Merge branch 'master' into abo_mc_althold_throttle_type

breadoven · Aug 7, 2023 · 0e25fe9 · 0e25fe9
2 parents 6eb19f2 + db816ab
commit 0e25fe9
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Showing 9 changed files with 88 additions and 9 deletions.
diff --git a/docs/Settings.md b/docs/Settings.md
@@ -1372,6 +1372,16 @@ Automatic configuration of GPS baudrate(The specified baudrate in configured in
 
 ---
 
+### gps_auto_baud_max_supported
+
+Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 230400 |  |  |
+
+---
+
 ### gps_auto_config
 
 Enable automatic configuration of UBlox GPS receivers.

diff --git a/src/main/drivers/adc.c b/src/main/drivers/adc.c
@@ -47,6 +47,13 @@
 #ifndef ADC_CHANNEL_4_INSTANCE
 #define ADC_CHANNEL_4_INSTANCE  ADC_INSTANCE
 #endif
+#ifndef ADC_CHANNEL_5_INSTANCE
+#define ADC_CHANNEL_5_INSTANCE  ADC_INSTANCE
+#endif
+#ifndef ADC_CHANNEL_6_INSTANCE
+#define ADC_CHANNEL_6_INSTANCE  ADC_INSTANCE
+#endif
+
 
 #ifdef USE_ADC
 
@@ -99,7 +106,7 @@ uint16_t adcGetChannel(uint8_t function)
     }
 }
 
-#if defined(ADC_CHANNEL_1_PIN) || defined(ADC_CHANNEL_2_PIN) || defined(ADC_CHANNEL_3_PIN) || defined(ADC_CHANNEL_4_PIN)
+#if defined(ADC_CHANNEL_1_PIN) || defined(ADC_CHANNEL_2_PIN) || defined(ADC_CHANNEL_3_PIN) || defined(ADC_CHANNEL_4_PIN) || defined(ADC_CHANNEL_5_PIN) || defined(ADC_CHANNEL_6_PIN)
 static bool isChannelInUse(int channel)
 {
     for (int i = 0; i < ADC_FUNCTION_COUNT; i++) {
@@ -111,7 +118,7 @@ static bool isChannelInUse(int channel)
 }
 #endif
 
-#if !defined(ADC_CHANNEL_1_PIN) || !defined(ADC_CHANNEL_2_PIN) || !defined(ADC_CHANNEL_3_PIN) || !defined(ADC_CHANNEL_4_PIN)
+#if !defined(ADC_CHANNEL_1_PIN) || !defined(ADC_CHANNEL_2_PIN) || !defined(ADC_CHANNEL_3_PIN) || !defined(ADC_CHANNEL_4_PIN) || !defined(ADC_CHANNEL_5_PIN) || !defined(ADC_CHANNEL_6_PIN)
 static void disableChannelMapping(int channel)
 {
     for (int i = 0; i < ADC_FUNCTION_COUNT; i++) {
@@ -192,6 +199,33 @@ void adcInit(drv_adc_config_t *init)
     disableChannelMapping(ADC_CHN_4);
 #endif
 
+#ifdef ADC_CHANNEL_5_PIN
+    if (isChannelInUse(ADC_CHN_5)) {
+        adcConfig[ADC_CHN_5].adcDevice = adcDeviceByInstance(ADC_CHANNEL_5_INSTANCE);
+        if (adcConfig[ADC_CHN_5].adcDevice != ADCINVALID) {
+            adcConfig[ADC_CHN_5].tag = IO_TAG(ADC_CHANNEL_5_PIN);
+#if defined(USE_ADC_AVERAGING)
+            activeChannelCount[adcConfig[ADC_CHN_5].adcDevice] += 1;
+#endif
+        }
+    }
+#else
+    disableChannelMapping(ADC_CHN_5);
+#endif
+
+#ifdef ADC_CHANNEL_6_PIN
+    if (isChannelInUse(ADC_CHN_6)) {
+        adcConfig[ADC_CHN_6].adcDevice = adcDeviceByInstance(ADC_CHANNEL_6_INSTANCE);
+        if (adcConfig[ADC_CHN_6].adcDevice != ADCINVALID) {
+            adcConfig[ADC_CHN_6].tag = IO_TAG(ADC_CHANNEL_6_PIN);
+#if defined(USE_ADC_AVERAGING)
+            activeChannelCount[adcConfig[ADC_CHN_6].adcDevice] += 1;
+#endif
+        }
+    }
+#else
+    disableChannelMapping(ADC_CHN_6);
+#endif
 
     adcHardwareInit(init);
 }

diff --git a/src/main/drivers/adc.h b/src/main/drivers/adc.h
@@ -33,7 +33,9 @@ typedef enum {
     ADC_CHN_2,
     ADC_CHN_3,
     ADC_CHN_4,
-    ADC_CHN_MAX = ADC_CHN_4,
+	ADC_CHN_5,
+	ADC_CHN_6,
+    ADC_CHN_MAX = ADC_CHN_6,
     ADC_CHN_COUNT
 } adcChannel_e;
 

diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c
@@ -195,6 +195,16 @@ static bool checkPwmTimerConflicts(const timerHardware_t *timHw)
         return true;
     }
 #endif
+#if defined(ADC_CHANNEL_5_PIN)
+    if (timHw->tag == IO_TAG(ADC_CHANNEL_5_PIN)) {
+        return true;
+    }
+#endif
+#if defined(ADC_CHANNEL_6_PIN)
+    if (timHw->tag == IO_TAG(ADC_CHANNEL_6_PIN)) {
+        return true;
+    }
+#endif
 #endif
 
     return false;

