mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-12 19:10:27 +03:00
Merge branch 'master' into MrD_Make-min-ground-speed-more-accessible
This commit is contained in:
Mr D - RC
commit
749083ecb6
58 changed files with 1018 additions and 194 deletions
2
.github/ISSUE_TEMPLATE/Bug_report.md
vendored
2
.github/ISSUE_TEMPLATE/Bug_report.md
vendored
|
|
@ -38,7 +38,7 @@ assignees: ''
|
|||
|
||||
## Additional context
|
||||
<!-- Add any other context about the problem here. -->
|
||||
<!-- Go to CLI, execute `dump` command copy its output to [PasteBin](https://pastebin.com) and provide a link to a paste here -->
|
||||
<!-- Go to CLI, execute `diff` command copy its output to [PasteBin](https://pastebin.com) and provide a link to a paste here -->
|
||||
|
||||
---
|
||||
<!-- PLEASE FILL THIS OUT -->
|
||||
|
|
|
|||
|
|
@ -51,7 +51,6 @@ else()
|
|||
endif()
|
||||
endif()
|
||||
|
||||
|
||||
project(INAV VERSION 9.0.0)
|
||||
|
||||
enable_language(ASM)
|
||||
|
|
|
|||
19
docs/ADSB.md
19
docs/ADSB.md
|
|
@ -13,6 +13,7 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
|
|||
|
||||
* [PINGRX](https://uavionix.com/product/pingrx-pro/) (not tested)
|
||||
* [TT-SC1](https://www.aerobits.pl/product/aero/) (tested)
|
||||
* [ADSBee1090](https://pantsforbirds.com/adsbee-1090/) (tested)
|
||||
|
||||
## TT-SC1 settings
|
||||
* download software for ADSB TT-SC1 from https://www.aerobits.pl/product/aero/ , file Micro_ADSB_App-vX.XX.X_win_setup.zip and install it
|
||||
|
|
@ -24,3 +25,21 @@ All ADSB receivers which can send Mavlink [ADSB_VEHICLE](https://mavlink.io/en/m
|
|||
PCB board for TT-SC1-B module https://oshwlab.com/error414/adsb-power-board
|
||||
|
||||
|
||||
## ADSBee 1090 settings
|
||||
* connect to ADSBee1090 via USB and set COMMS_UART to mavlink2 \
|
||||
``
|
||||
AT+PROTOCOL=COMMS_UART,MAVLINK2
|
||||
``\
|
||||
``
|
||||
AT+BAUDRATE=COMMS_UART,115200
|
||||
``\
|
||||
It's recommended to turn of wifi \
|
||||
``
|
||||
AT+ESP32_ENABLE=0
|
||||
``\
|
||||
``
|
||||
AT+SETTINGS=SAVE
|
||||
``
|
||||
* in INAV configurator ports TAB set telemetry MAVLINK, and baudrate 115200
|
||||
* https://pantsforbirds.com/adsbee-1090/quick-start/
|
||||
|
||||
|
|
|
|||
|
|
@ -102,6 +102,15 @@ To restore set from preferences use:
|
|||
|
||||
```
|
||||
beeper -PREFERED
|
||||
```
|
||||
|
||||
To activate an external beeper via aux channel switch, assign aux channel and set both:
|
||||
|
||||
```
|
||||
beeper RX_SET
|
||||
beeper MULTI_BEEPS
|
||||
```
|
||||
If MULTI_BEEPS is not set, the beeper will not sound after GPS lock.
|
||||
|
||||
As with other CLI commands, the `save` command is needed to save the new settings.
|
||||
|
||||
|
|
@ -117,7 +126,5 @@ Passive buzzers are supported on FCs which are designed to work with passive buz
|
|||
Examples of a known-working buzzers.
|
||||
|
||||
* [Hcm1205x Miniature Buzzer 5v](http://www.rapidonline.com/Audio-Visual/Hcm1205x-Miniature-Buzzer-5v-35-0055)
|
||||
* [5V Electromagnetic Active Buzzer Continuous Beep](https://inavflight.com/shop/s/bg/943524)
|
||||
* [Radio Shack Model: 273-074 PC-BOARD 12VDC (3-16v) 70DB PIEZO BUZZER](http://www.radioshack.com/pc-board-12vdc-70db-piezo-buzzer/2730074.html#.VIAtpzHF_Si)
|
||||
* [MultiComp MCKPX-G1205A-3700 TRANSDUCER, THRU-HOLE, 4V, 30MA](http://uk.farnell.com/multicomp/mckpx-g1205a-3700/transducer-thru-hole-4v-30ma/dp/2135914?CMP=i-bf9f-00001000)
|
||||
* [3-24V Piezo Electronic Tone Buzzer Alarm 95DB](https://inavflight.com/shop/s/bg/919348)
|
||||
|
|
|
|||
|
|
@ -7,12 +7,15 @@ Normally LED pin is used to drive WS2812 led strip. LED pin is held low, and eve
|
|||
|
||||
As alternative function, it is possible to generate PWM signal with specified duty ratio on the LED pin.
|
||||
|
||||
Feature can be used to drive external devices. It is also used to simulate [OSD joystick](OSD%20Joystick.md) to control cameras.
|
||||
Feature can be used to drive external devices such as a VTX power switch. Setting the PWM duty cycle to 100% or 0% can
|
||||
provide an extra PINIO pin. It is also used to simulate [OSD joystick](OSD%20Joystick.md) to control cameras.
|
||||
|
||||
PWM frequency is fixed to 24kHz with duty ratio between 0 and 100%:
|
||||
|
||||
|
||||
|
||||
Note that the LED feature needs to be enabled when using the PIN in this mode (feature LED_STRIP).
|
||||
|
||||
There are four modes of operation:
|
||||
- low
|
||||
- high
|
||||
|
|
@ -88,3 +91,6 @@ To drive power LED with brightness control, Mosfet should be used:
|
|||
|
||||
|
||||
|
||||
# Programming tab example for using the LED pin as a PINIO, such as for turning a VTX or camera on and off
|
||||
!(/docs/assets/images/led-as-pinio.png "led pin as pinio")
|
||||
|
||||
|
|
|
|||
21
docs/OSD.md
21
docs/OSD.md
|
|
@ -14,16 +14,17 @@ General OSD information is in this document. Other documents cover specific OSD-
|
|||
## Features and Limitations
|
||||
Not all OSDs are created equally. This table shows the differences between the different systems available.
|
||||
|
||||
| OSD System | Character grid | Character | Canvas | MSP DisplayPort | All elements supported |
|
||||
|---------------|----------------|-----------|--------|-----------------|-------------------------|
|
||||
| Analogue PAL | 30 x 16 | X | | | YES |
|
||||
| Analogue NTSC | 30 x 13 | X | | | YES |
|
||||
| PixelOSD | As PAL or NTSC | | X | | YES |
|
||||
| DJI OSD | 30 x 16 | X | | | NO - BF Characters only |
|
||||
| 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 |
|
||||
| OSD System | Character grid | Character | Canvas | MSP DisplayPort | All elements supported |
|
||||
|-----------------------------|----------------|-----------|--------|-----------------|-------------------------|
|
||||
| Analogue PAL | 30 x 16 | X | | | YES |
|
||||
| Analogue NTSC | 30 x 13 | X | | | YES |
|
||||
| PixelOSD | As PAL or NTSC | | X | | YES |
|
||||
| DJI OSD | 30 x 16 | X | | | NO - BF Characters only |
|
||||
| DJI WTFOS | 60 x 22 | X | | X | YES |
|
||||
| HDZero | 50 x 18 | X | | X | YES |
|
||||
| Avatar | 53 x 20 | X | | X | YES |
|
||||
| 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.
