diff --git a/cmake/stm32h7.cmake b/cmake/stm32h7.cmake
index c936bf0dbc..70400fb9f0 100644
--- a/cmake/stm32h7.cmake
+++ b/cmake/stm32h7.cmake
@@ -114,7 +114,7 @@ set(STM32H7_HAL_SRC
# stm32h7xx_ll_rng.c
# stm32h7xx_ll_rtc.c
stm32h7xx_ll_sdmmc.c
-# stm32h7xx_ll_spi.c
+ stm32h7xx_ll_spi.c
# stm32h7xx_ll_swpmi.c
stm32h7xx_ll_tim.c
# stm32h7xx_ll_usart.c
@@ -148,7 +148,7 @@ main_sources(STM32H7_SRC
drivers/adc_stm32h7xx.c
drivers/bus_i2c_hal.c
drivers/dma_stm32h7xx.c
- drivers/bus_spi_hal.c
+ drivers/bus_spi_hal_ll.c
drivers/memprot.h
drivers/memprot_hal.c
drivers/memprot_stm32h7xx.c
diff --git a/docs/Settings.md b/docs/Settings.md
index f126548cfb..8073301585 100644
--- a/docs/Settings.md
+++ b/docs/Settings.md
@@ -4482,6 +4482,26 @@ RSSI dBm indicator blinks below this value [dBm]. 0 disables this alarm
---
+### osd_rssi_dbm_max
+
+RSSI dBm upper end of curve. Perfect rssi (max) = 100%
+
+| Default | Min | Max |
+| --- | --- | --- |
+| -30 | -50 | 0 |
+
+---
+
+### osd_rssi_dbm_min
+
+RSSI dBm lower end of curve or RX sensitivity level. Worst rssi (min) = 0%
+
+| Default | Min | Max |
+| --- | --- | --- |
+| -120 | -130 | 0 |
+
+---
+
### osd_sidebar_height
Height of sidebars in rows. 0 leaves only the level indicator arrows (Not for pixel OSD)
@@ -5708,7 +5728,7 @@ Enable the alternate softserial method. This is the method used in iNav 3.0 and
| Default | Min | Max |
| --- | --- | --- |
-| ON | | |
+| ON | OFF | ON |
---
diff --git a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_spi.c b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_spi.c
index 44a95c1256..05a6e5e993 100644
--- a/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_spi.c
+++ b/lib/main/STM32H7/Drivers/STM32H7xx_HAL_Driver/Src/stm32h7xx_ll_spi.c
@@ -28,8 +28,10 @@
#ifdef USE_FULL_ASSERT
#include "stm32_assert.h"
#else
+#ifndef assert_param
#define assert_param(expr) ((void)0U)
#endif
+#endif
/** @addtogroup STM32H7xx_LL_Driver
* @{
diff --git a/src/main/cms/cms_menu_osd.c b/src/main/cms/cms_menu_osd.c
index 41200110c0..1a23da040d 100644
--- a/src/main/cms/cms_menu_osd.c
+++ b/src/main/cms/cms_menu_osd.c
@@ -146,6 +146,7 @@ static const OSD_Entry menuCrsfRxEntries[]=
OSD_SETTING_ENTRY("LQ FORMAT", SETTING_OSD_CRSF_LQ_FORMAT),
OSD_SETTING_ENTRY("LQ ALARM LEVEL", SETTING_OSD_LINK_QUALITY_ALARM),
OSD_SETTING_ENTRY("SNR ALARM LEVEL", SETTING_OSD_SNR_ALARM),
+ OSD_SETTING_ENTRY("RX SENSITIVITY", SETTING_OSD_RSSI_DBM_MIN),
OSD_ELEMENT_ENTRY("RX RSSI DBM", OSD_CRSF_RSSI_DBM),
OSD_ELEMENT_ENTRY("RX LQ", OSD_CRSF_LQ),
OSD_ELEMENT_ENTRY("RX SNR ALARM", OSD_CRSF_SNR_DB),
diff --git a/src/main/drivers/bus_spi.h b/src/main/drivers/bus_spi.h
index 24dc486038..2f5f8e0be7 100644
--- a/src/main/drivers/bus_spi.h
+++ b/src/main/drivers/bus_spi.h
@@ -84,9 +84,4 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *rxData, const uint8_t *txData,
uint16_t spiGetErrorCounter(SPI_TypeDef *instance);
void spiResetErrorCounter(SPI_TypeDef *instance);
SPIDevice spiDeviceByInstance(SPI_TypeDef *instance);
-SPI_TypeDef * spiInstanceByDevice(SPIDevice device);
-
-#if defined(USE_HAL_DRIVER)
-SPI_HandleTypeDef* spiHandleByInstance(SPI_TypeDef *instance);
-DMA_HandleTypeDef* spiSetDMATransmit(DMA_Stream_TypeDef *Stream, uint32_t Channel, SPI_TypeDef *Instance, uint8_t *pData, uint16_t Size);
-#endif
+SPI_TypeDef * spiInstanceByDevice(SPIDevice device);
\ No newline at end of file
diff --git a/src/main/drivers/bus_spi_hal.c b/src/main/drivers/bus_spi_hal.c
deleted file mode 100644
index 748dd25daa..0000000000
--- a/src/main/drivers/bus_spi_hal.c
+++ /dev/null
@@ -1,239 +0,0 @@
-/*
- * 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 .
