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Merge pull request #278 from martinbudden/inav_target_mk

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Converted to using target.mk files
This commit is contained in:
Martin Budden 2016-06-14 12:15:58 +01:00 • committed by GitHub
commit bb7314b83c
30 changed files with 6052 additions and 466 deletions
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@ -5,7 +5,7 @@
# this stuff is worth it, you can buy me a beer in return # this stuff is worth it, you can buy me a beer in return
############################################################################### ###############################################################################
# #
# Makefile for building the cleanflight firmware. # Makefile for building the iNav firmware.
# #
# Invoke this with 'make help' to see the list of supported targets. # Invoke this with 'make help' to see the list of supported targets.
# #
@ -41,70 +41,7 @@ FLASH_SIZE ?=
# Things that need to be maintained as the source changes # Things that need to be maintained as the source changes
# #
FORKNAME = inav FORKNAME = inav
CC3D_TARGETS = CC3D CC3D_OPBL CC3D_PPM1
NAZE_TARGETS = ALIENFLIGHTF1
SPRACINGF3_TARGETS = IRCFUSIONF3 RMDO
SDCARD_TARGETS =
SERIAL_USB_TARGETS = IRCFUSIONF3 SPRACINGF3
# Valid targets for STM VCP support
VCP_TARGETS = $(CC3D_TARGETS) ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB SPARKY STM32F3DISCOVERY
# Valid targets for OP BootLoader support
OPBL_TARGETS = CC3D_OPBL
F405_TARGETS =
F405_TARGETS_16 =
F411_TARGETS =
F1_TARGETS = $(CC3D_TARGETS) ALIENFLIGHTF1 CJMCU EUSTM32F103RC NAZE OLIMEXINO PORT103R
F3_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE LUX_RACE MOTOLAB RMDO SPARKY SPRACINGF3 STM32F3DISCOVERY
F4_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16) $(F411_TARGETS)
VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
64K_TARGETS = CJMCU
128K_TARGETS = $(CC3D_TARGETS) ALIENFLIGHTF1 NAZE OLIMEXINO RMDO
256K_TARGETS = ALIENFLIGHTF3 CHEBUZZF3 COLIBRI_RACE EUSTM32F103RC LUX_RACE MOTOLAB PORT103R SPARKY SPRACINGF3 STM32F3DISCOVERY
512K_TARGETS = $(F411_TARGETS)
1024K_TARGETS = $(F405_TARGETS) $(F405_TARGETS_16)
# Configure default flash sizes for the targets
ifeq ($(FLASH_SIZE),)
ifeq ($(TARGET),$(filter $(TARGET),$(64K_TARGETS)))
FLASH_SIZE = 64
else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
FLASH_SIZE = 128
else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
FLASH_SIZE = 256
else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
FLASH_SIZE = 512
else ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
FLASH_SIZE = 1024
else
$(error FLASH_SIZE not configured for target $(TARGET))
endif
endif
# note that there is no hardfault debugging startup file assembly handler for other platforms
ifeq ($(DEBUG_HARDFAULTS),F3)
CFLAGS += -DDEBUG_HARDFAULTS
STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
else
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
endif
REVISION := $(shell git log -1 --format="%h")
FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
# Working directories # Working directories
ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST)))) ROOT := $(patsubst %/,%,$(dir $(lastword $(MAKEFILE_LIST))))
@ -116,14 +53,90 @@ INCLUDE_DIRS = $(SRC_DIR) \
$(ROOT)/src/main/target $(ROOT)/src/main/target
LINKER_DIR = $(ROOT)/src/main/target LINKER_DIR = $(ROOT)/src/main/target
# default xtal value for F4 targets
HSE_VALUE = 8000000
# used for turning on features like VCP and SDCARD
FEATURES =
ALT_TARGETS = $(sort $(filter-out target, $(basename $(notdir $(wildcard $(ROOT)/src/main/target/*/*.mk)))))
OPBL_TARGETS = $(filter %_OPBL, $(ALT_TARGETS))
#VALID_TARGETS = $(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)
VALID_TARGETS = $(dir $(wildcard $(ROOT)/src/main/target/*/target.mk))
VALID_TARGETS := $(subst /,, $(subst ./src/main/target/,, $(VALID_TARGETS)))
VALID_TARGETS := $(VALID_TARGETS) $(ALT_TARGETS)
VALID_TARGETS := $(sort $(VALID_TARGETS))
ifeq ($(filter $(TARGET),$(ALT_TARGETS)), $(TARGET))
BASE_TARGET := $(firstword $(subst /,, $(subst ./src/main/target/,, $(dir $(wildcard $(ROOT)/src/main/target/*/$(TARGET).mk)))))
-include $(ROOT)/src/main/target/$(BASE_TARGET)/$(TARGET).mk
else
BASE_TARGET := $(TARGET)
endif
ifeq ($(filter $(TARGET),$(OPBL_TARGETS)), $(TARGET))
OPBL = yes
endif
# silently ignore if the file is not present. Allows for target specific.
-include $(ROOT)/src/main/target/$(BASE_TARGET)/target.mk
F4_TARGETS = $(F405_TARGETS) $(F411_TARGETS)
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),)
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS). Have you prepared a valid target.mk?)
endif
ifeq ($(filter $(TARGET),$(F1_TARGETS) $(F3_TARGETS) $(F4_TARGETS)),)
$(error Target '$(TARGET)' has not specified a valid STM group, must be one of F1, F3, F405, or F411. Have you prepared a valid target.mk?)
endif
128K_TARGETS = $(F1_TARGETS)
256K_TARGETS = $(F3_TARGETS)
512K_TARGETS = $(F411_TARGETS)
1024K_TARGETS = $(F405_TARGETS)
# Configure default flash sizes for the targets (largest size specified gets hit first) if flash not specified already.
ifeq ($(FLASH_SIZE),)
ifeq ($(TARGET),$(filter $(TARGET),$(1024K_TARGETS)))
FLASH_SIZE = 1024
else ifeq ($(TARGET),$(filter $(TARGET),$(512K_TARGETS)))
FLASH_SIZE = 512
else ifeq ($(TARGET),$(filter $(TARGET),$(256K_TARGETS)))
FLASH_SIZE = 256
else ifeq ($(TARGET),$(filter $(TARGET),$(128K_TARGETS)))
FLASH_SIZE = 128
else
$(error FLASH_SIZE not configured for target $(TARGET))
endif
endif
# note that there is no hardfault debugging startup file assembly handler for other platforms
ifeq ($(DEBUG_HARDFAULTS),F3)
CFLAGS += -DDEBUG_HARDFAULTS
STM32F30x_COMMON_SRC = startup_stm32f3_debug_hardfault_handler.S
else
STM32F30x_COMMON_SRC = startup_stm32f30x_md_gcc.S
endif
REVISION = $(shell git log -1 --format="%h")
FC_VER_MAJOR := $(shell grep " FC_VERSION_MAJOR" src/main/version.h | awk '{print $$3}' )
FC_VER_MINOR := $(shell grep " FC_VERSION_MINOR" src/main/version.h | awk '{print $$3}' )
FC_VER_PATCH := $(shell grep " FC_VERSION_PATCH" src/main/version.h | awk '{print $$3}' )
FC_VER := $(FC_VER_MAJOR).$(FC_VER_MINOR).$(FC_VER_PATCH)
# Search path for sources # Search path for sources
VPATH := $(SRC_DIR):$(SRC_DIR)/startup VPATH := $(SRC_DIR):$(SRC_DIR)/startup
USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver USBFS_DIR = $(ROOT)/lib/main/STM32_USB-FS-Device_Driver
USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c)) USBPERIPH_SRC = $(notdir $(wildcard $(USBFS_DIR)/src/*.c))
FATFS_DIR = $(ROOT)/lib/main/FatFS
FATFS_SRC = $(notdir $(wildcard $(FATFS_DIR)/*.c))
CSOURCES := $(shell find $(SRC_DIR) -name '*.c') CSOURCES := $(shell find $(SRC_DIR) -name '*.c')
ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS))) ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
# F3 TARGETS # F3 TARGETS
@ -144,7 +157,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(CMSIS_DIR)/CM1/CoreSupport \ $(CMSIS_DIR)/CM1/CoreSupport \
$(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x $(CMSIS_DIR)/CM1/DeviceSupport/ST/STM32F30x
ifeq ($(TARGET),$(filter $(TARGET),$(VCP_TARGETS))) ifneq ($(filter VCP, $(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(USBFS_DIR)/inc \ $(USBFS_DIR)/inc \
$(ROOT)/src/main/vcp $(ROOT)/src/main/vcp
@ -153,7 +166,13 @@ VPATH := $(VPATH):$(USBFS_DIR)/src
DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\ DEVICE_STDPERIPH_SRC := $(DEVICE_STDPERIPH_SRC)\
$(USBPERIPH_SRC) $(USBPERIPH_SRC)
endif
ifneq ($(filter SDCARD, $(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(FATFS_DIR) \
VPATH := $(VPATH):$(FATFS_DIR)
endif endif
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
@ -161,43 +180,103 @@ LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303 DEVICE_FLAGS = -DSTM32F303xC -DSTM32F303
TARGET_FLAGS = -D$(TARGET) TARGET_FLAGS = -D$(TARGET)
## End F3 targets # End F3 targets
## #
## Start F4 targets # Start F4 targets
else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS))) else ifeq ($(TARGET),$(filter $(TARGET), $(F4_TARGETS)))
## End F4 targets
##
## Start EUSTM32F103RC PORT103R targets
else ifeq ($(TARGET),$(filter $(TARGET),EUSTM32F103RC PORT103R))
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver #STDPERIPH
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F4xx_StdPeriph_Driver
STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c)) STDPERIPH_SRC = $(notdir $(wildcard $(STDPERIPH_DIR)/src/*.c))
EXCLUDES = stm32f10x_crc.c \ EXCLUDES = stm32f4xx_crc.c \
stm32f10x_cec.c \ stm32f4xx_can.c \
stm32f10x_can.c stm32f4xx_fmc.c \
stm32f4xx_sai.c \
stm32f4xx_cec.c \
stm32f4xx_dsi.c \
stm32f4xx_flash_ramfunc.c \
stm32f4xx_fmpi2c.c \
stm32f4xx_lptim.c \
stm32f4xx_qspi.c \
stm32f4xx_spdifrx.c \
stm32f4xx_cryp.c \
stm32f4xx_cryp_aes.c \
stm32f4xx_hash_md5.c \
stm32f4xx_cryp_des.c \
stm32f4xx_rtc.c \
stm32f4xx_hash.c \
