Maintenance 9.x to 10

docs/Controls.md

@@ -31,7 +31,7 @@ The stick positions are combined to activate different functions:
 | Battery profile 3             | HIGH     | LOW     | CENTER | HIGH   |
 | Calibrate Gyro                | LOW      | LOW     | LOW    | CENTER |
 | Calibrate Acc                 | HIGH     | LOW     | LOW    | CENTER |
-| Calibrate Mag/Compass         | HIGH     | HIGH    | LOW    | CENTER |
+| Calibrate Compass/Zero Yaw    | HIGH     | HIGH    | LOW    | CENTER |
 | Trim Acc Left                 | HIGH     | CENTER  | CENTER | LOW    |
 | Trim Acc Right                | HIGH     | CENTER  | CENTER | HIGH   |
 | Trim Acc Forwards             | HIGH     | CENTER  | HIGH   | CENTER |
@@ -52,6 +52,14 @@ The stick positions are combined to activate different functions:
 For graphical stick position in all transmitter modes, check out [this page](https://www.mrd-rc.com/tutorials-tools-and-testing/inav-flight/inav-stick-commands-for-all-transmitter-modes/).
 ![Stick Positions](assets/images/StickPositions.png)
 
+## Compass Calibration and Yaw Zero Reset
+
+The stick function `Calibrate Compass/Zero Yaw` provides 2 functions depending on whether or not a compass is available.
+
+If a compass is available the stick function initiates the compass calibration routine.
+
+If no compass is available the stick function will reset the current yaw/heading estimate to zero (North) and also set the heading as trusted. This is useful on multirotors, allowing the craft yaw/heading to be correctly aligned to actual North simply by physically pointing the craft North then using the stick function to zero the yaw estimate. Since this also sets the heading as trusted Nav modes reliant on heading will be available immediately after arming without the need to fly fast enough to obtain a valid heading from GPS ground course.
+
 ## Yaw control
 
 While arming/disarming with sticks, your yaw stick will be moving to extreme values. In order to prevent your craft from trying to yaw during arming/disarming while on the ground, your yaw input will not cause the craft to yaw when the throttle is LOW (i.e. below the `min_check` setting).

src/main/common/filter.c

@@ -44,7 +44,7 @@ float nullFilterApply4(void *filter, float input, float f_cut, float dt)
 
 // PT1 Low Pass filter
 
-static float pt1ComputeRC(const float f_cut)
+static float FAST_CODE pt1ComputeRC(const float f_cut)
 {
     return 1.0f / (2.0f * M_PIf * f_cut);
 }

src/main/common/maths.c

@@ -165,7 +165,7 @@ int32_t applyDeadbandRescaled(int32_t value, int32_t deadband, int32_t min, int3
     return value;
 }
 
-int32_t constrain(int32_t amt, int32_t low, int32_t high)
+int32_t FAST_CODE constrain(int32_t amt, int32_t low, int32_t high)
 {
     if (amt < low)
         return low;
@@ -175,7 +175,7 @@ int32_t constrain(int32_t amt, int32_t low, int32_t high)
         return amt;
 }
 
-float constrainf(float amt, float low, float high)
+float FAST_CODE constrainf(float amt, float low, float high)
 {
     if (amt < low)
         return low;
@@ -225,7 +225,7 @@ int scaleRange(int x, int srcMin, int srcMax, int destMin, int destMax) {
     return ((a / b) + destMin);
 }
 
-float scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax) {
+float FAST_CODE scaleRangef(float x, float srcMin, float srcMax, float destMin, float destMax) {
     float a = (destMax - destMin) * (x - srcMin);
     float b = srcMax - srcMin;
     return ((a / b) + destMin);

src/main/config/config_eeprom.c

@@ -33,6 +33,7 @@
 
 #include "drivers/system.h"
 #include "drivers/flash.h"
+#include "drivers/pwm_output.h"
 
 #include "fc/config.h"
 
