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Merge branch 'master' into RP2350

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# Conflicts:
#	Makefile
#	mk/tools.mk
#	src/platform/PICO/link/pico_rp2350.ld
#	src/platform/PICO/mk/PICO.mk
#	src/platform/PICO/platform_mcu.h
This commit is contained in:
blckmn 2025-06-01 04:58:09 +10:00
commit 2bd7ca7c03
13 changed files with 219 additions and 256 deletions
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121
Makefile
View file

@ -15,7 +15,7 @@
# Things that the user might override on the commandline # Things that the user might override on the commandline
# #
# The target to build, see BASE_TARGETS/EXE_TARGETS below # The target or config to build
TARGET ?= TARGET ?=
CONFIG ?= CONFIG ?=
@ -58,7 +58,7 @@ FORKNAME = betaflight
# Working directories # Working directories
# ROOT_DIR is the full path to the directory containing this Makefile # ROOT_DIR is the full path to the directory containing this Makefile
ROOT_DIR := $(dir $(abspath $(lastword $(MAKEFILE_LIST)))) ROOT_DIR := $(realpath $(dir $(abspath $(lastword $(MAKEFILE_LIST)))))
# ROOT is the relative path to the directory containing this Makefile # ROOT is the relative path to the directory containing this Makefile
ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST)))) ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
@ -98,13 +98,6 @@ include $(MAKE_SCRIPT_DIR)/checks.mk
PLATFORMS := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*)))) PLATFORMS := $(sort $(notdir $(patsubst /%,%, $(wildcard $(PLATFORM_DIR)/*))))
BASE_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk))))) BASE_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/target.mk)))))
# list of targets that are executed on host - using exe as goal recipe
EXE_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.exe)))))
# list of targets using uf2 as goal recipe
UF2_TARGETS := $(sort $(notdir $(patsubst %/,%,$(dir $(wildcard $(PLATFORM_DIR)/*/target/*/.uf2)))))
# list of targets using hex as goal recipe (default)
HEX_TARGETS := $(filter-out $(EXE_TARGETS) $(UF2_TARGETS),$(BASE_TARGETS))
# configure some directories that are relative to wherever ROOT_DIR is located # configure some directories that are relative to wherever ROOT_DIR is located
TOOLS_DIR ?= $(ROOT)/tools TOOLS_DIR ?= $(ROOT)/tools
DL_DIR := $(ROOT)/downloads DL_DIR := $(ROOT)/downloads
@ -134,7 +127,7 @@ FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/build/version.h | awk
FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH) FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
# import config handling # import config handling (must occur after the hydration of hex, exe and uf2 targets)
include $(MAKE_SCRIPT_DIR)/config.mk include $(MAKE_SCRIPT_DIR)/config.mk
# default xtal value # default xtal value
@ -150,7 +143,8 @@ TARGET_PLATFORM_DIR := $(PLATFORM_DIR)/$(TARGET_PLATFORM)
LINKER_DIR := $(TARGET_PLATFORM_DIR)/link LINKER_DIR := $(TARGET_PLATFORM_DIR)/link
ifneq ($(TARGET),) ifneq ($(TARGET),)
include $(TARGET_PLATFORM_DIR)/target/$(TARGET)/target.mk TARGET_DIR = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
include $(TARGET_DIR)/target.mk
endif endif
REVISION := norevision REVISION := norevision
@ -229,22 +223,17 @@ ifneq ($(HSE_VALUE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE) DEVICE_FLAGS := $(DEVICE_FLAGS) -DHSE_VALUE=$(HSE_VALUE)
endif endif
TARGET_DIR = $(TARGET_PLATFORM_DIR)/target/$(TARGET)
endif # TARGET specified endif # TARGET specified
ifeq ($(or $(CONFIG),$(TARGET)),)
.DEFAULT_GOAL := all
else
.DEFAULT_GOAL := fwo
endif
# openocd specific includes # openocd specific includes
include $(MAKE_SCRIPT_DIR)/openocd.mk include $(MAKE_SCRIPT_DIR)/openocd.mk
ifeq ($(CONFIG)$(TARGET),)
.DEFAULT_GOAL := all
