Merge pull request #5160 from iNavFlight/development

Release INAV 2.3.0

.gitignore

@@ -8,16 +8,21 @@
 .project
 .settings
 .cproject
-obj/
-patches/
 startup_stm32f10x_md_gcc.s
 .vagrant/
 .vscode/
 cov-int*
+obj/
+patches/
+tools/
+downloads/
 
 # script-generated files
 docs/Manual.pdf
 README.pdf
 
 # build generated files
 /settings.json
+
+# local changes only
+make/local.mk

.travis.yml

@@ -8,6 +8,7 @@ env:
   - GOAL=targets-group-5
   - GOAL=targets-group-6
   - GOAL=targets-group-7
+  - GOAL=targets-group-8
   - GOAL=targets-group-rest
 
 # use new docker environment
@@ -22,6 +23,7 @@ addons:
       - build-essential
       - git
       - libc6-i386
+      - time
 
 # We use cpp for unit tests, and c for the main project.
 language: cpp
@@ -30,21 +32,20 @@ compiler: clang
 before_install:
 
 install:
-  - ./install-toolchain.sh
-  - export TOOLCHAINPATH=$PWD/gcc-arm-none-eabi-8-2018-q4-major/bin
-  - export PATH=$TOOLCHAINPATH:$PATH
+  - make arm_sdk_install
 
 before_script:
-  - $TOOLCHAINPATH/arm-none-eabi-gcc --version
+  - make arm_sdk_version
   - clang --version
   - clang++ --version
 
 script: ./.travis.sh
 
 cache: 
-  apt: true
+  timeout: 1000
   directories:
-  - $PWD/gcc-arm-none-eabi-8-2018-q4-major
+  - downloads
+  - tools
 
 notifications:
   #slack: inavflight:UWRoWFJ4cbbpHXT8HJJlAPXa

Dockerfile

@@ -1,22 +1,23 @@
-FROM ubuntu:xenial
-LABEL maintainer Andy Schwarz <[email protected]>
+FROM ubuntu:bionic
 
 # Configuration
 VOLUME /home/src/
 WORKDIR /home/src/
+ARG TOOLCHAIN_VERSION_SHORT
+ENV TOOLCHAIN_VERSION_SHORT ${TOOLCHAIN_VERSION_SHORT:-"8-2018q4"}
+ARG TOOLCHAIN_VERSION_LONG
+ENV TOOLCHAIN_VERSION_LONG ${TOOLCHAIN_VERSION_LONG:-"8-2018-q4-major"}
 
 # Essentials
 RUN mkdir -p /home/src && \
     apt-get update && \
-    apt-get install -y software-properties-common python-software-properties ruby make git gcc wget curl bzip2 lib32ncurses5 lib32z1
+    apt-get install -y software-properties-common ruby make git gcc wget curl bzip2
 
 # Toolchain
-ENV TOOLCHAIN=
-ENV TOOLCHAIN_ID=
-RUN wget -P /tmp https://developer.arm.com/-/media/Files/downloads/gnu-rm/6-2017q2/gcc-arm-none-eabi-6-2017-q2-update-linux.tar.bz2
+RUN wget -P /tmp "https://developer.arm.com/-/media/Files/downloads/gnu-rm/$TOOLCHAIN_VERSION_SHORT/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG-linux.tar.bz2"
 RUN mkdir -p /opt && \
 	cd /opt && \
-    tar xvjf /tmp/gcc-arm-none-eabi-6-2017-q2-update-linux.tar.bz2 -C /opt && \
-	chmod -R -w /opt/gcc-arm-none-eabi-6-2017-q2-update
+    tar xvjf "/tmp/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG-linux.tar.bz2" -C /opt && \
+	chmod -R -w "/opt/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG"
 
-ENV PATH="/opt/gcc-arm-none-eabi-6-2017-q2-update/bin:${PATH}"
+ENV PATH="/opt/gcc-arm-none-eabi-$TOOLCHAIN_VERSION_LONG/bin:$PATH"

Makefile

@@ -69,8 +69,15 @@ INCLUDE_DIRS    := $(SRC_DIR) \
                    $(ROOT)/src/main/target
 LINKER_DIR      := $(ROOT)/src/main/target/link
 
