From d16fa16572463c43dfcacaa5d292ea09fa4b9e68 Mon Sep 17 00:00:00 2001 From: breadoven <56191411+breadoven@users.noreply.github.com> Date: Mon, 29 Nov 2021 23:30:08 +0000 Subject: [PATCH 1/7] first build --- src/main/navigation/navigation.c | 44 ++++++-------------- src/main/navigation/navigation_fixedwing.c | 7 ++-- src/main/navigation/navigation_multicopter.c | 2 +- src/main/navigation/navigation_private.h | 4 +- 4 files changed, 18 insertions(+), 39 deletions(-) diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index a3302f3ab5..8d8ca4f283 100644 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -1642,11 +1642,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_WAYPOINT_NEXT(navigatio { UNUSED(previousState); - const bool isLastWaypoint = (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST) || - (posControl.activeWaypointIndex >= (posControl.waypointCount - 1)); - - if (isLastWaypoint) { - // Last waypoint reached + if (isLastMissionWaypoint()) { // Last waypoint reached return NAV_FSM_EVENT_SWITCH_TO_WAYPOINT_FINISHED; } else { @@ -3059,37 +3055,21 @@ static void calculateAndSetActiveWaypoint(const navWaypoint_t * waypoint) calculateAndSetActiveWaypointToLocalPosition(&localPos); } -/** - * Returns TRUE if we are in WP mode and executing last waypoint on the list, or in RTH mode, or in PH mode - * In RTH mode our only and last waypoint is home - * In PH mode our waypoint is hold position */ -bool isApproachingLastWaypoint(void) +/* Checks if active waypoint is last in mission */ +bool isLastMissionWaypoint(void) { - if (navGetStateFlags(posControl.navState) & NAV_AUTO_WP) { - if (posControl.waypointCount == 0) { - /* No waypoints */ - return true; - } - else if ((posControl.activeWaypointIndex == (posControl.waypointCount - 1)) || - (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST)) { - return true; - } - else { - return false; - } - } - else if (navGetStateFlags(posControl.navState) & NAV_CTL_POS) { - // If POS controller is active we are in Poshold or RTH mode - assume last waypoint - return true; - } - else { - return false; - } + return FLIGHT_MODE(NAV_WP_MODE) && (posControl.activeWaypointIndex >= (posControl.waypointCount - 1) || + (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST)); } -bool isWaypointWait(void) +/* Checks if approaching hold position requiring fixed wing circling loiter */ +bool isApproachingHoldPosition(void) { - return NAV_Status.state == MW_NAV_STATE_HOLD_TIMED; + if (FLIGHT_MODE(NAV_WP_MODE)) { // WP mode last WP hold and Timed hold positions + return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED; + } + // RTH spiral climb and Home positions and POSHOLD (Course Hold excluded, no loiter required) + return (navGetCurrentStateFlags() & NAV_CTL_POS) && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE); } float getActiveWaypointSpeed(void) diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index 00439e6d51..1f4795775a 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -277,10 +277,9 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod) // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target #define TAN_15DEG 0.26795f - bool needToCalculateCircularLoiter = (isApproachingLastWaypoint() || isWaypointWait()) - && (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) - && (distanceToActualTarget > 50.0f) - && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE); + bool needToCalculateCircularLoiter = isApproachingHoldPosition() && + (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) && + (distanceToActualTarget > 50.0f); // Calculate virtual position for straight