Modalai/zorro blue compare #5

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benjinne wants to merge 54 commits into main from modalai/zorro-blue

.gitignore

-Original file line number
+Diff line change
@@ Expand Up / @@ -17,3 +17,7 @@ compile_commands.json @@
     /.idea
     /.vs
     CMakeUserPresets.json
+    .bin
+    .elf
+    **.bin
+    **.elf

radio/src/CMakeLists.txt

            
                      Original file line number
                      Diff line number
                      Diff line change
                  
    @@ -12,7 +12,7 @@ set_property(CACHE TRANSLATIONS PROPERTY STRINGS ${RADIO_LANGUAGES})
  
    set(DEFAULT_MODE "" CACHE STRING "Default sticks mode")

    set(POPUP_LEVEL 2 CACHE STRING "Popup level")

    option(HELI "Heli menu" ON)

    option(HELI "Heli menu" OFF)

    option(FLIGHT_MODES "Flight Modes" ON)

    option(CURVES "Curves" ON)

    option(GVARS "Global variables" ON)

    @@ -28,6 +28,9 @@ option(SEMIHOSTING "Enable debugger semihosting" OFF)
  
    option(JITTER_MEASURE "Enable ADC jitter measurement" OFF)

    option(WATCHDOG "Enable hardware Watchdog" ON)

    option(ASTERISK "Enable asterisk icon (test only firmware)" OFF)

    if(SDL2_FOUND)

      option(SIMU_AUDIO "Enable simulator audio." ON)

    endif()

    option(LUA "Enable LUA support" ON)

    option(SIMU_DISKIO "Enable disk IO simulation in simulator. Simulator will use FatFs module and simulated IO layer that  uses \"./sdcard.image\" file as image of SD card. This file must contain whole SD card from first to last sector" OFF)

    option(SIMU_LUA_COMPILER "Pre-compile and save Lua scripts in simulator." ON)

    @@ -37,7 +40,7 @@ option(TEMPLATES "Model templates menu" OFF)
  
    option(TRACE_SIMPGMSPACE "Turn on traces in simpgmspace.cpp" ON)

    option(TRACE_LUA_INTERNALS "Turn on traces for Lua internals" OFF)

    option(TRACE_AUDIO "Traces audio enabled" OFF)

    option(DEBUG_SEGGER_RTT "Debug output to Segger RTT" OFF)

    option(DEBUG_SEGGER_RTT "Debug output to Segger RTT" ON)

    option(DEBUG_WINDOWS "Turn on windows traces" OFF)

    option(DEBUG_YAML "Turn on YAML traces" OFF)

    option(DEBUG_LABELS "Turn on Labels traces" OFF)

    @@ -96,6 +99,8 @@ elseif(PCB STREQUAL STM32H7S78_DK)
  
      include(targets/stm32h7s78-dk/CMakeLists.txt)

    elseif(PCB STREQUAL X9E OR PCB STREQUAL X9D+ OR PCB STREQUAL X9D OR PCB STREQUAL X7 OR PCB STREQUAL X9LITE OR PCB STREQUAL X9LITES OR PCB STREQUAL XLITE OR PCB STREQUAL XLITES)

      include(targets/taranis/CMakeLists.txt)

    elseif(PCB STREQUAL M207)

      include(targets/modalai/CMakeLists.txt)

    else()

      message(FATAL_ERROR "Unknown PCB '${PCB}'")

    endif()

    @@ -548,7 +553,7 @@ find_program(BASH bash
  
    set(OPT "s" CACHE STRING "Optimization mode (0/1/2/s)")

    set(COMMON_FLAGS "-mcpu=${MCU} -mthumb -fomit-frame-pointer -fverbose-asm -Wa,-ahlms=firmware.lst")

    set(COMMON_FLAGS "${COMMON_FLAGS} -gdwarf-2 -fno-exceptions -fdata-sections -ffunction-sections")

    set(COMMON_FLAGS "${COMMON_FLAGS} -ggdb -fno-exceptions -fdata-sections -ffunction-sections")

    set(COMMON_FLAGS "${COMMON_FLAGS} -DHSE_VALUE=${HSE_VALUE}")

    set(COMMON_FLAGS "${COMMON_FLAGS} -O${OPT} ${FPU_FLAGS}")

    set(COMMON_FLAGS "${COMMON_FLAGS} ${WARNING_FLAGS}")

radio/src/bitmaps/128x64/splash.png

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radio/src/boards/generic_stm32/linker/stm32h753/bootloader/layout.ld

