Merge remote-tracking branch 'emuflight/master' into 20230601_BETAFPV…

…F722_ICM42688P

src/main/flight/pid.c

@@ -315,12 +315,14 @@ void pidInitFilters(const pidProfile_t *pidProfile) {
             dtermABGapplyFn = (filterApplyFnPtr)alphaBetaGammaApply;
             ABGInit(&dtermABG[axis], pidProfile->dterm_ABG_alpha, pidProfile->dterm_ABG_boost, pidProfile->dterm_ABG_half_life, dT);
         }
-
+#ifdef USE_GYRO_DATA_ANALYSE
         if (isDynamicFilterActive()) {
             for (int axis2 = 0; axis2 < gyroConfig()->dyn_notch_count; axis2++) {
                 biquadFilterInit(&dtermNotch[axis][axis2], 400, targetPidLooptime, gyroConfig()->dyn_notch_q / 100.0f, FILTER_NOTCH);
             }
         }
+#endif
+
     }
 
 #if defined(USE_THROTTLE_BOOST)

src/main/sensors/gyro.h

@@ -198,7 +198,9 @@ bool gyroYawSpinDetected(void);
 uint16_t gyroAbsRateDps(int axis);
 uint8_t gyroReadRegister(uint8_t whichSensor, uint8_t reg);
 float applySmithPredictor(smithPredictor_t *smithPredictor, float gyroFiltered);
+#ifdef USE_GYRO_DATA_ANALYSE
 bool isDynamicFilterActive(void);
+#endif
 #ifdef USE_YAW_SPIN_RECOVERY
 void initYawSpinRecovery(int maxYawRate);
 #endif

src/main/target/FLYWOOF411_5IN1_AIO/target.h

@@ -66,8 +66,8 @@
 
 #define ICM42688P_SPI_INSTANCE    SPI1
 #define ICM42688P_CS_PIN          PB2
-#define ACC_ICM426XX_ALIGN        CW90_DEG
-#define GYRO_ICM426XX_ALIGN       CW90_DEG
+#define ACC_ICM42688P_ALIGN       CW0_DEG_FLIP
+#define GYRO_ICM42688P_ALIGN      CW0_DEG_FLIP
 
 // *************** Baro **************************
 #define USE_I2C

src/main/target/GEPRC_F722_AIO/target.c

@@ -0,0 +1,45 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+DEF_TIM(TIM5, CH1, PA0, TIM_USE_ANY, 0, 0),	//CAMERA CONTROL
+DEF_TIM(TIM9, CH2, PA3, TIM_USE_ANY, 0, 0),	//PPM
+
+DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, 0, 0),	//MOTOR 1
+DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 1),	//MOTOR 2
+DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, 0, 1),	//MOTOR 3
+DEF_TIM(TIM8, CH1, PC6, TIM_USE_MOTOR, 0, 0),	//MOTOR 4
+
+//DEF_TIM(TIM4, CH1, PB6, TIM_USE_ANY, 0, 0),	//in config but match no pins
+//DEF_TIM(TIM4, CH2, PB7, TIM_USE_ANY, 0, 0),   //pretty sure left over from
+//DEF_TIM(TIM3, CH4, PB1, TIM_USE_ANY, 0, 0),	//geprc_f722_bthd target/config
+//DEF_TIM(TIM3, CH3, PB0, TIM_USE_ANY, 0, 0),   //as match motors 5-8
+
+DEF_TIM(TIM2, CH2, PA1, TIM_USE_LED, 0, 0)	//LED
+};