movement if (needToCalculateCircularLoiter) { diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c index cf8491c2af..0335e50188 100755 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -446,7 +446,7 @@ static void updatePositionVelocityController_MC(const float maxSpeed) */ if ( (navGetCurrentStateFlags() & NAV_AUTO_WP && - !isApproachingLastWaypoint() && + !isLastMissionWaypoint() && newVelTotal < maxSpeed && !navConfig()->mc.slowDownForTurning ) || newVelTotal > maxSpeed diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h index c20b0fbef6..7d7007b232 100644 --- a/src/main/navigation/navigation_private.h +++ b/src/main/navigation/navigation_private.h @@ -418,8 +418,8 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti bool isWaypointReached(const navWaypointPosition_t * waypoint, const bool isWaypointHome); bool isWaypointMissed(const navWaypointPosition_t * waypoint); -bool isWaypointWait(void); -bool isApproachingLastWaypoint(void); +bool isApproachingHoldPosition(void); +bool isLastMissionWaypoint(void); float getActiveWaypointSpeed(void); void updateActualHeading(bool headingValid, int32_t newHeading); From 207d72c16182cbe46468b2544fb3c5cd502e2787 Mon Sep 17 00:00:00 2001 From: breadoven <56191411+breadoven@users.noreply.github.com> Date: Mon, 29 Nov 2021 23:52:07 +0000 Subject: [PATCH 2/7] Update navigation.c --- src/main/navigation/navigation.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index 8d8ca4f283..ed30063a71 100644 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -3068,8 +3068,8 @@ bool isApproachingHoldPosition(void) if (FLIGHT_MODE(NAV_WP_MODE)) { // WP mode last WP hold and Timed hold positions return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED; } - // RTH spiral climb and Home positions and POSHOLD (Course Hold excluded, no loiter required) - return (navGetCurrentStateFlags() & NAV_CTL_POS) && !FLIGHT_MODE(NAV_COURSE_HOLD_MODE); + // RTH spiral climb and Home positions and POSHOLD position + return FLIGHT_MODE(NAV_RTH_MODE) || FLIGHT_MODE(NAV_POSHOLD_MODE); } float getActiveWaypointSpeed(void) From e7a894b2942828c5a1599f7ebf0a2f496be5762f Mon Sep 17 00:00:00 2001 From: breadoven <56191411+breadoven@users.noreply.github.com> Date: Fri, 3 Dec 2021 15:48:28 +0000 Subject: [PATCH 3/7] Fix slowDownForTurning bug --- src/main/navigation/navigation_multicopter.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c index 0335e50188..a8e71f7448 100755 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -446,7 +446,7 @@ static void updatePositionVelocityController_MC(const float maxSpeed) */ if ( (navGetCurrentStateFlags() & NAV_AUTO_WP && - !isLastMissionWaypoint() && + !isApproachingHoldPosition() && newVelTotal < maxSpeed && !navConfig()->mc.slowDownForTurning ) || newVelTotal > maxSpeed From ff3cfdf70453518a01f977bc3d670fa7f218af41 Mon Sep 17 00:00:00 2001 From: breadoven <56191411+breadoven@users.noreply.github.com> Date: Sat, 4 Dec 2021 12:06:46 +0000 Subject: [PATCH 4/7] improve function definition --- src/main/navigation/navigation.c | 4 ++-- src/main/navigation/navigation_fixedwing.c | 2 +- src/main/navigation/navigation_multicopter.c | 2 +- src/main/navigation/navigation_private.h | 2 +- 4 files changed, 5 insertions(+), 5 deletions(-) diff --git a/src/main/navigation/navigation.c b/src/main/navigation/navigation.c index ed30063a71..ef432c42dc 100644 --- a/src/main/navigation/navigation.c +++ b/src/main/navigation/navigation.c @@ -3062,8 +3062,8 @@ bool isLastMissionWaypoint(void) (posControl.waypointList[posControl.activeWaypointIndex].flag == NAV_WP_FLAG_LAST)); } -/* Checks if approaching hold