mirror of
https://github.com/paparazzi/paparazzi.git
synced 2026-05-09 22:49:53 +08:00
[boards] support for OpenPilot Revolution board
IMU, mag, baro and telemetry tested. Positive x-axis of the IMU is indicated by the arrows on the board, the side with LEDS and F4 is up (negative z-axis). Still missing support for the modem and the external flash... To get the axes correct also extended the imu_mpu600_hmc5883 driver to allow different axes/channel assignments.
This commit is contained in:
Felix Ruess
@@ -0,0 +1,182 @@
|
||||
<!DOCTYPE airframe SYSTEM "../airframe.dtd">
|
||||
|
||||
<!-- this is a quadrotor frame in X-configuration equiped with
|
||||
* Autopilot: OpenPilot Revo with STM32F4
|
||||
* IMU: MPU6000 & MS5611
|
||||
* Actuators: PWM motor controllers http://wiki.paparazziuav.org/wiki/Subsystem/actuators#PWM
|
||||
* GPS: Ublox http://wiki.paparazziuav.org/wiki/Subsystem/gps
|
||||
* RC: Spektrum satellite http://wiki.paparazziuav.org/wiki/Subsystem/radio_control#Spektrum
|
||||
-->
|
||||
|
||||
<airframe name="Quadrotor OpenPilot Revo">
|
||||
|
||||
<firmware name="rotorcraft">
|
||||
<target name="ap" board="openpilot_revo_1.0">
|
||||
</target>
|
||||
|
||||
<target name="nps" board="pc">
|
||||
<module name="fdm" type="jsbsim"/>
|
||||
</target>
|
||||
|
||||
<module name="radio_control" type="spektrum">
|
||||
<define name="RADIO_MODE" value="RADIO_FLAP"/>
|
||||
<define name="RADIO_KILL_SWITCH" value="RADIO_GEAR"/>
|
||||
</module>
|
||||
|
||||
<module name="motor_mixing"/>
|
||||
<module name="actuators" type="pwm">
|
||||
<define name="SERVO_HZ" value="400"/>
|
||||
</module>
|
||||
|
||||
<module name="telemetry" type="transparent"/>
|
||||
<module name="imu" type="openpilot_revo"/>
|
||||
<module name="gps" type="ublox"/>
|
||||
<module name="stabilization" type="int_quat"/>
|
||||
<module name="ahrs" type="float_mlkf">
|
||||
<!-- Uncomment to enable all axis update from the Magnetometer. Do
|
||||
it only if you have a very well calibrated and tested
|
||||
magnetometer otherwise your attitude will drift. -->
|
||||
<!--define name="AHRS_MAG_UPDATE_ALL_AXES" value="1"/-->
|
||||
</module>
|
||||
<module name="ins" type="hff"/>
|
||||
|
||||
<module name="gps_ubx_ucenter"/>
|
||||
<module name="geo_mag"/>
|
||||
<module name="air_data"/>
|
||||
</firmware>
|
||||
|
||||
|
||||
<servos driver="Pwm">
|
||||
<servo name="FR" no="0" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="BR" no="1" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="BL" no="2" min="1000" neutral="1100" max="2000"/>
|
||||
<servo name="FL" no="3" min="1000" neutral="1100" max="2000"/>
|
||||
</servos>
|
||||
|
||||
<commands>
|
||||
<axis name="ROLL" failsafe_value="0"/>
|
||||
<axis name="PITCH" failsafe_value="0"/>
|
||||
<axis name="YAW" failsafe_value="0"/>
|
||||
<axis name="THRUST" failsafe_value="0"/>
|
||||
</commands>
|
||||
|
||||
<section name="MIXING" prefix="MOTOR_MIXING_">
|
||||
<!-- front left (CW), front right (CCW), back right (CW), back left (CCW) -->
|
||||
<define name="TYPE" value="QUAD_X"/>
|
||||
</section>
|
||||
|
||||
<command_laws>
|
||||
<call fun="motor_mixing_run(autopilot_motors_on,FALSE,values)"/>
|
||||
<set servo="FR" value="motor_mixing.commands[MOTOR_FRONT_RIGHT]"/>
|
||||
<set servo="BR" value="motor_mixing.commands[MOTOR_BACK_RIGHT]"/>
|
||||
<set servo="BL" value="motor_mixing.commands[MOTOR_BACK_LEFT]"/>
|
||||
<set servo="FL" value="motor_mixing.commands[MOTOR_FRONT_LEFT]"/>
|
||||
</command_laws>
|
||||
|
||||
<section name="IMU" prefix="IMU_">
|
||||
|
||||
<!-- replace this with your own calibration -->
|
||||
<define name="MAG_X_NEUTRAL" value="30"/>
|
||||
<define name="MAG_Y_NEUTRAL" value="127"/>
|
||||
<define name="MAG_Z_NEUTRAL" value="140"/>
|
||||
<define name="MAG_X_SENS" value="7.11726808648" integer="16"/>
|
||||
<define name="MAG_Y_SENS" value="7.09366475279" integer="16"/>
|
||||
<define name="MAG_Z_SENS" value="6.84467824688" integer="16"/>
|
||||
|
||||
<define name="BODY_TO_IMU_PHI" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_THETA" value="0." unit="deg"/>
|
||||
<define name="BODY_TO_IMU_PSI" value="0." unit="deg"/>
|
||||
</section>
