Merge branch 'master' into 8107-osd-profile-names

.github/no-response.yml

@@ -0,0 +1,13 @@
+# Configuration for probot-no-response - https://github.com/probot/no-response
+
+# Number of days of inactivity before an Issue is closed for lack of response
+daysUntilClose: 1
+# Label requiring a response
+responseRequiredLabel: Missing Information
+# Comment to post when closing an Issue for lack of response. Set to `false` to disable
+closeComment: >
+  This issue has been automatically closed because there has been no response
+  to our request for more information from the original author. With only the
+  information that is currently in the issue, we don't have enough information
+  to take action. Please reach out if you have or find the answers we need so
+  that we can investigate further.

Makefile

@@ -16,7 +16,7 @@
 #
 
 # The target to build, see VALID_TARGETS below
-TARGET    ?= BETAFLIGHTF3
+TARGET    ?= OMNIBUSF4
 
 # Compile-time options
 OPTIONS   ?=
@@ -35,7 +35,7 @@ DEBUG     ?=
 DEBUG_HARDFAULTS ?=
 
 # Serial port/Device for flashing
-SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyUSB*) no-port-found)
+SERIAL_DEVICE   ?= $(firstword $(wildcard /dev/ttyACM*) $(firstword $(wildcard /dev/ttyUSB*) no-port-found))
 
 # Flash size (KB).  Some low-end chips actually have more flash than advertised, use this to override.
 FLASH_SIZE ?=
@@ -427,14 +427,32 @@ clean_all: $(CLEAN_TARGETS)
 ## all_clean         : clean all valid targets (alias for above)
 all_clean: $(TARGETS_CLEAN)
 
+FLASH_TARGETS = $(addprefix flash_,$(VALID_TARGETS) )
 
-flash_$(TARGET): $(TARGET_HEX)
+## flash_<TARGET>    : build and flash a target
+$(FLASH_TARGETS):
+ifneq (,$(findstring /dev/ttyUSB,$(SERIAL_DEVICE)))
+	$(V0) $(MAKE) -j hex TARGET=$(subst flash_,,$@)
+	$(V0) $(MAKE) tty_flash TARGET=$(subst flash_,,$@)
+else
+	$(V0) $(MAKE) -j binary TARGET=$(subst flash_,,$@)
+	$(V0) $(MAKE) dfu_flash TARGET=$(subst flash_,,$@)
+endif
+
+## tty_flash         : flash firmware (.hex) onto flight controller via a serial port
+tty_flash:
 	$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
-	$(V0) echo -n 'R' >$(SERIAL_DEVICE)
+	$(V0) echo -n 'R' > $(SERIAL_DEVICE)
 	$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
 
-## flash             : flash firmware (.hex) onto flight controller
+## dfu_flash         : flash firmware (.bin) onto flight controller via a DFU mode
-flash: flash_$(TARGET)
+dfu_flash:
+ifneq (no-port-found,$(SERIAL_DEVICE))
+	# potentially this is because the MCU already is in DFU mode, try anyway
+	$(V0) echo -n 'R' > $(SERIAL_DEVICE)
+	$(V0) sleep 1
+endif
+	$(V0) dfu-util -a 0 -D $(TARGET_BIN) -s 0x08000000:leave
 
 st-flash_$(TARGET): $(TARGET_BIN)
 	$(V0) st-flash --reset write $< 0x08000000

make/source.mk

@@ -364,6 +364,7 @@ ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
 SRC += \
             drivers/flash.c \
             drivers/flash_m25p16.c \
+            drivers/flash_w25n01g.c \
             drivers/flash_w25m.c \
             io/flashfs.c \
             pg/flash.c \

src/main/blackbox/blackbox.c

@@ -1225,6 +1225,10 @@ static bool blackboxWriteSysinfo(void)
 
     char buf[FORMATTED_DATE_TIME_BUFSIZE];
 
+#ifdef USE_RC_SMOOTHING_FILTER
+    rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
+#endif
+
     const controlRateConfig_t *currentControlRateProfile = controlRateProfiles(systemConfig()->activeRateProfile);
     switch (xmitState.headerIndex) {
         BLACKBOX_PRINT_HEADER_LINE("Firmware type", "%s",                   "Cleanflight");
@@ -1377,16 +1381,16 @@ static bool blackboxWriteSysinfo(void)
         BLACKBOX_PRINT_HEADER_LINE("features", "%d",                        featureConfig()->enabledFeatures);
 
 #ifdef USE_RC_SMOOTHING_FILTER
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d",               rxConfig()->rc_smoothing_type);
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_type", "%d",               rcSmoothingData->inputFilterType);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d",         rxConfig()->rc_smoothing_debug_axis);
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_debug_axis", "%d",         rcSmoothingData->debugAxis);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d",        rxConfig()->rc_smoothing_input_cutoff,
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_cutoffs", "%d, %d",        rcSmoothingData->inputCutoffSetting,
-                                                                            rxConfig()->rc_smoothing_derivative_cutoff);
+                                                                            rcSmoothingData->derivativeCutoffSetting);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d",        rxConfig()->rc_smoothing_auto_factor);
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_auto_factor", "%d",        rcSmoothingData->autoSmoothnessFactor);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d",    rxConfig()->rc_smoothing_input_type,
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_filter_type", "%d, %d",    rcSmoothingData->inputFilterType,
-                                                                            rxConfig()->rc_smoothing_derivative_type);
+                                                                            rcSmoothingData->derivativeFilterType);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE),
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_active_cutoffs", "%d, %d", rcSmoothingData->inputCutoffFrequency,
-                                                                            rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
+                                                                            rcSmoothingData->derivativeCutoffFrequency);
-        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d",         rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME));
+        BLACKBOX_PRINT_HEADER_LINE("rc_smoothing_rx_average", "%d",         rcSmoothingData->averageFrameTimeUs);
 #endif // USE_RC_SMOOTHING_FILTER
 
 

src/main/cli/cli.c

@@ -508,11 +508,11 @@ static void printValuePointer(const clivalue_t *var, const void *valuePointer, b
         switch (var->type & VALUE_MODE_MASK) {
         case MODE_DIRECT:
             if ((var->type & VALUE_TYPE_MASK) == VAR_UINT32) {
-                cliPrintf("%d", value);
+                cliPrintf("%u", (uint32_t)value);
-                if ((uint32_t) value > var->config.u32Max) {
+                if ((uint32_t)value > var->config.u32Max) {
                     valueIsCorrupted = true;
                 } else if (full) {
-                    cliPrintf(" 0 %d", var->config.u32Max);
+                    cliPrintf(" 0 %u", var->config.u32Max);
                 }
             } else {
                 int min;
@@ -697,7 +697,7 @@ static void cliPrintVarRange(const clivalue_t *var)
     case (MODE_DIRECT): {
         switch (var->type & VALUE_TYPE_MASK) {
         case VAR_UINT32:
-            cliPrintLinef("Allowed range: %d - %d", 0, var->config.u32Max);
+            cliPrintLinef("Allowed range: 0 - %u", var->config.u32Max);
 
             break;
         case VAR_UINT8:
@@ -2209,16 +2209,36 @@ static void cliSdInfo(char *cmdline)
 
 #endif
 
-#ifdef USE_FLASHFS
+#ifdef USE_FLASH_CHIP
 
 static void cliFlashInfo(char *cmdline)
 {
-    const flashGeometry_t *layout = flashfsGetGeometry();
+    const flashGeometry_t *layout = flashGetGeometry();
 
     UNUSED(cmdline);
 
-    cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u, usedSize=%u",
+    cliPrintLinef("Flash sectors=%u, sectorSize=%u, pagesPerSector=%u, pageSize=%u, totalSize=%u",
-            layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize, flashfsGetOffset());
+            layout->sectors, layout->sectorSize, layout->pagesPerSector, layout->pageSize, layout->totalSize);
+
+    for (uint8_t index = 0; index < FLASH_MAX_PARTITIONS; index++) {
+        const flashPartition_t *partition;
+        if (index == 0) {
+            cliPrintLine("Paritions:");
+        }
+        partition = flashPartitionFindByIndex(index);
+        if (!partition) {
+            break;
+        }
+        cliPrintLinef("  %d: %s %u %u", index, flashPartitionGetTypeName(partition->type), partition->startSector, partition->endSector);
+    }
+#ifdef USE_FLASHFS
+    const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
+
+    cliPrintLinef("FlashFS size=%u, usedSize=%u",
+            FLASH_PARTITION_SECTOR_COUNT(flashPartition) * layout->sectorSize,
+            flashfsGetOffset()
+    );
+#endif
 }
 
 
@@ -2239,7 +2259,6 @@ static void cliFlashErase(char *cmdline)
 
     bufWriterFlush(cliWriter);
     flashfsEraseCompletely();
-    flashfsInit();
 
     while (!flashfsIsReady()) {
 #ifndef MINIMAL_CLI
@@ -2260,6 +2279,18 @@ static void cliFlashErase(char *cmdline)
 
 #ifdef USE_FLASH_TOOLS
 
+static void cliFlashVerify(char *cmdline)
+{
+    UNUSED(cmdline);
+
+    cliPrintLine("Verifying");
+    if (flashfsVerifyEntireFlash()) {
+        cliPrintLine("Success");
+    } else {
+        cliPrintLine("Failed");
+    }
+}
+
 static void cliFlashWrite(char *cmdline)
 {
     const uint32_t address = atoi(cmdline);
@@ -4066,7 +4097,7 @@ STATIC_UNIT_TESTED void cliSet(char *cmdline)
         switch (val->type & VALUE_MODE_MASK) {
         case MODE_DIRECT: {
                 if ((val->type & VALUE_TYPE_MASK) == VAR_UINT32) {
-                    uint32_t value = strtol(eqptr, NULL, 10);
+                    uint32_t value = strtoul(eqptr, NULL, 10);
 
                     if (value <= val->config.u32Max) {
                         cliSetVar(val, value);
@@ -4422,10 +4453,11 @@ static void cliVersion(char *cmdline)
 static void cliRcSmoothing(char *cmdline)
 {
     UNUSED(cmdline);
+    rcSmoothingFilter_t *rcSmoothingData = getRcSmoothingData();
     cliPrint("# RC Smoothing Type: ");
     if (rxConfig()->rc_smoothing_type == RC_SMOOTHING_TYPE_FILTER) {
         cliPrintLine("FILTER");
-        uint16_t avgRxFrameMs = rcSmoothingGetValue(RC_SMOOTHING_VALUE_AVERAGE_FRAME);
+        uint16_t avgRxFrameMs = rcSmoothingData->averageFrameTimeUs;
         if (rcSmoothingAutoCalculate()) {
             cliPrint("# Detected RX frame rate: ");
             if (avgRxFrameMs == 0) {
@@ -4435,20 +4467,20 @@ static void cliRcSmoothing(char *cmdline)
             }
         }
         cliPrint("# Input filter type: ");
-        cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rxConfig()->rc_smoothing_input_type]);
+        cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_INPUT_TYPE].values[rcSmoothingData->inputFilterType]);
-        cliPrintf("# Active input cutoff: %dhz ", rcSmoothingGetValue(RC_SMOOTHING_VALUE_INPUT_ACTIVE));
+        cliPrintf("# Active input cutoff: %dhz ", rcSmoothingData->inputCutoffFrequency);
-        if (rxConfig()->rc_smoothing_input_cutoff == 0) {
+        if (rcSmoothingData->inputCutoffSetting == 0) {
             cliPrintLine("(auto)");
         } else {
             cliPrintLine("(manual)");
         }
         cliPrint("# Derivative filter type: ");
-        cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rxConfig()->rc_smoothing_derivative_type]);
+        cliPrintLinef(lookupTables[TABLE_RC_SMOOTHING_DERIVATIVE_TYPE].values[rcSmoothingData->derivativeFilterType]);
-        cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingGetValue(RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE));
+        cliPrintf("# Active derivative cutoff: %dhz (", rcSmoothingData->derivativeCutoffFrequency);
-        if (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_OFF) {
+        if (rcSmoothingData->derivativeFilterType == RC_SMOOTHING_DERIVATIVE_OFF) {
             cliPrintLine("off)");
         } else {
-            if (rxConfig()->rc_smoothing_derivative_cutoff == 0) {
+            if (rcSmoothingData->derivativeCutoffSetting == 0) {
                 cliPrintLine("auto)");
             } else {
                 cliPrintLine("manual)");
@@ -4876,7 +4908,7 @@ static void printTimerDmaoptDetails(const ioTag_t ioTag, const timerHardware_t *
     }
 }
 
-static const char *printTimerDmaopt(const timerIOConfig_t *currentConfig, const timerIOConfig_t *defaultConfig, unsigned index, dumpFlags_t dumpMask, bool defaultIsUsed[], const char *headingStr)
+static const char *printTimerDmaopt(const timerIOConfig_t *currentConfig, const timerIOConfig_t *defaultConfig, unsigned index, dumpFlags_t dumpMask, bool tagsInUse[], const char *headingStr)
 {
     const ioTag_t ioTag = currentConfig[index].ioTag;
 
@@ -4888,18 +4920,22 @@ static const char *printTimerDmaopt(const timerIOConfig_t *currentConfig, const
     const dmaoptValue_t dmaopt = currentConfig[index].dmaopt;
 
     dmaoptValue_t defaultDmaopt = DMA_OPT_UNUSED;
+    bool equalsDefault = defaultDmaopt == dmaopt;
     if (defaultConfig) {
         for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
             if (defaultConfig[i].ioTag == ioTag) {
-                defaultDmaopt = defaultConfig[index].dmaopt;
+                defaultDmaopt = defaultConfig[i].dmaopt;
-                defaultIsUsed[index] = true;
+
+                // We need to check timer as well here to get 'default' DMA options for non-default timers printed, because setting the timer resets the DMA option.
+                equalsDefault = (defaultDmaopt == dmaopt) && (defaultConfig[i].index == currentConfig[index].index || dmaopt == DMA_OPT_UNUSED);
+
+                tagsInUse[index] = true;
 
                 break;
             }
         }
     }
 
-    const bool equalsDefault = defaultDmaopt == dmaopt;
     headingStr = cliPrintSectionHeading(dumpMask, !equalsDefault, headingStr);
 
     if (defaultConfig) {
@@ -4934,14 +4970,14 @@ static void printDmaopt(dumpFlags_t dumpMask, const char *headingStr)
         defaultConfig = NULL;
     }
 
-    bool defaultIsUsed[MAX_TIMER_PINMAP_COUNT] = { false };
+    bool tagsInUse[MAX_TIMER_PINMAP_COUNT] = { false };
     for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
-        headingStr = printTimerDmaopt(currentConfig, defaultConfig, i, dumpMask, defaultIsUsed, headingStr);
+        headingStr = printTimerDmaopt(currentConfig, defaultConfig, i, dumpMask, tagsInUse, headingStr);
     }
 
     if (defaultConfig) {
         for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
-            if (!defaultIsUsed[i] && defaultConfig[i].ioTag && defaultConfig[i].dmaopt != DMA_OPT_UNUSED) {
+            if (!tagsInUse[i] && defaultConfig[i].ioTag && defaultConfig[i].dmaopt != DMA_OPT_UNUSED) {
                 const timerHardware_t *timer = timerGetByTagAndIndex(defaultConfig[i].ioTag, defaultConfig[i].index);
                 headingStr = cliPrintSectionHeading(dumpMask, true, headingStr);
                 printTimerDmaoptDetails(defaultConfig[i].ioTag, timer, defaultConfig[i].dmaopt, false, dumpMask, cliDefaultPrintLinef);
@@ -5218,11 +5254,22 @@ static void printTimerDetails(const ioTag_t ioTag, const unsigned timerIndex, co
     const char *emptyFormat = "timer %c%02d NONE";
 
     if (timerIndex > 0) {
-        printValue(dumpMask, equalsDefault, format,
+        const bool printDetails = printValue(dumpMask, equalsDefault, format,
             IO_GPIOPortIdxByTag(ioTag) + 'A',
             IO_GPIOPinIdxByTag(ioTag),
             timerIndex - 1
         );
+        if (printDetails) {
+            const timerHardware_t *timer = timerGetByTagAndIndex(ioTag, timerIndex);
+            printValue(dumpMask, false,
+                "# pin %c%02d: TIM%d CH%d%s (AF%d)",
+                IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag),
+                timerGetTIMNumber(timer->tim),
+                CC_INDEX_FROM_CHANNEL(timer->channel) + 1,
+                timer->output & TIMER_OUTPUT_N_CHANNEL ? "N" : "",
+                timer->alternateFunction
+            );
+        }
     } else {
         printValue(dumpMask, equalsDefault, emptyFormat,
             IO_GPIOPortIdxByTag(ioTag) + 'A',
@@ -5246,7 +5293,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
         defaultConfig = NULL;
     }
 
-    bool defaultIsUsed[MAX_TIMER_PINMAP_COUNT] = { false };
+    bool tagsInUse[MAX_TIMER_PINMAP_COUNT] = { false };
     for (unsigned int i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
         const ioTag_t ioTag = currentConfig[i].ioTag;
 
@@ -5261,7 +5308,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
             for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
                 if (defaultConfig[i].ioTag == ioTag) {
                     defaultTimerIndex = defaultConfig[i].index;
-                    defaultIsUsed[i] = true;
+                    tagsInUse[i] = true;
 
                     break;
                 }
@@ -5279,7 +5326,7 @@ static void printTimer(dumpFlags_t dumpMask, const char *headingStr)
 
     if (defaultConfig) {
         for (unsigned i = 0; i < MAX_TIMER_PINMAP_COUNT; i++) {
-            if (!defaultIsUsed[i] && defaultConfig[i].ioTag) {
+            if (!tagsInUse[i] && defaultConfig[i].ioTag) {
                 headingStr = cliPrintSectionHeading(DO_DIFF, true, headingStr);
                 printTimerDetails(defaultConfig[i].ioTag, defaultConfig[i].index, false, dumpMask, cliDefaultPrintLinef);
 
@@ -5354,16 +5401,35 @@ static void cliTimer(char *cmdline)
             /* output the list of available options */
             const timerHardware_t *timer;
             for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++) {
-                cliPrintLinef("# %d: TIM%d CH%d",
+                cliPrintLinef("# %d: TIM%d CH%d%s (AF%d)",
                     index,
                     timerGetTIMNumber(timer->tim),
-                    CC_INDEX_FROM_CHANNEL(timer->channel) + 1
+                    CC_INDEX_FROM_CHANNEL(timer->channel) + 1,
+                    timer->output & TIMER_OUTPUT_N_CHANNEL ? "N" : "",
+                    timer->alternateFunction
                 );
             }
 
             return;
         } else if (strcasecmp(pch, "none") == 0) {
             timerIndex = TIMER_INDEX_UNDEFINED;
+        } else if (strncasecmp(pch, "af", 2) == 0) {
+            unsigned alternateFunction = atoi(&pch[2]);
+
+            const timerHardware_t *timer;
+            for (unsigned index = 0; (timer = timerGetByTagAndIndex(ioTag, index + 1)); index++) {
+                if (timer->alternateFunction == alternateFunction) {
+                    timerIndex = index;
+
+                    break;
+                }
+            }
+
+            if (!timer) {
+                cliPrintErrorLinef("INVALID ALTERNATE FUNCTION FOR %c%02d: '%s'", IO_GPIOPortIdxByTag(ioTag) + 'A', IO_GPIOPinIdxByTag(ioTag), pch);
+
+                return;
+            }
         } else {
             timerIndex = atoi(pch);
 
@@ -5779,6 +5845,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("flash_info", "show flash chip info", NULL, cliFlashInfo),
 #ifdef USE_FLASH_TOOLS
     CLI_COMMAND_DEF("flash_read", NULL, "<length> <address>", cliFlashRead),
+    CLI_COMMAND_DEF("flash_scan", "scan flash device for errors", NULL, cliFlashVerify),
     CLI_COMMAND_DEF("flash_write", NULL, "<address> <message>", cliFlashWrite),
 #endif
 #endif
@@ -5857,7 +5924,7 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("tasks", "show task stats", NULL, cliTasks),
 #endif
 #ifdef USE_TIMER_MGMT
-    CLI_COMMAND_DEF("timer", "show/set timers", "<> | <pin> list | <pin> [<option>|none] | list | show", cliTimer),
+    CLI_COMMAND_DEF("timer", "show/set timers", "<> | <pin> list | <pin> [<option>|af<altenate function>|none] | list | show", cliTimer),
 #endif
     CLI_COMMAND_DEF("version", "show version", NULL, cliVersion),
 #ifdef USE_VTX_CONTROL

src/main/cli/settings.c

@@ -325,7 +325,7 @@ static const char * const lookupTableGyroOverflowCheck[] = {
 #endif
 
 static const char * const lookupTableRatesType[] = {
-    "BETAFLIGHT", "RACEFLIGHT"
+    "BETAFLIGHT", "RACEFLIGHT", "KISS"
 };
 
 #ifdef USE_OVERCLOCK
@@ -356,6 +356,9 @@ static const char * const lookupTableThrottleLimitType[] = {
 static const char * const lookupTableRescueSanityType[] = {
     "RESCUE_SANITY_OFF", "RESCUE_SANITY_ON", "RESCUE_SANITY_FS_ONLY"
 };
+static const char * const lookupTableRescueAltitudeMode[] = {
+    "MAX_ALT", "FIXED_ALT", "CURRENT_ALT"
+};
 #endif
 
 #ifdef USE_MAX7456
@@ -472,6 +475,7 @@ const lookupTableEntry_t lookupTables[] = {
     LOOKUP_TABLE_ENTRY(lookupTableGPSSBASMode),
 #ifdef USE_GPS_RESCUE
     LOOKUP_TABLE_ENTRY(lookupTableRescueSanityType),
+    LOOKUP_TABLE_ENTRY(lookupTableRescueAltitudeMode),
 #endif
 #endif
 #ifdef USE_BLACKBOX
@@ -904,10 +908,11 @@ const clivalue_t valueTable[] = {
     { "gps_rescue_throttle_min",    VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMin) },
     { "gps_rescue_throttle_max",    VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleMax) },
     { "gps_rescue_throttle_hover",  VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 1000, 2000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, throttleHover) },
-    { "gps_rescue_sanity_checks",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
+    { "gps_rescue_sanity_checks",   VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_SANITY_CHECK }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, sanityChecks) },
     { "gps_rescue_min_sats",        VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 5, 50 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minSats) },
     { "gps_rescue_min_dth",         VAR_UINT16  | MASTER_VALUE, .config.minmaxUnsigned = { 50, 1000 }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, minRescueDth) },
     { "gps_rescue_allow_arming_without_fix", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, allowArmingWithoutFix) },
+    { "gps_rescue_alt_mode",        VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_GPS_RESCUE_ALT_MODE }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, altitudeMode) },
 #ifdef USE_MAG
     { "gps_rescue_use_mag",         VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_GPS_RESCUE, offsetof(gpsRescueConfig_t, useMag) },
 #endif
@@ -1154,7 +1159,7 @@ const clivalue_t valueTable[] = {
 
     { "osd_rssi_alarm",             VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_OSD_CONFIG, offsetof(osdConfig_t, rssi_alarm) },
 #ifdef USE_RX_LINK_QUALITY_INFO
-    { "osd_link_quality_alarm",     VAR_UINT8  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 100 }, PG_OSD_CONFIG, offsetof(osdConfig_t, link_quality_alarm) },
+    { "osd_link_quality_alarm",     VAR_UINT16  | MASTER_VALUE, .config.minmaxUnsigned = { 0, 300 }, PG_OSD_CONFIG, offsetof(osdConfig_t, link_quality_alarm) },
 #endif
     { "osd_cap_alarm",              VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 20000 }, PG_OSD_CONFIG, offsetof(osdConfig_t, cap_alarm) },
     { "osd_alt_alarm",              VAR_UINT16 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 10000 }, PG_OSD_CONFIG, offsetof(osdConfig_t, alt_alarm) },
@@ -1285,7 +1290,9 @@ const clivalue_t valueTable[] = {
 #endif
 
 // PG_SYSTEM_CONFIG
+#if defined(STM32F4)
     { "system_hse_mhz",             VAR_UINT8  | HARDWARE_VALUE, .config.minmaxUnsigned = { 0, 30 }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, hseMhz) },
+#endif
 #if defined(USE_TASK_STATISTICS)
     { "task_statistics",            VAR_INT8   | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_SYSTEM_CONFIG, offsetof(systemConfig_t, task_statistics) },
 #endif

src/main/cli/settings.h

@@ -34,7 +34,8 @@ typedef enum {
     TABLE_GPS_SBAS_MODE,
 #endif
 #ifdef USE_GPS_RESCUE
-    TABLE_GPS_RESCUE,
+    TABLE_GPS_RESCUE_SANITY_CHECK,
+    TABLE_GPS_RESCUE_ALT_MODE,
 #endif
 #ifdef USE_BLACKBOX
     TABLE_BLACKBOX_DEVICE,

src/main/cms/cms_menu_blackbox.c

@@ -126,9 +126,11 @@ static void cmsx_Blackbox_GetDeviceStatus(void)
         if (storageDeviceIsWorking) {
             tfp_sprintf(cmsx_BlackboxStatus, "READY");
 
