Merge branch 'master' into bfdev-configurable-baro

src/main/cms/cms_menu_blackbox.c

@@ -52,29 +52,6 @@
 #include "io/flashfs.h"
 #include "io/beeper.h"
 
-
-#ifdef USE_FLASHFS
-static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr)
-{
-    UNUSED(ptr);
-
-    displayClearScreen(pDisplay);
-    displayWrite(pDisplay, 5, 3, "ERASING FLASH...");
-    displayResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
-
-    flashfsEraseCompletely();
-    while (!flashfsIsReady()) {
-        delay(100);
-    }
-
-    beeper(BEEPER_BLACKBOX_ERASE);
-    displayClearScreen(pDisplay);
-    displayResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?
-
-    return 0;
-}
-#endif // USE_FLASHFS
-
 static const char * const cmsx_BlackboxDeviceNames[] = {
     "NONE",
     "FLASH ",
@@ -163,6 +140,31 @@ static void cmsx_Blackbox_GetDeviceStatus()
     tfp_sprintf(cmsx_BlackboxDeviceStorageFree, "%ld%s", storageFree, unit);
 }
 
+#ifdef USE_FLASHFS
+static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr)
+{
+    UNUSED(ptr);
+
+    displayClearScreen(pDisplay);
+    displayWrite(pDisplay, 5, 3, "ERASING FLASH...");
+    displayResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
+
+    flashfsEraseCompletely();
+    while (!flashfsIsReady()) {
+        delay(100);
+    }
+
+    beeper(BEEPER_BLACKBOX_ERASE);
+    displayClearScreen(pDisplay);
+    displayResync(pDisplay); // Was max7456RefreshAll(); wedges during heavy SPI?
+
+    // Update storage device status to show new used space amount
+    cmsx_Blackbox_GetDeviceStatus();
+
+    return 0;
+}
+#endif // USE_FLASHFS
+
 static long cmsx_Blackbox_onEnter(void)
 {
     cmsx_Blackbox_GetDeviceStatus();

src/main/cms/cms_menu_imu.c

@@ -88,6 +88,7 @@ static long cmsx_profileIndexOnChange(displayPort_t *displayPort, const void *pt
     UNUSED(ptr);
 
     pidProfileIndex = tmpPidProfileIndex - 1;
+    changePidProfile(pidProfileIndex);
 
     return 0;
 }
@@ -98,6 +99,7 @@ static long cmsx_rateProfileIndexOnChange(displayPort_t *displayPort, const void
     UNUSED(ptr);
 
     rateProfileIndex = tmpRateProfileIndex - 1;
+    changeControlRateProfile(rateProfileIndex);
 
     return 0;
 }

src/main/cms/cms_menu_osd.c

@@ -66,8 +66,8 @@ OSD_Entry menuOsdActiveElemsEntries[] =
     {"CROSSHAIRS",         OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_CROSSHAIRS], 0},
     {"HORIZON",            OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ARTIFICIAL_HORIZON], 0},
     {"HORIZON SIDEBARS",   OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_HORIZON_SIDEBARS], 0},
-    {"TIMER 1",            OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_TIMER_1], 0},
+    {"TIMER 1",            OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ITEM_TIMER_1], 0},
-    {"TIMER 2",            OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_TIMER_2], 0},
+    {"TIMER 2",            OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_ITEM_TIMER_2], 0},
     {"FLY MODE",           OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_FLYMODE], 0},
     {"NAME",               OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_CRAFT_NAME], 0},
     {"THROTTLE",           OME_VISIBLE, NULL, &osdConfig_item_pos[OSD_THROTTLE_POS], 0},

src/main/drivers/pwm_output.c

@@ -311,13 +311,14 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
 #endif
 
         /* standard PWM outputs */
-        const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / (sMin + sLen * 2));
+        // margin of safety is 4 periods when unsynced
+        const unsigned pwmRateHz = useUnsyncedPwm ? motorConfig->motorPwmRate : ceilf(1 / ((sMin + sLen) * 4));
 
         const uint32_t clock = timerClock(timerHardware->tim);
         /* used to find the desired timer frequency for max resolution */
         const unsigned prescaler = ((clock / pwmRateHz) + 0xffff) / 0x10000; /* rounding up */
         const uint32_t hz = clock / prescaler;
-        const unsigned period = hz / pwmRateHz;
+        const unsigned period = useUnsyncedPwm ? hz / pwmRateHz : 0xffff;
 
         /* 
             if brushed then it is the entire length of the period. 