|
||||
|
||||
<section name="AHRS" prefix="AHRS_">
|
||||
<!-- values used if no GPS fix, on 3D fix is update by geo_mag module -->
|
||||
<define name="H_X" value="0.3770441"/>
|
||||
<define name="H_Y" value="0.0193986"/>
|
||||
<define name="H_Z" value="0.9259921"/>
|
||||
</section>
|
||||
|
||||
|
||||
|
||||
<section name="STABILIZATION_ATTITUDE" prefix="STABILIZATION_ATTITUDE_">
|
||||
<!-- setpoints -->
|
||||
<define name="SP_MAX_PHI" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_THETA" value="45." unit="deg"/>
|
||||
<define name="SP_MAX_R" value="90." unit="deg/s"/>
|
||||
<define name="DEADBAND_A" value="0"/>
|
||||
<define name="DEADBAND_E" value="0"/>
|
||||
<define name="DEADBAND_R" value="250"/>
|
||||
|
||||
<!-- reference -->
|
||||
<define name="REF_OMEGA_P" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_P" value="0.85"/>
|
||||
<define name="REF_MAX_P" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_PDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_Q" value="400" unit="deg/s"/>
|
||||
<define name="REF_ZETA_Q" value="0.85"/>
|
||||
<define name="REF_MAX_Q" value="400." unit="deg/s"/>
|
||||
<define name="REF_MAX_QDOT" value="RadOfDeg(8000.)"/>
|
||||
|
||||
<define name="REF_OMEGA_R" value="250" unit="deg/s"/>
|
||||
<define name="REF_ZETA_R" value="0.85"/>
|
||||
<define name="REF_MAX_R" value="180." unit="deg/s"/>
|
||||
<define name="REF_MAX_RDOT" value="RadOfDeg(1800.)"/>
|
||||
|
||||
<!-- feedback -->
|
||||
<define name="PHI_PGAIN" value="1000"/>
|
||||
<define name="PHI_DGAIN" value="400"/>
|
||||
<define name="PHI_IGAIN" value="200"/>
|
||||
|
||||
<define name="THETA_PGAIN" value="1000"/>
|
||||
<define name="THETA_DGAIN" value="400"/>
|
||||
<define name="THETA_IGAIN" value="200"/>
|
||||
|
||||
<define name="PSI_PGAIN" value="500"/>
|
||||
<define name="PSI_DGAIN" value="300"/>
|
||||
<define name="PSI_IGAIN" value="10"/>
|
||||
|
||||
<!-- feedforward -->
|
||||
<define name="PHI_DDGAIN" value="300"/>
|
||||
<define name="THETA_DDGAIN" value="300"/>
|
||||
<define name="PSI_DDGAIN" value="300"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_V" prefix="GUIDANCE_V_">
|
||||
<define name="HOVER_KP" value="150"/>
|
||||
<define name="HOVER_KD" value="80"/>
|
||||
<define name="HOVER_KI" value="20"/>
|
||||
<define name="NOMINAL_HOVER_THROTTLE" value="0.5"/>
|
||||
<define name="ADAPT_THROTTLE_ENABLED" value="TRUE"/>
|
||||
</section>
|
||||
|
||||
<section name="GUIDANCE_H" prefix="GUIDANCE_H_">
|
||||
<define name="MAX_BANK" value="20" unit="deg"/>
|
||||
<define name="USE_SPEED_REF" value="TRUE"/>
|
||||
<define name="PGAIN" value="50"/>
|
||||
<define name="DGAIN" value="100"/>
|
||||
<define name="AGAIN" value="70"/>
|
||||
<define name="IGAIN" value="20"/>
|
||||
</section>
|
||||
|
||||
<section name="SIMULATOR" prefix="NPS_">
|
||||
<define name="ACTUATOR_NAMES" value="ne_motor, se_motor, sw_motor, nw_motor" type="string[]"/>
|
||||
<define name="JSBSIM_MODEL" value="simple_x_quad" type="string"/>
|
||||
<define name="SENSORS_PARAMS" value="nps_sensors_params_default.h" type="string"/>
|
||||
<!-- mode switch on joystick channel 5 (axis numbering starting at zero) -->
|
||||
<define name="JS_AXIS_MODE" value="4"/>
|
||||
</section>
|
||||
|
||||
<section name="AUTOPILOT">
|
||||
<define name="MODE_MANUAL" value="AP_MODE_ATTITUDE_DIRECT"/>
|
||||
<define name="MODE_AUTO1" value="AP_MODE_HOVER_Z_HOLD"/>
|
||||
<define name="MODE_AUTO2" value="AP_MODE_NAV"/>
|
||||
</section>
|
||||
|
||||
<section name="BAT">
|
||||
<define name="CATASTROPHIC_BAT_LEVEL" value="9.3" unit="V"/>
|
||||
<define name="CRITIC_BAT_LEVEL" value="9.6" unit="V"/>
|
||||
<define name="LOW_BAT_LEVEL" value="10.1" unit="V"/>
|
||||
<define name="MAX_BAT_LEVEL" value="12.4" unit="V"/>
|
||||
</section>
|
||||
|
||||
</airframe>
|
||||
@@ -0,0 +1,58 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# openpilot_revo_1.0.makefile
|
||||
#
|
||||
# https://www.openpilot.org/products/openpilot-revolution-platform/
|
||||
#
|
||||
|
||||
BOARD=openpilot_revo
|
||||
BOARD_VERSION=1.0
|
||||
BOARD_CFG=\"boards/$(BOARD)_$(BOARD_VERSION).h\"
|
||||
|
||||
ARCH=stm32
|
||||
ARCH_L=f4
