Merge branch 'master' into MrD_Set-OSD-elements-precision

b14ckyy · Oct 25, 2024 · 5383262 · 5383262
2 parents 16746b8 + d98756b
commit 5383262
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diff --git a/readme.md b/readme.md
@@ -1,3 +1,11 @@
+# INAV 8.0 feature freeze
+
+It is that time of the year again, and the time for a new INAV release is near!
+
+The current plan is to have a feature freeze on **15th of November 2024**.
+
+For a preview of what is comming, have a look at ![milestone 8.0](https://github.com/iNavFlight/inav/milestone/43).
+
 # INAV - navigation capable flight controller
 
 # F411 PSA

diff --git a/src/main/drivers/serial_uart_at32f43x.c b/src/main/drivers/serial_uart_at32f43x.c
@@ -36,28 +36,37 @@ typedef struct uartDevice_s {
     usart_type* dev;
     uartPort_t port;
     ioTag_t rx;
+    uint8_t rx_af;
     ioTag_t tx;
+    uint8_t tx_af;
     volatile uint8_t rxBuffer[UART_RX_BUFFER_SIZE];
     volatile uint8_t txBuffer[UART_TX_BUFFER_SIZE];
     uint32_t rcc_ahb1;
     rccPeriphTag_t rcc_apb2;
     rccPeriphTag_t rcc_apb1;
-    uint8_t af;
     uint8_t irq;
     uint32_t irqPriority;
     bool pinSwap;
 } uartDevice_t;
 
