Merge branch 'master' into more-baros

src/html/elrs.css

@@ -348,13 +348,24 @@ body, input, select, textarea {
   }
 
     /* Custom code for ExpressLRS PWM Output table */
+  .pwmpnl {
+	overflow-x: auto;
+	min-width: fit-content;
+  }
+  .pwmtbl table {
+	overflow-x: auto;
+  }
   .pwmtbl th {
 	text-align: center;
 	font-weight: bold;
   }
   .pwmtbl td {
 	text-align: center;
   }
+  .pwmitm {
+	min-width: 6em;
+	white-space: nowrap;
+  }
 
   /*==========================*/
 

src/html/index.html

@@ -187,11 +187,22 @@ <h2>PWM Output</h2>
 							<li><b>Input:</b> Input channel from the handset</li>
 							<li><b>Invert:</b> Invert input channel position</li>
 							<li><b>750us:</b> Use half pulse width (494-1006us) with center 750us instead of 988-2012us</li>
-							<li><b>Failsafe:</b> Absolute position to set the servo on failsafe
+							<li><b>Failsafe</b>
 								<ul>
-									<li>Does not use "Invert" flag</li>
-									<li>Value will be halved if "750us" flag is set</li>
-									<li>Will be converted to binary for "On/Off" mode (>1500us = HIGH)</li>
+									<li>"Set Position" sets the servo to an absolute "Failsafe Pos"
+										<ul>
+											<li>Does not use "Invert" flag</li>
+											<li>Value will be halved if "750us" flag is set</li>
+											<li>Will be converted to binary for "On/Off" mode (>1500us = HIGH)</li>
+										</ul>
+									</li>
+									<li>"No Pulses" stops sending pulses
+										<ul>
+											<li>Unpowers servos</li>
+											<li>May disarm ESCs</li>
+										</ul>
+									</li>
+									<li>"Last Position" continues sending last received channel position</li>
 								</ul>
 							</li>
 						</ul>

src/html/scan.js

@@ -26,13 +26,15 @@ function getPwmFormData() {
     const invert = _(`pwm_${ch}_inv`).checked ? 1 : 0;
     const narrow = _(`pwm_${ch}_nar`).checked ? 1 : 0;
     const failsafeField = _(`pwm_${ch}_fs`);
+    const failsafeModeField = _(`pwm_${ch}_fsmode`);
     let failsafe = failsafeField.value;
     if (failsafe > 2011) failsafe = 2011;
     if (failsafe < 988) failsafe = 988;
     failsafeField.value = failsafe;
+    let failsafeMode = failsafeModeField.value;
 
-    const raw = (narrow << 19) | (mode << 15) | (invert << 14) | (inChannel << 10) | (failsafe - 988);
-    // console.log(`PWM ${ch} mode=${mode} input=${inChannel} fs=${failsafe} inv=${invert} nar=${narrow} raw=${raw}`);
+    const raw = (narrow << 19) | (mode << 15) | (invert << 14) | (inChannel << 10) | (failsafeMode << 20) | (failsafe - 988);
+    // console.log(`PWM ${ch} mode=${mode} input=${inChannel} fs=${failsafe} fsmode=${failsafeMode} inv=${invert} nar=${narrow} raw=${raw}`);
     outData.push(raw);
     ++ch;
   }
@@ -41,7 +43,7 @@ function getPwmFormData() {
 
