Moved vtxtable frequency mode implementation into `vtx_common.c`.
This makes the implementation available for all vtx types and allows
for some code deduplication (see point below)
Removed band and channel tracking from tramp and rtc6705.
The hardware underlying both only support frequency mode and
the tracking is now done in `vtx_common.c` using the new factory flag.
Deleted vtxStringXXX. to continue supporting builds without
`USE_VTX_TABLE`, new infrastructure was created in
`drivers/vtx_table.c`, which loads fixed tables into vtxTableXXX
when built witout `USE_VTX_TABLE`. Individual vtx implementations no
longer need to load any band/channel tables. They only need to load
their individual power tables when built without `USE_VTX_TABLE`.
Additionally this allows for the next point:
Fully integrated vtxTableXXX and removed the old and no longer needed
indirection of frequency and power tables in `vtxDevice_t`.
Removed VTX_SETTINGS_* constants from `vtx_common.h` and replaced them
with the vtxtable equivalent.
rtc6705 implementation now uses power values from vtxtable instead of
using indices directly. It also stops using index 0. This makes it
consistent with other vtx implementations and is more user configurable.
It also cleans up `telemetry\srxl.c` which had to have a special case for rtc6705.
Finally, frequency entries in the vtxtable can now be marked as empty
by setting their frequency to 0. Betaflight will never allow a blocked
channel to be selected. This is useful for vtxtable index mode
(FACTORY flag set) where manufacturer-defined bands can be truncated
to ensure compliance with local laws and regulations.
- Initial
- Adjust load address of EXST firmware.
- Add helper script to pad an EXST binary to the expected size.
Padded firmware currently required due to a bug in the flash/dfu code
which causes anything less than a flash page size to be truncated when
uploading new firmware via the bootloader DFU.
- Minor linker script cleanups.
- STM32H7.mk change hardcoded TARGET_FLASH (384) to FIRMWARE_SIZE
- Delete unused configuration section entries from linker
scripts.
- Increase EXST firmware size to 448K.
It turns out 384K wasn't enough for a feature-complete firmware.
- Update pad-exst.sh to use 448K by default.
- Move the EXST file generation to the makefile.
[EXST] Embed firmware hash in ELF
- Add debug marker at end of CODE_RAM section.
It was found when transferring firmware to the H7 RAM via a BMP probe
using the 'gdb load' command, that the last few bytes were not
transferred, this debug marker is present to ensure all needed parts of
the firmware are present.
Example memory view of corrupted bytes at end of transfer:
0x2407DFAE DEB90000 DEB9DEB9 DEB9DEB9 DEB9DEB9 ..¹Þ¹Þ¹Þ¹Þ¹Þ¹Þ¹Þ
0x2407DFBE 000000B9 00000000 00000000 00000000 ¹...............
should be:
0x2407DFAE DEB9DEB9 DEB9DEB9 DEB9DEB9 DEB9DEB9 ¹Þ¹Þ¹Þ¹Þ¹Þ¹Þ¹Þ¹Þ
0x2407DFBE 00000000 00000000 00000000 00000000 ................
- Remove debug marker in EXST firmware.
STM32H750_EXST - Provide space for empty hash.
* Bootloader will run firmware if hash is empty, without re-verifying
RAM content against hash.
* CODE_RAM always shows as 100% usage.
STM32H750_EXST - Use a specific ELF section for a hash.
Two benefits:
1) CODE_RAM no-longer shows 100% full, since it is no-longer
padded/filled.
2) Prepares the code so that objcopy can be used to inject the hash
into the ELF.
STM32H750_EXST - Patch MD5 into ELF.
Process is now as follows.
* Binary generated (via make target dependency) so there is something to
hash.
* Binary copied (and padded).
* MD5 Hash computed.
* xxd patch file generated from hash.
* xxd hash patch applied to copy of binary at correct address.
* elf .exst_hash section dumped.
* hash injected into into dumped section.
* elf .exst_hash section updated with updated dumped section.
Replace EXST with USE_EXST.
Add documentation for the EXST firmware format.
Add table formatting to EXST documentation.
Update bootloader block.
Update H750 EXST linker script to use block format 0x00.
Use .exst.elf and .exst.bin on the exst files.
