feat: basic H7 support (#5228)

Co-authored-by: Malte Langermann <[email protected]> Co-authored-by: 3djc <[email protected]> Co-authored-by: raphaelcoeffic <[email protected]> Co-authored-by: Richard Li <[email protected]>
EdgeTX · Jul 5, 2024 · 6f8a531 · 6f8a531
1 parent 2110f1b
commit 6f8a531
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Showing 517 changed files with 461,641 additions and 396,015 deletions.
diff --git a/radio/src/CMakeLists.txt b/radio/src/CMakeLists.txt
@@ -105,6 +105,10 @@ include(hal/CMakeLists.txt)
 add_subdirectory(bitmaps)
 add_subdirectory(fonts)
 
+if(CPU_TYPE STREQUAL STM32H7)
+  include(targets/common/arm/stm32/h7/CMakeLists.txt)
+endif()
+
 if(CPU_TYPE STREQUAL STM32F4)
   include(targets/common/arm/stm32/f4/CMakeLists.txt)
 endif()

diff --git a/radio/src/boards/generic_stm32/module_ports.cpp b/radio/src/boards/generic_stm32/module_ports.cpp
@@ -258,11 +258,15 @@ static const stm32_pulse_timer_t trainerModuleTimer = {
 
 static void _set_sport_input(uint8_t enable)
 {
+#if defined(TELEMETRY_DIR_GPIO)
   if (TELEMETRY_SET_INPUT) {
     gpio_write(TELEMETRY_DIR_GPIO, enable);
   } else {
     gpio_write(TELEMETRY_DIR_GPIO, !enable);
   }
+#else
+  (void)enable;
+#endif
 }
 
 #if defined(TELEMETRY_TX_REV_GPIO) && defined(TELEMETRY_RX_REV_GPIO)
@@ -283,6 +287,7 @@ static void _sport_init_inverter()
 }
 #endif
 
+#if defined(TELEMETRY_USART)
 static const stm32_usart_t sportUSART = {
   .USARTx = TELEMETRY_USART,
   .txGPIO = TELEMETRY_TX_GPIO,
@@ -307,10 +312,13 @@ extern "C" void TELEMETRY_DMA_TX_IRQHandler(void)
 
 DEFINE_STM32_SERIAL_PORT(SportModule, sportUSART, TELEMETRY_FIFO_SIZE, 0);
 
+#if defined(TELEMETRY_DIR_GPIO)
 static void _sport_direction_init()
 {
   gpio_init(TELEMETRY_DIR_GPIO, GPIO_OUT, GPIO_PIN_SPEED_MEDIUM);
 }
+#endif
+#endif
 
 #if defined(TELEMETRY_TIMER)
 static const stm32_softserial_rx_port sportSoftRX = {
@@ -551,7 +559,10 @@ uint32_t __pxx1_get_inverter_comp() { return 1; }
 
 void boardInitModulePorts()
 {
+#if defined(TELEMETRY_USART) && defined(TELEMETRY_DIR_GPIO)
   _sport_direction_init();
+#endif
+
 #if defined(SPORT_UPDATE_PWR_GPIO)
   sportUpdateInit();
 #endif

diff --git a/radio/src/dataconstants.h b/radio/src/dataconstants.h
@@ -38,7 +38,7 @@
 #define LABELS_LENGTH 100 // Maximum length of the label string
 #define LABEL_LENGTH 16
 
-#if defined(PCBHORUS) || defined(PCBNV14) || defined(PCBPL18)
+#if defined(PCBHORUS) || defined(PCBNV14) || defined(PCBPL18) || defined(STM32H747xx)
   #define MAX_MODELS                   60
   #define MAX_OUTPUT_CHANNELS          32 // number of real output channels CH1-CH32
   #define MAX_FLIGHT_MODES             9
@@ -97,7 +97,7 @@ enum CurveType {
 #define MIN_POINTS_PER_CURVE           3
 #define MAX_POINTS_PER_CURVE           17
 
