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+:10A8C0000304060708090204069D291069144100C3 :04000005080000ED02 :00000001FF diff --git a/src/board.h b/src/board.h index 263d00116..84c0a00f8 100755 --- a/src/board.h +++ b/src/board.h @@ -118,6 +118,8 @@ typedef struct sensor_t #define BEEP_ON ; #endif +#undef SOFT_I2C // enable to test software i2c + #ifdef FY90Q // FY90Q #include "drv_system.h" // timers, delays, etc diff --git a/src/config.c b/src/config.c index d5402aabd..755971187 100755 --- a/src/config.c +++ b/src/config.c @@ -3,7 +3,7 @@ #include #ifndef FLASH_PAGE_COUNT -#define FLASH_PAGE_COUNT 64 +#define FLASH_PAGE_COUNT 128 #endif #define FLASH_PAGE_SIZE ((uint16_t)0x400) diff --git a/src/drv_i2c.c b/src/drv_i2c.c index e986186d7..51c9fbad9 100755 --- a/src/drv_i2c.c +++ b/src/drv_i2c.c @@ -1,5 +1,7 @@ #include "board.h" +#ifndef SOFT_I2C + // I2C2 // SCL PB10 // SDA PB11 @@ -347,3 +349,5 @@ static void i2cUnstick(void) GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD; GPIO_Init(GPIOB, &GPIO_InitStructure); } + +#endif \ No newline at end of file diff --git a/src/mixer.c b/src/mixer.c index a1deafef5..4ce937172 100755 --- a/src/mixer.c +++ b/src/mixer.c @@ -163,12 +163,21 @@ void mixTable(void) break; case MULTITYPE_HEX6X: +#if 0 motor[0] = PIDMIX(-1 / 2, +1 / 2, +1); //REAR_R motor[1] = PIDMIX(-1 / 2, -1 / 2, +1); //FRONT_R motor[2] = PIDMIX(+1 / 2, +1 / 2, -1); //REAR_L motor[3] = PIDMIX(+1 / 2, -1 / 2, -1); //FRONT_L motor[4] = PIDMIX(-1, +0, -1); //RIGHT motor[5] = PIDMIX(+1, +0, +1); //LEFT +#else + motor[0] = PIDMIX(-4/5,+9/10,+1); //REAR_R + motor[1] = PIDMIX(-4/5,-9/10,+1); //FRONT_R + motor[2] = PIDMIX(+4/5,+9/10,-1); //REAR_L + motor[3] = PIDMIX(+4/5,-9/10,-1); //FRONT_L + motor[4] = PIDMIX(-4/5 ,+0 ,-1); //RIGHT + motor[5] = PIDMIX(+4/5 ,+0 ,+1); //LEFT +#endif break; case MULTITYPE_OCTOX8: diff --git a/stm32_flash.ld b/stm32_flash.ld index 0bab13229..abd809b4c 100644 --- a/stm32_flash.ld +++ b/stm32_flash.ld @@ -22,7 +22,7 @@ _Min_Stack_Size = 0x400; /* required amount of stack */ /* Specify the memory areas */ MEMORY { - FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 64K + FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 127K RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 20K MEMORY_B1 (rx) : ORIGIN = 0x60000000, LENGTH = 0K }