- */
-
-#include
-#include
-#include
-
-#include
-
-#include "build/debug.h"
-#include "drivers/bus_spi.h"
-#include "dma.h"
-#include "drivers/io.h"
-#include "io_impl.h"
-#include "drivers/nvic.h"
-#include "rcc.h"
-
-#ifndef SPI1_NSS_PIN
-#define SPI1_NSS_PIN NONE
-#endif
-#ifndef SPI2_NSS_PIN
-#define SPI2_NSS_PIN NONE
-#endif
-#ifndef SPI3_NSS_PIN
-#define SPI3_NSS_PIN NONE
-#endif
-#ifndef SPI4_NSS_PIN
-#define SPI4_NSS_PIN NONE
-#endif
-
-#if defined(USE_SPI_DEVICE_1)
-static const uint32_t spiDivisorMapFast[] = {
- SPI_BAUDRATEPRESCALER_256, // SPI_CLOCK_INITIALIZATON 421.875 KBits/s
- SPI_BAUDRATEPRESCALER_32, // SPI_CLOCK_SLOW 843.75 KBits/s
- SPI_BAUDRATEPRESCALER_16, // SPI_CLOCK_STANDARD 6.75 MBits/s
- SPI_BAUDRATEPRESCALER_8, // SPI_CLOCK_FAST 13.5 MBits/s
- SPI_BAUDRATEPRESCALER_4 // SPI_CLOCK_ULTRAFAST 27.0 MBits/s
-};
-#endif
-
-#if defined(USE_SPI_DEVICE_2) || defined(USE_SPI_DEVICE_3) || defined(USE_SPI_DEVICE_4)
-static const uint32_t spiDivisorMapSlow[] = {
- SPI_BAUDRATEPRESCALER_256, // SPI_CLOCK_INITIALIZATON 210.937 KBits/s
- SPI_BAUDRATEPRESCALER_64, // SPI_CLOCK_SLOW 843.75 KBits/s
- SPI_BAUDRATEPRESCALER_8, // SPI_CLOCK_STANDARD 6.75 MBits/s
- SPI_BAUDRATEPRESCALER_4, // SPI_CLOCK_FAST 13.5 MBits/s
- SPI_BAUDRATEPRESCALER_2 // SPI_CLOCK_ULTRAFAST 27.0 MBits/s
-};
-#endif
-
-static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
-#ifdef USE_SPI_DEVICE_1
- { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
-#else
- { .dev = NULL }, // No SPI1
-#endif
-#ifdef USE_SPI_DEVICE_2
- { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .af = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
-#else
- { .dev = NULL }, // No SPI2
-#endif
-#ifdef USE_SPI_DEVICE_3
- { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .af = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
-#else
- { .dev = NULL }, // No SPI3
-#endif
-#ifdef USE_SPI_DEVICE_4
- { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
-#else
- { .dev = NULL } // No SPI4
-#endif
-};
-
-static SPI_HandleTypeDef spiHandle[SPIDEV_COUNT];
-
-SPIDevice spiDeviceByInstance(SPI_TypeDef *instance)
-{
- if (instance == SPI1)
- return SPIDEV_1;
-
- if (instance == SPI2)
- return SPIDEV_2;
-
- if (instance == SPI3)
- return SPIDEV_3;
-
- if (instance == SPI4)
- return SPIDEV_4;
-
- return SPIINVALID;
-}
-
-void spiTimeoutUserCallback(SPI_TypeDef *instance)
-{
- SPIDevice device = spiDeviceByInstance(instance);
- if (device == SPIINVALID) {
- return;
- }
-
- spiHardwareMap[device].errorCount++;
-}
-
-bool spiInitDevice(SPIDevice device, bool leadingEdge)
-{
- spiDevice_t *spi = &spiHardwareMap[device];
-
- if (!spi->dev) {
- return false;
- }
-
- if (spi->initDone) {
- return true;
- }
-
- // Enable SPI clock
- RCC_ClockCmd(spi->rcc, ENABLE);
- RCC_ResetCmd(spi->rcc, DISABLE);
-
- IOInit(IOGetByTag(spi->sck), OWNER_SPI, RESOURCE_SPI_SCK, device + 1);
- IOInit(IOGetByTag(spi->miso), OWNER_SPI, RESOURCE_SPI_MISO, device + 1);
- IOInit(IOGetByTag(spi->mosi), OWNER_SPI, RESOURCE_SPI_MOSI, device + 1);
-
- if (leadingEdge) {
- IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_LOW, spi->af);
- } else {
- IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_SCK_CFG_HIGH, spi->af);
- }
- IOConfigGPIOAF(IOGetByTag(spi->miso), SPI_IO_AF_MISO_CFG, spi->af);
- IOConfigGPIOAF(IOGetByTag(spi->mosi), SPI_IO_AF_CFG, spi->af);
-
- if (spi->nss) {
- IOInit(IOGetByTag(spi->nss), OWNER_SPI, RESOURCE_SPI_CS, device + 1);
- IOConfigGPIO(IOGetByTag(spi->nss), SPI_IO_CS_CFG);
- }
-
- SPI_HandleTypeDef * hspi = &spiHandle[device];
- memset(hspi, 0, sizeof(SPI_HandleTypeDef));
- hspi->Instance = spi->dev;
-
- HAL_SPI_DeInit(hspi);
-
- hspi->Init.Mode = SPI_MODE_MASTER;
- hspi->Init.Direction = SPI_DIRECTION_2LINES;
- hspi->Init.DataSize = SPI_DATASIZE_8BIT;
- hspi->Init.NSS = SPI_NSS_SOFT;
- hspi->Init.FirstBit = SPI_FIRSTBIT_MSB;
- hspi->Init.CRCPolynomial = 7;
- hspi->Init.BaudRatePrescaler = SPI_BAUDRATEPRESCALER_256;
- hspi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
- hspi->Init.TIMode = SPI_TIMODE_DISABLED;
- hspi->Init.FifoThreshold = SPI_FIFO_THRESHOLD_01DATA;
- hspi->Init.MasterKeepIOState = SPI_MASTER_KEEP_IO_STATE_ENABLE; /* Recommanded setting to avoid glitches */
-
- if (leadingEdge) {
- hspi->Init.CLKPolarity = SPI_POLARITY_LOW;
- hspi->Init.CLKPhase = SPI_PHASE_1EDGE;
- }
- else {
- hspi->Init.CLKPolarity = SPI_POLARITY_HIGH;
- hspi->Init.CLKPhase = SPI_PHASE_2EDGE;
- }
-
- if (spi->nss) {
- IOHi(IOGetByTag(spi->nss));
- }
-
- HAL_SPI_Init(hspi);
-
- spi->initDone = true;
- return true;
-}
-
-uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t txByte)
-{
- uint8_t rxData;
- spiTransfer(instance, &rxData, &txByte, 1);
- return rxData;
-}
-
-/**
- * Return true if the bus is currently in the middle of a transmission.
