Merge branch 'master' into platform_patch

# Conflicts:
#	src/platform/STM32/include/platform/platform.h

.github/workflows/ci.yml

@@ -19,7 +19,10 @@ jobs:
     outputs:
       targets: ${{ steps.get-targets.outputs.targets }}
     steps:
-      - uses: actions/checkout@v4
+      - name: Checkout code
+        uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - name: Cache build toolchain
         uses: actions/cache@v4
@@ -32,6 +35,10 @@ jobs:
         if: steps.cache-toolchain.outputs.cache-hit != 'true'
         run: make arm_sdk_install
 
+      - name: Build pico tool and install
+        if: steps.cache-toolchain.outputs.cache-hit != 'true'
+        run: make picotool_install
+
       - name: Hydrate configuration
         id: get-config
         run: make configs
@@ -50,6 +57,8 @@ jobs:
     steps:
       - name: Checkout code
         uses: actions/checkout@v4
+        with:
+          submodules: recursive
 
       - name: Fetch toolchain from cache
         uses: actions/cache@v4
@@ -74,7 +83,10 @@ jobs:
         uses: actions/upload-artifact@v4
         with:
           name: ${{ matrix.target }}
-          path: obj/*.hex
+          path: |
+            obj/*.hex
+            obj/*.uf2
+            obj/*_${{ matrix.target }}*
           retention-days: 60
 
   test:

mk/config.mk

@@ -4,7 +4,7 @@ CONFIGS_REPO_URL ?= https://github.com/betaflight/config
 CONFIGS_SUBMODULE_DIR = src/config
 BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(CONFIG_DIR)/configs/*/config.h)))))
 
-ifneq ($(filter-out %_install test% %_clean clean% %-print %.hex %.h hex checks help configs $(BASE_TARGETS) $(BASE_CONFIGS),$(MAKECMDGOALS)),)
+ifneq ($(filter-out %_sdk %_install test% %_clean clean% %-print %.hex %.h hex checks help configs $(BASE_TARGETS) $(BASE_CONFIGS),$(MAKECMDGOALS)),)
 ifeq ($(wildcard $(CONFIG_DIR)/configs/),)
 $(error `$(CONFIG_DIR)` not found. Have you hydrated configuration using: 'make configs'?)
 endif

mk/tools.mk

@@ -8,6 +8,8 @@
 #
 # Release date: July 04, 2024
 #
+# PICO SDK Version: 2.X - July 03, 2025
+#
 ###############################################################
 
 ##############################
@@ -275,7 +277,7 @@ zip_clean:
 
 ifeq ($(shell [ -d "$(ARM_SDK_DIR)" ] && echo "exists"), exists)
   ARM_SDK_PREFIX := $(ARM_SDK_DIR)/bin/arm-none-eabi-
-else ifeq (,$(filter %_install test% clean% %-print checks help configs, $(MAKECMDGOALS)))
+else ifeq (,$(filter %_sdk %_install test% clean% %-print checks help configs, $(MAKECMDGOALS)))
   GCC_VERSION = $(shell arm-none-eabi-gcc -dumpversion)
   ifeq ($(GCC_VERSION),)
     $(error **ERROR** arm-none-eabi-gcc not in the PATH. Run 'make arm_sdk_install' to install automatically in the tools folder of this repo)

src/main/cli/cli.c

@@ -5758,7 +5758,9 @@ static void cliDma(const char *cmdName, char* cmdline)
 #if defined(USE_DMA_SPEC)
     cliDmaopt(cmdName, cmdline);
 #else
-    cliShowParseError(cmdName);
+    UNUSED(cmdName);
+    // the only option is show, so make that the default behaviour
+    showDma();
 #endif
 }
 #endif

src/main/cms/cms_menu_firmware.c

@@ -195,9 +195,9 @@ static const void *cmsx_FirmwareInit(displayPort_t *pDisp)
 {
     UNUSED(pDisp);
 
-    strncpy(manufacturerId, getManufacturerId(), MAX_MANUFACTURER_ID_LENGTH + 1);
+    strncpy(manufacturerId, getManufacturerId(), MAX_MANUFACTURER_ID_LENGTH);
     manufacturerId[MAX_MANUFACTURER_ID_LENGTH] = 0;
-    strncpy(boardName, getBoardName(), MAX_BOARD_NAME_LENGTH + 1);
+    strncpy(boardName, getBoardName(), MAX_BOARD_NAME_LENGTH);
     boardName[MAX_BOARD_NAME_LENGTH] = 0;
 
     return NULL;

src/main/drivers/dma_reqmap.h

@@ -25,7 +25,7 @@
 #include "drivers/dma.h"
 #include "drivers/timer.h"
 