-#if defined(PCBHORUS) || defined(PCBNV14) || defined(PCBPL18)
+#if defined(COLORLCD)
   #define LEN_MODEL_NAME               15
   #define LEN_TIMER_NAME               8
   #define LEN_FLIGHT_MODE_NAME         10

diff --git a/radio/src/gui/colorlcd/layouts/layout_factory_impl.h b/radio/src/gui/colorlcd/layouts/layout_factory_impl.h
@@ -79,23 +79,23 @@ class Layout: public LayoutBase
     }
 
     bool hasTopbar() const {
-      return getOptionValue(LAYOUT_OPTION_TOPBAR)->boolValue;
+      return ((uint8_t*)(&getOptionValue(LAYOUT_OPTION_TOPBAR)->boolValue))[0];
     }
 
     bool hasFlightMode() const {
-      return getOptionValue(LAYOUT_OPTION_FM)->boolValue;
+      return ((uint8_t*)(&getOptionValue(LAYOUT_OPTION_FM)->boolValue))[0];
     }
 
     bool hasSliders() const {
-      return getOptionValue(LAYOUT_OPTION_SLIDERS)->boolValue;
+      return ((uint8_t*)(&getOptionValue(LAYOUT_OPTION_SLIDERS)->boolValue))[0];
     }
 
     bool hasTrims() const {
-      return getOptionValue(LAYOUT_OPTION_TRIMS)->boolValue;
+      return ((uint8_t*)(&getOptionValue(LAYOUT_OPTION_TRIMS)->boolValue))[0];
     }
 
     bool isMirrored() const {
-      return getOptionValue(LAYOUT_OPTION_MIRRORED)->boolValue;
+      return ((uint8_t*)(&getOptionValue(LAYOUT_OPTION_MIRRORED)->boolValue))[0];
     }
 
     // Set decoration visibility

diff --git a/radio/src/gui/colorlcd/lcd.cpp b/radio/src/gui/colorlcd/lcd.cpp
@@ -69,7 +69,7 @@ static lv_disp_drv_t* refr_disp = nullptr;
 static void flushLcd(lv_disp_drv_t* disp_drv, const lv_area_t* area,
                      lv_color_t* color_p)
 {
-#if (!defined(LCD_VERTICAL_INVERT) || defined(RADIO_F16)) && !defined(BOOT) 
+#if (!defined(LCD_VERTICAL_INVERT) || defined(RADIO_F16)) && !defined(BOOT)
 #if defined(RADIO_F16)
   if (hardwareOptions.pcbrev > 0)
 #endif
@@ -102,31 +102,29 @@ static void flushLcd(lv_disp_drv_t* disp_drv, const lv_area_t* area,
 
 #if (!defined(LCD_VERTICAL_INVERT) || defined(RADIO_F16)) && !defined(BOOT)
 #if defined(RADIO_F16)
-  if (hardwareOptions.pcbrev > 0)
+    if (hardwareOptions.pcbrev > 0)
 #endif
-{
-    uint16_t* src = (uint16_t*)color_p;
-    uint16_t* dst = nullptr;
-    if ((uint16_t*)color_p == LCD_FIRST_FRAME_BUFFER)
-      dst = LCD_SECOND_FRAME_BUFFER;
-    else
-      dst = LCD_FIRST_FRAME_BUFFER;
-
-    lv_disp_t* disp = _lv_refr_get_disp_refreshing();
-    for (int i = 0; i < disp->inv_p; i++) {
-      if (disp->inv_area_joined[i]) continue;
-
-      const lv_area_t& refr_area = disp->inv_areas[i];
-
-      auto area_w = refr_area.x2 - refr_area.x1 + 1;
-      auto area_h = refr_area.y2 - refr_area.y1 + 1;
-
-      DMACopyBitmap(dst, LCD_W, LCD_H, refr_area.x1, refr_area.y1, src, LCD_W,
-                    LCD_H, refr_area.x1, refr_area.y1, area_w, area_h);
+    {
+      uint16_t* src = (uint16_t*)color_p;
+      uint16_t* dst = nullptr;
+      if ((uint16_t*)color_p == LCD_FIRST_FRAME_BUFFER)
+        dst = LCD_SECOND_FRAME_BUFFER;
+      else
+        dst = LCD_FIRST_FRAME_BUFFER;
+
+      lv_disp_t* disp = _lv_refr_get_disp_refreshing();
+      for (int i = 0; i < disp->inv_p; i++) {
+        if (disp->inv_area_joined[i]) continue;
+
+        const lv_area_t& refr_area = disp->inv_areas[i];
+
+        auto area_w = refr_area.x2 - refr_area.x1 + 1;
+        auto area_h = refr_area.y2 - refr_area.y1 + 1;
+
+        DMACopyBitmap(dst, LCD_W, LCD_H, refr_area.x1, refr_area.y1, src, LCD_W,
+                      LCD_H, refr_area.x1, refr_area.y1, area_w, area_h);
+      }
     }
-    DMAWait();  // wait for the last DMACopyBitmap to be completed before
-                // sending completion message
-}
 #endif
   }
 