Add 'no checksum' to list of checksum hash methods.
Update EXST build system so it generates the following sets of files
obj/main/betaflight_TARGET.elf
obj/main/betaflight_TARGET.map
obj/main/betaflight_TARGET_EXST.elf
obj/betaflight_VERSION_TARGET.bin
obj/betaflight_VERSION_TARGET.bin.md5
obj/betaflight_VERSION_TARGET_EXST.bin
Update EXST build system to be more user-friendly.
* user-flashable files are generated in the normal place.
* Intermediate files are generated in `obj/main/...`
* Removes the `exst` goal.
* Adds .hex generation for EXST builds based on the patched .elf.
To build EXST targets, simply use `make TARGET=x` as normal and flash
the resulting `.hex/.bin` files rather than the .exst.bin file.
Developers can use either the `.elf` or patched `_EXST.elf` file as is
appropriate for their needs.
EXST documentation updated to match changes to build system.
Basic system files
- Initial system files
- Additional RCC clock enables for testing
- Coding style tidy (target/system_stm32h7xx.c) and enable MCO for testing
- Clock generator changes for SPI support
- Setup MPU for "D2 SRAM as write-through by MPU, call it DMA_RAM"
- Drop USB clock enabling from driver/system_stm32h7xx.c
- stm32h7_hal_conf.h for persistent object storage
Basic build files
STM32H7.mk changes
- STM32H7.mk for USE_UART and USE_SERIAL_RX
- Modify STM32H7.mk for inclusion of SPI driver
- STM32H7.mk change for D2 SRAM as write-through by MPU, call it DMA_RAM
- STM32H7.mk for DMA facility
- STM32H7.mk for [TIMER] For "Initial cut without Dshot"
- STM32H7.mk change for [LED_STRIP] Add LED_STRIP
- STM32H7.mk for [ADC] Initial cut without internal sensors
- STM32H7.mk for Enable I2C (HAL)
- STM32H7.mk for "Enable HAL-based DShot (no burst yet)"
- STM32H7.mk change for transponder
- STM32H750 - Add platform support.
- STM32H750 - Add H750 MCU ID.
- STM32H743 - Add MCU ID.
STM32H7.mk change for "Burst Dshot First working version"
Fix boot loader request
STM32H750 - Add PERSISTENT memory support.
STM32H743 - Add PERSISTENT memory support.
Use PERSISTENT memory for bootloader request.
Using DTCM RAM did not work on H750.
Change flash latency from 4WS to 2WS
STM32H750 - Fix reset of RCC_CR to reset value.
Note: The comment above the code didn't match code.
STM32H750 - Remove duplicate startup code, see SystemClock_Config.
STM32H7.mk changes for Port RTC backup register based persistent storage for H7
Make use of persistent object facility
Force reboot after possible boot loader activity
Enable CRS
stm32h7xx_hal_conf.h for H7 - QuadSPI support
stm32h7xx_hal_conf.h for STM32H7 - SDCard/SDIO using HAL Driver
stm32h7xx_hal_conf.h : Fix systick to be 0x00 instead of ST's default 0x0F.
This fixes the ability to use HAL_Delay() from an ISR, as required by
the ST's USB Library.
Specifically, systick handler must be a higher priority than the USB
FS/HS Interrupt handler priorities.
stm32h7xx_hal_conf.h for Add PID-Audio support
source.mk for H7 - QuadSPI support
drivers/system_stm32h7xx.c for H7 - QuadSPI support
STM32H7.mk for H7 - QuadSPI support
STM32H7.mk change for CDC-HID support
common_pre.h updates
- Scheduler parameters to same as F4 & F7
- Enable some important default features
- STM32H7 - Enable ITCM RAM.
Requires voltage scaling fix from commit
6e684c609310024141c43de484a5e78103140e3c
STM32H750 - Disable caches before reboot.
Prior to this when EEPROM_IN_RAM was used the persistent data section
would have corruption immediately after a reboot, prior to even the
Reset_Handler code having been executed.
drivers/system_stm32h7xx.c Touch-up after 2019-02-02 rebase
STM32H7 - Write protect ITCM ram.
Remove local defs for RESET_xxx symbols
STM32H750 - EXST firmware reboots to FLASH bootloader, rather than ROM bootloader.
