Merge branch 'master' into 20231108_BETAFPVF411RX_BMI270

.github/workflows/build.yml

@@ -159,6 +159,7 @@ jobs:
           echo "outputs.shortsha: ${{ needs.build.outputs.shortsha }}"
           echo "outputs.artfact: ${{ needs.build.outputs.artifact }}"
           echo "outputs.artfact: ${{ needs.build.outputs.version }}"
+          echo "NOW=$(date +'%Y%m%d.%H%M%S')" >> $GITHUB_ENV
         continue-on-error: true
 
       - name: download artifacts
@@ -181,7 +182,7 @@ jobs:
           repo: dev-unstable
           owner: emuflight
           token: ${{ secrets.NC_PAT_EMUF }}
-          tag: "hex-${{ github.run_number }}"
+          tag: "${{ env.NOW }}-hex"
           draft: true
           prerelease: true
           allowUpdates: true
@@ -213,7 +214,7 @@ jobs:
           repo: dev-master
           owner: emuflight
           token: ${{ secrets.NC_PAT_EMUF }}
-          tag: "hex-${{ github.run_number }}"
+          tag: "${{ env.NOW }}-hex"
           draft: true
           prerelease: true
           allowUpdates: true

lib/main/STM32F4/Drivers/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c

@@ -423,6 +423,8 @@ void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct)
     /* Get the PLLM value */
     pllm = (uint32_t)(RCC->PLLCFGR & RCC_PLLCFGR_PLLM);
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wduplicated-branches"
     if((RCC->PLLCFGR & RCC_PLLCFGR_PLLSRC) == RCC_PLLCFGR_PLLSRC_HSE)
     {
       /* Get the I2S source clock value */
@@ -433,6 +435,7 @@ void I2S_Init(SPI_TypeDef* SPIx, I2S_InitTypeDef* I2S_InitStruct)
       i2sclk = (uint32_t)(((HSI_VALUE / pllm) * plln) / pllr);
     }
   #endif /* I2S_EXTERNAL_CLOCK_VAL */
+#pragma GCC diagnostic pop
 
     /* Compute the Real divider depending on the MCLK output state, with a floating point */
     if(I2S_InitStruct->I2S_MCLKOutput == I2S_MCLKOutput_Enable)

lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_hal_uart.c

@@ -248,6 +248,8 @@ HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart)
     return HAL_ERROR;
   }
 
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wduplicated-branches"
   if(huart->Init.HwFlowCtl != UART_HWCONTROL_NONE)
   {
     /* Check the parameters */
@@ -258,6 +260,7 @@ HAL_StatusTypeDef HAL_UART_Init(UART_HandleTypeDef *huart)
     /* Check the parameters */
     assert_param(IS_UART_INSTANCE(huart->Instance));
   }
+#pragma GCC diagnostic pop
 
   if(huart->gState == HAL_UART_STATE_RESET)
   {

lib/main/STM32F7/Drivers/STM32F7xx_HAL_Driver/Src/stm32f7xx_ll_usb.c

@@ -817,7 +817,7 @@ HAL_StatusTypeDef USB_WritePacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *src, uin
     count32b =  (len + 3) / 4;
     for (i = 0; i < count32b; i++, src += 4)
     {
-      USBx_DFIFO(ch_ep_num) = *((__packed uint32_t *)src);
+      USBx_DFIFO((uint32_t)ch_ep_num) = *((uint32_t *)src);
     }
   }
   return HAL_OK;
@@ -843,7 +843,7 @@ void *USB_ReadPacket(USB_OTG_GlobalTypeDef *USBx, uint8_t *dest, uint16_t len)
 
   for ( i = 0; i < count32b; i++, dest += 4 )
   {
-    *(__packed uint32_t *)dest = USBx_DFIFO(0);
+    *(uint32_t *)dest = USBx_DFIFO(0);
 
   }
   return ((void *)dest);

make/source.mk

@@ -139,6 +139,7 @@ COMMON_SRC = \
             io/dashboard.c \
             io/displayport_max7456.c \
             io/displayport_msp.c \
+            io/displayport_hdzero_osd.c \
             io/displayport_oled.c \
             io/displayport_srxl.c \
             io/displayport_crsf.c \

src/main/cms/cms.c

@@ -66,6 +66,7 @@
 // For VISIBLE*
 #include "io/osd.h"
 #include "io/rcdevice_cam.h"
+#include "pg/vcd.h"
 
 #include "rx/rx.h"
 
