* Adding common source location in ./src/platform
To enable the continued clean up of multiple files still in ./src/main/driver (more PRs to follow) that are specifically for AT32, APM32 and STM32
Source will be moved to MCU_COMMON_SRC where it is specifically for that MCU (or variant). The test will be to ensure no files in the MCU_EXCLUDES for SITL.
* Use of +=
* Driver for CADDX camera GM3 gimbal
* Update src/main/cli/settings.c
Fix copy-paste error on variable name.
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* Update src/main/io/gimbal_control.c
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* Update src/main/io/gimbal_control.c
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* Update src/main/io/gimbal_control.c
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* Only forward gimbal data with good CRC
---------
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* MSP Range Finder added (configured and tested on the MTF-01P Lidar)
* MSP Range Finder added (configured and tested on the MTF-01P Lidar)
* fix the license of the added files from INAV
* Update src/main/drivers/rangefinder/rangefinder_virtual.c
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* Update src/main/msp/msp.c
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* Update src/main/io/rangefinder.h
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* Update src/main/msp/msp.c
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
* refactored the code of INAV for the MSP rangefinder, to be extendable to other MSP rangefinder and more specific about the parameters of the supported ones
* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactored the code for readability
* mt lidar msp address
* us the delay MS from the dev directly
* todo
* MT device type datatype
* refactored the code for readability
* spacing
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* refactoring
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* after the edits fix
* rm idx
* typo fixed
* i think this shouldn't be here
* spacing
* Update src/main/drivers/rangefinder/rangefinder_lidarmt.c
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* fix mt models ranges
* remove mt01p model, it doesn't map
* rm "MT01P", it doesn't support map
* rm mt01p, it doesn't support msp
* Update rangefinder_lidarmt.h
* update mt lidar deadzone
* Update rangefinder_lidarmt.c
* Update rangefinder_lidarmt.c
* rm unused variable mtfConnected
---------
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
* serial - refactor serial resource handling
- port related resources (tx/rx/inverted,dma)
- are stored sequentially, with space in place of ports that are not
enabled (RESOURCE_UART_COUNT + RESOURCE_LPUART_COUNT +
RESOURCE_SOFTSERIAL_COUNT)
- RESOURCE_UART_OFFSET, RESOURCE_LPUART_OFFSET, RESOURCE_SOFTSERIAL_OFFSET
- resource entries are pointing into this array (UART, LPUART, SOFTSERIAL)
- both pins and DMA
- inverter is supproted only for UART + LPUART (makes sense only
for UART, to be removed)
- softSerialPinConfig is removed, it is no longer necessary
- serialResourceIndex(identifier) is used universally to get correct
index into resource array
- unified handling of resources where possible
- serialOwnerTxRx() + serialOwnerIndex() are used for displaying resources
correctly to user.
- serialType(identifier) implemented
- serialOwnerTxRx / serialOwnerIndex are trivial with it
- large switch() statemens are greatly simplified
* serial - merge code duplicated in all UART implementations
- drivers/serial_uart_hw.c contains merged serialUART code.
Code did not match exactly. Obvious cases are fixed, more complicated
use #ifs
- pin inversion unified
- uartOpen is refactored a bit
* serial - refactor uartDevice
- use 'compressed' enum from uartDeviceIdx_e. Only enabled ports are
in this enum.
- uartDeviceIdx directly indexes uartDevice (no search necessary, no
wasted space)
- use `serialPortIdentifier_e identifier;` for uartHardware
- for DMA remap, define only entries for enabled ports (uartDeviceIdx_e
does not exist disabled port)
* serial - apply changes to inverter
New implementation is trivial
* serial - HAL - rxIrq, txIrq replaces by irqn
There is only one IRQ for serial
* serial - serial_post.h
Generated code to normalize target configuration.
jinja2 template is used to generate header file. Port handling is
unified a lot.
SERIAL_<type><n>_USED 0/1 - always defined, value depends on target configuration
SERIAL_<type>_MASK - bitmask of used ports or given type. <port>1 is BIT(0)
SERIAL_<type>_COUNT - number of enabled ports of given type
SERIAL_<type>_MAX - <index of highest used port> + 1, 0 when no port is enabled
* targets - remove automatically calculated valued from configs
serial_post.h generated it
* serial - remove definitions replaced by serial_post.h
* serial - change LPUART to UART_LP1 in places
LPUART is mostly handled as another UART port, this change reflects it
* serial - use ARRAYLEN / ARRAYEND in some places
replaces constant that may not match actual array size
* serial - adapt softserial to changes
* serial - whitespace, comments
* softserial - fix serialTimerConfigureTimebase
* serial - suspicious code
* serial - unittests
* serial - cleanup
* serial - simpler port names
Is this useful ?