-            const flashGeometry_t *geometry = flashfsGetGeometry();
+            const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
+            const flashGeometry_t *flashGeometry = flashGetGeometry();
+
             storageUsed = flashfsGetOffset() / 1024;
-            storageFree = (geometry->totalSize / 1024) - storageUsed;
+            storageFree = ((FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize) / 1024) - storageUsed;
         } else {
             tfp_sprintf(cmsx_BlackboxStatus, "FAULT");
         }

src/main/cms/cms_menu_osd.c

@@ -159,6 +159,7 @@ CMS_Menu menuOsdActiveElems = {
 };
 
 static uint8_t osdConfig_rssi_alarm;
+static uint16_t osdConfig_link_quality_alarm;
 static uint16_t osdConfig_cap_alarm;
 static uint16_t osdConfig_alt_alarm;
 static uint8_t batteryConfig_vbatDurationForWarning;
@@ -167,6 +168,7 @@ static uint8_t batteryConfig_vbatDurationForCritical;
 static long menuAlarmsOnEnter(void)
 {
     osdConfig_rssi_alarm = osdConfig()->rssi_alarm;
+    osdConfig_link_quality_alarm = osdConfig()->link_quality_alarm;
     osdConfig_cap_alarm = osdConfig()->cap_alarm;
     osdConfig_alt_alarm = osdConfig()->alt_alarm;
     batteryConfig_vbatDurationForWarning = batteryConfig()->vbatDurationForWarning;
@@ -180,6 +182,7 @@ static long menuAlarmsOnExit(const OSD_Entry *self)
     UNUSED(self);
 
     osdConfigMutable()->rssi_alarm = osdConfig_rssi_alarm;
+    osdConfigMutable()->link_quality_alarm = osdConfig_link_quality_alarm;
     osdConfigMutable()->cap_alarm = osdConfig_cap_alarm;
     osdConfigMutable()->alt_alarm = osdConfig_alt_alarm;
     batteryConfigMutable()->vbatDurationForWarning = batteryConfig_vbatDurationForWarning;
@@ -192,6 +195,7 @@ const OSD_Entry menuAlarmsEntries[] =
 {
     {"--- ALARMS ---", OME_Label, NULL, NULL, 0},
     {"RSSI",     OME_UINT8,  NULL, &(OSD_UINT8_t){&osdConfig_rssi_alarm, 5, 90, 5}, 0},
+    {"LINK QUALITY", OME_UINT16,  NULL, &(OSD_UINT16_t){&osdConfig_link_quality_alarm, 5, 300, 5}, 0},
     {"MAIN BAT", OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_cap_alarm, 50, 30000, 50}, 0},
     {"MAX ALT",  OME_UINT16, NULL, &(OSD_UINT16_t){&osdConfig_alt_alarm, 1, 200, 1}, 0},
     {"VBAT WARN DUR", OME_UINT8, NULL, &(OSD_UINT8_t){ &batteryConfig_vbatDurationForWarning, 0, 200, 1 }, 0 },

src/main/drivers/bus_quadspi_hal.c

@@ -1,18 +1,21 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * Cleanflight and Betaflight are free software. You can redistribute
- * it under the terms of the GNU General Public License as published by
+ * this software and/or modify this software under the terms of the
- * the Free Software Foundation, either version 3 of the License, or
+ * GNU General Public License as published by the Free Software
- * (at your option) any later version.
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * Cleanflight and Betaflight are distributed in the hope that they
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * GNU General Public License for more details.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
  *
  * Author: Dominic Clifton
  */

src/main/drivers/bus_spi_hal.c

@@ -1,22 +1,25 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * Cleanflight and Betaflight are free software. You can redistribute
- * it under the terms of the GNU General Public License as published by
+ * this software and/or modify this software under the terms of the
- * the Free Software Foundation, either version 3 of the License, or
+ * GNU General Public License as published by the Free Software
- * (at your option) any later version.
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * Cleanflight and Betaflight are distributed in the hope that they
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * GNU General Public License for more details.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
+ *
+ * HAL version resurrected from v3.1.7 (by jflyper)
  */
 
-// HAL version resurrected from v3.1.7
-
 #include <stdbool.h>
 #include <stdint.h>
 #include <strings.h>

src/main/drivers/flash.c

@@ -20,6 +20,7 @@
 
 #include <stdbool.h>
 #include <stdint.h>
+#include <string.h>
 
 #include "platform.h"
 
@@ -30,8 +31,10 @@
 #include "flash.h"
 #include "flash_impl.h"
 #include "flash_m25p16.h"
+#include "flash_w25n01g.h"
 #include "flash_w25m.h"
 #include "drivers/bus_spi.h"
+#include "drivers/bus_quadspi.h"
 #include "drivers/io.h"
 #include "drivers/time.h"
 
@@ -39,16 +42,52 @@ static busDevice_t busInstance;
 static busDevice_t *busdev;
 
 static flashDevice_t flashDevice;
+static flashPartitionTable_t flashPartitionTable;
+static int flashPartitions = 0;
+
+#define FLASH_INSTRUCTION_RDID 0x9F
+
+#ifdef USE_QUADSPI
+static bool flashQuadSpiInit(const flashConfig_t *flashConfig)
+{
+    QUADSPI_TypeDef *quadSpiInstance = quadSpiInstanceByDevice(QUADSPI_CFG_TO_DEV(flashConfig->quadSpiDevice));
+    quadSpiSetDivisor(quadSpiInstance, QUADSPI_CLOCK_INITIALISATION);
+
+    uint8_t readIdResponse[4];
+    bool status = quadSpiReceive1LINE(quadSpiInstance, FLASH_INSTRUCTION_RDID, 8, readIdResponse, sizeof(readIdResponse));
+    if (!status) {
+        return false;
+    }
+
+    flashDevice.io.mode = FLASHIO_QUADSPI;
+    flashDevice.io.handle.quadSpi = quadSpiInstance;
+
+    // Manufacturer, memory type, and capacity
+    uint32_t chipID = (readIdResponse[0] << 16) | (readIdResponse[1] << 8) | (readIdResponse[2]);
+
+#ifdef USE_FLASH_W25N01G
+    quadSpiSetDivisor(quadSpiInstance, QUADSPI_CLOCK_ULTRAFAST);
+
+    if (w25n01g_detect(&flashDevice, chipID)) {
+        return true;
+    }
+#endif
+
+    return false;
+}
+#endif  // USE_QUADSPI
+
+#ifdef USE_SPI
 
 void flashPreInit(const flashConfig_t *flashConfig)
 {
     spiPreinitRegister(flashConfig->csTag, IOCFG_IPU, 1);
 }
 
-// Read chip identification and send it to device detect
+static bool flashSpiInit(const flashConfig_t *flashConfig)
-
-bool flashInit(const flashConfig_t *flashConfig)
 {
+    // Read chip identification and send it to device detect
+
     busdev = &busInstance;
 
     if (flashConfig->csTag) {
@@ -84,27 +123,29 @@ bool flashInit(const flashConfig_t *flashConfig)
 #endif
 #endif
 
-    flashDevice.busdev = busdev;
+    flashDevice.io.mode = FLASHIO_SPI;
+    flashDevice.io.handle.busdev = busdev;
 
-    const uint8_t out[] = { SPIFLASH_INSTRUCTION_RDID, 0, 0, 0 };
+    const uint8_t out[] = { FLASH_INSTRUCTION_RDID, 0, 0, 0, 0 };
 
     delay(50); // short delay required after initialisation of SPI device instance.
 
-    /* Just in case transfer fails and writes nothing, so we don't try to verify the ID against random garbage
+    /* 
-     * from the stack:
+     * Some newer chips require one dummy byte to be read; we can read
+     * 4 bytes for these chips while retaining backward compatibility.
      */
-    uint8_t in[4];
+    uint8_t readIdResponse[5];
-    in[1] = 0;
+    readIdResponse[1] = readIdResponse[2] = 0;
 
     // Clearing the CS bit terminates the command early so we don't have to read the chip UID:
 #ifdef USE_SPI_TRANSACTION
-    spiBusTransactionTransfer(busdev, out, in, sizeof(out));
+    spiBusTransactionTransfer(busdev, out, readIdResponse, sizeof(out));
 #else
-    spiBusTransfer(busdev, out, in, sizeof(out));
+    spiBusTransfer(busdev, out, readIdResponse, sizeof(out));
 #endif
 
     // Manufacturer, memory type, and capacity
-    uint32_t chipID = (in[1] << 16) | (in[2] << 8) | (in[3]);
+    uint32_t chipID = (readIdResponse[1] << 16) | (readIdResponse[2] << 8) | (readIdResponse[3]);
 
 #ifdef USE_FLASH_M25P16
     if (m25p16_detect(&flashDevice, chipID)) {
@@ -112,7 +153,22 @@ bool flashInit(const flashConfig_t *flashConfig)
     }
 #endif
 
-#ifdef USE_FLASH_W25M
+#ifdef USE_FLASH_W25M512
+    if (w25m_detect(&flashDevice, chipID)) {
+        return true;
+    }
+#endif
+
+    // Newer chips
+    chipID = (readIdResponse[2] << 16) | (readIdResponse[3] << 8) | (readIdResponse[4]);
+
+#ifdef USE_FLASH_W25N01G
+    if (w25n01g_detect(&flashDevice, chipID)) {
+        return true;
+    }
+#endif
+
+#ifdef USE_FLASH_W25M02G
     if (w25m_detect(&flashDevice, chipID)) {
         return true;
     }
@@ -122,6 +178,27 @@ bool flashInit(const flashConfig_t *flashConfig)
 
     return false;
 }
+#endif // USE_SPI
+
+bool flashDeviceInit(const flashConfig_t *flashConfig)
+{
+#ifdef USE_SPI
+    bool useSpi = (SPI_CFG_TO_DEV(flashConfig->spiDevice) != SPIINVALID);
+
+    if (useSpi) {
+        return flashSpiInit(flashConfig);
+    }
+#endif
+
+#ifdef USE_QUADSPI
+    bool useQuadSpi = (QUADSPI_CFG_TO_DEV(flashConfig->quadSpiDevice) != QUADSPIINVALID);
+    if (useQuadSpi) {
+        return flashQuadSpiInit(flashConfig);
+    }
+#endif
+
+    return false;
+}
 
 bool flashIsReady(void)
 {
@@ -185,4 +262,137 @@ const flashGeometry_t *flashGetGeometry(void)
 
     return &noFlashGeometry;
 }
+
+/*
+ * Flash partitioning
+ *
+ * Partition table is not currently stored on the flash, in-memory only.
+ *
+ * Partitions are required so that Badblock management (inc spare blocks), FlashFS (Blackbox Logging), Configuration and Firmware can be kept separate and tracked.
+ *
+ * XXX FIXME
+ * XXX Note that Flash FS must start at sector 0.
+ * XXX There is existing blackbox/flash FS code the relies on this!!!
+ * XXX This restriction can and will be fixed by creating a set of flash operation functions that take partition as an additional parameter.
+ */
+
+static void flashConfigurePartitions(void)
+{
+
+    const flashGeometry_t *flashGeometry = flashGetGeometry();
+    if (flashGeometry->totalSize == 0) {
+        return;
+    }
+
+    flashSector_t startSector = 0;
+    flashSector_t endSector = flashGeometry->sectors - 1; // 0 based index
+
+    const flashPartition_t *badBlockPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_BADBLOCK_MANAGEMENT);
+    if (badBlockPartition) {
+        endSector = badBlockPartition->startSector - 1;
+    }
+
+#if defined(FIRMWARE_SIZE)
+    const uint32_t firmwareSize = (FIRMWARE_SIZE * 1024);
+    flashSector_t firmwareSectors = (firmwareSize / flashGeometry->sectorSize);
+
+    if (firmwareSize % flashGeometry->sectorSize > 0) {
+        firmwareSectors++; // needs a portion of a sector.
+    }
+
+    startSector = (endSector + 1) - firmwareSectors; // + 1 for inclusive
+
+    flashPartitionSet(FLASH_PARTITION_TYPE_FIRMWARE, startSector, endSector);
+
+    endSector = startSector - 1;
+    startSector = 0;
+#endif
+
+#if defined(EEPROM_IN_EXTERNAL_FLASH)
+    const uint32_t configSize = EEPROM_SIZE;
+    flashSector_t configSectors = (configSize / flashGeometry->sectorSize);
+
+    if (configSize % flashGeometry->sectorSize > 0) {
+        configSectors++; // needs a portion of a sector.
+    }
+
+    startSector = (endSector + 1) - configSectors; // + 1 for inclusive
+
+    flashPartitionSet(FLASH_PARTITION_TYPE_CONFIG, startSector, endSector);
+
+    endSector = startSector - 1;
+    startSector = 0;
+#endif
+
+#ifdef USE_FLASHFS
+    flashPartitionSet(FLASH_PARTITION_TYPE_FLASHFS, startSector, endSector);
+#endif
+}
+
+flashPartition_t *flashPartitionFindByType(uint8_t type)
+{
+    for (int index = 0; index < FLASH_MAX_PARTITIONS; index++) {
+        flashPartition_t *candidate = &flashPartitionTable.partitions[index];
+        if (candidate->type == type) {
+            return candidate;
+        }
+    }
+
+    return NULL;
+}
+
+const flashPartition_t *flashPartitionFindByIndex(uint8_t index)
+{
+    if (index >= flashPartitions) {
+        return NULL;
+    }
+
+    return &flashPartitionTable.partitions[index];
+}
+
+void flashPartitionSet(uint8_t type, uint32_t startSector, uint32_t endSector)
+{
+    flashPartition_t *entry = flashPartitionFindByType(type);
+
+    if (!entry) {
+        if (flashPartitions == FLASH_MAX_PARTITIONS - 1) {
+            return;
+        }
+        entry = &flashPartitionTable.partitions[flashPartitions++];
+    }
+
+    entry->type = type;
+    entry->startSector = startSector;
+    entry->endSector = endSector;
+}
+
+// Must be in sync with FLASH_PARTITION_TYPE
+static const char *flashPartitionNames[] = {
+    "UNKNOWN  ",
+    "PARTITION",
+    "FLASHFS  ",
+    "BBMGMT   ",
+    "FIRMWARE ",
+    "CONFIG   ",
+};
+
+const char *flashPartitionGetTypeName(flashPartitionType_e type)
+{
+    if (type < ARRAYLEN(flashPartitionNames)) {
+        return flashPartitionNames[type];
+    }
+
+    return NULL;
+}
+
+bool flashInit(const flashConfig_t *flashConfig)
+{
+    memset(&flashPartitionTable, 0x00, sizeof(flashPartitionTable));
+
+    bool haveFlash = flashDeviceInit(flashConfig);
+
+    flashConfigurePartitions();
+
+    return haveFlash;
+}
 #endif // USE_FLASH_CHIP

src/main/drivers/flash.h

@@ -36,8 +36,10 @@ typedef enum {
     FLASH_TYPE_NAND
 } flashType_e;
 
+typedef uint16_t flashSector_t;
+
 typedef struct flashGeometry_s {
-    uint16_t sectors; // Count of the number of erasable blocks on the device
+    flashSector_t sectors; // Count of the number of erasable blocks on the device
     uint16_t pageSize; // In bytes
     uint32_t sectorSize; // This is just pagesPerSector * pageSize
     uint32_t totalSize;  // This is just sectorSize * sectors
@@ -59,3 +61,36 @@ void flashPageProgram(uint32_t address, const uint8_t *data, int length);
 int flashReadBytes(uint32_t address, uint8_t *buffer, int length);
 void flashFlush(void);
 const flashGeometry_t *flashGetGeometry(void);
+
+//
+// flash partitioning api
+//
+
+typedef struct flashPartition_s {
+    uint8_t type;
+    flashSector_t startSector;
+    flashSector_t endSector;
+} flashPartition_t;
+
+#define FLASH_PARTITION_SECTOR_COUNT(partition) (partition->endSector + 1 - partition->startSector) // + 1 for inclusive, start and end sector can be the same sector.
+
+// Must be in sync with flashPartitionTypeNames[]
+// Should not be deleted or reordered once the code is writing a table to a flash.
+typedef enum {
+    FLASH_PARTITION_TYPE_UNKNOWN = 0,
+    FLASH_PARTITION_TYPE_PARTITION_TABLE,
+    FLASH_PARTITION_TYPE_FLASHFS,
+    FLASH_PARTITION_TYPE_BADBLOCK_MANAGEMENT,
+    FLASH_PARTITION_TYPE_FIRMWARE,
+    FLASH_PARTITION_TYPE_CONFIG,
+    FLASH_MAX_PARTITIONS
+} flashPartitionType_e;
+
+typedef struct flashPartitionTable_s {
+    flashPartition_t partitions[FLASH_MAX_PARTITIONS];
+} flashPartitionTable_t;
+
+void flashPartitionSet(uint8_t index, uint32_t startSector, uint32_t endSector);
+flashPartition_t *flashPartitionFindByType(flashPartitionType_e type);
+const flashPartition_t *flashPartitionFindByIndex(uint8_t index);
+const char *flashPartitionGetTypeName(flashPartitionType_e type);

src/main/drivers/flash_impl.h

@@ -28,8 +28,23 @@
 
 struct flashVTable_s;
 
+typedef enum {
+    FLASHIO_NONE = 0,
+    FLASHIO_SPI,
+    FLASHIO_QUADSPI
+} flashDeviceIoMode_e;
+
+typedef struct flashDeviceIO_s {
+    union {
+        busDevice_t *busdev; // Device interface dependent handle (spi/i2c)
+    #ifdef USE_QUADSPI
+        QUADSPI_TypeDef *quadSpi;
+    #endif
+    } handle;
+    flashDeviceIoMode_e mode;
+} flashDeviceIO_t;
+
 typedef struct flashDevice_s {
-    busDevice_t *busdev;
     const struct flashVTable_s *vTable;
     flashGeometry_t geometry;
     uint32_t currentWriteAddress;
@@ -38,6 +53,7 @@ typedef struct flashDevice_s {
     // for writes. This allows us to avoid polling for writable status
     // when it is definitely ready already.
     bool couldBeBusy;
+    flashDeviceIO_t io;
 } flashDevice_t;
 
 typedef struct flashVTable_s {

src/main/drivers/flash_m25p16.c

@@ -126,7 +126,7 @@ static void m25p16_performOneByteCommand(busDevice_t *bus, uint8_t command)
  */
 static void m25p16_writeEnable(flashDevice_t *fdevice)
 {
-    m25p16_performOneByteCommand(fdevice->busdev, M25P16_INSTRUCTION_WRITE_ENABLE);
+    m25p16_performOneByteCommand(fdevice->io.handle.busdev, M25P16_INSTRUCTION_WRITE_ENABLE);
 
     // Assume that we're about to do some writing, so the device is just about to become busy
     fdevice->couldBeBusy = true;
@@ -145,7 +145,7 @@ static uint8_t m25p16_readStatus(busDevice_t *bus)
 static bool m25p16_isReady(flashDevice_t *fdevice)
 {
     // If couldBeBusy is false, don't bother to poll the flash chip for its status
-    fdevice->couldBeBusy = fdevice->couldBeBusy && ((m25p16_readStatus(fdevice->busdev) & M25P16_STATUS_FLAG_WRITE_IN_PROGRESS) != 0);
+    fdevice->couldBeBusy = fdevice->couldBeBusy && ((m25p16_readStatus(fdevice->io.handle.busdev) & M25P16_STATUS_FLAG_WRITE_IN_PROGRESS) != 0);
 
     return !fdevice->couldBeBusy;
 }
@@ -219,7 +219,7 @@ bool m25p16_detect(flashDevice_t *fdevice, uint32_t chipID)
 
     if (fdevice->geometry.totalSize > 16 * 1024 * 1024) {
         fdevice->isLargeFlash = true;
-        m25p16_performOneByteCommand(fdevice->busdev, W25Q256_INSTRUCTION_ENTER_4BYTE_ADDRESS_MODE);
+        m25p16_performOneByteCommand(fdevice->io.handle.busdev, W25Q256_INSTRUCTION_ENTER_4BYTE_ADDRESS_MODE);
     }
 
     fdevice->couldBeBusy = true; // Just for luck we'll assume the chip could be busy even though it isn't specced to be
@@ -250,7 +250,7 @@ static void m25p16_eraseSector(flashDevice_t *fdevice, uint32_t address)
 
     m25p16_writeEnable(fdevice);
 
-    m25p16_transfer(fdevice->busdev, out, NULL, sizeof(out));
+    m25p16_transfer(fdevice->io.handle.busdev, out, NULL, sizeof(out));
 }
 
 static void m25p16_eraseCompletely(flashDevice_t *fdevice)
@@ -259,7 +259,7 @@ static void m25p16_eraseCompletely(flashDevice_t *fdevice)
 
     m25p16_writeEnable(fdevice);
 
-    m25p16_performOneByteCommand(fdevice->busdev, M25P16_INSTRUCTION_BULK_ERASE);
+    m25p16_performOneByteCommand(fdevice->io.handle.busdev, M25P16_INSTRUCTION_BULK_ERASE);
 }
 
 static void m25p16_pageProgramBegin(flashDevice_t *fdevice, uint32_t address)
@@ -280,18 +280,18 @@ static void m25p16_pageProgramContinue(flashDevice_t *fdevice, const uint8_t *da
     m25p16_writeEnable(fdevice);
 
 #ifdef USE_SPI_TRANSACTION
-    spiBusTransactionBegin(fdevice->busdev);
+    spiBusTransactionBegin(fdevice->io.handle.busdev);
 #else
-    m25p16_enable(fdevice->busdev);
+    m25p16_enable(fdevice->io.handle.busdev);
 #endif
 
-    spiTransfer(fdevice->busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
+    spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
-    spiTransfer(fdevice->busdev->busdev_u.spi.instance, data, NULL, length);
+    spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, data, NULL, length);
 
 #ifdef USE_SPI_TRANSACTION
-    spiBusTransactionEnd(fdevice->busdev);
+    spiBusTransactionEnd(fdevice->io.handle.busdev);
 #else
-    m25p16_disable(fdevice->busdev);
+    m25p16_disable(fdevice->io.handle.busdev);
 #endif
 
     fdevice->currentWriteAddress += length;
@@ -345,18 +345,18 @@ static int m25p16_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *b
     }
 
 #ifdef USE_SPI_TRANSACTION
-    spiBusTransactionBegin(fdevice->busdev);
+    spiBusTransactionBegin(fdevice->io.handle.busdev);
 #else
-    m25p16_enable(fdevice->busdev);
+    m25p16_enable(fdevice->io.handle.busdev);
 #endif
 
-    spiTransfer(fdevice->busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
+    spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, command, NULL, fdevice->isLargeFlash ? 5 : 4);
-    spiTransfer(fdevice->busdev->busdev_u.spi.instance, NULL, buffer, length);
+    spiTransfer(fdevice->io.handle.busdev->busdev_u.spi.instance, NULL, buffer, length);
 
 #ifdef USE_SPI_TRANSACTION
-    spiBusTransactionEnd(fdevice->busdev);
+    spiBusTransactionEnd(fdevice->io.handle.busdev);
 #else
-    m25p16_disable(fdevice->busdev);
+    m25p16_disable(fdevice->io.handle.busdev);
 #endif
 
     return length;

src/main/drivers/flash_w25m.c

@@ -84,7 +84,7 @@ static bool w25m_isReady(flashDevice_t *fdevice)
 
     for (int die = 0 ; die < dieCount ; die++) {
         if (dieDevice[die].couldBeBusy) {
-            w25m_dieSelect(fdevice->busdev, die);
+            w25m_dieSelect(fdevice->io.handle.busdev, die);
             if (!dieDevice[die].vTable->isReady(&dieDevice[die])) {
                 return false;
             }
@@ -115,8 +115,9 @@ bool w25m_detect(flashDevice_t *fdevice, uint32_t chipID)
         dieCount = 2;
 
         for (int die = 0 ; die < dieCount ; die++) {
-            w25m_dieSelect(fdevice->busdev, die);
+            w25m_dieSelect(fdevice->io.handle.busdev, die);
-            dieDevice[die].busdev = fdevice->busdev;
+            dieDevice[die].io.handle.busdev = fdevice->io.handle.busdev;
+            dieDevice[die].io.mode = fdevice->io.mode;
             m25p16_detect(&dieDevice[die], JEDEC_ID_WINBOND_W25Q256);
         }
 
@@ -147,7 +148,7 @@ void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
 {
     int dieNumber = address / dieSize;
 
-    w25m_dieSelect(fdevice->busdev, dieNumber);
+    w25m_dieSelect(fdevice->io.handle.busdev, dieNumber);
 
     dieDevice[dieNumber].vTable->eraseSector(&dieDevice[dieNumber], address % dieSize);
 }
@@ -155,7 +156,7 @@ void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
 void w25m_eraseCompletely(flashDevice_t *fdevice)
 {
     for (int dieNumber = 0 ; dieNumber < dieCount ; dieNumber++) {
-        w25m_dieSelect(fdevice->busdev, dieNumber);
+        w25m_dieSelect(fdevice->io.handle.busdev, dieNumber);
         dieDevice[dieNumber].vTable->eraseCompletely(&dieDevice[dieNumber]);
     }
 }
@@ -168,7 +169,7 @@ void w25m_pageProgramBegin(flashDevice_t *fdevice, uint32_t address)
     UNUSED(fdevice);
 
     currentWriteDie = address / dieSize;
-    w25m_dieSelect(fdevice->busdev, currentWriteDie);
+    w25m_dieSelect(fdevice->io.handle.busdev, currentWriteDie);
     currentWriteAddress = address % dieSize;
     dieDevice[currentWriteDie].vTable->pageProgramBegin(&dieDevice[currentWriteDie], currentWriteAddress);
 }
@@ -210,7 +211,7 @@ int w25m_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, in
         uint32_t dieAddress = address % dieSize;
         tlen = MIN(dieAddress + rlen, dieSize) - dieAddress;
 