+# import macros common to all supported build systems
+include $(ROOT)/make/system-id.mk
+
+# developer preferences, edit these at will, they'll be gitignored
+-include $(ROOT)/make/local.mk
+
 # default xtal value for F4 targets
 HSE_VALUE       = 8000000
+MHZ_VALUE      ?=
 
 # used for turning on features like VCP and SDCARD
 FEATURES        =
@@ -82,8 +89,9 @@ VALID_TARGETS  := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
 VALID_TARGETS  := $(VALID_TARGETS) $(ALT_TARGETS)
 VALID_TARGETS  := $(sort $(VALID_TARGETS))
 
-CLEAN_TARGETS = $(addprefix clean_,$(VALID_TARGETS) )
-TARGETS_CLEAN = $(addsuffix _clean,$(VALID_TARGETS) )
+CLEAN_TARGETS   = $(addprefix clean_,$(VALID_TARGETS) )
+TARGETS_CLEAN   = $(addsuffix _clean,$(VALID_TARGETS) )
+STFLASH_TARGETS = $(addprefix st-flash_,$(VALID_TARGETS) )
 
 ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
 BASE_TARGET    := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
@@ -123,9 +131,10 @@ GROUP_2_TARGETS := SPRACINGF3 SPRACINGF3EVO SPRACINGF3EVO_1SS SPRACINGF3MINI SPR
 GROUP_3_TARGETS := OMNIBUS AIRBOTF4 BLUEJAYF4 OMNIBUSF4 OMNIBUSF4PRO FIREWORKSV2 SPARKY2 MATEKF405 OMNIBUSF7 DYSF4PRO OMNIBUSF4PRO_LEDSTRIPM5 OMNIBUSF7NXT OMNIBUSF7V2 ASGARD32F4
 GROUP_4_TARGETS := ANYFC ANYFCF7 ANYFCF7_EXTERNAL_BARO ANYFCM7 ALIENFLIGHTNGF7 PIXRACER YUPIF4 YUPIF4MINI YUPIF4R2 YUPIF7 MATEKF405SE MATEKF411 MATEKF722 MATEKF405OSD MATEKF405_SERVOS6 NOX
 GROUP_5_TARGETS := ASGARD32F7 CHEBUZZF3 CLRACINGF4AIRV3 DALRCF405 DALRCF722DUAL DYSF4PROV2 F4BY FISHDRONEF4 FOXEERF405 FOXEERF722DUAL FRSKYF3 FRSKYF4 FURYF3 FURYF3_SPIFLASH FURYF4OSD
-GROUP_6_TARGETS := MAMBAF405 OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS
+GROUP_6_TARGETS := MAMBAF405 OMNIBUSF4V3 OMNIBUSF4V3_S6_SS OMNIBUSF4V3_S5S6_SS OMNIBUSF4V3_S5_S6_2SS AIKONF4
 GROUP_7_TARGETS := KAKUTEF4 KAKUTEF4V2 KAKUTEF7 KAKUTEF7MINI KFC32F3_INAV KROOZX MATEKF411_RSSI MATEKF411_SFTSRL2 MATEKF722MINI MATEKF722SE MATEKF722_HEXSERVO
-GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS) $(GROUP_5_TARGETS) $(GROUP_6_TARGETS) $(GROUP_7_TARGETS), $(VALID_TARGETS))
+GROUP_8_TARGETS := MATEKF765
+GROUP_OTHER_TARGETS := $(filter-out $(GROUP_1_TARGETS) $(GROUP_2_TARGETS) $(GROUP_3_TARGETS) $(GROUP_4_TARGETS) $(GROUP_5_TARGETS) $(GROUP_6_TARGETS) $(GROUP_7_TARGETS) $(GROUP_8_TARGETS), $(VALID_TARGETS))
 
 REVISION = $(shell git rev-parse --short HEAD)
 
@@ -168,6 +177,10 @@ ifneq ($(HSE_VALUE),)
 DEVICE_FLAGS    := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
 endif
 
