Merge from master

.github/workflows/docs.yml

@@ -1,5 +1,9 @@
 name: Make sure docs are updated
 on:
+  pull_request:
+    paths:
+      - src/main/fc/settings.yaml
+      - docs/Settings.md
   push:
     paths:
       - src/main/fc/settings.yaml

CMakeLists.txt

@@ -29,7 +29,7 @@ else()
     include("${CMAKE_CURRENT_SOURCE_DIR}/cmake/${TOOLCHAIN}-checks.cmake")
 endif()
 
-project(INAV VERSION 2.6.0)
+project(INAV VERSION 2.7.0)
 
 enable_language(ASM)
 
@@ -58,6 +58,12 @@ set(FIRMWARE_VERSION ${PROJECT_VERSION})
 option(WARNINGS_AS_ERRORS "Make all warnings into errors")
 message("-- toolchain: ${TOOLCHAIN}, WARNINGS_AS_ERRORS: ${WARNINGS_AS_ERRORS}")
 
+set(COMMON_COMPILE_DEFINITIONS
+    FC_VERSION_MAJOR=${CMAKE_PROJECT_VERSION_MAJOR}
+    FC_VERSION_MINOR=${CMAKE_PROJECT_VERSION_MINOR}
+    FC_VERSION_PATCH_LEVEL=${CMAKE_PROJECT_VERSION_PATCH}
+)
+
 include(settings)
 include(openocd)
 include(svd)

cmake/arm-none-eabi-checks.cmake

@@ -2,13 +2,13 @@ include(gcc)
 set(arm_none_eabi_triplet "arm-none-eabi")
 
 # Keep version in sync with the distribution files below
-set(arm_none_eabi_gcc_version "9.2.1")
-set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2019q4/gcc-arm-none-eabi-9-2019-q4-major")
-# suffix and sha1
-set(arm_none_eabi_win32 "win32.zip" 60f364ecf2e8717a58d352db95b388eee508b727)
-set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 3829ff61b2601c6cf061a5a275c2538a96a8d521)
-set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" fdb6fe7058927ad897f63d2d245f825a9587a1c5)
-set(arm_none_eabi_gcc_macos "mac.tar.bz2" 26fe33e0c25d9a2947c0373ea48c00ef46eacd58)
+set(arm_none_eabi_gcc_version "9.3.1")
+set(arm_none_eabi_base_url "https://developer.arm.com/-/media/Files/downloads/gnu-rm/9-2020q2/gcc-arm-none-eabi-9-2020-q2-update")
+# suffix and checksum
+set(arm_none_eabi_win32 "win32.zip" 184b3397414485f224e7ba950989aab6)
+set(arm_none_eabi_linux_amd64 "x86_64-linux.tar.bz2" 2b9eeccc33470f9d3cda26983b9d2dc6)
+set(arm_none_eabi_linux_aarch64 "aarch64-linux.tar.bz2" 000b0888cbe7b171e2225b29be1c327c)
+set(arm_none_eabi_gcc_macos "mac.tar.bz2" 75a171beac35453fd2f0f48b3cb239c3)
 
 function(arm_none_eabi_gcc_distname var)
     string(REPLACE "/" ";" url_parts ${arm_none_eabi_base_url})
@@ -54,7 +54,7 @@ function(arm_none_eabi_gcc_install)
         message(FATAL_ERROR "could not install ${arm_none_eabi_triplet}-gcc automatically")
     endif()
     list(GET dist 0 dist_suffix)
-    list(GET dist 1 dist_sha1)
+    list(GET dist 1 dist_checksum)
     set(dist_url "${arm_none_eabi_base_url}-${dist_suffix}")
     string(REPLACE "/" ";" url_parts ${dist_url})
     list(LENGTH url_parts n)
@@ -66,7 +66,7 @@ function(arm_none_eabi_gcc_install)
         INACTIVITY_TIMEOUT 30
         STATUS status
         SHOW_PROGRESS
-        EXPECTED_HASH SHA1=${dist_sha1}
+        EXPECTED_HASH MD5=${dist_checksum}
         TLS_VERIFY ON
     )
     list(GET status 0 status_code)

cmake/stm32.cmake

@@ -2,6 +2,7 @@ include(stm32-bootloader)
 include(stm32f3)
 include(stm32f4)
 include(stm32f7)
+include(stm32h7)
 
 include(CMakeParseArguments)
 