STM32H750 - Disable some MCO/clock testing code as the pins interfere with new targets.
STM32H750 - Don't disable data caches after bootloader.
Observed that disabling dcache after cold boot with BOOT pin high causes
segfault.
drivers/system_stm32h7xx.c for STM32H7 - SDCard/SDIO using HAL Driver
drivers/system_stm32h7xx.c change for Move SDMMC clock init into SDIO driver
drivers/system_stm32h7xx.c: Cleanup some Clock/MCO/GPIO initialisation code.
drivers/system_stm32h7xx.c for Reset if systick is stuck.
STM32H7 - Fix missing CPU voltage scaling.
It appears this was the cause of other seemingly random issues:
* Crash soon after enabling USB.
* Flash write failures.
* Random un-explainable crashes.
Change RCC_HSE_BYPASS to RCC_HSE_ON
Even Nucleo-H743 seems to work without setting HSE_BYPASS.
STM32H7xx - Move memory section initialisation earlier into the init sequence.
Allows startup-code/libs/etc to be moved into different memory regions.
Don't touch vector table in EXST targets
STM32H750_EXST - fix boot loop
target/system_stm32h7xx.c for STM32H7 - SDCard/SDIO using HAL Driver
target/system_stm32h7xx.c change for Fix SD card clock speed selection
STM32H750_EXST - Reset MPU regions on boot.
* Failure to reset regions will result in mem-fault if bootloader has
configured a similar region.
STM32H750 - Fix missing include of platform.h in system_stm32h7xx.c
This caused the SDMMC peripheral clock to be un-configured (at reset
state) when USE_SDCARD_SDIO was defined.
Change MPU region number for DMA_RAM from 0 to 1
Avoid conflict with ITCM-RAM write protection.
STM32H7xx - HSERDY slow/stuck workarounds.
STM32H7xx - Fix region MPU number for SDIO.
* It was overwriting the previous region causing LED strip and
transponder issues.
Target/system_stmh7xx.c for Reset if systick is stuck.
startup/system_stm32h7xx.c change for non-caching DMA_RAM
H750 - Use SIZE optimization by default due to limited flash space.
STM32H7.mk for STM32H7 - SDCard/SDIO using HAL Driver
STM32H7.mk updates
- Decrease HSE_STARTUP_TIMEOUT to 1 second
* default is 5 seconds, which is too long when HSE gets stuck.
- Add PID-Audio support
Temporary override LINKER_DIR
Remove the giant `select` block that contained all the code to generate the elements and transition them to individual functions called only when the element is active. Simplifies the code and results in a performance improvement as it's not necessary to fall through the large `select` statement for every element that will be drawn. The individual functions and the element to function mapping are moved to a new `osd_elements.c` file.
Moved the OSD related code files to a new `osd/` directory.
Also pre-analyze the active elements and only process those that are active. This also saves processing as it's not necessary to loop through all 50 or so elements when only a couple are active.
Various other cleanup and removal of stale or unnecessary code.
In the default configuration the element drawing phase of the OSD task is reduced from ~51us to ~35us - resulting in about a 30% decrease in processing time.
Adds a new exit/save menu that can be displayed at any time using the yaw-right stick command. Yaw-left still functions as "back".
Allows the user to save their settings even while nested deep in multiple menus. Previously the user was required to back up all the way to the top level menu to save or exit.
Located under the Features top-level menu. Allows configuring the failsafe procedure (like selecting GPS-RESCUE if applicable).
Bounded with `#ifdef USE_CMS_FAILSAFE_MENU` so it can be disabled for space critical targets.
MCO2 output as run time configurable option
Add sanity check for MCO2 pin
changed output mode to AF from OUTPUT in mco driver
MCO for F4 is not implemented yet
Reinstate original OMNIBUSF7 target.h
Add config variable mco2_on_pc9
Make MCO2 pin hardcoded with mco2_on_pin control variable
fixed mco2 clock config corruption
removed unused pin definitions
* Revert "Revert "Rewritten F7 dshot to LL (draft)" (#5430)"
This reverts commit aa42a69d2f.