@@ -321,6 +322,13 @@ static bool writeSettingsToEEPROM(void)
 
 void writeConfigToEEPROM(void)
 {
+#if !defined(SITL_BUILD) && defined(USE_DSHOT)
+    // Enable circular DMA so hardware keeps repeating zero-throttle DShot
+    // packets during flash writes (which block the CPU for 20-200ms).
+    // Without this, ESCs lose signal and may spin up or reboot.
+    pwmSetMotorDMACircular(true);
+#endif
+
     bool success = false;
     // write it
     for (int attempt = 0; attempt < 3 && !success; attempt++) {
@@ -333,6 +341,10 @@ void writeConfigToEEPROM(void)
         }
     }
 
+#if !defined(SITL_BUILD) && defined(USE_DSHOT)
+    pwmSetMotorDMACircular(false);
+#endif
+
     if (success && isEEPROMContentValid()) {
         return;
     }

src/main/drivers/flash.h

@@ -40,6 +40,8 @@ typedef struct flashGeometry_s {
     uint32_t totalSize;    // This is just sectorSize * sectors
     uint16_t pagesPerSector;
     flashType_e flashType;
+    int32_t bbReplacementBlocks;
+    uint8_t bblutTableEntryCount; // Used by W25N_BBLUT_TABLE_ENTRY_COUNT for bad-block scanning
 } flashGeometry_t;
 
 typedef struct

src/main/drivers/flash_w25n.c

@@ -23,7 +23,7 @@
 
 #include "platform.h"
 
-#if defined(USE_FLASH_W25N01G) || defined(USE_FLASH_W25N02K)
+#if defined(USE_FLASH_W25N01G) || defined(USE_FLASH_W25N02K) || defined(USE_FLASH_MX35LF2G)
 
 #include "drivers/bus.h"
 #include "drivers/io.h"
@@ -37,26 +37,24 @@
 
 #define W25N01GV_BLOCKS_PER_DIE  1024
 #define W25N02KV_BLOCKS_PER_DIE   2048
-
+#define MX35LF2G_BLOCKS_PER_DIE   2048
 
 
 // BB replacement area
 #define W25N_BB_MARKER_BLOCKS      1
-#define W25N_BB_REPLACEMENT_BLOCKS 20
+#define W25N_BB_REPLACEMENT_BLOCKS (geometry.bbReplacementBlocks)
 #define W25N_BB_MANAGEMENT_BLOCKS  (W25N_BB_REPLACEMENT_BLOCKS + W25N_BB_MARKER_BLOCKS)
 
 // blocks are zero-based index
-#define W25N_BB_REPLACEMENT_START_BLOCK (W25N_BLOCKS_PER_DIE - W25N_BB_REPLACEMENT_BLOCKS)
-#define W25N_BB_MANAGEMENT_START_BLOCK  (W25N_BLOCKS_PER_DIE - W25N_BB_MANAGEMENT_BLOCKS)
+#define W25N_BB_REPLACEMENT_START_BLOCK (geometry.sectors - W25N_BB_REPLACEMENT_BLOCKS)
+#define W25N_BB_MANAGEMENT_START_BLOCK  (geometry.sectors - W25N_BB_MANAGEMENT_BLOCKS)
 #define W25N_BB_MARKER_BLOCK            (W25N_BB_REPLACEMENT_START_BLOCK - W25N_BB_MARKER_BLOCKS)
 