@@ -303,7 +304,7 @@ function(target_stm32)
 
     set(target_include_directories ${args_INCLUDE_DIRECTORIES})
 
-    set(target_definitions ${STM32_DEFINITIONS})
+    set(target_definitions ${STM32_DEFINITIONS} ${COMMON_COMPILE_DEFINITIONS})
 
     get_stm32_target_features(features "${CMAKE_CURRENT_SOURCE_DIR}" ${name})
     set_property(TARGET ${elf_target} PROPERTY FEATURES ${features})

cmake/stm32f3.cmake

@@ -17,6 +17,9 @@ glob_except(STM32F3_STDPERIPH_SRC "${STM32F3_STDPERIPH_SRC_DIR}/*.c" "${STM32F3_
 
 main_sources(STM32F3_SRC
     target/system_stm32f30x.c
+
+    config/config_streamer_stm32f3.c
+
     drivers/adc_stm32f30x.c
     drivers/bus_i2c_stm32f30x.c
     drivers/dma_stm32f3xx.c
@@ -55,7 +58,7 @@ set(STM32F3_DEFINITIONS
 set(STM32F303CC_DEFINITIONS
     STM32F303
     STM32F303xC
-    FLASH_SIZE=256
+    MCU_FLASH_SIZE=256
 )
 
 function(target_stm32f3xx)

cmake/stm32f4.cmake

@@ -34,6 +34,9 @@ glob_except(STM32F4_STDPERIPH_SRC "${STM32F4_STDPERIPH_SRC_DIR}/*.c" "${STM32F4_
 
 main_sources(STM32F4_SRC
     target/system_stm32f4xx.c
+
+    config/config_streamer_stm32f4.c
+
     drivers/adc_stm32f4xx.c
     drivers/adc_stm32f4xx.c
     drivers/bus_i2c_stm32f40x.c
@@ -98,7 +101,7 @@ endfunction()
 set(STM32F405_COMPILE_DEFINITIONS
     STM32F40_41xxx
     STM32F405xx
-    FLASH_SIZE=1024
+    MCU_FLASH_SIZE=1024
 )
 
 function(target_stm32f405xg name)
@@ -120,7 +123,7 @@ exclude_basenames(STM32F411_OR_F427_STDPERIPH_SRC ${STM32F411_OR_F427_STDPERIPH_
 
 set(STM32F411_COMPILE_DEFINITIONS
     STM32F411xE
-    FLASH_SIZE=512
+    MCU_FLASH_SIZE=512
 )
 
 function(target_stm32f411xe name)
@@ -137,7 +140,7 @@ endfunction()
 
 set(STM32F427_COMPILE_DEFINITIONS
     STM32F427_437xx
-    FLASH_SIZE=1024
+    MCU_FLASH_SIZE=1024
 )
 function(target_stm32f427xg name)
     target_stm32f4xx(

cmake/stm32f7.cmake

@@ -47,7 +47,7 @@ set(STM32F7_VCP_DIR "${MAIN_SRC_DIR}/vcp_hal")
 
 set(STM32F7_VCP_SRC
     usbd_desc.c
-    usbd_conf.c
+    usbd_conf_stm32f7xx.c
     usbd_cdc_interface.c
 )
 list(TRANSFORM STM32F7_VCP_SRC PREPEND "${STM32F7_VCP_DIR}/")
@@ -59,10 +59,13 @@ set(STM32F7_INCLUDE_DIRS
 
 main_sources(STM32F7_SRC
     target/system_stm32f7xx.c
+
+    config/config_streamer_stm32f7.c
+
     drivers/adc_stm32f7xx.c
     drivers/bus_i2c_hal.c
     drivers/dma_stm32f7xx.c
-    drivers/bus_spi_hal.c
+    drivers/bus_spi_hal_ll.c
     drivers/timer.c
     drivers/timer_impl_hal.c
     drivers/timer_stm32f7xx.c
@@ -94,8 +97,6 @@ function(target_stm32f7xx)
         VCP_SOURCES ${STM32F7_USB_SRC} ${STM32F7_VCP_SRC}
         VCP_INCLUDE_DIRECTORIES ${STM32F7_USB_INCLUDE_DIRS} ${STM32F7_VCP_DIR}
 