-        w25m_dieSelect(fdevice->busdev, dieNumber);
+        w25m_dieSelect(fdevice->io.handle.busdev, dieNumber);
 
         rbytes = dieDevice[dieNumber].vTable->readBytes(&dieDevice[dieNumber], dieAddress, buffer, tlen);
 

src/main/drivers/flash_w25n01g.c

@@ -0,0 +1,927 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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/>.
+ *
+ * Author: jflyper
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "build/debug.h"
+
+#ifdef USE_FLASH_W25N01G
+
+#include "flash.h"
+#include "flash_impl.h"
+#include "flash_w25n01g.h"
+#include "drivers/bus_spi.h"
+#include "drivers/bus_quadspi.h"
+#include "drivers/io.h"
+#include "drivers/time.h"
+
+//#define FLASH_W25N01G_DPRINTF
+
+#ifdef FLASH_W25N01G_DPRINTF
+#include "common/printf.h"
+#include "common/utils.h"
+#include "io/serial.h"
+serialPort_t *debugSerialPort = NULL;
+#define DPRINTF_SERIAL_PORT SERIAL_PORT_USART3
+#define DPRINTF(x) tfp_printf x
+#else
+#define DPRINTF(x)
+#endif
+
+// JEDEC ID
+#define JEDEC_ID_WINBOND_W25N01GV    0xEFAA21
+
+// Device size parameters
+#define W25N01G_PAGE_SIZE         2048
+#define W25N01G_PAGES_PER_BLOCK   64
+#define W25N01G_BLOCKS_PER_DIE 1024
+
+// BB replacement area
+#define W25N01G_BB_MARKER_BLOCKS           1
+#define W25N01G_BB_REPLACEMENT_BLOCKS      20
+#define W25N01G_BB_MANAGEMENT_BLOCKS       (W25N01G_BB_REPLACEMENT_BLOCKS + W25N01G_BB_MARKER_BLOCKS)
+// blocks are zero-based index
+#define W25N01G_BB_REPLACEMENT_START_BLOCK (W25N01G_BLOCKS_PER_DIE - W25N01G_BB_REPLACEMENT_BLOCKS)
+#define W25N01G_BB_MANAGEMENT_START_BLOCK  (W25N01G_BLOCKS_PER_DIE - W25N01G_BB_MANAGEMENT_BLOCKS)
+#define W25N01G_BB_MARKER_BLOCK            (W25N01G_BB_REPLACEMENT_START_BLOCK - W25N01G_BB_MARKER_BLOCKS)
+
+// Instructions
+
+#define W25N01G_INSTRUCTION_RDID             0x9F
+#define W25N01G_INSTRUCTION_DEVICE_RESET     0xFF
+#define W25N01G_INSTRUCTION_READ_STATUS_REG  0x05
+#define W25N01G_INSTRUCTION_READ_STATUS_ALTERNATE_REG  0x0F
+#define W25N01G_INSTRUCTION_WRITE_STATUS_REG 0x01
+#define W25N01G_INSTRUCTION_WRITE_STATUS_ALTERNATE_REG 0x1F
+#define W25N01G_INSTRUCTION_WRITE_ENABLE     0x06
+#define W25N01G_INSTRUCTION_DIE_SELECT       0xC2
+#define W25N01G_INSTRUCTION_BLOCK_ERASE      0xD8
+#define W25N01G_INSTRUCTION_READ_BBM_LUT     0xA5
+#define W25N01G_INSTRUCTION_BB_MANAGEMENT    0xA1
+#define W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD        0x02
+#define W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD 0x84
+#define W25N01G_INSTRUCTION_PROGRAM_EXECUTE  0x10
+#define W25N01G_INSTRUCTION_PAGE_DATA_READ   0x13
+#define W25N01G_INSTRUCTION_READ_DATA        0x03
+#define W25N01G_INSTRUCTION_FAST_READ        0x1B
+#define W25N01G_INSTRUCTION_FAST_READ_QUAD_OUTPUT 0x6B
+
+// Configu/status register addresses
+#define W25N01G_PROT_REG 0xA0
+#define W25N01G_CONF_REG 0xB0
+#define W25N01G_STAT_REG 0xC0
+
+// Bits in config/status register 2 (W25N01G_CONF_REG)
+#define W25N01G_CONFIG_ECC_ENABLE         (1 << 4)
+#define W25N01G_CONFIG_BUFFER_READ_MODE   (1 << 3)
+
+// Bits in config/status register 3 (W25N01G_STATREG)
+#define W25N01G_STATUS_BBM_LUT_FULL       (1 << 6)
+#define W25N01G_STATUS_FLAG_ECC_POS       4
+#define W25N01G_STATUS_FLAG_ECC_MASK      ((1 << 5)|(1 << 4))
+#define W25N01G_STATUS_FLAG_ECC(status)   (((status) & W25N01G_STATUS_FLAG_ECC_MASK) >> 4)
+#define W25N01G_STATUS_PROGRAM_FAIL       (1 << 3)
+#define W25N01G_STATUS_ERASE_FAIL         (1 << 2)
+#define W25N01G_STATUS_FLAG_WRITE_ENABLED (1 << 1)
+#define W25N01G_STATUS_FLAG_BUSY          (1 << 0)
+
+#define W25N01G_BBLUT_TABLE_ENTRY_COUNT     20
+#define W25N01G_BBLUT_TABLE_ENTRY_SIZE      4  // in bytes
+
+// Bits in LBA for BB LUT
+#define W25N01G_BBLUT_STATUS_ENABLED (1 << 15)
+#define W25N01G_BBLUT_STATUS_INVALID (1 << 14)
+#define W25N01G_BBLUT_STATUS_MASK    (W25N01G_BBLUT_STATUS_ENABLED | W25N01G_BBLUT_STATUS_INVALID)
+
+// Some useful defs and macros
+#define W25N01G_LINEAR_TO_COLUMN(laddr) ((laddr) % W25N01G_PAGE_SIZE)
+#define W25N01G_LINEAR_TO_PAGE(laddr) ((laddr) / W25N01G_PAGE_SIZE)
+#define W25N01G_LINEAR_TO_BLOCK(laddr) (W25N01G_LINEAR_TO_PAGE(laddr) / W25N01G_PAGES_PER_BLOCK)
+#define W25N01G_BLOCK_TO_PAGE(block) ((block) * W25N01G_PAGES_PER_BLOCK)
+#define W25N01G_BLOCK_TO_LINEAR(block) (W25N01G_BLOCK_TO_PAGE(block) * W25N01G_PAGE_SIZE)
+
+// The timeout values (2ms minimum to avoid 1 tick advance in consecutive calls to millis).
+#define W25N01G_TIMEOUT_PAGE_READ_MS        2   // tREmax = 60us (ECC enabled)
+#define W25N01G_TIMEOUT_PAGE_PROGRAM_MS     2   // tPPmax = 700us
+#define W25N01G_TIMEOUT_BLOCK_ERASE_MS      15  // tBEmax = 10ms
+#define W25N01G_TIMEOUT_RESET_MS            500 // tRSTmax = 500ms
+
+// Sizes (in bits)
+#define W28N01G_STATUS_REGISTER_SIZE        8
+#define W28N01G_STATUS_PAGE_ADDRESS_SIZE    16
+#define W28N01G_STATUS_COLUMN_ADDRESS_SIZE  16
+
+typedef struct bblut_s {
+    uint16_t pba;
+    uint16_t lba;
+} bblut_t;
+
+// These will be gone
+
+#define DISABLE(busdev)       IOHi((busdev)->busdev_u.spi.csnPin); __NOP()
+#define ENABLE(busdev)        __NOP(); IOLo((busdev)->busdev_u.spi.csnPin)
+
+// XXX remove - add a forward declaration to keep git diff small while this is work-in-progress.
+bool w25n01g_waitForReady(flashDevice_t *fdevice, uint32_t timeoutMillis);
+
+/**
+ * Send the given command byte to the device.
+ */
+static void w25n01g_performOneByteCommand(flashDeviceIO_t *io, uint8_t command)
+{
+    if (io->mode == FLASHIO_SPI) {
+        busDevice_t *busdev = io->handle.busdev;
+
+        ENABLE(busdev);
+        spiTransferByte(busdev->busdev_u.spi.instance, command);
+        DISABLE(busdev);
+
+    }
+#ifdef USE_QUADSPI
+    else if (io->mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
+        quadSpiTransmit1LINE(quadSpi, command, 0, NULL, 0);
+    }
+#endif
+}
+
+static void w25n01g_performCommandWithPageAddress(flashDeviceIO_t *io, uint8_t command, uint32_t pageAddress)
+{
+    if (io->mode == FLASHIO_SPI) {
+        busDevice_t *busdev = io->handle.busdev;
+
+        const uint8_t cmd[] = { command, 0, (pageAddress >> 8) & 0xff, (pageAddress >> 0) & 0xff};
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        DISABLE(busdev);
+    }
+#ifdef USE_QUADSPI
+    else if (io->mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
+
+        quadSpiInstructionWithAddress1LINE(quadSpi, command, 0, pageAddress & 0xffff, W28N01G_STATUS_PAGE_ADDRESS_SIZE + 8);
+    }
+#endif
+}
+
+static uint8_t w25n01g_readRegister(flashDeviceIO_t *io, uint8_t reg)
+{
+    if (io->mode == FLASHIO_SPI) {
+        busDevice_t *busdev = io->handle.busdev;
+
+        ENABLE(busdev);
+        const uint8_t cmd[3] = { W25N01G_INSTRUCTION_READ_STATUS_REG, reg, 0 };
+        uint8_t in[3];
+
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, in, sizeof(cmd));
+        DISABLE(busdev);
+
+        return in[2];
+    }
+#ifdef USE_QUADSPI
+    else if (io->mode == FLASHIO_QUADSPI) {
+
+        QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
+
+        uint8_t in[1];
+        quadSpiReceiveWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_READ_STATUS_REG, 0, reg, W28N01G_STATUS_REGISTER_SIZE, in, sizeof(in));
+
+        return in[0];
+    }
+#endif
+    return 0;
+}
+
+static void w25n01g_writeRegister(flashDeviceIO_t *io, uint8_t reg, uint8_t data)
+{
+    if (io->mode == FLASHIO_SPI) {
+        busDevice_t *busdev = io->handle.busdev;
+        const uint8_t cmd[3] = { W25N01G_INSTRUCTION_WRITE_STATUS_REG, reg, data };
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        DISABLE(busdev);
+   }
+#ifdef USE_QUADSPI
+   else if (io->mode == FLASHIO_QUADSPI) {
+       QUADSPI_TypeDef *quadSpi = io->handle.quadSpi;
+
+       quadSpiTransmitWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_WRITE_STATUS_REG, 0, reg, W28N01G_STATUS_REGISTER_SIZE, &data, 1);
+   }
+#endif
+}
+
+
+static void w25n01g_deviceReset(flashDevice_t *fdevice)
+{
+    flashDeviceIO_t *io = &fdevice->io;
+
+    w25n01g_performOneByteCommand(io, W25N01G_INSTRUCTION_DEVICE_RESET);
+
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_RESET_MS);
+
+    // Protection for upper 1/32 (BP[3:0] = 0101, TB=0), WP-E on; to protect bad block replacement area
+    // DON'T DO THIS. This will prevent writes through the bblut as well.
+    // w25n01g_writeRegister(busdev, W25N01G_PROT_REG, (5 << 3)|(0 << 2)|(1 << 1));
+
+    uint8_t value = (0 << 3)|(0 << 2); // No protection
+
+    if (io->mode == FLASHIO_SPI) {
+        value |= (1 << 1); // WP-E on
+    }
+#ifdef USE_QUADSPI
+    else if (io->mode == FLASHIO_QUADSPI) {
+        value |= (0 << 1); // WP-E off, WP-E prevents use of IO2
+    }
+#endif
+
+    w25n01g_writeRegister(io, W25N01G_PROT_REG, value);
+
+    // Buffered read mode (BUF = 1), ECC enabled (ECC = 1)
+    w25n01g_writeRegister(io, W25N01G_CONF_REG, W25N01G_CONFIG_ECC_ENABLE|W25N01G_CONFIG_BUFFER_READ_MODE);
+}
+
+bool w25n01g_isReady(flashDevice_t *fdevice)
+{
+    // XXX Study device busy behavior and reinstate couldBeBusy facility.
+
+#if 0
+    // If couldBeBusy is false, don't bother to poll the flash chip for its status
+    fdevice->couldBeBusy = fdevice->couldBeBusy && ((w25n01g_readRegister(fdevice->handle.busdev, W25N01G_STAT_REG) & W25N01G_STATUS_FLAG_BUSY) != 0);
+
+    return !couldBeBusy;
+#else
+    uint8_t status = w25n01g_readRegister(&fdevice->io, W25N01G_STAT_REG);
+
+    if (status & W25N01G_STATUS_PROGRAM_FAIL) {
+        DPRINTF(("*** PROGRAM_FAIL\r\n"));
+    }
+
+    if (status & W25N01G_STATUS_ERASE_FAIL) {
+        DPRINTF(("*** ERASE_FAIL\r\n"));
+    }
+
+    uint8_t eccCode;
+    if ((eccCode = W25N01G_STATUS_FLAG_ECC(status))) {
+        DPRINTF(("*** ECC %x\r\n", eccCode));
+    }
+
+    return ((status & W25N01G_STATUS_FLAG_BUSY) == 0);
+#endif
+}
+
+bool w25n01g_waitForReady(flashDevice_t *fdevice, uint32_t timeoutMillis)
+{
+    uint32_t time = millis();
+    while (!w25n01g_isReady(fdevice)) {
+        if (millis() - time > timeoutMillis) {
+            DPRINTF(("*** TIMEOUT %d\r\n", timeoutMillis));
+            return false;
+        }
+    }
+
+    return true;
+}
+
+/**
+ * The flash requires this write enable command to be sent before commands that would cause
+ * a write like program and erase.
+ */
+static void w25n01g_writeEnable(flashDevice_t *fdevice)
+{
+    w25n01g_performOneByteCommand(&fdevice->io, W25N01G_INSTRUCTION_WRITE_ENABLE);
+
+    // Assume that we're about to do some writing, so the device is just about to become busy
+    fdevice->couldBeBusy = true;
+}
+
+/**
+ * Read chip identification and geometry information (into global `geometry`).
+ *
+ * Returns true if we get valid ident, false if something bad happened like there is no M25P16.
+ */
+const flashVTable_t w25n01g_vTable;
+
+static void w25n01g_deviceInit(flashDevice_t *flashdev);
+
+bool w25n01g_detect(flashDevice_t *fdevice, uint32_t chipID)
+{
+#ifdef FLASH_W25N01G_DPRINTF
+    // Setup debugSerialPort
+    debugSerialPort = openSerialPort(DPRINTF_SERIAL_PORT, FUNCTION_NONE, NULL, NULL, 115200, MODE_RXTX, 0);
+
+    if (debugSerialPort) {
+        setPrintfSerialPort(debugSerialPort);
+        DPRINTF(("debug print init: OK\r\n"));
+    }
+#endif
+
+    switch (chipID) {
+    case JEDEC_ID_WINBOND_W25N01GV:
+        fdevice->geometry.sectors = 1024;      // Blocks
+        fdevice->geometry.pagesPerSector = 64; // Pages/Blocks
+        fdevice->geometry.pageSize = 2048;
+        break;
+
+    default:
+        // Unsupported chip
+        fdevice->geometry.sectors = 0;
+        fdevice->geometry.pagesPerSector = 0;
+
+        fdevice->geometry.sectorSize = 0;
+        fdevice->geometry.totalSize = 0;
+        return false;
+    }
+
+    fdevice->geometry.flashType = FLASH_TYPE_NAND;
+    fdevice->geometry.sectorSize = fdevice->geometry.pagesPerSector * fdevice->geometry.pageSize;
+    fdevice->geometry.totalSize = fdevice->geometry.sectorSize * fdevice->geometry.sectors;
+
+    flashPartitionSet(FLASH_PARTITION_TYPE_BADBLOCK_MANAGEMENT,
+            W25N01G_BB_MANAGEMENT_START_BLOCK,
+            W25N01G_BB_MANAGEMENT_START_BLOCK + W25N01G_BB_MANAGEMENT_BLOCKS - 1);
+
+    fdevice->couldBeBusy = true; // Just for luck we'll assume the chip could be busy even though it isn't specced to be
+
+    w25n01g_deviceReset(fdevice);
+
+    // Upper 4MB (32 blocks * 128KB/block) will be used for bad block replacement area.
+
+    // Blocks in this area are only written through bad block LUT,
+    // and factory written bad block marker in unused blocks are retained.
+
+    // When a replacement block is required,
+    // (1) "Read BB LUT" command is used to obtain the last block mapped,
+    // (2) blocks after the last block is scanned for a good block,
+    // (3) the first good block is used for replacement, and the BB LUT is updated.
+
+    // There are only 20 BB LUT entries, and there are 32 replacement blocks.
+    // There will be a least chance of running out of replacement blocks.
+    // If it ever run out, the device becomes unusable.
+
+#if 0
+    // Protection to upper 1/32 (BP[3:0] = 0101, TB=0), WP-E on
+    //w25n01g_writeRegister(fdevice->handle.busdev, W25N01G_PROT_REG, (5 << 3)|(0 << 2)|(1 << 1));
+
+    // No protection, WP-E on
+    w25n01g_writeRegister(fdevice->handle, W25N01G_PROT_REG, (0 << 3)|(0 << 2)|(1 << 1));
+
+    // Continuous mode (BUF = 0), ECC enabled (ECC = 1)
+    w25n01g_writeRegister(fdevice->handle, W25N01G_CONF_REG, W25N01G_CONFIG_ECC_ENABLE);
+#endif
+
+#if 0
+    // XXX Should be gone in production
+    uint8_t sr1, sr2, sr3;
+    sr1 = w25n01g_readRegister(fdevice->handle.busdev, W25N01G_PROT_REG);
+    sr2 = w25n01g_readRegister(fdevice->handle.busdev, W25N01G_CONF_REG);
+    sr3 = w25n01g_readRegister(fdevice->handle.busdev, W25N01G_STAT_REG);
+
+    debug[1] = sr1;
+    debug[2] = sr2;
+    debug[3] = sr3;
+
+    DPRINTF(("Detect: PROT 0x%x CONF 0x%x STAT 0x%x\r\n", sr1 & 0xff, sr2 & 0xff, sr3 & 0xff));
+#endif
+
+    w25n01g_deviceInit(fdevice);
+
+    fdevice->vTable = &w25n01g_vTable;
+
+    return true;
+}
+
+/**
+ * Erase a sector full of bytes to all 1's at the given byte offset in the flash chip.
+ */
+void w25n01g_eraseSector(flashDevice_t *fdevice, uint32_t address)
+{
+
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_BLOCK_ERASE_MS);
+
+    w25n01g_writeEnable(fdevice);
+
+    w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_BLOCK_ERASE, W25N01G_LINEAR_TO_PAGE(address));
+}
+
+//
+// W25N01G does not support full chip erase.
+// Call eraseSector repeatedly.
+
+void w25n01g_eraseCompletely(flashDevice_t *fdevice)
+{
+    for (uint32_t block = 0; block < fdevice->geometry.sectors; block++) {
+        w25n01g_eraseSector(fdevice, W25N01G_BLOCK_TO_LINEAR(block));
+    }
+}
+
+static void w25n01g_programDataLoad(flashDevice_t *fdevice, uint16_t columnAddress, const uint8_t *data, int length)
+{
+
+    //DPRINTF(("    load WaitForReady\r\n"));
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
+
+    //DPRINTF(("    load Issuing command\r\n"));
+
+    if (fdevice->io.mode == FLASHIO_SPI) {
+        busDevice_t *busdev = fdevice->io.handle.busdev;
+        const uint8_t cmd[] = { W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD, columnAddress >> 8, columnAddress & 0xff };
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        spiTransfer(busdev->busdev_u.spi.instance, data, NULL, length);
+        DISABLE(busdev);
+   }
+#ifdef USE_QUADSPI
+   else if (fdevice->io.mode == FLASHIO_QUADSPI) {
+       QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
+
+       quadSpiTransmitWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_PROGRAM_DATA_LOAD, 0, columnAddress, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, data, length);
+    }
+#endif
+    //DPRINTF(("    load Done\r\n"));
+}
+
+static void w25n01g_randomProgramDataLoad(flashDevice_t *fdevice, uint16_t columnAddress, const uint8_t *data, int length)
+{
+    const uint8_t cmd[] = { W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD, columnAddress >> 8, columnAddress & 0xff };
+
+    //DPRINTF(("    random WaitForReady\r\n"));
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
+
+    //DPRINTF(("    random Issuing command\r\n"));
+    if (fdevice->io.mode == FLASHIO_SPI) {
+        busDevice_t *busdev = fdevice->io.handle.busdev;
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        spiTransfer(busdev->busdev_u.spi.instance, data, NULL, length);
+        DISABLE(busdev);
+
+    }
+#ifdef USE_QUADSPI
+    else if (fdevice->io.mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
+
+        quadSpiTransmitWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_RANDOM_PROGRAM_DATA_LOAD, 0, columnAddress, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, data, length);
+     }
+#endif
+
+    //DPRINTF(("    random Done\r\n"));
+}
+
+static void w25n01g_programExecute(flashDevice_t *fdevice, uint32_t pageAddress)
+{
+    //DPRINTF(("    execute WaitForReady\r\n"));
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
+
+    //DPRINTF(("    execute Issuing command\r\n"));
+
+    w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_PROGRAM_EXECUTE, pageAddress);
+
+    //DPRINTF(("    execute Done\r\n"));
+}
+
+//
+// Writes are done in three steps:
+// (1) Load internal data buffer with data to write
+//     - We use "Random Load Program Data", as "Load Program Data" resets unused data bytes in the buffer to 0xff.
+//     - Each "Random Load Program Data" instruction must be accompanied by at least a single data.
+//     - Each "Random Load Program Data" instruction terminates at the rising of CS.
+// (2) Enable write
+// (3) Issue "Execute Program"
+//
+
+/*
+flashfs page program behavior
+- Single program never crosses page boundary.
+- Except for this characteristic, it program arbitral size.
+- Write address is, naturally, not a page boundary.
+
+To cope with this behavior.
+
+pageProgramBegin:
+If buffer is dirty and programLoadAddress != address, then the last page is a partial write;
+issue PAGE_PROGRAM_EXECUTE to flash buffer contents, clear dirty and record the address as programLoadAddress and programStartAddress.
+Else do nothing.
+
+pageProgramContinue:
+Mark buffer as dirty.
+If programLoadAddress is on page boundary, then issue PROGRAM_LOAD_DATA, else issue RANDOM_PROGRAM_LOAD_DATA.
+Update programLoadAddress.
+Optionally observe the programLoadAddress, and if it's on page boundary, issue PAGE_PROGRAM_EXECUTE.
+
+pageProgramFinish:
+Observe programLoadAddress. If it's on page boundary, issue PAGE_PROGRAM_EXECUTE and clear dirty, else just return.
+If pageProgramContinue observes the page boundary, then do nothing(?).
+*/
+
+static uint32_t programStartAddress;
+static uint32_t programLoadAddress;
+bool bufferDirty = false;
+bool isProgramming = false;
+
+#define DEBUG_PAGE_PROGRAM
+
+//#define PAGEPROG_DPRINTF(x) DPRINTF(x)
+#define PAGEPROG_DPRINTF(x)
+
+void w25n01g_pageProgramBegin(flashDevice_t *fdevice, uint32_t address)
+{
+    PAGEPROG_DPRINTF(("pageProgramBegin: address 0x%x\r\n", address));
+
+    if (bufferDirty) {
+        if (address != programLoadAddress) {
+            PAGEPROG_DPRINTF(("    Buffer dirty and address != programLoadAddress (0x%x), flushing\r\n", programLoadAddress));
+            PAGEPROG_DPRINTF(("    Wait for ready\r\n"));
+            w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
+
+            isProgramming = false;
+
+            PAGEPROG_DPRINTF(("    Write enable\r\n"));
+            w25n01g_writeEnable(fdevice);
+
+            PAGEPROG_DPRINTF(("    PROGRAM_EXECUTE PA 0x%x\r\n", W25N01G_LINEAR_TO_PAGE(programStartAddress)));
+            w25n01g_programExecute(fdevice, W25N01G_LINEAR_TO_PAGE(programStartAddress));
+
+            bufferDirty = false;
+            isProgramming = true;
+        } else {
+            PAGEPROG_DPRINTF(("    Continuation\r\n"));
+        }
+    } else {
+        PAGEPROG_DPRINTF(("    Fresh page\r\n"));
+        programStartAddress = programLoadAddress = address;
+    }
+}
+
+void w25n01g_pageProgramContinue(flashDevice_t *fdevice, const uint8_t *data, int length)
+{
+    PAGEPROG_DPRINTF(("pageProgramContinue: length 0x%x (programLoadAddress 0x%x)\r\n", length, programLoadAddress));
+
+    // Check for page boundary overrun
+
+    if (W25N01G_LINEAR_TO_PAGE(programLoadAddress + length - 1) != W25N01G_LINEAR_TO_PAGE(programStartAddress)) {
+        PAGEPROG_DPRINTF(("    **** PAGE BOUNDARY OVERRUN **** (page 0x%x)\r\n", W25N01G_LINEAR_TO_PAGE(programLoadAddress)));
+    }
+
+    PAGEPROG_DPRINTF(("    Wait for ready\r\n"));
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
+
+    PAGEPROG_DPRINTF(("    Write enable\r\n"));
+    w25n01g_writeEnable(fdevice);
+
+    isProgramming = false;
+
+    if (!bufferDirty) {
+        PAGEPROG_DPRINTF(("    DATA_LOAD CA 0x%x length 0x%x\r\n", W25N01G_LINEAR_TO_COLUMN(programLoadAddress), length));
+        w25n01g_programDataLoad(fdevice, W25N01G_LINEAR_TO_COLUMN(programLoadAddress), data, length);
+    } else {
+        PAGEPROG_DPRINTF(("    RANDOM_DATA_LOAD CA 0x%x length 0x%x\r\n", W25N01G_LINEAR_TO_COLUMN(programLoadAddress), length));
+        w25n01g_randomProgramDataLoad(fdevice, W25N01G_LINEAR_TO_COLUMN(programLoadAddress), data, length);
+    }
+
+    // XXX Test if write enable is reset after each data loading.
+
+    bufferDirty = true;
+    programLoadAddress += length;
+}
+
+static uint32_t currentPage = UINT32_MAX;
+
+void w25n01g_pageProgramFinish(flashDevice_t *fdevice)
+{
+    PAGEPROG_DPRINTF(("pageProgramFinish: (loaded 0x%x bytes)\r\n", programLoadAddress - programStartAddress));
+
+    if (bufferDirty && W25N01G_LINEAR_TO_COLUMN(programLoadAddress) == 0) {
+        
+        currentPage = W25N01G_LINEAR_TO_PAGE(programStartAddress); // reset page to the page being written
+        
+        PAGEPROG_DPRINTF(("    PROGRAM_EXECUTE PA 0x%x\r\n", W25N01G_LINEAR_TO_PAGE(programStartAddress)));
+        w25n01g_programExecute(fdevice, W25N01G_LINEAR_TO_PAGE(programStartAddress));
+
+        bufferDirty = false;
+        isProgramming = true;
+
+        programStartAddress = programLoadAddress;
+    } else {
+        PAGEPROG_DPRINTF(("    Ignoring\r\n"));
+    }
+}
+
+/**
+ * Write bytes to a flash page. Address must not cross a page boundary.
+ *
+ * Bits can only be set to zero, not from zero back to one again. In order to set bits to 1, use the erase command.
+ *
+ * Length must be smaller than the page size.
+ *
+ * This will wait for the flash to become ready before writing begins.
+ *
+ * Datasheet indicates typical programming time is 0.8ms for 256 bytes, 0.2ms for 64 bytes, 0.05ms for 16 bytes.
+ * (Although the maximum possible write time is noted as 5ms).
+ *
+ * If you want to write multiple buffers (whose sum of sizes is still not more than the page size) then you can
+ * break this operation up into one beginProgram call, one or more continueProgram calls, and one finishProgram call.
+ */
+
+void w25n01g_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *data, int length)
+{
+    w25n01g_pageProgramBegin(fdevice, address);
+    w25n01g_pageProgramContinue(fdevice, data, length);
+    w25n01g_pageProgramFinish(fdevice);
+}
+
+void w25n01g_flush(flashDevice_t *fdevice)
+{
+    PAGEPROG_DPRINTF(("close:\r\n"));
+
+    if (bufferDirty) {
+        PAGEPROG_DPRINTF(("    Buffer is partially loaded (0x%x bytes)\r\n", programLoadAddress - programStartAddress));
+        PAGEPROG_DPRINTF(("    PROGRAM_EXECUTE PA 0x%x\r\n", W25N01G_LINEAR_TO_PAGE(programStartAddress)));
+
+        currentPage = W25N01G_LINEAR_TO_PAGE(programStartAddress); // reset page to the page being written
+
+        w25n01g_programExecute(fdevice, W25N01G_LINEAR_TO_PAGE(programStartAddress));
+
+        bufferDirty = false;
+        isProgramming = true;
+    } else {
+        PAGEPROG_DPRINTF(("    Buffer is clean\r\n"));
+        isProgramming = false;
+    }
+}
+
+void w25n01g_addError(uint32_t address, uint8_t code)
+{
+    UNUSED(address);
+    UNUSED(code);
+    DPRINTF(("addError: PA %x BA %x code %d\r\n", W25N01G_LINEAR_TO_PAGE(address), W25N01G_LINEAR_TO_BLOCK(address), code));
+}
+
+/**
+ * Read `length` bytes into the provided `buffer` from the flash starting from the given `address` (which need not lie
+ * on a page boundary).
+ *
+ * Waits up to W25N01G_TIMEOUT_PAGE_READ_MS milliseconds for the flash to become ready before reading.
+ *
+ * The number of bytes actually read is returned, which can be zero if an error or timeout occurred.
+ */
+
+// Continuous read mode (BUF = 0):
+// (1) "Page Data Read" command is executed for the page pointed by address
+// (2) "Read Data" command is executed for bytes not requested and data are discarded
+// (3) "Read Data" command is executed and data are stored directly into caller's buffer
+//
+// Buffered read mode (BUF = 1), non-read ahead
+// (1) If currentBufferPage != requested page, then issue PAGE_DATA_READ on requested page.
+// (2) Compute transferLength as smaller of remaining length and requested length.
+// (3) Issue READ_DATA on column address.
+// (4) Return transferLength.
+
+//#define READBYTES_DPRINTF DPRINTF
+#define READBYTES_DPRINTF(x)
+
+int w25n01g_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, int length)
+{
+    READBYTES_DPRINTF(("readBytes: address 0x%x length %d\r\n", address, length));
+
+    uint32_t targetPage = W25N01G_LINEAR_TO_PAGE(address);
+
+    if (currentPage != targetPage) {
+        READBYTES_DPRINTF(("readBytes: PAGE_DATA_READ page 0x%x\r\n", targetPage));
+
+
+        if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
+            return 0;
+        }
+
+        currentPage = UINT32_MAX;
+
+        w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_PAGE_DATA_READ, targetPage);
+
+        if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
+            return 0;
+        }
+
+        currentPage = targetPage;
+    }
+
+    uint16_t column = W25N01G_LINEAR_TO_COLUMN(address);
+    uint16_t transferLength;
+
+    if (length > W25N01G_PAGE_SIZE - column) {
+        transferLength = W25N01G_PAGE_SIZE - column;
+    } else {
+        transferLength = length;
+    }
+
+    READBYTES_DPRINTF(("readBytes: READ_DATA column 0x%x transferLength 0x%x\r\n", column, transferLength));
+
+    if (fdevice->io.mode == FLASHIO_SPI) {
+        busDevice_t *busdev = fdevice->io.handle.busdev;
+
+        uint8_t cmd[4];
+        cmd[0] = W25N01G_INSTRUCTION_READ_DATA;
+        cmd[1] = (column >> 8) & 0xff;
+        cmd[2] = (column >> 0) & 0xff;
+        cmd[3] = 0;
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        spiTransfer(busdev->busdev_u.spi.instance, NULL, buffer, length);
+        DISABLE(busdev);
+
+    }
+#ifdef USE_QUADSPI
+    else if (fdevice->io.mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
+
+        //quadSpiReceiveWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_READ_DATA, 8, column, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, buffer, length);
+        quadSpiReceiveWithAddress4LINES(quadSpi, W25N01G_INSTRUCTION_FAST_READ_QUAD_OUTPUT, 8, column, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, buffer, length);
+    }
+#endif
+
+    // XXX Don't need this?
+    if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
+        return 0;
+    }
+
+    // Check ECC
+
+    uint8_t statReg = w25n01g_readRegister(&fdevice->io, W25N01G_STAT_REG);
+    uint8_t eccCode = W25N01G_STATUS_FLAG_ECC(statReg);
+
+    switch (eccCode) {
+    case 0: // Successful read, no ECC correction
+        break;
+    case 1: // Successful read with ECC correction
+    case 2: // Uncorrectable ECC in a single page
+    case 3: // Uncorrectable ECC in multiple pages
+        w25n01g_addError(address, eccCode);
+        w25n01g_deviceReset(fdevice);
+        break;
+    }
+
+    READBYTES_DPRINTF(("readBytes: transfered 0x%x bytes\r\n", transferLength));
+
+    return transferLength;
+}
+
+int w25n01g_readExtensionBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, int length)
+{
+
+    w25n01g_performCommandWithPageAddress(&fdevice->io, W25N01G_INSTRUCTION_PAGE_DATA_READ, W25N01G_LINEAR_TO_PAGE(address));
+
+    if (!w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_READ_MS)) {
+        return 0;
+    }
+
+    uint32_t column = 2048;
+
+    if (fdevice->io.mode == FLASHIO_SPI) {
+        busDevice_t *busdev = fdevice->io.handle.busdev;
+
+        uint8_t cmd[4];
+        cmd[0] = W25N01G_INSTRUCTION_READ_DATA;
+        cmd[1] = (column >> 8) & 0xff;
+        cmd[2] = (column >> 0) & 0xff;
+        cmd[3] = 0;
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        spiTransfer(busdev->busdev_u.spi.instance, NULL, buffer, length);
+        DISABLE(busdev);
+
+    }
+#ifdef USE_QUADSPI
+    else if (fdevice->io.mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
+
+        quadSpiReceiveWithAddress1LINE(quadSpi, W25N01G_INSTRUCTION_READ_DATA, 8, column, W28N01G_STATUS_COLUMN_ADDRESS_SIZE, buffer, length);
+    }
+#endif
+
+    return length;
+}
+
+/**
+ * Fetch information about the detected flash chip layout.
+ *
+ * Can be called before calling w25n01g_init() (the result would have totalSize = 0).
+ */
+const flashGeometry_t* w25n01g_getGeometry(flashDevice_t *fdevice)
+{
+    return &fdevice->geometry;
+}
+
+const flashVTable_t w25n01g_vTable = {
+    .isReady = w25n01g_isReady,
+    .waitForReady = w25n01g_waitForReady,
+    .eraseSector = w25n01g_eraseSector,
+    .eraseCompletely = w25n01g_eraseCompletely,
+    .pageProgramBegin = w25n01g_pageProgramBegin,
+    .pageProgramContinue = w25n01g_pageProgramContinue,
+    .pageProgramFinish = w25n01g_pageProgramFinish,
+    .pageProgram = w25n01g_pageProgram,
+    .flush = w25n01g_flush,
+    .readBytes = w25n01g_readBytes,
+    .getGeometry = w25n01g_getGeometry,
+};
+
+void w25n01g_readBBLUT(flashDevice_t *fdevice, bblut_t *bblut, int lutsize)
+{
+
+    uint8_t in[4];
+
+    if (fdevice->io.mode == FLASHIO_SPI) {
+        busDevice_t *busdev = fdevice->io.handle.busdev;
+
+        uint8_t cmd[4];
+
+        cmd[0] = W25N01G_INSTRUCTION_READ_BBM_LUT;
+        cmd[1] = 0;
+
+        ENABLE(busdev);
+
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, 2);
+
+        for (int i = 0 ; i < lutsize ; i++) {
+            spiTransfer(busdev->busdev_u.spi.instance, NULL, in, 4);
+            bblut[i].pba = (in[0] << 16)|in[1];
+            bblut[i].lba = (in[2] << 16)|in[3];
+        }
+
+        DISABLE(busdev);
+    }
+#ifdef USE_QUADSPI
+    else if (fdevice->io.mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
+
+        // Note: Using HAL QuadSPI there doesn't appear to be a way to send 2 bytes, then blocks of 4 bytes, while keeping the CS line LOW
+        // thus, we have to read the entire BBLUT in one go and process the result.
+
+        uint8_t bblutBuffer[W25N01G_BBLUT_TABLE_ENTRY_COUNT * W25N01G_BBLUT_TABLE_ENTRY_SIZE];
+        quadSpiReceive1LINE(quadSpi, W25N01G_INSTRUCTION_READ_BBM_LUT, 8, bblutBuffer, sizeof(bblutBuffer));
+
+        for (int i = 0, offset = 0 ; i < lutsize ; i++, offset += 4) {
+            if (i < W25N01G_BBLUT_TABLE_ENTRY_COUNT) {
+                bblut[i].pba = (in[offset + 0] << 16)|in[offset + 1];
+                bblut[i].lba = (in[offset + 2] << 16)|in[offset + 3];
+            }
+        }
+    }
+#endif
+}
+
+void w25n01g_writeBBLUT(flashDevice_t *fdevice, uint16_t lba, uint16_t pba)
+{
+    if (fdevice->io.mode == FLASHIO_SPI) {
+        busDevice_t *busdev = fdevice->io.handle.busdev;
+
+        uint8_t cmd[5] = { W25N01G_INSTRUCTION_BB_MANAGEMENT, lba >> 8, lba, pba >> 8, pba };
+
+        ENABLE(busdev);
+        spiTransfer(busdev->busdev_u.spi.instance, cmd, NULL, sizeof(cmd));
+        DISABLE(busdev);
+    }
+#ifdef USE_QUADSPI
+    else if (fdevice->io.mode == FLASHIO_QUADSPI) {
+        QUADSPI_TypeDef *quadSpi = fdevice->io.handle.quadSpi;
+
+        uint8_t data[4] = { lba >> 8, lba, pba >> 8, pba };
+        quadSpiInstructionWithData1LINE(quadSpi, W25N01G_INSTRUCTION_BB_MANAGEMENT, 0, data, sizeof(data));
+    }
+#endif
+
+    w25n01g_waitForReady(fdevice, W25N01G_TIMEOUT_PAGE_PROGRAM_MS);
+}
+
+static void w25n01g_deviceInit(flashDevice_t *flashdev)
+{
+    UNUSED(flashdev);
+}
+#endif