src/main/fc/cli.c

@@ -147,6 +147,7 @@ static uint32_t bufferIndex = 0;
 static bool configIsInCopy = false;
 
 static const char* const emptyName = "-";
+static const char* const emptryString = "";
 
 #ifndef USE_QUAD_MIXER_ONLY
 // sync this with mixerMode_e
@@ -883,7 +884,7 @@ static void cliSerialPassthrough(char *cmdline)
     serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
     if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
         if (!baud) {
-            cliPrint("closed, specify baud.\r\n");
+            cliPrintLine("closed, specify baud.");
             return;
         }
         if (!mode)
@@ -893,7 +894,7 @@ static void cliSerialPassthrough(char *cmdline)
                                          baud, mode,
                                          SERIAL_NOT_INVERTED);
         if (!passThroughPort) {
-            cliPrint("could not be opened.\r\n");
+            cliPrintLine("could not be opened.");
             return;
         }
         cliPrintf("opened, baud = %d.\r\n", baud);
@@ -901,7 +902,7 @@ static void cliSerialPassthrough(char *cmdline)
         passThroughPort = passThroughPortUsage->serialPort;
         // If the user supplied a mode, override the port's mode, otherwise
         // leave the mode unchanged. serialPassthrough() handles one-way ports.
-        cliPrint("already open.\r\n");
+        cliPrintLine("already open.");
         if (mode && passThroughPort->mode != mode) {
             cliPrintf("mode changed from %d to %d.\r\n",
                    passThroughPort->mode, mode);
@@ -914,7 +915,7 @@ static void cliSerialPassthrough(char *cmdline)
         }
     }
 
-    cliPrint("Forwarding, power cycle to exit.\r\n");
+    cliPrintLine("Forwarding, power cycle to exit.");
 
     serialPassthrough(cliPort, passThroughPort, NULL, NULL);
 }
@@ -1911,18 +1912,22 @@ static void printFeature(uint8_t dumpMask, const featureConfig_t *featureConfig,
 {
     const uint32_t mask = featureConfig->enabledFeatures;
     const uint32_t defaultMask = featureConfigDefault->enabledFeatures;
-    for (uint32_t i = 0; featureNames[i]; i++) { // disable all feature first
+    for (uint32_t i = 0; featureNames[i]; i++) { // disabled features first
-        const char *format = "feature -%s";
+        if (strcmp(featureNames[i], emptryString) != 0) { //Skip unused
-        cliDefaultPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
+            const char *format = "feature -%s";
-        cliDumpPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
+            cliDefaultPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
-    }
+            cliDumpPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
-    for (uint32_t i = 0; featureNames[i]; i++) {  // reenable what we want.
-        const char *format = "feature %s";
-        if (defaultMask & (1 << i)) {
-            cliDefaultPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
         }
-        if (mask & (1 << i)) {
+    }
-            cliDumpPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
+    for (uint32_t i = 0; featureNames[i]; i++) {  // enabled features
+        if (strcmp(featureNames[i], emptryString) != 0) { //Skip unused
+            const char *format = "feature %s";
+            if (defaultMask & (1 << i)) {
+                cliDefaultPrintLinef(dumpMask, (~defaultMask | mask) & (1 << i), format, featureNames[i]);
+            }
+            if (mask & (1 << i)) {
+                cliDumpPrintLinef(dumpMask, (defaultMask | ~mask) & (1 << i), format, featureNames[i]);
+            }
         }
     }
 }
@@ -1946,7 +1951,7 @@ static void cliFeature(char *cmdline)
         for (uint32_t i = 0; ; i++) {
             if (featureNames[i] == NULL)
                 break;
-            if (strcmp(featureNames[i], "") != 0) //Skip unused
+            if (strcmp(featureNames[i], emptryString) != 0) //Skip unused
                 cliPrintf(" %s", featureNames[i]);
         }
         cliPrintLinefeed();
@@ -2296,13 +2301,33 @@ void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
                     cliPrintLinef("3D: %s", escInfoBytes[17] ? "on" : "off");
                 }
             } else {
-                cliPrint("Checksum error.");
+                cliPrintLine("Checksum error.");
             }
         }
     }
 
     if (!escInfoReceived) {
-        cliPrint("No info.");
+        cliPrintLine("No info.");
+    }
+}
+
+static void writeDshotCommand(uint8_t escIndex, uint8_t command)
+{
+    uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
+    if (command == DSHOT_CMD_ESC_INFO) {
+        cliPrintLinef("Info for ESC %d:", escIndex);
+
+        delay(10); // Wait for potential ESC telemetry transmission to finish
+
+        startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
+    }
+
+    pwmWriteDshotCommand(escIndex, command);
+
+    if (command == DSHOT_CMD_ESC_INFO) {
+        delay(10);
+
+        printEscInfo(escInfoBuffer, getNumberEscBytesRead());
     }
 }
 