-Original file line number
+Diff line change
@@ -0,0 +1,32 @@
+    /* Highest heap address */
+    HEAP_ADDRESS = ORIGIN(RAM_D3) + LENGTH(RAM_D3) - 16;
+    /* Highest address of the user mode stack */
+    STACK_ADDRESS = ORIGIN(DTCMRAM) + LENGTH(DTCMRAM) - 16;    /* end of RAM */
+    /* Maximum bootloader code size */
+    BOOTLOADER_SIZE = 0x20000; /* Align to 128KB sector boundary on STM32H753 */
+    /* Required amount of stack for interrupt stack (Main stack) */
+    MAIN_STACK_SIZE = 8192;
+    /* Generate a link error if heap and stack don't fit into RAM */
+    MIN_HEAP_SIZE = 0;      /* required amount of heap  */
+    /* Specify the memory areas */
+    MEMORY
+    {
+      FLASH (rx)     : ORIGIN = 0x08000000, LENGTH = 2048K
+      ITCMRAM (xrw)  : ORIGIN = 0x00000000, LENGTH = 64K
+      DTCMRAM (xrw)  : ORIGIN = 0x20000000, LENGTH = 128K
+      RAM_D1 (xrw)   : ORIGIN = 0x24000000, LENGTH = 512K
+      RAM_D2 (xrw)   : ORIGIN = 0x30000000, LENGTH = 288K
+      RAM_D3 (xrw)   : ORIGIN = 0x38000000, LENGTH = 64K
+    }
+    REGION_ALIAS("REGION_TEXT_STORAGE", FLASH);
+    REGION_ALIAS("REGION_TEXT",         ITCMRAM); /* Todo: setting this to ITCMRAM this should fix bootloader instruction cache?*/
+    REGION_ALIAS("REGION_ISR_VECT",     DTCMRAM);
+    REGION_ALIAS("REGION_DATA",         DTCMRAM);
+    REGION_ALIAS("REGION_BSS",          RAM_D1);
+    REGION_ALIAS("REGION_RAM",          RAM_D1);

radio/src/boards/generic_stm32/linker/stm32h753/extra_sections.ld

-Original file line number
+Diff line change
@@ -0,0 +1,51 @@
+    /* Task stacks */
+    .ccm (NOLOAD) :
+    {
+      . = ALIGN(4);
+      _sccm = .;
+      *(.ccm)
+      . = ALIGN(4);
+      _eccm = .;
+    } > DTCMRAM
+    /* Reserve stack space */
+    .stack (NOLOAD) :
+    {
+      . = ALIGN(4);
+      . = . + MAIN_STACK_SIZE;
+      . = ALIGN(4);
+    } > DTCMRAM
+    /* Fast code */
+    .iram :
+    {
+      . = ALIGN(4);
+      _siram = .;
+      *(.iram)
+      . = ALIGN(4);
+      _eiram = .;
+    } > ITCMRAM AT> REGION_TEXT_STORAGE
+    _stext_iram = LOADADDR(.iram);
+    /* Disk cache buffers */
+    .disk_cache (NOLOAD) :
+    {
+      . = ALIGN(4);
+      *(.disk_cache)
+    } > RAM_D1
+    /* Extra DMA section */
+    .dram (NOLOAD) :
+    {
+      . = ALIGN(4);
+      _s_dram = .;
+      *(.dram)
+      . = ALIGN(4);
+      _e_dram = .;
+    } > RAM_D2
+    _dram_addr = ADDR(.dram);
+    PROVIDE(_heap_start = ORIGIN(RAM_D3));