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -190,9 +190,12 @@ tables:
   - name: nav_fw_wp_turn_smoothing
     values: ["OFF", "ON", "ON-CUT"]
     enum: wpFwTurnSmoothing_e
+  - name: gps_auto_baud_max
+    values: [ '115200', '57600', '38400', '19200', '9600', '230400', '460800', '921600']
+    enum: gpsBaudRate_e
   - name: nav_mc_althold_throttle
     values: ["STICK", "MID_STICK", "HOVER"]
-    enum: navMcAltHoldThrottle_e
+    enum: navMcAltHoldThrottle_e    
 
 constants:
   RPYL_PID_MIN: 0
@@ -1504,6 +1507,7 @@ groups:
         min: 1
         max: 3000
   - name: PG_GPS_CONFIG
+    headers: [ "io/gps.h" ]
     type: gpsConfig_t
     condition: USE_GPS
     members:
@@ -1535,6 +1539,12 @@ groups:
         default_value: ON
         field: autoBaud
         type: bool
+      - name: gps_auto_baud_max_supported
+        description: "Max baudrate supported by GPS unit. This is used during autobaud. M8 supports up to 460400, M10 supports up to 921600 and 230400 is the value used before INAV 7.0"
+        default_value: "230400"
+        table: gps_auto_baud_max
+        field: autoBaudMax
+        type: uint8_t
       - name: gps_ublox_use_galileo
         description: "Enable use of Galileo satellites. This is at the expense of other regional constellations, so benefit may also be regional. Requires M8N and Ublox firmware 3.x (or later) [OFF/ON]."
         default_value: OFF

diff --git a/src/main/io/gps.c b/src/main/io/gps.c
@@ -113,7 +113,7 @@ static gpsProviderDescriptor_t gpsProviders[GPS_PROVIDER_COUNT] = {
 
 };
 
-PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 3);
+PG_REGISTER_WITH_RESET_TEMPLATE(gpsConfig_t, gpsConfig, PG_GPS_CONFIG, 4);
 
 PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .provider = SETTING_GPS_PROVIDER_DEFAULT,
@@ -125,13 +125,13 @@ PG_RESET_TEMPLATE(gpsConfig_t, gpsConfig,
     .ubloxUseGalileo = SETTING_GPS_UBLOX_USE_GALILEO_DEFAULT,
     .ubloxUseBeidou = SETTING_GPS_UBLOX_USE_BEIDOU_DEFAULT,
     .ubloxUseGlonass = SETTING_GPS_UBLOX_USE_GLONASS_DEFAULT,
-    .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT
+    .ubloxNavHz = SETTING_GPS_UBLOX_NAV_HZ_DEFAULT,
+    .autoBaudMax = SETTING_GPS_AUTO_BAUD_MAX_SUPPORTED_DEFAULT
 );
 
-
-int getGpsBaudrate(void)
+int gpsBaudRateToInt(gpsBaudRate_e baudrate)
 {
-    switch(gpsState.baudrateIndex)
+    switch(baudrate)
     {
         case GPS_BAUDRATE_115200:
             return 115200;
@@ -154,6 +154,11 @@ int getGpsBaudrate(void)
     }
 }
 
+int getGpsBaudrate(void)
+{
+    return gpsBaudRateToInt(gpsState.baudrateIndex);
+}
+
 const char *getGpsHwVersion(void)
 {
     switch(gpsState.hwVersion)

diff --git a/src/main/io/gps.h b/src/main/io/gps.h
@@ -99,6 +99,7 @@ typedef struct gpsConfig_s {
     bool ubloxUseGlonass;
     uint8_t gpsMinSats;
     uint8_t ubloxNavHz;
+    gpsBaudRate_e autoBaudMax;
 } gpsConfig_t;
 
 PG_DECLARE(gpsConfig_t, gpsConfig);
@@ -175,6 +176,7 @@ uint8_t getGpsProtoMajorVersion(void);
 uint8_t getGpsProtoMinorVersion(void);
 
 int getGpsBaudrate(void);
+int gpsBaudRateToInt(gpsBaudRate_e baudrate);
 
 #if defined(USE_GPS_FAKE)
 void gpsFakeSet(

diff --git a/src/main/io/gps_ublox.c b/src/main/io/gps_ublox.c
@@ -997,6 +997,11 @@ STATIC_PROTOTHREAD(gpsProtocolStateThread)
         // Try sending baud rate switch command at all common baud rates
         gpsSetProtocolTimeout((GPS_BAUD_CHANGE_DELAY + 50) * (GPS_BAUDRATE_COUNT));
         for (gpsState.autoBaudrateIndex = 0; gpsState.autoBaudrateIndex < GPS_BAUDRATE_COUNT; gpsState.autoBaudrateIndex++) {
+            if (gpsBaudRateToInt(gpsState.autoBaudrateIndex) > gpsBaudRateToInt(gpsState.gpsConfig->autoBaudMax)) {
+                // trying higher baud rates fails on m8 gps
+                // autoBaudRateIndex is not sorted by baud rate
+                continue;
+            }
             // 2. Set serial port to baud rate and send an $UBX command to switch the baud rate specified by portConfig [baudrateIndex]
             serialSetBaudRate(gpsState.gpsPort, baudRates[gpsToSerialBaudRate[gpsState.autoBaudrateIndex]]);
             serialPrint(gpsState.gpsPort, baudInitDataNMEA[gpsState.baudrateIndex]);

diff --git a/src/main/target/SPEEDYBEEF7V3/target.h b/src/main/target/SPEEDYBEEF7V3/target.h
@@ -149,6 +149,7 @@
 // ********** Optiical Flow adn Lidar **************
 #define USE_RANGEFINDER
 #define USE_RANGEFINDER_MSP
+#define RANGEFINDER_I2C_BUS     BUS_I2C1
 #define USE_OPFLOW
 #define USE_OPFLOW_MSP