 #ifdef USE_UART1
-static uartDevice_t uart1 =
-{
+static uartDevice_t uart1 = {
     .dev = USART1,
     .rx = IO_TAG(UART1_RX_PIN),
     .tx = IO_TAG(UART1_TX_PIN),
-#ifdef UART1_AF
-    .af = CONCAT(GPIO_MUX_, UART1_AF),
+#if defined(UART1_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART1_RX_AF),
+#elif defined(UART1_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART1_AF),
+#else
+    .rx_af = GPIO_MUX_7,
+#endif
+#if defined(UART1_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART1_TX_AF),
+#elif defined(UART1_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART1_AF),
 #else
-    .af = GPIO_MUX_7,
+    .tx_af = GPIO_MUX_7,
 #endif
 #ifdef UART1_AHB1_PERIPHERALS
     .rcc_ahb1 = UART1_AHB1_PERIPHERALS,
@@ -79,10 +88,19 @@ static uartDevice_t uart2 =
     .dev = USART2,
     .rx = IO_TAG(UART2_RX_PIN),
     .tx = IO_TAG(UART2_TX_PIN),
-#ifdef UART2_AF
-    .af = CONCAT(GPIO_MUX_, UART2_AF),
+#if defined(UART2_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART2_RX_AF),
+#elif defined(UART2_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART2_AF),
+#else
+    .rx_af = GPIO_MUX_7,
+#endif
+#if defined(UART2_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART2_TX_AF),
+#elif defined(UART2_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART2_AF),
 #else
-    .af = GPIO_MUX_7,
+    .tx_af = GPIO_MUX_7,
 #endif
 #ifdef UART2_AHB1_PERIPHERALS
     .rcc_ahb1 = UART2_AHB1_PERIPHERALS,
@@ -104,10 +122,19 @@ static uartDevice_t uart3 =
     .dev = USART3,
     .rx = IO_TAG(UART3_RX_PIN),
     .tx = IO_TAG(UART3_TX_PIN),
-#ifdef UART3_AF
-    .af = CONCAT(GPIO_MUX_, UART3_AF),
+#if defined(UART3_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART3_RX_AF),
+#elif defined(UART3_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART3_AF),
 #else
-    .af = GPIO_MUX_7,
+    .rx_af = GPIO_MUX_7,
+#endif
+#if defined(UART3_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART3_TX_AF),
+#elif defined(UART3_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART3_AF),
+#else
+    .tx_af = GPIO_MUX_7,
 #endif
 #ifdef UART3_AHB1_PERIPHERALS
     .rcc_ahb1 = UART3_AHB1_PERIPHERALS,
@@ -129,10 +156,19 @@ static uartDevice_t uart4 =
     .dev = UART4,
     .rx = IO_TAG(UART4_RX_PIN),
     .tx = IO_TAG(UART4_TX_PIN),
-#ifdef UART4_AF
-    .af = CONCAT(GPIO_MUX_, UART4_AF),
+#if defined(UART4_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART4_RX_AF),
+#elif defined(UART4_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART4_AF),
+#else
+    .rx_af = GPIO_MUX_8,
+#endif
+#if defined(UART4_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART4_TX_AF),
+#elif defined(UART4_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART4_AF),
 #else
-    .af = GPIO_MUX_8,
+    .tx_af = GPIO_MUX_8,
 #endif
 #ifdef UART4_AHB1_PERIPHERALS
     .rcc_ahb1 = UART4_AHB1_PERIPHERALS,
@@ -154,10 +190,19 @@ static uartDevice_t uart5 =
     .dev = UART5,
     .rx = IO_TAG(UART5_RX_PIN),
     .tx = IO_TAG(UART5_TX_PIN),
-#ifdef UART5_AF
-    .af = CONCAT(GPIO_MUX_, UART5_AF),
+#if defined(UART5_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART5_RX_AF),
+#elif defined(UART5_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART5_AF),
 #else
-    .af = GPIO_MUX_8,
+    .rx_af = GPIO_MUX_8,
+#endif
+#if defined(UART5_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART5_TX_AF),
+#elif defined(UART5_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART5_AF),
+#else
+    .tx_af = GPIO_MUX_8,
 #endif
 #ifdef UART5_AHB1_PERIPHERALS
     .rcc_ahb1 = UART5_AHB1_PERIPHERALS,
@@ -179,10 +224,19 @@ static uartDevice_t uart6 =
     .dev = USART6,
     .rx = IO_TAG(UART6_RX_PIN),
     .tx = IO_TAG(UART6_TX_PIN),
-#ifdef UART6_AF
-    .af = CONCAT(GPIO_MUX_, UART6_AF),
+#if defined(UART6_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART6_RX_AF),
+#elif defined(UART6_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART6_AF),
+#else
+    .rx_af = GPIO_MUX_8,
+#endif
+#if defined(UART6_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART6_TX_AF),
+#elif defined(UART6_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART6_AF),
 #else
-    .af = GPIO_MUX_8,
+    .tx_af = GPIO_MUX_8,
 #endif
 #ifdef UART6_AHB1_PERIPHERALS
     .rcc_ahb1 = UART6_AHB1_PERIPHERALS,
@@ -204,10 +258,19 @@ static uartDevice_t uart7 =
     .dev = UART7,
     .rx = IO_TAG(UART7_RX_PIN),
     .tx = IO_TAG(UART7_TX_PIN),
-#ifdef UART7_AF
-    .af = CONCAT(GPIO_MUX_, UART7_AF),
+#if defined(UART7_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART7_RX_AF),
+#elif defined(UART7_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART7_AF),
 #else
-    .af = GPIO_MUX_8,
+    .rx_af = GPIO_MUX_8,
+#endif
+#if defined(UART7_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART7_TX_AF),
+#elif defined(UART7_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART7_AF),
+#else
+    .tx_af = GPIO_MUX_8,
 #endif
     .rcc_apb1 = RCC_APB1(UART7),
     .irq = UART7_IRQn,
@@ -226,10 +289,19 @@ static uartDevice_t uart8 =
     .dev = UART8,
     .rx = IO_TAG(UART8_RX_PIN),
     .tx = IO_TAG(UART8_TX_PIN),
-#ifdef UART8_AF
-    .af = CONCAT(GPIO_MUX_, UART8_AF),
+#if defined(UART8_RX_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART8_RX_AF),
+#elif defined(UART8_AF)
+    .rx_af = CONCAT(GPIO_MUX_, UART8_AF),
+#else
+    .rx_af = GPIO_MUX_8,
+#endif
+#if defined(UART8_TX_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART8_TX_AF),
+#elif defined(UART8_AF)
+    .tx_af = CONCAT(GPIO_MUX_, UART8_AF),
 #else
-    .af = GPIO_MUX_8,
+    .tx_af = GPIO_MUX_8,
 #endif
     .rcc_apb1 = RCC_APB1(UART8),
     .irq = UART8_IRQn,
@@ -389,22 +461,22 @@ uartPort_t *serialUART(UARTDevice_e device, uint32_t baudRate, portMode_t mode,
     if (options & SERIAL_BIDIR) {
         IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, RESOURCE_INDEX(device));
         if (options & SERIAL_BIDIR_PP) {
-            IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
+            IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->tx_af);
         } else {
             IOConfigGPIOAF(tx,
                     (options & SERIAL_BIDIR_NOPULL) ? IOCFG_AF_OD : IOCFG_AF_OD_UP,
-                    uart->af);
+                    uart->tx_af);
         }
     }
     else {
         if (mode & MODE_TX) {
             IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(device));
-            IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
+            IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->rx_af);
         }
 