else ifneq ($(filter $(TARGET),$(EXE_TARGETS)),)
.DEFAULT_GOAL := exe
else ifneq ($(filter $(TARGET),$(UF2_TARGETS)),)
.DEFAULT_GOAL := uf2
else
.DEFAULT_GOAL := hex
endif
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(ROOT)/lib/main/MAVLink $(ROOT)/lib/main/MAVLink
@ -370,6 +359,12 @@ CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
$(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \ $(addprefix -isystem,$(SYS_INCLUDE_DIRS)) \
-I/usr/include -I/usr/include/linux -I/usr/include -I/usr/include/linux
ifneq ($(filter fwo hex uf2 bin elf zip, $(MAKECMDGOALS)),)
ifeq ($(TARGET),)
$(error "You must specify a target to build.")
endif
endif
TARGET_NAME := $(TARGET) TARGET_NAME := $(TARGET)
ifneq ($(CONFIG),) ifneq ($(CONFIG),)
@ -414,6 +409,7 @@ CLEAN_ARTIFACTS += $(TARGET_HEX_REV) $(TARGET_HEX)
CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP) CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
CLEAN_ARTIFACTS += $(TARGET_LST) CLEAN_ARTIFACTS += $(TARGET_LST)
CLEAN_ARTIFACTS += $(TARGET_DFU) CLEAN_ARTIFACTS += $(TARGET_DFU)
CLEAN_ARTIFACTS += $(TARGET_UF2)
# Make sure build date and revision is updated on every incremental build # Make sure build date and revision is updated on every incremental build
$(TARGET_OBJ_DIR)/build/version.o : $(SRC) $(TARGET_OBJ_DIR)/build/version.o : $(SRC)
@ -433,10 +429,6 @@ $(TARGET_HEX): $(TARGET_ELF)
@echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)" @echo "Creating HEX $(TARGET_HEX)" "$(STDOUT)"
$(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@ $(V1) $(OBJCOPY) -O ihex --set-start 0x8000000 $< $@
$(TARGET_UF2): $(TARGET_ELF)
@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
$(TARGET_DFU): $(TARGET_HEX) $(TARGET_DFU): $(TARGET_HEX)
@echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)" @echo "Creating DFU $(TARGET_DFU)" "$(STDOUT)"
$(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@ $(V1) $(PYTHON) $(DFUSE-PACK) -i $< $@
@ -493,8 +485,12 @@ $(TARGET_ELF): $(TARGET_OBJS) $(LD_SCRIPT) $(LD_SCRIPTS)
$(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS) $(V1) $(CROSS_CC) -o $@ $(filter-out %.ld,$^) $(LD_FLAGS)
$(V1) $(SIZE) $(TARGET_ELF) $(V1) $(SIZE) $(TARGET_ELF)
$(TARGET_UF2): $(TARGET_ELF)
@echo "Creating UF2 $(TARGET_UF2)" "$(STDOUT)"
$(V1) $(PICOTOOL) uf2 convert $< $@ || { echo "Failed to convert ELF to UF2 format"; exit 1; }
$(TARGET_EXE): $(TARGET_ELF) $(TARGET_EXE): $(TARGET_ELF)
@echo Copy $< to $@ "$(STDOUT)" @echo "Creating exe - copying $< to $@" "$(STDOUT)"
$(V1) cp $< $@ $(V1) cp $< $@
# Compile # Compile
@ -550,22 +546,11 @@ $(TARGET_OBJ_DIR)/%.o: %.S
## all : Build all currently built targets ## all : Build all currently built targets
all: $(CI_TARGETS) all: $(CI_TARGETS)
$(HEX_TARGETS): .PHONY: $(BASE_TARGETS)
$(V0) @echo "Building hex target $@" && \ $(BASE_TARGETS):
$(MAKE) hex TARGET=$@ && \ $(MAKE) fwo TARGET=$@
echo "Building $@ succeeded."
$(UF2_TARGETS): TARGETS_CLEAN = $(addsuffix _clean,$(BASE_TARGETS))
$(V0) @echo "Building uf2 target $@" && \
$(MAKE) uf2 TARGET=$@ && \
echo "Building $@ succeeded."
$(EXE_TARGETS):
$(V0) @echo "Building executable target $@" && \
$(MAKE) exe TARGET=$@ && \
echo "Building $@ succeeded."
TARGETS_CLEAN = $(addsuffix _clean,$(HEX_TARGETS) $(UF2_TARGETS) $(EXE_TARGETS))
CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS)) CONFIGS_CLEAN = $(addsuffix _clean,$(BASE_CONFIGS))
@ -600,7 +585,7 @@ preview: $(PREVIEW_TARGETS) test
## all_configs : Build all configs ## all_configs : Build all configs
all_configs: $(BASE_CONFIGS) all_configs: $(BASE_CONFIGS)
TARGETS_FLASH = $(addsuffix _flash,$(HEX_TARGETS)) TARGETS_FLASH = $(addsuffix _flash,$(BASE_TARGETS))
## <TARGET>_flash : build and flash a target ## <TARGET>_flash : build and flash a target
$(TARGETS_FLASH): $(TARGETS_FLASH):