radio/src/boards/generic_stm32/linker/stm32h753/layout.ld

-Original file line number
+Diff line change
@@ -0,0 +1,33 @@
+    /* Highest heap address */
+    HEAP_ADDRESS = ORIGIN(RAM_D3) + LENGTH(RAM_D3) - 16;
+    /* Highest address of the user mode stack */
+    STACK_ADDRESS = ORIGIN(DTCMRAM) + LENGTH(DTCMRAM);    /* end of RAM */
+    /* Maximum bootloader code size */
+    BOOTLOADER_SIZE = 0x20000; /* Align to 128KB sector boundary on STM32H753 */
+    /* Required amount of stack for interrupt stack (Main stack) */
+    MAIN_STACK_SIZE = 8192;
+    /* Generate a link error if heap and stack don't fit into RAM */
+    MIN_HEAP_SIZE = 0;      /* required amount of heap  */
+    /* Specify the memory areas */
+    MEMORY
+    {
+      FLASH (rx)     : ORIGIN = 0x08000000, LENGTH = 2048K
+      ITCMRAM (xrw)  : ORIGIN = 0x00000000, LENGTH = 64K
+      DTCMRAM (xrw)  : ORIGIN = 0x20000000, LENGTH = 128K
+      RAM_D1 (xrw)   : ORIGIN = 0x24000000, LENGTH = 512K
+      RAM_D2 (xrw)   : ORIGIN = 0x30000000, LENGTH = 288K
+      RAM_D3 (xrw)   : ORIGIN = 0x38000000, LENGTH = 64K
+    }
+    REGION_ALIAS("REGION_BOOTLOADER",   FLASH);
+    REGION_ALIAS("REGION_TEXT_STORAGE", FLASH);
+    REGION_ALIAS("REGION_TEXT",         RAM_D1);
+    REGION_ALIAS("REGION_ISR_VECT",     DTCMRAM);
+    REGION_ALIAS("REGION_DATA",         DTCMRAM);
+    REGION_ALIAS("REGION_BSS",          RAM_D1);
+    REGION_ALIAS("REGION_RAM",          RAM_D1);

radio/src/buzzer.h

-Original file line number
+Diff line change
@@ Expand Up / @@ -104,6 +104,8 @@ inline void beep(uint8_t) { } @@
       #define AUDIO_TRIM_END(f)
       #define AUDIO_PLAY(p)
       #define IS_AUDIO_BUSY() false
+      #define AUDIO_KEY_PRESS()
+      #define AUDIO_KEY_ERROR()
     #endif /* BUZZER */
       #define AUDIO_RESET()
@@ Expand Down @@

radio/src/dataconstants.h

-Original file line number
+Diff line change
@@ Expand Up / @@ -159,6 +159,12 @@ enum MainViews { @@
       VIEW_SWITCHES,
       VIEW_COUNT
     };
+    #elif defined(PCBMODALAI)
+    enum MainViews {
+      VIEW_INPUTS,
+      VIEW_CHAN_MONITOR,
+      VIEW_COUNT
+    };
     #else
     enum MainViews {
       VIEW_OUTPUTS_VALUES,
@@ Expand Down @@

radio/src/datastructs.h

-Original file line number
+Diff line change
@@ Expand Up / @@ -61,6 +61,13 @@ static inline void check_struct() @@
       CHKSIZE(FrSkyLineData, 4);
       CHKTYPE(TelemetryScreenData, 24);
       CHKSIZE(ModelHeader, 12);
+    #elif defined(PCBM207)
+      CHKSIZE(LimitData, 11);
+      CHKSIZE(TimerData, 12);
+      CHKSIZE(FrSkyBarData, 6);
+      CHKSIZE(FrSkyLineData, 4);
+      CHKTYPE(TelemetryScreenData, 24);
+      CHKSIZE(ModelHeader, 12);
     #elif defined(PCBTARANIS)
       CHKSIZE(LimitData, 13);
       CHKSIZE(TimerData, 17);
@@ Expand Down Expand Up / @@ -100,6 +107,8 @@ static inline void check_struct() @@
     #if defined(RADIO_TPRO) || defined(RADIO_TPROV2) || defined(RADIO_BUMBLEBEE)
       CHKSIZE(ModelData, 6355);
+    #elif defined(RADIO_MODAL)
+      CHKSIZE(ModelData, 6329);
     #elif defined(RADIO_T14) || defined(RADIO_T12MAX)
       CHKSIZE(ModelData, 6329);
     #elif defined(RADIO_FAMILY_T20)
@@ Expand Down @@

radio/src/edgetx.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -143,7 +143,7 @@ void checkValidMCU(void) @@
       #define TARGET_IDCODE   0x419
     #elif defined(STM32F413xx)
       #define TARGET_IDCODE   0x463
-    #elif defined(STM32H750xx) || defined(STM32H747xx)
+    #elif defined(STM32H750xx) || defined(STM32H747xx) || defined(STM32H753xx)
       #define TARGET_IDCODE   0x450
     #elif defined(STM32H7RS)
       #define TARGET_IDCODE   0x485
@@ Expand Down Expand Up / @@ -386,6 +386,10 @@ void generalDefault() @@
       setDefaultOwnerId();
     #endif
+    #if defined(MANUFACTURER_MODALAI)
+      g_eeGeneral.disableRtcWarning = 1;
+    #endif
     #if defined(RADIOMASTER_RTF_RELEASE)
       // Those settings are for headless radio
       g_eeGeneral.USBMode = USB_JOYSTICK_MODE;
@@ Expand Down Expand Up / @@ -1385,7 +1389,11 @@ void edgeTxInit() @@
       ViewMain::instance();
     #elif defined(GUI)
       // TODO add a function for this (duplicated)
+    #if defined(PCBMODALAI) && defined(DEFAULT_VIEW_TELEMETRY)
+      menuHandlers[0] = menuViewTelemetry;
+    #else
       menuHandlers[0] = menuMainView;
+    #endif
       menuHandlers[1] = menuModelSelect;
     #endif
@@ Expand Down Expand Up / @@ -1552,6 +1560,7 @@ void edgeTxInit() @@
     #endif
     #endif
     #if defined(GUI)
         if (calibration_needed) {
           cancelSplash();
@@ Expand Down @@