- */
-bool spiIsBusBusy(SPI_TypeDef *instance)
-{
- SPIDevice device = spiDeviceByInstance(instance);
- return (spiHandle[device].State == HAL_SPI_STATE_BUSY);
-}
-
-bool spiTransfer(SPI_TypeDef *instance, uint8_t *rxData, const uint8_t *txData, int len)
-{
- SPIDevice device = spiDeviceByInstance(instance);
- SPI_HandleTypeDef * hspi = &spiHandle[device];
- HAL_StatusTypeDef status;
-
- #define SPI_DEFAULT_TIMEOUT 10
-
- if (!rxData) {
- status = HAL_SPI_Transmit(hspi, txData, len, SPI_DEFAULT_TIMEOUT);
- } else if(!txData) {
- status = HAL_SPI_Receive(hspi, rxData, len, SPI_DEFAULT_TIMEOUT);
- } else {
- status = HAL_SPI_TransmitReceive(hspi, txData, rxData, len, SPI_DEFAULT_TIMEOUT);
- }
-
- if(status != HAL_OK) {
- spiTimeoutUserCallback(instance);
- }
-
- return true;
-}
-
-void spiSetSpeed(SPI_TypeDef *instance, SPIClockSpeed_e speed)
-{
- SPIDevice device = spiDeviceByInstance(instance);
- SPI_HandleTypeDef * hspi = &spiHandle[device];
-
- HAL_SPI_DeInit(hspi);
- hspi->Init.BaudRatePrescaler = spiHardwareMap[device].divisorMap[speed];
- HAL_SPI_Init(hspi);
-}
-
-SPI_TypeDef * spiInstanceByDevice(SPIDevice device)
-{
- return spiHardwareMap[device].dev;
-}
diff --git a/src/main/drivers/bus_spi_hal_ll.c b/src/main/drivers/bus_spi_hal_ll.c
index 9c02ae2ccc..25662f2f2d 100644
--- a/src/main/drivers/bus_spi_hal_ll.c
+++ b/src/main/drivers/bus_spi_hal_ll.c
@@ -88,6 +88,30 @@ static const uint32_t spiDivisorMapSlow[] = {
};
#endif
+#if defined(STM32H7)
+static spiDevice_t spiHardwareMap[SPIDEV_COUNT] = {
+#ifdef USE_SPI_DEVICE_1
+ { .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
+#else
+ { .dev = NULL }, // No SPI1
+#endif
+#ifdef USE_SPI_DEVICE_2
+ { .dev = SPI2, .nss = IO_TAG(SPI2_NSS_PIN), .sck = IO_TAG(SPI2_SCK_PIN), .miso = IO_TAG(SPI2_MISO_PIN), .mosi = IO_TAG(SPI2_MOSI_PIN), .rcc = RCC_APB1L(SPI2), .af = GPIO_AF5_SPI2, .divisorMap = spiDivisorMapSlow },
+#else
+ { .dev = NULL }, // No SPI2
+#endif
+#ifdef USE_SPI_DEVICE_3
+ { .dev = SPI3, .nss = IO_TAG(SPI3_NSS_PIN), .sck = IO_TAG(SPI3_SCK_PIN), .miso = IO_TAG(SPI3_MISO_PIN), .mosi = IO_TAG(SPI3_MOSI_PIN), .rcc = RCC_APB1L(SPI3), .af = GPIO_AF6_SPI3, .divisorMap = spiDivisorMapSlow },
+#else
+ { .dev = NULL }, // No SPI3
+#endif
+#ifdef USE_SPI_DEVICE_4
+ { .dev = SPI4, .nss = IO_TAG(SPI4_NSS_PIN), .sck = IO_TAG(SPI4_SCK_PIN), .miso = IO_TAG(SPI4_MISO_PIN), .mosi = IO_TAG(SPI4_MOSI_PIN), .rcc = RCC_APB2(SPI4), .af = GPIO_AF5_SPI4, .divisorMap = spiDivisorMapSlow }
+#else
+ { .dev = NULL } // No SPI4
+#endif
+};
+#else
static spiDevice_t spiHardwareMap[] = {
#ifdef USE_SPI_DEVICE_1
{ .dev = SPI1, .nss = IO_TAG(SPI1_NSS_PIN), .sck = IO_TAG(SPI1_SCK_PIN), .miso = IO_TAG(SPI1_MISO_PIN), .mosi = IO_TAG(SPI1_MOSI_PIN), .rcc = RCC_APB2(SPI1), .af = GPIO_AF5_SPI1, .divisorMap = spiDivisorMapFast },
@@ -110,6 +134,7 @@ static spiDevice_t spiHardwareMap[] = {
{ .dev = NULL } // No SPI4
#endif
};
+#endif
SPIDevice spiDeviceByInstance(SPI_TypeDef *instance)
{
@@ -187,12 +212,21 @@ bool spiInitDevice(SPIDevice device, bool leadingEdge)
.CRCPoly = 7,
.CRCCalculation = SPI_CRCCALCULATION_DISABLE,
};
+
+#if defined(STM32H7)
+ // Prevent glitching when SPI is disabled
+ LL_SPI_EnableGPIOControl(spi->dev);
+
+ LL_SPI_SetFIFOThreshold(spi->dev, LL_SPI_FIFO_TH_01DATA);
+ LL_SPI_Init(spi->dev, &init);
+#else
LL_SPI_SetRxFIFOThreshold(spi->dev, SPI_RXFIFO_THRESHOLD_QF);
LL_SPI_Init(spi->dev, &init);
LL_SPI_Enable(spi->dev);
SET_BIT(spi->dev->CR2, SPI_RXFIFO_THRESHOLD);
+#endif
if (spi->nss) {
IOHi(IOGetByTag(spi->nss));
@@ -204,26 +238,11 @@ bool spiInitDevice(SPIDevice device, bool leadingEdge)
uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t txByte)
{
- uint16_t spiTimeout = 1000;
-
- while (!LL_SPI_IsActiveFlag_TXE(instance)) {
- if ((spiTimeout--) == 0) {
- spiTimeoutUserCallback(instance);
- return 0xFF;
- }
+ uint8_t value = 0xFF;