@@ -329,7 +330,7 @@ static int cmsDrawMenuEntry(displayPort_t *pDisplay, OSD_Entry *p, uint8_t row)
             buff[0] = 0x0;
             if ((p->type == OME_Submenu) && p->func && (p->flags & OPTSTRING)) {
                 // Special case of sub menu entry with optional value display.
-                char *str = ((CMSMenuOptFuncPtr)p->func)();
+                char *str = ((CMSMenuOptFuncPtr)(long)p->func)();
                 strncpy( buff, str, CMS_DRAW_BUFFER_LEN);
             }
             strncat(buff, ">", CMS_DRAW_BUFFER_LEN);
@@ -597,9 +598,19 @@ void cmsMenuOpen(void) {
     } else {
         smallScreen       = false;
         linesPerMenuItem  = 1;
-        leftMenuColumn    = 2;
+#if defined(USE_HDZERO_OSD)
+    if ((vcdProfile()->video_system == VIDEO_SYSTEM_HD) && (pCurrentDisplay->cols > 30))
+        { leftMenuColumn = HDINDENT + 2; }
+    else
+#endif
+        { leftMenuColumn    = SDINDENT + 2; }
 #ifdef CMS_OSD_RIGHT_ALIGNED_VALUES
-        rightMenuColumn   = pCurrentDisplay->cols - 2;
+#if defined(USE_HDZERO_OSD)
+    if ((vcdProfile()->video_system == VIDEO_SYSTEM_HD) && (pCurrentDisplay->cols > 30))
+        { rightMenuColumn   = pCurrentDisplay->cols - 2 - HDINDENT; }
+    else
+#endif
+        { rightMenuColumn   = pCurrentDisplay->cols - 2; }
 #else
         rightMenuColumn   = pCurrentDisplay->cols - CMS_DRAW_BUFFER_LEN;
 #endif
@@ -634,7 +645,7 @@ long cmsMenuExit(displayPort_t *pDisplay, const void *ptr) {
     currentCtx.menu = NULL;
     if (exitType == CMS_EXIT_SAVEREBOOT) {
         displayClearScreen(pDisplay);
-        displayWrite(pDisplay, 5, 3, "REBOOTING...");
+        displayWrite(pDisplay, (pCurrentDisplay->cols % 2) - 6, 3, "REBOOTING...");
         displayResync(pDisplay); // Was max7456RefreshAll(); why at this timing?
         stopMotors();
         stopPwmAllMotors();

src/main/cms/cms_menu_blackbox.c

@@ -140,7 +140,7 @@ static long cmsx_EraseFlash(displayPort_t *pDisplay, const void *ptr) {
         return 0;
     }
     displayClearScreen(pDisplay);
-    displayWrite(pDisplay, 5, 3, "ERASING FLASH...");
+    displayWrite(pDisplay, (pCurrentDisplay->cols % 2) - 7, 3, "ERASING FLASH...");
     displayResync(pDisplay); // Was max7456RefreshAll(); Why at this timing?
     flashfsEraseCompletely();
     while (!flashfsIsReady()) {

src/main/cms/cms_menu_vtx_smartaudio.c

@@ -492,7 +492,7 @@ static OSD_Entry saCmsMenuConfigEntries[] = {
     { "OP MODEL",  OME_TAB,     saCmsConfigOpmodelByGvar,              &(OSD_TAB_t){ &saCmsOpmodel, 2, saCmsOpmodelNames }, DYNAMIC },
     { "FSEL MODE", OME_TAB,     saCmsConfigFreqModeByGvar,             &saCmsEntFselMode,                                   DYNAMIC },
     { "PIT FMODE", OME_TAB,     saCmsConfigPitFModeByGvar,             &saCmsEntPitFMode,                                   0 },
-    { "POR FREQ",  OME_Submenu, (CMSEntryFuncPtr)saCmsORFreqGetString, &saCmsMenuPORFreq,                                   OPTSTRING },
+    { "POR FREQ",  OME_Submenu, (CMSEntryFuncPtr)(long)saCmsORFreqGetString, &saCmsMenuPORFreq,                                   OPTSTRING },
 #ifdef USE_EXTENDED_CMS_MENUS
     { "STATX",     OME_Submenu, cmsMenuChange,                         &saCmsMenuStats,                                     0 },
 #endif /* USE_EXTENDED_CMS_MENUS */
@@ -534,7 +534,7 @@ static OSD_Entry saCmsMenuFreqModeEntries[] = {
     { "- SMARTAUDIO -", OME_Label, NULL, NULL, 0 },
 
