Merge remote-tracking branch 'origin/master' into mmosca-dji-no-compat

docs/Settings.md

@@ -5178,7 +5178,7 @@ Value below which Crossfire SNR Alarm pops-up. (dB)
 
 | Default | Min | Max |
 | --- | --- | --- |
-| 4 | -20 | 10 |
+| 4 | -20 | 99 |
 
 ---
 

src/main/cms/cms_menu_osd.c

@@ -147,10 +147,10 @@ static const OSD_Entry menuCrsfRxEntries[]=
     OSD_SETTING_ENTRY("LQ ALARM LEVEL", SETTING_OSD_LINK_QUALITY_ALARM),
     OSD_SETTING_ENTRY("SNR ALARM LEVEL", SETTING_OSD_SNR_ALARM),
     OSD_SETTING_ENTRY("RX SENSITIVITY", SETTING_OSD_RSSI_DBM_MIN),
-    OSD_ELEMENT_ENTRY("RX RSSI DBM", OSD_CRSF_RSSI_DBM),
-    OSD_ELEMENT_ENTRY("RX LQ", OSD_CRSF_LQ),
-    OSD_ELEMENT_ENTRY("RX SNR ALARM", OSD_CRSF_SNR_DB),
-    OSD_ELEMENT_ENTRY("TX POWER", OSD_CRSF_TX_POWER),
+    OSD_ELEMENT_ENTRY("RX RSSI DBM", OSD_RSSI_DBM),
+    OSD_ELEMENT_ENTRY("RX LQ", OSD_LQ_UPLINK),
+    OSD_ELEMENT_ENTRY("RX SNR ALARM", OSD_SNR_DB),
+    OSD_ELEMENT_ENTRY("TX POWER", OSD_TX_POWER_UPLINK),
 
     OSD_BACK_AND_END_ENTRY,
 };

src/main/common/streambuf.c

@@ -98,6 +98,11 @@ uint8_t sbufReadU8(sbuf_t *src)
     return *src->ptr++;
 }
 
+int8_t sbufReadI8(sbuf_t *src)
+{
+    return *src->ptr++;
+}
+
 uint16_t sbufReadU16(sbuf_t *src)
 {
     uint16_t ret;

src/main/common/streambuf.h

@@ -42,6 +42,7 @@ void sbufWriteU16BigEndian(sbuf_t *dst, uint16_t val);
 void sbufWriteU32BigEndian(sbuf_t *dst, uint32_t val);
 
 uint8_t sbufReadU8(sbuf_t *src);
+int8_t sbufReadI8(sbuf_t *src);
 uint16_t sbufReadU16(sbuf_t *src);
 uint32_t sbufReadU32(sbuf_t *src);
 void sbufReadData(const sbuf_t *dst, void *data, int len);

src/main/drivers/accgyro/accgyro_icm42605.c

@@ -62,6 +62,7 @@
 
 #define ICM42605_RA_GYRO_DATA_X1                    0x25
 #define ICM42605_RA_ACCEL_DATA_X1                   0x1F
+#define ICM42605_RA_TEMP_DATA1                      0x1D
 
 #define ICM42605_RA_INT_CONFIG                      0x14
 #define ICM42605_INT1_MODE_PULSED                   (0 << 2)
@@ -321,6 +322,20 @@ static bool icm42605GyroRead(gyroDev_t *gyro)
     return true;
 }
 
+static bool icm42605ReadTemperature(gyroDev_t *gyro, int16_t * temp)
+{
+    uint8_t data[2];
+
+    const bool ack = busReadBuf(gyro->busDev, ICM42605_RA_TEMP_DATA1, data, 2);
+    if (!ack) {
+        return false;
+    }
+    // From datasheet: Temperature in Degrees Centigrade = (TEMP_DATA / 132.48) + 25 
+    *temp = ( int16_val_big_endian(data, 0) / 13.248 ) + 250; // Temperature stored as degC*10
+
+    return true;
+}
+
 bool icm42605GyroDetect(gyroDev_t *gyro)
 {
     gyro->busDev = busDeviceInit(BUSTYPE_ANY, DEVHW_ICM42605, gyro->imuSensorToUse, OWNER_MPU);
@@ -340,7 +355,7 @@ bool icm42605GyroDetect(gyroDev_t *gyro)
     gyro->initFn = icm42605AccAndGyroInit;
     gyro->readFn = icm42605GyroRead;
     gyro->intStatusFn = gyroCheckDataReady;
-    gyro->temperatureFn = NULL;
+    gyro->temperatureFn = icm42605ReadTemperature;
     gyro->scale = 1.0f / 16.4f;     // 16.4 dps/lsb scalefactor
     gyro->gyroAlign = gyro->busDev->param;
 

