Merge branch 'master' into update_readme

README.md

@@ -1,4 +1,5 @@
-![Important Notice: Support for STM32F1 based flight controllers has been dropped in Betaflight release 3.3. This includes NAZE, CC3D (original) and CJMCU like flight controllers](https://raw.githubusercontent.com/wiki/betaflight/betaflight/images/betaflight/bf3_3_notice.png)
+![Important Notice: Support for STM32F1 based flight controllers has been dropped in Betaflight release 3.3. This includes NAZE, CC3D (original) and CJMCU like flight controllers](https://raw.githubusercontent.com/wiki/betaflight/betaflight/images/betaflight/stm32f1_support_notice.png)
+
 
 ![Betaflight](https://raw.githubusercontent.com/wiki/betaflight/betaflight/images/betaflight/bf_logo.png)
 

src/main/drivers/pwm_output.h

@@ -110,16 +110,14 @@ typedef enum {
 typedef struct {
     TIM_TypeDef *timer;
 #if defined(USE_DSHOT) && defined(USE_DSHOT_DMAR)
-#if !defined(USE_HAL_DRIVER)
 #ifdef STM32F3
     DMA_Channel_TypeDef *dmaBurstRef;
 #else
     DMA_Stream_TypeDef *dmaBurstRef;
 #endif
     uint16_t dmaBurstLength;
-#endif
-#endif
     uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
+#endif
     uint16_t timerDmaSources;
 } motorDmaTimer_t;
 
@@ -138,11 +136,6 @@ typedef struct {
 #else
     uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
 #endif
-#if defined(USE_HAL_DRIVER)
-    TIM_HandleTypeDef TimHandle;
-    DMA_HandleTypeDef hdma_tim;
-    uint16_t timerDmaIndex;
-#endif
 } motorDmaOutput_t;
 
 motorDmaOutput_t *getMotorDmaOutput(uint8_t index);

src/main/interface/msp.c

@@ -1773,6 +1773,9 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
         {
             const uint8_t command = sbufReadU8(src);
             uint8_t disableRunawayTakeoff = 0;
+#ifndef USE_RUNAWAY_TAKEOFF
+            UNUSED(disableRunawayTakeoff);
+#endif
             if (sbufBytesRemaining(src)) {
                 disableRunawayTakeoff = sbufReadU8(src);
             }

src/main/osd_slave/osd_slave_init.c

@@ -77,6 +77,7 @@
 
 #include "pg/adc.h"
 #include "pg/bus_i2c.h"
+#include "pg/bus_spi.h"
 #include "pg/pg.h"
 #include "pg/pg_ids.h"
 #include "pg/vcd.h"
@@ -119,6 +120,20 @@ static IO_t busSwitchResetPin        = IO_NONE;
 }
 #endif
 
+
+#ifdef USE_SPI
+// Pre-initialize all CS pins to input with pull-up.
+// It's sad that we can't do this with an initialized array,
+// since we will be taking care of configurable CS pins shortly.
+
+void spiPreInit(void)
+{
+#ifdef USE_MAX7456
+    spiPreInitCs(IO_TAG(MAX7456_SPI_CS_PIN));
+#endif
+}
+#endif
+
 void init(void)
 {
 #ifdef USE_HAL_DRIVER
@@ -186,6 +201,11 @@ void init(void)
 #else
 
 #ifdef USE_SPI
+    spiPinConfigure(spiPinConfig());
+
+    // Initialize CS lines and keep them high
+    spiPreInit();
+
 #ifdef USE_SPI_DEVICE_1
     spiInit(SPIDEV_1);
 #endif

src/main/target/NAZE/config.c

@@ -89,7 +89,7 @@ void targetConfiguration(void)
 
         controlRateConfig->rcRates[FD_ROLL] = 100;
         controlRateConfig->rcRates[FD_PITCH] = 100;
-        controlRateConfig->rcRate[FD_YAW] = 110;
+        controlRateConfig->rcRates[FD_YAW] = 110;
         controlRateConfig->rcExpo[FD_ROLL] = 0;
         controlRateConfig->rcExpo[FD_PITCH] = 0;
         controlRateConfig->rates[FD_ROLL] = 77;

src/main/target/stm32f7xx_hal_conf.h

@@ -161,7 +161,7 @@
 #define  PREFETCH_ENABLE              1U
 #define  ART_ACCLERATOR_ENABLE        1U /* To enable instruction cache and prefetch */
 #define  INSTRUCTION_CACHE_ENABLE     1U
-#define  DATA_CACHE_ENABLE            0U
+#define  DATA_CACHE_ENABLE            1U
 
 /* ########################## Assert Selection ############################## */
 /**

src/main/target/system_stm32f7xx.c

@@ -304,7 +304,7 @@ void SystemInit(void)
     /* Configure the system clock to 216 MHz */
     SystemClock_Config();
 
-    if (SystemCoreClock != 216000000) {
+    if (SystemCoreClock != (PLL_N / PLL_P) * 1000000) {
         // There is a mismatch between the configured clock and the expected clock in portable.h
         while (1);
     }