+ if (!spiTransfer(instance, &value, &txByte, 1)) {
+ return 0xFF;
}
-
- LL_SPI_TransmitData8(instance, txByte);
-
- spiTimeout = 1000;
- while (!LL_SPI_IsActiveFlag_RXNE(instance)) {
- if ((spiTimeout--) == 0) {
- spiTimeoutUserCallback(instance);
- return 0xFF;
- }
- }
-
- return (uint8_t)LL_SPI_ReceiveData8(instance);
+ return value;
}
/**
@@ -231,11 +250,49 @@ uint8_t spiTransferByte(SPI_TypeDef *instance, uint8_t txByte)
*/
bool spiIsBusBusy(SPI_TypeDef *instance)
{
+#if defined(STM32H7)
+ UNUSED(instance);
+ // H7 doesnt really have a busy flag. its should be done when the transfer is.
+ return false;
+#else
return (LL_SPI_GetTxFIFOLevel(instance) != LL_SPI_TX_FIFO_EMPTY) || LL_SPI_IsActiveFlag_BSY(instance);
+#endif
}
bool spiTransfer(SPI_TypeDef *instance, uint8_t *rxData, const uint8_t *txData, int len)
{
+#if defined(STM32H7)
+ LL_SPI_SetTransferSize(instance, len);
+ LL_SPI_Enable(instance);
+ LL_SPI_StartMasterTransfer(instance);
+ while (len) {
+ int spiTimeout = 1000;
+ while(!LL_SPI_IsActiveFlag_TXP(instance)) {
+ if ((spiTimeout--) == 0) {
+ spiTimeoutUserCallback(instance);
+ return false;
+ }
+ }
+ uint8_t b = txData ? *(txData++) : 0xFF;
+ LL_SPI_TransmitData8(instance, b);
+
+ spiTimeout = 1000;
+ while (!LL_SPI_IsActiveFlag_RXP(instance)) {
+ if ((spiTimeout--) == 0) {
+ spiTimeoutUserCallback(instance);
+ return false;
+ }
+ }
+ b = LL_SPI_ReceiveData8(instance);
+ if (rxData) {
+ *(rxData++) = b;
+ }
+ --len;
+ }
+ while (!LL_SPI_IsActiveFlag_EOT(instance));
+ LL_SPI_ClearFlag_TXTF(instance);
+ LL_SPI_Disable(instance);
+#else
SET_BIT(instance->CR2, SPI_RXFIFO_THRESHOLD);
while (len) {
@@ -262,6 +319,7 @@ bool spiTransfer(SPI_TypeDef *instance, uint8_t *rxData, const uint8_t *txData,
}
--len;
}
+#endif
return true;
}
diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
index ef1f445b6e..2e2e65a610 100644
--- a/src/main/fc/settings.yaml
+++ b/src/main/fc/settings.yaml
@@ -3197,6 +3197,20 @@ groups:
field: rssi_dbm_alarm
min: -130
max: 0
+ - name: osd_rssi_dbm_max
+ condition: USE_SERIALRX_CRSF
+ description: "RSSI dBm upper end of curve. Perfect rssi (max) = 100%"
+ default_value: -30
+ field: rssi_dbm_max
+ min: -50
+ max: 0
+ - name: osd_rssi_dbm_min
+ condition: USE_SERIALRX_CRSF
+ description: "RSSI dBm lower end of curve or RX sensitivity level. Worst rssi (min) = 0%"
+ default_value: -120
+ field: rssi_dbm_min
+ min: -130
+ max: 0
- name: osd_temp_label_align
description: "Allows to chose between left and right alignment for the OSD temperature sensor labels. Valid values are `LEFT` and `RIGHT`"
default_value: "LEFT"
diff --git a/src/main/flight/dynamic_gyro_notch.c b/src/main/flight/dynamic_gyro_notch.c
index 7e6c12afbc..fa4c48e913 100644
--- a/src/main/flight/dynamic_gyro_notch.c
+++ b/src/main/flight/dynamic_gyro_notch.c
@@ -26,6 +26,8 @@
#ifdef USE_DYNAMIC_FILTERS
+FILE_COMPILE_FOR_SPEED
+
#include
#include "dynamic_gyro_notch.h"
#include "fc/config.h"
@@ -33,7 +35,12 @@
#include "sensors/gyro.h"
void dynamicGyroNotchFiltersInit(dynamicGyroNotchState_t *state) {
- state->filtersApplyFn = nullFilterApply;
+
+ for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ state->filtersApplyFn[axis][i] = nullFilterApply;
+ }
+ }
state->dynNotchQ = gyroConfig()->dynamicGyroNotchQ / 100.0f;
state->enabled = gyroConfig()->dynamicGyroNotchEnabled;
@@ -45,27 +52,32 @@ void dynamicGyroNotchFiltersInit(dynamicGyroNotchState_t *state) {
*/
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
//Any initial notch Q is valid sice it will be updated immediately after
- biquadFilterInit(&state->filters[axis][0], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
- biquadFilterInit(&state->filters[axis][1], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
- biquadFilterInit(&state->filters[axis][2], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ biquadFilterInit(&state->filters[axis][i], DYNAMIC_NOTCH_DEFAULT_CENTER_HZ, state->looptime, 1.0f, FILTER_NOTCH);
