9kee - create a branch with partially unlocked rpm_limiter_configuration for a local whoop race

Makefile

@@ -16,8 +16,9 @@
 #
 
 # The target to build, see VALID_TARGETS below
-TARGET    ?= STM32F405
-BOARD     ?= 
+DEFAULT_TARGET    ?= STM32F405
+TARGET    ?=
+CONFIG    ?=
 
 # Compile-time options
 OPTIONS   ?=
@@ -80,8 +81,9 @@ include $(ROOT)/make/system-id.mk
 include $(ROOT)/make/checks.mk
 
 # configure some directories that are relative to wherever ROOT_DIR is located
-TOOLS_DIR ?= $(ROOT)/tools
-DL_DIR    := $(ROOT)/downloads
+TOOLS_DIR  ?= $(ROOT)/tools
+DL_DIR     := $(ROOT)/downloads
+CONFIG_DIR ?= $(ROOT)/src/config
 
 export RM := rm
 
@@ -97,13 +99,35 @@ HSE_VALUE       ?= 8000000
 # used for turning on features like VCP and SDCARD
 FEATURES        =
 
-ifneq ($(BOARD),)
-# silently ignore if the file is not present. Allows for target defaults.
--include $(ROOT)/src/main/board/$(BOARD)/board.mk
+ifneq ($(CONFIG),)
+
+ifneq ($(TARGET),)
+$(error TARGET or CONFIG should be specified. Not both.)
+endif
+
+INCLUDE_DIRS += $(CONFIG_DIR)/$(CONFIG)
+CONFIG_FILE  := $(CONFIG_DIR)/$(CONFIG)/config.h
+
+ifeq ($(wildcard $(CONFIG_FILE)),)
+$(error Config file not found: $(CONFIG_FILE))
 endif
 
+TARGET       := $(shell grep " FC_TARGET_MCU" $(CONFIG_FILE) | awk '{print $$3}' )
+
+ifeq ($(TARGET),)
+$(error No TARGET identified. Is the config.h valid for $(CONFIG)?)
+endif
+
+else
+ifeq ($(TARGET),)
+TARGET := $(DEFAULT_TARGET)
+endif
+endif #CONFIG
+
 include $(ROOT)/make/targets.mk
 
+BASE_CONFIGS      = $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(ROOT)/src/config/*/config.h)))))
+
 REVISION := norevision
 ifeq ($(shell git diff --shortstat),)
 REVISION := $(shell git log -1 --format="%h")
@@ -151,6 +175,10 @@ VPATH 			:= $(VPATH):$(ROOT)/make
 # start specific includes
 include $(ROOT)/make/mcu/$(TARGET_MCU).mk
 
+ifneq ($(CONFIG),)
+TARGET_FLAGS  	+= -DUSE_CONFIG
+endif
+
 # openocd specific includes
 include $(ROOT)/make/openocd.mk
 
@@ -283,28 +311,38 @@ CPPCHECK        = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
                   $(addprefix -I,$(INCLUDE_DIRS)) \
                   -I/usr/include -I/usr/include/linux
 
-TARGET_BASENAME = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET)
+TARGET_NAME := $(TARGET)
+
+ifneq ($(CONFIG),)
+TARGET_NAME := $(TARGET_NAME)_$(CONFIG)
+endif
+
+ifeq ($(REV),yes)
+TARGET_NAME := $(TARGET_NAME)_$(REVISION)
+endif
+
+TARGET_FULLNAME = $(FORKNAME)_$(FC_VER)_$(TARGET_NAME)
 