stm32f4xx_dbgmcu.c \
stm32f4xx_cryp_tdes.c \
stm32f4xx_hash_sha1.c
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
# Search path and source files for the CMSIS sources ifeq ($(TARGET),$(filter $(TARGET), $(F411_TARGETS)))
VPATH := $(VPATH):$(CMSIS_DIR)/CM3/CoreSupport:$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x EXCLUDES += stm32f4xx_fsmc.c
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM3/CoreSupport/*.c \ endif
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x/*.c))
STDPERIPH_SRC := $(filter-out ${EXCLUDES}, $(STDPERIPH_SRC))
#USB
USBCORE_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Core
USBCORE_SRC = $(notdir $(wildcard $(USBCORE_DIR)/src/*.c))
USBOTG_DIR = $(ROOT)/lib/main/STM32_USB_OTG_Driver
USBOTG_SRC = $(notdir $(wildcard $(USBOTG_DIR)/src/*.c))
EXCLUDES = usb_bsp_template.c \
usb_conf_template.c \
usb_hcd_int.c \
usb_hcd.c \
usb_otg.c
USBOTG_SRC := $(filter-out ${EXCLUDES}, $(USBOTG_SRC))
USBCDC_DIR = $(ROOT)/lib/main/STM32_USB_Device_Library/Class/cdc
USBCDC_SRC = $(notdir $(wildcard $(USBCDC_DIR)/src/*.c))
EXCLUDES = usbd_cdc_if_template.c
USBCDC_SRC := $(filter-out ${EXCLUDES}, $(USBCDC_SRC))
VPATH := $(VPATH):$(USBOTG_DIR)/src:$(USBCORE_DIR)/src:$(USBCDC_DIR)/src
DEVICE_STDPERIPH_SRC := $(STDPERIPH_SRC) \
$(USBOTG_SRC) \
$(USBCORE_SRC) \
$(USBCDC_SRC)
#CMSIS
VPATH := $(VPATH):$(CMSIS_DIR)/CM4/CoreSupport:$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx
CMSIS_SRC = $(notdir $(wildcard $(CMSIS_DIR)/CM4/CoreSupport/*.c \
$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx/*.c))
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(STDPERIPH_DIR)/inc \ $(STDPERIPH_DIR)/inc \
$(CMSIS_DIR)/CM3/CoreSupport \ $(USBOTG_DIR)/inc \
$(CMSIS_DIR)/CM3/DeviceSupport/ST/STM32F10x \ $(USBCORE_DIR)/inc \
$(USBCDC_DIR)/inc \
$(USBFS_DIR)/inc \
$(CMSIS_DIR)/CM4/CoreSupport \
$(CMSIS_DIR)/CM4/DeviceSupport/ST/STM32F4xx \
$(ROOT)/src/main/vcpf4
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld ifneq ($(filter SDCARD,$(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(FATFS_DIR)
VPATH := $(VPATH):$(FATFS_DIR)
endif
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 #Flags
TARGET_FLAGS = -D$(TARGET) -pedantic ARCH_FLAGS = -mthumb -mcpu=cortex-m4 -march=armv7e-m -mfloat-abi=hard -mfpu=fpv4-sp-d16 -fsingle-precision-constant -Wdouble-promotion
DEVICE_FLAGS = -DSTM32F10X_HD -DSTM32F10X
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC) ifeq ($(TARGET),$(filter $(TARGET),$(F411_TARGETS)))
## End EUSTM32F103RC PORT103R targets DEVICE_FLAGS = -DSTM32F411xE
## LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411.ld
## Start F1 targets else ifeq ($(TARGET),$(filter $(TARGET),$(F405_TARGETS)))
DEVICE_FLAGS = -DSTM32F40_41xxx
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405.ld
else
$(error Unknown MCU for F4 target)
endif
DEVICE_FLAGS += -DHSE_VALUE=$(HSE_VALUE)
TARGET_FLAGS = -D$(TARGET)
# End F4 targets
#
# Start F1 targets
else else
STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver STDPERIPH_DIR = $(ROOT)/lib/main/STM32F10x_StdPeriph_Driver
@ -220,7 +299,7 @@ INCLUDE_DIRS := $(INCLUDE_DIRS) \
DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC) DEVICE_STDPERIPH_SRC = $(STDPERIPH_SRC)
ifeq ($(TARGET),$(filter $(TARGET), $(VCP_TARGETS))) ifneq ($(filter VCP, $(FEATURES)),)
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
$(USBFS_DIR)/inc \ $(USBFS_DIR)/inc \
$(ROOT)/src/main/vcp $(ROOT)/src/main/vcp
@ -234,64 +313,42 @@ endif
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k.ld
ARCH_FLAGS = -mthumb -mcpu=cortex-m3 ARCH_FLAGS = -mthumb -mcpu=cortex-m3
TARGET_FLAGS = -D$(TARGET) -pedantic TARGET_FLAGS := -D$(TARGET) -pedantic $(TARGET_FLAGS)
DEVICE_FLAGS = -DSTM32F10X_MD -DSTM32F10X
ifeq ($(DEVICE_FLAGS),)
DEVICE_FLAGS = -DSTM32F10X_MD
endif
DEVICE_FLAGS += -DSTM32F10X
endif endif
## #
## End F1 targets # End F1 targets
## #
ifneq ($(BASE_TARGET), $(TARGET))
TARGET_FLAGS := $(TARGET_FLAGS) -D$(BASE_TARGET)
endif
ifneq ($(FLASH_SIZE),) ifneq ($(FLASH_SIZE),)
DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE) DEVICE_FLAGS := $(DEVICE_FLAGS) -DFLASH_SIZE=$(FLASH_SIZE)
endif endif
TARGET_DIR = $(ROOT)/src/main/target/$(TARGET) TARGET_DIR = $(ROOT)/src/main/target/$(BASE_TARGET)
TARGET_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c)) TARGET_DIR_SRC = $(notdir $(wildcard $(TARGET_DIR)/*.c))
# VARIANTS
ifeq ($(TARGET),CHEBUZZF3)
# CHEBUZZ is a VARIANT of STM32F3DISCOVERY
TARGET_FLAGS := $(TARGET_FLAGS) -DSTM32F3DISCOVERY
endif
ifeq ($(TARGET),$(filter $(TARGET),$(SPRACINGF3_TARGETS)))
# VARIANTS of SPRACINGF3
TARGET_FLAGS := $(TARGET_FLAGS) -DSPRACINGF3
endif
ifeq ($(TARGET),$(filter $(TARGET), $(NAZE_TARGETS)))
# VARIANTS of NAZE
TARGET_FLAGS := $(TARGET_FLAGS) -DNAZE -D$(TARGET)
TARGET_DIR = $(ROOT)/src/main/target/NAZE
endif
ifeq ($(TARGET),$(filter $(TARGET), $(CC3D_TARGETS)))
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D
ifeq ($(TARGET),CC3D_OPBL)
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_OPBL
CC3D_OPBL_SRC = $(CC3D_SRC)
endif
ifeq ($(TARGET),CC3D_PPM1)
TARGET_FLAGS := $(TARGET_FLAGS) -DCC3D_PPM1
CC3D_PPM1_SRC = $(CC3D_SRC)
endif
TARGET_DIR = $(ROOT)/src/main/target/CC3D
endif
ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
OPBL=yes
endif
ifeq ($(OPBL),yes) ifeq ($(OPBL),yes)
ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
TARGET_FLAGS := -DOPBL $(TARGET_FLAGS) TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
ifeq ($(TARGET), $(filter $(TARGET),$(F405_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f405_opbl.ld
else ifeq ($(TARGET), $(filter $(TARGET),$(F411_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f411_opbl.ld
else ifeq ($(TARGET), $(filter $(TARGET),$(F3_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f303_$(FLASH_SIZE)k_opbl.ld
else ifeq ($(TARGET), $(filter $(TARGET),$(F1_TARGETS)))
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
endif
.DEFAULT_GOAL := binary .DEFAULT_GOAL := binary
else else
$(error OPBL specified with a unsupported target) .DEFAULT_GOAL := hex
endif
endif endif
INCLUDE_DIRS := $(INCLUDE_DIRS) \ INCLUDE_DIRS := $(INCLUDE_DIRS) \
@ -303,7 +360,7 @@ COMMON_SRC = \
build_config.c \ build_config.c \
debug.c \ debug.c \
version.c \ version.c \
$(TARGET_SRC) \ $(TARGET_DIR_SRC) \
main.c \ main.c \
mw.c \ mw.c \
scheduler/scheduler.c \ scheduler/scheduler.c \
@ -388,6 +445,15 @@ HIGHEND_SRC = \
telemetry/smartport.c \ telemetry/smartport.c \
telemetry/ltm.c telemetry/ltm.c
ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
VCP_SRC = \
vcpf4/stm32f4xx_it.c \
vcpf4/usb_bsp.c \
vcpf4/usbd_desc.c \
vcpf4/usbd_usr.c \
vcpf4/usbd_cdc_vcp.c \
drivers/serial_usb_vcp.c
else
VCP_SRC = \ VCP_SRC = \
vcp/hw_config.c \ vcp/hw_config.c \
vcp/stm32_it.c \ vcp/stm32_it.c \
@ -397,6 +463,7 @@ VCP_SRC = \
vcp/usb_prop.c \ vcp/usb_prop.c \
vcp/usb_pwr.c \ vcp/usb_pwr.c \
drivers/serial_usb_vcp.c drivers/serial_usb_vcp.c
endif
STM32F10x_COMMON_SRC = \ STM32F10x_COMMON_SRC = \
startup_stm32f10x_md_gcc.S \ startup_stm32f10x_md_gcc.S \
@ -425,237 +492,57 @@ STM32F30x_COMMON_SRC = \
drivers/system_stm32f30x.c \ drivers/system_stm32f30x.c \
drivers/timer_stm32f30x.c drivers/timer_stm32f30x.c
NAZE_SRC = \ STM32F4xx_COMMON_SRC = \
$(STM32F10x_COMMON_SRC) \ startup_stm32f40xx.s \
drivers/accgyro_adxl345.c \ target/system_stm32f4xx.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \ drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \ drivers/adc_stm32f4xx.c \
drivers/accgyro_mpu6050.c \ drivers/adc_stm32f4xx.c \
drivers/accgyro_mpu6500.c \ drivers/bus_i2c_stm32f10x.c \
drivers/accgyro_spi_mpu6500.c \ drivers/gpio_stm32f4xx.c \
drivers/barometer_bmp085.c \ drivers/inverter.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
io/flashfs.c \
hardware_revision.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
ALIENFLIGHTF1_SRC = $(NAZE_SRC)
EUSTM32F103RC_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
PORT103R_SRC = $(EUSTM32F103RC_SRC)
OLIMEXINO_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
CJMCU_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
hardware_revision.c \
blackbox/blackbox.c \
blackbox/blackbox_io.c \
$(COMMON_SRC)
CC3D_SRC = \
$(STM32F10x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
STM32F3DISCOVERY_COMMON_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_l3gd20.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
$(VCP_SRC)
STM32F3DISCOVERY_SRC = \
$(STM32F3DISCOVERY_COMMON_SRC) \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
CHEBUZZF3_SRC = \
$(STM32F3DISCOVERY_SRC) \
$(HIGHEND_SRC) \
$(COMMON_SRC)
COLIBRI_RACE_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
LUX_RACE_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/accgyro_mpu6500.c \
drivers/serial_usb_vcp.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
SPARKY_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/serial_usb_vcp.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