 function enumSelectGenerate(id, val, arOptions) {
   // Generate a <select> item with every option in arOptions, and select the val element (0-based)
-  const retVal = `<div class="mui-select compact"><select id="${id}">` +
+  const retVal = `<div class="mui-select compact"><select id="${id}" class="pwmitm">` +
         arOptions.map((item, idx) => {
           if (item) return `<option value="${idx}"${(idx === val) ? ' selected' : ''} ${item === 'Disabled' ? 'disabled' : ''}>${item}</option>`;
           return '';
@@ -69,9 +71,10 @@ function updatePwmSettings(arPwm) {
   var pinTxIndex = undefined;
   var pinModes = []
   // arPwm is an array of raw integers [49664,50688,51200]. 10 bits of failsafe position, 4 bits of input channel, 1 bit invert, 4 bits mode, 1 bit for narrow/750us
-  const htmlFields = ['<div class="mui-panel"><table class="pwmtbl mui-table"><tr><th class="fixed-column">Output</th><th class="mui--text-center fixed-column">Features</th><th>Mode</th><th>Input</th><th class="mui--text-center fixed-column">Invert?</th><th class="mui--text-center fixed-column">750us?</th><th>Failsafe</th></tr>'];
+  const htmlFields = ['<div class="mui-panel pwmpnl"><table class="pwmtbl mui-table"><tr><th class="fixed-column">Output</th><th class="mui--text-center fixed-column">Features</th><th>Mode</th><th>Input</th><th class="mui--text-center fixed-column">Invert?</th><th class="mui--text-center fixed-column">750us?</th><th class="mui--text-center fixed-column pwmitm">Failsafe Mode</th><th class="mui--text-center fixed-column pwmitm">Failsafe Pos</th></tr>'];
   arPwm.forEach((item, index) => {
     const failsafe = (item.config & 1023) + 988; // 10 bits
+    const failsafeMode = (item.config >> 20) & 3; // 2 bits
     const ch = (item.config >> 10) & 15; // 4 bits
     const inv = (item.config >> 14) & 1;
     const mode = (item.config >> 15) & 15; // 4 bits
@@ -116,13 +119,16 @@ function updatePwmSettings(arPwm) {
           'ch5 (AUX1)', 'ch6 (AUX2)', 'ch7 (AUX3)', 'ch8 (AUX4)',
           'ch9 (AUX5)', 'ch10 (AUX6)', 'ch11 (AUX7)', 'ch12 (AUX8)',
           'ch13 (AUX9)', 'ch14 (AUX10)', 'ch15 (AUX11)', 'ch16 (AUX12)']);
+    const failsafeModeSelect = enumSelectGenerate(`pwm_${index}_fsmode`, failsafeMode,
+        ['Set Position', 'No Pulses', 'Last Position']); // match eServoOutputFailsafeMode
     htmlFields.push(`<tr><td class="mui--text-center mui--text-title">${index + 1}</td>
             <td>${generateFeatureBadges(features)}</td>
             <td>${modeSelect}</td>
             <td>${inputSelect}</td>
             <td><div class="mui-checkbox mui--text-center"><input type="checkbox" id="pwm_${index}_inv"${(inv) ? ' checked' : ''}></div></td>
             <td><div class="mui-checkbox mui--text-center"><input type="checkbox" id="pwm_${index}_nar"${(narrow) ? ' checked' : ''}></div></td>
-            <td><div class="mui-textfield compact"><input id="pwm_${index}_fs" value="${failsafe}" size="6"/></div></td></tr>`);
+            <td>${failsafeModeSelect}</td>
+            <td><div class="mui-textfield compact"><input id="pwm_${index}_fs" value="${failsafe}" size="6" class="pwmitm" /></div></td></tr>`);
     pinModes[index] = mode;
   });
   htmlFields.push('</table></div>');
@@ -138,6 +144,7 @@ function updatePwmSettings(arPwm) {
     _(`pwm_${index}_inv`).disabled = onoff;
     _(`pwm_${index}_nar`).disabled = onoff;
     _(`pwm_${index}_fs`).disabled = onoff;
+    _(`pwm_${index}_fsmode`).disabled = onoff;
   }
   arPwm.forEach((item,index)=>{
     const pinMode = _(`pwm_${index}_mode`)
@@ -161,7 +168,23 @@ function updatePwmSettings(arPwm) {
       pinModes[index] = pinMode.value;
     }
     pinMode.onchange();
+
+    // disable and hide the failsafe position field if not using the set-position failsafe mode
+    const failsafeMode = _(`pwm_${index}_fsmode`);
+    failsafeMode.onchange = () => {
+      const failsafeField = _(`pwm_${index}_fs`);
+      if (failsafeMode.value == 0) {
+        failsafeField.disabled = false;
+        failsafeField.style.display = 'block';
+      }
+      else {
+        failsafeField.disabled = true;
+        failsafeField.style.display = 'none';
+      }
+    };
+    failsafeMode.onchange();
   });
+
   // put some contraints on pinRx/Tx mode selects
   if (pinRxIndex !== undefined && pinTxIndex !== undefined) {
     const pinRxMode = _(`pwm_${pinRxIndex}_mode`);

src/include/common.h

@@ -182,6 +182,13 @@ enum eServoOutputMode : uint8_t
     somPwm,     // True PWM mode (NOT SUPPORTED)
 };
 