|
||||
|
|
|
|||
|
|
@ -75,7 +75,7 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
|
|||
| 26 | Invert Roll | Inverts ROLL axis input for PID/PIFF controller |
|
||||
| 27 | Invert Pitch | Inverts PITCH axis input for PID/PIFF controller |
|
||||
| 28 | Invert Yaw | Inverts YAW axis input for PID/PIFF controller |
|
||||
| 29 | Override Throttlw | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle |
|
||||
| 29 | Override Throttle | Override throttle value that is fed to the motors by mixer. Operand is scaled in us. `1000` means throttle cut, `1500` means half throttle |
|
||||
| 30 | Set VTx Band | Sets VTX band. Accepted values are `1-5` |
|
||||
| 31 | Set VTx Channel | Sets VTX channel. Accepted values are `1-8` |
|
||||
| 32 | Set OSD Layout | Sets OSD layout. Accepted values are `0-3` |
|
||||
|
|
@ -98,10 +98,11 @@ IPF can be edited using INAV Configurator user interface, or via CLI. To use COn
|
|||
| 49 | Timer | A simple on - off timer. `true` for the duration of `Operand A` [ms]. Then `false` for the duration of `Operand B` [ms]. |
|
||||
| 50 | Delta | This returns `true` when the value of `Operand A` has changed by the value of `Operand B` or greater within 100ms. ( \|ΔA\| >= B ) |
|
||||
| 51 | Approx Equals (A ~ B) | `true` if `Operand B` is within 1% of `Operand A`. |
|
||||
| 52 | LED Pin PWM | Value `Operand A` from [`0` : `100`] starts PWM generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes). |
|
||||
| 52 | LED Pin PWM | Value `Operand A` from [`0` : `100`] PWM / PINIO generation on LED Pin. See [LED pin PWM](LED%20pin%20PWM.md). Any other value stops PWM generation (stop to allow ws2812 LEDs updates in shared modes). |
|
||||
| 53 | Disable GPS Sensor Fix | Disables the GNSS sensor fix. For testing GNSS failure. |
|
||||
| 54 | Mag calibration | Trigger a magnetometer calibration. |
|
||||
| 55 | Override Minimum Ground Speed | When active, sets the minimum ground speed to the value specified in `Operand A` [m/s]. Minimum allowed value is set in `nav_min_ground_speed`. Maximum value is `150` |
|
||||
| 55 | Set Gimbal Sensitivity | Scales `Operand A` from [`-16` : `15`]
|
||||
| 56 | Override Minimum Ground Speed | When active, sets the minimum ground speed to the value specified in `Operand A` [m/s]. Minimum allowed value is set in `nav_min_ground_speed`. Maximum value is `150` |
|
||||
|
||||
### Operands
|
||||
|
||||
|
|
|
|||
|
|
@ -200,7 +200,7 @@ Note:
|
|||
* It is necessary to update `MSP_SET_RAW_RC` at 5Hz or faster.
|
||||
* `MSP_SET_RAW_RC` uses the defined RC channel map
|
||||
* `MSP_RC` returns `AERT` regardless of channel map
|
||||
* You can combine "real" RC radio and MSP RX by compiling custom firmware with `USE_MSP_RC_OVERRIDE` defined. Then use `msp_override_channels` to set the channels to be overridden.
|
||||
* You can combine "real" RC radio and MSP RX by using `msp_override_channels` to set the channels to be overridden.
|
||||
* The [wiki Remote Control and Management article](https://github.com/iNavFlight/inav/wiki/INAV-Remote-Management,-Control-and-Telemetry) provides more information, including links to 3rd party projects that exercise `MSP_SET_RAW_RC` and `USE_MSP_RC_OVERRIDE`
|
||||
|
||||
## SIM (SITL) Joystick
|
||||
|
|
|
|||
|
|
@ -89,3 +89,37 @@ The allowable baud rates are as follows:
|
|||
| 14 | 1500000 |
|
||||
| 15 | 2000000 |
|
||||
| 16 | 2470000 |
|
||||
|
||||
|
||||
### Function numbers as of 2025
|
||||
|
||||
| Function | Number |
|
||||
| -------------------------- | -------------------------------------------------- |
|
||||
| NONE | 0, |
|
||||
| MSP | (1 << 0), // 1 |
|
||||
| GPS | (1 << 1), // 2 |
|
||||
| UNUSED_3 | (1 << 2), // 4 //Was FUNCTION_TELEMETRY_FRSKY |
|
||||
| TELEMETRY_HOTT | (1 << 3), // 8 |
|
||||
| TELEMETRY_LTM | (1 << 4), // 16 |
|
||||
| TELEMETRY_SMARTPORT | (1 << 5), // 32 |
|
||||
| RX_SERIAL | (1 << 6), // 64 |
|
||||
| BLACKBOX | (1 << 7), // 128 |
|
||||
| TELEMETRY_MAVLINK | (1 << 8), // 256 |
|
||||
| TELEMETRY_IBUS | (1 << 9), // 512 |
|
||||
| RCDEVICE | (1 << 10), // 1024 |
|
||||
| VTX_SMARTAUDIO | (1 << 11), // 2048 |
|
||||
| VTX_TRAMP | (1 << 12), // 4096 |
|
||||
| UNUSED_1 | (1 << 13), // 8192: former\ UAV_INTERCONNECT |
|
||||
| OPTICAL_FLOW | (1 << 14), // 16384 |
|
||||
| LOG | (1 << 15), // 32768 |
|
||||
| RANGEFINDER | (1 << 16), // 65536 |
|
||||
| VTX_FFPV | (1 << 17), // 131072 |
|
||||
| ESCSERIAL | (1 << 18), // 262144: this is used for both SERIALSHOT and ESC_SENSOR telemetry |
|
||||
| TELEMETRY_SIM | (1 << 19), // 524288 |
|
||||
| FRSKY_OSD | (1 << 20), // 1048576 |
|
||||
| DJI_HD_OSD | (1 << 21), // 2097152 |
|
||||
| SERVO_SERIAL | (1 << 22), // 4194304 |
|
||||
| TELEMETRY_SMARTPORT_MASTER | (1 << 23), // 8388608 |
|
||||
| UNUSED_2 | (1 << 24), // 16777216 |
|
||||
| MSP_OSD | (1 << 25), // 33554432 |
|
||||
|
||||
|
|
|
|||
|
|
@ -3034,7 +3034,7 @@ If enabled, motor will stop when throttle is low on this mixer_profile
|
|||
|
||||
### msp_override_channels
|
||||
|
||||
Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode.
|
||||
Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires the `MSP RC Override` flight mode.