@ -638,49 +623,59 @@ openocd-gdb: $(TARGET_ELF)
$(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load" $(V0) $(OPENOCD_COMMAND) & $(CROSS_GDB) $(TARGET_ELF) -ex "target remote localhost:3333" -ex "load"
endif endif
TARGETS_ZIP = $(addsuffix _zip,$(HEX_TARGETS)) TARGETS_ZIP = $(addsuffix _zip,$(BASE_TARGETS))
## <TARGET>_zip : build target and zip it (useful for posting to GitHub) ## <TARGET>_zip : build target and zip it (useful for posting to GitHub)
.PHONY: $(TARGETS_ZIP)
$(TARGETS_ZIP): $(TARGETS_ZIP):
$(V0) $(MAKE) hex TARGET=$(subst _zip,,$@) $(V1) $(MAKE) $(MAKE_PARALLEL) zip TARGET=$(subst _zip,,$@)
$(V0) $(MAKE) zip TARGET=$(subst _zip,,$@)
.PHONY: zip .PHONY: zip
zip: zip: $(TARGET_HEX)
$(V0) zip $(TARGET_ZIP) $(TARGET_HEX) $(V1) zip $(TARGET_ZIP) $(TARGET_HEX)
.PHONY: binary .PHONY: binary
binary: binary:
$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN) $(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_BIN)
.PHONY: hex .PHONY: hex
hex: hex:
$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX) $(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_HEX)
.PHONY: uf2 .PHONY: uf2
uf2: uf2:
$(V0) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2) $(V1) $(MAKE) $(MAKE_PARALLEL) $(TARGET_UF2)
.PHONY: exe .PHONY: exe
exe: $(TARGET_EXE) exe: $(TARGET_EXE)
TARGETS_REVISION = $(addsuffix _rev,$(HEX_TARGETS)) # FWO (Firmware Output) is the default output for building the firmware
.PHONY: fwo
fwo:
ifeq ($(DEFAULT_OUTPUT),exe)
$(V1) $(MAKE) exe
else ifeq ($(DEFAULT_OUTPUT),uf2)
$(V1) $(MAKE) uf2
else
$(V1) $(MAKE) hex
endif
TARGETS_REVISION = $(addsuffix _rev, $(BASE_TARGETS))
## <TARGET>_rev : build target and add revision to filename ## <TARGET>_rev : build target and add revision to filename
.PHONY: $(TARGETS_REVISION)
$(TARGETS_REVISION): $(TARGETS_REVISION):
$(V0) $(MAKE) hex REV=yes TARGET=$(subst _rev,,$@) $(V1) $(MAKE) fwo REV=yes TARGET=$(subst _rev,,$@)
EXE_TARGETS_REVISION = $(addsuffix _rev,$(EXE_TARGETS)) .PHONY: all_rev
## <EXE_TARGET>_rev : build executable target and add revision to filename all_rev: $(addsuffix _rev, $(CI_TARGETS))
$(EXE_TARGETS_REVISION):
$(V0) $(MAKE) exe REV=yes TARGET=$(subst _rev,,$@)
all_rev: $(addsuffix _rev,$(CI_TARGETS))
.PHONY: unbrick_$(TARGET)
unbrick_$(TARGET): $(TARGET_HEX) unbrick_$(TARGET): $(TARGET_HEX)
$(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon $(V0) stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
$(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE) $(V0) stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## unbrick : unbrick flight controller ## unbrick : unbrick flight controller
.PHONY: unbrick
unbrick: unbrick_$(TARGET) unbrick: unbrick_$(TARGET)
## cppcheck : run static analysis on C source code ## cppcheck : run static analysis on C source code
@ -698,12 +693,6 @@ $(DIRECTORIES):
version: version:
@echo $(FC_VER) @echo $(FC_VER)
.PHONY: submodules
submodules:
@echo "Updating submodules"
$(V1) git submodule update --init --recursive || { echo "Failed to update submodules"; exit 1; }
@echo "Submodules updated"
## help : print this help message and exit ## help : print this help message and exit
help: Makefile mk/tools.mk help: Makefile mk/tools.mk
@echo "" @echo ""
@ -727,8 +716,6 @@ help: Makefile mk/tools.mk
targets: targets:
@echo "Platforms: $(PLATFORMS)" @echo "Platforms: $(PLATFORMS)"
@echo "Valid targets: $(BASE_TARGETS)" @echo "Valid targets: $(BASE_TARGETS)"
@echo "Executable targets: $(EXE_TARGETS)"
@echo "UF2 targets: $(UF2_TARGETS)"
@echo "Built targets: $(CI_TARGETS)" @echo "Built targets: $(CI_TARGETS)"
@echo "Default target: $(TARGET)" @echo "Default target: $(TARGET)"
@echo "CI common targets: $(CI_COMMON_TARGETS)" @echo "CI common targets: $(CI_COMMON_TARGETS)"