+ifneq ($(MHZ_VALUE),)
+DEVICE_FLAGS    := $(DEVICE_FLAGS) -DMHZ_VALUE=$(MHZ_VALUE)
+endif
+
 ifneq ($(BASE_TARGET), $(TARGET))
 TARGET_FLAGS    := $(TARGET_FLAGS) -D$(BASE_TARGET)
 endif
@@ -189,19 +202,21 @@ include $(ROOT)/make/source.mk
 include $(ROOT)/make/release.mk
 
 ###############################################################################
-# Things that might need changing to use different tools
+#
+# Toolchain installer
 #
 
+TOOLS_DIR := $(ROOT)/tools
+DL_DIR    := $(ROOT)/downloads
+
+include $(ROOT)/make/tools.mk
+
+#
 # Tool names
-ifneq ($(TOOLCHAINPATH),)
-CROSS_CC    = $(TOOLCHAINPATH)/arm-none-eabi-gcc
-OBJCOPY     = $(TOOLCHAINPATH)/arm-none-eabi-objcopy
-SIZE        = $(TOOLCHAINPATH)/arm-none-eabi-size
-else
-CROSS_CC    = arm-none-eabi-gcc
-OBJCOPY     = arm-none-eabi-objcopy
-SIZE        = arm-none-eabi-size
-endif
+#
+CROSS_CC    = $(ARM_SDK_PREFIX)gcc
+OBJCOPY     = $(ARM_SDK_PREFIX)objcopy
+SIZE        = $(ARM_SDK_PREFIX)size
 
 #
 # Tool options.
@@ -313,16 +328,16 @@ $(GENERATED_SETTINGS): $(SETTINGS_GENERATOR) $(SETTINGS_FILE) $(STAMP)
 CFLAGS                  += -I$(TARGET_OBJ_DIR)
 
 $(STAMP): .FORCE
-	$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(BUILD_STAMP) $(SETTINGS_FILE) $(STAMP)
+	$(V1) CPP_PATH="$(ARM_SDK_DIR)/bin" CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(BUILD_STAMP) $(SETTINGS_FILE) $(STAMP)
 
 # Use a pattern rule, since they're different than normal rules.
 # See https://www.gnu.org/software/make/manual/make.html#Pattern-Examples
 %generated.h %generated.c:
 	$(V1) echo "settings.yaml -> settings_generated.h, settings_generated.c" "$(STDOUT)"
-	$(V1) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) -o $(TARGET_OBJ_DIR)
+	$(V1) CPP_PATH="$(ARM_SDK_DIR)/bin" CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) -o $(TARGET_OBJ_DIR)
 
 settings-json:
-	$(V0) CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) --json settings.json
+	$(V0) CPP_PATH="$(ARM_SDK_DIR)/bin" CFLAGS="$(CFLAGS)" TARGET=$(TARGET) ruby $(SETTINGS_GENERATOR) . $(SETTINGS_FILE) --json settings.json
 
 clean-settings:
 	$(V1) $(RM) $(GENERATED_SETTINGS)
@@ -369,6 +384,14 @@ $(TARGET_OBJ_DIR)/%.o: %.S
 	$(V1) $(CROSS_CC) -c -o $@ $(ASFLAGS) $<
 
 
+# mkdirs
+$(DL_DIR):
+	mkdir -p $@
+
+$(TOOLS_DIR):
+	mkdir -p $@
+
+
 ## all               : Build all valid targets
 all: $(VALID_TARGETS)
 
@@ -393,6 +416,9 @@ targets-group-6: $(GROUP_6_TARGETS)
 ## targets-group-7   : build some targets
 targets-group-7: $(GROUP_7_TARGETS)
 
+## targets-group-8   : build some targets
+targets-group-8: $(GROUP_8_TARGETS)
+
 ## targets-group-rest: build the rest of the targets (not listed in group 1, 2 or 3)
 targets-group-rest: $(GROUP_OTHER_TARGETS)
 
@@ -438,11 +464,12 @@ flash_$(TARGET): $(TARGET_HEX)
 ## flash             : flash firmware (.hex) onto flight controller
 flash: flash_$(TARGET)
 
-st-flash_$(TARGET): $(TARGET_BIN)
-	$(V0) st-flash --reset write $< 0x08000000
+$(STFLASH_TARGETS) :
+	$(V0) $(MAKE) -j 8 TARGET=$(subst st-flash_,,$@) st-flash
 