radio/src/gui/128x64/model_setup.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -425,7 +425,7 @@ void onModelAntennaSwitchConfirm(const char * result) @@
       #define TRAINER_BLUETOOTH_ROW          (g_model.trainerData.mode == TRAINER_MODE_MASTER_BLUETOOTH ? TRAINER_BLUETOOTH_M_ROW : (g_model.trainerData.mode == TRAINER_MODE_SLAVE_BLUETOOTH ? TRAINER_BLUETOOTH_S_ROW : HIDDEN_ROW))
       #define TRAINER_PPM_PARAMS_ROW         (g_model.trainerData.mode == TRAINER_MODE_SLAVE ? (uint8_t)2 : HIDDEN_ROW)
       #define TRAINER_ROWS                   LABEL(Trainer), 0, IF_BT_TRAINER_ON(TRAINER_BLUETOOTH_ROW), TRAINER_CHANNELS_ROW, TRAINER_PPM_PARAMS_ROW
-    #elif defined(PCBX7) || defined(PCBX9LITE)
+    #elif defined(PCBX7) || defined(PCBX9LITE) || defined(PCBMODALAI)
       #if defined(BLUETOOTH)
         #define TRAINER_BLUETOOTH_ROW        (g_model.trainerData.mode == TRAINER_MODE_MASTER_BLUETOOTH ? TRAINER_BLUETOOTH_M_ROW : (g_model.trainerData.mode == TRAINER_MODE_SLAVE_BLUETOOTH ? TRAINER_BLUETOOTH_S_ROW : HIDDEN_ROW)),
       #else
@@ Expand Down @@

radio/src/gui/128x64/view_main.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -456,6 +456,7 @@ void menuMainView(event_t event) @@
           menuChannelsViewCommon(event);
           break;
+        #ifndef PCBMODALAI
         case VIEW_OUTPUTS_VALUES:
         case VIEW_OUTPUTS_BARS:
           // scroll bar
@@ Expand Down Expand Up / @@ -510,8 +511,12 @@ void menuMainView(event_t event) @@
         case VIEW_TIMER2:
           drawTimerWithMode(87, 5 * FH, 1, RIGHT | DBLSIZE);
           break;
+        #endif
         case VIEW_INPUTS:
+          #ifdef PCBMODALAI
+          view = VIEW_INPUTS; // hide logical switches
+          #endif
           if (view == VIEW_INPUTS) {
             // Sticks + Pots
             doMainScreenGraphics();
@@ Expand Down @@

