Development
ST-Link is not required, you can flash using DFU mode without any additional hardware.
| Option | Values | Description |
|---|---|---|
DFPLAYER |
NO/YES
|
Enable DFPlayer Voice support (1.11.0+) |
FLYSKY_GIMBAL |
NO/YES
|
Enable FlySky FS-HZCZ03-ADJ gimbal support (Since 1.11.0+) |
PCBI6X_ELRS |
NO/YES
|
Enable ExpressLRS/CRSF configuration tool (LUA alternative) |
PCBI6X_INAV |
NO/YES
|
Enable INAV Lite radar screen |
PCBI6X_HELLO |
NO/YES
|
Example "Hello World" radio tool to help interested programmers to create their own |
USB_SERIAL |
NO/YES
|
Enable USB Serial modes - Telemetry mirror or debug in DEBUG build. |
USB_MSD |
NO/YES
|
Enable USB Mass Storage mode. |
AFHDS2A_LQI_CH |
1-17 | Injects RSSI at channel, default: 17 |
SBUS_TRAINER |
NO/YES
|
Enable SBUS Trainer mode support and trainer connected/disconnected sounds. (1.13.0+) |
CRSF_UNINVERTED |
NO/YES |
|
CRSF_FULLDUPLEX |
NO/YES
|
Enable CRSF full duplex mode with RX pin at PA15 pad. Removes inversion. Use with i.e.: ELRS RX as TX configuration. (1.13.0+) |
CRSF_EXTENDED_TYPES |
NO/YES
|
Enable CRSF configuration parameters STRING and FLOAT types support. |
FAKE_RSSI |
NO/YES
|
Converts TRSS to RSSI data for receivers not sending RSSI. |
EXTPWR_INVERT |
NO/YES
|
Invert ext module power pin PC13 to allow use of P-MOSFET. (1.12.0+) |
PPM_UNIT |
US/PERCENT_PREC0/PERCENT_PREC1
|
Channel value unit |
DEBUG |
NO/YES
|
Enable DEBUG serial output |
GVARS |
NO/YES
|
Enable Global Variables |
HELI |
NO/YES
|
Enable Heli menu |
docker run --rm -it -e "BOARD_NAME=i6x" -e "CMAKE_FLAGS=PCB=I6X HELI=NO GVARS=YES PCBI6X_INAV=NO PCBI6X_ELRS=YES DEBUG=NO" -v ${PWD}:/opentx ajjjjjjjj/opentx-docker-i6x
Images to use:
ajjjjjjjj/opentx-docker-i6x - to compile using recent GCC version with LTO, this is current default.
vitass/opentx-fw-build - to compile older versions (1.8.0 and older) using GCC 4.7.
ST-Link: sudo st-flash write <file_to_flash>.bin 0x08000000
STM32 USB DFU Mode: dfu-util -a0 -s 0x08000000:leave -d 0483:df11 -D <file_to_flash>.bin
APM32 USB DFU Mode: dfu-util -a0 -s 0x08000000:leave -d 314b:0106 -D <file_to_flash>.bin
Use USB Serial mode for debug log or AUX Serial port TX located at PA9 PCB pad.
Serial port runs @115200 bauds, 8N1.
| Pad label | AF | Usage |
|---|---|---|
| PA9 | USART1_TX | AUX Serial TX |
| PA10 | USART1_RX | AUX Serial RX |
| PB8 | TIM16_CH1, I2C1_SCL | |
| PB9 | TIM17_CH1, I2C1_SDA | |
| TX2 (PD5) | USART2_TX | CRSF/Telemetry TX |
| PA15 | USART2_RX | CRSF/Telemetry RX |
| PC9 | TIM3_CH4 | Backlight PWM |
| PC12 | No useful AF | |
| PC13 | No AF | EXTMODULE Power switch |
| PC14 | No AF | DFPLAYER BUSY |
| PC15 | No AF | |
| PD0 | SPI2_NSS (Slave select) | |
| PD1 | SPI2_SCK (Clock) | |
| PD3 | SPI2_MISO (Out) | |
| PD4 | SPI2_MOSI (In) | |
| PD11 | No useful AF | |
| PF9 | TIM15_CH1 | PPM IN |
| PF10 | TIM15_CH2 | PPM OUT |
| TXD4 | USART3/4_TX | AUX3 Serial TX - DFPlayer |
| RXD4 | USART3/4_RX | AUX4 Serial RX - FS-HZCZ03-ADJ Gimbal |
| Channel | Mapping | Usage |
|---|---|---|
| 1 | ADC | ADC |
| 2 | TX1, TX3 | |
| 3 | RX1, RX3 | AUX Serial RX (USART1) |
| 4 | TX1, TX2 | Telemetry TX DMA (TX2) (USART2), can be reused for A7105 SPI1 RX |
| 5 | RX1, RX2 | Telemetry RX DMA (RX2) (USART2), can be reused for A7105 SPI1 TX |
| 6 | RX2, RX3, RX4 | AUX4 Serial RX (USART4) |
| 7 | TX2, TX3, TX4 |
| Timer | Usage |
|---|---|
| TIM1 | Buzzer PWM |
| TIM2 | |
| TIM3 | BACKLIGHT_TIMER PWM |
| TIM6 | STM32F0 delays |
| TIM7 | TIMER_2MHz |
| TIM14 | INTERRUPT_xMS |
| TIM15 | PPM (External module) + Trainer |
| TIM16 | Internal RF |
| TIM17 | MIXER_SCHEDULER |
| Cortex-M0 (2 bits) | Cortex-M3/4 (4 bits) |
|---|---|
| 0 | 0 |
| 1 | 1 |
| 2 | 2-6 |
| 3 | 7-15 |