         if (mode & MODE_RX) {
             IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device));
-            IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af);
+            IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->rx_af);
         }
     } 
 

diff --git a/src/main/fc/fc_msp.c b/src/main/fc/fc_msp.c
@@ -1674,6 +1674,18 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
             }
         }
         break;
+
+    case MSP2_INAV_ESC_TELEM:
+        {
+            uint8_t motorCount = getMotorCount();
+            sbufWriteU8(dst, motorCount);
+
+            for (uint8_t i = 0; i < motorCount; i++){
+                const escSensorData_t *escState = getEscTelemetry(i); //Get ESC telemetry
+                sbufWriteDataSafe(dst, escState, sizeof(escSensorData_t));
+            }
+        }
+        break;
 #endif
 
 #ifdef USE_EZ_TUNE

diff --git a/src/main/fc/settings.yaml b/src/main/fc/settings.yaml
@@ -202,7 +202,7 @@ tables:
     values: ["GENERIC", "ELRS", "SIK"]
     enum: mavlinkRadio_e
   - name: default_altitude_source
-    values: ["GPS", "BARO", "GPS ONLY", "BARO ONLY"]
+    values: ["GPS", "BARO", "GPS_ONLY", "BARO_ONLY"]
     enum: navDefaultAltitudeSensor_e
 
 constants:

diff --git a/src/main/io/osd.c b/src/main/io/osd.c
@@ -4793,7 +4793,7 @@ uint8_t drawStat_UsedEnergy(uint8_t col, uint8_t row, uint8_t statValX)
         strcat(buff, "/");
         osdFormatCentiNumber(preBuff, getMWhDrawn() / 10, 0, 2, 0, 3, false);
         strcat(buff, osdFormatTrimWhiteSpace(preBuff));
-        tfp_sprintf(buff + strlen(buff), "%s%c", buff, SYM_WH);
+        tfp_sprintf(buff + strlen(buff), "%c", SYM_WH);
     }
     displayWrite(osdDisplayPort, statValX, row++, buff);
 
@@ -4855,7 +4855,7 @@ uint8_t drawStat_AverageEfficiency(uint8_t col, uint8_t row, uint8_t statValX, b
                         osdFormatCentiNumber(buff, (int32_t)((getMWhDrawn() - stats.flightStartMWh) * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false);
                         strcat(outBuff, osdFormatTrimWhiteSpace(buff));
                         strcat(outBuff, "/");
-                        osdFormatCentiNumber(buff + strlen(buff), (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false);
+                        osdFormatCentiNumber(buff, (int32_t)(getMWhDrawn() * 10.0f * METERS_PER_MILE / totalDistance), 0, 2, 0, digits, false);
                         strcat(outBuff, osdFormatTrimWhiteSpace(buff));
                     } else {
                         strcat(outBuff, "---/---");

diff --git a/src/main/msp/msp_protocol_v2_inav.h b/src/main/msp/msp_protocol_v2_inav.h
@@ -89,6 +89,7 @@
 #define MSP2_INAV_LOGIC_CONDITIONS_SINGLE       0x203B
 
 #define MSP2_INAV_ESC_RPM                       0x2040
+#define MSP2_INAV_ESC_TELEM                     0x2041
 
 #define MSP2_INAV_LED_STRIP_CONFIG_EX           0x2048
 #define MSP2_INAV_SET_LED_STRIP_CONFIG_EX       0x2049

diff --git a/src/main/target/NEUTRONRCF435MINI/target.h b/src/main/target/NEUTRONRCF435MINI/target.h
@@ -141,7 +141,9 @@
 
 #define USE_UART2
 #define UART2_RX_PIN            PB0
+#define UART2_RX_AF             6
 #define UART2_TX_PIN            PA2
+#define UART2_TX_AF             7
 
 #define USE_UART3
 #define USE_UART3_PIN_SWAP

diff --git a/src/main/target/PRINCIPIOTF7/CMakeLists.txt b/src/main/target/PRINCIPIOTF7/CMakeLists.txt
@@ -0,0 +1 @@
+target_stm32f722xe(PRINCIPIOTF7)
diff --git a/src/main/target/PRINCIPIOTF7/config.c b/src/main/target/PRINCIPIOTF7/config.c
@@ -0,0 +1,32 @@
+/*
+ * 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/>.
+ *
+ * This target has been autgenerated by bf2inav.py
+ */
+
+#include <stdint.h>
+
+#include "platform.h"
+
+#include "fc/fc_msp_box.h"
+#include "fc/config.h"
+
+#include "io/piniobox.h"
+
+void targetConfiguration(void)
+{
+
+}