position requiring fixed wing circling loiter */ -bool isApproachingHoldPosition(void) +/* Checks if Nav hold position is active */ +bool isNavHoldPositionActive(void) { if (FLIGHT_MODE(NAV_WP_MODE)) { // WP mode last WP hold and Timed hold positions return isLastMissionWaypoint() || NAV_Status.state == MW_NAV_STATE_HOLD_TIMED; diff --git a/src/main/navigation/navigation_fixedwing.c b/src/main/navigation/navigation_fixedwing.c index 1f4795775a..ea142fb06b 100755 --- a/src/main/navigation/navigation_fixedwing.c +++ b/src/main/navigation/navigation_fixedwing.c @@ -277,7 +277,7 @@ static void calculateVirtualPositionTarget_FW(float trackingPeriod) // If angular visibility of a waypoint is less than 30deg, don't calculate circular loiter, go straight to the target #define TAN_15DEG 0.26795f - bool needToCalculateCircularLoiter = isApproachingHoldPosition() && + bool needToCalculateCircularLoiter = isNavHoldPositionActive() && (distanceToActualTarget <= (navLoiterRadius / TAN_15DEG)) && (distanceToActualTarget > 50.0f); diff --git a/src/main/navigation/navigation_multicopter.c b/src/main/navigation/navigation_multicopter.c index a8e71f7448..f7798894e1 100755 --- a/src/main/navigation/navigation_multicopter.c +++ b/src/main/navigation/navigation_multicopter.c @@ -446,7 +446,7 @@ static void updatePositionVelocityController_MC(const float maxSpeed) */ if ( (navGetCurrentStateFlags() & NAV_AUTO_WP && - !isApproachingHoldPosition() && + !isNavHoldPositionActive() && newVelTotal < maxSpeed && !navConfig()->mc.slowDownForTurning ) || newVelTotal > maxSpeed diff --git a/src/main/navigation/navigation_private.h b/src/main/navigation/navigation_private.h index 7d7007b232..3cac06a17b 100644 --- a/src/main/navigation/navigation_private.h +++ b/src/main/navigation/navigation_private.h @@ -418,7 +418,7 @@ void updateClimbRateToAltitudeController(float desiredClimbRate, climbRateToAlti bool isWaypointReached(const navWaypointPosition_t * waypoint, const bool isWaypointHome); bool isWaypointMissed(const navWaypointPosition_t * waypoint); -bool isApproachingHoldPosition(void); +bool isNavHoldPositionActive(void); bool isLastMissionWaypoint(void); float getActiveWaypointSpeed(void); From 0181291fe456b5e9a73ff020f29ca6aed3b9ab45 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 6 Dec 2021 11:09:44 +0100 Subject: [PATCH 5/7] Basic target for MPU6000 version --- src/main/target/MAMBAH743/CMakeLists.txt | 1 + src/main/target/MAMBAH743/config.c | 32 ++++ src/main/target/MAMBAH743/target.c | 50 ++++++ src/main/target/MAMBAH743/target.h | 220 +++++++++++++++++++++++ 4 files changed, 303 insertions(+) create mode 100644 src/main/target/MAMBAH743/CMakeLists.txt create mode 100644 src/main/target/MAMBAH743/config.c create mode 100644 src/main/target/MAMBAH743/target.c create mode 100644 src/main/target/MAMBAH743/target.h diff --git a/src/main/target/MAMBAH743/CMakeLists.txt b/src/main/target/MAMBAH743/CMakeLists.txt new file mode 100644 index 0000000000..580075fe29 --- /dev/null +++ b/src/main/target/MAMBAH743/CMakeLists.txt @@ -0,0 +1 @@ +target_stm32h743xi(MAMBAH743) diff --git a/src/main/target/MAMBAH743/config.c b/src/main/target/MAMBAH743/config.c new file mode 100644 index 0000000000..ed2f75cba4 --- /dev/null +++ b/src/main/target/MAMBAH743/config.c @@ -0,0 +1,32 @@ +/* + * This file is part of Cleanflight. + * + * Cleanflight is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * Cleanflight is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with Cleanflight. If not, see . + */ + +#include + +#include "platform.h" + +#include "fc/fc_msp_box.h" +#include "fc/config.h" + +#include "io/piniobox.h" + +void targetConfiguration(void) +{ + // pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; + // pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + // beeperConfigMutable()->pwmMode = true; +} diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c new file mode 100644 index 0000000000..710f2ae507 --- /dev/null +++ b/src/main/target/MAMBAH743/target.c @@ -0,0 +1,50 @@ +/* + * 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 . + */ + +#include + +#include "platform.h" + +#include "drivers/bus.h" +#include "drivers/io.h" +#include "drivers/pwm_mapping.h" +#include "drivers/timer.h" +#include "drivers/pinio.h" +#include "drivers/sensor.h" + +BUSDEV_REGISTER_SPI_TAG(busdev_imu0, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN); +// BUSDEV_REGISTER_SPI_TAG(busdev_imu1, DEVHW_MPU6500, MPU6500_SPI_BUS, MPU6500_CS_PIN, MPU6500_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_MPU6500_ALIGN); +// BUSDEV_REGISTER_SPI_TAG(busdev_imu2, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN, 2, DEVFLAGS_NONE, IMU_ICM42605_ALIGN); + +const timerHardware_t timerHardware[] = { + + DEF_TIM(TIM5, CH1, PA0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 0), // S1 + DEF_TIM(TIM5, CH2, PA1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 1), // S2 + DEF_TIM(TIM5, CH3, PA2, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 2), // S3 + DEF_TIM(TIM5, CH4, PA3, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 3), // S4 + + DEF_TIM(TIM3, CH3, PB0, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 4), // S5 + DEF_TIM(TIM3, CH4, PB1, TIM_USE_MC_MOTOR | TIM_USE_FW_SERVO, 0, 5), // S6 + DEF_TIM(TIM8, CH3, PC8, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 6), // S7 + DEF_TIM(TIM8, CH4, PC9, TIM_USE_MC_MOTOR | TIM_USE_FW_MOTOR, 0, 7), // S8 + + + DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 8), // LED_2812 + DEF_TIM(TIM2, CH1, PA15, TIM_USE_BEEPER, 0, 0), // BEEPER PWM +}; + +const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]); diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h new file mode 100644 index 0000000000..36904b3bd3 --- /dev/null +++ b/src/main/target/MAMBAH743/target.h @@ -0,0 +1,220 @@ +/* + * 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 . + */ + + +#pragma once + +#define TARGET_BOARD_IDENTIFIER "M743" +#define USBD_PRODUCT_STRING "MAMBAH743" + +#define USE_TARGET_CONFIG + +#define LED0 PE5 +#define LED1 PE4 + +#define BEEPER PA15 +#define BEEPER_INVERTED +// #define BEEPER_PWM_FREQUENCY 2500 + +// *************** IMU generic *********************** +#define USE_DUAL_GYRO +#define USE_TARGET_IMU_HARDWARE_DESCRIPTORS + +#define USE_EXTI +#define USE_MPU_DATA_READY_SIGNAL + +// *************** SPI1 IMU0 MPU6000 **************** +#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_MPU6000 + +#define IMU_MPU6000_ALIGN CW180_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN PA4 +#define MPU6000_EXTI_PIN PC4 + +// *************** SPI4 IMU1 MPU6000 - not used************** +// #define USE_SPI_DEVICE_4 +// #define SPI4_SCK_PIN PE12 +// #define SPI4_MISO_PIN PE13 +// #define SPI4_MOSI_PIN PE14 + +// #define USE_IMU_MPU6500 + +// #define IMU_MPU6500_ALIGN CW0_DEG_FLIP +// #define MPU6500_SPI_BUS BUS_SPI4 +// #define MPU6500_CS_PIN PE11 +// #define MPU6500_EXTI_PIN PE15 + +// *************** SPI4 IMU2 ICM42605 ************** +// #define USE_IMU_ICM42605 + +// #define IMU_ICM42605_ALIGN CW90_DEG_FLIP +// #define ICM42605_SPI_BUS BUS_SPI4 +// #define ICM42605_CS_PIN PC13 +// #define ICM42605_EXTI_PIN PC14 + + +// *************** SPI2 OSD *********************** +#define