-#ifdef USE_DMA
+#ifdef USE_DMA_SPEC
 #include "dma_reqmap_mcu.h"
 #endif
 

src/main/fc/board_info.c

@@ -42,9 +42,9 @@ void initBoardInformation(void)
 #if !defined(BOARD_NAME)
     boardInformationSet = boardConfig()->boardInformationSet;
     if (boardInformationSet) {
-        strncpy(manufacturerId, boardConfig()->manufacturerId, MAX_MANUFACTURER_ID_LENGTH + 1);
+        strncpy(manufacturerId, boardConfig()->manufacturerId, MAX_MANUFACTURER_ID_LENGTH);
         manufacturerId[MAX_MANUFACTURER_ID_LENGTH] = 0;
-        strncpy(boardName, boardConfig()->boardName, MAX_BOARD_NAME_LENGTH + 1);
+        strncpy(boardName, boardConfig()->boardName, MAX_BOARD_NAME_LENGTH);
         boardName[MAX_BOARD_NAME_LENGTH] = 0;
     }
 #endif
@@ -88,7 +88,7 @@ bool setManufacturerId(const char *newManufacturerId)
 {
 #if !defined(BOARD_NAME)
     if (!boardInformationSet || strlen(manufacturerId) == 0) {
-        strncpy(manufacturerId, newManufacturerId, MAX_MANUFACTURER_ID_LENGTH + 1);
+        strncpy(manufacturerId, newManufacturerId, MAX_MANUFACTURER_ID_LENGTH);
         manufacturerId[MAX_MANUFACTURER_ID_LENGTH] = 0;
 
         boardInformationWasUpdated = true;
@@ -107,7 +107,7 @@ bool setBoardName(const char *newBoardName)
 {
 #if !defined(BOARD_NAME)
     if (!boardInformationSet || strlen(boardName) == 0) {
-        strncpy(boardName, newBoardName, MAX_BOARD_NAME_LENGTH + 1);
+        strncpy(boardName, newBoardName, MAX_BOARD_NAME_LENGTH);
         boardName[MAX_BOARD_NAME_LENGTH] = 0;
 
         boardInformationWasUpdated = true;
@@ -126,8 +126,10 @@ bool persistBoardInformation(void)
 {
 #if !defined(BOARD_NAME)
     if (boardInformationWasUpdated) {
-        strncpy(boardConfigMutable()->manufacturerId, manufacturerId, MAX_MANUFACTURER_ID_LENGTH + 1);
+        strncpy(boardConfigMutable()->manufacturerId, manufacturerId, MAX_MANUFACTURER_ID_LENGTH);
-        strncpy(boardConfigMutable()->boardName, boardName, MAX_BOARD_NAME_LENGTH + 1);
+        boardConfigMutable()->manufacturerId[MAX_MANUFACTURER_ID_LENGTH] = 0;
+        strncpy(boardConfigMutable()->boardName, boardName, MAX_BOARD_NAME_LENGTH);
+        boardConfigMutable()->boardName[MAX_BOARD_NAME_LENGTH] = 0;
         boardConfigMutable()->boardInformationSet = true;
 
         initBoardInformation();

src/main/target/common_post.h

@@ -49,41 +49,45 @@
 #define DEFAULT_AUX_CHANNEL_COUNT       6
 #endif
 
-#ifdef USE_ITCM_RAM
+#ifndef FAST_CODE
-#if defined(ITCM_RAM_OPTIMISATION) && !defined(DEBUG)
+#define FAST_CODE
-#define FAST_CODE                   __attribute__((section(".tcm_code"))) __attribute__((optimize(ITCM_RAM_OPTIMISATION)))
-#else
-#define FAST_CODE                   __attribute__((section(".tcm_code")))
 #endif
+
 #ifndef FAST_CODE_PREF
 #define FAST_CODE_PREF  FAST_CODE
-// If a particular target is short of ITCM RAM, defining FAST_CODE_PREF in the target.h file will
-// cause functions decorated FAST_CODE_PREF to *not* go into ITCM RAM
-// but if FAST_CODE_PREF is not defined for the target, FAST_CODE_PREF is an alias to FAST_CODE, and
-// functions decorated with FAST_CODE_PREF *will* go into ITCM RAM.
 #endif
 
-#define FAST_CODE_NOINLINE          NOINLINE
+#ifndef FAST_CODE_NOINLINE
-
-#else
-#define FAST_CODE
-#define FAST_CODE_PREF
 #define FAST_CODE_NOINLINE
-#endif // USE_ITCM_RAM
+#endif
 