1
mk/build_verbosity.mk
View file

@ -9,6 +9,7 @@ ifndef V
export V0 := export V0 :=
export V1 := $(AT) export V1 := $(AT)
export STDOUT := export STDOUT :=
export MAKE := $(MAKE) --no-print-directory
else ifeq ($(V), 0) else ifeq ($(V), 0)
export V0 := $(AT) export V0 := $(AT)
export V1 := $(AT) export V1 := $(AT)

12
mk/config.mk
View file

@ -57,21 +57,23 @@ endif #config
.PHONY: configs .PHONY: configs
configs: configs:
ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR))) ifeq ($(shell realpath $(CONFIG_DIR)),$(shell realpath $(CONFIGS_SUBMODULE_DIR)))
git submodule update --init --remote -- $(CONFIGS_SUBMODULE_DIR) @echo "Updating config submodule: $(CONFIGS_SUBMODULE_DIR)"
$(V1) git submodule update --init -- $(CONFIGS_SUBMODULE_DIR) || { echo "Config submodule update failed. Please check your git configuration."; exit 1; }
@echo "Submodule update succeeded."
else else
ifeq ($(wildcard $(CONFIG_DIR)),) ifeq ($(wildcard $(CONFIG_DIR)),)
@echo "Hydrating clone for configs: $(CONFIG_DIR)" @echo "Hydrating clone for configs: $(CONFIG_DIR)"
$(V0) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR) $(V1) git clone $(CONFIGS_REPO_URL) $(CONFIG_DIR)
else else
$(V0) git -C $(CONFIG_DIR) pull origin $(V1) git -C $(CONFIG_DIR) pull origin
endif endif
endif endif
$(BASE_CONFIGS): $(BASE_CONFIGS):
@echo "Building target config $@" @echo "Building target config $@"
$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$@ $(V0) $(MAKE) fwo CONFIG=$@
@echo "Building target config $@ succeeded." @echo "Building target config $@ succeeded."
## <CONFIG>_rev : build configured target and add revision to filename ## <CONFIG>_rev : build configured target and add revision to filename
$(addsuffix _rev,$(BASE_CONFIGS)): $(addsuffix _rev,$(BASE_CONFIGS)):
$(V0) $(MAKE) $(MAKE_PARALLEL) hex CONFIG=$(subst _rev,,$@) REV=yes $(V0) $(MAKE) fwo CONFIG=$(subst _rev,,$@) REV=yes

16
mk/tools.mk
View file

@ -340,22 +340,28 @@ PICOTOOL_DIR := $(TOOLS_DIR)/picotool
PICO_SDK_PATH ?= $(ROOT_DIR)/lib/main/pico-sdk PICO_SDK_PATH ?= $(ROOT_DIR)/lib/main/pico-sdk
PICOTOOL ?= $(PICOTOOL_DIR)/picotool PICOTOOL ?= $(PICOTOOL_DIR)/picotool
ifeq ($(filter picotool_install,$(MAKECMDGOALS)), picotool_install) ifneq ($(filter picotool_install uf2,$(MAKECMDGOALS)),)
ifneq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),$(PICO_SDK_PATH)/CMakeLists.txt) ifeq ($(wildcard $(PICO_SDK_PATH)/CMakeLists.txt),)
$(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make submodules' to hydrate the Pico SDK.") $(error "PICO_SDK_PATH ($(PICO_SDK_PATH)) does not point to a valid Pico SDK. Please 'make pico_sdk' to hydrate the Pico SDK.")
endif endif
endif endif
ifeq ($(filter uf2,$(MAKECMDGOALS)), uf2) ifneq ($(filter uf2,$(MAKECMDGOALS)),)
ifeq (,$(wildcard $(PICOTOOL))) ifeq (,$(wildcard $(PICOTOOL)))
ifeq (,$(shell which picotool 2>/dev/null)) ifeq (,$(shell which picotool 2>/dev/null))
$(error "picotool not in the PATH or setup in tools. Run 'make picotool_install' to install in the tools folder.") $(error "picotool not in the PATH or configured. Run 'make picotool_install' to install in the tools folder.")
else else
PICOTOOL := picotool PICOTOOL := picotool
endif endif
endif endif
endif endif
.PHONY: pico_sdk
pico_sdk:
@echo "Updating pico-sdk"
$(V1) git submodule update --init --recursive -- lib/main/pico-sdk || { echo "Failed to update pico-sdk"; exit 1; }
@echo "pico-sdk updated"
.PHONY: picotool_install .PHONY: picotool_install
picotool_install: | $(DL_DIR) $(TOOLS_DIR) picotool_install: | $(DL_DIR) $(TOOLS_DIR)
picotool_install: picotool_clean picotool_install: picotool_clean

2
src/config

@ -1 +1 @@
Subproject commit 4136fa21f2902321caad438b73505caf0c64dda3 Subproject commit eda6b309994923772eeab82fce3d6d8c3c0812a2

7
src/main/cli/cli.c
View file

@ -224,7 +224,8 @@ static const char * const mixerNames[] = {
"FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX", "FLYING_WING", "Y4", "HEX6X", "OCTOX8", "OCTOFLATP", "OCTOFLATX",
"AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4", "AIRPLANE", "HELI_120_CCPM", "HELI_90_DEG", "VTAIL4",
"HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER", "HEX6H", "PPM_TO_SERVO", "DUALCOPTER", "SINGLECOPTER",
"ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234", NULL "ATAIL4", "CUSTOM", "CUSTOMAIRPLANE", "CUSTOMTRI", "QUADX1234",
"OCTOX8P", NULL
}; };
#endif #endif
@ -5000,9 +5001,9 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
if (rcSmoothingAutoCalculate()) { if (rcSmoothingAutoCalculate()) {
cliPrint("# Detected Rx frequency: "); cliPrint("# Detected Rx frequency: ");
if (getRxRateValid()) { if (getRxRateValid()) {
cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz)); cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
} else { } else {
cliPrintLine("NO SIGNAL"); cliPrintLine("NO SIGNAL");
} }
} }
cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency); cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);

2
src/main/drivers/accgyro/accgyro_spi_icm40609.c
View file

@ -243,7 +243,7 @@
#define ICM40609_ACCEL_DATA_X1_UI 0x1F #define ICM40609_ACCEL_DATA_X1_UI 0x1F
#define ICM40609_GYRO_DATA_X1_UI 0x25 #define ICM40609_GYRO_DATA_X1_UI 0x25
#define ICM40609_RESET_REG 0x4C #define ICM40609_RESET_REG 0x11
#define ICM40609_SOFT_RESET_VAL 0x01 #define ICM40609_SOFT_RESET_VAL 0x01
#ifndef ICM40609_LOCK #ifndef ICM40609_LOCK