diff --git a/radio/src/gui/colorlcd/radio_sdmanager.cpp b/radio/src/gui/colorlcd/radio_sdmanager.cpp
@@ -266,6 +266,7 @@ void RadioSdManagerPage::fileAction(const char* path, const char* name,
         audioQueue.playFile(fullpath, 0, ID_PLAY_FROM_SD_MANAGER);
       });
     }
+#if defined(HARDWARE_INTERNAL_MODULE) || defined(HARDWARE_EXTERNAL_MODULE)
 #if defined(MULTIMODULE) && !defined(DISABLE_MULTI_UPDATE)
     if (!strcasecmp(ext, MULTI_FIRMWARE_EXT)) {
       MultiFirmwareInformation information;
@@ -409,6 +410,7 @@ void RadioSdManagerPage::fileAction(const char* path, const char* name,
 #endif  // _NYI_
       }
     }
+#endif
 #if defined(LUA)
     else if (isExtensionMatching(ext, SCRIPTS_EXT)) {
       menu->addLine(STR_EXECUTE_FILE, [=]() {

diff --git a/radio/src/gui/colorlcd/radio_setup.cpp b/radio/src/gui/colorlcd/radio_setup.cpp
@@ -186,6 +186,7 @@ class DateTimeWindow : public Window
   }
 };
 
+#if defined(AUDIO)
 static SetupLineDef soundPageSetupLines[] = {
   {
     // Beeps mode
@@ -252,6 +253,7 @@ static SetupLineDef soundPageSetupLines[] = {
     }
   },
 };
+#endif
 
 #if defined(VARIO)
 static SetupLineDef varioPageSetupLines[] = {
@@ -926,7 +928,9 @@ void RadioSetupPage::build(Window* window)
 
   // Sub-pages
   w = new SetupButtonGroup(window, {0, y, LCD_W - padding * 2, 0}, nullptr, BTN_COLS, PAD_TINY, {
+#if defined(AUDIO)
     {STR_SOUND_LABEL, []() { new SubPage(ICON_RADIO_SETUP, STR_RADIO_SETUP, STR_SOUND_LABEL, soundPageSetupLines, DIM(soundPageSetupLines)); }},
+#endif
 #if defined(VARIO)
     {STR_VARIO, []() { new SubPage(ICON_RADIO_SETUP, STR_RADIO_SETUP, STR_VARIO, varioPageSetupLines, DIM(varioPageSetupLines)); }},
 #endif

diff --git a/radio/src/gui/colorlcd/widgets/radio_info.cpp b/radio/src/gui/colorlcd/widgets/radio_info.cpp
@@ -245,7 +245,9 @@ class DateTimeWidget : public TopBarWidget
   void update() override
   {
     // get color from options
-    dateTime->setColor(persistentData->options[0].value.unsignedValue);
+    uint32_t color;
+    memcpy(&color, &persistentData->options[0].value.unsignedValue, sizeof(color));
+    dateTime->setColor(color);
   }
 
   HeaderDateTime* dateTime = nullptr;

diff --git a/radio/src/gui/colorlcd/widgets/widgets_container_impl.h b/radio/src/gui/colorlcd/widgets/widgets_container_impl.h
@@ -164,5 +164,5 @@ class WidgetsContainerImpl : public WidgetsContainer
 
  protected:
   PersistentData* persistentData;
-  Widget* widgets[N] = {};
+  Widget* widgets[N] = {nullptr};
 };
diff --git a/radio/src/hal/adc_driver.cpp b/radio/src/hal/adc_driver.cpp
@@ -557,7 +557,7 @@ int adcGetInputIdx(const char* input, uint8_t len)
       if (!strncmp(_hal_adc_inputs[type].inputs[i].name, input, len))
         return idx;
     }
-  } while(++type < ADC_INPUT_ALL);
+  } while (++type < ADC_INPUT_ALL);
 
