* Enable retrieval of the BUILD_KEY using MSP2 (#12264)
* Enable retrieval of the BUILD_KEY using MSP2
* Repositioning
* Add releaseName
---------
Co-authored-by: J Blackman <blckmn@users.noreply.github.com>
GPS Rescue Bugfix to ensure IMU adaptation to GPS course over ground (#12789)
Restore previous IMU yaw heading behaviour when not in a rescue
Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
fixes not working Ghost on F4xx (#12809)
* fixes not working Ghost on F4xx
* minor fix
In the original line that was replaced, this was IOCFG_AF_PP_UP.
Co-authored-by: Homer <theisotopes@byom.de>
If CS is asserted between transfers then consider bus to be busy for all but owning device (#12604)
* If CS is asserted between transfers then consider bus to be busy for all but owning device
* Track if MAX7456 is mid DMA transfer, not simply that the SPI bus is busy
* Enable SPI DMA TX/RX together
Co-authored-by: Steve Evans <SteveCEvans@users.noreply.github.com>
Converge IMU faster at higher groundspeed during GPS Rescue (#12738)
* dynamic dcm_kp depending on groundspeed vs velocity to home
* reduce max pitch angle default to 40
* Only 10% of set velocity to home is enough, angle to 45
to reduce chance of sanity check against headwind
* fixes, thanks @KarateBrot
* Feedback from Ledvinap, ensure full pitch and yaw authority in descend
* pitch limit max of 1/3 and dcm_kp gain to 6x max
* apply IMU kP factor to yaw only via ez_ef
* More from @Ledvinap, constrain pitch in descent also
* Fix the velocity error gain, refactoring thanks to Ledvinap
* thanks, Mark!
* fixes, must be fabsf
* make IMU gain twice as sensitive to groundspeed error
* useCOG as float
* Fix unit test
* ensure cogYawGain is zero, except during gps rescue
* update comment after suggestion from ledvinap
* keep roll angle limit consistently at 50% of pitch limit when active
* changes to comments, thanks petr
Co-authored-by: ctzsnooze <chris.thompson@sydney.edu.au>
Tri-state USART TX output if load due to powered down peripheral is detected (#12760)
Tri-state USART TX output if loaded due to powered down peripheral being detected
Co-authored-by: Steve Evans <SteveCEvans@users.noreply.github.com>
DSHOT timing improvements:
If DSHOT telemetry is still being received, wait (12612)
Optimise DSHOT cache management loops (12672)
Send motor data and then immediately decode prior telemetry data for bitbanged DSHOT (12685)
DShot zero between beacon commands from 12544
Make beacon command timing independent of audio beeper
Send DShot zero between beacon commands.
Use cmpTimeUs for time comparisons
Fix ICM426XX AA filter (#12444)
* Change ICM426XX gyro initialization
- Shut down Acc and Gyro before setting non-GYRO_ODR, ACCEL_ODR, GYRO_FS_SEL, ACCEL_FS_SEL, GYRO_MODE, ACCEL_MODE registers
- Set correct User Bank before writing to registers
* Change ICM426XX GYRO_ACCEL_CONFIG0 to 15 from 14
* Remove unneeded delay commands
Co-authored-by: tbolin <tobias_bolin@hotmail.com>
OctoSPI and Memory Mapped Flash support (#11825)
* STM32H730/STM32H750 - Fix use of USE_LP_UART1 instead of USE_LPUART1.
* STM32H723 - Prepare for being able to build for using non-internal-flash
config storage.
* STM32H723 - Prepare for using non-default strings.
* STM32H723 - Disable 'use custom defaults' when using USE_EXST.
* STM32H723 - Disable CUSTOM_DEFAULTS_EXTENDED when EXST is used.
* OCTOSPI - Add initialisation code.
* Add support for RAM_CODE.
* STM32H730 - Add support for RAM_CODE via the .ram_code attribute.
* OCTOSPI - Proof-of-concept for disabling/enabling memory mapped mode on
a running system.
NOTE: The HAL libs are compiled into a memory mapped region, and this cannot be used for OctoSPI access when memory mapped mode is disabled.
* OCTOSPI - Drop HAL support after determining that it's not suitable for
the memory mapped flash use-case.