@@ -2334,34 +2359,19 @@ static void cliDshotProg(char *cmdline)
                 if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
                     if (escIndex == ALL_MOTORS) {
                         for (unsigned i = 0; i < getMotorCount(); i++) {
-                            pwmWriteDshotCommand(i, command);
+                            writeDshotCommand(i, command);
                         }
-
-                        cliPrintf("Command %d written.\r\n", command);
                     } else {
-                        uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
+                        writeDshotCommand(escIndex, command);
-                        if (command == DSHOT_CMD_ESC_INFO) {
+		    }
-                            delay(10); // Wait for potential ESC telemetry transmission to finish
 
-                            startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
+                    cliPrintLinef("Command %d written.", command);
-                        }
-
-                        pwmWriteDshotCommand(escIndex, command);
-
-                        if (command == DSHOT_CMD_ESC_INFO) {
-                            delay(10);
-
-                            printEscInfo(escInfoBuffer, getNumberEscBytesRead());
-                        } else {
-                            cliPrintf("Command %d written.\r\n", command);
-                        }
-                    }
 
                     if (command <= 5) {
                         delay(10); // wait for sound output to finish
                     }
                 } else {
-                    cliPrintf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
+                    cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
                 }
 
                 break;

src/main/fc/fc_msp.c

@@ -1597,7 +1597,7 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         break;
 
     case MSP_SET_RC_TUNING:
-        if (dataSize >= 10) {
+        if (sbufBytesRemaining(src) >= 10) {
             currentControlRateProfile->rcRate8 = sbufReadU8(src);
             currentControlRateProfile->rcExpo8 = sbufReadU8(src);
             for (int i = 0; i < 3; i++) {
@@ -1609,10 +1609,10 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
             currentControlRateProfile->thrMid8 = sbufReadU8(src);
             currentControlRateProfile->thrExpo8 = sbufReadU8(src);
             currentControlRateProfile->tpa_breakpoint = sbufReadU16(src);
-            if (dataSize >= 11) {
+            if (sbufBytesRemaining(src) >= 1) {
                 currentControlRateProfile->rcYawExpo8 = sbufReadU8(src);
             }
-            if (dataSize >= 12) {
+            if (sbufBytesRemaining(src) >= 1) {
                 currentControlRateProfile->rcYawRate8 = sbufReadU8(src);
             }
             generateThrottleCurve();
@@ -1738,17 +1738,17 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         gyroConfigMutable()->gyro_soft_lpf_hz = sbufReadU8(src);
         currentPidProfile->dterm_lpf_hz = sbufReadU16(src);
         currentPidProfile->yaw_lpf_hz = sbufReadU16(src);
-        if (dataSize > 5) {
+        if (sbufBytesRemaining(src) >= 8) {
             gyroConfigMutable()->gyro_soft_notch_hz_1 = sbufReadU16(src);
             gyroConfigMutable()->gyro_soft_notch_cutoff_1 = sbufReadU16(src);
             currentPidProfile->dterm_notch_hz = sbufReadU16(src);
             currentPidProfile->dterm_notch_cutoff = sbufReadU16(src);
         }
-        if (dataSize > 13) {
+        if (sbufBytesRemaining(src) >= 4) {
             gyroConfigMutable()->gyro_soft_notch_hz_2 = sbufReadU16(src);
             gyroConfigMutable()->gyro_soft_notch_cutoff_2 = sbufReadU16(src);
         }
-        if (dataSize > 17) {
+        if (sbufBytesRemaining(src) >= 1) {
             currentPidProfile->dterm_filter_type = sbufReadU8(src);
         }
         // reinitialize the gyro filters with the new values
@@ -1771,11 +1771,11 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         sbufReadU8(src); // reserved
         currentPidProfile->rateAccelLimit = sbufReadU16(src);
         currentPidProfile->yawRateAccelLimit = sbufReadU16(src);
-        if (dataSize > 17) {
+        if (sbufBytesRemaining(src) >= 2) {
             currentPidProfile->levelAngleLimit = sbufReadU8(src);
             currentPidProfile->levelSensitivity = sbufReadU8(src);
         }
-        if (dataSize > 19) {
+        if (sbufBytesRemaining(src) >= 4) {
             currentPidProfile->itermThrottleThreshold = sbufReadU16(src);
             currentPidProfile->itermAcceleratorGain = sbufReadU16(src);
         }
@@ -1928,21 +1928,21 @@ static mspResult_e mspFcProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         rxConfigMutable()->midrc = sbufReadU16(src);
         rxConfigMutable()->mincheck = sbufReadU16(src);
         rxConfigMutable()->spektrum_sat_bind = sbufReadU8(src);
-        if (dataSize > 8) {
+        if (sbufBytesRemaining(src) >= 4) {
             rxConfigMutable()->rx_min_usec = sbufReadU16(src);
             rxConfigMutable()->rx_max_usec = sbufReadU16(src);
         }
-        if (dataSize > 12) {
+        if (sbufBytesRemaining(src) >= 4) {
             rxConfigMutable()->rcInterpolation = sbufReadU8(src);
             rxConfigMutable()->rcInterpolationInterval = sbufReadU8(src);
             rxConfigMutable()->airModeActivateThreshold = sbufReadU16(src);
         }
-        if (dataSize > 16) {
+        if (sbufBytesRemaining(src) >= 6) {
             rxConfigMutable()->rx_spi_protocol = sbufReadU8(src);
             rxConfigMutable()->rx_spi_id = sbufReadU32(src);
             rxConfigMutable()->rx_spi_rf_channel_count = sbufReadU8(src);
         }
-        if (dataSize > 22) {
+        if (sbufBytesRemaining(src) >= 1) {
             rxConfigMutable()->fpvCamAngleDegrees = sbufReadU8(src);
         }
         break;