|
||||
|
||||
| Default | Min | Max |
|
||||
| --- | --- | --- |
|
||||
|
|
|
|||
12
docs/VTOL.md
12
docs/VTOL.md
|
|
@ -42,7 +42,7 @@ We highly value your feedback as it plays a crucial role in the development and
|
|||
5. *(Optional)* **Automated Switching (RTH):**
|
||||
- Optionally, set up automated switching in case of failsafe.
|
||||
|
||||
# STEP0: Load parameter preset/templates
|
||||
# STEP 0: Load parameter preset/templates
|
||||
Find a working diff file if you can and start from there. If not, select keep current settings and apply following parameter in cli but read description about which one to apply.
|
||||
|
||||
```
|
||||
|
|
@ -113,7 +113,7 @@ set mc_iterm_relax = RPY
|
|||
save
|
||||
```
|
||||
|
||||
# STEP1: Configuring as a normal fixed-wing in Profile 1
|
||||
# STEP 1: Configuring as a normal fixed-wing in Profile 1
|
||||
|
||||
1. **Select the fisrt Mixer Profile and PID Profile:**
|
||||
- In the CLI, switch to the mixer_profile and pid_profile you wish to set first. You can also switch mixer_profile/pid_profile through gui if with aforementioned presets loaded.
|
||||
|
|
@ -133,7 +133,7 @@ save
|
|||
|
||||
|
||||
|
||||
# STEP2: Configuring as a Multi-Copter in Profile 2
|
||||
# STEP 2: Configuring as a Multi-Copter in Profile 2
|
||||
|
||||
1. **Switch to Another Mixer Profile with PID Profile:**
|
||||
- In the CLI, switch to another mixer_profile along with the appropriate pid_profile. You can also switch mixer_profile/pid_profile through gui if with aforementioned presets loaded.
|
||||
|
|
@ -161,7 +161,7 @@ save
|
|||
- Configure mixer ROLL/YAW mixing according to tail_sitting orientation in the tail_sitting MC mode. YAW axis is the trust axis.
|
||||
- Conduct a bench test and see the orientation of the model changes in inav-configurator setup tab
|
||||
|
||||
# STEP3: Mode Tab Settings:
|
||||
# STEP 3: Mode Tab Settings:
|
||||
### We recommend using an 3-pos switch on you radio to activate these modes, So pilot can jump in or bell out at any moment.
|
||||
### Here is a example, in the bottom of inav-configurator Modes tab:
|
||||
|
||||
|
|
@ -177,7 +177,7 @@ save
|
|||
|
||||
Conduct a bench test on the model (without props attached). The model can now switch between fixed-wing and multi-copter modes while armed. Furthermore, it is capable of mid-air switching, resulting in an immediate stall upon entering fixed-wing profile
|
||||
|
||||
# STEP4: Tilting Servo Setup (Recommended)
|
||||
# STEP 4: Tilting Servo Setup (Recommended)
|
||||
### Setting up the tilting servos to operate correclty is crucial for correct yaw control of the craft. Using the default setup works, but will most likely result in your craft crawling forward with evey yaw input.
|
||||
The steps below describe how you can fine-tune the tilting servos such as to obtian the desired result.
|
||||
|
||||
|
|
@ -229,7 +229,7 @@ Optional Setup Step for Tilt Servos:
|
|||
If you have set up the mixer as suggested in STEP1 and STEP2, you may have to deal with negative values for the mixer. You may wish to reverese a servo so that you don't have to deal with the negative signs. In that case, you may have to adjust the MIN and MAX values from point 4 again, so that your tilt servos are operating correctly. Check the operation of the servos once again for the YAW control in multicopter/tricipter mode as well as the horixontal position of the tilt servos in fixed-wing mode.
|
||||
|
||||
|
||||
# STEP5: Transition Mixing (Multi-Rotor Profile)(Recommended)
|
||||
# STEP 5: Transition Mixing (Multi-Rotor Profile)(Recommended)
|
||||
### Transition Mixing is typically useful in multi-copter profile to gain airspeed in prior to entering the fixed-wing profile. When the `MIXER TRANSITION` mode is activated, the associated motor or servo will move according to your configured Transition Mixing.
|
||||
|
||||
Please note that transition input is disabled when a navigation mode is activated. The use of Transition Mixing is necessary to enable additional features such as VTOL RTH with out stalling.
|
||||
|
|
|
|||
Binary file not shown.
|
Before Width: | Height: | Size: 32 KiB After Width: | Height: | Size: 38 KiB |
BIN
docs/assets/images/led-as-pinio.png
Normal file
BIN
docs/assets/images/led-as-pinio.png
Normal file
Binary file not shown.
|
After Width: | Height: | Size: 24 KiB |
|
|
@ -68,3 +68,8 @@ If one of the core developers has the hardware in possession they may opt in and
|
|||
1. Requester is advised to open a feature request to add support for certain hardware to INAV by following [this link](https://github.com/iNavFlight/inav/issues/new/choose)
|
||||
|
||||
2. After opening a feature request, Requester is advised to contact the core development team by [email](mailto:coredev@inavflight.com) mentioning the open feature request and communicate with developer team via email to arrange hardware and specifications delivery.
|
||||
|
||||
|
||||
## See also
|
||||
[Hardware Design Guidelines](https://github.com/iNavFlight/inav/wiki/Hardware-Design-Guidelines)
|
||||
|
||||
|
|
|
|||
|
|
@ -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
|
||||
* @{
|
||||
|
|
|
|||
|
|
@ -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
|
||||
* @{
|
||||
|
|
|
|||
|
|
@ -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) {
|
||||
|
|
|
|||
|
|
@ -55,7 +55,7 @@ int config_streamer_write(config_streamer_t *c, const uint8_t *p, uint32_t size)
|
|||
return -1;
|
||||
}
|
||||
|
||||
for (const uint8_t *pat = p; pat != (uint8_t*)p + size; pat++) {
|
||||
for (const uint8_t *pat = p; pat != (uint8_t *)p + size; pat++) {
|
||||
c->buffer.b[c->at++] = *pat;
|
||||
|
||||
if (c->at == sizeof(c->buffer)) {
|
||||
|
|
@ -81,7 +81,7 @@ int config_streamer_flush(config_streamer_t *c)
|
|||
c->err = config_streamer_impl_write_word(c, &c->buffer.w);
|
||||
c->at = 0;
|
||||
}
|
||||
return c-> err;
|
||||
return c->err;
|
||||
}
|
||||
|
||||
int config_streamer_finish(config_streamer_t *c)
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -15,16 +15,45 @@
|
|||
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <string.h>
|
||||
#include "platform.h"
|
||||
#include "drivers/system.h"
|
||||
#include "config/config_streamer.h"
|
||||
#include <string.h>
|
||||
#include "platform.h"
|
||||
#include "drivers/system.h"
|
||||
#include "config/config_streamer.h"
|
||||
|
||||
#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
|
||||
#if defined(STM32H7) && !defined(CONFIG_IN_RAM) && !defined(CONFIG_IN_EXTERNAL_FLASH)
|
||||
|
||||
#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)
|
||||
|
|
@ -49,9 +78,9 @@ static uint32_t getFLASHSectorForEEPROM(uint32_t address)
|
|||
}
|
||||
}
|
||||
#elif defined(STM32H750xx)
|
||||
# error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
|
||||
#error "STM32750xx only has one flash page which contains the bootloader, no spare flash pages available, use external storage for persistent config or ram for target testing"
|
||||
#else
|
||||
# error "Unsupported CPU!"
|
||||
#error "Unsupported CPU!"