 // Instructions
 #define W25N_INSTRUCTION_RDID                       0x9F
 #define W25N_INSTRUCTION_DEVICE_RESET               0xFF
-#define W25N_INSTRUCTION_READ_STATUS_REG            0x05
-#define W25N_INSTRUCTION_READ_STATUS_ALTERNATE_REG  0x0F
-#define W25N_INSTRUCTION_WRITE_STATUS_REG           0x01
-#define W25N_INSTRUCTION_WRITE_STATUS_ALTERNATE_REG 0x1F
+#define W25N_INSTRUCTION_READ_STATUS_REG            0x0F
+#define W25N_INSTRUCTION_WRITE_STATUS_REG           0x1F
 #define W25N_INSTRUCTION_WRITE_ENABLE               0x06
 #define W25N_INSTRUCTION_DIE_SELECT                 0xC2
 #define W25N_INSTRUCTION_BLOCK_ERASE                0xD8
@@ -99,7 +97,7 @@
 #define W25N_STATUS_ERASE_FAIL         (1 << 2)
 #define W25N_STATUS_FLAG_WRITE_ENABLED (1 << 1)
 #define W25N_STATUS_FLAG_BUSY          (1 << 0)
-#define W25N_BBLUT_TABLE_ENTRY_COUNT    20
+#define W25N_BBLUT_TABLE_ENTRY_COUNT    geometry.bblutTableEntryCount
 #define W25N_BBLUT_TABLE_ENTRY_SIZE     4  // in bytes
 
 // Bits in LBA for BB LUT
@@ -110,8 +108,8 @@
 // Some useful defs and macros
 #define W25N_LINEAR_TO_COLUMN(laddr) ((laddr) % W25N_PAGE_SIZE)
 #define W25N_LINEAR_TO_PAGE(laddr) ((laddr) / W25N_PAGE_SIZE)
-#define W25N_LINEAR_TO_BLOCK(laddr) (W25N_LINEAR_TO_PAGE(laddr) / W25N_PAGES_PER_BLOCK)
-#define W25N_BLOCK_TO_PAGE(block) ((block) * W25N_PAGES_PER_BLOCK)
+#define W25N_LINEAR_TO_BLOCK(laddr) (W25N_LINEAR_TO_PAGE(laddr) / geometry.pagesPerSector)
+#define W25N_BLOCK_TO_PAGE(block) ((block) * geometry.pagesPerSector)
 #define W25N_BLOCK_TO_LINEAR(block) (W25N_BLOCK_TO_PAGE(block) * W25N_PAGE_SIZE)
 
 // IMPORTANT: Timeout values are currently required to be set to the highest value required by any of the supported flash chips by this driver
@@ -129,6 +127,7 @@
 // JEDEC ID
 #define JEDEC_ID_WINBOND_W25N01GV 0xEFAA21
 #define JEDEC_ID_WINBOND_W25N02KV 0xEFAA22
+#define JEDEC_ID_MACRONIX_MX35LF2G 0xC22603
 
 static busDevice_t *busDev = NULL;
 static flashGeometry_t geometry;
@@ -242,19 +241,31 @@ bool w25n_detect(uint32_t chipID)
         geometry.sectors = W25N01GV_BLOCKS_PER_DIE;      // Blocks
         geometry.pagesPerSector = W25N_PAGES_PER_BLOCK;  // Pages/Blocks
         geometry.pageSize = W25N_PAGE_SIZE;
+        geometry.bbReplacementBlocks = 20;
+        geometry.bblutTableEntryCount = 20;
         break;
     case JEDEC_ID_WINBOND_W25N02KV:
         geometry.sectors = W25N02KV_BLOCKS_PER_DIE;      // Blocks
         geometry.pagesPerSector = W25N_PAGES_PER_BLOCK;  // Pages/Blocks
         geometry.pageSize = W25N_PAGE_SIZE;
+        geometry.bbReplacementBlocks = 20;
+        geometry.bblutTableEntryCount = 20;
+        break;
+    case JEDEC_ID_MACRONIX_MX35LF2G:
+        geometry.sectors = MX35LF2G_BLOCKS_PER_DIE;      // Blocks
+        geometry.pagesPerSector = W25N_PAGES_PER_BLOCK;  // Pages/Blocks
+        geometry.pageSize = W25N_PAGE_SIZE;
+        geometry.bbReplacementBlocks = 40;
+        geometry.bblutTableEntryCount = 40;
         break;
-
     default:
         // Unsupported chip
         geometry.sectors = 0;
         geometry.pagesPerSector = 0;
         geometry.sectorSize = 0;
         geometry.totalSize = 0;
+        geometry.bbReplacementBlocks = 0;
+        geometry.bblutTableEntryCount = 0;
         return false;
     }
 

src/main/drivers/pwm_mapping.c

@@ -270,23 +270,43 @@ uint8_t pwmClaimTimer(HAL_Timer_t *tim, uint32_t usageFlags) {
     return changed;
 }
 