$(HIGHEND_SRC) \
$(COMMON_SRC) \
$(VCP_SRC)
ALIENFLIGHTF3_SRC = \
$(SPARKY_SRC)
RMDO_SRC = \
$(STM32F30x_COMMON_SRC) \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/serial_softserial.c \ drivers/serial_softserial.c \
drivers/sonar_hcsr04.c \ drivers/serial_uart_stm32f4xx.c \
drivers/sonar_srf10.c \ drivers/system_stm32f4xx.c \
io/flashfs.c \ drivers/timer_stm32f4xx.c \
$(HIGHEND_SRC) \ drivers/dma_stm32f4xx.c
$(COMMON_SRC)
SPRACINGF3_SRC = \ # check if target.mk supplied
$(STM32F30x_COMMON_SRC) \ ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
drivers/accgyro_mpu.c \ TARGET_SRC := $(STM32F4xx_COMMON_SRC) $(TARGET_SRC)
drivers/accgyro_mpu6050.c \ else ifeq ($(TARGET),$(filter $(TARGET),$(F3_TARGETS)))
drivers/barometer_bmp085.c \ TARGET_SRC := $(STM32F30x_COMMON_SRC) $(TARGET_SRC)
drivers/barometer_ms5611.c \ else ifeq ($(TARGET),$(filter $(TARGET),$(F1_TARGETS)))
drivers/barometer_bmp280.c \ TARGET_SRC := $(STM32F10x_COMMON_SRC) $(TARGET_SRC)
drivers/compass_ak8975.c \ endif
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
io/flashfs.c \
$(HIGHEND_SRC) \
$(COMMON_SRC)
MOTOLAB_SRC = \ ifneq ($(filter ONBOARDFLASH,$(FEATURES)),)
$(STM32F30x_COMMON_SRC) \ TARGET_SRC += \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/serial_usb_vcp.c \
drivers/flash_m25p16.c \ drivers/flash_m25p16.c \
io/flashfs.c \ io/flashfs.c
$(HIGHEND_SRC) \ endif
$(COMMON_SRC) \
$(VCP_SRC) ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS) $(F3_TARGETS)))
TARGET_SRC += $(HIGHEND_SRC)
else ifneq ($(filter HIGHEND,$(FEATURES)),)
TARGET_SRC += $(HIGHEND_SRC)
endif
TARGET_SRC += $(COMMON_SRC)
ifneq ($(filter SDCARD,$(FEATURES)),)
TARGET_SRC += \
drivers/sdcard.c \
drivers/sdcard_standard.c \
io/asyncfatfs/asyncfatfs.c \
io/asyncfatfs/fat_standard.c
endif
ifneq ($(filter VCP,$(FEATURES)),)
TARGET_SRC += $(VCP_SRC)
endif
# end target specific make file checks
# Search path and source files for the ST stdperiph library # Search path and source files for the ST stdperiph library
VPATH := $(VPATH):$(STDPERIPH_DIR)/src VPATH := $(VPATH):$(STDPERIPH_DIR)/src
@ -683,7 +570,7 @@ endif
DEBUG_FLAGS = -ggdb3 -DDEBUG DEBUG_FLAGS = -ggdb3 -DDEBUG
CFLAGS = $(ARCH_FLAGS) \ CFLAGS += $(ARCH_FLAGS) \
$(LTO_FLAGS) \ $(LTO_FLAGS) \
$(addprefix -D,$(OPTIONS)) \ $(addprefix -D,$(OPTIONS)) \
$(addprefix -I,$(INCLUDE_DIRS)) \ $(addprefix -I,$(INCLUDE_DIRS)) \
@ -732,107 +619,17 @@ CPPCHECK = cppcheck $(CSOURCES) --enable=all --platform=unix64 \
# #
# Things we will build # Things we will build
# #
ifeq ($(filter $(TARGET),$(VALID_TARGETS)),) TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).bin
$(error Target '$(TARGET)' is not valid, must be one of $(VALID_TARGETS)) TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(FC_VER)_$(TARGET).hex
endif
TARGET_BIN = $(BIN_DIR)/$(FORKNAME)_$(TARGET).bin
TARGET_HEX = $(BIN_DIR)/$(FORKNAME)_$(TARGET).hex
TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf TARGET_ELF = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).elf
TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC)))) TARGET_OBJS = $(addsuffix .o,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $($(TARGET)_SRC)))) TARGET_DEPS = $(addsuffix .d,$(addprefix $(OBJECT_DIR)/$(TARGET)/,$(basename $(TARGET_SRC))))
TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map TARGET_MAP = $(OBJECT_DIR)/$(FORKNAME)_$(TARGET).map
## Default make goal: CLEAN_ARTIFACTS := $(TARGET_BIN)
## hex : Make filetype hex only CLEAN_ARTIFACTS += $(TARGET_HEX)
.DEFAULT_GOAL := hex CLEAN_ARTIFACTS += $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
ifeq ($(OPBL),yes)
ifneq ($(filter $(TARGET),$(OPBL_TARGETS)),)
TARGET_FLAGS := -DOPBL $(TARGET_FLAGS)
LD_SCRIPT = $(LINKER_DIR)/stm32_flash_f103_$(FLASH_SIZE)k_opbl.ld
.DEFAULT_GOAL := binary
else
$(error OPBL specified with an unsupported target)
endif
endif
## Optional make goals:
## all : Make all filetypes, binary and hex
all: hex bin
## binary : Make binary filetype
## bin : Alias of 'binary'
## hex : Make hex filetype
bin: $(TARGET_BIN)
binary: $(TARGET_BIN)
hex: $(TARGET_HEX)
# rule to reinvoke make with TARGET= parameter
# rules that should be handled in toplevel Makefile, not dependent on TARGET
GLOBAL_GOALS = all_targets cppcheck test
.PHONY: $(VALID_TARGETS)
$(VALID_TARGETS):
$(MAKE) TARGET=$@ $(filter-out $(VALID_TARGETS) $(GLOBAL_GOALS), $(MAKECMDGOALS))
## all_targets : Make all TARGETs
.PHONY: all_targets
all_targets : $(VALID_TARGETS)
## clean : clean up all temporary / machine-generated files
clean:
rm -f $(TARGET_BIN) $(TARGET_HEX) $(TARGET_ELF) $(TARGET_OBJS) $(TARGET_MAP)
rm -rf $(OBJECT_DIR)/$(TARGET)
cd src/test && $(MAKE) clean || true
flash_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
echo -n 'R' >$(SERIAL_DEVICE)
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## flash : flash firmware (.hex) onto flight controller
flash: flash_$(TARGET)
st-flash_$(TARGET): $(TARGET_BIN)
st-flash --reset write $< 0x08000000
## st-flash : flash firmware (.bin) onto flight controller
st-flash: st-flash_$(TARGET)
unbrick_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## unbrick : unbrick flight controller
unbrick: unbrick_$(TARGET)
## cppcheck : run static analysis on C source code
cppcheck: $(CSOURCES)
$(CPPCHECK)
cppcheck-result.xml: $(CSOURCES)
$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
## help : print this help message and exit
help: Makefile
@echo ""
@echo "Makefile for the $(FORKNAME) firmware"
@echo ""
@echo "Usage:"
@echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
@echo ""
@echo "Valid TARGET values are: $(VALID_TARGETS)"
@echo ""
@sed -n 's/^## //p' $<
## test : run the cleanflight test suite
test:
cd src/test && $(MAKE) test || true
# rebuild everything when makefile changes
$(TARGET_OBJS) : Makefile
# List of buildable ELF files and their object dependencies. # List of buildable ELF files and their object dependencies.
# It would be nice to compute these lists, but that seems to be just beyond make. # It would be nice to compute these lists, but that seems to be just beyond make.
@ -844,7 +641,8 @@ $(TARGET_BIN): $(TARGET_ELF)
$(OBJCOPY) -O binary $< $@ $(OBJCOPY) -O binary $< $@
$(TARGET_ELF): $(TARGET_OBJS) $(TARGET_ELF): $(TARGET_OBJS)
$(CC) -o $@ $^ $(LDFLAGS) @echo LD $(notdir $@)
@$(CC) -o $@ $^ $(LDFLAGS)
$(SIZE) $(TARGET_ELF) $(SIZE) $(TARGET_ELF)
# Compile # Compile
@ -865,5 +663,91 @@ $(OBJECT_DIR)/$(TARGET)/%.o: %.S
@$(CC) -c -o $@ $(ASFLAGS) $< @$(CC) -c -o $@ $(ASFLAGS) $<
## all : Build all valid targets
all: $(VALID_TARGETS)
$(VALID_TARGETS):
echo "" && \
echo "Building $@" && \
$(MAKE) -j binary hex TARGET=$@ && \
echo "Building $@ succeeded."
## clean : clean up all temporary / machine-generated files
clean:
rm -f $(CLEAN_ARTIFACTS)
rm -rf $(OBJECT_DIR)/$(TARGET)
## clean_test : clean up all temporary / machine-generated files (tests)
clean_test:
cd src/test && $(MAKE) clean || true
## clean_all_targets : clean all valid target platforms
clean_all:
for clean_target in $(VALID_TARGETS); do \
echo "" && \
echo "Cleaning $$clean_target" && \
$(MAKE) -j TARGET=$$clean_target clean || \
break; \
echo "Cleaning $$clean_target succeeded."; \
done
flash_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
echo -n 'R' >$(SERIAL_DEVICE)
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## flash : flash firmware (.hex) onto flight controller
flash: flash_$(TARGET)
st-flash_$(TARGET): $(TARGET_BIN)
st-flash --reset write $< 0x08000000
## st-flash : flash firmware (.bin) onto flight controller
st-flash: st-flash_$(TARGET)
binary: $(TARGET_BIN)
hex: $(TARGET_HEX)
unbrick_$(TARGET): $(TARGET_HEX)
stty -F $(SERIAL_DEVICE) raw speed 115200 -crtscts cs8 -parenb -cstopb -ixon
stm32flash -w $(TARGET_HEX) -v -g 0x0 -b 115200 $(SERIAL_DEVICE)
## unbrick : unbrick flight controller
unbrick: unbrick_$(TARGET)
## cppcheck : run static analysis on C source code
cppcheck: $(CSOURCES)
$(CPPCHECK)
cppcheck-result.xml: $(CSOURCES)
$(CPPCHECK) --xml-version=2 2> cppcheck-result.xml
## help : print this help message and exit
help: Makefile
@echo ""
@echo "Makefile for the $(FORKNAME) firmware"
@echo ""
@echo "Usage:"
@echo " make [TARGET=<target>] [OPTIONS=\"<options>\"]"
@echo "Or:"
@echo " make <target> [OPTIONS=\"<options>\"]"
@echo ""
@echo "Valid TARGET values are: $(VALID_TARGETS)"
@echo ""
@sed -n 's/^## //p' $<
## targets : print a list of all valid target platforms (for consumption by scripts)
targets:
@echo "Valid targets: $(VALID_TARGETS)"
@echo "Target: $(TARGET)"
@echo "Base target: $(BASE_TARGET)"
## test : run the cleanflight test suite
test:
cd src/test && $(MAKE) test || true
# rebuild everything when makefile changes
$(TARGET_OBJS) : Makefile
# include auto-generated dependencies # include auto-generated dependencies
-include $(TARGET_DEPS) -include $(TARGET_DEPS)