 ## st-flash          : flash firmware (.bin) onto flight controller
-st-flash: st-flash_$(TARGET)
+st-flash: $(TARGET_BIN)
+	$(V0) st-flash --reset write $< 0x08000000
 
 binary: $(TARGET_BIN)
 hex:    $(TARGET_HEX)
@@ -487,6 +514,7 @@ targets:
 	$(V0) @echo "targets-group-5:    $(GROUP_5_TARGETS)"
 	$(V0) @echo "targets-group-6:    $(GROUP_6_TARGETS)"
 	$(V0) @echo "targets-group-7:    $(GROUP_7_TARGETS)"
+	$(V0) @echo "targets-group-7:    $(GROUP_8_TARGETS)"
 	$(V0) @echo "targets-group-rest: $(GROUP_OTHER_TARGETS)"
 	$(V0) @echo "Release targets:    $(RELEASE_TARGETS)"
 

build.sh

@@ -1,2 +1,12 @@
-echo "Building target" $1
-docker run --rm -v `pwd`:/home/src/ flyandi/docker-inav make TARGET=$1
+if [ -z "$1" ]; then
+  echo "Usage syntax: ./build.sh <TARGET>"
+  exit 1
+fi
+
+if [ -z "$(docker images -q inav-build)" ]; then
+  echo -e "*** Building image\n"
+  docker build -t inav-build .
+fi
+
+echo -e "*** Building target $1\n"
+docker run --rm -v "$(pwd)":/home/src/ inav-build make TARGET="$1"

docs/Board - Airbot F4 and Flip32 F4.md

@@ -24,7 +24,7 @@
 
 ## Radio Receivers
 
-This board does not support Parallel PWM receiver connection. Only SerialRX, PPM and MSP receivers are supported.
+SerialRX, PPM and MSP receivers are supported.
 
 SerialRX and PPM receivers should be connected to dedicated _PPM SBUS_ connector above _Motor 1_. MSP receivers should be connected to one of UARTs configured as MSP.
 
@@ -77,9 +77,9 @@ LED strip is enabled on Motor 5 pin (PA1)
 
 ## SoftwareSerial
 
-This board allows for single **SoftwareSerial** port on small soldering pads located next to UART3 pins. 
+This board allows for single **SoftwareSerial** port on small soldering pads located next to UART3 pins.
 
 | Pad   | SoftwareSerial Role   |
 | ----  | ----                  |
 | CH5   | RX                    |
-| CH6   | TX                    |
+| CH6   | TX                    |

docs/Board - BeeRotor F4.md

@@ -25,7 +25,7 @@
 
 ## Radio Receivers
 
-This board does not support Parallel PWM receiver connection. Only SerialRX, PPM and MSP receivers are supported.
+SerialRX, PPM and MSP receivers are supported.
 
 SerialRX and PPM receivers should be connected to dedicated _PPM SBUS_ pin on the _RX_ connector. MSP receivers should be connected to one of UARTs configured as MSP.
 

docs/Board - Matek F411 Wing.md

@@ -23,7 +23,7 @@
 * `MATEKF411` if you want to control LEDs and have SS1 TX on ST1 pad.
 * `MATEKF411_FD_SFTSRL` if you need the softserial to be full-duplex (TX = ST1 pad, RX = LED pad), at the cost of losing the LED output.
 * `MATEKF411_RSSI` if you want to have analog RSSI input on ST1 pad. SS1 TX will be available on the LED pad.
-* `MATEKF411_SFTSRL2`if you want to use two softserials (TX only) at the same time. Eg. Smart Audio + S. Port,  Smart Audio + LTM
+* `MATEKF411_SFTSRL2`if you want to use two softserials (TX only) at the same time. Eg. Smart Audio + S. Port,  Smart Audio + LTM. (SS1 TX will be on ST1 pad and SS2 TX will be on LED pad).
 