|
||||
HARD_FLOAT=yes
|
||||
$(TARGET).ARCHDIR = $(ARCH)
|
||||
$(TARGET).LDSCRIPT=$(SRC_ARCH)/openpilot_revo.ld
|
||||
|
||||
# -----------------------------------------------------------------------
|
||||
|
||||
# default flash mode is via SWD
|
||||
# other possibilities: DFU, DFU-UTIL, SWD, STLINK
|
||||
FLASH_MODE ?= SWD
|
||||
|
||||
|
||||
|
||||
#
|
||||
# default LED configuration
|
||||
#
|
||||
RADIO_CONTROL_LED ?= none
|
||||
BARO_LED ?= none
|
||||
AHRS_ALIGNER_LED ?= 2
|
||||
GPS_LED ?= none
|
||||
SYS_TIME_LED ?= 1
|
||||
|
||||
|
||||
#
|
||||
# default uart configuration
|
||||
#
|
||||
RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT ?= UART2
|
||||
|
||||
MODEM_PORT ?= UART1
|
||||
MODEM_BAUD ?= B57600
|
||||
|
||||
GPS_PORT ?= UART3
|
||||
GPS_BAUD ?= B38400
|
||||
|
||||
|
||||
|
||||
|
||||
#
|
||||
# default actuator configuration
|
||||
#
|
||||
# you can use different actuators by adding a configure option to your firmware section
|
||||
# e.g. <configure name="ACTUATORS" value="actuators_ppm/>
|
||||
# and by setting the correct "driver" attribute in servo section
|
||||
# e.g. <servo driver="Ppm">
|
||||
#
|
||||
ACTUATORS ?= actuators_pwm
|
||||
@@ -263,6 +263,17 @@
|
||||
settings_modules="modules/gps_ubx_ucenter.xml"
|
||||
gui_color="#710080"
|
||||
/>
|
||||
<aircraft
|
||||
name="Quad_Revolution"
|
||||
ac_id="3"
|
||||
airframe="airframes/examples/quadrotor_revo.xml"
|
||||
radio="radios/dummy.xml"
|
||||
telemetry="telemetry/default_rotorcraft.xml"
|
||||
flight_plan="flight_plans/rotorcraft_basic.xml"
|
||||
settings="settings/rotorcraft_basic.xml settings/control/stabilization_att_int_quat.xml settings/nps.xml"
|
||||
settings_modules="modules/gps_ubx_ucenter.xml modules/geo_mag.xml modules/air_data.xml"
|
||||
gui_color="blue"
|
||||
/>
|
||||
<aircraft
|
||||
name="Twinjet"
|
||||
ac_id="6"
|
||||
|
||||
@@ -210,6 +210,16 @@ else ifeq ($(BOARD), opa_ap)
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_spi.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_spi.c
|
||||
|
||||
# OpenPilot Revo
|
||||
else ifeq ($(BOARD), openpilot_revo)
|
||||
BARO_BOARD_CFLAGS += -DBARO_BOARD=BARO_MS5611_I2C
|
||||
BARO_BOARD_CFLAGS += -DUSE_I2C1
|
||||
BARO_BOARD_CFLAGS += -DBB_MS5611_I2C_DEV=i2c1
|
||||
BARO_BOARD_SRCS += peripherals/ms5611.c
|
||||
BARO_BOARD_SRCS += peripherals/ms5611_i2c.c
|
||||
BARO_BOARD_SRCS += boards/baro_board_ms5611_i2c.c
|
||||
|
||||
endif # check board
|
||||
|
||||
BARO_LED ?= none
|
||||
|
||||
@@ -0,0 +1,85 @@
|
||||
# Hey Emacs, this is a -*- makefile -*-
|
||||
#
|
||||
# IMU with MPU6000 via SPI and HMC5883 via I2c on the OpenPilot Revolution board.
|
||||
# The IMU positive X-axis is as inidcated with arrows on the board,
|
||||
# Z-axis is negative towards the side of the MPU and LEDs (that side is up)
|
||||
#
|
||||
# if ACCEL and GYRO SENS/NEUTRAL are not defined,
|
||||
# the defaults from the datasheet will be used
|
||||
#
|
||||
# required xml:
|
||||
# <section name="IMU" prefix="IMU_">
|
||||
#
|
||||
# <define name="MAG_X_NEUTRAL" value="2358"/>
|
||||
# <define name="MAG_Y_NEUTRAL" value="2362"/>
|
||||
# <define name="MAG_Z_NEUTRAL" value="2119"/>
|
||||
#
|
||||
# <define name="MAG_X_SENS" value="3.4936416" integer="16"/>
|
||||
# <define name="MAG_Y_SENS" value="3.607713" integer="16"/>
|
||||
# <define name="MAG_Z_SENS" value="4.90788848" integer="16"/>
|
||||
#
|
||||
# </section>
|
||||
#
|
||||
#
|
||||
|
||||
|
||||
include $(CFG_SHARED)/spi_master.makefile
|
||||
|
||||
|
||||
IMU_CFLAGS = -DIMU_TYPE_H=\"imu/imu_mpu6000_hmc5883.h\"
|
||||
IMU_SRCS = $(SRC_SUBSYSTEMS)/imu.c
|
||||
IMU_SRCS += $(SRC_SUBSYSTEMS)/imu/imu_mpu6000_hmc5883.c
|
||||
|
||||
# MPU
|
||||
IMU_SRCS += peripherals/mpu60x0.c
|
||||
IMU_SRCS += peripherals/mpu60x0_spi.c
|
||||
|
||||
# Magnetometer
|
||||
IMU_SRCS += peripherals/hmc58xx.c
|
||||
|
||||
# for fixedwing firmware and ap only
|
||||
ifeq ($(TARGET), ap)
|
||||
IMU_CFLAGS += -DUSE_IMU
|
||||
endif
|
||||
|
||||
# HMC is on I2C1 on OpenPilot Revolution
|
||||
IMU_HMC_I2C_DEV = i2c1
|
||||
|
||||
# convert i2cx to upper/lower case
|
||||
IMU_HMC_I2C_DEV_UPPER=$(shell echo $(IMU_HMC_I2C_DEV) | tr a-z A-Z)