17
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
View file

@ -60,6 +60,10 @@
#define ICM426XX_CLKIN_FREQ 32000 #define ICM426XX_CLKIN_FREQ 32000
// Soft Reset
#define ICM426XX_RA_DEVICE_CONFIG 0x17
#define DEVICE_CONFIG_SOFT_RESET_BIT (1 << 0) // Soft reset bit
#define ICM426XX_RA_REG_BANK_SEL 0x76 #define ICM426XX_RA_REG_BANK_SEL 0x76
#define ICM426XX_BANK_SELECT0 0x00 #define ICM426XX_BANK_SELECT0 0x00
#define ICM426XX_BANK_SELECT1 0x01 #define ICM426XX_BANK_SELECT1 0x01
@ -249,8 +253,19 @@ static void icm426xxEnableExternalClock(const extDevice_t *dev)
} }
#endif #endif
static void icm426xxSoftReset(const extDevice_t *dev)
{
setUserBank(dev, ICM426XX_BANK_SELECT0);
spiWriteReg(dev, ICM426XX_RA_DEVICE_CONFIG, DEVICE_CONFIG_SOFT_RESET_BIT);
delay(1);
}
uint8_t icm426xxSpiDetect(const extDevice_t *dev) uint8_t icm426xxSpiDetect(const extDevice_t *dev)
{ {
delay(1); // power-on time
icm426xxSoftReset(dev);
spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, 0x00); spiWriteReg(dev, ICM426XX_RA_PWR_MGMT0, 0x00);
#if defined(USE_GYRO_CLKIN) #if defined(USE_GYRO_CLKIN)
@ -260,7 +275,7 @@ uint8_t icm426xxSpiDetect(const extDevice_t *dev)
uint8_t icmDetected = MPU_NONE; uint8_t icmDetected = MPU_NONE;
uint8_t attemptsRemaining = 20; uint8_t attemptsRemaining = 20;
do { do {
delay(150); delay(1);
const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I); const uint8_t whoAmI = spiReadRegMsk(dev, MPU_RA_WHO_AM_I);
switch (whoAmI) { switch (whoAmI) {
case ICM42605_WHO_AM_I_CONST: case ICM42605_WHO_AM_I_CONST:

235
src/main/drivers/rangefinder/rangefinder_lidartf.c
View file

@ -34,16 +34,24 @@
#include "drivers/rangefinder/rangefinder.h" #include "drivers/rangefinder/rangefinder.h"
#include "drivers/rangefinder/rangefinder_lidartf.h" #include "drivers/rangefinder/rangefinder_lidartf.h"
#define TF_DEVTYPE_NONE 0 typedef struct {
#define TF_DEVTYPE_MINI 1 rangefinderType_e rfType;
#define TF_DEVTYPE_02 2 uint16_t rangeMin;
#define TF_DEVTYPE_NOVA 3 uint16_t rangeMax;
} lidarTFInfo_t;
static uint8_t tfDevtype = TF_DEVTYPE_NONE;
static const lidarTFInfo_t *devInfo = NULL;
static const lidarTFInfo_t devInfos[] = {
{ .rfType = RANGEFINDER_TFMINI, .rangeMin = 40, .rangeMax = 1200},
{ .rfType = RANGEFINDER_TF02, .rangeMin = 40, .rangeMax = 2200},
{ .rfType = RANGEFINDER_TFNOVA, .rangeMin = 10, .rangeMax = 1400},
};
#define TF_FRAME_LENGTH 6 // Excluding sync bytes (0x59) x 2 and checksum #define TF_FRAME_LENGTH 6 // Excluding sync bytes (0x59) x 2 and checksum
#define TF_FRAME_SYNC_BYTE 0x59 #define TF_FRAME_SYNC_BYTE 0x59
#define TF_TIMEOUT_MS (100 * 2) #define TF_TIMEOUT_MS (100 * 2)
#define TF_TASK_PERIOD_MS 10
// //
// Benewake TFmini frame format // Benewake TFmini frame format
@ -98,21 +106,10 @@ static uint8_t tfDevtype = TF_DEVTYPE_NONE;
// Credibility // Credibility
// 1. If Confidence level < 90, unreliable // 1. If Confidence level < 90, unreliable
// 2. If distance is 14m (1400cm), then OoR. // 2. If distance is 14m (1400cm), then OoR.
//
#define TF_NOVA_FRAME_CONFIDENCE 5 #define TF_NOVA_FRAME_CONFIDENCE 5
// Maximum ratings #define TF_DETECTION_CONE_DECIDEGREES 900 // TODO
#define TF_MINI_RANGE_MIN 40
#define TF_MINI_RANGE_MAX 1200
#define TF_02_RANGE_MIN 40
#define TF_02_RANGE_MAX 2200
#define TF_NOVA_RANGE_MIN 10
#define TF_NOVA_RANGE_MAX 1400
#define TF_DETECTION_CONE_DECIDEGREES 900
static serialPort_t *tfSerialPort = NULL; static serialPort_t *tfSerialPort = NULL;
@ -130,21 +127,35 @@ static uint8_t tfReceivePosition;
// TFmini and TF02 // TFmini and TF02
// Command for 100Hz sampling (10msec interval) // Command for 100Hz sampling (10msec interval)
// At 100Hz scheduling, skew will cause 10msec delay at the most. // At 100Hz scheduling, skew will cause 10msec delay at the most.
static const uint8_t tfCmd[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 }; // This command format does not match latest Benewake documentation
static const uint8_t tfConfigCmd[] = { 0x42, 0x57, 0x02, 0x00, 0x00, 0x00, 0x01, 0x06 };
static int32_t lidarTFValue; static int lidarTFValue;
static uint16_t lidarTFerrors = 0; static unsigned lidarTFerrors = 0;
static void lidarTFSendCommand(void)
static const lidarTFInfo_t* findInfo(rangefinderType_e rfType)
{ {
switch (tfDevtype) { for (const lidarTFInfo_t* p = devInfos; p < ARRAYEND(devInfos); p++) {
case TF_DEVTYPE_MINI: if (p->rfType == rfType) {
case TF_DEVTYPE_02: return p;
serialWriteBuf(tfSerialPort, tfCmd, sizeof(tfCmd)); }
}
return NULL;
}
// configure/reconfigure device
// may be called multiple times (when frames are missing)
static void lidarTFConfig(rangefinderDev_t *dev, const lidarTFInfo_t* inf)
{
UNUSED(dev);
switch (inf->rfType) {
case RANGEFINDER_TFMINI:
case RANGEFINDER_TF02:
serialWriteBuf(tfSerialPort, tfConfigCmd, sizeof(tfConfigCmd));
break; break;
default: default:
break; break;
} }
} }
@ -156,13 +167,54 @@ static void lidarTFInit(rangefinderDev_t *dev)
tfReceivePosition = 0; tfReceivePosition = 0;
} }
static int tfProcessFrame(const uint8_t* frame, int len)
{
UNUSED(len);
uint16_t distance = frame[0] | (frame[1] << 8);
uint16_t strength = frame[2] | (frame[3] << 8);
DEBUG_SET(DEBUG_LIDAR_TF, 0, distance); // 0,1
DEBUG_SET(DEBUG_LIDAR_TF, 1, strength); // 2,3
DEBUG_SET(DEBUG_LIDAR_TF, 2, frame[4]);
DEBUG_SET(DEBUG_LIDAR_TF, 3, frame[5]);
// common distance check
if (distance < devInfo->rangeMin || distance > devInfo->rangeMax) {
return RANGEFINDER_OUT_OF_RANGE;
}
switch (devInfo->rfType) {
case RANGEFINDER_TFMINI:
if (frame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
// When integral time is long (7), measured distance tends to be longer by 12~13.
distance -= 13;
}
break;
case RANGEFINDER_TF02:
if (frame[TF_02_FRAME_SIG] < 7) {
return RANGEFINDER_OUT_OF_RANGE;
}
break;
case RANGEFINDER_TFNOVA:
if (frame[TF_NOVA_FRAME_CONFIDENCE] < 90) {
return RANGEFINDER_OUT_OF_RANGE;
}
break;
default:
return RANGEFINDER_HARDWARE_FAILURE; // internal error
}
// distance is valid
return distance;
}
static void lidarTFUpdate(rangefinderDev_t *dev) static void lidarTFUpdate(rangefinderDev_t *dev)
{ {
UNUSED(dev);
static timeMs_t lastFrameReceivedMs = 0; static timeMs_t lastFrameReceivedMs = 0;
static timeMs_t lastReconfMs = 0;
const timeMs_t timeNowMs = millis(); const timeMs_t timeNowMs = millis();
if (tfSerialPort == NULL) { if (tfSerialPort == NULL || devInfo == NULL) {
return; return;
