upgrade to standard c++17

lib/EscDriver/src/EscDriverEsp32.cpp

@@ -8,7 +8,7 @@
 #include "hal/gpio_ll.h"
 #include "esp_rom_gpio.h"
 
-static const size_t DURATION_CLOCK = 25; // [ns] doubled value to increase precision
+static constexpr size_t DURATION_CLOCK = 25; // [ns] doubled value to increase precision
 #define TO_INTERVAL_US(v) (1 * 1000 * 1000 / (v)) // [us]
 
 #define RMT_RX_CHANNEL_ENCODING_START (SOC_RMT_CHANNELS_PER_GROUP - SOC_RMT_TX_CANDIDATES_PER_GROUP)

lib/EscDriver/src/EscDriverEsp32.h

@@ -58,8 +58,8 @@ class EscDriverEsp32: public EscDriverBase
           return (int)pin != -1;
         }
 
-        static const size_t ITEM_COUNT = DSHOT_BIT_COUNT + 1;
-        static const int32_t DURATION_MAX = 0x7fff; // max in 15 bits
+        static constexpr size_t ITEM_COUNT = DSHOT_BIT_COUNT + 1;
+        static constexpr int32_t DURATION_MAX = 0x7fff; // max in 15 bits
 
         rmt_item32_t items[ITEM_COUNT];
         int pin;

lib/Espfc/src/Blackbox/BlackboxFlashfs.cpp

@@ -7,7 +7,7 @@
 #include "Utils/RingBuf.h"
 #include "Utils/Math.hpp"
 
-static const uint32_t FLASHFS_ERASED_VAL = 0xffffffff;
+static constexpr uint32_t FLASHFS_ERASED_VAL = 0xffffffff;
 
 using BufferType = Espfc::Utils::RingBuf<uint8_t, FLASHFS_WRITE_BUFFER_SIZE>;
 

lib/Espfc/src/Blackbox/BlackboxSerialBuffer.h

@@ -10,11 +10,22 @@ namespace Blackbox {
 class BlackboxSerialBuffer: public Device::SerialDevice
 {
   public:
-    BlackboxSerialBuffer(): _dev(nullptr), _idx(0) {}
+    static constexpr size_t SIZE = SERIAL_TX_FIFO_SIZE;//128;
+
+    BlackboxSerialBuffer(): _dev(nullptr), _idx(0), _data(nullptr) {}
+
+    ~BlackboxSerialBuffer()
+    {
+      if(!_data) return;
+
+      delete[] _data;
+      _data = nullptr;
+    }
 
     virtual void wrap(Espfc::Device::SerialDevice * s)
     {
       _dev = s;
+      _data = new uint8_t[SIZE];
     }
 
     virtual void begin(const Espfc::SerialDeviceConfig& conf)
@@ -74,11 +85,10 @@ class BlackboxSerialBuffer: public Device::SerialDevice
     virtual bool isSoft() const { return false; };
     virtual operator bool() const { return (bool)(*_dev); }
 
-    static const size_t SIZE = SERIAL_TX_FIFO_SIZE;//128;
 
     Device::SerialDevice * _dev;
     size_t _idx;
-    uint8_t _data[SIZE];
+    uint8_t* _data;
 };
 
 }

lib/Espfc/src/Connect/Cli.cpp

@@ -1332,7 +1332,7 @@ void Cli::execute(CliCmd& cmd, Stream& s)
   else if(strcmp_P(cmd.args[0], PSTR("logs")) == 0)
   {
     s.print(_model.logger.c_str());
-    s.print(PSTR("total: "));
+    s.print(PSTR("usage: "));
     s.println(_model.logger.length());
   }
 #ifdef USE_FLASHFS
@@ -1442,13 +1442,13 @@ void Cli::printVersion(Stream& s) const
   s.print(buildDate);
   s.print(' ');
   s.print(buildTime);
-  s.print(' ');
+  s.print(" api=");
   s.print(API_VERSION_MAJOR);
   s.print('.');
   s.print(API_VERSION_MINOR);
-  s.print(' ');
+  s.print(" gcc=");
   s.print(__VERSION__);
-  s.print(' ');
+  s.print(" std=");
   s.print(__cplusplus);
 }
 

lib/Espfc/src/Device/BusSPI.h

@@ -12,11 +12,11 @@ class BusSPI: public BusDevice
   public:
     BusSPI(ESPFC_SPI_0_DEV_T& spi);
 
-    static const uint8_t  SPI_READ  = 0x80;
-    static const uint8_t  SPI_WRITE = 0x7f;
+    static constexpr uint8_t  SPI_READ  = 0x80;
+    static constexpr uint8_t  SPI_WRITE = 0x7f;
 