|
||||
IMU_HMC_I2C_DEV_LOWER=$(shell echo $(IMU_HMC_I2C_DEV) | tr A-Z a-z)
|
||||
|
||||
IMU_CFLAGS += -DIMU_HMC_I2C_DEV=$(IMU_HMC_I2C_DEV_LOWER)
|
||||
IMU_CFLAGS += -DUSE_$(IMU_HMC_I2C_DEV_UPPER)
|
||||
|
||||
|
||||
# MPU600 is on SPI1 using SPI_SLAVE_2 as defined in openpilot_revo_1.0.h
|
||||
IMU_MPU_SPI_DEV = spi1
|
||||
IMU_MPU_SPI_SLAVE_IDX = SPI_SLAVE2
|
||||
|
||||
# convert spix to upper/lower case
|
||||
IMU_MPU_SPI_DEV_UPPER=$(shell echo $(IMU_MPU_SPI_DEV) | tr a-z A-Z)
|
||||
IMU_MPU_SPI_DEV_LOWER=$(shell echo $(IMU_MPU_SPI_DEV) | tr A-Z a-z)
|
||||
|
||||
IMU_CFLAGS += -DIMU_MPU_SPI_DEV=$(IMU_MPU_SPI_DEV_LOWER)
|
||||
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_DEV_UPPER)
|
||||
IMU_CFLAGS += -DIMU_MPU_SPI_SLAVE_IDX=$(IMU_MPU_SPI_SLAVE_IDX)
|
||||
IMU_CFLAGS += -DUSE_$(IMU_MPU_SPI_SLAVE_IDX)
|
||||
|
||||
# set channels and signs so that positive x-axis is indicated by arrows on board
|
||||
# and the side with MPU and LEDs is up (negative z-axis)
|
||||
IMU_CFLAGS += -DIMU_MPU_CHAN_X=1 -DIMU_MPU_CHAN_Y=0 -DIMU_MPU_CHAN_Z=2
|
||||
IMU_CFLAGS += -DIMU_MPU_X_SIGN=-1 -DIMU_MPU_Y_SIGN=-1 -DIMU_MPU_Z_SIGN=-1
|
||||
IMU_CFLAGS += -DIMU_HMC_CHAN_X=1 -DIMU_HMC_CHAN_Y=0 -DIMU_HMC_CHAN_Z=2
|
||||
IMU_CFLAGS += -DIMU_HMC_X_SIGN=1 -DIMU_HMC_Y_SIGN=1 -DIMU_HMC_Z_SIGN=-1
|
||||
|
||||
# add it for all targets except sim, fbw and nps
|
||||
ifeq (,$(findstring $(TARGET),sim fbw nps))
|
||||
$(TARGET).CFLAGS += $(IMU_CFLAGS)
|
||||
$(TARGET).srcs += $(IMU_SRCS)
|
||||
endif
|
||||
|
||||
#
|
||||
# NPS simulator
|
||||
#
|
||||
include $(CFG_SHARED)/imu_nps.makefile
|
||||
@@ -57,6 +57,7 @@
|
||||
<board name="li[s]?a_mx_.*"/>
|
||||
<board name="navstik_.*"/>
|
||||
<board name="elle*"/>
|
||||
<board name="openpilot_revo.*"/>
|
||||
</boards>
|
||||
</mode>
|
||||
<mode name="STLink (SWD)">
|
||||
@@ -68,6 +69,7 @@
|
||||
<board name="cc3d"/>
|
||||
<board name="elle*"/>
|
||||
<board name="naze32*"/>
|
||||
<board name="openpilot_revo.*"/>
|
||||
</boards>
|
||||
</mode>
|
||||
<mode name="BlackMagic Probe (SWD)">
|
||||
@@ -82,6 +84,7 @@
|
||||
<board name="elle*"/>
|
||||
<board name="naze32*"/>
|
||||
<board name="cjmcu*"/>
|
||||
<board name="openpilot_revo.*"/>
|
||||
</boards>
|
||||
</mode>
|
||||
<mode name="BlackMagic Probe (JTAG)">
|
||||
|
||||
@@ -0,0 +1,35 @@
|
||||
/*
|
||||
* Hey Emacs, this is a -*- makefile -*-
|
||||
*
|
||||
* Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com
|
||||
*
|
||||
* This file is part of Paparazzi.
|
||||
*
|
||||
* Paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* Paparazzi 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 Paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*/
|
||||
|
||||
/* Linker script for OpenPilot Revo (STM32F405RGT6, 1024K flash, 192K RAM). */
|
||||
|
||||
/* Define memory regions. */
|
||||
MEMORY
|
||||
{
|
||||
ram (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
|
||||
/* Reserving 128kb flash for persistent settings. */
|
||||
rom (rx) : ORIGIN = 0x08000000, LENGTH = 896K
|
||||
}
|
||||
|
||||
/* Include the common ld script. */
|
||||
INCLUDE libopencm3_stm32f4.ld
|
||||
@@ -0,0 +1,17 @@
|
||||
/*
|
||||
* board specific functions for the openpilot_revo board
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef BOARDS_OPENPILOT_REVO_BARO_H
|
||||
#define BOARDS_OPENPILOT_REVO_BARO_H
|
||||
|
||||
// only for printing the baro type during compilation
|
||||
#ifndef BARO_BOARD
|
||||
#define BARO_BOARD BARO_MS5611_I2C
|
||||
#endif
|
||||
|
||||
extern void baro_event(void);
|
||||
#define BaroEvent baro_event
|
||||
|
||||
#endif /* BOARDS_OPENPILOT_REVO_BARO_H */
|
||||
@@ -0,0 +1,379 @@
|
||||
/*
|
||||
* Copyright (C) 2016 Felix Ruess <felix.ruess@gmail.com
|
||||
*
|
||||
* This file is part of paparazzi.
|
||||
*
|
||||
* paparazzi 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 2, or (at your option)
|
||||
* any later version.
|
||||
*
|
||||
* paparazzi 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 paparazzi; see the file COPYING. If not, write to
|
||||
* the Free Software Foundation, 59 Temple Place - Suite 330,
|
||||
* Boston, MA 02111-1307, USA.