src/main/drivers/flash_w25n01g.h

@@ -0,0 +1,25 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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/>.
+ *
+ * Author: jflyper
+ */
+
+#pragma once
+
+bool w25n01g_detect(flashDevice_t *fdevice, uint32_t chipID);

src/main/fc/config.c

@@ -41,6 +41,7 @@
 #include "fc/rc.h"
 #include "fc/rc_adjustments.h"
 #include "fc/rc_controls.h"
+#include "fc/runtime_config.h"
 
 #include "flight/failsafe.h"
 #include "flight/imu.h"
@@ -72,6 +73,8 @@
 
 static bool configIsDirty; /* someone indicated that the config is modified and it is not yet saved */
 
+static bool rebootRequired = false;  // set if a config change requires a reboot to take effect
+
 pidProfile_t *currentPidProfile;
 
 #ifndef RX_SPI_DEFAULT_PROTOCOL
@@ -742,3 +745,14 @@ bool isSystemConfigured(void)
     return true;
 #endif
 }
+
+void setRebootRequired(void)
+{
+    rebootRequired = true;
+    setArmingDisabled(ARMING_DISABLED_REBOOT_REQUIRED);
+}
+
+bool getRebootRequired(void)
+{
+    return rebootRequired;
+}

src/main/fc/config.h

@@ -55,6 +55,7 @@ PG_DECLARE(systemConfig_t, systemConfig);
 struct pidProfile_s;
 extern struct pidProfile_s *currentPidProfile;
 
+
 void initEEPROM(void);
 void resetEEPROM(void);
 bool readEEPROM(void);
@@ -86,3 +87,5 @@ void targetConfiguration(void);
 void targetValidateConfiguration(void);
 
 bool isSystemConfigured(void);
+void setRebootRequired(void);
+bool getRebootRequired(void);

src/main/fc/controlrate_profile.h

@@ -27,6 +27,7 @@
 typedef enum {
     RATES_TYPE_BETAFLIGHT = 0,
     RATES_TYPE_RACEFLIGHT,
+    RATES_TYPE_KISS,
 } ratesType_e;
 
 typedef enum {

src/main/fc/init.c

@@ -716,11 +716,9 @@ void init(void)
 #endif
 
 #ifdef USE_FLASH_CHIP
-    bool haveFlash = flashInit(flashConfig());
+    flashInit(flashConfig());
 #ifdef USE_FLASHFS
-    if (haveFlash) {
+    flashfsInit();
-        flashfsInit();
-    }
 #endif
 #endif
 

src/main/fc/rc.c

@@ -148,6 +148,17 @@ float applyRaceFlightRates(const int axis, float rcCommandf, const float rcComma
     return angleRate;
 }
 
+float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs)
+{
+    const float rcCurvef = currentControlRateProfile->rcExpo[axis] / 100.0f;
+
+    float kissRpyUseRates = 1.0f / (constrainf(1.0f - (rcCommandfAbs * (currentControlRateProfile->rates[axis] / 100.0f)), 0.01f, 1.00f));    
+    float kissRcCommandf = (power3(rcCommandf) * rcCurvef + rcCommandf * (1 - rcCurvef)) * (currentControlRateProfile->rcRates[axis] / 1000.0f);
+    float kissAngle = constrainf(((2000.0f * kissRpyUseRates) * kissRcCommandf), -SETPOINT_RATE_LIMIT, SETPOINT_RATE_LIMIT);
+
+    return kissAngle;
+}
+
 static void calculateSetpointRate(int axis)
 {
     float angleRate;
@@ -286,10 +297,10 @@ FAST_CODE uint8_t processRcInterpolation(void)
 #ifdef USE_RC_SMOOTHING_FILTER
 // Determine a cutoff frequency based on filter type and the calculated
 // average rx frame time
-FAST_CODE_NOINLINE int calcRcSmoothingCutoff(int avgRxFrameTimeUs, bool pt1)
+FAST_CODE_NOINLINE int calcRcSmoothingCutoff(int avgRxFrameTimeUs, bool pt1, uint8_t autoSmoothnessFactor)
 {
     if (avgRxFrameTimeUs > 0) {
-        const float cutoffFactor = (100 - rxConfig()->rc_smoothing_auto_factor) / 100.0f;
+        const float cutoffFactor = (100 - autoSmoothnessFactor) / 100.0f;
         float cutoff = (1 / (avgRxFrameTimeUs * 1e-6f)) / 2;  // calculate the nyquist frequency
         cutoff = cutoff * cutoffFactor;
 
@@ -316,15 +327,15 @@ FAST_CODE_NOINLINE void rcSmoothingSetFilterCutoffs(rcSmoothingFilter_t *smoothi
     const float dT = targetPidLooptime * 1e-6f;
     uint16_t oldCutoff = smoothingData->inputCutoffFrequency;
     
-    if (rxConfig()->rc_smoothing_input_cutoff == 0) {
+    if (smoothingData->inputCutoffSetting == 0) {
-        smoothingData->inputCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (rxConfig()->rc_smoothing_input_type == RC_SMOOTHING_INPUT_PT1));
+        smoothingData->inputCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (smoothingData->inputFilterType == RC_SMOOTHING_INPUT_PT1), smoothingData->autoSmoothnessFactor);
     }
 
     // initialize or update the input filter
     if ((smoothingData->inputCutoffFrequency != oldCutoff) || !smoothingData->filterInitialized) {
         for (int i = 0; i < PRIMARY_CHANNEL_COUNT; i++) {
             if ((1 << i) & interpolationChannels) {  // only update channels specified by rc_interp_ch
-                switch (rxConfig()->rc_smoothing_input_type) {
+                switch (smoothingData->inputFilterType) {
                 
                     case RC_SMOOTHING_INPUT_PT1:
                         if (!smoothingData->filterInitialized) {
@@ -349,12 +360,12 @@ FAST_CODE_NOINLINE void rcSmoothingSetFilterCutoffs(rcSmoothingFilter_t *smoothi
 
     // update or initialize the derivative filter
     oldCutoff = smoothingData->derivativeCutoffFrequency;
-    if ((rxConfig()->rc_smoothing_derivative_cutoff == 0) && (rxConfig()->rc_smoothing_derivative_type != RC_SMOOTHING_DERIVATIVE_OFF)) {
+    if ((smoothingData->derivativeCutoffSetting == 0) && (smoothingData->derivativeFilterType != RC_SMOOTHING_DERIVATIVE_OFF)) {
-        smoothingData->derivativeCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (rxConfig()->rc_smoothing_derivative_type == RC_SMOOTHING_DERIVATIVE_PT1));
+        smoothingData->derivativeCutoffFrequency = calcRcSmoothingCutoff(smoothingData->averageFrameTimeUs, (smoothingData->derivativeFilterType == RC_SMOOTHING_DERIVATIVE_PT1), smoothingData->autoSmoothnessFactor);
     }
 
     if (!smoothingData->filterInitialized) {
-        pidInitSetpointDerivativeLpf(smoothingData->derivativeCutoffFrequency, rxConfig()->rc_smoothing_debug_axis, rxConfig()->rc_smoothing_derivative_type);
+        pidInitSetpointDerivativeLpf(smoothingData->derivativeCutoffFrequency, smoothingData->debugAxis, smoothingData->derivativeFilterType);
     } else if (smoothingData->derivativeCutoffFrequency != oldCutoff) {
         pidUpdateSetpointDerivativeLpf(smoothingData->derivativeCutoffFrequency);
     }
@@ -395,13 +406,13 @@ FAST_CODE_NOINLINE bool rcSmoothingAutoCalculate(void)
     bool ret = false;
 
     // if the input cutoff is 0 (auto) then we need to calculate cutoffs
-    if (rxConfig()->rc_smoothing_input_cutoff == 0) {
+    if (rcSmoothingData.inputCutoffSetting == 0) {
         ret = true;
     }
 
     // if the derivative type isn't OFF and the cutoff is 0 then we need to calculate
-    if (rxConfig()->rc_smoothing_derivative_type != RC_SMOOTHING_DERIVATIVE_OFF) {
+    if (rcSmoothingData.derivativeFilterType != RC_SMOOTHING_DERIVATIVE_OFF) {
-        if (rxConfig()->rc_smoothing_derivative_cutoff == 0) {
+        if (rcSmoothingData.derivativeCutoffSetting == 0) {
             ret = true;
         }
     }
@@ -421,12 +432,18 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
         initialized = true;
         rcSmoothingData.filterInitialized = false;
         rcSmoothingData.averageFrameTimeUs = 0;
+        rcSmoothingData.autoSmoothnessFactor = rxConfig()->rc_smoothing_auto_factor;
+        rcSmoothingData.debugAxis = rxConfig()->rc_smoothing_debug_axis;
+        rcSmoothingData.inputFilterType = rxConfig()->rc_smoothing_input_type;
+        rcSmoothingData.inputCutoffSetting = rxConfig()->rc_smoothing_input_cutoff;
+        rcSmoothingData.derivativeFilterType = rxConfig()->rc_smoothing_derivative_type;
+        rcSmoothingData.derivativeCutoffSetting = rxConfig()->rc_smoothing_derivative_cutoff;
         rcSmoothingResetAccumulation(&rcSmoothingData);
         
-        rcSmoothingData.inputCutoffFrequency = rxConfig()->rc_smoothing_input_cutoff;
+        rcSmoothingData.inputCutoffFrequency = rcSmoothingData.inputCutoffSetting;
         
-        if (rxConfig()->rc_smoothing_derivative_type != RC_SMOOTHING_DERIVATIVE_OFF) {
+        if (rcSmoothingData.derivativeFilterType != RC_SMOOTHING_DERIVATIVE_OFF) {
-            rcSmoothingData.derivativeCutoffFrequency = rxConfig()->rc_smoothing_derivative_cutoff;
+            rcSmoothingData.derivativeCutoffFrequency = rcSmoothingData.derivativeCutoffSetting;
         }
         
         calculateCutoffs = rcSmoothingAutoCalculate();
@@ -511,7 +528,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
     if (rcSmoothingData.filterInitialized && (debugMode == DEBUG_RC_SMOOTHING)) {
         // after training has completed then log the raw rc channel and the calculated
         // average rx frame rate that was used to calculate the automatic filter cutoffs
-        DEBUG_SET(DEBUG_RC_SMOOTHING, 0, lrintf(lastRxData[rxConfig()->rc_smoothing_debug_axis]));
+        DEBUG_SET(DEBUG_RC_SMOOTHING, 0, lrintf(lastRxData[rcSmoothingData.debugAxis]));
         DEBUG_SET(DEBUG_RC_SMOOTHING, 3, rcSmoothingData.averageFrameTimeUs);
     }
 
@@ -519,7 +536,7 @@ FAST_CODE uint8_t processRcSmoothingFilter(void)
     for (updatedChannel = 0; updatedChannel < PRIMARY_CHANNEL_COUNT; updatedChannel++) {
         if ((1 << updatedChannel) & interpolationChannels) {  // only smooth selected channels base on the rc_interp_ch value
             if (rcSmoothingData.filterInitialized) {
-                switch (rxConfig()->rc_smoothing_input_type) {
+                switch (rcSmoothingData.inputFilterType) {
                     case RC_SMOOTHING_INPUT_PT1:
                         rcCommand[updatedChannel] = pt1FilterApply((pt1Filter_t*) &rcSmoothingData.filter[updatedChannel], lastRxData[updatedChannel]);
                         break;
@@ -711,6 +728,10 @@ void initRcProcessing(void)
     case RATES_TYPE_RACEFLIGHT:
         applyRates = applyRaceFlightRates;
 