 #
 # Things we will build
 #
-TARGET_BIN      = $(TARGET_BASENAME).bin
-TARGET_HEX      = $(TARGET_BASENAME).hex
-TARGET_HEX_REV  = $(TARGET_BASENAME)_$(REVISION).hex
-TARGET_DFU      = $(TARGET_BASENAME).dfu
-TARGET_ZIP      = $(TARGET_BASENAME).zip
-TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
-TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_EXST.elf
-TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET)_UNPATCHED.bin
-TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).lst
-TARGET_OBJS     = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
-TARGET_DEPS     = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(SRC))))
-TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
-
-TARGET_EXST_HASH_SECTION_FILE = $(OBJECT_DIR)/$(TARGET)/exst_hash_section.bin
+TARGET_BIN      = $(BIN_DIR)/$(TARGET_FULLNAME).bin
+TARGET_HEX      = $(BIN_DIR)/$(TARGET_FULLNAME).hex
+TARGET_DFU      = $(BIN_DIR)/$(TARGET_FULLNAME).dfu
+TARGET_ZIP      = $(BIN_DIR)/$(TARGET_FULLNAME).zip
+TARGET_OBJ_DIR  = $(OBJECT_DIR)/$(TARGET_NAME)
+TARGET_ELF      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).elf
+TARGET_EXST_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_EXST.elf
+TARGET_UNPATCHED_BIN = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME)_UNPATCHED.bin
+TARGET_LST      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).lst
+TARGET_OBJS     = $(addsuffix .o,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_DEPS     = $(addsuffix .d,$(addprefix $(TARGET_OBJ_DIR)/,$(basename $(SRC))))
+TARGET_MAP      = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET_NAME).map
+
+TARGET_EXST_HASH_SECTION_FILE = $(TARGET_OBJ_DIR)/exst_hash_section.bin
 
 TARGET_EF_HASH      := $(shell echo -n "$(EXTRA_FLAGS)" | openssl dgst -md5 | awk '{print $$2;}')
-TARGET_EF_HASH_FILE := $(OBJECT_DIR)/$(TARGET)/.efhash_$(TARGET_EF_HASH)
+TARGET_EF_HASH_FILE := $(TARGET_OBJ_DIR)/.efhash_$(TARGET_EF_HASH)
 
 CLEAN_ARTIFACTS := $(TARGET_BIN)
 CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
@@ -313,7 +351,7 @@ CLEAN_ARTIFACTS += $(TARGET_LST)
 CLEAN_ARTIFACTS += $(TARGET_DFU)
 
 # Make sure build date and revision is updated on every incremental build
-$(OBJECT_DIR)/$(TARGET)/build/version.o : $(SRC)
+$(TARGET_OBJ_DIR)/build/version.o : $(SRC)
 
 # List of buildable ELF files and their object dependencies.
 # It would be nice to compute these lists, but that seems to be just beyond make.
@@ -367,11 +405,8 @@ $(TARGET_BIN): $(TARGET_UNPATCHED_BIN)
 	@echo "Patching MD5 hash into HASH section" "$(STDOUT)"
 	$(V1) cat $(TARGET_UNPATCHED_BIN).md5 | awk '{printf("%08x: %s",64-16,$$2);}' | xxd -r - $(TARGET_EXST_HASH_SECTION_FILE)
 
-# For some currently unknown reason, OBJCOPY, with only input/output files, will generate a file around 2GB for the H730 unless we remove an unused-section
-# As a workaround drop the ._user_heap_stack section, which is only used during build to show errors if there's not enough space for the heap/stack. 
-# The issue can be seen with `readelf -S $(TARGET_EXST_ELF)' vs `readelf -S $(TARGET_ELF)`
 	$(V1) @echo "Patching updated HASH section into $(TARGET_EXST_ELF)" "$(STDOUT)"
-	$(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --remove-section ._user_heap_stack --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
+	$(OBJCOPY) $(TARGET_ELF) $(TARGET_EXST_ELF) --update-section .exst_hash=$(TARGET_EXST_HASH_SECTION_FILE)
 
 	$(V1) $(READELF) -S $(TARGET_EXST_ELF)
 	$(V1) $(READELF) -l $(TARGET_EXST_ELF)
@@ -385,7 +420,7 @@ $(TARGET_HEX): $(TARGET_BIN)
 endif
 