-    static const uint32_t SPI_SPEED_NORMAL = 1000000;
-    static const uint32_t SPI_SPEED_FAST  = 16000000;
+    static constexpr uint32_t SPI_SPEED_NORMAL = 1000000;
+    static constexpr uint32_t SPI_SPEED_FAST  = 16000000;
 
     BusType getType() const override;
 

lib/Espfc/src/Device/InputCRSF.h

@@ -43,8 +43,8 @@ class InputCRSF: public InputDevice
     void applyChannels(const Rc::CrsfMessage& msg);
     void applyMspReq(const Rc::CrsfMessage& msg);
 
-    static const size_t CHANNELS = 16;
-    static const size_t TELEMETRY_INTERVAL = 20000;
+    static constexpr size_t CHANNELS = 16;
+    static constexpr size_t TELEMETRY_INTERVAL = 20000;
 
     Device::SerialDevice * _serial;
     TelemetryManager * _telemetry;

lib/Espfc/src/Device/InputEspNow.h

@@ -23,7 +23,7 @@ class InputEspNow: public InputDevice
 
 private:
   EspNowRcLink::Receiver _rx;
-  static const size_t CHANNELS = EspNowRcLink::RC_CHANNEL_MAX + 1;
+  static constexpr size_t CHANNELS = EspNowRcLink::RC_CHANNEL_MAX + 1;
   uint16_t _channels[CHANNELS];
 };
 

lib/Espfc/src/Device/InputPPM.h

@@ -24,8 +24,8 @@ class InputPPM: public InputDevice
     bool needAverage() const override;
 
   private:
-    static const size_t CHANNELS = 16;
-    static const uint32_t BROKEN_LINK_US = 100000UL; // 100ms
+    static constexpr size_t CHANNELS = 16;
+    static constexpr uint32_t BROKEN_LINK_US = 100000UL; // 100ms
 
     void handle();
     static void handle_isr(void* args);

lib/Espfc/src/Device/InputSBUS.h

@@ -64,8 +64,8 @@ class InputSBUS: public InputDevice
     void apply();
     uint16_t convert(int v);
 
-    const static size_t SBUS_FRAME_SIZE = sizeof(SbusData);
-    static const size_t CHANNELS = 16;
+    static constexpr size_t SBUS_FRAME_SIZE = sizeof(SbusData);
+    static constexpr size_t CHANNELS = 16;
 
     Device::SerialDevice * _serial;
     SbusState _state;

lib/Espfc/src/Input.h

@@ -69,8 +69,8 @@ class Input
     Device::InputEspNow _espnow;
 #endif
 
-    static const uint32_t TENTH_TO_US = 100000UL;  // 1_000_000 / 10;
-    static const uint32_t FRAME_TIME_DEFAULT_US = 23000; // 23 ms
+    static constexpr uint32_t TENTH_TO_US = 100000UL;  // 1_000_000 / 10;
+    static constexpr uint32_t FRAME_TIME_DEFAULT_US = 23000; // 23 ms
 };
 
 }

lib/Espfc/src/ModelConfig.h

@@ -509,11 +509,11 @@ enum ArmingDisabledFlags {
   ARMING_DISABLED_ARM_SWITCH      = (1 << 25), // Needs to be the last element, since it's always activated if one of the others is active when arming
 };
 
-static const size_t ARMING_DISABLED_FLAGS_COUNT = 25;
+static constexpr size_t ARMING_DISABLED_FLAGS_COUNT = 25;
 
 struct WirelessConfig
 {
-  static const size_t MAX_LEN = 32;
+  static constexpr size_t MAX_LEN = 32;
   int16_t port = 1111;
   char ssid[MAX_LEN + 1];
   char pass[MAX_LEN + 1];

lib/Espfc/src/Sensor/GyroSensor.cpp

@@ -18,6 +18,10 @@ GyroSensor::GyroSensor(Model &model) : _dyn_notch_denom(1), _model(model)
 {
 }
 
+GyroSensor::~GyroSensor()
+{
+}
+
 int GyroSensor::begin()
 {
   _gyro = _model.state.gyro.dev;

lib/Espfc/src/Sensor/GyroSensor.h

@@ -21,6 +21,7 @@ class GyroSensor: public BaseSensor
 {
   public:
     GyroSensor(Model& model);
+    ~GyroSensor();
 
     int begin();
     int read();

lib/Espfc/src/Utils/FFTAnalyzer.hpp

@@ -22,16 +22,18 @@ class FFTAnalyzer
 {
 public:
   FFTAnalyzer();
+  ~FFTAnalyzer();
+
   int begin(int16_t rate, const DynamicFilterConfig& config, size_t axis);
   int update(float v);
 
-  static const size_t PEAKS_MAX = 8;
+  static constexpr size_t PEAKS_MAX = 8;
   Utils::Peak peaks[PEAKS_MAX];
 
 private:
   void clearPeaks();
 