     { "",       OME_Label,   NULL,                                     saCmsStatusString,  DYNAMIC },
-    { "FREQ",   OME_Submenu, (CMSEntryFuncPtr)saCmsUserFreqGetString,  &saCmsMenuUserFreq, OPTSTRING },
+    { "FREQ",   OME_Submenu, (CMSEntryFuncPtr)(long)saCmsUserFreqGetString,  &saCmsMenuUserFreq, OPTSTRING },
     { "POWER",  OME_TAB,     saCmsConfigPowerByGvar,                   &saCmsEntPower,     0 },
     { "SET",    OME_Submenu, cmsMenuChange,                            &saCmsMenuCommence, 0 },
     { "CONFIG", OME_Submenu, cmsMenuChange,                            &saCmsMenuConfig,   0 },

src/main/common/bitarray.c

@@ -51,3 +51,53 @@ void bitArrayCopy(void *array, unsigned from, unsigned to) {
         bitArrayClr(array, to);
     }
 }
+
+void bitArrayClrAll(bitarrayElement_t *array, size_t size)
+{
+    memset(array, 0, size);
+}
+
+__attribute__((always_inline)) static inline uint8_t __CTZ(uint32_t val)
+{
+    // __builtin_ctz is not defined for zero, since it's arch
+    // dependant. However, in ARM it gets translated to a
+    // rbit and then a clz, making it return 32 for zero on ARM.
+    // For other architectures, explicitely implement the same
+    // semantics.
+#ifdef __arm__
+    uint8_t zc;
+    __asm__ volatile ("rbit %1, %1\n\t"
+                      "clz %0, %1"
+                    : "=r" (zc)
+                    : "r" (val) );
+    return zc;
+#else
+    // __builtin_clz is not defined for zero, since it's arch
+    // dependant. Make it return 32 like ARM's CLZ.
+    return val ? __builtin_ctz(val) : 32;
+#endif
+}
+
+int bitArrayFindFirstSet(const bitarrayElement_t *array, unsigned start, size_t size)
+{
+    const uint32_t *ptr = (uint32_t*)array;
+    const uint32_t *end = ptr + (size / 4);
+    const uint32_t *p = ptr + start / (8 * 4);
+
+    if (p < end) {
+        int ret;
+        // First iteration might need to mask some bits
+        uint32_t mask = 0xFFFFFFFF << (start % (8 * 4));
+        if ((ret = __CTZ(*p & mask)) != 32) {
+            return (((char *)p) - ((char *)ptr)) * 8 + ret;
+        }
+        p++;
+        while (p < end) {
+            if ((ret = __CTZ(*p)) != 32) {
+                return (((char *)p) - ((char *)ptr)) * 8 + ret;
+            }
+            p++;
+        }
+    }
+    return -1;
+}

src/main/common/bitarray.h

@@ -20,8 +20,21 @@
 
 #pragma once
 
+typedef uint32_t bitarrayElement_t;
+
 bool bitArrayGet(const void *array, unsigned bit);
 void bitArraySet(void *array, unsigned bit);
 void bitArrayClr(void *array, unsigned bit);
 void bitArrayXor(void *dest, size_t size, void *op1, void *op2);
 void bitArrayCopy(void *array, unsigned from, unsigned to);
+void bitArrayClrAll(bitarrayElement_t *array, size_t size);
+// Returns the first set bit with pos >= start_bit, or -1 if all bits
+// are zero. Note that size must indicate the size of array in bytes.
+// In most cases, you should use the BITARRAY_FIND_FIRST_SET() macro
+// to call this function.
+int bitArrayFindFirstSet(const bitarrayElement_t *array, unsigned start_bit, size_t size);
+
+#define BITARRAY_DECLARE(name, bits) bitarrayElement_t name[(bits + 31) / 32]
+#define BITARRAY_SET_ALL(array) bitArraySetAll(array, sizeof(array))
+#define BITARRAY_CLR_ALL(array) bitArrayClrAll(array, sizeof(array))
+#define BITARRAY_FIND_FIRST_SET(array, start_bit) bitArrayFindFirstSet(array, start_bit, sizeof(array))

src/main/drivers/beesign.c

@@ -101,10 +101,13 @@ static uint8_t beesignCRC(const beesign_frame_t *pPackage) {
     return crc;
 }
 
+// compiler reports unused
+/*
 static uint8_t beesignChkID(uint8_t id) {
     UNUSED(id);
     return BEESIGN_OK;
 }
+*/
 
 uint8_t beesignReceive(uint8_t **pRcvFrame) {
     if (!receiveFrameValid) {
@@ -608,7 +611,7 @@ bool checkBeesignSerialPort(void) {
 
 void beesignUpdate(timeUs_t currentTimeUs) {
     UNUSED(currentTimeUs);
-    if (checkBeesignSerialPort) {
+    if (checkBeesignSerialPort()) {
 #ifdef USE_OSD_BEESIGN
         static uint32_t beesignTaskCounter = 0;
         static uint32_t beesignSendNextCounterPoint = 0;

src/main/drivers/display_font_metadata.c

@@ -0,0 +1,11 @@
+#include "drivers/display_font_metadata.h"
+#include "drivers/osd.h"
+
+bool displayFontMetadataUpdateFromCharacter(displayFontMetadata_t *metadata, const osdCharacter_t *chr)
+{
+    if (chr && FONT_CHR_IS_METADATA(chr)) {
+        metadata->version = chr->data[5];
+        return true;
+    }
+    return false;
+}