 $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
-	@echo "Linking $(TARGET)" "$(STDOUT)"
+	@echo "Linking $(TARGET_NAME)" "$(STDOUT)"
 	$(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
 	$(V1) $(SIZE) $(TARGET_ELF)
 
@@ -398,15 +433,15 @@ define compile_file
 endef
 
 ifeq ($(DEBUG),GDB)
-$(OBJECT_DIR)/$(TARGET)/%.o: %.c
+$(TARGET_OBJ_DIR)/%.o: %.c
 	$(V1) mkdir -p $(dir $@)
 	$(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 		$(call compile_file,not optimised, $(CC_NO_OPTIMISATION)) \
 	, \
 		$(call compile_file,debug,$(CC_DEBUG_OPTIMISATION)) \
 	)
 else
-$(OBJECT_DIR)/$(TARGET)/%.o: %.c
+$(TARGET_OBJ_DIR)/%.o: %.c
 	$(V1) mkdir -p $(dir $@)
 	$(V1) $(if $(findstring $<,$(NOT_OPTIMISED_SRC)), \
 		$(call compile_file,not optimised,$(CC_NO_OPTIMISATION)) \
@@ -424,12 +459,12 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.c
 endif
 
 # Assemble
-$(OBJECT_DIR)/$(TARGET)/%.o: %.s
+$(TARGET_OBJ_DIR)/%.o: %.s
 	$(V1) mkdir -p $(dir $@)
 	@echo "%% $(notdir $<)" "$(STDOUT)"
 	$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 
-$(OBJECT_DIR)/$(TARGET)/%.o: %.S
+$(TARGET_OBJ_DIR)/%.o: %.S
 	$(V1) mkdir -p $(dir $@)
 	@echo "%% $(notdir $<)" "$(STDOUT)"
 	$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
@@ -441,22 +476,28 @@ all: $(CI_TARGETS)
 ## all_all : Build all targets (including legacy / unsupported)
 all_all: $(VALID_TARGETS)
 
-$(VALID_TARGETS):
+$(BASE_TARGETS):
 	$(V0) @echo "Building $@" && \
 	$(MAKE) hex TARGET=$@ && \
 	echo "Building $@ succeeded."
 
+$(BASE_CONFIGS):
+	$(V0) @echo "Building config $@" && \
+	$(MAKE) hex CONFIG=$@ && \
+	echo "Building config $@ succeeded."
+
 $(NOBUILD_TARGETS):
 	$(MAKE) TARGET=$@
 
 TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS))
+CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
 
 ## clean             : clean up temporary / machine-generated files
 clean:
-	@echo "Cleaning $(TARGET)"
+	@echo "Cleaning $(TARGET_NAME)"
 	$(V0) rm -f $(CLEAN_ARTIFACTS)
-	$(V0) rm -rf $(OBJECT_DIR)/$(TARGET)
-	@echo "Cleaning $(TARGET) succeeded."
+	$(V0) rm -rf $(TARGET_OBJ_DIR)
+	@echo "Cleaning $(TARGET_NAME) succeeded."
 
 ## test_clean        : clean up temporary / machine-generated files (tests)
 test-%_clean:
@@ -469,6 +510,10 @@ test_clean:
 $(TARGETS_CLEAN):
 	$(V0) $(MAKE) -j TARGET=$(subst _clean,,$@) clean
 
+## <CONFIG>_clean    : clean up one specific config (alias for above)
+$(CONFIGS_CLEAN):
+	$(V0) $(MAKE) -j CONFIG=$(subst _clean,,$@) clean
+
 ## clean_all         : clean all valid targets
 clean_all: $(TARGETS_CLEAN) test_clean
 
