffff
#define TARGET_IO_PORTC 0xffff
#define TARGET_IO_PORTD (BIT(2) | BIT(12) | BIT(13))