+ state->filtersApplyFn[axis][i] = (filterApplyFnPtr)biquadFilterApplyDF1;
+ }
+
}
- state->filtersApplyFn = (filterApplyFnPtr)biquadFilterApplyDF1;
}
}
-void dynamicGyroNotchFiltersUpdate(dynamicGyroNotchState_t *state, int axis, uint16_t frequency) {
+void dynamicGyroNotchFiltersUpdate(dynamicGyroNotchState_t *state, int axis, float frequency[]) {
- state->frequency[axis] = frequency;
-
- DEBUG_SET(DEBUG_DYNAMIC_FILTER_FREQUENCY, axis, frequency);
-
- if (state->enabled) {
- biquadFilterUpdate(&state->filters[0][axis], frequency, state->looptime, state->dynNotchQ, FILTER_NOTCH);
- biquadFilterUpdate(&state->filters[1][axis], frequency, state->looptime, state->dynNotchQ, FILTER_NOTCH);
- biquadFilterUpdate(&state->filters[2][axis], frequency, state->looptime, state->dynNotchQ, FILTER_NOTCH);
+ if (axis == FD_ROLL) {
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ DEBUG_SET(DEBUG_DYNAMIC_FILTER_FREQUENCY, i, frequency[i]);
+ }
}
+ if (state->enabled) {
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ // Filter update happens only if peak was detected
+ if (frequency[i] > 0.0f) {
+ biquadFilterUpdate(&state->filters[axis][i], frequency[i], state->looptime, state->dynNotchQ, FILTER_NOTCH);
+ }
+ }
+ }
}
float dynamicGyroNotchFiltersApply(dynamicGyroNotchState_t *state, int axis, float input) {
@@ -75,9 +87,9 @@ float dynamicGyroNotchFiltersApply(dynamicGyroNotchState_t *state, int axis, flo
* We always apply all filters. If a filter dimension is disabled, one of
* the function pointers will be a null apply function
*/
- output = state->filtersApplyFn((filter_t *)&state->filters[axis][0], output);
- output = state->filtersApplyFn((filter_t *)&state->filters[axis][1], output);
- output = state->filtersApplyFn((filter_t *)&state->filters[axis][2], output);
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ output = state->filtersApplyFn[axis][i]((filter_t *)&state->filters[axis][i], output);
+ }
return output;
}
diff --git a/src/main/flight/dynamic_gyro_notch.h b/src/main/flight/dynamic_gyro_notch.h
index 87d923fb06..c5be6a8137 100644
--- a/src/main/flight/dynamic_gyro_notch.h
+++ b/src/main/flight/dynamic_gyro_notch.h
@@ -27,23 +27,22 @@
#include
#include "common/axis.h"
#include "common/filter.h"
+#include "sensors/gyro.h"
#define DYNAMIC_NOTCH_DEFAULT_CENTER_HZ 350
typedef struct dynamicGyroNotchState_s {
- uint16_t frequency[XYZ_AXIS_COUNT];
+ // uint16_t frequency[XYZ_AXIS_COUNT];
float dynNotchQ;
float dynNotch1Ctr;
float dynNotch2Ctr;
uint32_t looptime;
uint8_t enabled;
- /*
- * Dynamic gyro filter can be 3x1, 3x2 or 3x3 depending on filter type
- */
- biquadFilter_t filters[XYZ_AXIS_COUNT][XYZ_AXIS_COUNT];
- filterApplyFnPtr filtersApplyFn;
+
+ biquadFilter_t filters[XYZ_AXIS_COUNT][DYN_NOTCH_PEAK_COUNT];
+ filterApplyFnPtr filtersApplyFn[XYZ_AXIS_COUNT][DYN_NOTCH_PEAK_COUNT];
} dynamicGyroNotchState_t;
void dynamicGyroNotchFiltersInit(dynamicGyroNotchState_t *state);
-void dynamicGyroNotchFiltersUpdate(dynamicGyroNotchState_t *state, int axis, uint16_t frequency);
+void dynamicGyroNotchFiltersUpdate(dynamicGyroNotchState_t *state, int axis, float frequency[]);
float dynamicGyroNotchFiltersApply(dynamicGyroNotchState_t *state, int axis, float input);
diff --git a/src/main/flight/gyroanalyse.c b/src/main/flight/gyroanalyse.c
index 2037b4712c..7596583273 100644
--- a/src/main/flight/gyroanalyse.c
+++ b/src/main/flight/gyroanalyse.c
@@ -61,7 +61,7 @@ enum {
// NB FFT_WINDOW_SIZE is set to 32 in gyroanalyse.h
#define FFT_BIN_COUNT (FFT_WINDOW_SIZE / 2)
// smoothing frequency for FFT centre frequency
-#define DYN_NOTCH_SMOOTH_FREQ_HZ 50
+#define DYN_NOTCH_SMOOTH_FREQ_HZ 25
/*
* Slow down gyro sample acquisition. This lowers the max frequency but increases the resolution.