-static void pwmAssignOutput(timMotorServoHardware_t *timOutputs, timerHardware_t *timHw, int type)
+void pwmEnsureEnoughtMotors(uint8_t motorCount)
 {
-    switch (type) {
-        case MAP_TO_MOTOR_OUTPUT:
-            timHw->usageFlags &= TIM_USE_MOTOR;
-            timOutputs->timMotors[timOutputs->maxTimMotorCount++] = timHw;
-            pwmClaimTimer(timHw->tim, timHw->usageFlags);
-            break;
-        case MAP_TO_SERVO_OUTPUT:
-            timHw->usageFlags &= TIM_USE_SERVO;
-            timOutputs->timServos[timOutputs->maxTimServoCount++] = timHw;
-            pwmClaimTimer(timHw->tim, timHw->usageFlags);
-            break;
-        case MAP_TO_LED_OUTPUT:
-            timHw->usageFlags &= TIM_USE_LED;
-            pwmClaimTimer(timHw->tim, timHw->usageFlags);
-            break;
+    uint8_t motorOnlyOutputs = 0;
+
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        timerHardware_t *timHw = &timerHardware[idx];
+
+        timerHardwareOverride(timHw);
+
+        if (checkPwmTimerConflicts(timHw)) {
+            continue;
+        }
+
+        if (TIM_IS_MOTOR_ONLY(timHw->usageFlags)) {
+            motorOnlyOutputs++;
+            motorOnlyOutputs += pwmClaimTimer(timHw->tim, timHw->usageFlags);
+        }
+    }
+
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        timerHardware_t *timHw = &timerHardware[idx];
+
+        if (checkPwmTimerConflicts(timHw)) {
+            continue;
+        }
+
+        if (TIM_IS_MOTOR(timHw->usageFlags) && !TIM_IS_MOTOR_ONLY(timHw->usageFlags)) {
+            if (motorOnlyOutputs < motorCount) {
+                timHw->usageFlags &= ~TIM_USE_SERVO;
+                timHw->usageFlags |= TIM_USE_MOTOR;
+                motorOnlyOutputs++;
+                motorOnlyOutputs += pwmClaimTimer(timHw->tim, timHw->usageFlags);
+            } else {
+                timHw->usageFlags &= ~TIM_USE_MOTOR;
+                pwmClaimTimer(timHw->tim, timHw->usageFlags);
+            }
+        }
     }
 }
 
@@ -296,54 +316,54 @@ void pwmBuildTimerOutputList(timMotorServoHardware_t * timOutputs, bool isMixerU
     timOutputs->maxTimMotorCount = 0;
     timOutputs->maxTimServoCount = 0;
 
-    const uint8_t motorCount = getMotorCount();
+    uint8_t motorCount = getMotorCount();
+    uint8_t motorIdx = 0;
 
-    // Apply configurator overrides to all timer outputs
-    for (int idx = 0; idx < timerHardwareCount; idx++) {
-        timerHardwareOverride(&timerHardware[idx]);
-    }
+    pwmEnsureEnoughtMotors(motorCount);
 
-    // Assign outputs in priority order: dedicated first, then auto.
-    // Within each pass, array order (S1, S2, ...) is preserved.
-    // Motors and servos cannot share a timer, enforced by pwmHasMotorOnTimer/pwmHasServoOnTimer.
-    for (int priority = 0; priority < 2; priority++) {
-        uint8_t motorIdx = timOutputs->maxTimMotorCount;
+    for (int idx = 0; idx < timerHardwareCount; idx++) {
+        timerHardware_t *timHw = &timerHardware[idx];
 