* serial - no port count for SITL necessary
* serial - fix unittests
include serial_post.h, some ports are defined, so normalization will
work fine
* timers - remove obsolete defines from SITL and unittests
* serial - cosmetic improvements
comments, whitespace, minor refactoring
* serial - fix serialInit bug
serialPortToDisable was preventing further tests
* serial - fix possible NULL pointer dereference
* serial - move serialResourceIndex to drivers
* serial - refactor pp/od and pulldown/pullup/nopull
Centralize serial options handling, decouple it from MCU type
Move some code into new drivers/serial_impl.c
* serial - make port.identifier valid early in port initialization
* serial - fix unittest
Code is moved around a bit to make unittests implementation easier
* serial - bug - fix off-by-one error
uart1/softserial1/lpuart was not working properly because of this
* serial - whipespace + formating + style + comments
No functional changes
* utils - add popcount functions
Wrap __builtin_popcount for easier use. Refactor existing code using
it. Update code using BITCOUNT macro in dynamic context (BITCOUNT is
for compile-time use only)
* serial - inverter - simplify code
* pinio - prevent array access overflow
* serial - refactor SERIAL_BIDIR_*
SERIAL_BIDIR_OD / SERIAL_BIDIR_PP
SERIAL_PULL_DEFAULT / SERIAL_PULL_NONE / SERIAL_PULL_PD
* serial - simplify code
minor refactoring
- cleaner AVOID_UARTx_FOR_PWM_PPM (unused anyway)
- serialFindPortConfiguration* - remove code duplication
- use serialType in smartaudio
* serial - add port names
- const string is assiociated with each compiled-in port (easy to pass around)
- findSerialPortByName
* cli - improve serialpassthrough
- support port options (in current mode argument)
- support port names (`serialpassthrough uart1`)
- improve error handling; check more parse errors
* cli - resources - minor refactor
- prevent SERIAL_TX_NONSENSE when parsing resource type
- fix possible NULL pointer dereference
- store resource tag only after checking all conditions
- slighty better error reporting
- `resource serial_tx 1` will print resource assignment
* serial - remane pulldown to SERIAL_PULL_SMARTAUDIO
Make sure nobody uses it by
mistake. SERIAL_PULL_SMARTAUDIO_SUPER_DANGEROUS_USE_AT_YOUR_OWN_RISK_THIS_WILL_BREAK_EVERYTHING_AND_KILL_YOUR_PET_FISH
would be better choice, but try shorter version first.
* smartaudio - minor refactor/improvement
- Fix softserial on AT32
- make it easier to handle SA on per-cpu basis
* softserial - minor refactoring
no functional changes
* UART - move AF handling before MCU dependent code
* UART - adapt APM32 / APM32F4 code
- Modeled after F4 where possible
- come code moved from APM32 to APM32F4, possbily not necessary, but
it improves similarity with STM32F4
* UART - APM32 - remove per-pin AF
* UART - APM32 - bugfix - fix pinswap #if conditions
* UART - apply some improvemnts from APM32 to STM32
* UART - add todo for F4 serial speed
* UART - fix typo
* UART - refactor support for USE_SMARTAUDIO_NOPULLDOWN
* UART - typos, comments, minor improvements
* UART - move code into enableRxIrq
TODO: split into mcu-specific filer (but in sepatate PR)
* UART - add UART_TRAIT_xx
makes #if test easier and more consistent
more traits shall follow
* UART - fix variable name
unused branch, would trigger compilation error otherwise
* UART - use tables instead of switch
* UART - smartaudio
minor style change + better comments
* UART - unify mspPorts iteration
* UART - fix spelling
* UART - another typo
* UART - fix serialResourceIndex
offset must be added, not subtracted
offset can be negative
* UART - fix typo
Bad day ...
* UART - use const table
GCC does optimize it better.
