Merge branch 'master' into RP2350

src/config

@@ -1 +1 @@
-Subproject commit b60600210384d1da4621cc35a0632d9cca8a62b7
+Subproject commit d279f4dec311175f312213e987b11ceda5877ef9

src/main/blackbox/blackbox.c

@@ -1050,6 +1050,9 @@ void blackboxValidateConfig(void)
 #endif
 #ifdef USE_SDCARD
     case BLACKBOX_DEVICE_SDCARD:
+#endif
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
 #endif
     case BLACKBOX_DEVICE_SERIAL:
         // Device supported, leave the setting alone

src/main/blackbox/blackbox.h

@@ -29,7 +29,8 @@ typedef enum BlackboxDevice {
     BLACKBOX_DEVICE_NONE = 0,
     BLACKBOX_DEVICE_FLASH = 1,
     BLACKBOX_DEVICE_SDCARD = 2,
-    BLACKBOX_DEVICE_SERIAL = 3
+    BLACKBOX_DEVICE_SERIAL = 3,
+    BLACKBOX_DEVICE_VIRTUAL = 4,
 } BlackboxDevice_e;
 
 typedef enum BlackboxMode {

src/main/blackbox/blackbox_io.c

@@ -59,6 +59,8 @@
 #include "drivers/sdcard.h"
 #endif
 
+#include "blackbox_virtual.h"
+
 #define BLACKBOX_SERIAL_PORT_MODE MODE_TX
 
 // How many bytes can we transmit per loop iteration when writing headers?
@@ -124,6 +126,11 @@ void blackboxWrite(uint8_t value)
     case BLACKBOX_DEVICE_SDCARD:
         afatfs_fputc(blackboxSDCard.logFile, value);
         break;
+#endif
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        blackboxVirtualPutChar(value);
+        break;
 #endif
     case BLACKBOX_DEVICE_SERIAL:
     default:
@@ -185,6 +192,13 @@ int blackboxWriteString(const char *s)
         break;
 #endif // USE_SDCARD
 
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        length = strlen(s);
+        blackboxVirtualWrite((const uint8_t*) s, length);
+        break;
+#endif
+
     case BLACKBOX_DEVICE_SERIAL:
     default:
         pos = (uint8_t*) s;
@@ -217,6 +231,11 @@ void blackboxDeviceFlush(void)
         flashfsFlushAsync(false);
         break;
 #endif // USE_FLASHFS
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        blackboxVirtualFlush();
+        break;
+#endif
 
     default:
         ;
@@ -249,6 +268,10 @@ bool blackboxDeviceFlushForce(void)
         // been physically written to the SD card yet.
         return afatfs_flush();
 #endif // USE_SDCARD
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        return blackboxVirtualFlush();
+#endif
 
     default:
         return false;
@@ -269,6 +292,11 @@ bool blackboxDeviceFlushForceComplete(void)
             return false;
         }
 #endif // USE_SDCARD
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        blackboxVirtualFlush();
+        return true;
+#endif
 
     default:
         return blackboxDeviceFlushForce();
@@ -360,6 +388,11 @@ bool blackboxDeviceOpen(void)
         return true;
         break;
 #endif // USE_SDCARD
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        return blackboxVirtualOpen();
+
+#endif
     default:
         return false;
     }
@@ -428,6 +461,11 @@ void blackboxDeviceClose(void)
         // Some flash device, e.g., NAND devices, require explicit close to flush internally buffered data.
         flashfsClose();
         break;
+#endif
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        blackboxVirtualClose();
+        break;
 #endif
     default:
         ;
@@ -564,6 +602,10 @@ bool blackboxDeviceBeginLog(void)
     case BLACKBOX_DEVICE_SDCARD:
         return blackboxSDCardBeginLog();
 #endif // USE_SDCARD
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        return blackboxVirtualBeginLog();
+#endif
     default:
         return true;
     }
@@ -598,6 +640,13 @@ bool blackboxDeviceEndLog(bool retainLog)
         }
         return false;
 #endif // USE_SDCARD
+
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        blackboxVirtualEndLog();
+        return true;
+#endif
+
     default:
         return true;
     }
@@ -640,6 +689,11 @@ bool isBlackboxDeviceWorking(void)
         return flashfsIsReady();
 #endif
 
