Merge branch 'betaflight_master' into emuflight-1.0.0-master

Author: nerdCopter

docs/PID tuning.md

@@ -40,7 +40,7 @@ An Example: With TPA = 50 (or .5 in the GUI) and `tpa_breakpoint` = 1500 (assume
 * At full throttle (2000) the full amount of dampening set in TPA is applied. (50% reduction in this example)
 * TPA can lead into increase of rotation rate when more throttle applied. You can get faster flips and rolls when more throttle applied due to coupling of PID's and rates. Only the PID controllers MWREWRITE and LUX are using a linear TPA implementation, where no rotation rates are affected when TPA is being used.
 
-![tpa example chart](https://cloud.githubusercontent.com/assets/1668170/6053290/655255dc-ac92-11e4-9491-1a58d868c131.png "TPA Example Chart")
+![tpa example chart](https://user-images.githubusercontent.com/15355893/165317342-9639a7f8-1a05-4584-9b80-3faa2da565cb.png "TPA Example Chart")
 
 
 **How and Why to use this?**

src/main/common/maths.h

@@ -55,6 +55,9 @@
 #define ABS(x) \
   __extension__ ({ __typeof__ (x) _x = (x); \
   _x > 0 ? _x : -_x; })
+#define SIGN(x) \
+  __extension__ ({ __typeof__ (x) _x = (x); \
+  (_x > 0) - (_x < 0); })
 
 #define Q12 (1 << 12)
 

src/main/drivers/accgyro/accgyro_mpu.c

@@ -131,7 +131,7 @@ static void mpuIntExtiHandler(extiCallbackRec_t *cb)
 {
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
 
-    // Ideally we'd use a time to capture such information, but unfortunately the port used for EXTI interrupt does
+    // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
     // not have an associated timer
     uint32_t nowCycles = getCycleCounter();
     int32_t gyroLastPeriod = cmpTimeCycles(nowCycles, gyro->gyroLastEXTI);

src/main/drivers/accgyro/accgyro_spi_bmi270.c

@@ -294,7 +294,7 @@ busStatus_e bmi270Intcallback(uint32_t arg)
 void bmi270ExtiHandler(extiCallbackRec_t *cb)
 {
     gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
-    // Ideally we'd use a time to capture such information, but unfortunately the port used for EXTI interrupt does
+    // Ideally we'd use a timer to capture such information, but unfortunately the port used for EXTI interrupt does
     // not have an associated timer
     uint32_t nowCycles = getCycleCounter();
     gyro->gyroSyncEXTI = gyro->gyroLastEXTI + gyro->gyroDmaMaxDuration;
@@ -338,7 +338,7 @@ static bool bmi270AccRead(accDev_t *acc)
         acc->gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
-                {.u.buffers = {NULL, NULL}, 8, true, NULL},
+                {.u.buffers = {NULL, NULL}, 7, true, NULL},
                 {.u.link = {NULL, NULL}, 0, true, NULL},
         };
         segments[0].u.buffers.txData = acc->gyro->dev.txBuf;
@@ -381,7 +381,7 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
     case GYRO_EXTI_INIT:
     {
         // Initialise the tx buffer to all 0x00
-        memset(gyro->dev.txBuf, 0x00, 14);
+        memset(gyro->dev.txBuf, 0x00, 13);
 #ifdef USE_GYRO_EXTI
         // Check that minimum number of interrupts have been detected
 
@@ -392,7 +392,7 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
             if (spiUseDMA(&gyro->dev)) {
                 gyro->dev.callbackArg = (uint32_t)gyro;
                 gyro->dev.txBuf[0] = BMI270_REG_ACC_DATA_X_LSB | 0x80;
-                gyro->segments[0].len = 14;
+                gyro->segments[0].len = 13;
                 gyro->segments[0].callback = bmi270Intcallback;
                 gyro->segments[0].u.buffers.txData = gyro->dev.txBuf;
                 gyro->segments[0].u.buffers.rxData = gyro->dev.rxBuf;
@@ -416,7 +416,7 @@ static bool bmi270GyroReadRegister(gyroDev_t *gyro)
         gyro->dev.txBuf[0] = BMI270_REG_GYR_DATA_X_LSB | 0x80;
 
         busSegment_t segments[] = {
-                {.u.buffers = {NULL, NULL}, 8, true, NULL},
+                {.u.buffers = {NULL, NULL}, 7, true, NULL},
                 {.u.link = {NULL, NULL}, 0, true, NULL},
         };
         segments[0].u.buffers.txData = gyro->dev.txBuf;

src/main/drivers/dma_reqmap.c

@@ -377,8 +377,13 @@ static dmaChannelSpec_t dmaChannelSpec[MAX_PERIPHERAL_DMA_OPTIONS] = {
 static const dmaPeripheralMapping_t dmaPeripheralMapping[] = {
 #ifdef USE_SPI
     // Everything including F405 and F446
+#if defined(STM32F745xx) || defined(STM32F746xx) || defined(STM32F765xx)
+    { DMA_PERIPH_SPI_MOSI,  SPIDEV_1,  { DMA(2, 5, 3), DMA(2, 3, 3) } },
+    { DMA_PERIPH_SPI_MISO,  SPIDEV_1,  { DMA(2, 2, 3), DMA(2, 0, 3) } },
+#else
     { DMA_PERIPH_SPI_MOSI,  SPIDEV_1,  { DMA(2, 3, 3), DMA(2, 5, 3) } },
     { DMA_PERIPH_SPI_MISO,  SPIDEV_1,  { DMA(2, 0, 3), DMA(2, 2, 3) } },
+#endif
     { DMA_PERIPH_SPI_MOSI,  SPIDEV_2,  { DMA(1, 4, 0) } },
     { DMA_PERIPH_SPI_MISO,  SPIDEV_2,  { DMA(1, 3, 0) } },
     { DMA_PERIPH_SPI_MOSI,  SPIDEV_3,  { DMA(1, 5, 0), DMA(1, 7, 0) } },