|
||||
*
|
||||
*/
|
||||
|
||||
#ifndef CONFIG_OPENPILOT_REVO_1_0_H
|
||||
#define CONFIG_OPENPILOT_REVO_1_0_H
|
||||
|
||||
#define BOARD_REVO
|
||||
|
||||
/* OpenPilot Revo has a 8MHz external clock and 168MHz internal. */
|
||||
#define EXT_CLK 8000000
|
||||
#define AHB_CLK 168000000
|
||||
|
||||
/*
|
||||
* Onboard LEDs
|
||||
*/
|
||||
|
||||
/* STAT blue, on PB5 */
|
||||
#ifndef USE_LED_1
|
||||
#define USE_LED_1 1
|
||||
#endif
|
||||
#define LED_1_GPIO GPIOB
|
||||
#define LED_1_GPIO_PIN GPIO5
|
||||
#define LED_1_GPIO_ON gpio_clear
|
||||
#define LED_1_GPIO_OFF gpio_set
|
||||
#define LED_1_AFIO_REMAP ((void)0)
|
||||
|
||||
/* WARN red, on PB4 */
|
||||
#ifndef USE_LED_2
|
||||
#define USE_LED_2 1
|
||||
#endif
|
||||
#define LED_2_GPIO GPIOB
|
||||
#define LED_2_GPIO_PIN GPIO4
|
||||
#define LED_2_GPIO_ON gpio_clear
|
||||
#define LED_2_GPIO_OFF gpio_set
|
||||
#define LED_2_AFIO_REMAP ((void)0)
|
||||
|
||||
|
||||
/* Default actuators driver */
|
||||
#define DEFAULT_ACTUATORS "subsystems/actuators/actuators_pwm.h"
|
||||
#define ActuatorDefaultSet(_x,_y) ActuatorPwmSet(_x,_y)
|
||||
#define ActuatorsDefaultInit() ActuatorsPwmInit()
|
||||
#define ActuatorsDefaultCommit() ActuatorsPwmCommit()
|
||||
|
||||
|
||||
/* UART */
|
||||
/* Main Port */
|
||||
#define UART1_GPIO_AF GPIO_AF7
|
||||
#define UART1_GPIO_PORT_RX GPIOA
|
||||
#define UART1_GPIO_RX GPIO10
|
||||
#define UART1_GPIO_PORT_TX GPIOA
|
||||
#define UART1_GPIO_TX GPIO9
|
||||
|
||||
#define UART2_GPIO_AF GPIO_AF7
|
||||
#define UART2_GPIO_PORT_RX GPIOA
|
||||
#define UART2_GPIO_RX GPIO3
|
||||
#define UART2_GPIO_PORT_TX GPIOA
|
||||
#define UART2_GPIO_TX GPIO2
|
||||
|
||||
#define UART3_GPIO_AF GPIO_AF7
|
||||
#define UART3_GPIO_PORT_RX GPIOC
|
||||
#define UART3_GPIO_RX GPIO11
|
||||
#define UART3_GPIO_PORT_TX GPIOC
|
||||
#define UART3_GPIO_TX GPIO10
|
||||
|
||||
#define UART5_GPIO_AF GPIO_AF8
|
||||
#define UART5_GPIO_PORT_RX GPIOD
|
||||
#define UART5_GPIO_RX GPIO2
|
||||
#define UART5_GPIO_PORT_TX GPIOC
|
||||
#define UART5_GPIO_TX GPIO12
|
||||
|
||||
/*
|
||||
* Spektrum
|
||||
*/
|
||||
/* The line that is pulled low at power up to initiate the bind process */
|
||||
#define SPEKTRUM_BIND_PIN GPIO0
|
||||
#define SPEKTRUM_BIND_PIN_PORT GPIOB
|
||||
|
||||
#define SPEKTRUM_UART1_RCC RCC_USART1
|
||||
#define SPEKTRUM_UART1_BANK GPIOA
|
||||
#define SPEKTRUM_UART1_PIN GPIO10
|
||||
#define SPEKTRUM_UART1_AF GPIO_AF7
|
||||
#define SPEKTRUM_UART1_IRQ NVIC_USART1_IRQ
|
||||
#define SPEKTRUM_UART1_ISR usart1_isr
|
||||
#define SPEKTRUM_UART1_DEV USART1
|
||||
|
||||
#define SPEKTRUM_UART2_RCC RCC_USART2
|
||||
#define SPEKTRUM_UART2_BANK GPIOA
|
||||
#define SPEKTRUM_UART2_PIN GPIO3
|
||||
#define SPEKTRUM_UART2_AF GPIO_AF7
|
||||
#define SPEKTRUM_UART2_IRQ NVIC_USART2_IRQ
|
||||
#define SPEKTRUM_UART2_ISR usart2_isr
|
||||
#define SPEKTRUM_UART2_DEV USART2
|
||||
|
||||
#define SPEKTRUM_UART5_RCC RCC_UART5
|
||||
#define SPEKTRUM_UART5_BANK GPIOD
|
||||
#define SPEKTRUM_UART5_PIN GPIO2
|
||||
#define SPEKTRUM_UART5_AF GPIO_AF8
|
||||
#define SPEKTRUM_UART5_IRQ NVIC_UART5_IRQ
|
||||
#define SPEKTRUM_UART5_ISR uart5_isr
|
||||
#define SPEKTRUM_UART5_DEV UART5
|
||||
|
||||
/* PPM
|
||||
*
|
||||
* Default is PPM config 2, input on GPIOA1 (Servo pin 6)
|
||||
*/
|
||||
|
||||
#ifndef PPM_CONFIG
|
||||
#define PPM_CONFIG 2
|
||||
#endif
|
||||
|
||||
#if PPM_CONFIG == 1
|
||||
/* input on PA10 (UART1_RX) */
|
||||
#define USE_PPM_TIM1 1
|
||||
#define PPM_CHANNEL TIM_IC3
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI3
|
||||
#define PPM_IRQ NVIC_TIM1_CC_IRQ
|
||||
#define PPM_IRQ2 NVIC_TIM1_UP_TIM10_IRQ
|
||||