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        return true;
+#endif
+
     default:
         return false;
     }
@@ -653,6 +707,12 @@ int32_t blackboxGetLogNumber(void)
         return blackboxSDCard.largestLogFileNumber;
 #endif
 
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        return blackboxVirtualLogFileNumber();
+        break;
+#endif
+
     default:
         return -1;
     }
@@ -679,6 +739,11 @@ void blackboxReplenishHeaderBudget(void)
     case BLACKBOX_DEVICE_SDCARD:
         freeSpace = afatfs_getFreeBufferSpace();
         break;
+#endif
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        blackboxHeaderBudget = 1024*8;
+        return;
 #endif
     default:
         freeSpace = 0;
@@ -745,6 +810,12 @@ blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes)
         return BLACKBOX_RESERVE_TEMPORARY_FAILURE;
 #endif // USE_SDCARD
 
+#ifdef USE_BLACKBOX_VIRTUAL
+    case BLACKBOX_DEVICE_VIRTUAL:
+        return BLACKBOX_RESERVE_TEMPORARY_FAILURE;
+#endif
+
+
     default:
         return BLACKBOX_RESERVE_PERMANENT_FAILURE;
     }
@@ -752,7 +823,6 @@ blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes)
 
 int8_t blackboxGetLogFileNo(void)
 {
-#ifdef USE_BLACKBOX
 #ifdef USE_SDCARD
     // return current file number or -1
     if (blackboxSDCard.state == BLACKBOX_SDCARD_READY_TO_LOG) {
@@ -764,6 +834,5 @@ int8_t blackboxGetLogFileNo(void)
     // will be implemented later for flash based storage
     return -1;
 #endif
-#endif
 }
 #endif // BLACKBOX

src/main/blackbox/blackbox_virtual.c

@@ -0,0 +1,117 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "platform.h"
+#include <stdio.h>
+#include <stdlib.h>
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+#include <dirent.h>
+#include <common/maths.h>
+
+#define LOGFILE_PREFIX "LOG"
+#define LOGFILE_SUFFIX "BFL"
+
+static FILE *blackboxVirtualFile = NULL;
+static int32_t largestLogFileNumber = 0;
+
+bool blackboxVirtualOpen(void)
+{
+    const size_t log_name_length = strlen(LOGFILE_PREFIX) + 5 + strlen(LOGFILE_SUFFIX) + 1; //file name template: LOG00001.BFL
+    DIR *dir = opendir(".");
+    if (!dir) {
+        return false; // Failed to open directory
+    }
+
+    struct dirent *entry;
+    while ((entry = readdir(dir)) != NULL) {
+        if (strlen(entry->d_name) == log_name_length
+            && strncmp(entry->d_name, LOGFILE_PREFIX, strlen(LOGFILE_PREFIX)) == 0
+            && strncmp(entry->d_name + 9, LOGFILE_SUFFIX, strlen(LOGFILE_SUFFIX)) == 0) {
+
+            char logSequenceNumberString[6];
+            memcpy(logSequenceNumberString, entry->d_name + 3, 5);
+            logSequenceNumberString[5] = '\0';
+            largestLogFileNumber = MAX((int32_t)atoi(logSequenceNumberString), largestLogFileNumber);
+        }
+    }
+    closedir(dir);
+    return true;
+}
+
+void blackboxVirtualPutChar(uint8_t value)
+{
+    if (blackboxVirtualFile != NULL) {
+        fputc(value, blackboxVirtualFile);
+    }
+}
+
+void blackboxVirtualWrite(const uint8_t *buffer, uint32_t len)
+{
+    if (blackboxVirtualFile != NULL) {
+        fwrite(buffer, len, 1, blackboxVirtualFile);
+    }
+}
+
+bool blackboxVirtualFlush(void)
+{
+    if (blackboxVirtualFile != NULL) {
+        fflush(blackboxVirtualFile);
+        return true;
+    } else {
+        return false;
+    }
+}
+
+bool blackboxVirtualBeginLog(void)
+{
+    if (blackboxVirtualFile != NULL) {
+        return false;
+    }
+    const size_t name_buffer_length = strlen(LOGFILE_PREFIX) + 5 + strlen(LOGFILE_SUFFIX) + 2; //file name template: LOG00001.BFL
+    char filename[name_buffer_length];
+    sprintf(filename, "%s%05i.%s", LOGFILE_PREFIX, largestLogFileNumber + 1, LOGFILE_SUFFIX);
+    blackboxVirtualFile = fopen(filename, "w");
+    if (blackboxVirtualFile != NULL) {
+        largestLogFileNumber++;
+    }
+    return blackboxVirtualFile != NULL;
+}
+
+bool blackboxVirtualEndLog(void)
+{
+    if (blackboxVirtualFile != NULL) {
+        fclose(blackboxVirtualFile);
+        blackboxVirtualFile = NULL;
+    }
+    return true;
+}
+
+void blackboxVirtualClose(void)
+{
+    blackboxVirtualEndLog();
+}
+
+uint32_t blackboxVirtualLogFileNumber(void)
+{
+    return largestLogFileNumber;
+}