-#ifdef USE_CCM_CODE
+#ifndef CCM_CODE
-#define CCM_CODE                    __attribute__((section(".ccm_code")))
-#else
 #define CCM_CODE
 #endif
 
-#ifdef USE_FAST_DATA
+#ifndef FAST_DATA
-#define FAST_DATA_ZERO_INIT         __attribute__ ((section(".fastram_bss"), aligned(4)))
-#define FAST_DATA                   __attribute__ ((section(".fastram_data"), aligned(4)))
-#else
-#define FAST_DATA_ZERO_INIT
 #define FAST_DATA
-#endif // USE_FAST_DATA
+#endif
+
+#ifndef FAST_DATA_ZERO_INIT
+#define FAST_DATA_ZERO_INIT
+#endif
+
+#ifndef MMFLASH_CODE
+#define MMFLASH_CODE
+#endif
+
+#ifndef MMFLASH_CODE_NOINLINE
+#define MMFLASH_CODE_NOINLINE
+#endif
+
+#ifndef MMFLASH_DATA
+#define MMFLASH_DATA
+#endif
+
+#ifndef MMFLASH_DATA_ZERO_INIT
+#define MMFLASH_DATA_ZERO_INIT
+#endif
 
 /*
     BEGIN HARDWARE INCLUSIONS
@@ -630,33 +634,6 @@ extern struct linker_symbol __config_start;   // configured via linker script wh
 extern struct linker_symbol __config_end;
 #endif
 
-#if defined(USE_EXST) && !defined(RAMBASED)
-#define USE_FLASH_BOOT_LOADER
-#endif
-
-#if defined(USE_FLASH_MEMORY_MAPPED)
-#if !defined(USE_RAM_CODE)
-#define USE_RAM_CODE
-#endif
-
-#define MMFLASH_CODE RAM_CODE
-#define MMFLASH_CODE_NOINLINE RAM_CODE NOINLINE
-
-#define MMFLASH_DATA FAST_DATA
-#define MMFLASH_DATA_ZERO_INIT FAST_DATA_ZERO_INIT
-#else
-#define MMFLASH_CODE
-#define MMFLASH_CODE_NOINLINE
-#define MMFLASH_DATA
-#define MMFLASH_DATA_ZERO_INIT
-#endif
-
-#ifdef USE_RAM_CODE
-// RAM_CODE for methods that need to be in RAM, but don't need to be in the fastest type of memory.
-// Note: if code is marked as RAM_CODE it *MUST* be in RAM, there is no alternative unlike functions marked with FAST_CODE/CCM_CODE
-#define RAM_CODE                   __attribute__((section(".ram_code")))
-#endif
-
 #ifndef USE_ITERM_RELAX
 #undef USE_ABSOLUTE_CONTROL
 #endif

src/platform/APM32/include/platform/platform.h

@@ -225,3 +225,8 @@
 #define DMA_STCH_STRING    "Stream"
 
 #endif
+
+#ifdef USE_FAST_DATA
+#define FAST_DATA_ZERO_INIT         __attribute__ ((section(".fastram_bss"), aligned(4)))
+#define FAST_DATA                   __attribute__ ((section(".fastram_data"), aligned(4)))
+#endif // USE_FAST_DATA