radio/src/hal/adc_driver.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -32,6 +32,12 @@ const etx_hal_adc_inputs_t* _hal_adc_inputs = nullptr; @@
     static uint16_t adcValues[MAX_ANALOG_INPUTS] __DMA_NO_CACHE;
+    #if defined(RADIO_MODAL)
+    #include "voxlpm_i2c_driver.h"
+    #elif defined(CSD203_SENSOR)
+      extern uint16_t getCSD203BatteryVoltage(void);
+    #endif
     bool adcInit(const etx_hal_adc_driver_t* driver)
     {
       // Init buffer, provides non random values before mixer task starts
@@ Expand Down Expand Up / @@ -299,6 +305,47 @@ JitterMeter<uint16_t> avgJitter[MAX_ANALOG_INPUTS]; @@
     tmr10ms_t jitterResetTime = 0;
     #endif
+    uint16_t getBatteryVoltage()
+    {
+    #if defined(RADIO_MODAL)
+    #if defined(POWER_I2C)
+      return voxl_pm_get_voltage();
+    #else
+      return 500;
+    #endif
+    #elif defined(CSD203_SENSOR) && !defined(SIMU)
+      return getCSD203BatteryVoltage() / 10;
+    #else
+      // using filtered ADC value on purpose
+      if (adcGetMaxInputs(ADC_INPUT_VBAT) < 1) return 0;
+      int32_t instant_vbat = anaIn(adcGetInputOffset(ADC_INPUT_VBAT));
+      // TODO: remove BATT_SCALE / BATTERY_DIVIDER defines
+    #if defined(VBAT_MOSFET_DROP)
+      // 1000 is used as multiplier for both numerator and denominator to allow to stay in integer domain
+      return (uint16_t)((instant_vbat * ADC_VREF_PREC2 * ((((1000 + g_eeGeneral.txVoltageCalibration)) * (VBAT_DIV_R2 + VBAT_DIV_R1)) / VBAT_DIV_R1)) / (2*RESX*1000)) + VBAT_MOSFET_DROP;
+    #elif defined(BATT_SCALE)
+      instant_vbat =
+          (instant_vbat * BATT_SCALE * (128 + g_eeGeneral.txVoltageCalibration)) /
+          BATTERY_DIVIDER;
+      // add voltage drop because of the diode TODO check if this is needed, but
+      // removal will break existing calibrations!
+      instant_vbat += VOLTAGE_DROP;
+      return (uint16_t)instant_vbat;
+    #elif defined(VOLTAGE_DROP)
+      instant_vbat = ((instant_vbat * (1000 + g_eeGeneral.txVoltageCalibration)) /
+                        BATTERY_DIVIDER);
+      // add voltage drop because of the diode
+      // removal will break existing calibrations!
+      instant_vbat += VOLTAGE_DROP;
+      return (uint16_t)instant_vbat;
+    #else
+      return (uint16_t)((instant_vbat * (1000 + g_eeGeneral.txVoltageCalibration)) /
+                        BATTERY_DIVIDER);
+    #endif
+    #endif
+    }
     static uint32_t apply_low_pass_filter(uint32_t v, uint32_t v_prev,
                                           bool is_main_input)
     {
@@ Expand Down @@

radio/src/storage/storage.h

-Original file line number
+Diff line change
@@ Expand Up / @@ -23,7 +23,7 @@ @@
     #include "edgetx_types.h"
-    #if defined(SIMU)
+    #if defined(SIMU) || defined(PCBMODALAI)
       #define WRITE_DELAY_10MS 100
     #elif defined(RTC_BACKUP_RAM)
       #define WRITE_DELAY_10MS 1500 /* 15s */
@@ Expand Down @@

radio/src/storage/yaml/CMakeLists.txt

-Original file line number
+Diff line change
@@ Expand Up / @@ -68,6 +68,8 @@ elseif((PCB STREQUAL X9D) OR (PCB STREQUAL X9D+)) @@
       else()
         set(YAML_GEN_OUTPUT storage/yaml/yaml_datastructs_x9d.cpp)
       endif()
+    elseif(PCB STREQUAL M207)
+      set(YAML_GEN_OUTPUT storage/yaml/yaml_datastructs_128x64.cpp)
     else()
       message(FATAL_ERROR "PCB '${PCB}' is not supported by YAML storage")
     endif()
@@ Expand Down @@

radio/src/storage/yaml/yaml_datastructs.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -36,6 +36,8 @@ @@
      #else
       #include "yaml_datastructs_x10.cpp"
      #endif
+    #elif defined(PCBM207)
+     #include "yaml_datastructs_128x64.cpp"
     #elif defined(PCBTX15)
      #include "yaml_datastructs_tx15.cpp"
     #elif defined(PCBPL18)
@@ Expand Down @@

radio/src/targets/common/arm/stm32/flash_driver.cpp

-Original file line number
+Diff line change
@@ Expand Up / @@ -249,6 +249,8 @@ uint32_t isFirmwareStart(const uint8_t * buffer) @@
       if ((block[0] & 0xFFFF0000) != 0x20020000) {
         return 0;
       }
+    // The following is board specific code! (so is the above line but our layout conforms with that)
+    #ifndef PCBMODALAI
       // First ISR pointer in FLASH
       if ((block[1] & 0xF0000000) != 0x90000000) {
         return 0;
@@ Expand All / @@ -257,6 +259,7 @@ uint32_t isFirmwareStart(const uint8_t * buffer) @@
       if ((block[2] & 0xF0000000) != 0xC0000000) {
         return 0;
       }
+    #endif
     #else
       // Stack pointer in RAM
       if ((block[0] & 0xFFFC0000) != 0x20000000) {
@@ Expand Down @@

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