src/main/blackbox/blackbox_virtual.h

@@ -0,0 +1,35 @@
+/*
+ * This file is part of Betaflight.
+ *
+ * Betaflight is free software. You can redistribute this software
+ * and/or modify this software under the terms of the GNU General
+ * Public License as published by the Free Software Foundation,
+ * either version 3 of the License, or (at your option) any later
+ * version.
+ *
+ * Betaflight 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 this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#if defined(USE_BLACKBOX_VIRTUAL) && !defined(SIMULATOR_BUILD)
+#error "USE_BLACKBOX_VIRTUAL valid for SITL build only"
+#endif
+
+bool blackboxVirtualOpen(void);
+void blackboxVirtualPutChar(uint8_t value);
+void blackboxVirtualWrite(const uint8_t *buffer, uint32_t len);
+bool blackboxVirtualFlush(void);
+bool blackboxVirtualBeginLog(void);
+bool blackboxVirtualEndLog(void);
+void blackboxVirtualClose(void);
+uint32_t blackboxVirtualLogFileNumber(void);

src/main/cli/settings.c

@@ -268,7 +268,13 @@ static const char * const lookupTableGimbalMode[] = {
 
 #ifdef USE_BLACKBOX
 static const char * const lookupTableBlackboxDevice[] = {
-    "NONE", "SPIFLASH", "SDCARD", "SERIAL"
+    "NONE",
+    "SPIFLASH",
+    "SDCARD",
+    "SERIAL",
+#ifdef USE_BLACKBOX_VIRTUAL
+    "VIRTUAL",
+#endif
 };
 
 static const char * const lookupTableBlackboxMode[] = {

src/platform/AT32/platform_mcu.h

@@ -139,7 +139,7 @@ typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
 #define CHECK_SPI_RX_DATA_AVAILABLE(instance) LL_SPI_IsActiveFlag_RXNE(instance)
 #define SPI_RX_DATA_REGISTER(base) ((base)->DR)
 
-#define MAX_SPI_PIN_SEL    4
+#define MAX_SPI_PIN_SEL    5
 
 #define UART_TX_BUFFER_ATTRIBUTE                    // NONE
 #define UART_RX_BUFFER_ATTRIBUTE                    // NONE

src/platform/SIMULATOR/target/SITL/target.h

@@ -105,6 +105,9 @@
 #define USE_PWM_OUTPUT
 #endif
 
+#define USE_BLACKBOX
+#define USE_BLACKBOX_VIRTUAL
+
 #undef USE_STACK_CHECK // I think SITL don't need this
 #undef USE_DASHBOARD
 #undef USE_TELEMETRY_LTM

src/platform/SIMULATOR/target/SITL/target.mk

@@ -7,7 +7,8 @@ TARGET_SRC = \
             drivers/barometer/barometer_virtual.c \
             drivers/compass/compass_virtual.c \
             drivers/serial_tcp.c \
-            io/gps_virtual.c
+            io/gps_virtual.c \
+            blackbox/blackbox_virtual.c
 
 SIZE_OPTIMISED_SRC += \
             drivers/serial_tcp.c

src/platform/common/stm32/bus_spi_pinconfig.c

@@ -403,6 +403,7 @@ const spiHardware_t spiHardware[] = {
             { DEFIO_TAG_E(PC11), GPIO_MUX_6},
         },
         .mosiPins = {
+            { DEFIO_TAG_E(PB0),  GPIO_MUX_7},
             { DEFIO_TAG_E(PB2),  GPIO_MUX_7},
             { DEFIO_TAG_E(PB5),  GPIO_MUX_6},
             { DEFIO_TAG_E(PC12),  GPIO_MUX_6},