Should not cause functional change
* UART - use OwnerIndex for inverter
- 1 based
- only UART has inversion
* UART - refactor serial_resource a bit
Single table + helper function. New table is easier to read
* UART - serial_impl header is necessary
* UART - style-only changes
typos
unify whitespace
comment improvement
add some const modifiers
use cfg in uartConfigureDma
minor improvemnt of for loops
* UART - remove LPUART inverter
LPUART always supports internal inversion, code was incomplete and
unused
* UART - update jinja template, regenerate files
* UART - enable UART module RCC clk before configuring DMA
Does not change anything, UART RCCs are enabled unconditionally
* Altitude control code shared
fewer debugs
subtract D
* remove #include comments, simplify coding, restructuring
thanks JP and MH
* fix cms limits for throttle control
* Use altitude_control debug, fix throttle calculation
minor refactoring
* use AUTO_CONTROL_ALTITUDE debug in place of GPS Rescue throttle pid
* use autopilot for position control names
* fixes from reviews - thanks
* Re-organise included files and functions thanks Karate
* missed init and other typos
* remove old unused unit test file, tidy up thanks Mark
* fix indentation on one line
Makefile - don't override user-supplied --jobs argument
Some targets will default to parallel build, but only when no
-j / --jobs argument is specified on make command line
* Add APM32F4 driver libraries and USB middleware
* Add the APM32F405 and APM32F407 target files
* Add APM32 startup files
* Add APM32F4 linker files
* Add APM32F4.mk
* Add APM32 driver files
* Add APM32F40X MCU type
* Sync with the Betaflight master branch and modify the driver directory structure
* Implement CLI on the APM32
* Implement ADC on the APM32
* Implement config streamer on the APM32
* Implement I2C on the APM32
* Implement SPI on the APM32
* Implement DSHOT on the APM32
* Implement transponder ir on the APM32
* Implement serial uart on the APM32
* Implement MCO on the APM32
* Implement DWT on the APM32
* Update the init.c file, adding APM32 MCO configuration
* Remove all duplicated APM32 driver files and retaining only the APM32 LIB directory
* Create APM32F4.mk
* Add linker files for APM32F405 and APM32F407
* Add startup and library config files for APM32F405 and APM32F407
* Add target files for APM32F405 and APM32F407
* Add apm32 MCU driver files
* Add build configuration for APM32 MCU
* Implement config streamer on APM32
* Implement CLI on the APM32
* Implement ADC on the APM32
* Implement RCC on the APM32
* Implement MCO on the APM32
* Implement I2C on the APM32
* Implement SPI on the APM32
* Implement serial uart on the APM32
* Implement IO on the APM32
* Implement DMA on the APM32
* Implement DSHOT on the APM32
* Implement transponder ir on the APM32
* Update init.c
* Add the inclusion of the 'platform.h' file to the APM USB driver source file
* Merge bus SPI duplicate code from APM32 to STM32
* Update timer_apm32.c
* Merge motor duplicate code from APM32 to STM32
* Merge serial uart duplicate code from APM32 to STM32
* Update APM32F4.mk
* Update cli.c
* Update APM32F4.mk
* Remove the apm32_flash_f4_split.ld
* Associate the apm32 linker file with stm32_flash_f4_split.ld
* CLEANUP: Move flash drivers to their own directory
* Missed flash_w25q128fv.h.
* Directories in #include, and specifying all source files explicitly.
* Revert RX driver src file implicit declaration
* Add support for W25N02K 2Gbit/256Mbyte FLASH
* Remove duplicate defintion check
* Rename W25N01G_BB_*_BLOCK macros
* Remove debug
* Create unified driver for W25N01G and W25N02K devices
* Put device parameters in a table
* Add W25N01GV to stacked die driver
* I2C - unify i2cUnstick implemntation, improve unstick a bit
Three copies were spread in I2C implementations.
- i2cUnstick is a bit more carefull about clock stretching
- bus status is returned (return true when bus in idle state)
* fixup! I2C - unify i2cUnstick implemntation, improve unstick a bit
* fixup! I2C - unify i2cUnstick implemntation, improve unstick a bit
---------
Co-authored-by: Petr Ledvina <ledvinap@hp124.ekotip.cz>
* Fix openocd makefile target by using TARGET_MCU_FAMILY
The condition before this commit in mk/openocd.mk
ifeq ($(TARGET_MCU),STM32F4)
OPENOCD_CFG := target/stm32f4x.cfg
else ifeq ($(TARGET_MCU),STM32F7)
OPENOCD_CFG := target/stm32f7x.cfg
else
endif
ifneq ($(OPENOCD_CFG),)
OPENOCD_COMMAND = $(OPENOCD) -f $(OPENOCD_IF) -f $(OPENOCD_CFG)
endif
resulted in a not defined OPENOCD_COMMAND, because TARGET_MCU does not
contain the MCU family such as STM32F4, but e.g. STM32F411xE.
