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Merge pull request #11591 from iNavFlight/maintenance-9.x
Maintenance 9.x into maintenance-10.x
2 parents 41da490 + f13316a commit fcbe8e3

9 files changed

Lines changed: 573 additions & 2 deletions

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‎docs/Mixer.md‎

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@@ -82,7 +82,7 @@ Each servo mixing rule has the following parameters:
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| 26 | Stabilized PITCH- | Clipped between -1000 and 0 |
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| 27 | Stabilized YAW+ | Clipped between 0 and 1000 |
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| 28 | Stabilized YAW- | Clipped between -1000 and 0 |
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| 29 | MAX | Constant value of 500 |
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| 29 | FIXED-VALUE (MAX) | Fixed percentage of total range |
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The `smix reset` command removes all the existing motor mixing rules.
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@@ -103,4 +103,4 @@ Other usages can be:
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* automatic parachute deployment
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* VTOL and especially tail-sitters that require change in mixings during flight mode transition
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* crowbar airbrakes
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* any kind of servo mixings that should be changed during flight
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* any kind of servo mixings that should be changed during flight

‎src/main/target/BLADE_F4/CMakeLists.txt‎

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target_stm32f405xg(BLADE_F4)

‎src/main/target/BLADE_F4/config.c‎

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/*
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* This file is part of INAV.
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*
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* INAV is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* INAV is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with INAV. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <platform.h>
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#include "fc/fc_msp_box.h"
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#include "io/piniobox.h"
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void targetConfiguration(void)
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{
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pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
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pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
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}

‎src/main/target/BLADE_F4/target.c‎

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/*
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* This file is part of INAV.
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*
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* INAV is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* INAV is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with INAV. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include <platform.h>
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#include "drivers/io.h"
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#include "drivers/timer.h"
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timerHardware_t timerHardware[] = {
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DEF_TIM(TIM8, CH3, PC8, TIM_USE_OUTPUT_AUTO, 0, 1), // S1_OUT D2_ST4
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DEF_TIM(TIM8, CH4, PC9, TIM_USE_OUTPUT_AUTO, 0, 0), // S2_OUT D2_ST7
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DEF_TIM(TIM1, CH1, PA8, TIM_USE_OUTPUT_AUTO, 0, 1), // S3_OUT D2_ST1
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DEF_TIM(TIM1, CH2, PA9, TIM_USE_OUTPUT_AUTO, 0, 1), // S4_OUT D2_ST2
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DEF_TIM(TIM1, CH3, PA10, TIM_USE_OUTPUT_AUTO, 0, 0), // S5_OUT D2_ST6
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DEF_TIM(TIM3, CH1, PB4, TIM_USE_OUTPUT_AUTO, 0, 0), // S6_OUT D1_ST4
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DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 0), // S7_OUT D1_ST7
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DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S8_OUT D1_ST2
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DEF_TIM(TIM2, CH2, PB3, TIM_USE_LED, 0, 0), // D1_ST6
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};
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const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

