HAL_F4Light: latest fixes

libraries/AP_HAL_F4Light/0_TODO

@@ -1,6 +1,5 @@
 still not tested/works:
 
-RC_NRF_parser
 UART_SoftDriver
 
 F7 port - https://github.com/ChrisMicro/STM32GENERIC/blob/master/STM32/system/STM32F7/CMSIS_Src/startup_stm32f769xx.s

libraries/AP_HAL_F4Light/RCInput.cpp

@@ -20,9 +20,6 @@
 #ifdef BOARD_SPEKTRUM_RX_PIN
  #include "RC_DSM_parser.h"
 #endif
-#ifdef BOARD_NRF_CS_PIN
- #include "RC_NRF_parser.h"
-#endif
 #ifdef BOARD_SBUS_UART
  #include "RC_SBUS_parser.h"
 #endif

libraries/AP_HAL_F4Light/RC_DSM_parser.h

@@ -5,7 +5,6 @@
 
 #include <AP_HAL/HAL.h>
 
-#ifdef BOARD_SPEKTRUM_RX_PIN
 
 enum DSM_STATE {
     S_NONE,
@@ -39,5 +38,4 @@ private:
     
     static void _rc_bind(uint16_t dsmMode);    
 };
-#endif
 

libraries/AP_HAL_F4Light/UART_SoftDriver.cpp

@@ -131,7 +131,7 @@ size_t SerialDriver::write(uint8_t c) {
         if( ((transmitBufferWrite + 1) % SS_MAX_TX_BUFF) == transmitBufferRead ){
             Scheduler::yield(); // while we wait - let others work
             if(! _blocking) n_try--;    
-        } else break; // дождались        
+        } else break; // got it!
     } while(n_try);
 
     // Save new data in buffer and bump the write pointer

libraries/AP_HAL_F4Light/rules.mk

@@ -22,7 +22,6 @@ cppSRCS_$(d) += I2CDriver.cpp
 cppSRCS_$(d) += RCInput.cpp
 cppSRCS_$(d) += RC_PPM_parser.cpp
 cppSRCS_$(d) += RC_DSM_parser.cpp
-cppSRCS_$(d) += RC_NRF_parser.cpp
 cppSRCS_$(d) += RC_SBUS_parser.cpp
 cppSRCS_$(d) += RCOutput.cpp
 cppSRCS_$(d) += Scheduler.cpp

libraries/AP_HAL_F4Light/system.cpp

@@ -12,6 +12,7 @@
 #include <AP_HAL/system.h>
 
 #include "Scheduler.h"
+#include <AP_Param_Helper/AP_Param_Helper.h>
 
 extern const AP_HAL::HAL& hal;
 
@@ -37,8 +38,10 @@ void panic(const char *errormsg, ...)
     va_end(ap);
     hal.console->printf("\n");
 
-    if(is_bare_metal()) { // bare metal build without bootloader should reboot to DFU after any fault
+    if(is_bare_metal() ||  hal_param_helper->_boot_dfu) { // bare metal build without bootloader should reboot to DFU after any fault
         board_set_rtc_register(DFU_RTC_SIGNATURE, RTC_SIGNATURE_REG);
+    } else {
+        board_set_rtc_register(BOOT_RTC_SIGNATURE, RTC_SIGNATURE_REG);
     }
 
     error_throb(0);

libraries/AP_HAL_F4Light/wirish/boards.h

@@ -288,6 +288,8 @@ extern void systemInit(uint8_t oc);
 // *(uint32_t *)0x40002850 = 0xb007b007;
 #define BOOT_RTC_SIGNATURE      0xb007b007
 #define DFU_RTC_SIGNATURE       0xDEADBEEF
+#define FORCE_APP_RTC_SIGNATURE 0x4000AbbA
+
 
 #define DSM_BIND_SIGNATURE      0xD82B14D0 // "DSMBIND" last nibble for DSM code
 #define DSM_BIND_SIGN_MASK      0xF // mask for last nibble - DSM code