src/main/target/BETAFLIGHTF3/target.c

@@ -26,14 +26,25 @@
 #include "drivers/dma.h"
 
 const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
-    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                 TIMER_INPUT_ENABLED), // PPM IN
+    DEF_TIM(TIM4, CH2, PB7, TIM_USE_PPM,                 TIMER_INPUT_ENABLED),                          // PPM
-    DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM1
+    DEF_TIM(TIM16,CH1, PA6, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM1 (1,4)
-    DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2
+    DEF_TIM(TIM8, CH1N,PA7, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM2 (2,3)
-    DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM3
+    DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM3 (2,5)
-    DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM4
+    DEF_TIM(TIM17,CH1, PB9, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM4 (1,1)
-    DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5
+
-    DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6
+#ifdef BFF3_USE_HEXA_DSHOT
-    DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM7
+    // For HEXA dshot
-    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED), // PWM8
+    DEF_TIM(TIM1, CH2N,PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,3)
-    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED), // LED_STRIP --requires resource remap with dshot (remap to motor 5??)--
+    DEF_TIM(TIM8, CH3N,PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (2,1)
+#else
+    // For softserial
+    DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM5 (1,2) !LED
+    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED | TIMER_OUTPUT_INVERTED), // PWM6 (1,3)
+#endif
+
+    DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM7/UART2_RX
+    DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR,               TIMER_OUTPUT_ENABLED),                         // PWM8/UART2_TX
+
+    // When using softserial config, LED will have DMA conflict with PB0 (SOFTSERIAL1_RX).
+    DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR | TIM_USE_LED, TIMER_OUTPUT_ENABLED),                         // LED  (1,2)
 };

src/main/target/FURYF4/target.c

@@ -29,8 +29,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
     DEF_TIM(TIM8, CH4,  PC9, TIM_USE_PPM,   TIMER_INPUT_ENABLED,   0 ), // PPM IN
     DEF_TIM(TIM2, CH4,  PA3, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED,  1 ), // S1_OUT - DMA1_ST6_CH3
     DEF_TIM(TIM3, CH3,  PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED,  0 ), // S2_OUT - DMA1_ST7_CH5
-    DEF_TIM(TIM8, CH3N, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_INVERTED, 0 ), // S3_OUT - DMA2_ST2_CH0
+    DEF_TIM(TIM1, CH3N, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_INVERTED, 0 ), // S3_OUT - DMA2_ST6_CH0
-//    DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0 ), // S3_OUT - DMA1_ST2_CH5
     DEF_TIM(TIM2, CH3,  PA2, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED,  0 ), // S4_OUT - DMA1_ST1_CH3
 
     DEF_TIM(TIM5, CH1,  PA0, TIM_USE_LED,   TIMER_OUTPUT_ENABLED,  0 ), // LED_STRIP - DMA1_ST2_CH6

src/main/target/FURYF4/target.h

@@ -187,4 +187,4 @@
 #define TARGET_IO_PORTD         (BIT(2))
 
 #define USABLE_TIMER_CHANNEL_COUNT 6
-#define USED_TIMERS             ( 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) )