‎src/main/target/BLADE_F4/target.h‎

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/*
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* This file is part of INAV.
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*
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* INAV is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* INAV is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with INAV. If not, see <http://www.gnu.org/licenses/>.
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*/
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#pragma once
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#define TARGET_BOARD_IDENTIFIER "BLF4"
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#define USBD_PRODUCT_STRING "BLADE_F4"
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#define USE_TARGET_CONFIG
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/*** Indicators ***/
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#define LED0 PC15
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#define LED1 PC14
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#define BEEPER PC13
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#define BEEPER_INVERTED
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/*** SPI/I2C bus ***/
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#define USE_SPI
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#define USE_SPI_DEVICE_1
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#define SPI1_NSS_PIN PA4
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#define SPI1_SCK_PIN PA5
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#define SPI1_MISO_PIN PA6
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#define SPI1_MOSI_PIN PA7
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#define USE_SPI_DEVICE_2
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#define SPI2_NSS_PIN PB12
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#define SPI2_SCK_PIN PB13
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#define SPI2_MISO_PIN PB14
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#define SPI2_MOSI_PIN PB15
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#define SPI2_FLASH_PIN PA15
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#define USE_SPI_DEVICE_3
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#define SPI3_SCK_PIN PC10
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#define SPI3_MISO_PIN PC11
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#define SPI3_MOSI_PIN PB5
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#define USE_I2C
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#define USE_I2C_DEVICE_1
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#define I2C1_SCL PB8
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#define I2C1_SDA PB9
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/*** IMU sensors ***/
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// MPU6000
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#define USE_IMU_MPU6000
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#define IMU_MPU6000_ALIGN CW270_DEG
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#define MPU6000_SPI_BUS BUS_SPI1
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#define MPU6000_CS_PIN SPI1_NSS_PIN
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// ICM42605/ICM42688P
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#define USE_IMU_ICM42605
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#define IMU_ICM42605_ALIGN CW270_DEG
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#define ICM42605_SPI_BUS BUS_SPI1
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#define ICM42605_CS_PIN SPI1_NSS_PIN
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//BMI270
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#define USE_IMU_BMI270
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#define IMU_BMI270_ALIGN CW270_DEG
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#define BMI270_SPI_BUS BUS_SPI1
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#define BMI270_CS_PIN SPI1_NSS_PIN
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/*** OSD ***/
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#define USE_MAX7456
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#define MAX7456_SPI_BUS BUS_SPI2
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#define MAX7456_CS_PIN SPI2_NSS_PIN
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/*** Onboard flash ***/
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#define USE_FLASHFS
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#define USE_FLASH_M25P16
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#define M25P16_CS_PIN SPI2_FLASH_PIN
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#define M25P16_SPI_BUS BUS_SPI2
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// *** PINIO ***
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#define USE_PINIO
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#define USE_PINIOBOX
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#define PINIO1_PIN PC2
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#define PINIO2_PIN PC5
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/*** Serial ports ***/
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#define USE_VCP
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#define USE_UART_INVERTER
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#define USE_UART1
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#define UART1_RX_PIN PB7
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#define UART1_TX_PIN PB6
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#define USE_UART2
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#define UART2_RX_PIN PA3
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#define UART2_TX_PIN PA2
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#define INVERTER_PIN_UART2_RX PC0
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#define USE_UART3
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#define UART3_RX_PIN PB11
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#define UART3_TX_PIN PB10
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#define USE_UART4
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#define UART4_RX_PIN PA1
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#define UART4_TX_PIN PA0
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#define USE_UART5
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#define UART5_RX_PIN PD2
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#define UART5_TX_PIN PC12
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#define USE_UART6
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#define UART6_RX_PIN PC7
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#define UART6_TX_PIN PC6
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#define SERIAL_PORT_COUNT 7
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/*** BARO & MAG ***/
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#define USE_BARO
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#define BARO_I2C_BUS BUS_I2C1
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#define USE_BARO_BMP280
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#define USE_BARO_SPL06
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#define USE_BARO_DPS310
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#define USE_MAG
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#define MAG_I2C_BUS BUS_I2C1
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#define USE_MAG_ALL
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/*** ADC ***/
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#define USE_ADC
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#define ADC_CHANNEL_1_PIN PC1
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#define ADC_CHANNEL_2_PIN PC3
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#define VBAT_ADC_CHANNEL ADC_CHN_1
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#define CURRENT_METER_ADC_CHANNEL ADC_CHN_2
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/*** LED STRIP ***/
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#define USE_LED_STRIP
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#define WS2811_PIN PB3
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/*** Default settings ***/
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#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
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#define DEFAULT_RX_TYPE RX_TYPE_SERIAL
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#define SERIALRX_PROVIDER SERIALRX_SBUS
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#define CURRENT_METER_SCALE 250
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#define DEFAULT_FEATURES (FEATURE_TX_PROF_SEL | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TELEMETRY )
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/*** Timer/PWM output ***/
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#define USE_SERIAL_4WAY_BLHELI_INTERFACE
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#define MAX_PWM_OUTPUT_PORTS 8
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#define USE_DSHOT
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#define USE_ESC_SENSOR
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// ********** Optical Flow and Lidar **************
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#define USE_RANGEFINDER
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#define USE_RANGEFINDER_MSP
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#define USE_OPFLOW
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#define USE_OPFLOW_MSP
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/*** Used pins ***/
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#define TARGET_IO_PORTA 0xffff
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#define TARGET_IO_PORTB 0xffff
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#define TARGET_IO_PORTC 0xffff
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#define TARGET_IO_PORTD (BIT(2))