   return -1;
 }

diff --git a/radio/src/lv_conf.h b/radio/src/lv_conf.h
@@ -175,10 +175,15 @@
 #else //SIMU
   #define LV_USE_GPU_STM32_DMA2D 1
 #endif
+
 #if LV_USE_GPU_STM32_DMA2D
     /*Must be defined to include path of CMSIS header of target processor
     e.g. "stm32f769xx.h" or "stm32f429xx.h"*/
+#ifdef STM32H7
+    #define LV_GPU_DMA2D_CMSIS_INCLUDE "stm32h7xx.h"
+#else
     #define LV_GPU_DMA2D_CMSIS_INCLUDE "stm32f4xx.h"
+#endif
 //    #if !defined(DMA2D_NLR_PL_Pos)
 //      #define DMA2D_NLR_PL_Pos 16
 //    #endif

diff --git a/radio/src/opentx.cpp b/radio/src/opentx.cpp
@@ -137,8 +137,11 @@ void checkValidMCU(void)
   #define TARGET_IDCODE   0x419
 #elif defined(STM32F413xx)
   #define TARGET_IDCODE   0x463
+#elif defined(STM32H750xx) || defined(STM32H747xx)
+  #define TARGET_IDCODE   0x450
 #else
   // Ensure new radio get registered :)
+  #warning "Target MCU code undefined"
   #define TARGET_IDCODE   0x0
 #endif
 

diff --git a/radio/src/pulses/crossfire.cpp b/radio/src/pulses/crossfire.cpp
@@ -290,7 +290,11 @@ static void _crsf_extmodule_frame_received()
 // FreeRTOS methods from ISR with prio 0
 static void _soft_irq_trigger(void*)
 {
+#ifndef STM32H7
   EXTI->SWIER = TELEMETRY_RX_FRAME_EXTI_LINE;
+#else
+  EXTI->SWIER1 = TELEMETRY_RX_FRAME_EXTI_LINE;
+#endif
 }
 #endif
 
@@ -358,9 +362,10 @@ static void crossfireDeInit(void* ctx)
 {
   auto mod_st = (etx_module_state_t*)ctx;
 
-  memset(&crossfireModuleStatus[modulePortGetModule(mod_st)], 0, sizeof(crossfireModuleStatus[modulePortGetModule(mod_st)]));
+  memset(&crossfireModuleStatus[modulePortGetModule(mod_st)], 0,
+         sizeof(CrossfireModuleStatus));
 
-#if !defined(SIMU)
+#if !defined(SIMU) && defined(HARDWARE_EXTERNAL_MODULE)
   if (mod_st && (modulePortGetModule(mod_st) == EXTERNAL_MODULE)) {
     auto drv = modulePortGetSerialDrv(mod_st->rx);
     auto ctx = modulePortGetCtx(mod_st->rx);

diff --git a/radio/src/storage/yaml/yaml_bits.cpp b/radio/src/storage/yaml/yaml_bits.cpp
@@ -27,6 +27,8 @@
 
 #include <limits.h>     /* CHAR_BIT */
 
+#define _IS_ALIGNED(addr) (((intptr_t)addr & 0x3) == 0)
+
 #define BIT_MASK(__TYPE__, __ONE_COUNT__) \
     ((__TYPE__) (-((__ONE_COUNT__) != 0))) \
     & (((__TYPE__) -1) >> ((sizeof(__TYPE__) * CHAR_BIT) - (__ONE_COUNT__)))
@@ -107,10 +109,12 @@ bool yaml_is_zero(uint8_t* data, uint32_t bitoffs, uint32_t bits)
     return !yaml_get_bits(data, bitoffs, bits);
   }
 
-  while (bits >= 32) {
-    if (*(uint32_t*)data) return false;
-    data += 4;
-    bits -= 32;
+  if(_IS_ALIGNED(data)) {
+    while (bits >= 32) {
+      if (*(uint32_t*)data) return false;
+      data += 4;
+      bits -= 32;
+    }
   }
 
   while (bits >= 8) {

diff --git a/radio/src/storage/yaml/yaml_datastructs_funcs.cpp b/radio/src/storage/yaml/yaml_datastructs_funcs.cpp
@@ -542,11 +542,11 @@ void r_zov_color(void* user, uint8_t* data, uint32_t bitoffs,
                  const char* val, uint8_t val_len)
 {
   data += bitoffs >> 3UL;
-  auto p_val = reinterpret_cast<ZoneOptionValue*>(data);
 
+  ZoneOptionValue zov;
   if (strncmp(val, "COLIDX", 6) == 0) {
     val += 6; val_len -= 6;
-    p_val->unsignedValue = COLOR2FLAGS(yaml_str2uint(val, val_len));
+    zov.unsignedValue = COLOR2FLAGS(yaml_str2uint(val, val_len));
   } else {
     if (val_len < sizeof("0xFFFFFF")-1
         || val[0] != '0'
@@ -556,28 +556,32 @@ void r_zov_color(void* user, uint8_t* data, uint32_t bitoffs,
     val += 2; val_len -= 2;
 
     auto rgb24 = yaml_hex2uint(val, val_len);
-    p_val->unsignedValue =
-        RGB2FLAGS((rgb24 & 0xFF0000) >> 16, (rgb24 & 0xFF00) >> 8, rgb24 & 0xFF);
+    zov.unsignedValue = RGB2FLAGS((rgb24 & 0xFF0000) >> 16,
+                                  (rgb24 & 0xFF00) >> 8, rgb24 & 0xFF);
   }
+
+  memcpy(data, &zov, sizeof(ZoneOptionValue));
 }
 
 bool w_zov_color(void* user, uint8_t* data, uint32_t bitoffs,
                  yaml_writer_func wf, void* opaque)
 {
   data += bitoffs >> 3UL;
-  auto p_val = (reinterpret_cast<ZoneOptionValue*>(data))->unsignedValue;
 
-  if (p_val & RGB_FLAG) {
-    p_val = COLOR_VAL(p_val);
-    uint32_t color = (uint32_t)GET_RED(p_val) << 16 |
-                     (uint32_t)GET_GREEN(p_val) << 8 |
-                     (uint32_t)GET_BLUE(p_val);
+  ZoneOptionValue zov;
+  memcpy(&zov, data, sizeof(ZoneOptionValue));
+
+  uint32_t val = zov.unsignedValue;
+  if (val & RGB_FLAG) {
+    val = COLOR_VAL(val);
+    uint32_t color = (uint32_t)GET_RED(val) << 16 |
+                     (uint32_t)GET_GREEN(val) << 8 | (uint32_t)GET_BLUE(val);
 
     if (!wf(opaque, "0x", 2)) return false;
     return wf(opaque, yaml_rgb2hex(color), 3 * 2);
   } else {
     if (!wf(opaque, "COLIDX", 6)) return false;
-    const char* str = yaml_unsigned2str(COLOR_VAL(p_val));
+    const char* str = yaml_unsigned2str(COLOR_VAL(val));
     return wf(opaque, str, strlen(str));
   }
 }

diff --git a/radio/src/targets/common/arm/CMakeLists.txt b/radio/src/targets/common/arm/CMakeLists.txt
@@ -181,7 +181,6 @@ endif()
 if(HAPTIC)
   add_definitions(-DHAPTIC)
   set(SRC ${SRC} haptic.cpp)
-  set(FIRMWARE_TARGET_SRC ${FIRMWARE_TARGET_SRC} haptic_driver.cpp)
 endif()
 
 # Protocols supported

diff --git a/radio/src/targets/common/arm/stm32/abnormal_reboot.cpp b/radio/src/targets/common/arm/stm32/abnormal_reboot.cpp
@@ -49,7 +49,11 @@ void _init_reboot_cause()
   _dbg_csr = LL_RCC_ReadReg(CSR);
 #endif
 
+#ifdef STM32H7
+  if (LL_RCC_IsActiveFlag_IWDG1RST()) {
+#else
   if (LL_RCC_IsActiveFlag_IWDGRST()) {
+#endif
     _reboot_cause = ARC_Watchdog;
   } else if (LL_RCC_IsActiveFlag_SFTRST()) {
     _reboot_cause = ARC_Software;