src/main/drivers/display_font_metadata.h

@@ -0,0 +1,24 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+typedef struct osdCharacter_s osdCharacter_t;
+
+typedef struct displayFontMetadata_s {
+    uint8_t version;
+    uint16_t charCount;
+} displayFontMetadata_t;
+
+// 'E', 'M', 'U', 'F'
+#define FONT_CHR_IS_METADATA(chr) ((chr)->data[0] == 'E' && \
+    (chr)->data[1] == 'M' && \
+    (chr)->data[2] == 'U' && \
+    (chr)->data[3] == 'F')
+
+#define FONT_METADATA_CHR_INDEX 255
+// Used for runtime detection of display drivers that might
+// support 256 or 512 characters.
+#define FONT_METADATA_CHR_INDEX_2ND_PAGE 256
+
+bool displayFontMetadataUpdateFromCharacter(displayFontMetadata_t *metadata, const osdCharacter_t *chr);

src/main/drivers/serial_softserial.c

@@ -492,7 +492,7 @@ uint32_t softSerialTxBytesFree(const serialPort_t *instance) {
         return 0;
     }
     softSerial_t *s = (softSerial_t *)instance;
-    uint8_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
+    uint32_t bytesUsed = (s->port.txBufferHead - s->port.txBufferTail) & (s->port.txBufferSize - 1);
     return (s->port.txBufferSize - 1) - bytesUsed;
 }
 

src/main/fc/fc_init.c

@@ -115,6 +115,7 @@
 #include "rx/spektrum.h"
 
 #include "io/beeper.h"
+#include "io/displayport_hdzero_osd.h"
 #include "io/displayport_max7456.h"
 #include "io/displayport_srxl.h"
 #include "io/serial.h"
@@ -508,12 +509,25 @@ void init(void) {
     if (feature(FEATURE_OSD)) {
 #if defined(USE_OSD_BEESIGN)
         // If there is a beesign for the OSD then use it
-        osdDisplayPort = beesignDisplayPortInit(vcdProfile());
-#elif defined(USE_MAX7456)
+        if (!osdDisplayPort) {
+            osdDisplayPort = beesignDisplayPortInit(vcdProfile());
+        }
+#endif
+#if defined(USE_HDZERO_OSD)
+        if (!osdDisplayPort) {
+            osdDisplayPort = hdzeroOsdDisplayPortInit();
+        }
+#endif
+#if defined(USE_MAX7456)
         // If there is a max7456 chip for the OSD then use it
-        osdDisplayPort = max7456DisplayPortInit(vcdProfile());
-#elif defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT) // OSD over MSP; not supported (yet)
-        osdDisplayPort = displayPortMspInit();
+        if (!osdDisplayPort) {
+            osdDisplayPort = max7456DisplayPortInit(vcdProfile());
+        }
+#endif
+#if defined(USE_CMS) && defined(USE_MSP_DISPLAYPORT) && defined(USE_OSD_OVER_MSP_DISPLAYPORT) // OSD over MSP; not supported (yet)
+        if (!osdDisplayPort) {
+            osdDisplayPort = displayPortMspInit();
+        }
 #endif
         // osdInit  will register with CMS by itself.
         osdInit(osdDisplayPort);

src/main/fc/fc_tasks.c

@@ -74,6 +74,7 @@
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/osd.h"
+#include "io/displayport_hdzero_osd.h"
 #include "io/piniobox.h"
 #include "io/serial.h"
 #include "io/transponder_ir.h"
@@ -159,6 +160,11 @@ static void taskHandleSerial(timeUs_t currentTimeUs) {
     bool evaluateMspData = osdSlaveIsLocked ?  MSP_SKIP_NON_MSP_DATA : MSP_EVALUATE_NON_MSP_DATA;;
 #endif
     mspSerialProcess(evaluateMspData, mspFcProcessCommand, mspFcProcessReply);
+
+#ifdef USE_HDZERO_OSD
+    // Capture HDZero messages to determine if VTX is connected
+    hdzeroOsdSerialProcess(mspFcProcessCommand);
+#endif
 }
 
 static void taskBatteryAlerts(timeUs_t currentTimeUs) {

src/main/interface/cli.c

@@ -990,7 +990,7 @@ static void cliSerial(char *cmdline) {
     ptr = nextArg(ptr);
     if (ptr) {
         val = atoi(ptr);
-        portConfig.functionMask = val & 0xFFFF;
+        portConfig.functionMask = val & 0xFFFFFFFF;
         validArgumentCount++;
     }
     for (int i = 0; i < 4; i ++) {