-        for (int idx = 0; idx < timerHardwareCount; idx++) {
-            timerHardware_t *timHw = &timerHardware[idx];
-            outputMode_e mode = timerOverrides(timer2id(timHw->tim))->outputMode;
-            bool isDedicated = (priority == 0);
+        int type = MAP_TO_NONE;
 
-            if (checkPwmTimerConflicts(timHw)) {
-                if (priority == 0) {
-                    LOG_WARNING(PWM, "Timer output %d skipped", idx);
-                }
-                continue;
-            }
+        // Check for known conflicts (i.e. UART, LEDSTRIP, Rangefinder and ADC)
+        if (checkPwmTimerConflicts(timHw)) {
+            LOG_WARNING(PWM, "Timer output %d skipped", idx);
+            continue;
+        }
 
-            // Motors: dedicated (OUTPUT_MODE_MOTORS) first, then auto
-            if (TIM_IS_MOTOR(timHw->usageFlags) && motorIdx < motorCount
-                    && !pwmHasServoOnTimer(timOutputs, timHw->tim)
-                    && (isDedicated ? mode == OUTPUT_MODE_MOTORS : mode != OUTPUT_MODE_MOTORS)) {
-                pwmAssignOutput(timOutputs, timHw, MAP_TO_MOTOR_OUTPUT);
-                motorIdx++;
-                continue;
-            }
+        // Make sure first motorCount motor outputs get assigned to motor
+        if (TIM_IS_MOTOR(timHw->usageFlags) && (motorIdx < motorCount)) {
+            timHw->usageFlags &= ~TIM_USE_SERVO;
+            pwmClaimTimer(timHw->tim, timHw->usageFlags);
+            motorIdx += 1;
+        }
 
-            // Servos: dedicated (OUTPUT_MODE_SERVOS) first, then auto
-            if (TIM_IS_SERVO(timHw->usageFlags)
-                    && !pwmHasMotorOnTimer(timOutputs, timHw->tim)
-                    && (isDedicated ? mode == OUTPUT_MODE_SERVOS : mode != OUTPUT_MODE_SERVOS)) {
-                pwmAssignOutput(timOutputs, timHw, MAP_TO_SERVO_OUTPUT);
-                continue;
-            }
+        if (TIM_IS_SERVO(timHw->usageFlags) && !pwmHasMotorOnTimer(timOutputs, timHw->tim)) {
+            type = MAP_TO_SERVO_OUTPUT;
+        } else if (TIM_IS_MOTOR(timHw->usageFlags) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
+            type = MAP_TO_MOTOR_OUTPUT;
+        } else if (TIM_IS_LED(timHw->usageFlags) && !pwmHasMotorOnTimer(timOutputs, timHw->tim) && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
+            type = MAP_TO_LED_OUTPUT;
+        }
 
-            // LEDs: only on the auto pass, and only if timer is uncontested
-            if (!isDedicated && TIM_IS_LED(timHw->usageFlags)
-                    && !pwmHasMotorOnTimer(timOutputs, timHw->tim)
-                    && !pwmHasServoOnTimer(timOutputs, timHw->tim)) {
-                pwmAssignOutput(timOutputs, timHw, MAP_TO_LED_OUTPUT);
-            }
+        switch(type) {
+            case MAP_TO_MOTOR_OUTPUT:
+                timHw->usageFlags &= TIM_USE_MOTOR;
+                timOutputs->timMotors[timOutputs->maxTimMotorCount++] = timHw;
+                pwmClaimTimer(timHw->tim, timHw->usageFlags);
+                break;
+            case MAP_TO_SERVO_OUTPUT:
+                timHw->usageFlags &= TIM_USE_SERVO;
+                timOutputs->timServos[timOutputs->maxTimServoCount++] = timHw;
+                pwmClaimTimer(timHw->tim, timHw->usageFlags);
+                break;
+            case MAP_TO_LED_OUTPUT:
+                timHw->usageFlags &= TIM_USE_LED;
+                pwmClaimTimer(timHw->tim, timHw->usageFlags);
+                break;
+            default:
+                break;
         }
     }
 }