} }
@ -190,76 +242,37 @@ static void lidarTFUpdate(rangefinderDev_t *dev)
} }
break; break;
case TF_FRAME_STATE_WAIT_CKSUM: case TF_FRAME_STATE_WAIT_CKSUM: {
{ uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE; // SYNC bytes are checksummed too, but not stored
uint8_t cksum = TF_FRAME_SYNC_BYTE + TF_FRAME_SYNC_BYTE; for (int i = 0; i < TF_FRAME_LENGTH; i++) {
for (int i = 0; i < TF_FRAME_LENGTH; i++) { cksum += tfFrame[i];
cksum += tfFrame[i];
}
if (c == cksum) {
uint16_t distance = tfFrame[0] | (tfFrame[1] << 8);
uint16_t strength = tfFrame[2] | (tfFrame[3] << 8);
DEBUG_SET(DEBUG_LIDAR_TF, 0, distance);
DEBUG_SET(DEBUG_LIDAR_TF, 1, strength);
DEBUG_SET(DEBUG_LIDAR_TF, 2, tfFrame[4]);
DEBUG_SET(DEBUG_LIDAR_TF, 3, tfFrame[5]);
switch (tfDevtype) {
case TF_DEVTYPE_MINI:
if (distance >= TF_MINI_RANGE_MIN && distance < TF_MINI_RANGE_MAX) {
lidarTFValue = distance;
if (tfFrame[TF_MINI_FRAME_INTEGRAL_TIME] == 7) {
// When integral time is long (7), measured distance tends to be longer by 12~13.
lidarTFValue -= 13;
}
} else {
lidarTFValue = -1;
}
break;
case TF_DEVTYPE_02:
if (distance >= TF_02_RANGE_MIN && distance < TF_02_RANGE_MAX && tfFrame[TF_02_FRAME_SIG] >= 7) {
lidarTFValue = distance;
} else {
lidarTFValue = -1;
}
break;
case TF_DEVTYPE_NOVA:
if (distance >= TF_NOVA_RANGE_MIN && distance <= TF_NOVA_RANGE_MAX && tfFrame[TF_NOVA_FRAME_CONFIDENCE] >= 90) {
lidarTFValue = distance;
} else {
lidarTFValue = -1;
}
break;
}
lastFrameReceivedMs = timeNowMs;
} else {
// Checksum error. Simply discard the current frame.
++lidarTFerrors;
//DEBUG_SET(DEBUG_LIDAR_TF, 3, lidarTFerrors);
}
} }
if (c == cksum) {
lidarTFValue = tfProcessFrame(tfFrame, TF_FRAME_LENGTH);
lastFrameReceivedMs = timeNowMs;
} else {
// Checksum error. Simply ignore the current frame.
++lidarTFerrors;
DEBUG_SET(DEBUG_LIDAR_TF, 4, lidarTFerrors);
}
tfFrameState = TF_FRAME_STATE_WAIT_START1; tfFrameState = TF_FRAME_STATE_WAIT_START1;
tfReceivePosition = 0; tfReceivePosition = 0;
break; break;
} }
}
} }
// If valid frame hasn't been received for more than a timeout, resend command. // If valid frame hasn't been received for more than a timeout, try reinit.
if (cmp32(timeNowMs, lastFrameReceivedMs) > TF_TIMEOUT_MS
if (timeNowMs - lastFrameReceivedMs > TF_TIMEOUT_MS) { && cmp32(timeNowMs, lastReconfMs) > 500) {
lidarTFSendCommand(); lidarTFConfig(dev, devInfo);
lastReconfMs = timeNowMs; // delay sensor reconf
} }
} }
// Return most recent device output in cm // Return most recent device output in cm
// TODO - handle timeout; return value only once (see lidarMT)
static int32_t lidarTFGetDistance(rangefinderDev_t *dev) static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
{ {
UNUSED(dev); UNUSED(dev);
@ -267,37 +280,25 @@ static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
return lidarTFValue; return lidarTFValue;
} }
static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype) bool lidarTFDetect(rangefinderDev_t *dev, rangefinderType_e rfType)
{ {
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF); const lidarTFInfo_t* inf = findInfo(rfType);
if (!inf) {
return false; // supplied rfType is not TF
}
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_LIDAR_TF);
if (!portConfig) { if (!portConfig) {
return false; return false;
} }
tfSerialPort = openSerialPort(portConfig->identifier, FUNCTION_LIDAR_TF, NULL, NULL, 115200, MODE_RXTX, 0); tfSerialPort = openSerialPort(portConfig->identifier, FUNCTION_LIDAR_TF, NULL, NULL, 115200, MODE_RXTX, 0);
if (tfSerialPort == NULL) { if (tfSerialPort == NULL) {
return false; return false;
} }
tfDevtype = devtype; dev->delayMs = TF_TASK_PERIOD_MS;
dev->maxRangeCm = inf->rangeMax;
dev->delayMs = 10;
switch (devtype) {
case TF_DEVTYPE_MINI:
dev->maxRangeCm = TF_MINI_RANGE_MAX;
break;
case TF_DEVTYPE_02:
dev->maxRangeCm = TF_02_RANGE_MAX;
break;
case TF_DEVTYPE_NOVA:
dev->maxRangeCm = TF_NOVA_RANGE_MAX;
break;
default:
dev->maxRangeCm = 0;
break;
}
dev->detectionConeDeciDegrees = TF_DETECTION_CONE_DECIDEGREES; dev->detectionConeDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
dev->detectionConeExtendedDeciDegrees = TF_DETECTION_CONE_DECIDEGREES; dev->detectionConeExtendedDeciDegrees = TF_DETECTION_CONE_DECIDEGREES;
@ -306,22 +307,12 @@ static bool lidarTFDetect(rangefinderDev_t *dev, uint8_t devtype)
dev->update = &lidarTFUpdate; dev->update = &lidarTFUpdate;
dev->read = &lidarTFGetDistance; dev->read = &lidarTFGetDistance;
devInfo = inf;
// configure device
lidarTFConfig(dev, devInfo);
return true; return true;
} }
bool lidarTFminiDetect(rangefinderDev_t *dev)
{
return lidarTFDetect(dev, TF_DEVTYPE_MINI);
}
bool lidarTF02Detect(rangefinderDev_t *dev)
{
return lidarTFDetect(dev, TF_DEVTYPE_02);
}
bool lidarTFNovaDetect(rangefinderDev_t *dev)
{
return lidarTFDetect(dev, TF_DEVTYPE_NOVA);
}
#endif #endif