// Capture/Compare InteruptEnable and InterruptFlag
|
||||
#define PPM_CC_IE TIM_DIER_CC3IE
|
||||
#define PPM_CC_IF TIM_SR_CC3IF
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO10
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
#elif PPM_CONFIG == 2
|
||||
/* input on PA01 (Servo 6 pin) */
|
||||
#define USE_PPM_TIM2 1
|
||||
#define PPM_CHANNEL TIM_IC2
|
||||
#define PPM_TIMER_INPUT TIM_IC_IN_TI2
|
||||
#define PPM_IRQ NVIC_TIM2_IRQ
|
||||
// Capture/Compare InteruptEnable and InterruptFlag
|
||||
#define PPM_CC_IE TIM_DIER_CC2IE
|
||||
#define PPM_CC_IF TIM_SR_CC2IF
|
||||
#define PPM_GPIO_PORT GPIOA
|
||||
#define PPM_GPIO_PIN GPIO1
|
||||
#define PPM_GPIO_AF GPIO_AF1
|
||||
|
||||
// Move default ADC timer
|
||||
#if USE_AD_TIM2
|
||||
#undef USE_AD_TIM2
|
||||
#endif
|
||||
#define USE_AD_TIM1 1
|
||||
|
||||
#else
|
||||
#error "Unknown PPM config"
|
||||
|
||||
#endif // PPM_CONFIG
|
||||
|
||||
/* SPI */
|
||||
/* MPU6000 */
|
||||
#define SPI1_GPIO_AF GPIO_AF5
|
||||
#define SPI1_GPIO_PORT_MISO GPIOA
|
||||
#define SPI1_GPIO_MISO GPIO6
|
||||
#define SPI1_GPIO_PORT_MOSI GPIOA
|
||||
#define SPI1_GPIO_MOSI GPIO7
|
||||
#define SPI1_GPIO_PORT_SCK GPIOA
|
||||
#define SPI1_GPIO_SCK GPIO5
|
||||
#define SPI1_GPIO_PORT_NSS GPIOA
|
||||
#define SPI1_GPIO_NSS GPIO4
|
||||
|
||||
/* flash and RFM22B-S2 modem */
|
||||
#define SPI3_GPIO_AF GPIO_AF5
|
||||
#define SPI3_GPIO_PORT_MISO GPIOC
|
||||
#define SPI3_GPIO_MISO GPIO11
|
||||
#define SPI3_GPIO_PORT_MOSI GPIOC
|
||||
#define SPI3_GPIO_MOSI GPIO12
|
||||
#define SPI3_GPIO_PORT_SCK GPIOC
|
||||
#define SPI3_GPIO_SCK GPIO10
|
||||
/* modem CS */
|
||||
#define SPI3_GPIO_PORT_NSS GPIOA
|
||||
#define SPI3_GPIO_NSS GPIO15
|
||||
|
||||
/* MODEM select */
|
||||
#define SPI_SELECT_SLAVE0_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE0_PIN GPIO15
|
||||
|
||||
/* external flash chip select */
|
||||
#define SPI_SELECT_SLAVE1_PORT GPIOB
|
||||
#define SPI_SELECT_SLAVE1_PIN GPIO3
|
||||
|
||||
/* MPU6000 select */
|
||||
#define SPI_SELECT_SLAVE2_PORT GPIOA
|
||||
#define SPI_SELECT_SLAVE2_PIN GPIO4
|
||||
|
||||
|
||||
/* I2C mapping */
|
||||
/* HMC5883L mag on I2C1 with DRDY on PB7 */
|
||||
/* MS5611 baro on I2C1 */
|
||||
#define I2C1_GPIO_PORT GPIOB
|
||||
#define I2C1_GPIO_SCL GPIO8
|
||||
#define I2C1_GPIO_SDA GPIO9
|
||||
|
||||
|
||||
/*
|
||||
* ADC
|
||||
*/
|
||||
|
||||
/* Onboard ADCs */
|
||||
/*
|
||||
ADC1 PC3/ADC13
|
||||
ADC2 PC0/ADC10
|
||||
ADC3 PC1/ADC11
|
||||
ADC4 PC5/ADC15
|
||||
ADC6 PC2/ADC12
|
||||
BATT PC4/ADC14
|
||||
*/
|
||||
|
||||
/* provide defines that can be used to access the ADC_x in the code or airframe file
|
||||
* these directly map to the index number of the 4 adc channels defined above
|
||||
* 4th (index 3) is used for bat monitoring by default
|
||||
*/
|
||||
|
||||
#ifndef USE_ADC_1
|
||||
#define USE_ADC_1 1
|
||||
#endif
|
||||
|
||||
/* Voltage on Pwr/Sen/Sonar CONN3 */
|
||||
#if USE_ADC_1
|
||||
#define AD1_1_CHANNEL 12
|
||||
#define ADC_1 AD1_1
|
||||
#define ADC_1_GPIO_PORT GPIOC
|
||||
#define ADC_1_GPIO_PIN GPIO2
|
||||
#endif
|
||||
|
||||
/* Current on Pwr/Sen/Sonar CONN3 */
|
||||
#if USE_ADC_2
|
||||
#define AD1_2_CHANNEL 11
|
||||
#define ADC_2 AD1_2
|
||||
#define ADC_2_GPIO_PORT GPIOC
|
||||
#define ADC_2_GPIO_PIN GPIO1
|
||||
#endif
|
||||
|
||||
/* allow to define ADC_CHANNEL_VSUPPLY in the airframe file*/
|
||||
#ifndef ADC_CHANNEL_VSUPPLY
|
||||
#define ADC_CHANNEL_VSUPPLY ADC_1
|
||||
#endif
|
||||
|
||||
/* no voltage divider on board, adjust VoltageOfAdc in airframe file */
|
||||
#define DefaultVoltageOfAdc(adc) (0.0045*adc)
|
||||
|
||||
|
||||
/*
|
||||
* PWM
|
||||
*