+        break;
+    case RATES_TYPE_KISS:
+        applyRates = applyKissRates;
+
         break;
     }
 
@@ -749,18 +770,9 @@ bool rcSmoothingIsEnabled(void)
 }
 
 #ifdef USE_RC_SMOOTHING_FILTER
-int rcSmoothingGetValue(int whichValue)
+rcSmoothingFilter_t *getRcSmoothingData(void)
 {
-    switch (whichValue) {
+    return &rcSmoothingData;
-        case RC_SMOOTHING_VALUE_INPUT_ACTIVE:
-            return rcSmoothingData.inputCutoffFrequency;
-        case RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE:
-            return rcSmoothingData.derivativeCutoffFrequency;
-        case RC_SMOOTHING_VALUE_AVERAGE_FRAME:
-            return rcSmoothingData.averageFrameTimeUs;
-        default:
-            return 0;
-    }
 }
 
 bool rcSmoothingInitializationComplete(void) {

src/main/fc/rc.h

@@ -20,6 +20,8 @@
 
 #pragma once
 
+#include "fc/rc_controls.h"
+
 typedef enum {
     INTERPOLATION_CHANNELS_RP,
     INTERPOLATION_CHANNELS_RPY,
@@ -40,6 +42,6 @@ void resetYawAxis(void);
 void initRcProcessing(void);
 bool isMotorsReversed(void);
 bool rcSmoothingIsEnabled(void);
-int rcSmoothingGetValue(int whichValue);
+rcSmoothingFilter_t *getRcSmoothingData(void);
 bool rcSmoothingAutoCalculate(void);
 bool rcSmoothingInitializationComplete(void);

src/main/fc/rc_controls.h

@@ -77,12 +77,6 @@ typedef enum {
     RC_SMOOTHING_DERIVATIVE_BIQUAD
 } rcSmoothingDerivativeFilter_e;
 
-typedef enum {
-    RC_SMOOTHING_VALUE_INPUT_ACTIVE,
-    RC_SMOOTHING_VALUE_DERIVATIVE_ACTIVE,
-    RC_SMOOTHING_VALUE_AVERAGE_FRAME
-} rcSmoothingInfoType_e;
-
 #define ROL_LO (1 << (2 * ROLL))
 #define ROL_CE (3 << (2 * ROLL))
 #define ROL_HI (2 << (2 * ROLL))
@@ -125,10 +119,16 @@ typedef union rcSmoothingFilterTypes_u {
 typedef struct rcSmoothingFilter_s {
     bool filterInitialized;
     rcSmoothingFilterTypes_t filter[4];
+    rcSmoothingInputFilter_e inputFilterType;
+    uint8_t inputCutoffSetting;
     uint16_t inputCutoffFrequency;
+    rcSmoothingDerivativeFilter_e derivativeFilterType;
+    uint8_t derivativeCutoffSetting;
     uint16_t derivativeCutoffFrequency;
     int averageFrameTimeUs;
     rcSmoothingFilterTraining_t training;
+    uint8_t debugAxis;
+    uint8_t autoSmoothnessFactor;
 } rcSmoothingFilter_t;
 
 typedef struct rcControlsConfig_s {

src/main/fc/runtime_config.c

@@ -53,8 +53,9 @@ const char *armingDisableFlagNames[]= {
     "MSP",
     "PARALYZE",
     "GPS",
-    "RESCUE SW",
+    "RESCUE_SW",
     "RPMFILTER",
+    "REBOOT_REQD",
     "ARMSWITCH",
 };
 

src/main/fc/runtime_config.h

@@ -61,7 +61,8 @@ typedef enum {
     ARMING_DISABLED_GPS             = (1 << 18),
     ARMING_DISABLED_RESC            = (1 << 19),
     ARMING_DISABLED_RPMFILTER       = (1 << 20),
-    ARMING_DISABLED_ARM_SWITCH      = (1 << 21), // Needs to be the last element, since it's always activated if one of the others is active when arming
+    ARMING_DISABLED_REBOOT_REQUIRED = (1 << 21),
+    ARMING_DISABLED_ARM_SWITCH      = (1 << 22), // Needs to be the last element, since it's always activated if one of the others is active when arming
 } armingDisableFlags_e;
 
 #define ARMING_DISABLE_FLAGS_COUNT (LOG2(ARMING_DISABLED_ARM_SWITCH) + 1)

src/main/flight/gps_rescue.c

@@ -116,6 +116,12 @@ typedef struct {
     bool isAvailable;
 } rescueState_s;
 
+typedef enum {
+    MAX_ALT,
+    FIXED_ALT,
+    CURRENT_ALT
+} altitudeMode_e;
+
 #define GPS_RESCUE_MAX_YAW_RATE         180 // deg/sec max yaw rate
 #define GPS_RESCUE_RATE_SCALE_DEGREES    45 // Scale the commanded yaw rate when the error is less then this angle
 #define GPS_RESCUE_SLOWDOWN_DISTANCE_M  200 // distance from home to start decreasing speed
@@ -150,6 +156,7 @@ PG_RESET_TEMPLATE(gpsRescueConfig_t, gpsRescueConfig,
     .useMag = GPS_RESCUE_USE_MAG,
     .targetLandingAltitudeM = 5,
     .targetLandingDistanceM = 10,
+    .altitudeMode = MAX_ALT,
 );
 
 static uint16_t rescueThrottle;
@@ -165,6 +172,7 @@ bool          magForceDisable = false;
 static bool newGPSData = false;
 
 rescueState_s rescueState;
+altitudeMode_e altitudeMode;
 
 /*
  If we have new GPS data, update home heading
@@ -486,6 +494,7 @@ void updateGPSRescueState(void)
     static float_t lineSlope;
     static float_t lineOffsetM;
     static int32_t newSpeed;
+    static uint32_t newAltitude;
 
     if (!FLIGHT_MODE(GPS_RESCUE_MODE)) {
         rescueStop();
@@ -536,6 +545,18 @@ void updateGPSRescueState(void)
             newDescentDistanceM = gpsRescueConfig()->descentDistanceM;
         }
         
+        switch (altitudeMode) {
+            case MAX_ALT:
+                newAltitude = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
+                break;
+            case FIXED_ALT:
+                newAltitude = gpsRescueConfig()->initialAltitudeM * 100;
+                break;
+            case CURRENT_ALT:
+                newAltitude = rescueState.sensor.currentAltitudeCm;
+                break;
+        }
+
         //Calculate angular coefficient and offset for equation of line from 2 points needed for RESCUE_LANDING_APPROACH
         lineSlope = ((float)gpsRescueConfig()->initialAltitudeM  - gpsRescueConfig()->targetLandingAltitudeM) / (newDescentDistanceM - gpsRescueConfig()->targetLandingDistanceM);
         lineOffsetM = gpsRescueConfig()->initialAltitudeM - lineSlope * newDescentDistanceM;
@@ -549,7 +570,7 @@ void updateGPSRescueState(void)
         }
 
         rescueState.intent.targetGroundspeed = 500;
-        rescueState.intent.targetAltitudeCm = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
+        rescueState.intent.targetAltitudeCm = newAltitude;
         rescueState.intent.crosstrack = true;
         rescueState.intent.minAngleDeg = 10;
         rescueState.intent.maxAngleDeg = 15;
@@ -562,7 +583,7 @@ void updateGPSRescueState(void)
         // We can assume at this point that we are at or above our RTH height, so we need to try and point to home and tilt while maintaining alt
         // Is our altitude way off?  We should probably kick back to phase RESCUE_ATTAIN_ALT
         rescueState.intent.targetGroundspeed = gpsRescueConfig()->rescueGroundspeed;
-        rescueState.intent.targetAltitudeCm = MAX(gpsRescueConfig()->initialAltitudeM * 100, rescueState.sensor.maxAltitudeCm + 1500);
+        rescueState.intent.targetAltitudeCm = newAltitude;
         rescueState.intent.crosstrack = true;
         rescueState.intent.minAngleDeg = 15;
         rescueState.intent.maxAngleDeg = gpsRescueConfig()->angle;

src/main/flight/gps_rescue.h

@@ -39,6 +39,7 @@ typedef struct gpsRescue_s {
     uint8_t useMag;
     uint16_t targetLandingAltitudeM; //meters
     uint16_t targetLandingDistanceM; //meters
+    uint8_t altitudeMode;
 } gpsRescueConfig_t;
 
 PG_DECLARE(gpsRescueConfig_t, gpsRescueConfig);

src/main/flight/pid.c

@@ -185,11 +185,11 @@ void resetPidProfile(pidProfile_t *pidProfile)
                                     // overridden and the static lowpass 1 is disabled. We can't set this
                                     // value to 0 otherwise Configurator versions 10.4 and earlier will also
                                     // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
-        .dterm_lowpass2_hz = 100,   // second Dterm LPF ON by default
+        .dterm_lowpass2_hz = 150,   // second Dterm LPF ON by default
         .dterm_filter_type = FILTER_BIQUAD,
         .dterm_filter2_type = FILTER_PT1,
-        .dyn_lpf_dterm_min_hz = 150,
+        .dyn_lpf_dterm_min_hz = 70,
-        .dyn_lpf_dterm_max_hz = 250,
+        .dyn_lpf_dterm_max_hz = 170,
         .launchControlMode = LAUNCH_CONTROL_MODE_NORMAL,
         .launchControlThrottlePercent = 20,
         .launchControlAngleLimit = 0,

src/main/io/asyncfatfs/asyncfatfs.c

@@ -58,7 +58,7 @@
     #define ONLY_EXPOSE_FOR_TESTING static
 #endif
 
-#define AFATFS_NUM_CACHE_SECTORS 8
+#define AFATFS_NUM_CACHE_SECTORS 10
 
 // FAT filesystems are allowed to differ from these parameters, but we choose not to support those weird filesystems:
 #define AFATFS_SECTOR_SIZE  512

src/main/io/displayport_hott.c

@@ -1,18 +1,21 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * Cleanflight and Betaflight are free software. You can redistribute
- * it under the terms of the GNU General Public License as published by
+ * this software and/or modify this software under the terms of the
- * the Free Software Foundation, either version 3 of the License, or
+ * GNU General Public License as published by the Free Software
- * (at your option) any later version.
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * Cleanflight and Betaflight are distributed in the hope that they
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * GNU General Public License for more details.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
  */
 
 #include <stdbool.h>

src/main/io/displayport_hott.h

@@ -1,18 +1,21 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * Cleanflight and Betaflight are free software. You can redistribute
- * it under the terms of the GNU General Public License as published by
+ * this software and/or modify this software under the terms of the
- * the Free Software Foundation, either version 3 of the License, or
+ * GNU General Public License as published by the Free Software
- * (at your option) any later version.
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * Cleanflight and Betaflight are distributed in the hope that they
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * GNU General Public License for more details.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
  */
 
 #pragma once

src/main/io/flashfs.c

@@ -38,10 +38,15 @@
 
 #include "platform.h"
 
+#include "common/printf.h"
 #include "drivers/flash.h"
 
 #include "io/flashfs.h"
 
+static const flashPartition_t *flashPartition = NULL;
+static const flashGeometry_t *flashGeometry = NULL;
+static uint32_t flashfsSize = 0;
+
 static uint8_t flashWriteBuffer[FLASHFS_WRITE_BUFFER_SIZE];
 
 /* The position of our head and tail in the circular flash write buffer.
@@ -73,7 +78,10 @@ static void flashfsSetTailAddress(uint32_t address)
 
 void flashfsEraseCompletely(void)
 {
-    flashEraseCompletely();
+    for (flashSector_t sectorIndex = flashPartition->startSector; sectorIndex <= flashPartition->endSector; sectorIndex++) {
+        uint32_t sectorAddress = sectorIndex * flashGeometry->sectorSize;
+        flashEraseSector(sectorAddress);
+    }
 
     flashfsClearBuffer();
 
@@ -86,24 +94,23 @@ void flashfsEraseCompletely(void)
  */
 void flashfsEraseRange(uint32_t start, uint32_t end)
 {
-    const flashGeometry_t *geometry = flashGetGeometry();
+    if (flashGeometry->sectorSize <= 0)
-
-    if (geometry->sectorSize <= 0)
         return;
 
     // Round the start down to a sector boundary
-    int startSector = start / geometry->sectorSize;
+    int startSector = start / flashGeometry->sectorSize;
 
     // And the end upward
-    int endSector = end / geometry->sectorSize;
+    int endSector = end / flashGeometry->sectorSize;
-    int endRemainder = end % geometry->sectorSize;
+    int endRemainder = end % flashGeometry->sectorSize;
 
     if (endRemainder > 0) {
         endSector++;
     }
 
-    for (int i = startSector; i < endSector; i++) {
+    for (int sectorIndex = startSector; sectorIndex < endSector; sectorIndex++) {
-        flashEraseSector(i * geometry->sectorSize);
+        uint32_t sectorAddress = sectorIndex * flashGeometry->sectorSize;
+        flashEraseSector(sectorAddress);
     }
 }
 
@@ -119,12 +126,12 @@ bool flashfsIsReady(void)
 
 bool flashfsIsSupported(void)
 {
-    return flashfsGetSize() > 0;
+    return flashfsSize > 0;
 }
 
 uint32_t flashfsGetSize(void)
 {
-    return flashGetGeometry()->totalSize;
+    return flashfsSize;
 }
 
 static uint32_t flashfsTransmitBufferUsed(void)
@@ -151,11 +158,6 @@ uint32_t flashfsGetWriteBufferFreeSpace(void)
     return flashfsGetWriteBufferSize() - flashfsTransmitBufferUsed();
 }
 
-const flashGeometry_t* flashfsGetGeometry(void)
-{
-    return flashGetGeometry();
-}
-
 /**
  * Write the given buffers to flash sequentially at the current tail address, advancing the tail address after
  * each write.
@@ -191,7 +193,7 @@ static uint32_t flashfsWriteBuffers(uint8_t const **buffers, uint32_t *bufferSiz
 
     uint32_t bytesTotalRemaining = bytesTotal;
 
-    uint16_t pageSize = flashfsGetGeometry()->pageSize;
+    uint16_t pageSize = flashGeometry->pageSize;
 
     while (bytesTotalRemaining > 0) {
         uint32_t bytesTotalThisIteration;
@@ -481,9 +483,9 @@ int flashfsReadAbs(uint32_t address, uint8_t *buffer, unsigned int len)
     int bytesRead;
 
     // Did caller try to read past the end of the volume?
-    if (address + len > flashfsGetSize()) {
+    if (address + len > flashfsSize) {
         // Truncate their request
-        len = flashfsGetSize() - address;
+        len = flashfsSize - address;
     }
 
     // Since the read could overlap data in our dirty buffers, force a sync to clear those first
@@ -527,7 +529,7 @@ int flashfsIdentifyStartOfFreeSpace(void)
     } testBuffer;
 
     int left = 0; // Smallest block index in the search region
-    int right = flashfsGetSize() / FREE_BLOCK_SIZE; // One past the largest block index in the search region
+    int right = flashfsSize / FREE_BLOCK_SIZE; // One past the largest block index in the search region
     int mid;
     int result = right;
     int i;
@@ -570,12 +572,12 @@ int flashfsIdentifyStartOfFreeSpace(void)
  */
 bool flashfsIsEOF(void)
 {
-    return tailAddress >= flashfsGetSize();
+    return tailAddress >= flashfsSize;
 }
 
 void flashfsClose(void)
 {
-    switch(flashfsGetGeometry()->flashType) {
+    switch(flashGeometry->flashType) {
     case FLASH_TYPE_NOR:
         break;
 
@@ -583,7 +585,7 @@ void flashfsClose(void)
         flashFlush();
 
         // Advance tailAddress to next page boundary.
-        uint32_t pageSize = flashfsGetGeometry()->pageSize;
+        uint32_t pageSize = flashGeometry->pageSize;
         flashfsSetTailAddress((tailAddress + pageSize - 1) & ~(pageSize - 1));
 
         break;
@@ -595,9 +597,58 @@ void flashfsClose(void)
  */
 void flashfsInit(void)
 {
-    // If we have a flash chip present at all
+    flashfsSize = 0;
-    if (flashfsGetSize() > 0) {
+
-        // Start the file pointer off at the beginning of free space so caller can start writing immediately
+    flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
-        flashfsSeekAbs(flashfsIdentifyStartOfFreeSpace());
+    flashGeometry = flashGetGeometry();
+
+    if (!flashPartition) {
+        return;
     }
+
+    flashfsSize = FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize;
+
+    // Start the file pointer off at the beginning of free space so caller can start writing immediately
+    flashfsSeekAbs(flashfsIdentifyStartOfFreeSpace());
 }
+
+#ifdef USE_FLASH_TOOLS
+bool flashfsVerifyEntireFlash(void)
+{
+    flashfsEraseCompletely();
+    flashfsInit();
+
+    uint32_t address = 0;
+    flashfsSeekAbs(address);
+
+    const int bufferSize = 32;
+    char buffer[bufferSize + 1];
+
+    const uint32_t testLimit = flashfsGetSize();
+
+    for (address = 0; address < testLimit; address += bufferSize) {
+        tfp_sprintf(buffer, "%08x >> **0123456789ABCDEF**", address);
+        flashfsWrite((uint8_t*)buffer, strlen(buffer), true);
+    }
+    flashfsFlushSync();
+    flashfsClose();
+
+    char expectedBuffer[bufferSize + 1];
+
+    flashfsSeekAbs(0);
+
+    int verificationFailures = 0;
+    for (address = 0; address < testLimit; address += bufferSize) {
+        tfp_sprintf(expectedBuffer, "%08x >> **0123456789ABCDEF**", address);
+
+        memset(buffer, 0, sizeof(buffer));
+        int bytesRead = flashfsReadAbs(address, (uint8_t *)buffer, bufferSize);
+
+        int result = strncmp(buffer, expectedBuffer, bufferSize);
+        if (result != 0 || bytesRead != bufferSize) {
+            verificationFailures++;
+        }
+    }
+    return verificationFailures == 0;
+}
+#endif // USE_FLASH_TOOLS

src/main/io/flashfs.h

@@ -54,3 +54,6 @@ bool flashfsIsSupported(void);
 
 bool flashfsIsReady(void);
 bool flashfsIsEOF(void);
+
+bool flashfsVerifyEntireFlash(void);
+

src/main/msc/usbd_storage.h

@@ -1,20 +1,22 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * Cleanflight and Betaflight are free software. You can redistribute
- * it under the terms of the GNU General Public License as published by
+ * this software and/or modify this software under the terms of the
- * the Free Software Foundation, either version 3 of the License, or
+ * GNU General Public License as published by the Free Software
- * (at your option) any later version.
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * Cleanflight and Betaflight are distributed in the hope that they
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * GNU General Public License for more details.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
- */
+ *
-/*
+ * If not, see <http://www.gnu.org/licenses/>.
+ *
  * Author: Chris Hockuba (https://github.com/conkerkh)
  */
 

src/main/msc/usbd_storage_emfat.h

@@ -1,21 +1,23 @@
 /*
- * This file is part of Cleanflight.
+ * This file is part of Cleanflight and Betaflight.
  *
- * Cleanflight is free software: you can redistribute it and/or modify
+ * Cleanflight and Betaflight are free software. You can redistribute
- * it under the terms of the GNU General Public License as published by
+ * this software and/or modify this software under the terms of the
- * the Free Software Foundation, either version 3 of the License, or
+ * GNU General Public License as published by the Free Software
- * (at your option) any later version.
+ * Foundation, either version 3 of the License, or (at your option)
+ * any later version.
  *
- * Cleanflight is distributed in the hope that it will be useful,
+ * Cleanflight and Betaflight are distributed in the hope that they
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * will be useful, but WITHOUT ANY WARRANTY; without even the implied
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
- * GNU General Public License for more details.
+ * See the GNU General Public License for more details.
  *
  * You should have received a copy of the GNU General Public License
- * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ * along with this software.
+ *
+ * If not, see <http://www.gnu.org/licenses/>.
  *
  * Author: jflyper (https://github.com/jflyper)
- *
  */
 
 #pragma once

src/main/msp/msp.c

@@ -241,6 +241,14 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
 }
 #endif //USE_SERIAL_4WAY_BLHELI_INTERFACE
 
+static void configRebootUpdateCheckU8(uint8_t *parm, uint8_t value)
+{
+    if (*parm != value) {
+        setRebootRequired();
+    }
+    *parm = value;
+}
+
 static void mspRebootFn(serialPort_t *serialPort)
 {
     UNUSED(serialPort);
@@ -337,10 +345,12 @@ static void serializeDataflashSummaryReply(sbuf_t *dst)
     if (flashfsIsSupported()) {
         uint8_t flags = MSP_FLASHFS_FLAG_SUPPORTED;
         flags |= (flashfsIsReady() ? MSP_FLASHFS_FLAG_READY : 0);
-        const flashGeometry_t *geometry = flashfsGetGeometry();
+
+        const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
+
         sbufWriteU8(dst, flags);
-        sbufWriteU32(dst, geometry->sectors);
+        sbufWriteU32(dst, FLASH_PARTITION_SECTOR_COUNT(flashPartition));
-        sbufWriteU32(dst, geometry->totalSize);
+        sbufWriteU32(dst, flashfsGetSize());
         sbufWriteU32(dst, flashfsGetOffset()); // Effectively the current number of bytes stored on the volume
     } else
 #endif
@@ -860,6 +870,10 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
             // 4 bytes, flags
             const uint32_t armingDisableFlags = getArmingDisableFlags();
             sbufWriteU32(dst, armingDisableFlags);
+
+            // config state flags - bits to indicate the state of the configuration, reboot required, etc.
+            // other flags can be added as needed
+            sbufWriteU8(dst, (getRebootRequired() << 0));
         }
         break;
 
@@ -2342,7 +2356,7 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
 #ifdef USE_FLASHFS
     case MSP_DATAFLASH_ERASE:
         flashfsEraseCompletely();
-        flashfsInit();
+
         break;
 #endif
 
@@ -2431,11 +2445,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             // Added in MSP API 1.40
             rxConfigMutable()->rcInterpolationChannels = sbufReadU8(src);
 #if defined(USE_RC_SMOOTHING_FILTER)
-            rxConfigMutable()->rc_smoothing_type = sbufReadU8(src);
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_type, sbufReadU8(src));
-            rxConfigMutable()->rc_smoothing_input_cutoff = sbufReadU8(src);
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_cutoff, sbufReadU8(src));
-            rxConfigMutable()->rc_smoothing_derivative_cutoff = sbufReadU8(src);
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_cutoff, sbufReadU8(src));
-            rxConfigMutable()->rc_smoothing_input_type = sbufReadU8(src);
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_input_type, sbufReadU8(src));
-            rxConfigMutable()->rc_smoothing_derivative_type = sbufReadU8(src);
+            configRebootUpdateCheckU8(&rxConfigMutable()->rc_smoothing_derivative_type, sbufReadU8(src));
 #else
             sbufReadU8(src);
             sbufReadU8(src);

src/main/osd/osd.c

@@ -345,7 +345,7 @@ static void osdResetStats(void)
     stats.max_g_force  = 0;
     stats.max_esc_temp = 0;
     stats.max_esc_rpm  = 0;
-    stats.min_link_quality = 99; // percent
+    stats.min_link_quality =  (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) ? 300 : 99; // CRSF  : percent
 }
 
 static void osdUpdateStats(void)
@@ -436,8 +436,11 @@ static void osdGetBlackboxStatusString(char * buff)
 #ifdef USE_FLASHFS
     case BLACKBOX_DEVICE_FLASH:
         if (storageDeviceIsWorking) {
-            const flashGeometry_t *geometry = flashfsGetGeometry();
+
-            storageTotal = geometry->totalSize / 1024;
+            const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_FLASHFS);
+            const flashGeometry_t *flashGeometry = flashGetGeometry();
+
+            storageTotal = ((FLASH_PARTITION_SECTOR_COUNT(flashPartition) * flashGeometry->sectorSize) / 1024);
             storageUsed = flashfsGetOffset() / 1024;
         }
         break;
@@ -614,7 +617,7 @@ static uint8_t osdShowStats(uint16_t endBatteryVoltage, int statsRowCount)
 
 #ifdef USE_RX_LINK_QUALITY_INFO
     if (osdStatGetState(OSD_STAT_MIN_LINK_QUALITY)) {
-        itoa(stats.min_link_quality, buff, 10);
+        tfp_sprintf(buff, "%d", stats.min_link_quality);
         strcat(buff, "%");
         osdDisplayStatisticLabel(top++, "MIN LINK", buff);
     }

src/main/osd/osd.h

@@ -195,6 +195,7 @@ typedef enum {
 typedef enum {
     OSD_TIMER_PREC_SECOND,
     OSD_TIMER_PREC_HUNDREDTHS,
+    OSD_TIMER_PREC_TENTHS,
     OSD_TIMER_PREC_COUNT
 } osd_timer_precision_e;
 