|
||||
#endif
|
||||
|
||||
void config_streamer_impl_unlock(void)
|
||||
|
|
@ -70,30 +99,31 @@ int config_streamer_impl_write_word(config_streamer_t *c, config_streamer_buffer
|
|||
return c->err;
|
||||
}
|
||||
|
||||
if (c->address % FLASH_PAGE_SIZE == 0) {
|
||||
if (c->address % FLASH_SECTOR_SIZE == 0) {
|
||||
FLASH_EraseInitTypeDef EraseInitStruct = {
|
||||
.TypeErase = FLASH_TYPEERASE_SECTORS,
|
||||
.VoltageRange = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
|
||||
.NbSectors = 1,
|
||||
.Banks = FLASH_BANK_1
|
||||
};
|
||||
EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
|
||||
.TypeErase = FLASH_TYPEERASE_SECTORS,
|
||||
#ifdef FLASH_VOLTAGE_RANGE_3
|
||||
.VoltageRange = FLASH_VOLTAGE_RANGE_3, // 2.7-3.6V
|
||||
#endif
|
||||
.NbSectors = 1};
|
||||
EraseInitStruct.Banks = getFLASHBankForEEPROM(c->address);
|
||||
EraseInitStruct.Sector = getFLASHSectorForEEPROM(c->address);
|
||||
|
||||
uint32_t SECTORError;
|
||||
const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
|
||||
if (status != HAL_OK) {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
uint32_t SECTORError;
|
||||
const HAL_StatusTypeDef status = HAL_FLASHEx_Erase(&EraseInitStruct, &SECTORError);
|
||||
if (status != HAL_OK) {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
// On H7 HAL_FLASH_Program takes data address, not the raw word value
|
||||
const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
|
||||
if (status != HAL_OK) {
|
||||
return -2;
|
||||
}
|
||||
// On H7 HAL_FLASH_Program takes data address, not the raw word value
|
||||
const HAL_StatusTypeDef status = HAL_FLASH_Program(FLASH_TYPEPROGRAM_FLASHWORD, c->address, (uint32_t)buffer);
|
||||
if (status != HAL_OK) {
|
||||
return -2;
|
||||
}
|
||||
|
||||
c->address += CONFIG_STREAMER_BUFFER_SIZE;
|
||||
return 0;
|
||||
}
|
||||
c->address += CONFIG_STREAMER_BUFFER_SIZE;
|
||||
return 0;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -49,7 +49,7 @@ typedef struct pgRegistry_s {
|
|||
uint8_t **ptr; // The pointer to update after loading the record into ram.
|
||||
union {
|
||||
void *ptr; // Pointer to init template
|
||||
pgResetFunc *fn; // Popinter to pgResetFunc
|
||||
pgResetFunc *fn; // Pointer to pgResetFunc
|
||||
} reset;
|
||||
} pgRegistry_t;
|
||||
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -89,6 +89,11 @@ bool gimbalCommonIsReady(gimbalDevice_t *gimbalDevice)
|
|||
return false;
|
||||
}
|
||||
|
||||
void setGimbalSensitivity(int16_t sensitivity)
|
||||
{
|
||||
gimbalConfigMutable()->sensitivity = sensitivity;
|
||||
}
|
||||
|
||||
#ifdef GIMBAL_UNIT_TEST
|
||||
void taskUpdateGimbal(timeUs_t currentTimeUs)
|
||||
{
|
||||
|
|
|
|||
|
|
@ -96,6 +96,7 @@ bool gimbalCommonIsEnabled(void);
|
|||
bool gimbalCommonHtrkIsEnabled(void);
|
||||
|
||||
int16_t gimbalCommonGetPanPwm(const gimbalDevice_t *gimbalDevice);
|
||||
void setGimbalSensitivity(int16_t sensitivity);
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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 {
|
||||
|
|
|
|||
|
|
@ -471,7 +471,7 @@ uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_t mode,
|
|||
else {
|
||||
if (mode & MODE_TX) {
|
||||
IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(device));
|
||||
IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->rx_af);
|
||||
IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->tx_af);
|
||||
}
|
||||
|
||||
if (mode & MODE_RX) {
|
||||
|
|
|
|||
|
|
@ -4190,14 +4190,19 @@ static void cliStatus(char *cmdline)
|
|||
#if defined(USE_OSD)
|
||||
if (armingFlags & ARMING_DISABLED_NAVIGATION_UNSAFE) {
|
||||
navArmingBlocker_e reason = navigationIsBlockingArming(NULL);
|
||||
if (reason & NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
|
||||
if (reason == NAV_ARMING_BLOCKER_JUMP_WAYPOINT_ERROR)
|
||||
cliPrintLinef(" %s", OSD_MSG_JUMP_WP_MISCONFIG);
|
||||
if (reason & NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
|
||||
if (reason == NAV_ARMING_BLOCKER_MISSING_GPS_FIX) {
|
||||
cliPrintLinef(" %s", OSD_MSG_WAITING_GPS_FIX);
|
||||
} else {
|
||||
if (reason & NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE)
|
||||
cliPrintLinef(" %s", OSD_MSG_DISABLE_NAV_FIRST);
|
||||
if (reason & NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
|
||||
if (reason == NAV_ARMING_BLOCKER_NAV_IS_ALREADY_ACTIVE) {
|
||||
if(armingFlags & ARMING_DISABLED_RC_LINK) {
|
||||
cliPrintLinef(" ENABLE RX TO CLEAR NAV");
|
||||
} else {
|
||||
cliPrintLinef(" %s", OSD_MSG_DISABLE_NAV_FIRST);
|
||||
}
|
||||
}
|
||||
if (reason == NAV_ARMING_BLOCKER_FIRST_WAYPOINT_TOO_FAR)
|
||||
cliPrintLinef(" FIRST WP TOO FAR");
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -677,7 +677,9 @@ void init(void)
|
|||
#endif
|
||||
|
||||
#ifdef USE_VTX_MSP
|
||||
vtxMspInit();
|
||||
if (feature(FEATURE_OSD)) {
|
||||
vtxMspInit();
|
||||
}
|
||||
#endif
|
||||
|
||||
#endif // USE_VTX_CONTROL
|
||||
|
|
|
|||
|
|
@ -1737,6 +1737,13 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
|
|||
}
|
||||
break;
|
||||
#endif
|
||||
|
||||
case MSP2_COMMON_GET_RADAR_GPS:
|
||||
for (uint8_t i = 0; i < RADAR_MAX_POIS; i++){
|
||||
sbufWriteDataSafe(dst, &radar_pois[i].gps, sizeof(gpsLocation_t));
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
return false;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -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"]
|
||||
|
|
@ -770,7 +770,7 @@ groups:
|
|||
field: halfDuplex
|
||||
table: tristate
|
||||
- name: msp_override_channels
|
||||
description: "Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires custom firmware with `USE_RX_MSP` and `USE_MSP_RC_OVERRIDE` compile options and the `MSP RC Override` flight mode."
|
||||
description: "Mask of RX channels that may be overridden by MSP `SET_RAW_RC`. Note that this requires the `MSP RC Override` flight mode."