USE_SPI_DEVICE_2 +#define SPI2_SCK_PIN PB13 +#define SPI2_MISO_PIN PB14 +#define SPI2_MOSI_PIN PB15 + +#define USE_MAX7456 +#define MAX7456_SPI_BUS BUS_SPI2 +#define MAX7456_CS_PIN PB12 + +// *************** SPI3 SPARE for external RM3100 *********** +// #define USE_SPI_DEVICE_3 +// #define SPI3_SCK_PIN PB3 +// #define SPI3_MISO_PIN PB4 +// #define SPI3_MOSI_PIN PB5 + +// #define USE_MAG_RM3100 +// #define RM3100_CS_PIN PE2 //CS2 pad +// // PD4 //CS1 pad +// #define RM3100_SPI_BUS BUS_SPI3 + +// *************** I2C /Baro/Mag ********************* +#define USE_I2C +#define USE_I2C_DEVICE_1 +#define I2C1_SCL PB6 +#define I2C1_SDA PB7 + +#define USE_I2C_DEVICE_2 +#define I2C2_SCL PB10 +#define I2C2_SDA PB11 + +#define USE_BARO +#define BARO_I2C_BUS BUS_I2C1 +#define USE_BARO_BMP280 +#define USE_BARO_MS5611 +#define USE_BARO_DPS310 +#define USE_BARO_SPL06 + +#define USE_MAG +#define MAG_I2C_BUS BUS_I2C2 +#define USE_MAG_HMC5883 +#define USE_MAG_QMC5883 +#define USE_MAG_IST8310 +#define USE_MAG_IST8308 +#define USE_MAG_MAG3110 +#define USE_MAG_LIS3MDL + +#define TEMPERATURE_I2C_BUS BUS_I2C2 +#define BNO055_I2C_BUS BUS_I2C2 +#define PITOT_I2C_BUS BUS_I2C2 + +#define USE_RANGEFINDER +#define RANGEFINDER_I2C_BUS BUS_I2C1 + +//FIXME DONE HETE +// *************** UART ***************************** +#define USE_VCP + +#define USE_UART1 +#define UART1_TX_PIN PA9 +#define UART1_RX_PIN PA10 + +#define USE_UART2 +#define UART2_TX_PIN PD5 +#define UART2_RX_PIN PD6 + +#define USE_UART3 +#define UART3_TX_PIN PD8 +#define UART3_RX_PIN PD9 + +#define USE_UART4 +#define UART4_TX_PIN PD1 +#define UART4_RX_PIN PD0 + +#define USE_UART5 +#define UART5_TX_PIN PC12 +#define UART5_RX_PIN PD2 + +#define USE_UART6 +#define UART6_TX_PIN PC6 +#define UART6_RX_PIN PC7 + +#define USE_UART7 +#define UART7_TX_PIN PE8 +#define UART7_RX_PIN PE7 + +#define USE_UART8 +#define UART8_TX_PIN PE1 +#define UART8_RX_PIN PE0 + +#define SERIAL_PORT_COUNT 9 + +#define DEFAULT_RX_TYPE RX_TYPE_SERIAL +#define SERIALRX_PROVIDER SERIALRX_SBUS +#define SERIALRX_UART SERIAL_PORT_USART6 + +// *************** SDIO SD BLACKBOX******************* +// #define USE_SDCARD +// #define USE_SDCARD_SDIO +// #define SDCARD_SDIO_DEVICE SDIODEV_1 +// #define SDCARD_SDIO_4BIT + +// #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT + +// *************** ADC ***************************** +#define USE_ADC +#define ADC_INSTANCE ADC1 + +#define ADC_CHANNEL_1_PIN PC0 //ADC123 VBAT1 +#define ADC_CHANNEL_2_PIN PC1 //ADC123 CURR1 +#define ADC_CHANNEL_3_PIN PC5 //ADC12 RSSI +#define ADC_CHANNEL_4_PIN PC4 //ADC12 AirS +#define ADC_CHANNEL_5_PIN PA4 //ADC12 VB2 +#define ADC_CHANNEL_6_PIN PA7 //ADC12 CU2 + +#define VBAT_ADC_CHANNEL ADC_CHN_1 +#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 +#define RSSI_ADC_CHANNEL ADC_CHN_3 +#define AIRSPEED_ADC_CHANNEL ADC_CHN_4 + +// *************** PINIO *************************** +#define USE_PINIO +#define USE_PINIOBOX +#define PINIO1_PIN PD10 // VTX power switcher +#define PINIO2_PIN PD11 // 2xCamera switcher + +// *************** LEDSTRIP ************************ +#define USE_LED_STRIP +#define WS2811_PIN PA8 + +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) +#define CURRENT_METER_SCALE 250 + +#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 TARGET_IO_PORTE 0xffff + +#define MAX_PWM_OUTPUT_PORTS 8 +#define USE_DSHOT +#define USE_ESC_SENSOR + From db8775c20e7901071cca75f633a06be3e193fe0a Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Mon, 6 Dec 2021 12:54:26 +0100 Subject: [PATCH 6/7] BMI270 --- src/main/target/MAMBAH743/config.c | 1 - src/main/target/MAMBAH743/target.c | 5 ++- src/main/target/MAMBAH743/target.h | 53 +++++++----------------------- 3 files changed, 14 insertions(+), 45 deletions(-) diff --git a/src/main/target/MAMBAH743/config.c b/src/main/target/MAMBAH743/config.c index ed2f75cba4..68de985e40 100644 --- a/src/main/target/MAMBAH743/config.c +++ b/src/main/target/MAMBAH743/config.c @@ -28,5 +28,4 @@ void targetConfiguration(void) { // pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; // pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; - // beeperConfigMutable()->pwmMode = true; } diff --git a/src/main/target/MAMBAH743/target.c b/src/main/target/MAMBAH743/target.c index 710f2ae507..f3a39969fc 100644 --- a/src/main/target/MAMBAH743/target.c +++ b/src/main/target/MAMBAH743/target.c @@ -26,9 +26,8 @@ #include "drivers/pinio.h" #include "drivers/sensor.h" -BUSDEV_REGISTER_SPI_TAG(busdev_imu0, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN); -// BUSDEV_REGISTER_SPI_TAG(busdev_imu1, DEVHW_MPU6500, MPU6500_SPI_BUS, MPU6500_CS_PIN, MPU6500_EXTI_PIN, 1, DEVFLAGS_NONE, IMU_MPU6500_ALIGN); -// BUSDEV_REGISTER_SPI_TAG(busdev_imu2, DEVHW_ICM42605, ICM42605_SPI_BUS, ICM42605_CS_PIN, ICM42605_EXTI_PIN, 2, DEVFLAGS_NONE, IMU_ICM42605_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000, DEVHW_MPU6000, MPU6000_SPI_BUS, MPU6000_CS_PIN, MPU6000_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_MPU6000_ALIGN); +BUSDEV_REGISTER_SPI_TAG(busdev_bmi270, DEVHW_BMI270, BMI270_SPI_BUS, BMI270_CS_PIN, BMI270_EXTI_PIN, 0, DEVFLAGS_NONE, IMU_BMI270_ALIGN); const timerHardware_t timerHardware[] = { diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h index 36904b3bd3..0b47d12c59 100644 --- a/src/main/target/MAMBAH743/target.h +++ b/src/main/target/MAMBAH743/target.h @@ -28,7 +28,6 @@ #define BEEPER PA15 #define BEEPER_INVERTED -// #define BEEPER_PWM_FREQUENCY 2500 // *************** IMU generic *********************** #define USE_DUAL_GYRO @@ -44,34 +43,23 @@ #define SPI1_MISO_PIN PA6 #define SPI1_MOSI_PIN PA7 -#define USE_IMU_MPU6000 - -#define IMU_MPU6000_ALIGN CW180_DEG -#define MPU6000_SPI_BUS BUS_SPI1 -#define MPU6000_CS_PIN PA4 -#define MPU6000_EXTI_PIN PC4 - -// *************** SPI4 IMU1 MPU6000 - not used************** +// SPI4 is used on the second MPU6000 gyro, we do not use it at the moment // #define USE_SPI_DEVICE_4 // #define SPI4_SCK_PIN PE12 // #define SPI4_MISO_PIN PE13 // #define SPI4_MOSI_PIN PE14 -// #define USE_IMU_MPU6500 - -// #define IMU_MPU6500_ALIGN CW0_DEG_FLIP -// #define MPU6500_SPI_BUS BUS_SPI4 -// #define MPU6500_CS_PIN PE11 -// #define MPU6500_EXTI_PIN PE15 - -// *************** SPI4 IMU2 ICM42605 ************** -// #define USE_IMU_ICM42605 - -// #define IMU_ICM42605_ALIGN CW90_DEG_FLIP -// #define ICM42605_SPI_BUS BUS_SPI4 -// #define ICM42605_CS_PIN PC13 -// #define ICM42605_EXTI_PIN PC14 +#define USE_IMU_MPU6000 +#define IMU_MPU6000_ALIGN CW180_DEG +#define MPU6000_SPI_BUS BUS_SPI1 +#define MPU6000_CS_PIN PA4 +#define MPU6000_EXTI_PIN PC4 +#define USE_IMU_BMI270 +#define IMU_BMI270_ALIGN CW0_DEG +#define BMI270_SPI_BUS BUS_SPI1 +#define BMI270_CS_PIN PA4 +#define BMI270_EXTI_PIN PC4 // *************** SPI2 OSD *********************** #define USE_SPI_DEVICE_2 @@ -83,17 +71,6 @@ #define MAX7456_SPI_BUS BUS_SPI2 #define MAX7456_CS_PIN PB12 -// *************** SPI3 SPARE for external RM3100 *********** -// #define USE_SPI_DEVICE_3 -// #define SPI3_SCK_PIN PB3 -// #define SPI3_MISO_PIN PB4 -// #define SPI3_MOSI_PIN PB5 - -// #define USE_MAG_RM3100 -// #define RM3100_CS_PIN PE2 //CS2 pad -// // PD4 //CS1 pad -// #define RM3100_SPI_BUS BUS_SPI3 - // *************** I2C /Baro/Mag ********************* #define USE_I2C #define USE_I2C_DEVICE_1 @@ -125,7 +102,7 @@ #define PITOT_I2C_BUS BUS_I2C2 #define USE_RANGEFINDER -#define RANGEFINDER_I2C_BUS BUS_I2C1 +#define RANGEFINDER_I2C_BUS BUS_I2C2 //FIXME DONE HETE // *************** UART ***************************** @@ -169,12 +146,6 @@ #define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_UART SERIAL_PORT_USART6 -// *************** SDIO SD BLACKBOX******************* -// #define USE_SDCARD -// #define USE_SDCARD_SDIO -// #define SDCARD_SDIO_DEVICE SDIODEV_1 -// #define SDCARD_SDIO_4BIT - // #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT // *************** ADC ***************************** From 42d11dc68c76a43cb117ffb0f82acca4c4337e15 Mon Sep 17 00:00:00 2001 From: "Pawel Spychalski (DzikuVx)" Date: Tue, 7 Dec 2021 18:17:04 +0100 Subject: [PATCH 7/7] Final fixes --- src/main/target/MAMBAH743/config.c | 3 +-- src/main/target/MAMBAH743/target.h | 29 ++++++++++++----------------- 2 files changed, 13 insertions(+), 19 deletions(-) diff --git a/src/main/target/MAMBAH743/config.c b/src/main/target/MAMBAH743/config.c index 68de985e40..bdbc7da73c 100644 --- a/src/main/target/MAMBAH743/config.c +++ b/src/main/target/MAMBAH743/config.c @@ -26,6 +26,5 @@ void targetConfiguration(void) { - // pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; - // pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2; + pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1; } diff --git a/src/main/target/MAMBAH743/target.h b/src/main/target/MAMBAH743/target.h index 0b47d12c59..241711e1df 100644 --- a/src/main/target/MAMBAH743/target.h +++ b/src/main/target/MAMBAH743/target.h @@ -89,22 +89,22 @@ #define USE_BARO_SPL06 #define USE_MAG -#define MAG_I2C_BUS BUS_I2C2 +#define MAG_I2C_BUS BUS_I2C1 #define USE_MAG_HMC5883 #define USE_MAG_QMC5883 #define USE_MAG_IST8310 #define USE_MAG_IST8308 #define USE_MAG_MAG3110 #define USE_MAG_LIS3MDL +#define USE_MAG_VCM5883 -#define TEMPERATURE_I2C_BUS BUS_I2C2 -#define BNO055_I2C_BUS BUS_I2C2 -#define PITOT_I2C_BUS BUS_I2C2 +#define TEMPERATURE_I2C_BUS BUS_I2C1 +#define BNO055_I2C_BUS BUS_I2C1 +#define PITOT_I2C_BUS BUS_I2C1 #define USE_RANGEFINDER -#define RANGEFINDER_I2C_BUS BUS_I2C2 +#define RANGEFINDER_I2C_BUS BUS_I2C1 -//FIXME DONE HETE // *************** UART ***************************** #define USE_VCP @@ -146,18 +146,14 @@ #define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_UART SERIAL_PORT_USART6 -// #define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT - // *************** ADC ***************************** #define USE_ADC #define ADC_INSTANCE ADC1 -#define ADC_CHANNEL_1_PIN PC0 //ADC123 VBAT1 -#define ADC_CHANNEL_2_PIN PC1 //ADC123 CURR1 -#define ADC_CHANNEL_3_PIN PC5 //ADC12 RSSI -#define ADC_CHANNEL_4_PIN PC4 //ADC12 AirS -#define ADC_CHANNEL_5_PIN PA4 //ADC12 VB2 -#define ADC_CHANNEL_6_PIN PA7 //ADC12 CU2 +#define ADC_CHANNEL_1_PIN PC1 +#define ADC_CHANNEL_2_PIN PC3 +#define ADC_CHANNEL_3_PIN PC2 +#define ADC_CHANNEL_4_PIN PC0 #define VBAT_ADC_CHANNEL ADC_CHN_1 #define CURRENT_METER_ADC_CHANNEL ADC_CHN_2 @@ -167,14 +163,13 @@ // *************** PINIO *************************** #define USE_PINIO #define USE_PINIOBOX -#define PINIO1_PIN PD10 // VTX power switcher -#define PINIO2_PIN PD11 // 2xCamera switcher +#define PINIO1_PIN PC5 // *************** LEDSTRIP ************************ #define USE_LED_STRIP #define WS2811_PIN PA8 -#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX) +#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL) #define CURRENT_METER_SCALE 250 #define USE_SERIAL_4WAY_BLHELI_INTERFACE