@@ -251,8 +252,8 @@ typedef struct osdConfig_s {
     uint8_t ahInvert;         // invert the artificial horizon
     uint8_t osdProfileIndex;
     uint8_t overlay_radio_mode;
-    uint8_t link_quality_alarm;
     char profile[OSD_PROFILE_COUNT][OSD_PROFILE_NAME_LENGTH + 1];
+    uint16_t link_quality_alarm;
 } osdConfig_t;
 
 PG_DECLARE(osdConfig_t, osdConfig);
@@ -268,7 +269,7 @@ typedef struct statistic_s {
     float max_g_force;
     int16_t max_esc_temp;
     int32_t max_esc_rpm;
-    uint8_t min_link_quality;
+    uint16_t min_link_quality;
 } statistic_t;
 
 extern timeUs_t resumeRefreshAt;

src/main/osd/osd_elements.c

@@ -286,6 +286,12 @@ void osdFormatTime(char * buff, osd_timer_precision_e precision, timeUs_t time)
             tfp_sprintf(buff, "%02d:%02d.%02d", minutes, seconds, hundredths);
             break;
         }
+    case OSD_TIMER_PREC_TENTHS:
+        {
+            const int tenths = (time / 100000) % 10;
+            tfp_sprintf(buff, "%02d:%02d.%01d", minutes, seconds, tenths);
+            break;
+        }
     }
 }
 
@@ -850,13 +856,17 @@ static void osdElementHorizonSidebars(osdElementParms_t *element)
 #ifdef USE_RX_LINK_QUALITY_INFO
 static void osdElementLinkQuality(osdElementParms_t *element)
 {
-    // change range to 0-9 (two sig. fig. adds little extra value, also reduces screen estate)
+    uint16_t osdLinkQuality = 0;
-    uint8_t osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
+    if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) { // 0-300
-    if (osdLinkQuality >= 10) {
+        osdLinkQuality = rxGetLinkQuality()  / 3.41;
-        osdLinkQuality = 9;
+        tfp_sprintf(element->buff, "%3d", osdLinkQuality);
+    } else { // 0-9
+        osdLinkQuality = rxGetLinkQuality() * 10 / LINK_QUALITY_MAX_VALUE;
+        if (osdLinkQuality >= 10) {
+            osdLinkQuality = 9;
+        }
+        tfp_sprintf(element->buff, "%1d", osdLinkQuality);
     }
-
-    tfp_sprintf(element->buff, "%1d", osdLinkQuality);
 }
 #endif // USE_RX_LINK_QUALITY_INFO
 

src/main/pg/flash.c

@@ -26,6 +26,7 @@
 #ifdef USE_FLASH_CHIP
 
 #include "drivers/bus_spi.h"
+#include "drivers/bus_quadspi.h"
 #include "drivers/io.h"
 
 #include "pg/pg.h"
@@ -33,11 +34,20 @@
 
 #include "flash.h"
 
+#ifndef FLASH_CS_PIN
+#define FLASH_CS_PIN NONE
+#endif
+
 PG_REGISTER_WITH_RESET_FN(flashConfig_t, flashConfig, PG_FLASH_CONFIG, 0);
 
 void pgResetFn_flashConfig(flashConfig_t *flashConfig)
 {
     flashConfig->csTag = IO_TAG(FLASH_CS_PIN);
+#if defined(USE_SPI) && defined(FLASH_SPI_INSTANCE)
     flashConfig->spiDevice = SPI_DEV_TO_CFG(spiDeviceByInstance(FLASH_SPI_INSTANCE));
+#endif
+#if defined(USE_QUADSPI) && defined(FLASH_QUADSPI_INSTANCE)
+    flashConfig->quadSpiDevice = QUADSPI_DEV_TO_CFG(quadSpiDeviceByInstance(FLASH_QUADSPI_INSTANCE));
+#endif
 }
 #endif

src/main/pg/flash.h

@@ -29,6 +29,7 @@
 typedef struct flashConfig_s {
     ioTag_t csTag;
     uint8_t spiDevice;
+    uint8_t quadSpiDevice;
 } flashConfig_t;
 
 PG_DECLARE(flashConfig_t, flashConfig);

src/main/platform.h

@@ -146,5 +146,6 @@
 
 #include "target/common_pre.h"
 #include "target.h"
+#include "target/common_deprecated_post.h"
 #include "target/common_post.h"
 #include "target/common_defaults_post.h"

src/main/rx/crsf.c

@@ -149,6 +149,11 @@ typedef struct crsfPayloadLinkstatistics_s {
 
 static timeUs_t lastLinkStatisticsFrameUs;
 
+#ifdef USE_RX_LINK_QUALITY_INFO
+STATIC_UNIT_TESTED uint16_t scaleCrsfLq(uint16_t lqvalue) {
+  return (lqvalue % 100) ? ((lqvalue * 3.41) + 1) : (lqvalue * 3.41);
+}
+#endif
 static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr, timeUs_t currentTimeUs)
 {
     const crsfLinkStatistics_t stats = *statsPtr;
@@ -159,6 +164,12 @@ static void handleCrsfLinkStatisticsFrame(const crsfLinkStatistics_t* statsPtr,
         setRssi(rssiPercentScaled, RSSI_SOURCE_RX_PROTOCOL_CRSF);
     }
 
+#ifdef USE_RX_LINK_QUALITY_INFO
+    if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) {
+        setLinkQualityDirect(scaleCrsfLq((stats.rf_Mode * 100) + stats.uplink_Link_quality));
+    }
+#endif
+
     switch (debugMode) {
     case DEBUG_CRSF_LINK_STATISTICS_UPLINK:
         DEBUG_SET(DEBUG_CRSF_LINK_STATISTICS_UPLINK, 0, stats.uplink_RSSI_1);
@@ -188,6 +199,11 @@ static void crsfCheckRssi(uint32_t currentTimeUs) {
         if (rssiSource == RSSI_SOURCE_RX_PROTOCOL_CRSF) {
             setRssiDirect(0, RSSI_SOURCE_RX_PROTOCOL_CRSF);
         }
+#ifdef USE_RX_LINK_QUALITY_INFO
+        if (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) {
+            setLinkQualityDirect(0);
+        }
+#endif
     }
 }
 #endif
@@ -377,6 +393,11 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
         if (rssiSource == RSSI_SOURCE_NONE) {
             rssiSource = RSSI_SOURCE_RX_PROTOCOL_CRSF;
         }
+#ifdef USE_RX_LINK_QUALITY_INFO
+        if (linkQualitySource == LQ_SOURCE_NONE) {
+            linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
+        }
+#endif
 
     return serialPort != NULL;
 }

src/main/rx/rx.c

@@ -77,7 +77,7 @@ static timeUs_t lastMspRssiUpdateUs = 0;
 static pt1Filter_t frameErrFilter;
 
 #ifdef USE_RX_LINK_QUALITY_INFO
-static uint8_t linkQuality = 0;
+static uint16_t linkQuality = 0;
 #endif
 
 #define MSP_RSSI_TIMEOUT_US 1500000   // 1.5 sec
@@ -86,6 +86,7 @@ static uint8_t linkQuality = 0;
 #define RSSI_OFFSET_SCALING (1024 / 100.0f)
 
 rssiSource_e rssiSource;
+linkQualitySource_e linkQualitySource;
 
 static bool rxDataProcessingRequired = false;
 static bool auxiliaryProcessingRequired = false;
@@ -358,11 +359,11 @@ void resumeRxPwmPpmSignal(void)
 #ifdef USE_RX_LINK_QUALITY_INFO
 #define LINK_QUALITY_SAMPLE_COUNT 16
 
-static uint8_t updateLinkQualitySamples(uint8_t value)
+STATIC_UNIT_TESTED uint16_t updateLinkQualitySamples(uint16_t value)
 {
-    static uint8_t samples[LINK_QUALITY_SAMPLE_COUNT];
+    static uint16_t samples[LINK_QUALITY_SAMPLE_COUNT];
     static uint8_t sampleIndex = 0;
-    static unsigned sum = 0;
+    static uint16_t sum = 0;
 
     sum += value - samples[sampleIndex];
     samples[sampleIndex] = value;
@@ -374,8 +375,10 @@ static uint8_t updateLinkQualitySamples(uint8_t value)
 static void setLinkQuality(bool validFrame, timeDelta_t currentDeltaTime)
 {
 #ifdef USE_RX_LINK_QUALITY_INFO
-    // calculate new sample mean
+    if (linkQualitySource != LQ_SOURCE_RX_PROTOCOL_CRSF) {
-    linkQuality = updateLinkQualitySamples(validFrame ? LINK_QUALITY_MAX_VALUE : 0);
+        // calculate new sample mean
+        linkQuality = updateLinkQualitySamples(validFrame ? LINK_QUALITY_MAX_VALUE : 0);
+    }
 #endif
 
     if (rssiSource == RSSI_SOURCE_FRAME_ERRORS) {
@@ -396,6 +399,15 @@ static void setLinkQuality(bool validFrame, timeDelta_t currentDeltaTime)
     }
 }
 
+void setLinkQualityDirect(uint16_t linkqualityValue)
+{
+#ifdef USE_RX_LINK_QUALITY_INFO
+    linkQuality = linkqualityValue;
+#else
+    UNUSED(linkqualityValue);
+#endif
+}
+
 bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
 {
     bool signalReceived = false;
@@ -746,14 +758,14 @@ uint8_t getRssiPercent(void)
 }
 
 #ifdef USE_RX_LINK_QUALITY_INFO
-uint8_t rxGetLinkQuality(void)
+uint16_t rxGetLinkQuality(void)
 {
     return linkQuality;
 }
 
-uint8_t rxGetLinkQualityPercent(void)
+uint16_t rxGetLinkQualityPercent(void)
 {
-    return scaleRange(rxGetLinkQuality(), 0, LINK_QUALITY_MAX_VALUE, 0, 100);
+    return (linkQualitySource == LQ_SOURCE_RX_PROTOCOL_CRSF) ?  (linkQuality / 3.41) : scaleRange(linkQuality, 0, LINK_QUALITY_MAX_VALUE, 0, 100);
 }
 #endif
 

src/main/rx/rx.h

@@ -148,6 +148,13 @@ typedef enum {
 
 extern rssiSource_e rssiSource;
 
+typedef enum {
+    LQ_SOURCE_NONE = 0,
+    LQ_SOURCE_RX_PROTOCOL_CRSF,
+} linkQualitySource_e;
+
+extern linkQualitySource_e linkQualitySource;
+
 extern rxRuntimeConfig_t rxRuntimeConfig; //!!TODO remove this extern, only needed once for channelCount
 
 void rxInit(void);
@@ -170,10 +177,11 @@ uint16_t getRssi(void);
 uint8_t getRssiPercent(void);
 bool isRssiConfigured(void);
 
-#define LINK_QUALITY_MAX_VALUE 255
+#define LINK_QUALITY_MAX_VALUE 1023
 
-uint8_t rxGetLinkQuality(void);
+uint16_t rxGetLinkQuality(void);
-uint8_t rxGetLinkQualityPercent(void);
+void setLinkQualityDirect(uint16_t linkqualityValue);
+uint16_t rxGetLinkQualityPercent(void);
 
 void resetAllRxChannelRangeConfigurations(rxChannelRangeConfig_t *rxChannelRangeConfig);
 

src/main/sensors/gyro.c

@@ -204,13 +204,13 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
     gyroConfig->gyroMovementCalibrationThreshold = 48;
     gyroConfig->gyro_sync_denom = GYRO_SYNC_DENOM_DEFAULT;
     gyroConfig->gyro_hardware_lpf = GYRO_HARDWARE_LPF_NORMAL;
-    gyroConfig->gyro_lowpass_type = FILTER_BIQUAD;
+    gyroConfig->gyro_lowpass_type = FILTER_PT1;
     gyroConfig->gyro_lowpass_hz = 150;  // NOTE: dynamic lpf is enabled by default so this setting is actually
                                         // overridden and the static lowpass 1 is disabled. We can't set this
                                         // value to 0 otherwise Configurator versions 10.4 and earlier will also
                                         // reset the lowpass filter type to PT1 overriding the desired BIQUAD setting.
     gyroConfig->gyro_lowpass2_type = FILTER_PT1;
-    gyroConfig->gyro_lowpass2_hz = 150;
+    gyroConfig->gyro_lowpass2_hz = 250;
     gyroConfig->gyro_high_fsr = false;
     gyroConfig->gyro_to_use = GYRO_CONFIG_USE_GYRO_DEFAULT;
     gyroConfig->gyro_soft_notch_hz_1 = 0;
@@ -221,8 +221,8 @@ void pgResetFn_gyroConfig(gyroConfig_t *gyroConfig)
     gyroConfig->gyro_offset_yaw = 0;
     gyroConfig->yaw_spin_recovery = true;
     gyroConfig->yaw_spin_threshold = 1950;
-    gyroConfig->dyn_lpf_gyro_min_hz = 150;
+    gyroConfig->dyn_lpf_gyro_min_hz = 200;
-    gyroConfig->dyn_lpf_gyro_max_hz = 450;
+    gyroConfig->dyn_lpf_gyro_max_hz = 500;
     gyroConfig->dyn_notch_range = DYN_NOTCH_RANGE_AUTO;
     gyroConfig->dyn_notch_width_percent = 8;
     gyroConfig->dyn_notch_q = 120;

src/main/target/AG3X/target.h

@@ -49,8 +49,6 @@
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6500
 
-#define USE_MULTI_GYRO
-
 #define GYRO_1_SPI_INSTANCE     SPI1
 #define GYRO_1_CS_PIN           PA4
 #define GYRO_1_EXTI_PIN         NONE

src/main/target/AIRBOTF7/target.c

@@ -0,0 +1,42 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM2, CH1, PA15, TIM_USE_LED,           0, 0), // ONBOARD LED
+
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_ANY,            0, 0), // CAM CONTROL
+
+    // MOTORS
+
+    DEF_TIM(TIM8, CH3, PC8,  TIM_USE_MOTOR,         0, 0), //S1
+    DEF_TIM(TIM4, CH1, PB6,  TIM_USE_MOTOR,         0, 0), //S2
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MOTOR,         0, 0), //S3
+    DEF_TIM(TIM4, CH2, PB7,  TIM_USE_MOTOR,         0, 0), //S4
+
+};

src/main/target/AIRBOTF7/target.h

@@ -0,0 +1,154 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 TARGET_BOARD_IDENTIFIER "ABF7"
+#define USBD_PRODUCT_STRING     "Airbot-F7"
+
+#define LED0_PIN                PB12
+
+#define USE_BEEPER
+#define BEEPER_PIN              PB0
+#define BEEPER_INVERTED
+
+#define ENABLE_DSHOT_DMAR       true
+
+// *************** Gyro & ACC **********************
+#define USE_SPI
+#define USE_SPI_DEVICE_3
+
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+#define SPI3_NSS_PIN            PD2
+
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+#define USE_GYRO_SPI_MPU6500
+
+#define GYRO_1_SPI_INSTANCE     SPI3
+#define GYRO_1_CS_PIN           SPI3_NSS_PIN
+#define GYRO_1_ALIGN            CW90_DEG
+#define GYRO_1_EXTI_PIN         NONE
+
+
+#define GYRO_2_SPI_INSTANCE     SPI1
+#define GYRO_2_CS_PIN           PC4        
+#define GYRO_2_EXTI_PIN         NONE
+#define GYRO_2_ALIGN            CW0_DEG
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_ACC_SPI_MPU6500
+
+// *************** OSD **************************
+
+#define USE_SPI_DEVICE_2
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI2
+#define MAX7456_SPI_CS_PIN      PC15
+
+
+// *************** FLASH *****************************
+#define USE_SPI_DEVICE_1
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define FLASH_CS_PIN            PA3
+#define FLASH_SPI_INSTANCE      SPI1
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+// *************** UART *****************************
+#define USE_VCP
+#define USE_USB_DETECT
+
+
+#define USE_UART1
+#define UART1_RX_PIN            PA10
+#define UART1_TX_PIN            PA9
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+
+#define USE_UART3
+#define UART3_RX_PIN            PC11
+#define UART3_TX_PIN            PC10
+
+#define USE_UART4
+#define UART4_RX_PIN            PA1
+#define UART4_TX_PIN            PA0
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+
+#define USE_UART6
+#define UART6_RX_PIN            PC7
+#define UART6_TX_PIN            PC6
+
+
+#define USE_SOFTSERIAL1
+
+#define SERIAL_PORT_COUNT       8
+
+#define DEFAULT_RX_FEATURE      FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+// *************** CAM *****************************
+
+#define CAMERA_CONTROL_PIN      PA8
+
+// *************** I2C *****************************
+
+#define USE_I2C
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9 
+
+// *************** ADC *****************************
+#define USE_ADC
+#define ADC3_DMA_STREAM         DMA2_Stream0
+#define VBAT_ADC_PIN            PC0
+#define CURRENT_METER_ADC_PIN   PC2
+#define RSSI_ADC_PIN            PC1
+
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_SOFTSERIAL | FEATURE_AIRMODE)
+#define DEFAULT_VOLTAGE_METER_SOURCE    VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE    CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 179
+
+#define USE_ESCSERIAL
+
+#define TARGET_IO_PORTA         0xffff
+#define TARGET_IO_PORTB         0xffff
+#define TARGET_IO_PORTC         0xffff
+#define TARGET_IO_PORTD         0xffff
+
+#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USED_TIMERS             (TIM_N(1)|TIM_N(2)|TIM_N(4)|TIM_N(8))

src/main/target/AIRBOTF7/target.mk

@@ -0,0 +1,9 @@
+F7X2RE_TARGETS  += $(TARGET)
+FEATURES        += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/accgyro/accgyro_mpu6500.c \
+            drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/max7456.c

src/main/target/DALRCF722DUAL/target.h

@@ -30,7 +30,6 @@
 #define BEEPER_PIN              PC13
 #define BEEPER_INVERTED
 
-#define USE_MULTI_GYRO
 #define USE_EXTI
 #define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PB10

src/main/target/EXF722DUAL/target.h

@@ -24,8 +24,6 @@
 
 #define USBD_PRODUCT_STRING     "EXF722DUAL"
 
-#define USE_MULTI_GYRO
-
 #define ENABLE_DSHOT_DMAR       true
 
 #define LED0_PIN                PC4

src/main/target/FF_RACEPIT/target.h

@@ -148,7 +148,6 @@
 /*---------------------------------*/
 
 /*-------------ESCs----------------*/
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_PIN   PB0  // (HARDWARE=0)
 /*---------------------------------*/

src/main/target/FLYWOOF7DUAL/target.h

@@ -31,7 +31,6 @@
 #define BEEPER_PIN              PC14
 #define BEEPER_INVERTED
 
-#define USE_MULTI_GYRO
 #define USE_EXTI
 #define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC3
@@ -53,13 +52,9 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM20689
 
-#define ACC_MPU6000_1_ALIGN           CW270_DEG
+#define GYRO_1_ALIGN                CW270_DEG
-#define GYRO_MPU6000_1_ALIGN          CW270_DEG
-#define GYRO_1_ALIGN                GYRO_MPU6000_1_ALIGN
 
-#define ACC_ICM20689_2_ALIGN         CW270_DEG
+#define GYRO_2_ALIGN                CW270_DEG 
-#define GYRO_ICM20689_2_ALIGN        CW270_DEG
-#define GYRO_2_ALIGN                GYRO_ICM20689_2_ALIGN 
 
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_2
 

src/main/target/FOXEERF722DUAL/target.h

@@ -30,7 +30,6 @@
 #define BEEPER_PIN              PA4
 #define BEEPER_INVERTED
 
-#define USE_MULTI_GYRO
 #define USE_EXTI
 #define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4

src/main/target/FURYF4/target.c

@@ -36,5 +36,6 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM2, CH3,  PA2, TIM_USE_MOTOR, 0, 0 ), // S4_OUT - DMA1_ST1_CH3
 
     DEF_TIM(TIM5, CH1,  PA0, TIM_USE_LED,   0, 0 ), // LED_STRIP - DMA1_ST2_CH6
+    DEF_TIM(TIM11, CH1, PB9,  TIM_USE_CAMERA_CONTROL,  0, 0), // CAM_CTL
 
 };

src/main/target/FURYF4/target.h

@@ -153,5 +153,5 @@
 #define TARGET_IO_PORTC         0xffff
 #define TARGET_IO_PORTD         (BIT(2))
 
-#define USABLE_TIMER_CHANNEL_COUNT 6
+#define USABLE_TIMER_CHANNEL_COUNT 7
-#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) )
+#define USED_TIMERS             ( TIM_N(1) | TIM_N(2) | TIM_N(3) | TIM_N(5) | TIM_N(8) | TIM_N(11) )

src/main/target/JHEF7DUAL/target.h

@@ -33,7 +33,6 @@
 #define BEEPER_PIN              PC15
 #define BEEPER_INVERTED
 
-#define USE_DUAL_GYRO
 #define USE_EXTI
 #define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4
@@ -56,13 +55,9 @@
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_ICM20689
 
-#define ACC_ICM20689_1_ALIGN    CW90_DEG
+#define GYRO_1_ALIGN            CW90_DEG 
-#define GYRO_ICM20689_1_ALIGN   CW90_DEG
-#define GYRO_1_ALIGN            GYRO_ICM20689_1_ALIGN 
 
-#define ACC_MPU6000_2_ALIGN     CW90_DEG
+#define GYRO_2_ALIGN            CW90_DEG
-#define GYRO_MPU6000_2_ALIGN    CW90_DEG
-#define GYRO_2_ALIGN            GYRO_MPU6000_2_ALIGN
 
 #define GYRO_CONFIG_USE_GYRO_DEFAULT GYRO_CONFIG_USE_GYRO_1
 
@@ -154,7 +149,6 @@
 #define USE_LED_STRIP
 
 #define USE_ESCSERIAL
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define USE_PINIO
 #define PINIO1_PIN              PC14 // VTX power switcher

src/main/target/MAMBAF722/target.h

@@ -55,7 +55,6 @@
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
-#define ACC_1_ALIGN             CW180_DEG
 
 // ******* SERIAL ********
 

src/main/target/MATEKF722SE/target.h

@@ -42,7 +42,6 @@
 #define SPI1_MISO_PIN           PA6
 #define SPI1_MOSI_PIN           PA7
 
-#define USE_MULTI_GYRO
 #define USE_EXTI
 #define USE_GYRO_EXTI
 #define GYRO_1_EXTI_PIN         PC4

src/main/target/OMNIBUSF4FW/target.h

@@ -61,8 +61,6 @@
 #define USE_GYRO_SPI_MPU6000
 #define USE_GYRO_SPI_MPU6500
 
-#define USE_MULTI_GYRO
-
 #if defined(OMNIBUSF4V6)
 #define GYRO_1_CS_PIN           PA4   // Onboard IMU  
 #define GYRO_1_SPI_INSTANCE     SPI1

src/main/target/OMNIBUSF4NANOV7/target.h

@@ -41,15 +41,22 @@
 
 #define USE_GYRO
 #define USE_GYRO_SPI_MPU6500
-
+#define USE_GYRO_SPI_MPU6000
-#define GYRO_1_CS_PIN           PD2
-#define GYRO_1_SPI_INSTANCE     SPI3
 
 #define USE_ACC
 #define USE_ACC_SPI_MPU6500
+#define USE_ACC_SPI_MPU6000
 
+#define GYRO_1_CS_PIN           PD2
+#define GYRO_1_SPI_INSTANCE     SPI3
+#define GYRO_1_EXTI_PIN         NONE
 #define GYRO_1_ALIGN            CW0_DEG
 
+#define GYRO_2_CS_PIN           PC4
+#define GYRO_2_SPI_INSTANCE     SPI1
+#define GYRO_2_EXTI_PIN         NONE
+#define GYRO_2_ALIGN            CW0_DEG
+
 // *************** OSD **************************
 
 #define USE_SPI_DEVICE_2
@@ -130,7 +137,6 @@
 
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_PIN  PA3
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff

src/main/target/OMNIBUSF4NANOV7/target.mk

@@ -5,4 +5,5 @@ TARGET_SRC = \
             drivers/accgyro/accgyro_spi_mpu6000.c \
             drivers/accgyro/accgyro_mpu6500.c \
             drivers/accgyro/accgyro_spi_mpu6500.c \
+            drivers/accgyro/accgyro_spi_icm20689.c \
             drivers/max7456.c

src/main/target/OMNIBUSF7/target.h

@@ -44,7 +44,6 @@
 //GYRO & ACC--------------------------------
 #define USE_ACC
 #define USE_GYRO
-#define USE_MULTI_GYRO
 // ICM-20608-G
 #define USE_ACC_SPI_MPU6500
 #define USE_GYRO_SPI_MPU6500

src/main/target/OMNIBUSF7NANOV7/target.h

@@ -49,7 +49,6 @@
 #define USE_ACC_SPI_MPU6500
 
 #define GYRO_1_ALIGN            CW0_DEG
-#define ACC_1_ALIGN             CW0_DEG
 
 // *************** OSD **************************
 
@@ -131,7 +130,6 @@
 
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_PIN  PA3
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff

src/main/target/RUSHCORE7/target.h

@@ -129,10 +129,6 @@
 #define SERIALRX_UART                       SERIAL_PORT_USART2
 #define SERIALRX_PROVIDER                   SERIALRX_SBUS
 