Thus executing e.g (note: CONFIG=BLACKPILL411 is a custom config I created for the Blackpill Board)
$ make DEBUG=GDB CONFIG=BLACKPILL411 openocd-gdb
make: *** No rule to make target 'openocd-gdb'. Stop.
whereas after the patch:
$ make DEBUG=GDB CONFIG=BLACKPILL411 openocd-gdb
...
...
Linking STM32F411_BLACKPILL411
Memory region Used Size Region Size %age Used
FLASH: 7680 B 16 KB 46.88%
FLASH_CONFIG: 0 GB 16 KB 0.00%
FLASH1: 329297 B 480 KB 67.00%
SYSTEM_MEMORY: 0 GB 29 KB 0.00%
RAM: 62612 B 128 KB 47.77%
MEMORY_B1: 0 GB 0 GB
text data bss dec hex filename
331757 5220 56980 393957 602e5 ./obj/main/betaflight_STM32F411_BLACKPILL411.elf
openocd -f interface/stlink-v2.cfg -f target/stm32f4x.cfg & ./tools/gcc-arm-none-eabi-10.3-2021.10/bin/arm-none-eabi-gdb ./obj/main/betaflight_STM32F411_BLACKPILL411.elf -ex "target remote localhost:3333" -ex "load"
Open On-Chip Debugger 0.12.0
Licensed under GNU GPL v2
For bug reports, read
http://openocd.org/doc/doxygen/bugs.html
WARNING: interface/stlink-v2.cfg is deprecated, please switch to interface/stlink.cfg
Info : auto-selecting first available session transport "hla_swd". To override use 'transport select <transport>'.
Info : The selected transport took over low-level target control. The results might differ compared to plain JTAG/SWD
Info : Listening on port 6666 for tcl connections
Info : Listening on port 4444 for telnet connections
Info : clock speed 2000 kHz
...
...
[stm32f4x.cpu] halted due to debug-request, current mode: Thread
xPSR: 0x01000000 pc: 0x08009014 msp: 0x2001fff0
Start address 0x08009014, load size 336977
Transfer rate: 37 KB/sec, 11232 bytes/write.
(gdb) c
Continuing.
^C
Program received signal SIGINT, Interrupt.
0x08021a1c in scheduler () at ./src/main/scheduler/scheduler.c:695
695 task->taskAgePeriods = (cmpTimeUs(currentTimeUs, task->lastExecutedAtUs) / task->attribute->desiredPeriodUs);
(gdb) quit
works as expected.
In addition add also G4 and H7 TARGET_MCU_FAMILY support. When installing openocd the config files for G4 and H7, should
be provided in directory: /usr/share/openocd/scripts/target
$ grep -r TARGET_MCU_FAMILY | awk '/ STM32/{print $3}' | sort | uniq && find /usr/share/openocd/scripts/target -type f | grep "stm32f4x.cfg\|stm32f7x.cfg\|stm32g4x.cfg\|stm32h7x.cfg"
STM32F4
STM32F7
STM32G4
STM32H7
/usr/share/openocd/scripts/target/stm32g4x.cfg
/usr/share/openocd/scripts/target/stm32h7x.cfg
/usr/share/openocd/scripts/target/stm32f4x.cfg
/usr/share/openocd/scripts/target/stm32f7x.cfg
* Remove useless else
* QUICK CMS menu
* Added RPM LIMIT to quick menu
* rpm_limiter csm step = 100
* Renamings + USE_OSD_QUICK_MENU define
* Small fixes
* Style fixes
* tests makefile fix
* Activate quick menu by default, if defined USE_OSD_QUICK_MENU
* Changed .c/.h license headers to a modern one
When trying to build firmware with current directory in PATH environment
it scans for make command and generates "Permission denied" error in
case if current directory in PATH precedes /usr/bin/ directory.In my
case it was caused by incorrect pyenv init script.
Rename make folder to avoid errors like this.