|
||||
default_value: 0
|
||||
field: mspOverrideChannels
|
||||
condition: USE_MSP_RC_OVERRIDE
|
||||
|
|
@ -4319,18 +4319,21 @@ groups:
|
|||
field: sensitivity
|
||||
min: -16
|
||||
max: 15
|
||||
type: int8_t
|
||||
- name: gimbal_pan_trim
|
||||
field: panTrim
|
||||
description: "Trim gimbal pan center position."
|
||||
default_value: 0
|
||||
min: -500
|
||||
max: 500
|
||||
type: int16_t
|
||||
- name: gimbal_tilt_trim
|
||||
field: tiltTrim
|
||||
description: "Trim gimbal tilt center position."
|
||||
default_value: 0
|
||||
min: -500
|
||||
max: 500
|
||||
type: int16_t
|
||||
- name: gimbal_roll_trim
|
||||
field: rollTrim
|
||||
description: "Trim gimbal roll center position."
|
||||
|
|
|
|||
|
|
@ -596,38 +596,45 @@ int16_t angleFreefloatDeadband(int16_t deadband, flight_dynamics_index_t axis)
|
|||
|
||||
static float computePidLevelTarget(flight_dynamics_index_t axis) {
|
||||
// This is ROLL/PITCH, run ANGLE/HORIZON controllers
|
||||
|
||||
// Limit max bank angle for multirotor during Nav mode Angle controlled position adjustment
|
||||
uint16_t maxBankAngle = STATE(MULTIROTOR) && navConfig()->general.flags.user_control_mode == NAV_GPS_ATTI && isAdjustingPosition() ?
|
||||
DEGREES_TO_DECIDEGREES(navConfig()->mc.max_bank_angle) : pidProfile()->max_angle_inclination[axis];
|
||||
|
||||
#ifdef USE_PROGRAMMING_FRAMEWORK
|
||||
float angleTarget = pidRcCommandToAngle(getRcCommandOverride(rcCommand, axis), pidProfile()->max_angle_inclination[axis]);
|
||||
float angleTarget = pidRcCommandToAngle(getRcCommandOverride(rcCommand, axis), maxBankAngle);
|
||||
#else
|
||||
float angleTarget = pidRcCommandToAngle(rcCommand[axis], pidProfile()->max_angle_inclination[axis]);
|
||||
float angleTarget = pidRcCommandToAngle(rcCommand[axis], maxBankAngle);
|
||||
#endif
|
||||
|
||||
// Automatically pitch down if the throttle is manually controlled and reduced bellow cruise throttle
|
||||
if (STATE(AIRPLANE)) {
|
||||
// Automatically pitch down if the throttle is manually controlled and reduced below cruise throttle
|
||||
#ifdef USE_FW_AUTOLAND
|
||||
if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
|
||||
if (axis == FD_PITCH && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle() && !FLIGHT_MODE(NAV_FW_AUTOLAND)) {
|
||||
#else
|
||||
if ((axis == FD_PITCH) && STATE(AIRPLANE) && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
|
||||
if (axis == FD_PITCH && FLIGHT_MODE(ANGLE_MODE) && !navigationIsControllingThrottle()) {
|
||||
#endif
|
||||
angleTarget += scaleRange(MAX(0, currentBatteryProfile->nav.fw.cruise_throttle - rcCommand[THROTTLE]), 0, currentBatteryProfile->nav.fw.cruise_throttle - PWM_RANGE_MIN, 0, navConfig()->fw.minThrottleDownPitchAngle);
|
||||
}
|
||||
angleTarget += scaleRange(MAX(0, currentBatteryProfile->nav.fw.cruise_throttle - rcCommand[THROTTLE]), 0, currentBatteryProfile->nav.fw.cruise_throttle - PWM_RANGE_MIN, 0, navConfig()->fw.minThrottleDownPitchAngle);
|
||||
}
|
||||
|
||||
//PITCH trim applied by a AutoLevel flight mode and manual pitch trimming
|
||||
if (axis == FD_PITCH && STATE(AIRPLANE)) {
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 0, angleTarget * 10);
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 1, fixedWingLevelTrim * 10);
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 2, getEstimatedActualVelocity(Z));
|
||||
//PITCH trim applied by a AutoLevel flight mode and manual pitch trimming
|
||||
if (axis == FD_PITCH) {
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 0, angleTarget * 10);
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 1, fixedWingLevelTrim * 10);
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 2, getEstimatedActualVelocity(Z));
|
||||
|
||||
/*
|
||||
* fixedWingLevelTrim has opposite sign to rcCommand.
|
||||
* Positive rcCommand means nose should point downwards
|
||||
* Negative rcCommand mean nose should point upwards
|
||||
* This is counter intuitive and a natural way suggests that + should mean UP
|
||||
* This is why fixedWingLevelTrim has opposite sign to rcCommand
|
||||
* Positive fixedWingLevelTrim means nose should point upwards
|
||||
* Negative fixedWingLevelTrim means nose should point downwards
|
||||
*/
|
||||
angleTarget -= DEGREES_TO_DECIDEGREES(fixedWingLevelTrim);
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 3, angleTarget * 10);
|
||||
/*
|
||||
* fixedWingLevelTrim has opposite sign to rcCommand.