-
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
-
-
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff
 #define TARGET_IO_PORTC         0xffff

src/main/target/SPRACINGF7DUAL/target.h

@@ -31,7 +31,6 @@
 
 #define TEST_SOUND // for factory testing audio output
 
-#define USE_MULTI_GYRO
 //#define DEBUG_MODE DEBUG_DUAL_GYRO_DIFF
 
 #define ENABLE_DSHOT_DMAR       true

src/main/target/TRANSTECF7/target.h

@@ -62,7 +62,6 @@
 
 #define USE_ACC_MPU6000
 #define USE_ACC_SPI_MPU6000
-#define ACC_1_ALIGN                     CW180_DEG_FLIP
 
 // *************** I2C ***************
 #define USE_I2C

src/main/target/UAVPNG030MINI/target.h

@@ -70,7 +70,6 @@
 #define SDCARD_SPI_CS_PIN               SPI2_NSS_PIN
 #warning Missing channel for F4/F7 spec dma 1 stream 4; DMA_OPT assumed as 0
 #define SPI2_TX_DMA_OPT                         0     // DMA 1 Stream 4 Channel unknown
-#define SDCARD_DMA_CHANNEL                      DMA_Channel_0
 #endif
 
 #define USE_VCP

src/main/target/VGOODRCF4/target.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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"
+#include "drivers/io.h"
+
+#include "drivers/dma.h"
+#include "drivers/timer.h"
+#include "drivers/timer_def.h"
+
+const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
+    DEF_TIM(TIM8, CH2, PC7,  TIM_USE_PPM, 0, 0), // PPM
+
+    DEF_TIM(TIM1, CH2, PA9,  TIM_USE_MOTOR, 0, 0), // S1
+    DEF_TIM(TIM1, CH4, PA10,  TIM_USE_MOTOR, 0, 0), // S2
+    DEF_TIM(TIM3, CH3, PB0,  TIM_USE_MOTOR, 0, 0), // S3
+    DEF_TIM(TIM3, CH4, PB1,  TIM_USE_MOTOR, 0, 0), // S4
+    DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, 0, 0), // S5
+    DEF_TIM(TIM8, CH4, PC9,  TIM_USE_MOTOR | TIM_USE_CAMERA_CONTROL, 0, 0), // S6 | TIM_USE_CAMERA_CONTROL
+
+    DEF_TIM(TIM1, CH1, PA8,  TIM_USE_LED, 0, 1), //LED_STRIP
+};

src/main/target/VGOODRCF4/target.h

@@ -0,0 +1,186 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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 USE_TARGET_CONFIG
+#define TARGET_BOARD_IDENTIFIER	"VGF4"
+#define TARGET_MANUFACTURER_IDENTIFIER	"VGRC"
+#define USBD_PRODUCT_STRING	"VGOODRCF4"
+
+#define LED0_PIN                PC14
+#define LED1_PIN                PC15
+
+#define USE_BEEPER
+#define BEEPER_PIN              PC13
+#define BEEPER_INVERTED
+
+//#define ENABLE_DSHOT_DMAR       true//debug for checking
+
+#define GYRO_1_ALIGN            CW180_DEG
+
+#define USE_EXTI
+#define USE_GYRO_EXTI
+#define GYRO_1_EXTI_PIN      	PC3 
+
+#define USE_MPU_DATA_READY_SIGNAL
+//#define ENSURE_MPU_DATA_READY_IS_LOW
+
+#define USE_ACC
+#define USE_ACC_SPI_MPU6000
+#define USE_GYRO
+#define USE_GYRO_SPI_MPU6000
+
+#define GYRO_1_CS_PIN   					PA15                      
+#define GYRO_1_SPI_INSTANCE                 SPI3
+
+//-------------------------------------SPI2 FLASH------------------------------
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define USE_FLASH_W25M512
+#define FLASH_CS_PIN            PB12
+#define FLASH_SPI_INSTANCE      SPI2
+
+//-------------------------------------SPI1 OSD--------------------------------
+#define USE_OSD
+#define USE_MAX7456
+#define MAX7456_SPI_INSTANCE    SPI1
+#define MAX7456_SPI_CS_PIN      PA4
+#define MAX7456_SPI_CLK         (SPI_CLOCK_STANDARD)
+#define MAX7456_RESTORE_CLK     (SPI_CLOCK_FAST)
+
+//-------------------------------------IIC2 BMP280------------------------------
+#define USE_BARO
+#define USE_BARO_BMP280
+#define USE_BARO_MS5611
+#define USE_BARO_BMP085
+#define BARO_I2C_INSTANCE       (I2CDEV_2)
+#define DEFAULT_BARO_BMP280
+
+//-------------------------------------IIC1 MAG5883------------------------------
+#define MAG_I2C_INSTANCE        (I2CDEV_1)
+#define USE_MAG
+#define USE_MAG_HMC5883
+#define USE_MAG_QMC5883
+#define USE_MAG_LIS3MDL
+#define MAG_HMC5883_ALIGN       CW90_DEG
+
+//-------------------------------------USART-----------------------------------
+#define USE_VCP
+#define USE_USB_DETECT
+#define USB_DETECT_PIN          PC4
+//usb-:pa11,usb+:pa12
+
+#define USE_UART1
+#define UART1_TX_PIN            PB6
+#define UART1_RX_PIN            PB7
+
+#define USE_UART2
+#define UART2_TX_PIN            PA2
+#define UART2_RX_PIN            PA3
+
+#define USE_UART3
+#define UART3_TX_PIN            PC10
+#define UART3_RX_PIN            PC11
+
+#define USE_UART4
+#define UART4_TX_PIN            PA0
+#define UART4_RX_PIN            PA1
+
+#define USE_UART5
+#define UART5_TX_PIN            PC12
+#define UART5_RX_PIN            PD2
+
+#define USE_UART6
+#define UART6_TX_PIN            PC6
+#define UART6_RX_PIN            PC7//RX(PPM/SBUS)
+     
+#define USE_SOFTSERIAL1
+#define SOFTSERIAL1_RX_PIN      PC5
+#define SOFTSERIAL1_TX_PIN      PB2
+
+
+#define SERIAL_PORT_COUNT       8
+
+//-------------------------------------ADC METERE------------------------------
+#define USE_ADC
+#define ADC_INSTANCE			ADC2
+#define ADC2_DMA_OPT            1
+#define CURRENT_METER_ADC_PIN   PC0  
+#define VBAT_ADC_PIN			PC1
+#define RSSI_ADC_PIN			PC2
+
+//---------------------------------VTX&&CAM------------------------------------
+#define USE_PINIO
+#define PINIO1_PIN              PA13 // VTX power switcher
+#define PINIO2_PIN              PA14 // 2xCamera switcher
+#define USE_PINIOBOX
+
+//-------------------------------------SPI------------------------------------
+#define USE_SPI
+#define USE_SPI_DEVICE_3		//GYRO
+#define SPI3_SCK_PIN            PB3
+#define SPI3_MISO_PIN           PB4
+#define SPI3_MOSI_PIN           PB5
+
+#define USE_SPI_DEVICE_2 // FLASH
+#define SPI2_SCK_PIN            PB13
+#define SPI2_MISO_PIN           PB14
+#define SPI2_MOSI_PIN           PB15
+
+#define USE_SPI_DEVICE_1	//OSD
+#define SPI1_SCK_PIN            PA5
+#define SPI1_MISO_PIN           PA6
+#define SPI1_MOSI_PIN           PA7
+
+//-------------------------------------IIC------------------------------------
+#define USE_I2C				//MAG5883
+#define USE_I2C_DEVICE_1
+//#define I2C_DEVICE              (I2CDEV_1)
+#define I2C1_SCL                PB8
+#define I2C1_SDA                PB9
+
+#define USE_I2C				//BMP280
+#define USE_I2C_DEVICE_2
+//#define I2C_DEVICE              (I2CDEV_2)
+#define I2C2_SCL                PB10
+#define I2C2_SDA                PB11
+
+//-------------------------------------FEATURES-------------------------------
+#define DEFAULT_FEATURES        (FEATURE_OSD | FEATURE_TELEMETRY )
+
+#define DEFAULT_RX_FEATURE     	FEATURE_RX_SERIAL
+#define SERIALRX_PROVIDER       SERIALRX_SBUS
+#define SERIALRX_UART           SERIAL_PORT_USART6
+
+#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
+#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
+#define CURRENT_METER_SCALE_DEFAULT 179
+
+#define USE_ESCSERIAL
+
+//--------------------------------BOARD RESOURCES-----------------------------
+#define TARGET_IO_PORTA 0xffff
+#define TARGET_IO_PORTB 0xffff
+#define TARGET_IO_PORTC 0xffff
+#define TARGET_IO_PORTD 0x0007
+
+#define USABLE_TIMER_CHANNEL_COUNT 8
+#define USED_TIMERS    (TIM_N(1)|TIM_N(3)|TIM_N(8))

src/main/target/VGOODRCF4/target.mk

@@ -0,0 +1,14 @@
+F405_TARGETS    += $(TARGET)
+FEATURES       += VCP ONBOARDFLASH
+
+TARGET_SRC = \
+            drivers/accgyro/accgyro_spi_icm20689.c \
+            drivers/accgyro/accgyro_spi_mpu6000.c \
+            drivers/barometer/barometer_bmp085.c \
+            drivers/barometer/barometer_bmp280.c \
+            drivers/barometer/barometer_ms5611.c \
+            drivers/compass/compass_ak8975.c \
+            drivers/compass/compass_hmc5883l.c \
+            drivers/compass/compass_qmc5883l.c \
+            drivers/compass/compass_lis3mdl.c \
+            drivers/max7456.c

src/main/target/XILOF4/target.h

@@ -51,7 +51,6 @@
 #define USE_ACC
 #define USE_ACC_SPI_MPU6000
 #define USE_ACC_SPI_MPU6500
-#define ACC_1_ALIGN             CW180_DEG
 
 // *************** Flash **************************
 #define USE_SPI_DEVICE_2
@@ -142,7 +141,6 @@
 
 #define USE_ESCSERIAL
 #define ESCSERIAL_TIMER_TX_PIN  PA3
-#define USE_SERIAL_4WAY_BLHELI_INTERFACE
 
 #define TARGET_IO_PORTA         0xffff
 #define TARGET_IO_PORTB         0xffff

src/main/target/common_deprecated_post.h

@@ -0,0 +1,137 @@
+/*
+ * This file is part of Cleanflight and Betaflight.
+ *
+ * Cleanflight and Betaflight are 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.
+ *
+ * Cleanflight and Betaflight are distributed in the hope that they
+ * 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/>.
+ */
+
+// Flag any deprecated defines with compile errors so they
+// can be cleaned up and not further propagated.
+
+#pragma once
+
+#ifdef ACC_1_ALIGN
+#error "The ACC_1_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_2_ALIGN
+#error "The ACC_2_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_ICM20689_ALIGN
+#error "The ACC_ICM20689_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_MPU6000_1_ALIGN
+#error "The ACC_MPU6000_1_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_MPU6000_2_ALIGN
+#error "The ACC_MPU6000_2_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_MPU6000_ALIGN
+#error "The ACC_MPU6000_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_MPU6500_1_ALIGN
+#error "The ACC_MPU6500_1_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_MPU6500_2_ALIGN
+#error "The ACC_MPU6500_2_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ACC_MPU6500_ALIGN
+#error "The ACC_MPU6500_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_ICM20689_ALIGN
+#error "The GYRO_ICM20689_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_MPU6000_1_ALIGN
+#error "The GYRO_MPU6000_1_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_MPU6000_2_ALIGN
+#error "The GYRO_MPU6000_2_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_MPU6000_ALIGN
+#error "The GYRO_MPU6000_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_MPU6500_1_ALIGN
+#error "The GYRO_MPU6500_1_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_MPU6500_2_ALIGN
+#error "The GYRO_MPU6500_2_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef GYRO_MPU6500_ALIGN
+#error "The GYRO_MPU6000_ALIGN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ICM20689_CS_PIN
+#error "The ICM20689_CS_PIN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef ICM20689_SPI_INSTANCE
+#error "The ICM20689_SPI_INSTANCE define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef MPU_INT_EXTI
+#error "The MPU_INT_EXTI define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef MPU6000_CS_PIN
+#error "The MPU6000_CS_PIN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef MPU6000_SPI_INSTANCE
+#error "The MPU6000_SPI_INSTANCE define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef MPU6500_CS_PIN
+#error "The MPU6500_CS_PIN define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef MPU6500_SPI_INSTANCE
+#error "The MPU6500_SPI_INSTANCE define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef SDCARD_DMA_CHANNEL
+#error "The SDCARD_DMA_CHANNEL define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER
+#error "The SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER define should not be part of the target definition"
+#endif
+
+#ifdef SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER
+#error "The SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER define should not be part of the target definition"
+#endif
+
+#ifdef USE_DUAL_GYRO
+#error "The USE_DUAL_GYRO define has been deprecated - please remove from the target definition"
+#endif
+
+#ifdef USE_SERIAL_4WAY_BLHELI_INTERFACE
+#error "The USE_SERIAL_4WAY_BLHELI_INTERFACE define should not be part of the target definition"
+#endif
+

src/main/target/common_post.h

@@ -181,9 +181,15 @@
 #if defined(USE_FLASH_W25M512)
 #define USE_FLASH_W25M
 #define USE_FLASH_M25P16
+#define USE_FLASH_W25M
 #endif
 
-#if defined(USE_FLASH_M25P16)
+#if defined(USE_FLASH_W25M02G)
+#define USE_FLASH_W25N01G
+#define USE_FLASH_W25M
+#endif
+
+#if defined(USE_FLASH_M25P16) || defined(USE_FLASH_W25N01G)
 #define USE_FLASH_CHIP
 #endif
 
@@ -217,9 +223,13 @@
 
 #ifdef USE_UNIFIED_TARGET
 #define USE_CONFIGURATION_STATE
+#endif
 
-// Setup crystal frequency for backward compatibility
+// Setup crystal frequency on F4 for backward compatibility
-// Should be set to zero for generic targets and set with CLI variable set system_hse_value.
+// Should be set to zero for generic targets to ensure USB is working
+// when unconfigured for targets with non-standard crystal.
+// Can be set at runtime with with CLI parameter 'system_hse_value'.
+#if !defined(STM32F4) || defined(USE_UNIFIED_TARGET)
 #define SYSTEM_HSE_VALUE 0
 #else
 #ifdef TARGET_XTAL_MHZ
@@ -227,7 +237,7 @@
 #else
 #define SYSTEM_HSE_VALUE (HSE_VALUE/1000000U)
 #endif
-#endif // USE_UNIFIED_TARGET
+#endif // !STM32F4 || USE_UNIFIED_TARGET
 
 // Number of pins that needs pre-init
 #ifdef USE_SPI

src/test/Makefile

@@ -187,6 +187,29 @@ osd_unittest_DEFINES := \
 		USE_RTC_TIME= \
 		USE_ADC_INTERNAL=
 
+link_quality_unittest_SRC := \
+		$(USER_DIR)/osd/osd.c \
+		$(USER_DIR)/osd/osd_elements.c \
+		$(USER_DIR)/common/typeconversion.c \
+		$(USER_DIR)/drivers/display.c \
+		$(USER_DIR)/drivers/serial.c \
+		$(USER_DIR)/common/crc.c \
+		$(USER_DIR)/common/maths.c \
+		$(USER_DIR)/common/printf.c \
+		$(USER_DIR)/common/streambuf.c \
+		$(USER_DIR)/common/time.c \
+		$(USER_DIR)/fc/runtime_config.c \
+		$(USER_DIR)/common/bitarray.c \
+		$(USER_DIR)/fc/rc_modes.c \
+		$(USER_DIR)/rx/rx.c \
+		$(USER_DIR)/pg/pg.c \
+		$(USER_DIR)/rx/crsf.c \
+		$(USER_DIR)/pg/rx.c
+
+link_quality_unittest_DEFINES := \
+		USE_OSD= \
+		USE_CRSF_LINK_STATISTICS= \
+		USE_RX_LINK_QUALITY_INFO=
 
 pg_unittest_SRC := \
 		$(USER_DIR)/pg/pg.c

src/test/unit/link_quality_unittest.cc

@@ -0,0 +1,545 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it 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.
+ *
+ * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+
+extern "C" {
+    #include "platform.h"
+    #include "build/debug.h"
+
+    #include "blackbox/blackbox.h"
+    #include "blackbox/blackbox_io.h"
+
+    #include "common/time.h"
+    #include "common/crc.h"
+    #include "common/utils.h"
+    #include "common/printf.h"
+    #include "common/streambuf.h"
+
+    #include "drivers/max7456_symbols.h"
+    #include "drivers/persistent.h"
+    #include "drivers/serial.h"
+    #include "drivers/system.h"
+
+    #include "fc/config.h"
+    #include "fc/core.h"
+    #include "fc/rc_controls.h"
+    #include "fc/rc_modes.h"
+    #include "fc/runtime_config.h"
+
+    #include "flight/mixer.h"
+    #include "flight/pid.h"
+    #include "flight/imu.h"
+
+    #include "io/beeper.h"
+    #include "io/gps.h"
+    #include "io/serial.h"
+
+    #include "osd/osd.h"
+    #include "osd/osd_elements.h"
+
+    #include "pg/pg.h"
+    #include "pg/pg_ids.h"
+    #include "pg/rx.h"
+
+    #include "rx/rx.h"
+
+    #include "sensors/battery.h"
+
+    attitudeEulerAngles_t attitude;
+    pidProfile_t *currentPidProfile;
+    int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT];
+    uint8_t GPS_numSat;
+    uint16_t GPS_distanceToHome;
+    int16_t GPS_directionToHome;
+    uint32_t GPS_distanceFlownInCm;
+    int32_t GPS_coord[2];
+    gpsSolutionData_t gpsSol;
+    float motor[8];
+    float motorOutputHigh = 2047;
+    float motorOutputLow = 1000;
+    acc_t acc;
+    float accAverage[XYZ_AXIS_COUNT];
+
+    PG_REGISTER(batteryConfig_t, batteryConfig, PG_BATTERY_CONFIG, 0);
+    PG_REGISTER(blackboxConfig_t, blackboxConfig, PG_BLACKBOX_CONFIG, 0);
+    PG_REGISTER(systemConfig_t, systemConfig, PG_SYSTEM_CONFIG, 0);
+    PG_REGISTER(pilotConfig_t, pilotConfig, PG_PILOT_CONFIG, 0);
+    PG_REGISTER(imuConfig_t, imuConfig, PG_IMU_CONFIG, 0);
+
+    timeUs_t simulationTime = 0;
+
+    void osdRefresh(timeUs_t currentTimeUs);
+    uint16_t updateLinkQualitySamples(uint16_t value);
+    uint16_t scaleCrsfLq(uint16_t lqvalue);
+#define LINK_QUALITY_SAMPLE_COUNT 16
+}
+
+/* #define DEBUG_OSD */
+
+#include "unittest_macros.h"
+#include "unittest_displayport.h"
+#include "gtest/gtest.h"
+
+extern "C" {
+    PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
+
+    boxBitmask_t rcModeActivationMask;
+    int16_t debug[DEBUG16_VALUE_COUNT];
+    uint8_t debugMode = 0;
+
+    uint16_t updateLinkQualitySamples(uint16_t value);
+
+    extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
+}
+void setDefaultSimulationState()
+{
+
+    setLinkQualityDirect(LINK_QUALITY_MAX_VALUE);
+
+}
+/*
+ * Performs a test of the OSD actions on arming.
+ * (reused throughout the test suite)
+ */
+void doTestArm(bool testEmpty = true)
+{
+    // given
+    // craft has been armed
+    ENABLE_ARMING_FLAG(ARMED);
+
+    // when
+    // sufficient OSD updates have been called
+    osdRefresh(simulationTime);
+
+    // then
+    // arming alert displayed
+    displayPortTestBufferSubstring(12, 7, "ARMED");
+
+    // given
+    // armed alert times out (0.5 seconds)
+    simulationTime += 0.5e6;
+
+    // when
+    // sufficient OSD updates have been called
+    osdRefresh(simulationTime);
+
+    // then
+    // arming alert disappears
+#ifdef DEBUG_OSD
+    displayPortTestPrint();
+#endif
+    if (testEmpty) {
+        displayPortTestBufferIsEmpty();
+    }
+}
+
+/*
+ * Auxiliary function. Test is there're stats that must be shown
+ */
+bool isSomeStatEnabled(void) {
+    return (osdConfigMutable()->enabled_stats != 0);
+}
+
+/*
+ * Performs a test of the OSD actions on disarming.
+ * (reused throughout the test suite)
+ */
+void doTestDisarm()
+{
+    // given
+    // craft is disarmed after having been armed
+    DISABLE_ARMING_FLAG(ARMED);
+
+    // when
+    // sufficient OSD updates have been called
+    osdRefresh(simulationTime);
+
+    // then
+    // post flight statistics displayed
+    if (isSomeStatEnabled()) {
+        displayPortTestBufferSubstring(2, 2, "  --- STATS ---");
+    }
+}
+
+/*
+ * Tests initialisation of the OSD and the power on splash screen.
+ */
+TEST(LQTest, TestInit)
+{
+    // given
+    // display port is initialised
+    displayPortTestInit();
+
+    // and
+    // default state values are set
+    setDefaultSimulationState();
+
+    // and
+    // this battery configuration (used for battery voltage elements)
+    batteryConfigMutable()->vbatmincellvoltage = 330;
+    batteryConfigMutable()->vbatmaxcellvoltage = 430;
+
+    // when
+    // OSD is initialised
+    osdInit(&testDisplayPort);
+
+    // then
+    // display buffer should contain splash screen
+    displayPortTestBufferSubstring(7, 8, "MENU:THR MID");
+    displayPortTestBufferSubstring(11, 9, "+ YAW LEFT");
+    displayPortTestBufferSubstring(11, 10, "+ PITCH UP");
+
+    // when
+    // splash screen timeout has elapsed
+    simulationTime += 4e6;
+    osdUpdate(simulationTime);
+
+    // then
+    // display buffer should be empty
+#ifdef DEBUG_OSD
+    displayPortTestPrint();
+#endif
+    displayPortTestBufferIsEmpty();
+}
+/*
+ * Tests the Tests the OSD_LINK_QUALITY element updateLinkQualitySamples  default LQ_SOURCE_NONE
+ */
+TEST(LQTest, TestElement_LQ_SOURCE_NONE_SAMPLES)
+{
+    // given
+
+
+    linkQualitySource = LQ_SOURCE_NONE;
+
+    osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->link_quality_alarm = 0;
+
+    osdAnalyzeActiveElements();
+
+    // when samples populated 100%
+    for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
+        setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
+    }
+
+
+    displayClearScreen(&testDisplayPort);
+    osdRefresh(simulationTime);
+
+    // then
+    displayPortTestBufferSubstring(8, 1, "9");
+
+    // when  updateLinkQualitySamples used   50% rounds to 4
+    for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
+        setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
+        setLinkQualityDirect(updateLinkQualitySamples(0));
+    }
+
+    displayClearScreen(&testDisplayPort);
+    osdRefresh(simulationTime);
+
+    // then
+    displayPortTestBufferSubstring(8, 1, "4");
+
+}
+/*
+ * Tests the Tests the OSD_LINK_QUALITY element values  default LQ_SOURCE_NONE
+ */
+TEST(LQTest, TestElement_LQ_SOURCE_NONE_VALUES)
+{
+    // given
+
+
+    linkQualitySource = LQ_SOURCE_NONE;
+
+    osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->link_quality_alarm = 0;
+
+    osdAnalyzeActiveElements();
+    // when LINK_QUALITY_MAX_VALUE to 1 by 10%
+    uint16_t testscale = 0;
+    for (int testdigit = 10; testdigit > 0; testdigit--) {
+        testscale = testdigit * 102.3;
+        setLinkQualityDirect(testscale);
+        displayClearScreen(&testDisplayPort);
+        osdRefresh(simulationTime);
+#ifdef DEBUG_OSD
+        printf("%d %d\n",testscale, testdigit);
+        displayPortTestPrint();
+#endif
+        // then
+        if (testdigit >= 10){
+            displayPortTestBufferSubstring(7, 1," 9");
+        }else{
+            displayPortTestBufferSubstring(7, 1," %1d", testdigit - 1);
+        }
+    }
+}
+/*
+ * Tests the OSD_LINK_QUALITY element LQ RX_PROTOCOL_CRSF.
+ */
+TEST(LQTest, TestElementLQ_PROTOCOL_CRSF_VALUES)
+{
+    // given
+    linkQualitySource = LQ_SOURCE_RX_PROTOCOL_CRSF;
+
+    osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1) | OSD_PROFILE_1_FLAG;
+    osdConfigMutable()->link_quality_alarm = 0;
+
+    osdAnalyzeActiveElements();
+
+    displayClearScreen(&testDisplayPort);
+    osdRefresh(simulationTime);
+
+    // crsf setLinkQualityDirect 0-300;
+
+    for (uint16_t x = 0; x <= 300; x++) {
+        // when x scaled
+        setLinkQualityDirect(scaleCrsfLq(x));
+        // then rxGetLinkQuality Osd should be x
+        displayClearScreen(&testDisplayPort);
+        osdRefresh(simulationTime);
+        displayPortTestBufferSubstring(8, 1,"%3d", x);
+
+    }
+}
+/*
+ * Tests the LQ Alarms
+ *
+*/
+TEST(LQTest, TestLQAlarm)
+{
+    // given
+    // default state is set
+    setDefaultSimulationState();
+
+    linkQualitySource = LQ_SOURCE_NONE;
+
+    // and
+    // the following OSD elements are visible
+
+    osdConfigMutable()->item_pos[OSD_LINK_QUALITY] = OSD_POS(8, 1)  | OSD_PROFILE_1_FLAG;
+
+    // and
+    // this set of alarm values
+
+    osdConfigMutable()->link_quality_alarm = 80;
+    stateFlags |= GPS_FIX | GPS_FIX_HOME;
+
+    osdAnalyzeActiveElements();
+
+    // and
+    // using the metric unit system
+    osdConfigMutable()->units = OSD_UNIT_METRIC;
+
+    // when
+    // the craft is armed
+    doTestArm(false);
+
+    for (int x = 0; x < LINK_QUALITY_SAMPLE_COUNT; x++) {
+        setLinkQualityDirect(updateLinkQualitySamples(LINK_QUALITY_MAX_VALUE));
+    }
+
+    // then
+    // no elements should flash as all values are out of alarm range
+    for (int i = 0; i < 30; i++) {
+        // Check for visibility every 100ms, elements should always be visible
+        simulationTime += 0.1e6;
+        osdRefresh(simulationTime);
+
+#ifdef DEBUG_OSD
+        printf("%d\n", i);
+#endif
+        displayPortTestBufferSubstring(8,  1, "9");
+
+    }
+
+    setLinkQualityDirect(512);
+    simulationTime += 60e6;
+    osdRefresh(simulationTime);
+
+    // then
+    // elements showing values in alarm range should flash
+    for (int i = 0; i < 15; i++) {
+        // Blinking should happen at 5Hz
+        simulationTime += 0.2e6;
+        osdRefresh(simulationTime);
+
+#ifdef DEBUG_OSD
+        printf("%d\n", i);
+        displayPortTestPrint();
+#endif
+        if (i % 2 == 0) {
+            displayPortTestBufferSubstring(8,  1, "5");
+        } else {
+            displayPortTestBufferIsEmpty();
+        }
+    }
+
+    doTestDisarm();
+    simulationTime += 60e6;
+    osdRefresh(simulationTime);
+}
+
+// STUBS
+extern "C" {
+
+    uint32_t micros() {
+        return simulationTime;
+    }
+
+    uint32_t millis() {
+        return micros() / 1000;
+    }
+
+    bool featureIsEnabled(uint32_t) { return true; }
+    void beeperConfirmationBeeps(uint8_t) {}
+    bool isBeeperOn() { return false; }
+    uint8_t getCurrentPidProfileIndex() { return 0; }
+    uint8_t getCurrentControlRateProfileIndex() { return 0; }
+    batteryState_e getBatteryState() { return BATTERY_OK; }
+    uint8_t getBatteryCellCount() { return 4; }
+    uint16_t getBatteryVoltage() { return 1680; }
+    uint16_t getBatteryAverageCellVoltage() { return  420; }
+    int32_t getAmperage() { return 0; }
+    int32_t getMAhDrawn() { return 0; }
+    int32_t getEstimatedAltitudeCm() { return 0; }
+    int32_t getEstimatedVario() { return 0; }
+    unsigned int blackboxGetLogNumber() { return 0; }
+    bool isBlackboxDeviceWorking() { return true; }
+    bool isBlackboxDeviceFull() { return false; }
+    serialPort_t *openSerialPort(serialPortIdentifier_e, serialPortFunction_e, serialReceiveCallbackPtr, void *, uint32_t, portMode_e, portOptions_e) {return NULL;}
+    serialPortConfig_t *findSerialPortConfig(serialPortFunction_e ) {return NULL;}
+    bool telemetryCheckRxPortShared(const serialPortConfig_t *) {return false;}
+    bool cmsDisplayPortRegister(displayPort_t *) { return false; }
+    uint16_t getCoreTemperatureCelsius(void) { return 0; }
+    bool isFlipOverAfterCrashActive(void) { return false; }
+    float pidItermAccelerator(void) { return 1.0; }
+    uint8_t getMotorCount(void){ return 4; }
+    bool areMotorsRunning(void){ return true; }
+    bool pidOsdAntiGravityActive(void) { return false; }
+    bool failsafeIsActive(void) { return false; }
+    bool gpsRescueIsConfigured(void) { return false; }
+    int8_t calculateThrottlePercent(void) { return 0; }
+    uint32_t persistentObjectRead(persistentObjectId_e) { return 0; }
+    void persistentObjectWrite(persistentObjectId_e, uint32_t) {}
+    void failsafeOnRxSuspend(uint32_t ) {}
+    void failsafeOnRxResume(void) {}
+    void featureDisable(uint32_t) { }
+    bool rxMspFrameComplete(void) { return false; }
+    bool isPPMDataBeingReceived(void) { return false; }
+    bool isPWMDataBeingReceived(void) { return false; }
+    void resetPPMDataReceivedState(void){ }
+    void failsafeOnValidDataReceived(void) { }
+    void failsafeOnValidDataFailed(void) { }
+
+    void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+    }
+
+    bool sbusInit(rxConfig_t *initialRxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(initialRxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool spektrumInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool sumdInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool sumhInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool crsfRxInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback);
+
+    bool jetiExBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool ibusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool xBusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    bool rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRawDataFnPtr *callback)
+    {
+        UNUSED(rxConfig);
+        UNUSED(rxRuntimeConfig);
+        UNUSED(callback);
+        return true;
+    }
+
+    float pt1FilterGain(float f_cut, float dT)
+    {
+        UNUSED(f_cut);
+        UNUSED(dT);
+        return 0.0;
+    }
+
+    void pt1FilterInit(pt1Filter_t *filter, float k)
+    {
+        UNUSED(filter);
+        UNUSED(k);
+    }
+
+    float pt1FilterApply(pt1Filter_t *filter, float input)
+    {
+        UNUSED(filter);
+        UNUSED(input);
+        return 0.0;
+    }
+
+}