1068
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73
src/main/drivers/sdcard.h Normal file
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@ -0,0 +1,73 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
typedef struct sdcardMetadata_t {
uint8_t manufacturerID;
uint16_t oemID;
char productName[5];
uint8_t productRevisionMajor;
uint8_t productRevisionMinor;
uint32_t productSerial;
uint16_t productionYear;
uint8_t productionMonth;
uint32_t numBlocks; /* Card capacity in 512-byte blocks*/
} sdcardMetadata_t;
typedef enum {
SDCARD_BLOCK_OPERATION_READ,
SDCARD_BLOCK_OPERATION_WRITE,
SDCARD_BLOCK_OPERATION_ERASE,
} sdcardBlockOperation_e;
typedef enum {
SDCARD_OPERATION_IN_PROGRESS,
SDCARD_OPERATION_BUSY,
SDCARD_OPERATION_SUCCESS,
SDCARD_OPERATION_FAILURE
} sdcardOperationStatus_e;
typedef void(*sdcard_operationCompleteCallback_c)(sdcardBlockOperation_e operation, uint32_t blockIndex, uint8_t *buffer, uint32_t callbackData);
typedef void(*sdcard_profilerCallback_c)(sdcardBlockOperation_e operation, uint32_t blockIndex, uint32_t duration);
void sdcard_init(bool useDMA);
bool sdcard_readBlock(uint32_t blockIndex, uint8_t *buffer, sdcard_operationCompleteCallback_c callback, uint32_t callbackData);
sdcardOperationStatus_e sdcard_beginWriteBlocks(uint32_t blockIndex, uint32_t blockCount);
sdcardOperationStatus_e sdcard_writeBlock(uint32_t blockIndex, uint8_t *buffer, sdcard_operationCompleteCallback_c callback, uint32_t callbackData);
void sdcardInsertionDetectDeinit(void);
void sdcardInsertionDetectInit(void);
bool sdcard_isInserted();
bool sdcard_isInitialized();
bool sdcard_isFunctional();
bool sdcard_poll();
const sdcardMetadata_t* sdcard_getMetadata();
void sdcard_setProfilerCallback(sdcard_profilerCallback_c callback);