@@ -529,10 +574,7 @@ hex:
 TARGETS_REVISION = $(addsuffix _rev,$(VALID_TARGETS))
 ## <TARGET>_rev    : build target and add revision to filename
 $(TARGETS_REVISION):
-	$(V0) $(MAKE) hex_rev TARGET=$(subst _rev,,$@)
-
-hex_rev: hex
-	$(V0) mv -f $(TARGET_HEX) $(TARGET_HEX_REV)
+	$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@)
 
 all_rev: $(addsuffix _rev,$(CI_TARGETS))
 
@@ -581,6 +623,9 @@ targets:
 	@echo "Built targets:       $(CI_TARGETS)"
 	@echo "Default target:      $(TARGET)"
 
+configs:
+	@echo "Valid configs:       $(BASE_CONFIGS)"
+
 targets-ci-print:
 	@echo $(CI_TARGETS)
 
@@ -648,12 +693,12 @@ test_%:
 
 $(TARGET_EF_HASH_FILE):
 	$(V1) mkdir -p $(dir $@)
-	$(V0) rm -f $(OBJECT_DIR)/$(TARGET)/.efhash_*
+	$(V0) rm -f $(TARGET_OBJ_DIR)/.efhash_*
 	@echo "EF HASH -> $(TARGET_EF_HASH_FILE)"
 	$(V1) touch $(TARGET_EF_HASH_FILE)
 
 # rebuild everything when makefile changes or the extra flags have changed
-$(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*)
+$(TARGET_OBJS): $(TARGET_EF_HASH_FILE) Makefile $(TARGET_DIR)/target.mk $(wildcard make/*) $(CONFIG_FILE)
 
 # include auto-generated dependencies
 -include $(TARGET_DEPS)

SPEC README.txt

@@ -0,0 +1,44 @@
+Disclaimer: 
+	Street League Spec, its partners, and the authors of this software are not responsible for injury or damage to property resulting from the use of this software. Use at your own risk
+
+What is the RPM limiter?
+	The RPM limiter seeks to better equalize the performance of drone motors for spec racing purposes. A PID loop is used to limit the drone's maximum rpm to 13k rpm at 100% throttle. The limiter also linearizes the rpm of the motors such that, for example, 50% throttle will result in 50% of 13k rpm, 25% will result in 25% of the max throttle, etc. This means that battery sag will have very little effect on the rpm of the motors throughout the flight, and you will not feel it the same way you typically do. Please ensure voltage alarms configured on your drone.
+
+IMPORTANT - Before/after flashing:
+	Before flashing, click auto-detect in the firmware tab in betaflight or select your FC from the dropdown
+		- This tells Betaflight which custom defaults it should apply to your quad after flashing.
+	When you connect for the first time, you should be prompted to apply custom defaults. You MUST do this or your FC may not work properly.
+	If you are not prompted to apply custom defaults, use the custom defaults found on the Betaflight's github 
+		- https://github.com/betaflight/unified-targets/tree/master/configs/default
+
+Which HEX do I use?
+	- connect your fc to betaflight
+	- open the cli tab and type "version"
+	- look for board_name: (YOUR BOARD NAME HERE)
+	- this will show you which board you should flash
+	- if in doubt, check what target your FC's manufacterur recommends in their user manual
+	- If you have any questions, please reach out on our discord: https://discord.gg/C4HHYccaqk
+
+How do I activate the boost?
+	- We've hijacked the beeper mode in betaflight in order to enable boost without any complicated cli commands
+		- Simply open the modes tab and apply an aux channel and range to the beeper mode
+	- We also recommend enabling the boost bar in your OSD so you can keep track of your boost usage
+		- Open the OSD tab and enable "Battery usage" and leave the drop down on "Graphical remaining"
+
+Optional CLI Commands:
+	- if you are having issues launching your drone (E.G. low power when you try to take off), consider lowering your moter idle speed.
+		- You can also try the cli command "set rpm_limiter_idle_rpm = 14"
+		- This sets the expected idle rpm / 100. For street league a good starting place is 1400 RPM, which is `set rpm_limiter_idle_rpm = 14`.
+		THE QUAD WILL SPIN UP TO THIS RPM WHEN ARMED, SO DO NOT SET TO ANY VALUE ABOVE 50!
+
+
+Blackbox setup:
+	You can view the rpm averaged accross the 4 motors as well as the P term, I term and D term in the blackbox. Simply `set debug_mode = RPM_LIMITER` in the cli. The values logged as a result are as follows in this order
+		Debug 0. Average RPM
+		Debug 1. RPM error: Difference between desired RPM limit and smoothed average rpm. RPM limit is rpm_limiter_rpm_limit for linearization off and rpm_limiter_rpm_limit*throttle for linearization on. Positive means overspeed, negative means underspeed
+		Debug 2. I term (positive means term is pulling the throttle down)
+		Debug 3. D term (positive means term is pulling the throttle down)
+
+Am I spec yet?
+	Once you have flashed the HEX, your FC is spec! If you have any issues, please verify they don't also exist on stock betaflight. Then report them here. 
+		- https://github.com/StreetLeagueSpec/betaflight