|
||||
* Positive rcCommand means nose should point downwards
|
||||
* Negative rcCommand mean nose should point upwards
|
||||
* This is counter intuitive and a natural way suggests that + should mean UP
|
||||
* This is why fixedWingLevelTrim has opposite sign to rcCommand
|
||||
* Positive fixedWingLevelTrim means nose should point upwards
|
||||
* Negative fixedWingLevelTrim means nose should point downwards
|
||||
*/
|
||||
angleTarget -= DEGREES_TO_DECIDEGREES(fixedWingLevelTrim);
|
||||
DEBUG_SET(DEBUG_AUTOLEVEL, 3, angleTarget * 10);
|
||||
}
|
||||
}
|
||||
|
||||
return angleTarget;
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -36,4 +36,6 @@
|
|||
#define MSP2_COMMON_SET_MSP_RC_LINK_STATS 0x100D //in message Sets the MSP RC stats
|
||||
#define MSP2_COMMON_SET_MSP_RC_INFO 0x100E //in message Sets the MSP RC info
|
||||
|
||||
#define MSP2_COMMON_GET_RADAR_GPS 0x100F //get radar position for other planes
|
||||
|
||||
#define MSP2_BETAFLIGHT_BIND 0x3000
|
||||
|
|
|
|||
|
|
@ -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;
|
||||
|
|
|
|||
|
|
@ -49,6 +49,7 @@
|
|||
#include "flight/mixer_profile.h"
|
||||
#include "flight/wind_estimator.h"
|
||||
#include "drivers/io_port_expander.h"
|
||||
#include "drivers/gimbal_common.h"
|
||||
#include "io/osd_common.h"
|
||||
#include "sensors/diagnostics.h"
|
||||
|
||||
|
|
@ -343,6 +344,16 @@ static int logicConditionCompute(
|
|||
break;
|
||||
}
|
||||
#endif
|
||||
|
||||
case LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY:
|
||||
#ifdef USE_SERIAL_GIMBAL
|
||||
setGimbalSensitivity(constrain(operandA, SETTING_GIMBAL_SENSITIVITY_MIN, SETTING_GIMBAL_SENSITIVITY_MAX));
|
||||
return true;
|
||||
break;
|
||||
#else
|
||||
return false;
|
||||
#endif
|
||||
|
||||
case LOGIC_CONDITION_INVERT_ROLL:
|
||||
LOGIC_CONDITION_GLOBAL_FLAG_ENABLE(LOGIC_CONDITION_GLOBAL_FLAG_OVERRIDE_INVERT_ROLL);
|
||||
return true;
|
||||
|
|
|
|||
|
|
@ -84,7 +84,8 @@ typedef enum {
|
|||
LOGIC_CONDITION_LED_PIN_PWM = 52,
|
||||
LOGIC_CONDITION_DISABLE_GPS_FIX = 53,
|
||||
LOGIC_CONDITION_RESET_MAG_CALIBRATION = 54,
|
||||
LOGIC_CONDITION_OVERRIDE_MIN_GROUND_SPEED = 55,
|
||||
LOGIC_CONDITION_SET_GIMBAL_SENSITIVITY = 55,
|
||||
LOGIC_CONDITION_OVERRIDE_MIN_GROUND_SPEED = 56,
|
||||
LOGIC_CONDITION_LAST
|
||||
} logicOperation_e;
|
||||
|
||||
|
|
|
|||
|
|
@ -45,6 +45,7 @@ enum {
|
|||
CRSF_FRAME_GPS_PAYLOAD_SIZE = 15,
|
||||
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
|
||||
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
|
||||
CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE = 2,
|
||||
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
|
||||
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
|
||||
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
|
||||
|
|
@ -86,6 +87,7 @@ typedef enum {
|
|||
CRSF_FRAMETYPE_GPS = 0x02,
|
||||
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
|
||||
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
|
||||
CRSF_FRAMETYPE_BAROMETER_ALTITUDE = 0x09,
|
||||
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
|
||||
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
|
||||
CRSF_FRAMETYPE_ATTITUDE = 0x1E,
|
||||
|
|
|
|||
|
|
@ -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);
|
||||
|
|
|
|||
|
|
@ -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/DAKEFPVF722X8/CMakeLists.txt
Normal file
1
src/main/target/DAKEFPVF722X8/CMakeLists.txt
Normal file
|
|
@ -0,0 +1 @@
|
|||
target_stm32f722xe(DAKEFPVF722X8)
|
||||
32
src/main/target/DAKEFPVF722X8/config.c
Normal file
32
src/main/target/DAKEFPVF722X8/config.c
Normal file
|
|
@ -0,0 +1,32 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV 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.
|
||||
*
|
||||
* INAV 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 INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include <stdbool.h>
|
||||
#include <stdint.h>
|
||||
|
||||
#include <platform.h>
|
||||
|
||||
#include "io/serial.h"
|
||||
#include "rx/rx.h"
|
||||
|
||||
#include "io/piniobox.h"
|
||||
|
||||
void targetConfiguration(void)
|
||||
{
|
||||
pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
|
||||
pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
|
||||
}
|
||||
36
src/main/target/DAKEFPVF722X8/target.c
Normal file
36
src/main/target/DAKEFPVF722X8/target.c
Normal file
|
|
@ -0,0 +1,36 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV 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.
|
||||
*
|
||||
* INAV 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 INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#include "drivers/io.h"
|
||||
#include "drivers/pwm_mapping.h"
|
||||
#include "drivers/timer.h"
|
||||
#include <platform.h>
|
||||
#include <stdbool.h>
|
||||
|
||||
timerHardware_t timerHardware[] = {
|
||||
DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 0), // S1 D(1, 4, 6)
|
||||
DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 0), // S2 D(1, 0, 6)
|
||||
DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 0), // S3 D(1, 1, 6),D(1, 3, 6)
|
||||
DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S4 D(2, 6, 0), D(2, 1, 6), D(2, 3, 6)
|
||||
DEF_TIM(TIM1, CH2, PA9, TIM_USE_OUTPUT_AUTO, 0, 1), // S5 D(2, 6, 0), D(2, 2, 6)
|
||||
DEF_TIM(TIM1, CH3, PA10,TIM_USE_OUTPUT_AUTO, 0, 1), // S6 D(2, 6, 0), D(2, 6, 6)
|
||||
DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 0), // S7 D(2, 4, 7), D(2, 2, 0)
|
||||
DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S8 D(2, 7, 7)
|
||||
DEF_TIM(TIM2, CH1, PA0, TIM_USE_LED, 0, 0), // LEDStrip D(1, 5, 3)
|
||||
};
|
||||
|
||||
const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);
|
||||
183
src/main/target/DAKEFPVF722X8/target.h
Normal file
183
src/main/target/DAKEFPVF722X8/target.h
Normal file
|
|
@ -0,0 +1,183 @@
|
|||
/*
|
||||
* This file is part of INAV.
|
||||
*
|
||||
* INAV 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.
|
||||
*
|
||||
* INAV 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 INAV. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#define TARGET_BOARD_IDENTIFIER "DAK7"