|
||||
*/
|
||||
#define PWM_USE_TIM3 1
|
||||
#define PWM_USE_TIM5 1
|
||||
|
||||
#define USE_PWM1 1
|
||||
#define USE_PWM2 1
|
||||
#define USE_PWM3 1
|
||||
#define USE_PWM4 1
|
||||
#define USE_PWM5 1
|
||||
#define USE_PWM6 1
|
||||
|
||||
#if USE_SERVOS_7AND8
|
||||
#if USE_I2C1
|
||||
#error "You cannot USE_SERVOS_7AND8 and USE_I2C1 at the same time"
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 8
|
||||
#define USE_PWM7 1
|
||||
#define USE_PWM8 1
|
||||
#define PWM_USE_TIM4 1
|
||||
#define ACTUATORS_PWM_NB 8
|
||||
#endif
|
||||
#else
|
||||
#define ACTUATORS_PWM_NB 6
|
||||
#endif
|
||||
|
||||
// PWM_SERVO_x is the index of the servo in the actuators_pwm_values array
|
||||
#if USE_PWM1
|
||||
#define PWM_SERVO_1 0
|
||||
#define PWM_SERVO_1_TIMER TIM3
|
||||
#define PWM_SERVO_1_GPIO GPIOB
|
||||
#define PWM_SERVO_1_PIN GPIO0
|
||||
#define PWM_SERVO_1_AF GPIO_AF2
|
||||
#define PWM_SERVO_1_OC TIM_OC3
|
||||
#define PWM_SERVO_1_OC_BIT (1<<2)
|
||||
#else
|
||||
#define PWM_SERVO_1_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM2
|
||||
#define PWM_SERVO_2 1
|
||||
#define PWM_SERVO_2_TIMER TIM3
|
||||
#define PWM_SERVO_2_GPIO GPIOB
|
||||
#define PWM_SERVO_2_PIN GPIO1
|
||||
#define PWM_SERVO_2_AF GPIO_AF2
|
||||
#define PWM_SERVO_2_OC TIM_OC4
|
||||
#define PWM_SERVO_2_OC_BIT (1<<3)
|
||||
#else
|
||||
#define PWM_SERVO_2_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM3
|
||||
#define PWM_SERVO_3 2
|
||||
#define PWM_SERVO_3_TIMER TIM9
|
||||
#define PWM_SERVO_3_GPIO GPIOA
|
||||
#define PWM_SERVO_3_PIN GPIO3
|
||||
#define PWM_SERVO_3_AF GPIO_AF2
|
||||
#define PWM_SERVO_3_OC TIM_OC2
|
||||
#define PWM_SERVO_3_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_3_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM4
|
||||
#define PWM_SERVO_4 3
|
||||
#define PWM_SERVO_4_TIMER TIM2
|
||||
#define PWM_SERVO_4_GPIO GPIOA
|
||||
#define PWM_SERVO_4_PIN GPIO2
|
||||
#define PWM_SERVO_4_AF GPIO_AF2
|
||||
#define PWM_SERVO_4_OC TIM_OC3
|
||||
#define PWM_SERVO_4_OC_BIT (1<<2)
|
||||
#else
|
||||
#define PWM_SERVO_4_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM5
|
||||
#define PWM_SERVO_5 4
|
||||
#define PWM_SERVO_5_TIMER TIM5
|
||||
#define PWM_SERVO_5_GPIO GPIOA
|
||||
#define PWM_SERVO_5_PIN GPIO1
|
||||
#define PWM_SERVO_5_AF GPIO_AF2
|
||||
#define PWM_SERVO_5_OC TIM_OC2
|
||||
#define PWM_SERVO_5_OC_BIT (1<<1)
|
||||
#else
|
||||
#define PWM_SERVO_5_OC_BIT 0
|
||||
#endif
|
||||
|
||||
#if USE_PWM6
|
||||
#define PWM_SERVO_6 5
|
||||
#define PWM_SERVO_6_TIMER TIM5
|
||||
#define PWM_SERVO_6_GPIO GPIOA
|
||||
#define PWM_SERVO_6_PIN GPIO0
|
||||
#define PWM_SERVO_6_AF GPIO_AF2
|
||||
#define PWM_SERVO_6_OC TIM_OC1
|
||||
#define PWM_SERVO_6_OC_BIT (1<<0)
|
||||
#else
|
||||
#define PWM_SERVO_6_OC_BIT 0
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
/* servos 1-2 on TIM3 */
|
||||
#define PWM_TIM3_CHAN_MASK (PWM_SERVO_1_OC_BIT|PWM_SERVO_2_OC_BIT)
|
||||
/* servos 3 on TIM9 */
|
||||
#define PWM_TIM9_CHAN_MASK (PWM_SERVO_3_OC_BIT)
|
||||
/* servos 4 on TIM2 */
|
||||
#define PWM_TIM2_CHAN_MASK (PWM_SERVO_4_OC_BIT)
|
||||
/* servos 5-6 on TIM5 */
|
||||
#define PWM_TIM5_CHAN_MASK (PWM_SERVO_5_OC_BIT|PWM_SERVO_6_OC_BIT)
|
||||
|
||||
|
||||
/* by default activate onboard baro */
|
||||
#ifndef USE_BARO_BOARD
|
||||
#define USE_BARO_BOARD 1
|
||||
#endif
|
||||
|
||||
#endif /* CONFIG_OPENPILOT_REVO_1_0_H */
|
||||
@@ -69,6 +69,60 @@ PRINT_CONFIG_VAR(IMU_MPU_GYRO_RANGE)
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_ACCEL_RANGE)
|
||||
|
||||
// Default channels order
|
||||
#ifndef IMU_MPU_CHAN_X
|
||||
#define IMU_MPU_CHAN_X 0