* OCTOSPI - Sometimes, when disabling memory map mode, the abort fails.
Handle this by disabling the OSPI peripheral first and re-enabling it
afterwards.
* SD/FLASH - Update comments regarding possible solutions to the catch-22
issue with SD/SPI/QUADSPI/OCTOSPI pin configurations.
* OCTOSPI - Use device instance directly.
* OCTOSPI - Prepare W25Q flash driver for octospi support.
* OCTOSPI - Add octospi flash detection.
Note: The method to detect flash chips is similar to the method used for
QUADSPI and as such the code was used as a base. However the initial
OCTOSPI implementation doesn't support the non-memory-mapped use-case so
the un-tested code is gated with `USE_OCTOSPI_EXPERIMENTAL`.
The key differences are:
* uses octospi api not quadspi api.
* flash chip clock speeds should not be changed for memory-mapped flash
chips, bootloader already set it correctly.
* only certain flash chips are capable of memory mapped support.
* W25Q - Ensure w25q128fv_readRegister returns 0 if the receive fails.
* OCTOSPI - Implement octoSpiTransmit1LINE, octoSpiReceive1LINE and
octoSpiReceive4LINES.
* OCTOSPI - Specify device from init.
* OCTOSPI - More fixes and work on init.
Current status is that memory mapped mode is disabled and flash chip is
detected, but w25q128fv_detect should not be calling w25q128fv_reset.
* FLASH - Add comment regarding wasted flash space on targets that only
use one bus type for the flash chip.
* FLASH - Split `detect` into `identify` and `configure`.
* OCTOSPI - Extract flashMemoryMappedModeEnable/Disable to separate
methods.
* FLASH - Reduce size of targets that don't support the use of multiple
flash interfaces.
* Single-flash-chip targets usually only support one type of io
interface.
* Without this, compiler warnings are generated in `flashSpiInit` for
targets that only use flash chip drivers that support quadspi or octospi
that don't even use SPI for flash.
* FLASH - Use MMFLASH_CODE/DATA to conditionally move code/data to RAM.
Only targets compiled to support memory mapped flash chips need the some
specific code in RAM. Otherwise the code/data should be in the normal
linker section.
* FLASH - W25Q Prepare for memory mapped flash usage.
* Wait/Delay functions must work with interrupts disabled.
* Code used for reading/writing must run from RAM.
* OCTOSPI - Implement remaining required methods.
* OCTOSPI - Fixes for earlier code (not last commit).
* FLASH - W25Q update timeout values from Datasheet Rev L.
* FLASH - Prepare flash driver for use when memory mapped flash is
disabled.
* System - Prepare microsISR for use when memory mapped flash is disabled.
* FLASH - Add support for CONFIG_IN_MEMORY_MAPPED_FLASH.
* Flash - Fix incorrect gating on cli flash commands.
When compiling with USE_FLASH_CHIP and without USE_FLASHFS there were
compiler warnings.
* MMFLASH - Fix release-mode build.
* FLASH - Allow SPI pins to be reconfigured when using CONFIG_IN_MEMORY_MAPPED_FLASH.
MMFLASH only works via QuadSPI/OctoSPI peripherals.
* EXST - Disable the 2GB workaround which is now causing a different
error.
The error we get with 'remove-section' enabled is:
"error in private header data: sorry, cannot handle this file". The
cause of this new error in the objcopy codebase is an out of memory
condition, somehow the 2GB files and this error are related but the root
cause of both is still unknown.
* OCTOSPI - Add support for STM32H723.
* STM32H723 - Add linker scripts for EXST usage.
* NucleoH723ZG - Add build script to demonstrate OCTOSPI and Memory Mapped
flash support.
* FLASH - WUse the size in bits to set the size of the buffer.
* FLASH - Fix typo in W25N driver defines.
Was using W28N instead of W25N
* OCTOSPI - Fix missing semilcolon when compiling without
USE_FLASH_MEMORY_MAPPED.
* OCTPSPI - Fix missing call to 'memoryMappedModeInit'.
* SPRacingH7RF - Add example build script to allow for testing prior to
unified target / cloud-build support.