|
||||
#define USBD_PRODUCT_STRING "DAKEFPV F722X8"
|
||||
|
||||
#define LED0 PA15
|
||||
|
||||
#define BEEPER PC3
|
||||
#define BEEPER_INVERTED
|
||||
|
||||
// Buses
|
||||
#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_SPI_DEVICE_2
|
||||
#define SPI2_SCK_PIN PB13
|
||||
#define SPI2_MISO_PIN PB14
|
||||
#define SPI2_MOSI_PIN PB15
|
||||
|
||||
#define USE_SPI_DEVICE_3
|
||||
#define SPI3_SCK_PIN PB3
|
||||
#define SPI3_MISO_PIN PB4
|
||||
#define SPI3_MOSI_PIN PB5
|
||||
|
||||
#define USE_I2C
|
||||
#define USE_I2C_DEVICE_1
|
||||
#define I2C1_SCL PB8
|
||||
#define I2C1_SDA PB9
|
||||
|
||||
#define DEFAULT_I2C_BUS BUS_I2C1
|
||||
|
||||
// GYRO
|
||||
#define USE_IMU_MPU6500
|
||||
#define IMU_MPU6500_ALIGN CW90_DEG
|
||||
#define MPU6500_CS_PIN PA4
|
||||
#define MPU6500_EXTI_PIN PC4
|
||||
#define MPU6500_SPI_BUS BUS_SPI1
|
||||
|
||||
#define USE_IMU_MPU6000
|
||||
#define IMU_MPU6000_ALIGN CW90_DEG
|
||||
#define MPU6000_CS_PIN PA4
|
||||
#define MPU6000_EXTI_PIN PC4
|
||||
#define MPU6000_SPI_BUS BUS_SPI1
|
||||
|
||||
#define USE_IMU_ICM42605
|
||||
#define IMU_ICM42605_ALIGN CW90_DEG
|
||||
#define ICM42605_SPI_BUS BUS_SPI1
|
||||
#define ICM42605_CS_PIN PA4
|
||||
#define ICM42605_EXTI_PIN PC4
|
||||
|
||||
#define USE_IMU_BMI270
|
||||
#define IMU_BMI270_ALIGN CW90_DEG
|
||||
#define BMI270_SPI_BUS BUS_SPI1
|
||||
#define BMI270_CS_PIN PA4
|
||||
#define BMI270_EXTI_PIN PC4
|
||||
|
||||
#define USE_IMU_ICM42688P
|
||||
#define IMU_ICM42688P_ALIGN CW90_DEG
|
||||
#define ICM42688P_CS_PIN PA4
|
||||
#define ICM42688P_EXTI_PIN PC4
|
||||
#define ICM42688P_SPI_BUS BUS_SPI1
|
||||
|
||||
// M25P256 flash
|
||||
#define USE_FLASHFS
|
||||
#define USE_FLASH_M25P16
|
||||
|
||||
#define M25P16_SPI_BUS BUS_SPI3
|
||||
#define M25P16_CS_PIN PB2
|
||||
|
||||
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
|
||||
|
||||
// OSD
|
||||
#define USE_MAX7456
|
||||
#define MAX7456_SPI_BUS BUS_SPI2
|
||||
#define MAX7456_CS_PIN PB12
|
||||
|
||||
// CAMERA_CONTROL
|
||||
#define CAMERA_CONTROL_PIN PB0
|
||||
|
||||
// Serial ports
|
||||
#define USE_VCP
|
||||
|
||||
#define USE_UART1
|
||||
#define UART1_RX_PIN PB6
|
||||
#define UART1_TX_PIN PB7
|
||||
|
||||
#define USE_UART3
|
||||
#define UART3_RX_PIN PB11
|
||||
#define UART3_TX_PIN PD8
|
||||
|
||||
#define USE_UART4
|
||||
#define UART4_RX_PIN PC11
|
||||
#define UART4_TX_PIN PC10
|
||||
|
||||
#define USE_UART5
|
||||
#define UART5_RX_PIN PD2
|
||||
#define UART5_TX_PIN PC12
|
||||
|
||||
#define USE_UART6
|
||||
#define UART6_RX_PIN PC7
|
||||
#define UART6_TX_PIN PC6
|
||||
|
||||
#define SERIAL_PORT_COUNT 6
|
||||
|
||||
#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
|
||||
#define SERIALRX_PROVIDER SERIALRX_CRSF
|
||||
#define SERIALRX_UART SERIAL_PORT_USART5
|
||||
#define GPS_UART SERIAL_PORT_USART1
|
||||
|
||||
//Baro
|
||||
#define USE_BARO
|
||||
#define USE_BARO_BMP280
|
||||
#define USE_BARO_DPS310
|
||||
#define BARO_I2C_BUS DEFAULT_I2C_BUS
|
||||
|
||||
// Mag
|
||||
#define USE_MAG
|
||||
#define MAG_I2C_BUS DEFAULT_I2C_BUS
|
||||
#define USE_MAG_ALL
|
||||
|
||||
#define TEMPERATURE_I2C_BUS DEFAULT_I2C_BUS
|
||||
|
||||
#define USE_RANGEFINDER
|
||||
#define USE_RANGEFINDER_MSP
|
||||
#define RANGEFINDER_I2C_BUS DEFAULT_I2C_BUS
|
||||
|
||||
// unkonw
|
||||
#define PITOT_I2C_BUS DEFAULT_I2C_BUS
|
||||
|
||||
// ADC
|
||||
#define USE_ADC
|
||||
#define ADC_CHANNEL_1_PIN PC1
|
||||
#define ADC_CHANNEL_2_PIN PC2
|
||||
#define ADC_CHANNEL_3_PIN PC0
|
||||
#define VBAT_ADC_CHANNEL ADC_CHN_1
|
||||
#define RSSI_ADC_CHANNEL ADC_CHN_2
|
||||
#define CURRENT_METER_ADC_CHANNEL ADC_CHN_3
|
||||
#define ADC1_DMA_STREAM DMA2_Stream3
|
||||
#define VBAT_SCALE_DEFAULT 1600
|
||||
|
||||
#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY | FEATURE_LED_STRIP | FEATURE_GPS)
|
||||
|
||||
#define USE_LED_STRIP
|
||||
#define WS2811_PIN PA0
|
||||
|
||||
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
|
||||
|
||||
#define TARGET_IO_PORTA 0xffff
|
||||
#define TARGET_IO_PORTB 0xffff
|
||||
#define TARGET_IO_PORTC 0xffff
|
||||
#define TARGET_IO_PORTD 0xffff
|
||||
|
||||
#define USE_DSHOT
|
||||
#define USE_ESC_SENSOR
|
||||
|
||||
#define MAX_PWM_OUTPUT_PORTS 8
|
||||
|
||||
// PINIO
|
||||
#define USE_PINIO
|
||||
#define USE_PINIOBOX
|
||||
#define PINIO1_PIN PB1 // 9Vsw
|
||||
#define PINIO2_PIN PB10 // Camera switcher
|
||||
|
|
@ -1,2 +1,3 @@
|
|||
target_stm32f405xg(MATEKF405)
|
||||
target_stm32f405xg(MATEKF405OSD)
|
||||
target_stm32f405xg(MATEKF405MINI)
|
||||
|
|
|
|||
|
|
@ -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
2
src/main/target/ORBITF435/CMakeLists.txt
Normal file
|
|
@ -0,0 +1,2 @@
|
|||
target_at32f43x_xGT7(ORBITF435)
|
||||
target_at32f43x_xGT7(ORBITF435_SD)
|
||||
67
src/main/target/ORBITF435/config.c
Normal file
67
src/main/target/ORBITF435/config.c
Normal 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
52
src/main/target/ORBITF435/target.c
Normal 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
193
src/main/target/ORBITF435/target.h
Normal 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))
|
||||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -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
|
||||
|
|
|
|||
|
|
@ -155,7 +155,7 @@
|
|||
#define USE_TELEMETRY_JETIEXBUS
|
||||
// These are rather exotic serial protocols
|
||||
#define USE_RX_MSP
|
||||
//#define USE_MSP_RC_OVERRIDE
|
||||
#define USE_MSP_RC_OVERRIDE
|
||||
#define USE_SERIALRX_CRSF
|
||||
#define USE_SERIAL_PASSTHROUGH
|
||||
#define NAV_MAX_WAYPOINTS 120
|
||||
|
|
|
|||
|
|
@ -258,6 +258,33 @@ static void crsfFrameBatterySensor(sbuf_t *dst)
|
|||
crsfSerialize8(dst, batteryRemainingPercentage);
|
||||
}
|
||||
|
||||
const int32_t ALT_MIN_DM = 10000;
|
||||
const int32_t ALT_THRESHOLD_DM = 0x8000 - ALT_MIN_DM;
|
||||
const int32_t ALT_MAX_DM = 0x7ffe * 10 - 5;
|
||||
|
||||
/*
|
||||
0x09 Barometer altitude and vertical speed
|
||||
Payload:
|
||||
uint16_t altitude_packed ( dm - 10000 )