@@ -93,11 +93,12 @@ void gyroDataAnalyseStateInit(
const uint32_t filterUpdateUs = targetLooptimeUs * STEP_COUNT * XYZ_AXIS_COUNT;
for (int axis = 0; axis < XYZ_AXIS_COUNT; axis++) {
- // any init value
- state->centerFreq[axis] = state->maxFrequency;
- state->prevCenterFreq[axis] = state->maxFrequency;
+
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ state->centerFrequency[axis][i] = state->maxFrequency;
+ pt1FilterInit(&state->detectedFrequencyFilter[axis][i], DYN_NOTCH_SMOOTH_FREQ_HZ, filterUpdateUs * 1e-6f);
+ }
- biquadFilterInitLPF(&state->detectedFrequencyFilter[axis], DYN_NOTCH_SMOOTH_FREQ_HZ, filterUpdateUs);
}
}
@@ -135,18 +136,6 @@ void stage_rfft_f32(arm_rfft_fast_instance_f32 *S, float32_t *p, float32_t *pOut
void arm_cfft_radix8by4_f32(arm_cfft_instance_f32 *S, float32_t *p1);
void arm_bitreversal_32(uint32_t *pSrc, const uint16_t bitRevLen, const uint16_t *pBitRevTable);
-static uint8_t findPeakBinIndex(gyroAnalyseState_t *state) {
- uint8_t peakBinIndex = state->fftStartBin;
- float peakValue = 0;
- for (int i = state->fftStartBin; i < FFT_BIN_COUNT; i++) {
- if (state->fftData[i] > peakValue) {
- peakValue = state->fftData[i];
- peakBinIndex = i;
- }
- }
- return peakBinIndex;
-}
-
static float computeParabolaMean(gyroAnalyseState_t *state, uint8_t peakBinIndex) {
float preciseBin = peakBinIndex;
@@ -190,38 +179,78 @@ static NOINLINE void gyroDataAnalyseUpdate(gyroAnalyseState_t *state)
// 8us
arm_cmplx_mag_f32(state->rfftData, state->fftData, FFT_BIN_COUNT);
- //Find peak frequency
- uint8_t peakBin = findPeakBinIndex(state);
+ //Zero the data structure
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+ state->peaks[i].bin = 0;
+ state->peaks[i].value = 0.0f;
+ }
- // Failsafe to ensure the last bin is not a peak bin
- peakBin = constrain(peakBin, state->fftStartBin, FFT_BIN_COUNT - 1);
+ // Find peaks
+ for (int bin = (state->fftStartBin + 1); bin < FFT_BIN_COUNT - 1; bin++) {
+ /*
+ * Peak is defined if the current bin is greater than the previous bin and the next bin
+ */
+ if (
+ state->fftData[bin] > state->fftData[bin - 1] &&
+ state->fftData[bin] > state->fftData[bin + 1]
+ ) {
+ /*
+ * We are only interested in N biggest peaks
+ * Check previously found peaks and update the structure if necessary
+ */
+ for (int p = 0; p < DYN_NOTCH_PEAK_COUNT; p++) {
+ if (state->fftData[bin] > state->peaks[p].value) {
+ for (int k = DYN_NOTCH_PEAK_COUNT - 1; k > p; k--) {
+ state->peaks[k] = state->peaks[k - 1];
+ }
+ state->peaks[p].bin = bin;
+ state->peaks[p].value = state->fftData[bin];
+ break;
+ }
+ }
+ bin++; // If bin is peak, next bin can't be peak => jump it
+ }
+ }
- /*
- * Calculate center frequency using the parabola method
- */
- float preciseBin = computeParabolaMean(state, peakBin);
- float peakFrequency = preciseBin * state->fftResolution;
+ // Sort N biggest peaks in ascending bin order (example: 3, 8, 25, 0, 0, ..., 0)
+ for (int p = DYN_NOTCH_PEAK_COUNT - 1; p > 0; p--) {
+ for (int k = 0; k < p; k++) {
+ // Swap peaks but ignore swapping void peaks (bin = 0). This leaves
+ // void peaks at the end of peaks array without moving them
+ if (state->peaks[k].bin > state->peaks[k + 1].bin && state->peaks[k + 1].bin != 0) {
+ peak_t temp = state->peaks[k];
+ state->peaks[k] = state->peaks[k + 1];
+ state->peaks[k + 1] = temp;
+ }
+ }
+ }
- peakFrequency = biquadFilterApply(&state->detectedFrequencyFilter[state->updateAxis], peakFrequency);
- peakFrequency = constrainf(peakFrequency, state->minFrequency, state->maxFrequency);
-
- state->prevCenterFreq[state->updateAxis] = state->centerFreq[state->updateAxis];
- state->centerFreq[state->updateAxis] = peakFrequency;
break;
}
case STEP_UPDATE_FILTERS_AND_HANNING:
{
- // 7us
- // calculate cutoffFreq and notch Q, update notch filter =1.8+((A2-150)*0.004)