+enum eServoOutputFailsafeMode : uint8_t
+{
+    PWMFAILSAFE_SET_POSITION,  // user customizable pulse value
+    PWMFAILSAFE_NO_PULSES,     // stop pulsing
+    PWMFAILSAFE_LAST_POSITION, // continue to pulse last used value
+};
+
 enum eSerialProtocol : uint8_t
 {
     PROTOCOL_CRSF,

src/lib/helpers/helpers.h → src/include/helpers.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include "targets.h"
+
 #define ARRAY_SIZE(a) (sizeof(a) / sizeof(a[0]))
 
 #ifndef UNUSED
@@ -9,33 +11,32 @@
 class NullStream : public Stream
 {
   public:
-    int available(void)
+    int available() override
     {
         return 0;
     }
 
-    void flush(void)
+    void flush() override
     {
-        return;
     }
 
-    int peek(void)
+    int peek() override
     {
         return -1;
     }
 
-    int read(void)
+    int read() override
     {
         return -1;
     }
 
-    size_t write(uint8_t u_Data)
+    size_t write(uint8_t u_Data) override
     {
         UNUSED(u_Data);
         return 0x01;
     }
 
-    size_t write(const uint8_t *buffer, size_t size)
+    size_t write(const uint8_t *buffer, size_t size) override
     {
         UNUSED(buffer);
         return size;

src/include/native.h

@@ -34,7 +34,7 @@ class Stream
 
     // Print methods
     virtual size_t write(uint8_t c) = 0;
-    virtual size_t write(uint8_t *s, int l) = 0;
+    virtual size_t write(const uint8_t *s, size_t l) = 0;
 
     int print(const char *s) {return 0;}
     int print(uint8_t s) {return 0;}
@@ -59,7 +59,7 @@ class HardwareSerial: public Stream {
 
     // Print methods
     size_t write(uint8_t c) {return 1;}
-    size_t write(uint8_t *s, int l) {return l;}
+    size_t write(const uint8_t *s, size_t l) {return l;}
 
     int print(const char *s) {return 0;}
     int print(uint8_t s) {return 0;}

src/include/targets.h

@@ -65,6 +65,7 @@
 
 #ifndef HAS_THERMAL
 #define OPT_HAS_THERMAL false
+#define OPT_HAS_THERMAL_LM75A false
 #elif !defined(OPT_HAS_THERMAL)
 #define OPT_HAS_THERMAL true
 #endif

src/lib/BLE/devBLE.cpp

@@ -3,7 +3,8 @@
 #if defined(PLATFORM_ESP32)
 
 #include "common.h"
-#include "CRSF.h"
+#include "crsf_protocol.h"
+#include "handset.h"
 #include "POWERMGNT.h"
 #include "hwTimer.h"
 #include "logging.h"
@@ -61,7 +62,7 @@ void BluetoothJoystickBegin()
 
     POWERMGNT::setPower(MinPower);
     Radio.End();
-    CRSF::RCdataCallback = BluetoothJoystickUpdateValues;
+    handset->setRCDataCallback(BluetoothJoystickUpdateValues);
 
     BleGamepadConfiguration *gamepadConfig = new BleGamepadConfiguration();
     gamepadConfig->setAutoReport(false);

src/lib/BUTTON/devButton.cpp

@@ -4,7 +4,7 @@
 #include "logging.h"
 #include "button.h"
 #include "config.h"
-#include "CRSF.h"
+#include "handset.h"
 
 #ifndef GPIO_BUTTON_INVERTED
 #define GPIO_BUTTON_INVERTED false
@@ -92,7 +92,7 @@ static int timeout()
         return DURATION_NEVER;
     }
 #if defined(TARGET_TX)
-    if (CRSF::IsArmed())
+    if (handset->IsArmed())
         return MS_IN_USE;
 #else
     if (connectionState == connected)

src/lib/Backpack/devBackpack.cpp

@@ -1,9 +1,10 @@
 #include "targets.h"
+
 #include "common.h"
 #include "device.h"
 #include "msp.h"
 #include "msptypes.h"
-#include "CRSF.h"
+#include "CRSFHandset.h"
 #include "config.h"
 #include "logging.h"
 
@@ -34,9 +35,9 @@ bool lastRecordingState = false;
     devicesStop();
     Radio.End();
     hwTimer::stop();
-    CRSF::End();
+    handset->End();
 