|
||||
*/
|
||||
static void crsfBarometerAltitude(sbuf_t *dst)
|
||||
{
|
||||
int32_t altitude_dm = lrintf(getEstimatedActualPosition(Z) / 10);
|
||||
uint16_t altitude_packed;
|
||||
if (altitude_dm < -ALT_MIN_DM) {
|
||||
altitude_packed = 0;
|
||||
} else if (altitude_dm > ALT_MAX_DM) {
|
||||
altitude_packed = 0xfffe;
|
||||
} else if (altitude_dm < ALT_THRESHOLD_DM) {
|
||||
altitude_packed = altitude_dm + ALT_MIN_DM;
|
||||
} else {
|
||||
altitude_packed = ((altitude_dm + 5) / 10) | 0x8000;
|
||||
}
|
||||
sbufWriteU8(dst, CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
|
||||
crsfSerialize8(dst, CRSF_FRAMETYPE_BAROMETER_ALTITUDE);
|
||||
crsfSerialize16(dst, altitude_packed);
|
||||
}
|
||||
|
||||
typedef enum {
|
||||
CRSF_ACTIVE_ANTENNA1 = 0,
|
||||
CRSF_ACTIVE_ANTENNA2 = 1
|
||||
|
|
@ -415,6 +442,7 @@ typedef enum {
|
|||
CRSF_FRAME_FLIGHT_MODE_INDEX,
|
||||
CRSF_FRAME_GPS_INDEX,
|
||||
CRSF_FRAME_VARIO_SENSOR_INDEX,
|
||||
CRSF_FRAME_BAROMETER_ALTITUDE_INDEX,
|
||||
CRSF_SCHEDULE_COUNT_MAX
|
||||
} crsfFrameTypeIndex_e;
|
||||
|
||||
|
|
@ -481,6 +509,11 @@ static void processCrsf(void)
|
|||
crsfFrameVarioSensor(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
if (currentSchedule & BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX)) {
|
||||
crsfInitializeFrame(dst);
|
||||
crsfBarometerAltitude(dst);
|
||||
crsfFinalize(dst);
|
||||
}
|
||||
#endif
|
||||
crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
|
||||
}
|
||||
|
|
@ -514,6 +547,11 @@ void initCrsfTelemetry(void)
|
|||
if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
|
||||
}
|
||||
#endif
|
||||
#ifdef USE_BARO
|
||||
if (sensors(SENSOR_BARO)) {
|
||||
crsfSchedule[index++] = BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX);
|
||||
}
|
||||
#endif
|
||||
crsfScheduleCount = (uint8_t)index;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -138,14 +138,22 @@ const exBusSensor_t jetiExSensors[] = {
|
|||
{"GPS Speed", "m/s", EX_TYPE_22b, DECIMAL_MASK(2)},
|
||||
{"GPS H-Distance", "m", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"GPS H-Direction", "\xB0", EX_TYPE_22b, DECIMAL_MASK(1)},
|
||||
{"INAV D2", "", EX_TYPE_DES, 0 }, // device descripton
|
||||
{"INAV D2", "", EX_TYPE_DES, 0 }, // device descripton
|
||||
{"GPS Heading", "\xB0", EX_TYPE_22b, DECIMAL_MASK(1)},
|
||||
{"GPS Altitude", "m", EX_TYPE_22b, DECIMAL_MASK(2)},
|
||||
{"G-Force X", "", EX_TYPE_22b, DECIMAL_MASK(3)},
|
||||
{"G-Force Y", "", EX_TYPE_22b, DECIMAL_MASK(3)},
|
||||
{"G-Force Z", "", EX_TYPE_22b, DECIMAL_MASK(3)},
|
||||
{"RPM", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"Trip Distance", "m", EX_TYPE_22b, DECIMAL_MASK(1)}
|
||||
{"Trip Distance", "m", EX_TYPE_22b, DECIMAL_MASK(1)},
|
||||
{"DEBUG0", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG1", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG2", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG3", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG4", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG5", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG6", "", EX_TYPE_22b, DECIMAL_MASK(0)},
|
||||
{"DEBUG7", "", EX_TYPE_22b, DECIMAL_MASK(0)}
|
||||
};
|
||||
|
||||
// after every 15 sensors increment the step by 2 (e.g. ...EX_VAL15, EX_VAL16 = 17) to skip the device description
|
||||
|
|
@ -172,6 +180,14 @@ enum exSensors_e {
|
|||
EX_GFORCE_Z,
|
||||
EX_RPM,
|
||||
EX_TRIP_DISTANCE,
|
||||
EX_DEBUG0,
|
||||
EX_DEBUG1,
|
||||
EX_DEBUG2,
|
||||
EX_DEBUG3,
|
||||
EX_DEBUG4,
|
||||
EX_DEBUG5,
|
||||
EX_DEBUG6,
|
||||
EX_DEBUG7
|
||||
};
|
||||
|
||||
union{
|
||||
|
|
@ -183,8 +199,7 @@ union{
|
|||
|
||||
#define JETI_EX_SENSOR_COUNT (ARRAYLEN(jetiExSensors))
|
||||
|
||||
static uint8_t jetiExBusTelemetryFrame[40];
|
||||
static uint8_t jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||
static uint8_t jetiExBusTelemetryFrame[JETI_EXBUS_TELEMETRY_FRAME_LEN];
|
||||
static uint8_t firstActiveSensor = 0;
|
||||
static uint32_t exSensorEnabled = 0;
|
||||
|
||||
|
|
@ -283,6 +298,17 @@ void initJetiExBusTelemetry(void)
|
|||
}
|
||||
#endif
|
||||
|
||||
if (debugMode != DEBUG_NONE) {
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG0);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG1);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG2);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG3);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG4);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG5);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG6);
|
||||
bitArraySet(&exSensorEnabled, EX_DEBUG7);
|
||||
}
|
||||
|
||||
firstActiveSensor = getNextActiveSensor(0); // find the first active sensor
|
||||
}
|
||||
|
||||
|
|
@ -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;
|
||||
|
|
@ -534,13 +580,7 @@ void handleJetiExBusTelemetry(void)
|
|||
}
|
||||
}
|
||||
|
||||
// check the state if transmit is ready
|
||||
if (jetiExBusTransceiveState == EXBUS_TRANS_IS_TX_COMPLETED) {
|
||||
if (isSerialTransmitBufferEmpty(jetiExBusPort)) {
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_RX;
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
}
|
||||
}
|
||||
jetiExBusRequestState = EXBUS_STATE_ZERO;
|
||||
}
|
||||
|
||||
uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
|
||||
|
|
@ -587,7 +627,7 @@ uint8_t sendJetiExBusTelemetry(uint8_t packetID, uint8_t item)
|
|||
}
|
||||
|
||||
serialWriteBuf(jetiExBusPort, jetiExBusTelemetryFrame, jetiExBusTelemetryFrame[EXBUS_HEADER_MSG_LEN]);
|
||||
jetiExBusTransceiveState = EXBUS_TRANS_IS_TX_COMPLETED;
|
||||
jetiExBusCanTx = false;
|
||||
|
||||
return item;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -17,6 +17,8 @@
|
|||
|
||||
#pragma once
|
||||
|
||||
#define JETI_EXBUS_TELEMETRY_FRAME_LEN 128
|
||||
|
||||
void initJetiExBusTelemetry(void);
|
||||
void checkJetiExBusTelemetryState(void);
|
||||
void handleJetiExBusTelemetry(void);
|
||||
|
|
|
|||
|
|
@ -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)
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue