Merge Maintenance 8.x.x to master

.vscode/settings.json

@@ -7,7 +7,8 @@
         "rth_trackback.h": "c",
         "platform.h": "c",
         "timer.h": "c",
-        "bus.h": "c"
+        "bus.h": "c",
+        "io.h": "c"
     },
     "editor.tabSize": 4,
     "editor.insertSpaces": true,

src/main/rx/msp_override.c

@@ -131,6 +131,12 @@ bool mspOverrideUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime
         }
     }
 
+    // Changing receiver_type from MSP to anything can cause a race with
+    // the function pointer as NULL. This will not end well, so bail out early.
+    if(rxRuntimeConfigMSP.rcFrameStatusFn == NULL) {
+	return false;
+    }
+
     const uint8_t frameStatus = rxRuntimeConfigMSP.rcFrameStatusFn(&rxRuntimeConfigMSP);
     if (frameStatus & RX_FRAME_COMPLETE) {
         rxDataProcessingRequired = true;

src/main/target/BRAHMA_F405/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f405xg(BRAHMA_F405)

src/main/target/BRAHMA_F405/target.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+
+    DEF_TIM(TIM1,   CH3N,  PB1,   TIM_USE_OUTPUT_AUTO,  0, 0 ),    
+    DEF_TIM(TIM1,   CH2N,  PB0,   TIM_USE_OUTPUT_AUTO,  0, 1 ),  
+    DEF_TIM(TIM2,   CH4,  PA3,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     
+    DEF_TIM(TIM2,   CH3,  PA2,   TIM_USE_OUTPUT_AUTO, 0, 0 ),    
+
+    DEF_TIM(TIM4,   CH4,  PB9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     
+    DEF_TIM(TIM3,   CH1,  PB4,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     
+    DEF_TIM(TIM3,   CH2,  PB5,   TIM_USE_OUTPUT_AUTO,  0, 0 ),    
+    DEF_TIM(TIM3,   CH4,  PC9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     
+
+    DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_LED,       0, 0 ),     
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);