‎src/main/target/BLADE_PRO_H7/CMakeLists.txt‎

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target_stm32h743xi(BLADE_PRO_H7)

‎src/main/target/BLADE_PRO_H7/config.c‎

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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include "platform.h"
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#include "fc/fc_msp_box.h"
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#include "fc/config.h"
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#include "io/piniobox.h"
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void targetConfiguration(void)
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{
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pinioBoxConfigMutable()->permanentId[0] = BOX_PERMANENT_ID_USER1;
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pinioBoxConfigMutable()->permanentId[1] = BOX_PERMANENT_ID_USER2;
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beeperConfigMutable()->pwmMode = true;
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}

‎src/main/target/BLADE_PRO_H7/target.c‎

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/*
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* This file is part of INAV.
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*
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* INAV is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
6+
* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* INAV is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
11+
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with INAV. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdint.h>
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#include "platform.h"
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#include "drivers/bus.h"
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#include "drivers/io.h"
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#include "drivers/pwm_mapping.h"
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#include "drivers/timer.h"
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#include "drivers/pinio.h"
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#include "drivers/sensor.h"
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BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_1, DEVHW_MPU6000, MPU6000_SPI_BUS_1, MPU6000_CS_PIN_1, MPU6000_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_MPU6000_ALIGN_1);
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BUSDEV_REGISTER_SPI_TAG(busdev_mpu6000_2, DEVHW_MPU6000, MPU6000_SPI_BUS_2, MPU6000_CS_PIN_2, MPU6000_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_MPU6000_ALIGN_2);
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BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_1, DEVHW_ICM42605, ICM42605_SPI_BUS_1, ICM42605_CS_PIN_1, ICM42605_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_ICM42605_ALIGN_1);
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BUSDEV_REGISTER_SPI_TAG(busdev_icm42688_2, DEVHW_ICM42605, ICM42605_SPI_BUS_2, ICM42605_CS_PIN_2, ICM42605_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_ICM42605_ALIGN_2);
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BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_1, DEVHW_BMI270, BMI270_SPI_BUS_1, BMI270_CS_PIN_1, BMI270_EXTI_PIN_1, DEVFLAGS_NONE, 0, IMU_BMI270_ALIGN_1);
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BUSDEV_REGISTER_SPI_TAG(busdev_bmi270_2, DEVHW_BMI270, BMI270_SPI_BUS_2, BMI270_CS_PIN_2, BMI270_EXTI_PIN_2, DEVFLAGS_NONE, 1, IMU_BMI270_ALIGN_2);
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timerHardware_t timerHardware[] = {
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DEF_TIM(TIM3, CH4, PB1, TIM_USE_OUTPUT_AUTO, 0, 0), // S2
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DEF_TIM(TIM3, CH3, PB0, TIM_USE_OUTPUT_AUTO, 0, 1), // S1
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DEF_TIM(TIM5, CH2, PA1, TIM_USE_OUTPUT_AUTO, 0, 2), // S4
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DEF_TIM(TIM5, CH1, PA0, TIM_USE_OUTPUT_AUTO, 0, 3), // S3
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DEF_TIM(TIM5, CH3, PA2, TIM_USE_OUTPUT_AUTO, 0, 4), // S5
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DEF_TIM(TIM5, CH4, PA3, TIM_USE_OUTPUT_AUTO, 0, 5), // S6
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DEF_TIM(TIM4, CH1, PD12, TIM_USE_OUTPUT_AUTO, 0, 6), // S7
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DEF_TIM(TIM4, CH2, PD13, TIM_USE_OUTPUT_AUTO, 0, 7), // S8
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DEF_TIM(TIM15, CH1, PE5, TIM_USE_OUTPUT_AUTO, 0, 0), // S11
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DEF_TIM(TIM15, CH2, PE6, TIM_USE_OUTPUT_AUTO, 0, 0), // S12 DMA_NONE
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DEF_TIM(TIM4, CH4, PD15, TIM_USE_OUTPUT_AUTO, 0, 0), // S10 DMA_NONE
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DEF_TIM(TIM4, CH3, PD14, TIM_USE_OUTPUT_AUTO, 0, 0), // S9
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DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED, 0, 9), // LED_2812
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DEF_TIM(TIM2, CH1, PA15, TIM_USE_BEEPER, 0, 0), // BEEPER PWM
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};
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const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

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