* Reworked F7 linker scripts to maximize performance of both F74x and F72x
* Some comments and changes from original F7 HAL DSHOT
* Prohibit inlining of some functions to place them in ITCM-RAM
* Fixed usartTargetConfigure implicit declaration
* Moved back to SRAM1 as main RAM
* Added SRAM2 attribute
* Fixed LL DSHOT FOR SPRF7DUAL and probably other adv TIM users
* Fixed SPRF7DUAL rev. A motor order
* Enabled CCM for data on F40x
* Fixed F7 startup assembly symbols
* Fixed KISSFCV2F7 linker script
* Added a quick way of building F7 targets only
* Got rid of the useless F7 target script
* Added NOINLINE and got rid of useless __APPLE__ define
* Added some important functions to ITCM
* Added NOINLINE macro for tests
* Copy to ITCM before passing execution into it
* Minimized cache footprint of motor output code
* Evicted low-impact functions from ITCM
* Switched MATEKF722 and SPRACINGF7DUAL to burst DSHOT
* Switched CLRACINGF7 to burst DSHOT
* Moved UART RX&TX buffers to DTCM-RAM to avoid cache incoherency
* Marked taskMainPidLoop for ITCM-RAM, disallowed inlining per-function
* Revert "Added a quick way of building F7 targets only"
This reverts commit 22945189980deaf493be54a5056a080e7edad629.
* Add Composite CDC+HID device option.
- It passes on though HID interface 8 channels received from TX
- Endpoints are reconfigured to support HID interface
- Potentially this can slow down SPI Flash transfer though CDC interface...
- This could be addressed by support for MSC when using SPI Flash (emulating FATFS)
* Different way to handle MIN redefine
* CF/BF - Update DSP_Lib and STM32F7/Drivers/CMSIS to CMSIS 5.3.0.
CMSIS 5.3.0 - https://github.com/ARM-software/CMSIS_5/releases/tag/5.3.0
* cleanup lib.
* pfft
* relocate driver files from lib/main/CMSIS/CM* to lib/main/STM32xx
folders
* Move DSP folder inside CM5.
It came from the same source as the other files inside CM5
* Remove the CM5 folder and move the files in it one level up.
* CF/BF - Set STM32F7 SPI FAST clock to 13.5Mhz - Gyros not stable at
27mhz.
* CF/BF - Initial SPRacingF7DUAL commit.
Support two simultaneous gyro support (code by Dominic Clifton and Martin Budden)
There are new debug modes so you can see the difference between each gyro.
Notes:
* spi bus instance caching broke spi mpu detection because the detection
tries I2C first which overwrites the selected bus instance when using
dual gyro.
* ALL other dual-gyro boards have one sensor per bus. SPRacingF7DUAL is has two per bus and thus commit has a lot of changes to fix SPI/BUS/GYRO initialisation issues.
* CF/BF - Add SPRacingF4EVODG target.
This target adds a second gyro to the board using the SPI pads on the back of the board.
* CF/BF - Temporarily disable Gyro EXTI pin to allow NEO target to build.
* optimize math
Results in considerable flash saving
* log_approx, exp_approx, pow_approx
Taken from https://github.com/jhjourdan/SIMD-math-prims/blob/master/simd_math_prims.h
* Fix pow in rangefinder
* Use approximate function in baro calculation
Maximum error is < 20cm
* fixup! Fix pow in rangefinder
Menu including:
- Voltage meter selection
- Current meter selection
- Max cell voltage (moved from MISC menu)
- Voltage scale adjust (moved from MISC menu)
- ADC current scale and offset adjust
- Virtual current scale and offset adjust
library versions are replaced (libeary functions are weak).
System ctype.h is implemented using macros, local header file
(in -I path) is provided to override system one.
jflyper
Michael Keller
Dominic Clifton
functionpointer
laz2wiringpi
Krzysztof Matula
Thorsten Laux
Bruce Luckcuck
blckmn
phobos-
Blaine
Andrej Podzimek
Andrey Mironov
Steffen Windoffer
Anders Hoglund
Andi Kanzler
azolyoung
s0up
Loopur
Diego Basch
Curtis Bangert
jflyper
Chris
codecae
Petr Ledvina
Dominic Clifton
Míguel Ángel Mulero Martínez
rotcehdnih
Dan Nixon
blckmn
Martin Budden
felix