src/test/unit/osd_unittest.cc

@@ -81,6 +81,7 @@ extern "C" {
     float motorOutputHigh = 2047;
     float motorOutputLow = 1000;
 
+    linkQualitySource_e linkQualitySource;
 
     acc_t acc;
     float accAverage[XYZ_AXIS_COUNT];
@@ -414,6 +415,9 @@ TEST(OsdTest, TestStatsMetric)
     // using metric unit system
     osdConfigMutable()->units = OSD_UNIT_METRIC;
 
+    // set timer 1 configuration to tenths precision
+    osdConfigMutable()->timers[OSD_TIMER_1] = OSD_TIMER(OSD_TIMER_SRC_TOTAL_ARMED, OSD_TIMER_PREC_TENTHS, 0);
+
     // and
     // default state values are set
     setDefaultSimulationState();
@@ -446,7 +450,7 @@ TEST(OsdTest, TestStatsMetric)
     // statistics screen should display the following
     int row = 3;
     displayPortTestBufferSubstring(2, row++, "2017-11-19 10:12:");
-    displayPortTestBufferSubstring(2, row++, "TOTAL ARM         : 00:07.50");
+    displayPortTestBufferSubstring(2, row++, "TOTAL ARM         : 00:07.5");
     displayPortTestBufferSubstring(2, row++, "LAST ARM          : 00:02");
     displayPortTestBufferSubstring(2, row++, "MAX ALTITUDE      : 2.0%c", SYM_M);
     displayPortTestBufferSubstring(2, row++, "MAX SPEED         : 28");
@@ -1096,7 +1100,7 @@ extern "C" {
 
     uint8_t getRssiPercent(void) { return scaleRange(rssi, 0, RSSI_MAX_VALUE, 0, 100); }
 
-    uint8_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
+    uint16_t rxGetLinkQuality(void) { return LINK_QUALITY_MAX_VALUE; }
 
     uint16_t getCoreTemperatureCelsius(void) { return simulationCoreTemperature; }
 

unified_targets/configs/AIRBOTF7.config

@@ -0,0 +1,82 @@
+# Betaflight / STM32F7X2 (S7X2) 4.1.0 May  6 2019 / 18:09:02 (d3677b79a) MSP API: 1.42
+
+board_name AIRBOTF7
+manufacturer_id AIRB
+
+# resources
+resource BEEPER 1 B00
+resource MOTOR 1 C08
+resource MOTOR 2 B06
+resource MOTOR 3 C09
+resource MOTOR 4 B07
+resource LED_STRIP 1 A15
+resource SERIAL_TX 1 A09
+resource SERIAL_TX 2 A02
+resource SERIAL_TX 3 C10
+resource SERIAL_TX 4 A00
+resource SERIAL_TX 5 C12
+resource SERIAL_TX 6 C06
+resource SERIAL_RX 1 A10
+resource SERIAL_RX 3 C11
+resource SERIAL_RX 4 A01
+resource SERIAL_RX 6 C07
+resource I2C_SCL 1 B08
+resource I2C_SDA 1 B09
+resource LED 1 B12
+resource SPI_SCK 1 A05
+resource SPI_SCK 2 B13
+resource SPI_SCK 3 B03
+resource SPI_MISO 1 A06
+resource SPI_MISO 2 B14
+resource SPI_MISO 3 B04
+resource SPI_MOSI 1 A07
+resource SPI_MOSI 2 B15
+resource SPI_MOSI 3 B05
+resource ADC_BATT 1 C00
+resource ADC_RSSI 1 C01
+resource ADC_CURR 1 C02
+resource FLASH_CS 1 A03
+resource OSD_CS 1 C15
+resource GYRO_CS 1 D02
+resource GYRO_CS 2 C04
+
+# timer
+timer A15 0
+timer A08 0
+timer C08 1
+timer B06 0
+timer C09 1
+timer B07 0
+
+# dma
+dma ADC 1 1
+# ADC 1: DMA2 Stream 4 Channel 0
+dma pin A15 0
+# pin A15: DMA1 Stream 5 Channel 3
+dma pin A08 0
+# pin A08: DMA2 Stream 6 Channel 0
+dma pin C08 0
+# pin C08: DMA2 Stream 2 Channel 0
+dma pin B06 0
+# pin B06: DMA1 Stream 0 Channel 2
+dma pin C09 0
+# pin C09: DMA2 Stream 7 Channel 7
+dma pin B07 0
+# pin B07: DMA1 Stream 3 Channel 2
+
+# master
+set blackbox_device = SPIFLASH
+set dshot_burst = ON
+set current_meter = ADC
+set battery_meter = ADC
+set ibata_scale = 179
+set beeper_inversion = ON
+set beeper_od = OFF
+set max7456_spi_bus = 2
+set flash_spi_bus = 1
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 3
+set gyro_1_sensor_align = CW90
+set gyro_2_bustype = SPI
+set gyro_2_spibus = 1
+set gyro_2_sensor_align = CW0

unified_targets/configs/CLRACINGF7.config

@@ -83,7 +83,6 @@ dma pin B08 0      # pin B08: DMA1 Stream 7 Channel 2
 dma pin B01 0      # pin B01: DMA1 Stream 2 Channel 5
 
 # master
-set system_hse_mhz = 8
 set dashboard_i2c_bus = 1
 resource RX_BIND_PLUG 1 B02
 resource CAMERA_CONTROL 1 B03

unified_targets/configs/ELINF722.config

@@ -141,7 +141,6 @@ set osd_ah_sbar_pos = 2254
 set osd_ah_pos = 2126
 set osd_compass_bar_pos = 106
 set osd_warnings_pos = 2377
-set system_hse_mhz = 8
 set vcd_video_system = NTSC
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
@@ -150,4 +149,4 @@ set flash_spi_bus = 3
 set gyro_1_bustype = SPI
 set gyro_1_spibus = 1
 set gyro_1_sensor_align = CW0
-set gyro_2_spibus = 1
+set gyro_2_spibus = 1

unified_targets/configs/FLYWOOF7DUAL.config

@@ -120,7 +120,6 @@ set battery_meter = ADC
 set ibata_scale = 170
 set beeper_inversion = ON
 set beeper_od = OFF
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set pinio_box = 40,41,255,255
@@ -129,4 +128,4 @@ set gyro_1_bustype = SPI
 set gyro_1_spibus = 1
 set gyro_1_sensor_align = CW270FLIP
 set gyro_2_spibus = 1
-set gyro_2_sensor_align = CW270
+set gyro_2_sensor_align = CW270

unified_targets/configs/FOXEERF722DUAL.config

@@ -91,7 +91,6 @@ set current_meter = ADC
 set battery_meter = ADC
 set beeper_inversion = ON
 set beeper_od = OFF
-set system_hse_mhz = 8
 set max7456_spi_bus = 3
 set dashboard_i2c_bus = 1
 set flash_spi_bus = 2

unified_targets/configs/FURYF4OSD.config

@@ -0,0 +1,98 @@
+# Betaflight / STM32F405 (S405) 4.1.0 May 11 2019 / 13:09:51 (a8e9dd94e) MSP API: 1.42
+
+board_name FURYF4OSD
+manufacturer_id DIAT
+
+# resources
+resource BEEPER 1 A08
+resource MOTOR 1 A03
+resource MOTOR 2 B00
+resource MOTOR 3 B01
+resource MOTOR 4 A02
+resource PPM 1 C09
+resource LED_STRIP 1 A00
+resource SERIAL_TX 1 A09
+resource SERIAL_TX 3 B10
+resource SERIAL_TX 6 C06
+resource SERIAL_RX 1 A10
+resource SERIAL_RX 3 B11
+resource SERIAL_RX 6 C07
+resource INVERTER 1 C00
+resource I2C_SCL 1 B06
+resource I2C_SDA 1 B07
+resource LED 1 B05
+resource LED 2 B04
+resource SPI_SCK 1 A05
+resource SPI_SCK 2 B13
+resource SPI_SCK 3 C10
+resource SPI_MISO 1 A06
+resource SPI_MISO 2 B14
+resource SPI_MISO 3 C11
+resource SPI_MOSI 1 A07
+resource SPI_MOSI 2 B15
+resource SPI_MOSI 3 C12
+resource ESCSERIAL 1 C09
+resource CAMERA_CONTROL 1 B09
+resource ADC_BATT 1 C01
+resource ADC_RSSI 1 C02
+resource ADC_CURR 1 C03
+resource FLASH_CS 1 B03
+resource OSD_CS 1 B12
+resource GYRO_EXTI 1 C04
+resource GYRO_CS 1 A04
+resource USB_DETECT 1 C05
+
+# timer
+timer C09 1
+timer A03 0
+timer B00 1
+timer B01 0
+timer A02 0
+timer A00 1
+timer B09 1
+
+# dma
+dma ADC 1 1
+# ADC 1: DMA2 Stream 4 Channel 0
+dma pin C09 0
+# pin C09: DMA2 Stream 7 Channel 7
+dma pin A03 1
+# pin A03: DMA1 Stream 6 Channel 3
+dma pin B00 0
+# pin B00: DMA1 Stream 7 Channel 5
+dma pin B01 0
+# pin B01: DMA2 Stream 6 Channel 0
+dma pin A02 0
+# pin A02: DMA1 Stream 1 Channel 3
+dma pin A00 0
+# pin A00: DMA1 Stream 2 Channel 6
+
+# feature
+feature -RX_PARALLEL_PWM
+feature RX_SERIAL
+feature OSD
+
+# serial
+serial 2 8192 115200 57600 0 115200
+
+# master
+set mag_hardware = NONE
+set baro_hardware = NONE
+set rssi_src_frame_errors = ON
+set serialrx_provider = SBUS
+set blackbox_device = SPIFLASH
+set dshot_idle_value = 300
+set motor_pwm_protocol = DSHOT600
+set current_meter = ADC
+set battery_meter = ADC
+set beeper_inversion = ON
+set beeper_od = OFF
+set pid_process_denom = 1
+set system_hse_mhz = 8
+set max7456_spi_bus = 2
+set dashboard_i2c_bus = 1
+set flash_spi_bus = 3
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 1
+set gyro_1_sensor_align = CW180
+set gyro_2_spibus = 1

unified_targets/configs/HGLRCF745.config

@@ -112,7 +112,6 @@ set beeper_frequency = 0
 set sdcard_detect_inverted = ON
 set sdcard_mode = SPI
 set sdcard_spi_bus = 4
-set system_hse_mhz = 8
 set max7456_clock = DEFAULT
 set max7456_spi_bus = 2
 set max7456_preinit_opu = OFF

unified_targets/configs/JHEF7DUAL.config

@@ -92,7 +92,6 @@ set battery_meter = ADC
 set ibata_scale = 450
 set beeper_inversion = ON
 set beeper_od = OFF
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set flash_spi_bus = 3

unified_targets/configs/KAKUTEF7.config

@@ -91,7 +91,6 @@ set beeper_od = OFF
 set sdcard_detect_inverted = ON
 set sdcard_mode = SPI
 set sdcard_spi_bus = 1
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set gyro_1_bustype = SPI

unified_targets/configs/KAKUTEF7MINI.config

@@ -85,7 +85,6 @@ set current_meter = ADC
 set battery_meter = ADC
 set beeper_inversion = ON
 set beeper_od = OFF
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set flash_spi_bus = 1

unified_targets/configs/MATEKF722.config

@@ -1,4 +1,4 @@
-# Betaflight / STM32F7X2 (S7X2) 4.0.0 Mar 15 2019 / 08:10:21 (d50e721) MSP API: 1.41
+# Betaflight / STM32F7X2 (S7X2) 4.1.0 May 12 2019 / 23:09:44 (a8e9dd94e) MSP API: 1.42
 
 board_name MATEKF722
 manufacturer_id MTKS
@@ -96,6 +96,7 @@ set mag_bustype = I2C
 set mag_i2c_device = 1
 set baro_bustype = I2C
 set baro_i2c_device = 1
+set blackbox_device = SDCARD
 set dshot_burst = ON
 set current_meter = ADC
 set battery_meter = ADC
@@ -104,10 +105,9 @@ set beeper_inversion = ON
 set beeper_od = OFF
 set sdcard_mode = SPI
 set sdcard_spi_bus = 3
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set gyro_1_bustype = SPI
 set gyro_1_spibus = 1
 set gyro_1_sensor_align = CW180
-set gyro_2_spibus = 1
+set gyro_2_spibus = 1

unified_targets/configs/MATEKF722SE.config

@@ -113,7 +113,6 @@ set beeper_inversion = ON
 set beeper_od = OFF
 set sdcard_mode = SPI
 set sdcard_spi_bus = 3
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set flash_spi_bus = 3
 set gyro_1_bustype = SPI

unified_targets/configs/NERO.config

@@ -7,9 +7,6 @@ manufacturer_id BKMN
 
 defaults nosave
 
-# External crystal frequency
-set system_hse_mhz = 8
-
 # Basic I/O
 resource LED 1 B06
 resource LED 2 B05

unified_targets/configs/OMNIBUSF4NANOV7.config

@@ -37,6 +37,7 @@ resource ADC_CURR 1 C01
 resource FLASH_CS 1 A02
 resource OSD_CS 1 C15
 resource GYRO_CS 1 D02
+resource GYRO_CS 2 C04
 
 # timer
 timer A15 0
@@ -81,10 +82,10 @@ set ibata_scale = 179
 set beeper_inversion = ON
 set beeper_od = OFF
 set pid_process_denom = 1
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set flash_spi_bus = 1
 set gyro_1_bustype = SPI
 set gyro_1_spibus = 3
 set gyro_1_sensor_align = CW0
-set gyro_2_spibus = 3
+set gyro_2_spibus = 1
+set gyro_2_sensor_align = CW0

unified_targets/configs/OMNIBUSF7NANOV7.config

@@ -81,7 +81,6 @@ set ibata_scale = 179
 set beeper_inversion = ON
 set beeper_od = OFF
 set pid_process_denom = 1
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set flash_spi_bus = 1
 set gyro_1_bustype = SPI

unified_targets/configs/OMNIBUSF7V2.config

@@ -100,7 +100,6 @@ set beeper_od = OFF
 set sdcard_detect_inverted = ON
 set sdcard_mode = SPI
 set sdcard_spi_bus = 4
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 2
 set gyro_1_bustype = SPI

unified_targets/configs/RUSHCORE7.config

@@ -84,7 +84,6 @@ set current_meter = ADC
 set battery_meter = ADC
 set beeper_inversion = ON
 set beeper_od = OFF
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set flash_spi_bus = 3

unified_targets/configs/SPRACINGF7DUAL.config

@@ -120,7 +120,6 @@ set beeper_inversion = ON
 set beeper_od = OFF
 set sdcard_mode = SPI
 set sdcard_spi_bus = 3
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set gyro_1_bustype = SPI

unified_targets/configs/TRANSTECF7.config

@@ -93,7 +93,6 @@ set blackbox_device = NONE
 set dshot_burst = ON
 set current_meter = ADC
 set battery_meter = ADC
-set system_hse_mhz = 8
 set max7456_spi_bus = 2
 set dashboard_i2c_bus = 1
 set gyro_1_spibus = 1

unified_targets/configs/VGOODRCF4.config

@@ -0,0 +1,116 @@
+# Betaflight / VGOODRCF4 (VGF4) 4.1.0 Apr 30 2019 / 09:30:28 () MSP API: 1.42
+
+board_name VGOODRCF4
+manufacturer_id VGRC
+
+# resources
+resource BEEPER 1 C13
+resource MOTOR 1 A09
+resource MOTOR 2 A10
+resource MOTOR 3 B00
+resource MOTOR 4 B01
+resource MOTOR 5 C08
+resource MOTOR 6 C09
+resource PPM 1 C07
+resource LED_STRIP 1 A08
+resource SERIAL_TX 1 B06
+resource SERIAL_TX 2 A02
+resource SERIAL_TX 3 C10
+resource SERIAL_TX 4 A00
+resource SERIAL_TX 5 C12
+resource SERIAL_TX 6 C06
+resource SERIAL_TX 11 B02
+resource SERIAL_RX 1 B07
+resource SERIAL_RX 2 A03
+resource SERIAL_RX 3 C11
+resource SERIAL_RX 4 A01
+resource SERIAL_RX 5 D02
+resource SERIAL_RX 6 C07
+resource SERIAL_RX 11 C05
+resource I2C_SCL 1 B08
+resource I2C_SCL 2 B10
+resource I2C_SDA 1 B09
+resource I2C_SDA 2 B11
+resource LED 1 C14
+resource LED 2 C15
+resource SPI_SCK 1 A05
+resource SPI_SCK 2 B13
+resource SPI_SCK 3 B03
+resource SPI_MISO 1 A06
+resource SPI_MISO 2 B14
+resource SPI_MISO 3 B04
+resource SPI_MOSI 1 A07
+resource SPI_MOSI 2 B15
+resource SPI_MOSI 3 B05
+resource CAMERA_CONTROL 1 C09
+resource ADC_BATT 1 C01
+resource ADC_RSSI 1 C02
+resource ADC_CURR 1 C00
+resource PINIO 1 A13
+resource PINIO 2 A14
+resource FLASH_CS 1 B12
+resource OSD_CS 1 A04
+resource GYRO_EXTI 1 C03
+resource GYRO_CS 1 A15
+resource USB_DETECT 1 C04
+
+# timer
+timer C07 1
+timer A09 0
+timer B00 1
+timer B01 1
+timer C08 1
+timer C09 1
+timer A08 0
+
+# dma
+dma ADC 2 1
+# ADC 2: DMA2 Stream 3 Channel 1
+dma pin C07 0
+# pin C07: DMA2 Stream 2 Channel 0
+dma pin A09 0
+# pin A09: DMA2 Stream 6 Channel 0
+dma pin B00 0
+# pin B00: DMA1 Stream 7 Channel 5
+dma pin B01 0
+# pin B01: DMA1 Stream 2 Channel 5
+dma pin C08 0
+# pin C08: DMA2 Stream 2 Channel 0
+dma pin C09 0
+# pin C09: DMA2 Stream 7 Channel 7
+dma pin A08 1
+# pin A08: DMA2 Stream 1 Channel 6
+
+# master
+set gyro_to_use = FIRST
+set align_mag = DEFAULT
+set mag_bustype = I2C
+set mag_i2c_device = 1
+set mag_i2c_address = 0
+set mag_spi_device = 0
+set baro_bustype = I2C
+set baro_spi_device = 0
+set baro_i2c_device = 2
+set baro_i2c_address = 0
+set adc_device = 2
+set blackbox_device = SPIFLASH
+set dshot_burst = OFF
+set current_meter = ADC
+set battery_meter = ADC
+set ibata_scale = 179
+set beeper_inversion = ON
+set beeper_od = OFF
+set beeper_frequency = 0
+set system_hse_mhz = 8
+set max7456_clock = DEFAULT
+set max7456_spi_bus = 1
+set max7456_preinit_opu = OFF
+set led_inversion = 0
+set dashboard_i2c_bus = 0
+set dashboard_i2c_addr = 60
+set usb_msc_pin_pullup = ON
+set flash_spi_bus = 2
+set gyro_1_bustype = SPI
+set gyro_1_spibus = 3
+set gyro_1_sensor_align = CW180
+set mco2_on_pc9 = OFF