9
src/main/drivers/rangefinder/rangefinder_lidartf.h
View file

@ -20,10 +20,7 @@
#pragma once #pragma once
#include "common/time.h" #include "drivers/rangefinder/rangefinder.h"
#include "sensors/rangefinder.h"
#define RANGEFINDER_TF_TASK_PERIOD_MS 10 bool lidarTFDetect(rangefinderDev_t *dev, rangefinderType_e rfType);
bool lidarTFminiDetect(rangefinderDev_t *dev);
bool lidarTF02Detect(rangefinderDev_t *dev);
bool lidarTFNovaDetect(rangefinderDev_t *dev);

24
src/main/sensors/rangefinder.c
View file

@ -109,29 +109,13 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
#endif #endif
break; break;
#if defined(USE_RANGEFINDER_TF)
case RANGEFINDER_TFMINI: case RANGEFINDER_TFMINI:
#if defined(USE_RANGEFINDER_TF)
if (lidarTFminiDetect(dev)) {
rangefinderHardware = RANGEFINDER_TFMINI;
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
}
#endif
break;
case RANGEFINDER_TF02: case RANGEFINDER_TF02:
#if defined(USE_RANGEFINDER_TF)
if (lidarTF02Detect(dev)) {
rangefinderHardware = RANGEFINDER_TF02;
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
}
#endif
break;
case RANGEFINDER_TFNOVA: case RANGEFINDER_TFNOVA:
#if defined(USE_RANGEFINDER_TF) if (lidarTFDetect(dev, rangefinderHardwareToUse)) {
if (lidarTFNovaDetect(dev)) { rangefinderHardware = rangefinderHardwareToUse;
rangefinderHardware = RANGEFINDER_TFNOVA; rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(dev->delayMs));
rescheduleTask(TASK_RANGEFINDER, TASK_PERIOD_MS(RANGEFINDER_TF_TASK_PERIOD_MS));
} }
#endif #endif
break; break;

25
src/platform/PICO/startup/bs2_default_padded_checksummed.S
View file

@ -1,25 +0,0 @@
// Padded and checksummed version of: /home/black/src/pico/hello/build/pico-sdk/src/rp2350/boot_stage2/bs2_default.bin
.cpu cortex-m0plus
.thumb
.section .boot2, "ax"
.global __boot2_entry_point
__boot2_entry_point:
.byte 0x00, 0xb5, 0x24, 0x4b, 0x21, 0x20, 0x58, 0x60, 0x13, 0xf5, 0x40, 0x53, 0x02, 0x20, 0x98, 0x60
.byte 0xd8, 0x60, 0x18, 0x61, 0x58, 0x61, 0x13, 0xf5, 0x0d, 0x23, 0x1f, 0x49, 0x19, 0x60, 0x18, 0x68
.byte 0x10, 0xf0, 0x02, 0x0f, 0xfb, 0xd1, 0x35, 0x20, 0x00, 0xf0, 0x2c, 0xf8, 0x02, 0x28, 0x14, 0xd0
.byte 0x06, 0x20, 0x58, 0x60, 0x00, 0xf0, 0x22, 0xf8, 0x98, 0x68, 0x01, 0x20, 0x58, 0x60, 0x00, 0x20
.byte 0x58, 0x60, 0x02, 0x20, 0x58, 0x60, 0x00, 0xf0, 0x19, 0xf8, 0x98, 0x68, 0x98, 0x68, 0x98, 0x68
.byte 0x05, 0x20, 0x00, 0xf0, 0x17, 0xf8, 0x40, 0x08, 0xfa, 0xd2, 0x31, 0xf0, 0x01, 0x01, 0x19, 0x60
.byte 0x0e, 0x48, 0xd8, 0x60, 0x4a, 0xf2, 0xeb, 0x00, 0x58, 0x61, 0x0d, 0x48, 0x18, 0x61, 0x4f, 0xf0
.byte 0xa0, 0x51, 0x09, 0x78, 0x20, 0xf4, 0x80, 0x50, 0x18, 0x61, 0x00, 0xbd, 0x18, 0x68, 0x80, 0x08
.byte 0xfc, 0xd2, 0x70, 0x47, 0x00, 0xb5, 0x58, 0x60, 0x58, 0x60, 0xff, 0xf7, 0xf7, 0xff, 0x98, 0x68
.byte 0x98, 0x68, 0x00, 0xbd, 0x00, 0x00, 0x04, 0x40, 0x41, 0x00, 0x80, 0x07, 0x02, 0x02, 0x00, 0x40
.byte 0xa8, 0x92, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00
.byte 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00

4
src/platform/SIMULATOR/mk/SITL.mk
View file

@ -1,3 +1,7 @@
# SITL Makefile for the simulator platform
# Default output is an exe file
DEFAULT_OUTPUT := exe
INCLUDE_DIRS := \ INCLUDE_DIRS := \
$(INCLUDE_DIRS) \ $(INCLUDE_DIRS) \