src/main/drivers/persistent.h

@@ -37,6 +37,7 @@ typedef enum {
 #endif
     PERSISTENT_OBJECT_RTC_HIGH,           // high 32 bits of rtcTime_t
     PERSISTENT_OBJECT_RTC_LOW,            // low 32 bits of rtcTime_t
+    PERSISTENT_OBJECT_SERIALRX_BAUD,      // serial rx baudrate
     PERSISTENT_OBJECT_COUNT,
 #ifdef USE_SPRACING_PERSISTENT_RTC_WORKAROUND
     // On SPRACING H7 firmware use this alternate location for all reset reasons interpreted by this firmware

src/main/rx/crsf.c

@@ -38,6 +38,7 @@
 
 #include "pg/rx.h"
 
+#include "drivers/persistent.h"
 #include "drivers/serial.h"
 #include "drivers/serial_uart.h"
 #include "drivers/system.h"
@@ -639,7 +640,7 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
     uint32_t crsfBaudrate = CRSF_BAUDRATE;
 
 #if defined(USE_CRSF_V3)
-    crsfBaudrate = (isMPUSoftReset() && rxConfig->crsf_use_negotiated_baud) ? getCrsfCachedBaudrate() : CRSF_BAUDRATE;
+    crsfBaudrate = rxConfig->crsf_use_negotiated_baud ? getCrsfCachedBaudrate() : CRSF_BAUDRATE;
 #endif
 
     serialPort = openSerialPort(portConfig->identifier,
@@ -667,6 +668,7 @@ bool crsfRxInit(const rxConfig_t *rxConfig, rxRuntimeState_t *rxRuntimeState)
 void crsfRxUpdateBaudrate(uint32_t baudrate)
 {
     serialSetBaudRate(serialPort, baudrate);
+    persistentObjectWrite(PERSISTENT_OBJECT_SERIALRX_BAUD, baudrate);
 }
 
 bool crsfRxUseNegotiatedBaud(void)

src/main/scheduler/scheduler.c

@@ -58,7 +58,7 @@
 // 0 - Gyro task start cycle time in 10th of a us
 // 1 - ID of late task
 // 2 - Amount task is late in 10th of a us
-// 3 - Gyro lock skew in clock cycles
+// 3 - Gyro lock skew in 10th of a us
 
 // DEBUG_TIMING_ACCURACY, requires USE_LATE_TASK_STATISTICS to be defined
 // 0 - % CPU busy

src/main/telemetry/crsf.c

@@ -43,6 +43,7 @@
 #include "common/utils.h"
 
 #include "drivers/nvic.h"
+#include "drivers/persistent.h"
 
 #include "fc/rc_modes.h"
 #include "fc/runtime_config.h"
@@ -103,10 +104,9 @@ typedef struct {
 
 static crsfSpeedControl_s crsfSpeed = {0};
 
-uint32_t crsfCachedBaudrate __attribute__ ((section (".noinit"))); // Used for retaining negotiated baudrate after soft reset
-
 uint32_t getCrsfCachedBaudrate(void)
 {
+    uint32_t crsfCachedBaudrate = persistentObjectRead(PERSISTENT_OBJECT_SERIALRX_BAUD);
     // check if valid first. return default baudrate if not
     for (unsigned i = 0; i < BAUD_COUNT; i++) {
         if (crsfCachedBaudrate == baudRates[i] && baudRates[i] >= CRSF_BAUDRATE) {
@@ -133,8 +133,7 @@ void setCrsfDefaultSpeed(void)
     crsfSpeed.confirmationTime = 0;
     crsfSpeed.index = BAUD_COUNT;
     isCrsfV3Running = false;
-    crsfCachedBaudrate = getCrsfDesiredSpeed();
-    crsfRxUpdateBaudrate(crsfCachedBaudrate);
+    crsfRxUpdateBaudrate(getCrsfDesiredSpeed());
 }
 
 bool crsfBaudNegotiationInProgress(void)
@@ -470,8 +469,7 @@ void speedNegotiationProcess(timeUs_t currentTimeUs)
     } else if (crsfSpeed.isNewSpeedValid) {
         if (cmpTimeUs(currentTimeUs, crsfSpeed.confirmationTime) >= 4000) {
             // delay 4ms before applying the new baudrate
-            crsfCachedBaudrate = getCrsfDesiredSpeed();
-            crsfRxUpdateBaudrate(crsfCachedBaudrate);
+            crsfRxUpdateBaudrate(getCrsfDesiredSpeed());
             crsfSpeed.isNewSpeedValid = false;
             isCrsfV3Running = true;
         }