src/main/target/BRAHMA_F405/target.h

@@ -0,0 +1,149 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#define USE_TARGET_CONFIG
+
+#define USBD_PRODUCT_STRING             "BRAHMA_F405"
+#define TARGET_BOARD_IDENTIFIER         "DMF4"
+
+
+// ******** Board LEDs  **********************
+#define LED0                            PA8
+
+
+// ******* Beeper ***********
+#define BEEPER                          PC13
+#define BEEPER_INVERTED
+
+//BMI270
+#define USE_IMU_BMI270
+#define IMU_BMI270_ALIGN                CW0_DEG
+#define BMI270_SPI_BUS                  BUS_SPI3
+#define BMI270_CS_PIN                   SPI3_NSS_PIN
+
+// *************** Baro **************************
+#define USE_I2C
+
+#define USE_I2C_DEVICE_1
+#define I2C1_SCL                        PB6
+#define I2C1_SDA                        PB7
+#define DEFAULT_I2C_BUS                 BUS_I2C1
+
+#define USE_BARO
+#define BARO_I2C_BUS                    DEFAULT_I2C_BUS
+#define BARO_I2C_ADDR                   0x77
+#define USE_BARO_DPS310
+
+
+//*********** Magnetometer / Compass *************
+#define USE_MAG
+#define MAG_I2C_BUS                     DEFAULT_I2C_BUS
+#define USE_MAG_ALL
+
+// ******* SERIAL ********
+#define USE_VCP
+
+#define USE_UART1
+#define UART1_TX_PIN                    PA9
+#define UART1_RX_PIN                    PA10
+
+
+#define USE_UART3
+#define UART3_TX_PIN                    PB10
+#define UART3_RX_PIN                    PB11
+
+#define USE_UART4
+#define UART4_TX_PIN                    PA0
+#define UART4_RX_PIN                    PA1
+
+#define USE_UART6
+#define UART6_TX_PIN                    PC6
+#define UART6_RX_PIN                    PC7
+
+#define SERIAL_PORT_COUNT               5
+
+
+// ******* SPI ********
+#define USE_SPI
+
+#define USE_SPI_DEVICE_1
+#define SPI1_NSS_PIN                    PA4
+#define SPI1_SCK_PIN                    PA5
+#define SPI1_MISO_PIN                   PA6
+#define SPI1_MOSI_PIN                   PA7
+
+#define USE_SPI_DEVICE_2
+#define SPI2_NSS_PIN                    PB12
+#define SPI2_SCK_PIN                    PB13
+#define SPI2_MISO_PIN                   PB14
+#define SPI2_MOSI_PIN                   PB15
+
+#define USE_SPI_DEVICE_3
+#define SPI3_NSS_PIN                    PB3
+#define SPI3_SCK_PIN                    PC10
+#define SPI3_MISO_PIN                   PC11
+#define SPI3_MOSI_PIN                   PC12
+
+// ******* ADC ********
+#define USE_ADC
+#define ADC_CHANNEL_1_PIN               PC4
+#define ADC_CHANNEL_2_PIN               PC3
+#define ADC_CHANNEL_3_PIN               PC5
+#define VBAT_ADC_CHANNEL                ADC_CHN_1
+#define CURRENT_METER_ADC_CHANNEL       ADC_CHN_2
+#define RSSI_ADC_CHANNEL                ADC_CHN_3
+
+#define VBAT_SCALE_DEFAULT              1100
+#define CURRENT_METER_SCALE             270
+
+// ******* OSD ********
+#define USE_MAX7456
+#define MAX7456_SPI_BUS                 BUS_SPI1
+#define MAX7456_CS_PIN                  PA4
+
+//******* FLASH ********
+#define USE_FLASHFS
+#define USE_FLASH_M25P16
+#define M25P16_SPI_BUS                  BUS_SPI2
+#define M25P16_CS_PIN                   PB12
+
+#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
+
+//************ LEDSTRIP *****************
+#define USE_LED_STRIP
+#define WS2811_PIN                      PC8
+
+// ******* FEATURES ********
+#define SERIALRX_UART                   SERIAL_PORT_USART1
+#define SERIALRX_PROVIDER               SERIALRX_SBUS
+
+#define DEFAULT_FEATURES                (FEATURE_TX_PROF_SEL  | FEATURE_OSD | FEATURE_CURRENT_METER | FEATURE_VBAT  | FEATURE_BLACKBOX | FEATURE_TELEMETRY)
+
+#define TARGET_IO_PORTA                 0xffff
+#define TARGET_IO_PORTB                 0xffff
+#define TARGET_IO_PORTC                 0xffff
+#define TARGET_IO_PORTD                 (BIT(2))
+
+#define MAX_PWM_OUTPUT_PORTS            8
+#define TARGET_MOTOR_COUNT              4
+
+// ESC-related features
+#define USE_DSHOT
+#define USE_ESC_SENSOR
+#define USE_SERIAL_4WAY_BLHELI_INTERFACE

src/main/target/BRAHMA_F722/CMakeLists.txt

@@ -0,0 +1 @@
+target_stm32f722xe(BRAHMA_F722)

src/main/target/BRAHMA_F722/target.c

@@ -0,0 +1,41 @@
+/*
+ * This file is part of INAV.
+ *
+ * INAV 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.
+ *
+ * INAV 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 INAV.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+
+#include <stdint.h>
+
+#include "platform.h"
+#include "drivers/io.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_mapping.h"
+#include "drivers/bus.h"
+
+timerHardware_t timerHardware[] = {
+    DEF_TIM(TIM8,   CH3,  PC8,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S1
+    DEF_TIM(TIM8,   CH4,  PC9,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S2
+    DEF_TIM(TIM1,   CH1,  PA8,   TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S3
+    DEF_TIM(TIM1,   CH2,  PA9,   TIM_USE_OUTPUT_AUTO,  0, 1 ),     // S4
+
+    DEF_TIM(TIM3,   CH3,  PB0,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S5
+    DEF_TIM(TIM3,   CH4,  PB1,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S6
+    DEF_TIM(TIM1,   CH3,  PA10,  TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S7
+    DEF_TIM(TIM3,   CH1,  PB4,   TIM_USE_OUTPUT_AUTO,  0, 0 ),     // S8
+
+    DEF_TIM(TIM2,   CH2,  PB3,   TIM_USE_LED,       0, 0 ),     // LED_STRIP – D(1, 6, 3)
+};
+
+const int timerHardwareCount = sizeof(timerHardware) / sizeof(timerHardware[0]);