build.sh

@@ -0,0 +1,26 @@
+#!/bin/bash
+
+# Check if the input file was provided
+if [ -z dos2unix  "$1" ]; then
+  echo "Usage: $0 <input-file>"
+  exit 1
+fi
+
+# Convert line endings of the script file to LF
+dos2unix "$0" >/dev/null 2>&1
+
+# Loop through each line in the input file
+while read -r line; do
+  # Extract the device name from the current line
+  device=$(echo "$line" | cut -d',' -f1)
+
+  # Skip the header row
+  if [ "$device" == "DEVICE_NAME" ]; then
+    continue
+  fi
+
+  # Run the make command for the current device
+  echo "Building firmware for $device"
+  make "$device" EXTRA_FLAGS="-D'RELEASE_NAME=4.4.1' -DCLOUD_BUILD -DUSE_DSHOT -DUSE_GPS -DUSE_GPS_PLUS_CODES -DUSE_LED_STRIP -DUSE_OSD -DUSE_OSD_HD -DUSE_OSD_SD -DUSE_PINIO -DUSE_SERIALRX -DUSE_SERIALRX_CRSF -DUSE_SERIALRX_DEFAULT -DUSE_SERIALRX_GHST -DUSE_SERIALRX_SBUS -DUSE_SERIALRX_SRXL2 -DUSE_SERIALRX_SPEKTRUM -DUSE_TELEMETRY -DUSE_TELEMETRY_CRSF -DUSE_TELEMETRY_GHST -DUSE_VTX"
+#make JHEF411 EXTRA_FLAGS="-D'RELEASE_NAME=4.4.1' -DCLOUD_BUILD -DUSE_DSHOT -DUSE_GPS -DUSE_GPS_PLUS_CODES -DUSE_LED_STRIP -DUSE_OSD -DUSE_OSD_HD -DUSE_OSD_SD -DUSE_PINIO -DUSE_SERIALRX -DUSE_SERIALRX_CRSF -DUSE_SERIALRX_DEFAULT -DUSE_SERIALRX_GHST -DUSE_SERIALRX_SBUS -DUSE_SERIALRX_SRXL2 -DUSE_SERIALRX_SPEKTRUM -DUSE_TELEMETRY -DUSE_TELEMETRY_CRSF -DUSE_TELEMETRY_GHST -DUSE_VTX
+done < "$1"

common-devices.csv

@@ -0,0 +1,7 @@
+OMNIBUSF4SD
+AIKONF4
+AIKONF7
+HOBBYWING_XROTORF4G3
+HOBBYWING_XROTORF7CONV
+BETAFPVF411
+JHEF411

device.csv

@@ -0,0 +1 @@
+BetafpvF411RX