 ## Where to buy:
 

docs/Board - MatekF405.md

@@ -34,7 +34,7 @@ Due to differences on the board (I2C - see below), there are two firmware varian
 * Current Sensor: Yes (AIO, CTR), otherwise FCHUB-6S option
 * Integrated Power Distribution Board: Yes (AIO, CTR), otherwise FCHUB-6S option
 * Integrated Voltage Regulator: 5V 2A & 9V 2A (AIO), 5V 2A (CTR), otherwise FCHUB-6S option
-* 6 PWM / DSHOT capable outputs (iNav does not implement DSHOT)
+* 6 PWM / DSHOT capable outputs
 * WS2812 Led Strip : Yes
 * Beeper: Yes
 * RSSI: Yes
@@ -75,8 +75,22 @@ I2C requires that the WS2812 led strip is moved to S5, thus WS2812 is not usable
 Soft serial is available as an alternative to a hardware UART on RX4/TX4 and TX2. By default this is NOT inverted. In order to use this feature:
 
 * Enable soft serial
-* Do not assign any function to hardware UART4 or UART2-TX
-* Assign the desired function to the soft-serial port
+* Do not assign any function to hardware UART4
+* Assign the desired function to the soft-serial ports
+* UART4 TX/RX pads will be used as SoftSerial 1 TX/RX pads
+* UART2 TX pad will be used as SoftSerial 2 TX pad
+
+RX2 and SBUS pads can be used as normal for receiver-only UART. If you need a full duplex UART (IE: TBS Crossfire) and SoftSerial, then use UART 1, 3 or 5 for Full Duplex.
+
+#### Common scenarios for SoftSerial on this boards:
+You need to wire a FrSky receiver (SBUS and SmartPort) to the Flight controller
+* Connect SBUS from Receiver to SBUS pin on the Flight Controller
+* Connect SmartPort from Receiver to TX2 pad on the Flight Controller
+* Enable SoftSerial and set UART2 for Serial RX and SoftSerial 2 for SmartPort Telemetry
+
+You need to wire a SmartAudio or Trump VTX to the Flight controller
+* Connect SmartAudio/Tramp from VTX to the TX4 pad on the Flight Controller
+* Enable SoftSerial and set SoftSerial 1 for SmartAudio or Tramp
 
 ### USB
 
@@ -108,5 +122,3 @@ Rcgroups Thread Matek F405: https://www.rcgroups.com/forums/showthread.php?28892
 Rcgroups Thread Matek F405-AIO: https://www.rcgroups.com/forums/showthread.php?2912273-Matek-Flight-Controller-F405-AIO
 
 This board doesn't have hardware inverters for UART pins. This page explains getting SmartPort telemetry working on F4 board:  https://github.com/iNavFlight/inav/blob/master/docs/Telemetry.md
-
-

docs/Board - MatekF765-Wing.md

@@ -0,0 +1,28 @@
+# Board - [MATEKSYS F765-Wing](https://inavflight.com/shop/s/bg/1557661)
+
+![Matek F765 Wing](http://www.mateksys.com/wp-content/uploads/2019/08/F765-WING_2.jpg)
+
+## Specification:
+
+* STM32F765 216MHz CPU
+* 2-8S LiPo support
+* 132A current sensor
+* OSD
+* BMP280 barometer
+* SD slot
+* 7 UART serial ports
+* 2 I2C
+* PDB for 2 motors
+* 12 outputs (10 DSHOT)
+* 8A BEC for the servos
+* 9V supply for FPV gear
+* Dual camera switcher
+
+## Details
+
+* For Matek F765-WING use `MATEKF765` firmware.
+* No need for SBUS inversion
+
+## Where to buy:
+
+* [Banggood](https://inavflight.com/shop/s/bg/1557661)

docs/Board - Omnibus F4.md

@@ -86,7 +86,7 @@ More target options:
 
 ## Radio Receivers
 
-This board does not support Parallel PWM receiver connection. Only SerialRX, PPM and MSP receivers are supported.
+SerialRX, PPM and MSP receivers are supported.
 
 SerialRX and PPM receivers should be connected to dedicated _PPM SBUS_ connector above _Motor 1_. MSP receivers should be connected to one of UARTs configured as MSP.
 

docs/Board - Omnibus F7.md

@@ -20,7 +20,7 @@
 
 ## Radio Receivers
 
-This board does not support Parallel PWM receiver connection. Only SerialRX, PPM and MSP receivers are supported.
+SerialRX, PPM and MSP receivers are supported.
 
 SerialRX and PPM receivers should be connected to dedicated _PPM SBUS_ connector. For SerialRX use UART2