src/platform/PICO/dma_reqmap_mcu.c

@@ -1,108 +0,0 @@
-/*
- * 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 <stdint.h>
-
-#include "platform.h"
-
-#ifdef USE_DMA_SPEC
-
-#include "timer_def.h"
-#include "drivers/adc.h"
-#include "drivers/bus_spi.h"
-#include "drivers/dma_reqmap.h"
-#include "drivers/serial.h"
-#include "drivers/serial_uart.h"
-#include "drivers/serial_uart_impl.h"
-#include "pg/timerio.h"
-
-#define DMA(c) { (c), (dmaResource_t *) dma_hw->ch[c] , 0 }
-
-static dmaChannelSpec_t dmaChannelSpec[MAX_PERIPHERAL_DMA_OPTIONS] = {
-    DMA(1),
-    DMA(2),
-    DMA(3),
-    DMA(4),
-    DMA(5),
-    DMA(6),
-    DMA(7),
-    DMA(8),
-    DMA(9),
-    DMA(10),
-    DMA(11),
-    DMA(12),
-#ifdef RP2350
-    DMA(13),
-    DMA(14),
-    DMA(15),
-    DMA(16),
-#endif
-};
-
-#undef DMA
-
-const dmaChannelSpec_t *dmaGetChannelSpecByPeripheral(dmaPeripheral_e device, uint8_t index, int8_t opt)
-{
-    UNUSED(device);
-    UNUSED(index);
-    UNUSED(opt);
-    //TODO : Implementation for PICO
-    return NULL;
-}
-
-dmaoptValue_t dmaoptByTag(ioTag_t ioTag)
-{
-    UNUSED(ioTag);
-    //TODO : Implementation for PICO
-    return DMA_OPT_UNUSED;
-}
-
-const dmaChannelSpec_t *dmaGetChannelSpecByTimerValue(TIM_TypeDef *tim, uint8_t channel, dmaoptValue_t dmaopt)
-{
-    //TODO : Implementation for PICO
-    return NULL;
-}
-
-const dmaChannelSpec_t *dmaGetChannelSpecByTimer(const timerHardware_t *timer)
-{
-    if (!timer) {
-        return NULL;
-    }
-
-    //TODO : Implementation for PICO
-    return NULL;
-}
-
-// dmaGetOptionByTimer is called by pgResetFn_timerIOConfig to find out dmaopt for pre-configured timer.
-dmaoptValue_t dmaGetOptionByTimer(const timerHardware_t *timer)
-{
-    //TODO : Implementation for PICO
-    return DMA_OPT_UNUSED;
-}
-
-// A variant of dmaGetOptionByTimer that looks for matching dmaTimUPRef
-dmaoptValue_t dmaGetUpOptionByTimer(const timerHardware_t *timer)
-{
-    //TODO : Implementation for PICO
-    return DMA_OPT_UNUSED;
-}
-
-#endif // USE_DMA_SPEC

src/platform/PICO/dma_reqmap_mcu.h

@@ -1,27 +0,0 @@
-/*
- * 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
-
-#define MAX_PERIPHERAL_DMA_OPTIONS  14
-#define MAX_TIMER_DMA_OPTIONS       22
-
-#define USE_DMA_MUX

src/platform/STM32/include/platform/platform.h

@@ -493,3 +493,49 @@ extern uint8_t _dmaram_end__;
 // ST0 or ST1
 #endif
 #endif
+
+#ifdef USE_ITCM_RAM
+#if defined(ITCM_RAM_OPTIMISATION) && !defined(DEBUG)
+#define FAST_CODE                   __attribute__((section(".tcm_code"))) __attribute__((optimize(ITCM_RAM_OPTIMISATION)))
+#else
+#define FAST_CODE                   __attribute__((section(".tcm_code")))
+#endif
+// If a particular target is short of ITCM RAM, defining FAST_CODE_PREF in the target.h file will
+// cause functions decorated FAST_CODE_PREF to *not* go into ITCM RAM but if FAST_CODE_PREF is not
+// defined for the target, FAST_CODE_PREF will become an alias to FAST_CODE (in the common post
+// header file), and functions decorated with FAST_CODE_PREF *will* go into ITCM RAM.
+
+#define FAST_CODE_NOINLINE          NOINLINE
+#endif // USE_ITCM_RAM
+
+// noting this is not used anywhere in the codebase at the moment
+#ifdef USE_CCM_CODE
+#define CCM_CODE                    __attribute__((section(".ccm_code")))
+#endif
+
+#ifdef USE_FAST_DATA
+#define FAST_DATA_ZERO_INIT         __attribute__ ((section(".fastram_bss"), aligned(4)))
+#define FAST_DATA                   __attribute__ ((section(".fastram_data"), aligned(4)))
+#endif // USE_FAST_DATA
+
+#if defined(USE_EXST) && !defined(RAMBASED)
+#define USE_FLASH_BOOT_LOADER
+#endif
+
+#if defined(USE_FLASH_MEMORY_MAPPED)
+#if !defined(USE_RAM_CODE)
+#define USE_RAM_CODE
+#endif
+
+#define MMFLASH_CODE RAM_CODE
+#define MMFLASH_CODE_NOINLINE RAM_CODE NOINLINE
+
+#define MMFLASH_DATA FAST_DATA
+#define MMFLASH_DATA_ZERO_INIT FAST_DATA_ZERO_INIT
+#endif
+
+#ifdef USE_RAM_CODE
+// RAM_CODE for methods that need to be in RAM, but don't need to be in the fastest type of memory.
+// Note: if code is marked as RAM_CODE it *MUST* be in RAM, there is no alternative unlike functions marked with FAST_CODE/CCM_CODE
+#define RAM_CODE                   __attribute__((section(".ram_code")))
+#endif