35
src/main/drivers/sdcard_standard.c Normal file
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@ -0,0 +1,35 @@
#include <stdint.h>
#include "sdcard_standard.h"
#define MIN(a, b) ((a) < (b) ? (a) : (b))
/**
* Read a bitfield from an array of bits (the bit at index 0 being the most-significant bit of the first byte in
* the buffer).
*/
uint32_t readBitfield(uint8_t *buffer, unsigned bitIndex, unsigned bitLen)
{
uint32_t result = 0;
unsigned bitInByteOffset = bitIndex % 8;
uint8_t bufferByte;
buffer += bitIndex / 8;
// Align the bitfield to be read to the top of the buffer
bufferByte = *buffer << bitInByteOffset;
while (bitLen > 0) {
unsigned bitsThisLoop = MIN(8 - bitInByteOffset, bitLen);
result = (result << bitsThisLoop) | (bufferByte >> (8 - bitsThisLoop));
buffer++;
bufferByte = *buffer;
bitLen -= bitsThisLoop;
bitInByteOffset = 0;
}
return result;
}

240
src/main/drivers/sdcard_standard.h Normal file
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@ -0,0 +1,240 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
typedef struct sdcardCSD_t {
uint8_t data[16];
} sdcardCSD_t;
#define SDCARD_GET_CSD_FIELD(csd, version, fieldname) \
readBitfield(csd.data, SDCARD_CSD_V ## version ## _ ## fieldname ## _OFFSET, SDCARD_CSD_V ## version ## _ ## fieldname ## _LEN)
// For v1 and Standard Capacity cards
#define SDCARD_CSD_V1_CSD_STRUCTURE_VER_OFFSET 0
#define SDCARD_CSD_V1_CSD_STRUCTURE_VER_LEN 2
#define SDCARD_CSD_V1_TAAC_OFFSET 8
#define SDCARD_CSD_V1_TAAC_LEN 8
#define SDCARD_CSD_V1_NSAC_OFFSET 16
#define SDCARD_CSD_V1_NSAC_LEN 8
#define SDCARD_CSD_V1_TRAN_SPEED_OFFSET 24
#define SDCARD_CSD_V1_TRAN_SPEED_LEN 8
#define SDCARD_CSD_V1_CCC_OFFSET 32
#define SDCARD_CSD_V1_CCC_LEN 12
#define SDCARD_CSD_V1_READ_BLOCK_LEN_OFFSET 44
#define SDCARD_CSD_V1_READ_BLOCK_LEN_LEN 4
#define SDCARD_CSD_V1_READ_BLOCK_PARTIAL_ALLOWED_OFFSET 48
#define SDCARD_CSD_V1_READ_BLOCK_PARTIAL_ALLOWED_LEN 1
#define SDCARD_CSD_V1_WRITE_BLOCK_MISALIGN_OFFSET 49
#define SDCARD_CSD_V1_WRITE_BLOCK_MISALIGN_LEN 1
#define SDCARD_CSD_V1_READ_BLOCK_MISALIGN_OFFSET 50
#define SDCARD_CSD_V1_READ_BLOCK_MISALIGN_LEN 1
#define SDCARD_CSD_V1_DSR_IMPLEMENTED_OFFSET 51
#define SDCARD_CSD_V1_DSR_IMPLEMENTED_LEN 1
#define SDCARD_CSD_V1_CSIZE_OFFSET 54
#define SDCARD_CSD_V1_CSIZE_LEN 12
#define SDCARD_CSD_V1_VDD_READ_CURR_MIN_OFFSET 66
#define SDCARD_CSD_V1_VDD_READ_CURR_MIN_LEN 3
#define SDCARD_CSD_V1_VDD_READ_CURR_MAX_OFFSET 69
#define SDCARD_CSD_V1_VDD_READ_CURR_MAX_LEN 3
#define SDCARD_CSD_V1_VDD_WRITE_CURR_MIN_OFFSET 72
#define SDCARD_CSD_V1_VDD_WRITE_CURR_MIN_LEN 3
#define SDCARD_CSD_V1_VDD_WRITE_CURR_MAX_OFFSET 75
#define SDCARD_CSD_V1_VDD_WRITE_CURR_MAX_LEN 3
#define SDCARD_CSD_V1_CSIZE_MULT_OFFSET 78
#define SDCARD_CSD_V1_CSIZE_MULT_LEN 3
#define SDCARD_CSD_V1_ERASE_SINGLE_BLOCK_ALLOWED_OFFSET 81
#define SDCARD_CSD_V1_ERASE_SINGLE_BLOCK_ALLOWED_LEN 1
#define SDCARD_CSD_V1_SECTOR_SIZE_OFFSET 82
#define SDCARD_CSD_V1_SECTOR_SIZE_LEN 7
#define SDCARD_CSD_V1_WRITE_PROTECT_GROUP_SIZE_OFFSET 89
#define SDCARD_CSD_V1_WRITE_PROTECT_GROUP_SIZE_LEN 7
#define SDCARD_CSD_V1_WRITE_PROTECT_GROUP_ENABLE_OFFSET 96
#define SDCARD_CSD_V1_WRITE_PROTECT_GROUP_ENABLE_LEN 1
#define SDCARD_CSD_V1_R2W_FACTOR_OFFSET 99
#define SDCARD_CSD_V1_R2W_FACTOR_LEN 3
#define SDCARD_CSD_V1_WRITE_BLOCK_LEN_OFFSET 102
#define SDCARD_CSD_V1_WRITE_BLOCK_LEN_LEN 4
#define SDCARD_CSD_V1_WRITE_BLOCK_PARTIAL_ALLOWED_OFFSET 106
#define SDCARD_CSD_V1_WRITE_BLOCK_PARTIAL_ALLOWED_LEN 1
#define SDCARD_CSD_V1_FILE_FORMAT_GROUP_OFFSET 112
#define SDCARD_CSD_V1_FILE_FORMAT_GROUP_LEN 1
#define SDCARD_CSD_V1_COPY_OFFSET 113
#define SDCARD_CSD_V1_COPY_LEN 1
#define SDCARD_CSD_V1_PERMANENT_WRITE_PROTECT_OFFSET 114
#define SDCARD_CSD_V1_PERMANENT_WRITE_PROTECT_LEN 1
#define SDCARD_CSD_V1_TEMPORARY_WRITE_PROTECT_OFFSET 115
#define SDCARD_CSD_V1_TEMPORARY_WRITE_PROTECT_LEN 1
#define SDCARD_CSD_V1_FILE_FORMAT_OFFSET 116
#define SDCARD_CSD_V1_FILE_FORMAT_LEN 2
#define SDCARD_CSD_V1_CRC_OFFSET 120
#define SDCARD_CSD_V1_CRC_LEN 7
#define SDCARD_CSD_V1_TRAILER_OFFSET 127
#define SDCARD_CSD_V1_TRAILER_LEN 1
// For v2 High Capacity cards
#define SDCARD_CSD_V2_CSD_STRUCTURE_VER_OFFSET 0
#define SDCARD_CSD_V2_CSD_STRUCTURE_VER_LEN 2
#define SDCARD_CSD_V2_TAAC_OFFSET 8
#define SDCARD_CSD_V2_TAAC_LEN 8
#define SDCARD_CSD_V2_NSAC_OFFSET 16
#define SDCARD_CSD_V2_NSAC_LEN 8
#define SDCARD_CSD_V2_TRAN_SPEED_OFFSET 24
#define SDCARD_CSD_V2_TRAN_SPEED_LEN 8
#define SDCARD_CSD_V2_CCC_OFFSET 32
#define SDCARD_CSD_V2_CCC_LEN 12
#define SDCARD_CSD_V2_READ_BLOCK_LEN_OFFSET 44
#define SDCARD_CSD_V2_READ_BLOCK_LEN_LEN 4
#define SDCARD_CSD_V2_READ_BLOCK_PARTIAL_ALLOWED_OFFSET 48
#define SDCARD_CSD_V2_READ_BLOCK_PARTIAL_ALLOWED_LEN 1
#define SDCARD_CSD_V2_WRITE_BLOCK_MISALIGN_OFFSET 49
#define SDCARD_CSD_V2_WRITE_BLOCK_MISALIGN_LEN 1
#define SDCARD_CSD_V2_READ_BLOCK_MISALIGN_OFFSET 50
#define SDCARD_CSD_V2_READ_BLOCK_MISALIGN_LEN 1
#define SDCARD_CSD_V2_DSR_IMPLEMENTED_OFFSET 51
#define SDCARD_CSD_V2_DSR_IMPLEMENTED_LEN 1
#define SDCARD_CSD_V2_CSIZE_OFFSET 58
#define SDCARD_CSD_V2_CSIZE_LEN 22
#define SDCARD_CSD_V2_ERASE_SINGLE_BLOCK_ALLOWED_OFFSET 81
#define SDCARD_CSD_V2_ERASE_SINGLE_BLOCK_ALLOWED_LEN 1
#define SDCARD_CSD_V2_SECTOR_SIZE_OFFSET 82
#define SDCARD_CSD_V2_SECTOR_SIZE_LEN 7
#define SDCARD_CSD_V2_WRITE_PROTECT_GROUP_SIZE_OFFSET 89
#define SDCARD_CSD_V2_WRITE_PROTECT_GROUP_SIZE_LEN 7
#define SDCARD_CSD_V2_WRITE_PROTECT_GROUP_ENABLE_OFFSET 96
#define SDCARD_CSD_V2_WRITE_PROTECT_GROUP_ENABLE_LEN 1
#define SDCARD_CSD_V2_R2W_FACTOR_OFFSET 99
#define SDCARD_CSD_V2_R2W_FACTOR_LEN 3
#define SDCARD_CSD_V2_WRITE_BLOCK_LEN_OFFSET 102
#define SDCARD_CSD_V2_WRITE_BLOCK_LEN_LEN 4
#define SDCARD_CSD_V2_WRITE_BLOCK_PARTIAL_ALLOWED_OFFSET 106
#define SDCARD_CSD_V2_WRITE_BLOCK_PARTIAL_ALLOWED_LEN 1
#define SDCARD_CSD_V2_FILE_FORMAT_GROUP_OFFSET 112
#define SDCARD_CSD_V2_FILE_FORMAT_GROUP_LEN 1
#define SDCARD_CSD_V2_COPY_OFFSET 113
#define SDCARD_CSD_V2_COPY_LEN 1
#define SDCARD_CSD_V2_PERMANENT_WRITE_PROTECT_OFFSET 114
#define SDCARD_CSD_V2_PERMANENT_WRITE_PROTECT_LEN 1
#define SDCARD_CSD_V2_TEMPORARY_WRITE_PROTECT_OFFSET 115
#define SDCARD_CSD_V2_TEMPORARY_WRITE_PROTECT_LEN 1
#define SDCARD_CSD_V2_FILE_FORMAT_OFFSET 116
#define SDCARD_CSD_V2_FILE_FORMAT_LEN 2
#define SDCARD_CSD_V2_CRC_OFFSET 120
#define SDCARD_CSD_V2_CRC_LEN 7
#define SDCARD_CSD_V2_TRAILER_OFFSET 127
#define SDCARD_CSD_V2_TRAILER_LEN 1
#define SDCARD_SINGLE_BLOCK_READ_START_TOKEN 0xFE
#define SDCARD_SINGLE_BLOCK_WRITE_START_TOKEN 0xFE
#define SDCARD_MULTIPLE_BLOCK_WRITE_START_TOKEN 0xFC
#define SDCARD_MULTIPLE_BLOCK_WRITE_STOP_TOKEN 0xFD
#define SDCARD_BLOCK_SIZE 512
// Idle bit is set to 1 only when idle during intialization phase:
#define SDCARD_R1_STATUS_BIT_IDLE 1
#define SDCARD_R1_STATUS_BIT_ERASE_RESET 2
#define SDCARD_R1_STATUS_BIT_ILLEGAL_COMMAND 4
#define SDCARD_R1_STATUS_BIT_COM_CRC_ERROR 8
#define SDCARD_R1_STATUS_BIT_ERASE_SEQUENCE_ERROR 16
#define SDCARD_R1_STATUS_BIT_ADDRESS_ERROR 32
#define SDCARD_R1_STATUS_BIT_PARAMETER_ERROR 64
#define SDCARD_CSD_STRUCTURE_VERSION_1 0
#define SDCARD_CSD_STRUCTURE_VERSION_2 1
#define SDCARD_VOLTAGE_ACCEPTED_2_7_to_3_6 0x01
#define SDCARD_VOLTAGE_ACCEPTED_LVR 0x02
#define SDCARD_COMMAND_GO_IDLE_STATE 0
#define SDCARD_COMMAND_SEND_OP_COND 1
#define SDCARD_COMMAND_SEND_IF_COND 8
#define SDCARD_COMMAND_SEND_CSD 9
#define SDCARD_COMMAND_SEND_CID 10
#define SDCARD_COMMAND_STOP_TRANSMISSION 12
#define SDCARD_COMMAND_SEND_STATUS 13
#define SDCARD_COMMAND_SET_BLOCKLEN 16
#define SDCARD_COMMAND_READ_SINGLE_BLOCK 17
#define SDCARD_COMMAND_READ_MULTIPLE_BLOCK 18
#define SDCARD_COMMAND_WRITE_BLOCK 24
#define SDCARD_COMMAND_WRITE_MULTIPLE_BLOCK 25
#define SDCARD_COMMAND_APP_CMD 55
#define SDCARD_COMMAND_READ_OCR 58
#define SDCARD_ACOMMAND_SEND_OP_COND 41
#define SDCARD_ACOMMAND_SET_WR_BLOCK_ERASE_COUNT 23
// These are worst-case timeouts defined for High Speed cards
#define SDCARD_TIMEOUT_READ_MSEC 100
#define SDCARD_TIMEOUT_WRITE_MSEC 250
uint32_t readBitfield(uint8_t *buffer, unsigned bitIndex, unsigned bitLen);