src/main/drivers/barometer/barometer_dps310.c

@@ -61,6 +61,7 @@
 
 
 #define DPS310_ID_REV_AND_PROD_ID       (0x10)
+#define SPL07_003_CHIP_ID               (0x11)
 
 #define DPS310_RESET_BIT_SOFT_RST       (0x09)    // 0b1001
 
@@ -96,6 +97,8 @@ typedef struct {
     int16_t c20;    // 16bit
     int16_t c21;    // 16bit
     int16_t c30;    // 16bit
+    int16_t c31;    // 12bit
+    int16_t c40;    // 12bit
 } calibrationCoefficients_t;
 
 typedef struct {
@@ -105,6 +108,7 @@ typedef struct {
 } baroState_t;
 
 static baroState_t  baroState;
+static uint8_t chipId[1];
 
 
 // Helper functions
@@ -167,7 +171,10 @@ static bool deviceConfigure(busDevice_t * busDev)
 
     // 1. Read the pressure calibration coefficients (c00, c10, c20, c30, c01, c11, and c21) from the Calibration Coefficient register.
     //   Note: The coefficients read from the coefficient register are 2's complement numbers.
-    uint8_t coef[18];
+
+    unsigned coefficientLength = chipId[0] == SPL07_003_CHIP_ID ? 21 : 18;
+    uint8_t coef[coefficientLength];
+
     if (!busReadBuf(busDev, DPS310_REG_COEF, coef, sizeof(coef))) {
         return false;
     }
@@ -199,6 +206,17 @@ static bool deviceConfigure(busDevice_t * busDev)
     // 0x20 c30 [15:8] + 0x21 c30 [7:0]
     baroState.calib.c30 = getTwosComplement(((uint32_t)coef[16] << 8) | (uint32_t)coef[17], 16);
 
+    if (chipId[0] == SPL07_003_CHIP_ID) {
+        // 0x23 c31 [3:0] + 0x22 c31 [11:4]
+        baroState.calib.c31 = getTwosComplement(((uint32_t)coef[18] << 4) | (((uint32_t)coef[19] >> 4) & 0x0F), 12);
+
+        // 0x23 c40 [11:8] + 0x24 c40 [7:0]
+        baroState.calib.c40 = getTwosComplement((((uint32_t)coef[19] & 0x0F) << 8) | (uint32_t)coef[20], 12);
+    } else {
+        baroState.calib.c31 = 0;
+        baroState.calib.c40 = 0; 
+    }
+
     // MEAS_CFG: Make sure the device is in IDLE mode
     registerWriteBits(busDev, DPS310_REG_MEAS_CFG, DPS310_MEAS_CFG_MEAS_CTRL_MASK, DPS310_MEAS_CFG_MEAS_IDLE);
 
@@ -218,8 +236,12 @@ static bool deviceConfigure(busDevice_t * busDev)
     registerSetBits(busDev, DPS310_REG_PRS_CFG, DPS310_PRS_CFG_BIT_PM_RATE_32HZ | DPS310_PRS_CFG_BIT_PM_PRC_16);
 
     // TMP_CFG: temperature measurement rate (32 Hz) and oversampling (16 times)
-    const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE;
-    registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE);
+    if (chipId[0] == SPL07_003_CHIP_ID) {
+        registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16);
+    } else {
+        const uint8_t TMP_COEF_SRCE = registerRead(busDev, DPS310_REG_COEF_SRCE) & DPS310_COEF_SRCE_BIT_TMP_COEF_SRCE;
+        registerSetBits(busDev, DPS310_REG_TMP_CFG, DPS310_TMP_CFG_BIT_TMP_RATE_32HZ | DPS310_TMP_CFG_BIT_TMP_PRC_16 | TMP_COEF_SRCE);
+    }
 