src/main/target/GEPRC_F722_AIO/target.h

@@ -0,0 +1,158 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ *
+ * Prepared by Kaio
+ */
+#pragma once
+
+#define TARGET_BOARD_IDENTIFIER "S7X2"
+#define USBD_PRODUCT_STRING "GEPRC_F722_AIO"
+#define TARGET_MANUFACTURER_IDENTIFIER "GEPR"
+
+#define LED0_PIN PC4
+
+#define USE_BEEPER
+#define BEEPER_PIN PC15
+#define BEEPER_INVERTED
+
+#define ENABLE_DSHOT_DMAR  true
+
+#define USE_EXTI
+#define MPU_INT_EXTI PA8
+#define USE_MPU_DATA_READY_SIGNAL
+
+#define USE_GYRO
+
+#define USE_GYRO_SPI_ICM42688P
+#define ICM42688P_CS_PIN        PA15
+#define ICM42688P_SPI_INSTANCE  SPI1
+#define GYRO_ICM42688P_ALIGN  CW90_DEG
+
+#define USE_GYRO_SPI_MPU6000
+#define MPU6000_CS_PIN PA15
+#define MPU6000_SPI_INSTANCE SPI1
+#define GYRO_MPU6000_ALIGN CW90_DEG
+
+#define USE_ACC
+
+#define USE_ACC_SPI_ICM42688P
+#define ACC_ICM42688P_ALIGN CW90_DEG
+
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+#define ACC_MPU6000_ALIGN CW90_DEG
+
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_BMP085
+#define USE_BARO_MS5611
+#define BARO_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define MAG_I2C_INSTANCE (I2CDEV_2)
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE SPI2
+#define MAX7456_SPI_CS_PIN PB12
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_SPI_INSTANCE SPI3
+#define FLASH_CS_PIN PB9
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+#define USE_VCP
+#define USE_USB_DETECT
+
+#define USE_UART1
+#define UART1_RX_PIN PA10
+#define UART1_TX_PIN PA9
+
+#define USE_UART2
+#define UART2_RX_PIN PA3
+#define UART2_TX_PIN PA2
+
+#define USE_UART3
+#define UART3_RX_PIN PB11
+#define UART3_TX_PIN PB10
+
+#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 SERIAL_PORT_COUNT 6     //USB + 5 UARTS
+
+#define USE_ESCSERIAL                  //PPM
+#define ESCSERIAL_TIMER_TX_PIN PA3
+
+#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 I2C_DEVICE (I2CDEV_1)
+
+#define USE_I2C_DEVICE_2
+#define I2C2_SCL PB10
+#define I2C2_SDA PB11
+#define I2C_DEVICE (I2CDEV_2)
+
+#define USE_ADC
+#define ADC3_DMA_STREAM DMA2_Stream0
+#define VBAT_ADC_PIN PC2
+#define CURRENT_METER_ADC_PIN PC1
+//#define RSSI_ADC_PIN PC2
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 100
+
+#define SERIALRX_PROVIDER SERIALRX_SBUS
+//#define SERIALRX_UART SERIAL_PORT_USART2
+
+#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
+#define DEFAULT_FEATURES ( FEATURE_OSD | FEATURE_TELEMETRY )
+
+#define TARGET_IO_PORTA ( 0xffff )
+#define TARGET_IO_PORTB ( 0xffff )
+#define TARGET_IO_PORTC ( 0xffff )
+#define TARGET_IO_PORTD ( 0xffff )
+
+#define USABLE_TIMER_CHANNEL_COUNT 7
+#define USED_TIMERS ( TIM_N(2) | TIM_N(5) | TIM_N(8) | TIM_N(9) )

src/main/target/GEPRC_F722_AIO/target.mk

@@ -0,0 +1,15 @@
+F7X2RE_TARGETS  += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+TARGET_SRC = \
+	drivers/accgyro/accgyro_spi_icm426xx.c \
+	drivers/accgyro/accgyro_mpu.c \
+	drivers/accgyro/accgyro_mpu6500.c \
+	drivers/accgyro/accgyro_spi_mpu6000.c \
+	drivers/accgyro/accgyro_spi_mpu6500.c \
+	drivers/barometer/barometer_ms5611.c \
+	drivers/barometer/barometer_bmp280.c \
+	drivers/barometer/barometer_bmp085.c \
+	drivers/compass/compass_hmc5883l.c \
+	drivers/compass/compass_qmc5883l.c \
+	drivers/max7456.c\
+	drivers/light_ws2811strip.c

src/main/target/IFLIGHT_F745_AIO_V2/target.c

@@ -0,0 +1,44 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are free software. You can redistribute
+ * this software and/or modify this software 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 and Betaflight are distributed in the hope that they
+ * 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 software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+
+    DEF_TIM(TIM1,  CH1, PA8,  TIM_USE_LED,                 0, 0 ), //LED
+    DEF_TIM(TIM2,  CH2, PB3,  TIM_USE_ANY,                 0, 0 ), //CAM
+
+    DEF_TIM(TIM3,  CH3, PB0,  TIM_USE_MOTOR,               0, 0 ), // M1
+    DEF_TIM(TIM3,  CH4, PB1,  TIM_USE_MOTOR,               0, 0 ), // M2
+    DEF_TIM(TIM3,  CH1, PB4,  TIM_USE_MOTOR,               0, 0 ), // M3
+    DEF_TIM(TIM3,  CH2, PB5,  TIM_USE_MOTOR,               0, 0 ), // M4
+    DEF_TIM(TIM4,  CH1, PD12, TIM_USE_MOTOR,               0, 0 ), // M5
+    DEF_TIM(TIM4,  CH2, PD13, TIM_USE_MOTOR,               0, 0 ), // M6
+    DEF_TIM(TIM8,  CH3, PC8,  TIM_USE_MOTOR,               0, 1 ), // M7
+    DEF_TIM(TIM8,  CH4, PC9,  TIM_USE_MOTOR,               0, 0 ), // M8
+
+    };