- if (state->prevCenterFreq[state->updateAxis] != state->centerFreq[state->updateAxis]) {
- /*
- * Filters will be updated inside dynamicGyroNotchFiltersUpdate()
- */
- state->filterUpdateExecute = true;
- state->filterUpdateAxis = state->updateAxis;
- state->filterUpdateFrequency = state->centerFreq[state->updateAxis];
+
+ /*
+ * Update frequencies
+ */
+ for (int i = 0; i < DYN_NOTCH_PEAK_COUNT; i++) {
+
+ if (state->peaks[i].bin > 0) {
+ const int bin = constrain(state->peaks[i].bin, state->fftStartBin, FFT_BIN_COUNT - 1);
+ float frequency = computeParabolaMean(state, bin) * state->fftResolution;
+
+ state->centerFrequency[state->updateAxis][i] = pt1FilterApply(&state->detectedFrequencyFilter[state->updateAxis][i], frequency);
+ } else {
+ state->centerFrequency[state->updateAxis][i] = 0.0f;
+ }
}
+ /*
+ * Filters will be updated inside dynamicGyroNotchFiltersUpdate()
+ */
+ state->filterUpdateExecute = true;
+ state->filterUpdateAxis = state->updateAxis;
+
//Switch to the next axis
state->updateAxis = (state->updateAxis + 1) % XYZ_AXIS_COUNT;
diff --git a/src/main/flight/gyroanalyse.h b/src/main/flight/gyroanalyse.h
index 0d95be42cc..2cfd19389f 100644
--- a/src/main/flight/gyroanalyse.h
+++ b/src/main/flight/gyroanalyse.h
@@ -31,6 +31,11 @@
*/
#define FFT_WINDOW_SIZE 64
+typedef struct peak_s {
+ int bin;
+ float value;
+} peak_t;
+
typedef struct gyroAnalyseState_s {
// accumulator for oversampled data => no aliasing and less noise
float currentSample[XYZ_AXIS_COUNT];
@@ -40,7 +45,6 @@ typedef struct gyroAnalyseState_s {
float downsampledGyroData[XYZ_AXIS_COUNT][FFT_WINDOW_SIZE];
// update state machine step information
- uint8_t updateTicks;
uint8_t updateStep;
uint8_t updateAxis;
@@ -48,12 +52,15 @@ typedef struct gyroAnalyseState_s {
float fftData[FFT_WINDOW_SIZE];
float rfftData[FFT_WINDOW_SIZE];
- biquadFilter_t detectedFrequencyFilter[XYZ_AXIS_COUNT];
- uint16_t centerFreq[XYZ_AXIS_COUNT];
- uint16_t prevCenterFreq[XYZ_AXIS_COUNT];
+ pt1Filter_t detectedFrequencyFilter[XYZ_AXIS_COUNT][DYN_NOTCH_PEAK_COUNT];
+ float centerFrequency[XYZ_AXIS_COUNT][DYN_NOTCH_PEAK_COUNT];
+
+ peak_t peaks[DYN_NOTCH_PEAK_COUNT];
+
bool filterUpdateExecute;
uint8_t filterUpdateAxis;
uint16_t filterUpdateFrequency;
+
uint16_t fftSamplingRateHz;
uint8_t fftStartBin;
float fftResolution;
diff --git a/src/main/io/osd.c b/src/main/io/osd.c
index c6cab2b793..724eceb16b 100644
--- a/src/main/io/osd.c
+++ b/src/main/io/osd.c
@@ -3167,6 +3167,8 @@ PG_RESET_TEMPLATE(osdConfig_t, osdConfig,
.crsf_lq_format = SETTING_OSD_CRSF_LQ_FORMAT_DEFAULT,
.link_quality_alarm = SETTING_OSD_LINK_QUALITY_ALARM_DEFAULT,
.rssi_dbm_alarm = SETTING_OSD_RSSI_DBM_ALARM_DEFAULT,
+ .rssi_dbm_max = SETTING_OSD_RSSI_DBM_MAX_DEFAULT,
+ .rssi_dbm_min = SETTING_OSD_RSSI_DBM_MIN_DEFAULT,
#endif
#ifdef USE_TEMPERATURE_SENSOR
.temp_label_align = SETTING_OSD_TEMP_LABEL_ALIGN_DEFAULT,
diff --git a/src/main/io/osd.h b/src/main/io/osd.h
index 0f0d7913b5..a690ca7f8a 100644
--- a/src/main/io/osd.h
+++ b/src/main/io/osd.h
@@ -323,6 +323,8 @@ typedef struct osdConfig_s {
int8_t snr_alarm; //CRSF SNR alarm in dB
int8_t link_quality_alarm;
int16_t rssi_dbm_alarm; // in dBm
+ int16_t rssi_dbm_max; // Perfect RSSI. Set to High end of curve. RSSI at 100%
+ int16_t rssi_dbm_min; // Worst RSSI. Set to low end of curve or RX sensitivity level. RSSI at 0%
#endif
#ifdef USE_BARO
int16_t baro_temp_alarm_min;
diff --git a/src/main/io/osd_hud.c b/src/main/io/osd_hud.c
index ce87370bcd..62c8187c6b 100644
--- a/src/main/io/osd_hud.c
+++ b/src/main/io/osd_hud.c
@@ -205,7 +205,7 @@ void osdHudDrawPoi(uint32_t poiDistance, int16_t poiDirection, int32_t poiAltitu
if (((millis() / 1000) % 6 == 0) && poiType > 0) { // For Radar and WPs, display the difference in altitude
altc = ((osd_unit_e)osdConfig()->units == OSD_UNIT_IMPERIAL) ? constrain(CENTIMETERS_TO_FEET(poiAltitude * 100), -99, 99) : constrain(poiAltitude, -99 , 99);
tfp_sprintf(buff, "%3d", altc);
- buff[0] = (poiAltitude >= 0) ? SYM_VARIO_UP_2A : SYM_VARIO_DOWN_2A;
+ buff[0] = (poiAltitude >= 0) ? SYM_HUD_ARROWS_U3 : SYM_HUD_ARROWS_D3;
}
else { // Display the distance by default
if ((osd_unit_e)osdConfig()->units == OSD_UNIT_IMPERIAL) {
diff --git a/src/main/rx/crsf.c b/src/main/rx/crsf.c
index f01dcb965e..01b9a72abd 100755
--- a/src/main/rx/crsf.c
+++ b/src/main/rx/crsf.c
@@ -36,6 +36,7 @@ FILE_COMPILE_FOR_SPEED
#include "drivers/serial_uart.h"
#include "io/serial.h"
+#include "io/osd.h"
#include "rx/rx.h"
#include "rx/crsf.h"
@@ -241,8 +242,15 @@ STATIC_UNIT_TESTED uint8_t crsfFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
rxLinkStatistics.uplinkTXPower = crsfPowerStates[linkStats->uplinkTXPower];
rxLinkStatistics.activeAnt = linkStats->activeAntenna;
- if (rxLinkStatistics.uplinkLQ > 0)
- lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(constrain(rxLinkStatistics.uplinkRSSI, -120, -30), -120, -30, 0, RSSI_MAX_VALUE));
+ if (rxLinkStatistics.uplinkLQ > 0) {
+ int16_t uplinkStrength; // RSSI dBm converted to %
+ uplinkStrength = constrain((100 * sq((osdConfig()->rssi_dbm_max - osdConfig()->rssi_dbm_min)) - (100 * sq((osdConfig()->rssi_dbm_max - rxLinkStatistics.uplinkRSSI)))) / sq((osdConfig()->rssi_dbm_max - osdConfig()->rssi_dbm_min)),0,100);
+ if (rxLinkStatistics.uplinkRSSI >= osdConfig()->rssi_dbm_max )
+ uplinkStrength = 99;
+ else if (rxLinkStatistics.uplinkRSSI < osdConfig()->rssi_dbm_min)
+ uplinkStrength = 0;
+ lqTrackerSet(rxRuntimeConfig->lqTracker, scaleRange(uplinkStrength, 0, 99, 0, RSSI_MAX_VALUE));
+ }
else
lqTrackerSet(rxRuntimeConfig->lqTracker, 0);
diff --git a/src/main/sensors/gyro.c b/src/main/sensors/gyro.c
index f09b826c22..22a1ee5521 100644
--- a/src/main/sensors/gyro.c
+++ b/src/main/sensors/gyro.c
@@ -458,8 +458,8 @@ void FAST_CODE NOINLINE gyroFilter()
if (gyroAnalyseState.filterUpdateExecute) {
dynamicGyroNotchFiltersUpdate(
&dynamicGyroNotchState,
- gyroAnalyseState.filterUpdateAxis,
- gyroAnalyseState.filterUpdateFrequency
+ gyroAnalyseState.filterUpdateAxis,
+ gyroAnalyseState.centerFrequency[gyroAnalyseState.filterUpdateAxis]
);
}
}
diff --git a/src/main/sensors/gyro.h b/src/main/sensors/gyro.h
index 63e5ab99da..cbc4d72cda 100644
--- a/src/main/sensors/gyro.h
+++ b/src/main/sensors/gyro.h
@@ -24,6 +24,11 @@
#include "config/parameter_group.h"
#include "drivers/sensor.h"
+/*
+ * Number of peaks to detect with Dynamic Notch Filter aka Matrixc Filter. This is equal to the number of dynamic notch filters
+ */
+#define DYN_NOTCH_PEAK_COUNT 3
+
typedef enum {
GYRO_NONE = 0,
GYRO_AUTODETECT,
diff --git a/src/main/target/KAKUTEH7/target.h b/src/main/target/KAKUTEH7/target.h
index ade11c62aa..9b8727abd1 100644
--- a/src/main/target/KAKUTEH7/target.h
+++ b/src/main/target/KAKUTEH7/target.h
@@ -41,6 +41,15 @@
#define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7
+#define USE_SDCARD
+#define USE_SDCARD_SPI
+#define SDCARD_SPI_BUS BUS_SPI1
+#define SDCARD_CS_PIN PA4
+#define SDCARD_DETECT_INVERTED
+#define SDCARD_DETECT_PIN PA3
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SDCARD_BY_DEFAULT
+
// *************** SPI2 ***********************
#define USE_SPI_DEVICE_2
#define SPI2_SCK_PIN PB13
@@ -148,7 +157,7 @@
#define USE_LED_STRIP
#define WS2811_PIN PD12
-#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL)
+#define DEFAULT_FEATURES (FEATURE_OSD | FEATURE_TELEMETRY | FEATURE_CURRENT_METER | FEATURE_VBAT | FEATURE_TX_PROF_SEL | FEATURE_BLACKBOX)
#define CURRENT_METER_SCALE 250
#define USE_SERIAL_4WAY_BLHELI_INTERFACE