-        OPTIMIZATION -O2
-
         OPENOCD_TARGET stm32f7x
 
         BOOTLOADER
@@ -109,17 +110,24 @@ macro(define_target_stm32f7 subfamily size)
         set(func_ARGV ARGV)
         string(TOUPPER ${size} upper_size)
         get_stm32_flash_size(flash_size ${size})
+        if(flash_size GREATER 512)
+            set(opt -O2)
+        else()
+            set(opt -Os)
+        endif()
         set(definitions
             STM32F7
             STM32F7${subfamily}xx
             STM32F7${subfamily}x${upper_size}
-            FLASH_SIZE=${flash_size}
+            MCU_FLASH_SIZE=${flash_size}
         )
         target_stm32f7xx(
             NAME ${name}
             STARTUP startup_stm32f7${subfamily}xx.s
             COMPILE_DEFINITIONS ${definitions}
             LINKER_SCRIPT stm32_flash_f7${subfamily}x${size}
+            OPTIMIZATION ${opt}
+
             ${${func_ARGV}}
         )
     endfunction()

cmake/stm32h7-usb.cmake

@@ -0,0 +1,41 @@
+set(STM32H7_USBCORE_DIR "${MAIN_LIB_DIR}/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Core")
+set(STM32H7_USBCORE_SRC
+    usbd_core.c
+    usbd_ctlreq.c
+    usbd_ioreq.c
+)
+list(TRANSFORM STM32H7_USBCORE_SRC PREPEND "${STM32H7_USBCORE_DIR}/Src/")
+
+set(STM32H7_USBCDC_DIR "${MAIN_LIB_DIR}/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/CDC")
+set(STM32H7_USBCDC_SRC
+    usbd_cdc.c
+)
+list(TRANSFORM STM32H7_USBCDC_SRC PREPEND "${STM32H7_USBCDC_DIR}/Src/")
+
+set(STM32H7_USBHID_DIR "${MAIN_LIB_DIR}/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/HID")
+set(STM32H7_USBHID_SRC
+    usbd_hid.c
+)
+list(TRANSFORM STM32H7_USBHID_SRC PREPEND "${STM32H7_USBHID_DIR}/Src/")
+
+set(STM32H7_USBMSC_DIR "${MAIN_LIB_DIR}/main/STM32H7/Middlewares/ST/STM32_USB_Device_Library/Class/MSC")
+set(STM32H7_USBMSC_SRC
+    usbd_msc.c
+    usbd_msc_bot.c
+    usbd_msc_data.c
+    usbd_msc_scsi.c
+)
+list(TRANSFORM STM32H7_USBMSC_SRC PREPEND "${STM32H7_USBMSC_DIR}/Src/")
+
+set(STM32H7_USB_INCLUDE_DIRS
+    "${STM32H7_USBCORE_DIR}/Inc"
+    "${STM32H7_USBCDC_DIR}/Inc"
+    "${STM32H7_USBHID_DIR}/Inc"
+    "${STM32H7_USBMSC_DIR}/Inc"
+)
+
+list(APPEND STM32H7_USB_SRC ${STM32H7_USBCORE_SRC})
+list(APPEND STM32H7_USB_SRC ${STM32H7_USBCDC_SRC})
+list(APPEND STM32H7_USB_SRC ${STM32H7_USBHID_SRC})
+#XXX: Not working yet
+#list(APPEND STM32H7_USB_SRC ${STM32H7_USBMSC_SRC})