-    Stream *uplink = &CRSF::Port;
+    Stream *uplink = &CRSFHandset::Port;
 
     uint32_t baud = PASSTHROUGH_BAUD == -1 ? BACKPACK_LOGGING_BAUD : PASSTHROUGH_BAUD;
     // get ready for passthrough
@@ -52,25 +53,25 @@ bool lastRecordingState = false;
         }
         else
         {
-            CRSF::Port.begin(baud, SERIAL_8N1, 44, 43);  // pins are configured as 44 and 43
-            CRSF::Port.setTxBufferSize(1024);
-            CRSF::Port.setRxBufferSize(16384);
+            CRSFHandset::Port.begin(baud, SERIAL_8N1, 44, 43);  // pins are configured as 44 and 43
+            CRSFHandset::Port.setTxBufferSize(1024);
+            CRSFHandset::Port.setRxBufferSize(16384);
         }
         #else
-        CRSF::Port.begin(baud, SERIAL_8N1, 3, 1);  // default pin configuration 3 and 1
-        CRSF::Port.setTxBufferSize(1024);
-        CRSF::Port.setRxBufferSize(16384);
+        CRSFHandset::Port.begin(baud, SERIAL_8N1, 3, 1);  // default pin configuration 3 and 1
+        CRSFHandset::Port.setTxBufferSize(1024);
+        CRSFHandset::Port.setRxBufferSize(16384);
         #endif
     }
     else
     {
-        CRSF::Port.begin(baud, SERIAL_8N1, GPIO_PIN_RCSIGNAL_RX, GPIO_PIN_RCSIGNAL_TX);
-        CRSF::Port.setTxBufferSize(1024);
-        CRSF::Port.setRxBufferSize(16384);
+        CRSFHandset::Port.begin(baud, SERIAL_8N1, GPIO_PIN_RCSIGNAL_RX, GPIO_PIN_RCSIGNAL_TX);
+        CRSFHandset::Port.setTxBufferSize(1024);
+        CRSFHandset::Port.setRxBufferSize(16384);
     }
     disableLoopWDT();
 
-    auto backpack = (HardwareSerial*)TxBackpack;
+    const auto backpack = (HardwareSerial*)TxBackpack;
     if (baud != BACKPACK_LOGGING_BAUD)
     {
         backpack->begin(PASSTHROUGH_BAUD, SERIAL_8N1, GPIO_PIN_DEBUG_RX, GPIO_PIN_DEBUG_TX);
@@ -201,10 +202,10 @@ static void AuxStateToMSPOut()
         return;
     }
 
-    uint8_t auxNumber = (config.GetDvrAux() - 1) / 2 + 4;
-    uint8_t auxInverted = (config.GetDvrAux() + 1) % 2;
+    const uint8_t auxNumber = (config.GetDvrAux() - 1) / 2 + 4;
+    const uint8_t auxInverted = (config.GetDvrAux() + 1) % 2;
 
-    bool recordingState = CRSF_to_BIT(ChannelData[auxNumber]) ^ auxInverted;
+    const bool recordingState = CRSF_to_BIT(ChannelData[auxNumber]) ^ auxInverted;
 
     if (recordingState == lastRecordingState)
     {
@@ -213,17 +214,7 @@ static void AuxStateToMSPOut()
     }
     lastRecordingState = recordingState;
 
-    uint16_t delay = 0;
-
-    if (recordingState)
-    {
-        delay = GetDvrDelaySeconds(config.GetDvrStartDelay());
-    }
-
-    if (!recordingState)
-    {
-        delay = GetDvrDelaySeconds(config.GetDvrStopDelay());
-    }
+    const uint16_t delay = GetDvrDelaySeconds(recordingState ? config.GetDvrStartDelay() : config.GetDvrStopDelay());
 
     mspPacket_t packet;
     packet.reset();
@@ -244,7 +235,7 @@ void crsfTelemToMSPOut(uint8_t *data)
         // Backpack telem is off
         return;
     }
-    
+
     mspPacket_t packet;
     packet.reset();
     packet.makeCommand();
@@ -256,7 +247,7 @@ void crsfTelemToMSPOut(uint8_t *data)
         ERRLN("CRSF frame exceeds max length");
         return;
     }
-    
+
     for (uint8_t i = 0; i < size; ++i)
     {
       packet.addByte(data[i]);
@@ -280,8 +271,7 @@ static void initialize()
         // Rely on event() to boot
     }
 #endif
-
-    CRSF::RCdataCallback = AuxStateToMSPOut;
+    handset->setRCDataCallback(AuxStateToMSPOut);
 }
 
 static int start()

src/lib/Baro/devBaro.cpp

@@ -2,6 +2,7 @@
 
 #if defined(HAS_BARO)
 
+#include "CRSF.h"
 #include "logging.h"
 #include "telemetry.h"
 #include "baro_spl06.h"