3660
src/main/io/asyncfatfs/asyncfatfs.c Normal file
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92
src/main/io/asyncfatfs/asyncfatfs.h Normal file
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/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#include "fat_standard.h"
typedef struct afatfsFile_t *afatfsFilePtr_t;
typedef enum {
AFATFS_FILESYSTEM_STATE_UNKNOWN,
AFATFS_FILESYSTEM_STATE_FATAL,
AFATFS_FILESYSTEM_STATE_INITIALIZATION,
AFATFS_FILESYSTEM_STATE_READY,
} afatfsFilesystemState_e;
typedef enum {
AFATFS_OPERATION_IN_PROGRESS,
AFATFS_OPERATION_SUCCESS,
AFATFS_OPERATION_FAILURE,
} afatfsOperationStatus_e;
typedef enum {
AFATFS_ERROR_NONE = 0,
AFATFS_ERROR_GENERIC = 1,
AFATFS_ERROR_BAD_MBR = 2,
AFATFS_ERROR_BAD_FILESYSTEM_HEADER = 3
} afatfsError_e;
typedef struct afatfsDirEntryPointer_t {
uint32_t sectorNumberPhysical;
int16_t entryIndex;
} afatfsDirEntryPointer_t;
typedef afatfsDirEntryPointer_t afatfsFinder_t;
typedef enum {
AFATFS_SEEK_SET,
AFATFS_SEEK_CUR,
AFATFS_SEEK_END,
} afatfsSeek_e;
typedef void (*afatfsFileCallback_t)(afatfsFilePtr_t file);
typedef void (*afatfsCallback_t)();
bool afatfs_fopen(const char *filename, const char *mode, afatfsFileCallback_t complete);
bool afatfs_ftruncate(afatfsFilePtr_t file, afatfsFileCallback_t callback);
bool afatfs_fclose(afatfsFilePtr_t file, afatfsCallback_t callback);
bool afatfs_funlink(afatfsFilePtr_t file, afatfsCallback_t callback);
bool afatfs_feof(afatfsFilePtr_t file);
void afatfs_fputc(afatfsFilePtr_t file, uint8_t c);
uint32_t afatfs_fwrite(afatfsFilePtr_t file, const uint8_t *buffer, uint32_t len);
uint32_t afatfs_fread(afatfsFilePtr_t file, uint8_t *buffer, uint32_t len);
afatfsOperationStatus_e afatfs_fseek(afatfsFilePtr_t file, int32_t offset, afatfsSeek_e whence);
bool afatfs_ftell(afatfsFilePtr_t file, uint32_t *position);
bool afatfs_mkdir(const char *filename, afatfsFileCallback_t complete);
bool afatfs_chdir(afatfsFilePtr_t dirHandle);
void afatfs_findFirst(afatfsFilePtr_t directory, afatfsFinder_t *finder);
afatfsOperationStatus_e afatfs_findNext(afatfsFilePtr_t directory, afatfsFinder_t *finder, fatDirectoryEntry_t **dirEntry);
void afatfs_findLast(afatfsFilePtr_t directory);
bool afatfs_flush();
void afatfs_init();
bool afatfs_destroy(bool dirty);
void afatfs_poll();
uint32_t afatfs_getFreeBufferSpace();
uint32_t afatfs_getContiguousFreeSpace();
bool afatfs_isFull();
afatfsFilesystemState_e afatfs_getFilesystemState();
afatfsError_e afatfs_getLastError();