     // CFG_REG: set pressure and temperature result bit-shift (required when the oversampling rate is >8 times)
     registerSetBits(busDev, DPS310_REG_CFG_REG, DPS310_CFG_REG_BIT_T_SHIFT | DPS310_CFG_REG_BIT_P_SHIFT);
@@ -265,9 +287,17 @@ static bool deviceReadMeasurement(baroDev_t *baro)
     const float c20 = baroState.calib.c20;
     const float c21 = baroState.calib.c21;
     const float c30 = baroState.calib.c30;
+    const float c31 = baroState.calib.c31;
+    const float c40 = baroState.calib.c40;
 
     // See section 4.9.1, How to Calculate Compensated Pressure Values, of datasheet
-    baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
+    // baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
+    if (chipId[0] == SPL07_003_CHIP_ID) {
+        baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * (c30 + Praw_sc * c40))) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * (c21 + Praw_sc * c31));
+    } else {
+        baroState.pressure = c00 + Praw_sc * (c10 + Praw_sc * (c20 + Praw_sc * c30)) + Traw_sc * c01 + Traw_sc * Praw_sc * (c11 + Praw_sc * c21);
+    }
+
 
     const float c0 = baroState.calib.c0;
     const float c1 = baroState.calib.c1;
@@ -299,13 +329,11 @@ static bool deviceCalculate(baroDev_t *baro, int32_t *pressure, int32_t *tempera
 static bool deviceDetect(busDevice_t * busDev)
 {
     for (int retry = 0; retry < DETECTION_MAX_RETRY_COUNT; retry++) {
-        uint8_t chipId[1];
-
         delay(100);
 
         bool ack = busReadBuf(busDev, DPS310_REG_ID, chipId, 1);
 
-        if (ack && chipId[0] == DPS310_ID_REV_AND_PROD_ID) {
+        if (ack && (chipId[0] == DPS310_ID_REV_AND_PROD_ID || chipId[0] == SPL07_003_CHIP_ID)) {
             return true;
         }
     };

src/main/drivers/osd_symbols.h

@@ -234,6 +234,8 @@
 #define SYM_AH_CH_CENTER            0x166 // 358 Crossair center
 #define SYM_FLIGHT_DIST_REMAINING   0x167 // 359 Flight distance reminaing
 #define SYM_ODOMETER                0x168 // 360 Odometer
+#define SYM_RX_BAND                 0x169 // 361 RX Band
+#define SYM_RX_MODE                 0x16A // 362 RX Mode
 
 #define SYM_AH_CH_TYPE3             0x190 // 400 to 402, crosshair 3
 #define SYM_AH_CH_TYPE4             0x193 // 403 to 405, crosshair 4

src/main/drivers/uart_inverter.c

@@ -145,7 +145,12 @@ void uartInverterSet(USART_TypeDef *USARTx, uartInverterLine_e line, bool enable
 
 // UART4
 #if defined(INVERTER_PIN_UART4_RX) || defined(INVERTER_PIN_UART4_TX)
-    if (USARTx == USART4) {
+#if defined(STM32F4)
+    if (USARTx == UART4)
+#else
+    if (USARTx == USART4)
+#endif
+    {
 #if defined(INVERTER_PIN_UART4_RX)
         rx_pin = IOGetByTag(IO_TAG(INVERTER_PIN_UART4_RX));
 #endif

src/main/drivers/vtx_common.h

@@ -36,11 +36,11 @@
 
 #define VTX_SETTINGS_POWER_COUNT        8
 #define VTX_SETTINGS_DEFAULT_POWER      1
-#define VTX_SETTINGS_MIN_POWER          1
+#define VTX_SETTINGS_MIN_POWER          0
 #define VTX_SETTINGS_MIN_USER_FREQ      5000
 #define VTX_SETTINGS_MAX_USER_FREQ      5999
 #define VTX_SETTINGS_FREQCMD
-#define VTX_SETTINGS_MAX_POWER          (VTX_SETTINGS_POWER_COUNT - VTX_SETTINGS_MIN_POWER + 1)
+#define VTX_SETTINGS_MAX_POWER          (VTX_SETTINGS_POWER_COUNT - VTX_SETTINGS_MIN_POWER)
 
 #else