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_CHAN_X)
|
||||
#ifndef IMU_MPU_CHAN_Y
|
||||
#define IMU_MPU_CHAN_Y 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_CHAN_Y)
|
||||
#ifndef IMU_MPU_CHAN_Z
|
||||
#define IMU_MPU_CHAN_Z 2
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_CHAN_Z)
|
||||
|
||||
#ifndef IMU_MPU_X_SIGN
|
||||
#define IMU_MPU_X_SIGN 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_X_SIGN)
|
||||
#ifndef IMU_MPU_Y_SIGN
|
||||
#define IMU_MPU_Y_SIGN 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_Y_SIGN)
|
||||
#ifndef IMU_MPU_Z_SIGN
|
||||
#define IMU_MPU_Z_SIGN 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_MPU_Z_SIGN)
|
||||
|
||||
/* mag by default rotated by 90deg around z axis relative to MPU */
|
||||
#ifndef IMU_HMC_CHAN_X
|
||||
#define IMU_HMC_CHAN_X 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_HMC_CHAN_X)
|
||||
#ifndef IMU_HMC_CHAN_Y
|
||||
#define IMU_HMC_CHAN_Y 0
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_HMC_CHAN_Y)
|
||||
#ifndef IMU_HMC_CHAN_Z
|
||||
#define IMU_HMC_CHAN_Z 2
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_HMC_CHAN_Z)
|
||||
|
||||
#ifndef IMU_HMC_X_SIGN
|
||||
#define IMU_HMC_X_SIGN 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_HMC_X_SIGN)
|
||||
#ifndef IMU_HMC_Y_SIGN
|
||||
#define IMU_HMC_Y_SIGN -1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_HMC_Y_SIGN)
|
||||
#ifndef IMU_HMC_Z_SIGN
|
||||
#define IMU_HMC_Z_SIGN 1
|
||||
#endif
|
||||
PRINT_CONFIG_VAR(IMU_HMC_Z_SIGN)
|
||||
|
||||
|
||||
struct ImuMpu6000Hmc5883 imu_mpu_hmc;
|
||||
|
||||
@@ -102,8 +156,21 @@ void imu_mpu_hmc_event(void)
|
||||
|
||||
mpu60x0_spi_event(&imu_mpu_hmc.mpu);
|
||||
if (imu_mpu_hmc.mpu.data_available) {
|
||||
RATES_COPY(imu.gyro_unscaled, imu_mpu_hmc.mpu.data_rates.rates);
|
||||
VECT3_COPY(imu.accel_unscaled, imu_mpu_hmc.mpu.data_accel.vect);
|
||||
// set channel order
|
||||
struct Int32Vect3 accel = {
|
||||
IMU_MPU_X_SIGN * (int32_t)(imu_mpu_hmc.mpu.data_accel.value[IMU_MPU_CHAN_X]),
|
||||
IMU_MPU_Y_SIGN * (int32_t)(imu_mpu_hmc.mpu.data_accel.value[IMU_MPU_CHAN_Y]),
|
||||
IMU_MPU_Z_SIGN * (int32_t)(imu_mpu_hmc.mpu.data_accel.value[IMU_MPU_CHAN_Z])
|
||||
};
|
||||
struct Int32Rates rates = {
|
||||
IMU_MPU_X_SIGN * (int32_t)(imu_mpu_hmc.mpu.data_rates.value[IMU_MPU_CHAN_X]),
|
||||
IMU_MPU_Y_SIGN * (int32_t)(imu_mpu_hmc.mpu.data_rates.value[IMU_MPU_CHAN_Y]),
|
||||
IMU_MPU_Z_SIGN * (int32_t)(imu_mpu_hmc.mpu.data_rates.value[IMU_MPU_CHAN_Z])
|
||||
};
|
||||
// unscaled vector
|
||||
VECT3_COPY(imu.accel_unscaled, accel);
|
||||
RATES_COPY(imu.gyro_unscaled, rates);
|
||||
|
||||
imu_mpu_hmc.mpu.data_available = false;
|
||||
imu_scale_gyro(&imu);
|
||||
imu_scale_accel(&imu);
|
||||
@@ -114,10 +181,10 @@ void imu_mpu_hmc_event(void)
|
||||
/* HMC58XX event task */
|
||||
hmc58xx_event(&imu_mpu_hmc.hmc);
|
||||
if (imu_mpu_hmc.hmc.data_available) {
|
||||
/* mag rotated by 90deg around z axis relative to MPU */
|
||||
imu.mag_unscaled.x = imu_mpu_hmc.hmc.data.vect.y;
|
||||
imu.mag_unscaled.y = -imu_mpu_hmc.hmc.data.vect.x;
|
||||
imu.mag_unscaled.z = imu_mpu_hmc.hmc.data.vect.z;
|
||||
/* mag by default rotated by 90deg around z axis relative to MPU */
|
||||
imu.mag_unscaled.x = IMU_HMC_X_SIGN * imu_mpu_hmc.hmc.data.value[IMU_HMC_CHAN_X];
|
||||
imu.mag_unscaled.y = IMU_HMC_Y_SIGN * imu_mpu_hmc.hmc.data.value[IMU_HMC_CHAN_Y];
|
||||
imu.mag_unscaled.z = IMU_HMC_Z_SIGN * imu_mpu_hmc.hmc.data.value[IMU_HMC_CHAN_Z];
|
||||
imu_mpu_hmc.hmc.data_available = false;
|
||||
imu_scale_mag(&imu);
|
||||
AbiSendMsgIMU_MAG_INT32(IMU_MPU6000_HMC_ID, now_ts, &imu.mag);
|
||||
|
||||
Reference in New Issue
Block a user