89
src/main/io/asyncfatfs/fat_standard.c Normal file
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@ -0,0 +1,89 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include <ctype.h>
#include "fat_standard.h"
bool fat16_isEndOfChainMarker(uint16_t clusterNumber)
{
return clusterNumber >= 0xFFF8;
}
// Pass the cluster number after fat32_decodeClusterNumber().
bool fat32_isEndOfChainMarker(uint32_t clusterNumber)
{
return clusterNumber >= 0x0FFFFFF8;
}
/**
* FAT32 cluster numbers are really only 28 bits, and the top 4 bits must be left alone and not treated as part of the
* cluster number (so various FAT drivers can use those bits for their own purposes, or they can be used in later
* extensions)
*/
uint32_t fat32_decodeClusterNumber(uint32_t clusterNumber)
{
return clusterNumber & 0x0FFFFFFF;
}
// fat32 needs fat32_decodeClusterNumber() applied first.
bool fat_isFreeSpace(uint32_t clusterNumber)
{
return clusterNumber == 0;
}
bool fat_isDirectoryEntryTerminator(fatDirectoryEntry_t *entry)
{
return entry->filename[0] == 0x00;
}
bool fat_isDirectoryEntryEmpty(fatDirectoryEntry_t *entry)
{
return (unsigned char) entry->filename[0] == FAT_DELETED_FILE_MARKER;
}
/**
* Convert the given "prefix.ext" style filename to the FAT format to be stored on disk.
*
* fatFilename must point to a buffer which is FAT_FILENAME_LENGTH bytes long. The buffer is not null-terminated.
*/
void fat_convertFilenameToFATStyle(const char *filename, uint8_t *fatFilename)
{
for (int i = 0; i < 8; i++) {
if (*filename == '\0' || *filename == '.') {
*fatFilename = ' ';
} else {
*fatFilename = toupper((unsigned char)*filename);
filename++;
}
fatFilename++;
}
if (*filename == '.') {
filename++;
}
for (int i = 0; i < 3; i++) {
if (*filename == '\0') {
*fatFilename = ' ';
} else {
*fatFilename = toupper((unsigned char)*filename);
filename++;
}
fatFilename++;
}
}

140
src/main/io/asyncfatfs/fat_standard.h Normal file
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@ -0,0 +1,140 @@
/*
* This file is part of Cleanflight.
*
* Cleanflight is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#pragma once
#include <stdint.h>
#include <stdbool.h>
#define MBR_PARTITION_TYPE_FAT16 0x06
#define MBR_PARTITION_TYPE_FAT32 0x0B
#define MBR_PARTITION_TYPE_FAT32_LBA 0x0C
#define MBR_PARTITION_TYPE_FAT16_LBA 0x0E
// Signature bytes found at index 510 and 511 in the volume ID sector
#define FAT_VOLUME_ID_SIGNATURE_1 0x55
#define FAT_VOLUME_ID_SIGNATURE_2 0xAA
#define FAT_DIRECTORY_ENTRY_SIZE 32
#define FAT_SMALLEST_LEGAL_CLUSTER_NUMBER 2
#define FAT_MAXIMUM_FILESIZE 0xFFFFFFFF
#define FAT12_MAX_CLUSTERS 4084
#define FAT16_MAX_CLUSTERS 65524
#define FAT_FILE_ATTRIBUTE_READ_ONLY 0x01
#define FAT_FILE_ATTRIBUTE_HIDDEN 0x02
#define FAT_FILE_ATTRIBUTE_SYSTEM 0x04
#define FAT_FILE_ATTRIBUTE_VOLUME_ID 0x08
#define FAT_FILE_ATTRIBUTE_DIRECTORY 0x10
#define FAT_FILE_ATTRIBUTE_ARCHIVE 0x20
#define FAT_FILENAME_LENGTH 11
#define FAT_DELETED_FILE_MARKER 0xE5
#define FAT_MAKE_DATE(year, month, day) (day | (month << 5) | ((year - 1980) << 9))
#define FAT_MAKE_TIME(hour, minute, second) ((second / 2) | (minute << 5) | (hour << 11))
typedef enum {
FAT_FILESYSTEM_TYPE_INVALID,
FAT_FILESYSTEM_TYPE_FAT12,
FAT_FILESYSTEM_TYPE_FAT16,
FAT_FILESYSTEM_TYPE_FAT32,
} fatFilesystemType_e;
typedef struct mbrPartitionEntry_t {
uint8_t bootFlag;
uint8_t chsBegin[3];
uint8_t type;
uint8_t chsEnd[3];
uint32_t lbaBegin;
uint32_t numSectors;
} __attribute__((packed)) mbrPartitionEntry_t;
typedef struct fat16Descriptor_t {
uint8_t driveNumber;
uint8_t reserved1;
uint8_t bootSignature;
uint32_t volumeID;
char volumeLabel[11];
char fileSystemType[8];
} __attribute__((packed)) fat16Descriptor_t;
typedef struct fat32Descriptor_t {
uint32_t FATSize32;
uint16_t extFlags;
uint16_t fsVer;
uint32_t rootCluster;
uint16_t fsInfo;
uint16_t backupBootSector;
uint8_t reserved[12];
uint8_t driveNumber;
uint8_t reserved1;
uint8_t bootSignature;
uint32_t volumeID;
char volumeLabel[11];
char fileSystemType[8];
} __attribute__((packed)) fat32Descriptor_t;
typedef struct fatVolumeID_t {
uint8_t jmpBoot[3];
char oemName[8];
uint16_t bytesPerSector;
uint8_t sectorsPerCluster;
uint16_t reservedSectorCount;
uint8_t numFATs;
uint16_t rootEntryCount;
uint16_t totalSectors16;
uint8_t media;
uint16_t FATSize16;
uint16_t sectorsPerTrack;
uint16_t numHeads;
uint32_t hiddenSectors;
uint32_t totalSectors32;
union {
fat16Descriptor_t fat16;
fat32Descriptor_t fat32;
} fatDescriptor;
} __attribute__((packed)) fatVolumeID_t;
typedef struct fatDirectoryEntry_t {
char filename[FAT_FILENAME_LENGTH];
uint8_t attrib;
uint8_t ntReserved;
uint8_t creationTimeTenths;
uint16_t creationTime;
uint16_t creationDate;
uint16_t lastAccessDate;
uint16_t firstClusterHigh;
uint16_t lastWriteTime;
uint16_t lastWriteDate;
uint16_t firstClusterLow;
uint32_t fileSize;
} __attribute__((packed)) fatDirectoryEntry_t;
uint32_t fat32_decodeClusterNumber(uint32_t clusterNumber);
bool fat32_isEndOfChainMarker(uint32_t clusterNumber);
bool fat16_isEndOfChainMarker(uint16_t clusterNumber);
bool fat_isFreeSpace(uint32_t clusterNumber);
bool fat_isDirectoryEntryTerminator(fatDirectoryEntry_t *entry);
bool fat_isDirectoryEntryEmpty(fatDirectoryEntry_t *entry);
void fat_convertFilenameToFATStyle(const char *filename, uint8_t *fatFilename);