-  static const size_t BINS = SAMPLES >> 1;
+  static constexpr size_t BINS = SAMPLES >> 1;
 
   int16_t _rate;
   int16_t _freq_min;
@@ -44,14 +46,18 @@ class FFTAnalyzer
   size_t _end;
   float _bin_width;
 
-  // fft input
-  __attribute__((aligned(16))) float _in[SAMPLES];
+  // // fft input
+  // __attribute__((aligned(16))) float _in[SAMPLES];
+
+  // // fft output
+  // __attribute__((aligned(16))) float _out[SAMPLES];
 
-  // fft output
-  __attribute__((aligned(16))) float _out[SAMPLES];
+  // // Window coefficients
+  // __attribute__((aligned(16))) float _win[SAMPLES];
 
-  // Window coefficients
-  __attribute__((aligned(16))) float _win[SAMPLES];
+  float* _in;
+  float* _out;
+  float* _win;
 };
 
 }

lib/Espfc/src/Utils/FFTAnalyzer.ipp

@@ -6,14 +6,28 @@
 #include "Utils/FFTAnalyzer.hpp"
 #include "dsps_fft4r.h"
 #include "dsps_wind_hann.h"
+#include "esp_heap_caps.h"
 #include <algorithm>
 
 namespace Espfc {
 
 namespace Utils {
 
 template<size_t SAMPLES>
-FFTAnalyzer<SAMPLES>::FFTAnalyzer(): _idx(0), _phase(PHASE_COLLECT) {}
+FFTAnalyzer<SAMPLES>::FFTAnalyzer(): _idx(0), _phase(PHASE_COLLECT), _begin(0), _end(0), _in(nullptr), _out(nullptr), _win(nullptr)
+{
+  _in = static_cast<float*>(heap_caps_aligned_alloc(16u, SAMPLES, MALLOC_CAP_DEFAULT));
+  _out = static_cast<float*>(heap_caps_aligned_alloc(16u, SAMPLES, MALLOC_CAP_DEFAULT));
+  _win = static_cast<float*>(heap_caps_aligned_alloc(16u, SAMPLES, MALLOC_CAP_DEFAULT));
+}
+
+template<size_t SAMPLES>
+FFTAnalyzer<SAMPLES>::~FFTAnalyzer()
+{
+  heap_caps_free(_in);
+  heap_caps_free(_out);
+  heap_caps_free(_win);
+}
 
 template<size_t SAMPLES>
 int FFTAnalyzer<SAMPLES>::begin(int16_t rate, const DynamicFilterConfig& config, size_t axis)

lib/Espfc/src/Utils/Filter.h

@@ -47,7 +47,7 @@ class DynamicFilterConfig {
     int16_t q = 300;
     int16_t min_freq = 80;
     int16_t max_freq = 400;
-    static const int MIN_FREQ = 1000;
+    static constexpr int MIN_FREQ = 1000;
 };
 
 namespace Utils {

lib/Espfc/src/Utils/Logger.h

@@ -9,6 +9,18 @@ namespace Utils {
 class Logger
 {
   public:
+    Logger(): _buff(nullptr), _size(0), _tail(0) { }
+
+    ~Logger()
+    {
+      if(!_buff) return;
+
+      delete[] _buff;
+      _buff = nullptr;
+      _size = 0;
+      _tail = 0;
+    }
+
     int begin(size_t size = 1024)
     {
       _size = size;

lib/Espfc/src/Utils/Storage.h

@@ -31,9 +31,9 @@ class Storage
     StorageResult save(const ModelConfig& config);
 
   private:
-    static const uint8_t EEPROM_MAGIC   = 0xA5;
-    static const uint8_t EEPROM_VERSION = 0x01;
-    static const size_t  EEPROM_SIZE    = 2048;
+    static constexpr uint8_t EEPROM_MAGIC   = 0xA5;
+    static constexpr uint8_t EEPROM_VERSION = 0x01;
+    static constexpr size_t  EEPROM_SIZE    = 2048;
 };
 
 }

partitions_4M_nota.csv

@@ -1,6 +1,6 @@
 # Name,   Type, SubType, Offset,  Size, Flags
-nvs,      data, nvs,     0x9000,  0x5000,
-otadata,  data, ota,     0xe000,  0x2000,
-app0,     app,  ota_0,   0x10000, 0x100000,
-spiffs,   data, spiffs,  0x110000,0x2E0000,
-coredump, data, coredump,0x3F0000,0x10000,
+nvs,      data, nvs,     0x009000, 0x005000,
+otadata,  data, ota,     0x00e000, 0x002000,
+app0,     app,  ota_0,   0x010000, 0x140000,
+spiffs,   data, spiffs,  0x150000, 0x2A0000,
+coredump, data, coredump,0x3F0000, 0x010000,