18
src/main/target/ALIENFLIGHTF3/target.h
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@ -99,6 +99,24 @@
#define I2C2_SDA_PIN_SOURCE GPIO_PinSource10 #define I2C2_SDA_PIN_SOURCE GPIO_PinSource10
#define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA #define I2C2_SDA_CLK_SOURCE RCC_AHBPeriph_GPIOA
// SPI3
// PA15 38 SPI3_NSS
// PB3 39 SPI3_SCK
// PB4 40 SPI3_MISO
// PB5 41 SPI3_MOSI
#define USE_SPI
#define USE_SPI_DEVICE_3
#define M25P16_CS_GPIO GPIOA
#define M25P16_CS_PIN GPIO_Pin_15
#define M25P16_SPI_INSTANCE SPI3
#define MPU6500_CS_GPIO_CLK_PERIPHERAL RCC_AHBPeriph_GPIOA
#define MPU6500_CS_GPIO GPIOA
#define MPU6500_CS_PIN GPIO_Pin_15
#define MPU6500_SPI_INSTANCE SPI3
#define USE_ADC #define USE_ADC
#define ADC_INSTANCE ADC2 #define ADC_INSTANCE ADC2

16
src/main/target/ALIENFLIGHTF3/target.mk Normal file
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@ -0,0 +1,16 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/serial_usb_vcp.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

0
src/main/target/CC3D/CC3D_OPBL.mk Normal file
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0
src/main/target/CC3D/CC3D_PPM1.mk Normal file
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19
src/main/target/CC3D/target.mk Normal file
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@ -0,0 +1,19 @@
F1_TARGETS += $(TARGET)
FEATURES = ONBOARDFLASH HIGHEND VCP
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
io/flashfs.c

20
src/main/target/CHEBUZZF3/target.mk Normal file
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@ -0,0 +1,20 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP SDCARD
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/barometer_ms5611.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c

11
src/main/target/CJMCU/target.mk Normal file
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@ -0,0 +1,11 @@
F1_TARGETS += $(TARGET)
FLASH_SIZE = 64
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/compass_hmc5883l.c \
hardware_revision.c \
blackbox/blackbox.c \
blackbox/blackbox_io.c

4
src/main/target/COLIBRI_RACE/target.h
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@ -45,6 +45,10 @@
#define MPU6500_CS_PIN GPIO_Pin_4 #define MPU6500_CS_PIN GPIO_Pin_4
#define MPU6500_SPI_INSTANCE SPI1 #define MPU6500_SPI_INSTANCE SPI1
#define MPU6000_CS_GPIO GPIOA
#define MPU6000_CS_PIN GPIO_Pin_4
#define MPU6000_SPI_INSTANCE SPI1
#define USE_SPI #define USE_SPI
#define USE_SPI_DEVICE_1 #define USE_SPI_DEVICE_1

15
src/main/target/COLIBRI_RACE/target.mk Normal file
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@ -0,0 +1,15 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c

27
src/main/target/EUSTM32F103RC/target.mk Normal file
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@ -0,0 +1,27 @@
F1_TARGETS += $(TARGET)
FEATURES = ONBOARDFLASH HIGHEND
DEVICE_FLAGS = -DSTM32F10X_HD
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

11
src/main/target/LUX_RACE/target.mk Normal file
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@ -0,0 +1,11 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_usb_vcp.c \

4
src/main/target/MOTOLAB/target.h
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@ -106,6 +106,10 @@
#define M25P16_CS_PIN GPIO_Pin_12 #define M25P16_CS_PIN GPIO_Pin_12
#define M25P16_SPI_INSTANCE SPI2 #define M25P16_SPI_INSTANCE SPI2
#define MPU6000_CS_GPIO GPIOB
#define MPU6000_CS_PIN GPIO_Pin_12
#define MPU6000_SPI_INSTANCE SPI2
//#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG) //#define SENSORS_SET (SENSOR_ACC | SENSOR_BARO | SENSOR_GPS | SENSOR_MAG)
#define SENSORS_SET (SENSOR_ACC) #define SENSORS_SET (SENSOR_ACC)

15
src/main/target/MOTOLAB/target.mk Normal file
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@ -0,0 +1,15 @@
F3_TARGETS += $(TARGET)
FEATURES = VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c

0
src/main/target/NAZE/ALIENFLIGHTF1.mk Normal file
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27
src/main/target/NAZE/target.mk Normal file
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@ -0,0 +1,27 @@
F1_TARGETS += $(TARGET)
FEATURES = ONBOARDFLASH HIGHEND
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_mpu6500.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c \
io/flashfs.c \
hardware_revision.c

16
src/main/target/OLIMEXINO/target.mk Normal file
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F1_TARGETS += $(TARGET)
FEATURES = HIGHEND
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

27
src/main/target/PORT103R/target.mk Normal file
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F1_TARGETS += $(TARGET)
FEATURES = ONBOARDFLASH HIGHEND
DEVICE_FLAGS = -DSTM32F10X_HD
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3g4200d.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_spi_mpu6000.c \
drivers/accgyro_spi_mpu6500.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_mag3110.c \
drivers/compass_hmc5883l.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f10x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

20
src/main/target/RMDO/target.mk Normal file
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F3_TARGETS += $(TARGET)
FEATURES = VCP ONBOARDFLASH
TARGET_FLAGS = -DSPRACINGF3
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/flash_m25p16.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

17
src/main/target/SPARKY/target.mk Normal file
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F3_TARGETS += $(TARGET)
FEATURES = VCP
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

18
src/main/target/SPRACINGF3/target.mk Normal file
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F3_TARGETS += $(TARGET)
FEATURES = VCP ONBOARDFLASH
TARGET_SRC = \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu6050.c \
drivers/barometer_bmp085.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c \
drivers/light_ws2811strip_stm32f30x.c \
drivers/serial_softserial.c \
drivers/sonar_hcsr04.c \
drivers/sonar_srf10.c

20
src/main/target/STM32F3DISCOVERY/target.mk Normal file
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F3_TARGETS += $(TARGET)
FEATURES = VCP SDCARD
TARGET_SRC = \
drivers/accgyro_adxl345.c \
drivers/accgyro_bma280.c \
drivers/accgyro_l3gd20.c \
drivers/accgyro_lsm303dlhc.c \
drivers/accgyro_mma845x.c \
drivers/accgyro_mpu.c \
drivers/accgyro_mpu3050.c \
drivers/accgyro_mpu6050.c \
drivers/accgyro_l3g4200d.c \
drivers/barometer_bmp280.c \
drivers/barometer_ms5611.c \
drivers/compass_ak8975.c \
drivers/compass_hmc5883l.c \
drivers/compass_mag3110.c \
drivers/light_ws2811strip.c