Merged in LP626-fix-atlassian-build-pipeline (pull request #546)

LP-626 fix atlassian build pipeline -- update ARM toolchain to GCC-10.3

Approved-by: Vladimir Zidar

bitbucket-pipelines.yml

@@ -1,11 +1,12 @@
 pipelines:
   default:
     - step:
+        image: atlassian/default-image:3
+        runs-on: self.hosted
         script:
-          - add-apt-repository ppa:librepilot/tools -y
           - apt-get update -q
-          - apt-get install -y libc6-i386 libudev-dev libusb-1.0-0-dev libsdl1.2-dev python libopenscenegraph-dev libosgearth-dev qt56-meta-minimal qt56svg qt56script qt56serialport qt56multimedia qt56translations qt56tools
+          - DEBIAN_FRONTEND=noninteractive apt-get install -y build-essential qtbase5-dev git curl libc6-i386 python2 python2.7-dev libqt5svg5-dev qt5-qmltooling-plugins libqt5webview5-dev qtscript5-dev libqt5serialport5-dev qtmultimedia5-dev libusb-1.0-0-dev libudev-dev pkg-config libsdl-dev libosgearth-dev qttools5-dev-tools
           - make build_sdk_install
-          - make all_flight
+          - make all_flight --jobs=6
           - make fw_resource
-          - make gcs
+          - make gcs --jobs=6

flight/libraries/alarms.c

@@ -283,7 +283,7 @@ SystemAlarmsAlarmOptions AlarmsGetHighestSeverity()
 }
 
 
-static const char *const systemalarms_severity_names[] = {
+__attribute__((unused)) static const char *const systemalarms_severity_names[] = {
     [SYSTEMALARMS_ALARM_UNINITIALISED] = "UNINITIALISED",
     [SYSTEMALARMS_ALARM_OK]       = "OK",
     [SYSTEMALARMS_ALARM_WARNING]  = "WARNING",

flight/libraries/sanitycheck.c

@@ -148,6 +148,7 @@ int32_t configuration_check()
         {
             ADDSEVERITY(!gps_assisted);
         }
+        // fall through
         case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_POSITIONHOLD:
         case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_VELOCITYROAM:
         case FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_LAND:
@@ -195,11 +196,11 @@ int32_t configuration_check()
     ManualControlSettingsChannelMaxGet(&channelMax);
     switch (thrustType) {
     case SYSTEMSETTINGS_THRUSTCONTROL_THROTTLE:
-        ADDSEVERITY(fabsf(channelMax.Throttle - channelMin.Throttle) > 300.0f);
+        ADDSEVERITY(fabsf((float)(channelMax.Throttle - channelMin.Throttle)) > 300.0f);
         ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
         break;
     case SYSTEMSETTINGS_THRUSTCONTROL_COLLECTIVE:
-        ADDSEVERITY(fabsf(channelMax.Collective - channelMin.Collective) > 300.0f);
+        ADDSEVERITY(fabsf((float)(channelMax.Collective - channelMin.Collective)) > 300.0f);
         ADDEXTENDEDALARMSTATUS(SYSTEMALARMS_EXTENDEDALARMSTATUS_BADTHROTTLEORCOLLECTIVEINPUTRANGE, 0);
         break;
     default:

flight/make/common-defs.mk

@@ -128,7 +128,7 @@ CFLAGS += -fomit-frame-pointer
 CFLAGS += -Wall -Wextra
 CFLAGS += -Wfloat-equal -Wdouble-promotion
 CFLAGS += -Wshadow
-CFLAGS += -Werror
+CFLAGS += -Werror -Wno-address-of-packed-member
 CFLAGS += $(patsubst %,-I%,$(EXTRAINCDIRS)) -I.
 CFLAGS += -Wa,-adhlns=$(addprefix $(OUTDIR)/, $(notdir $(addsuffix .lst, $(basename $<))))
 

flight/modules/AutoTune/autotune.c

@@ -707,14 +707,14 @@ static void InitSystemIdent(bool loadDefaults)
         systemIdentSettings.Tau = u.systemIdentState.Tau;
         systemIdentSettings.GyroReadTimeAverage = u.systemIdentState.GyroReadTimeAverage;
         memcpy(&systemIdentSettings.Beta, &u.systemIdentState.Beta, sizeof(SystemIdentSettingsBetaData));
-        systemIdentSettings.Complete = u.systemIdentState.Complete;
+        systemIdentSettings.Complete = (SystemIdentSettingsCompleteOptions)u.systemIdentState.Complete;
     } else {
         // Tau, GyroReadTimeAverage, Beta, and the Complete flag get stored values
         // so the user can fly another battery to select and test PIDs with the slider/knob
         u.systemIdentState.Tau = systemIdentSettings.Tau;
         u.systemIdentState.GyroReadTimeAverage = systemIdentSettings.GyroReadTimeAverage;
         memcpy(&u.systemIdentState.Beta, &systemIdentSettings.Beta, sizeof(SystemIdentStateBetaData));
-        u.systemIdentState.Complete = systemIdentSettings.Complete;
+        u.systemIdentState.Complete = (SystemIdentStateCompleteOptions)systemIdentSettings.Complete;
     }
     SystemIdentStateSet(&u.systemIdentState);
 

flight/modules/GPS/ubx_autoconfig.c

@@ -446,7 +446,7 @@ static void configure(uint16_t *bytes_to_send)
             // Skip and fall through to next step
             status->lastConfigSent++;
         }
-
+    // fall through
     case LAST_CONFIG_SENT_START + 3:
         if (status->currentSettings.enableGLONASS || status->currentSettings.enableGPS) {
             config_gnss(bytes_to_send);
@@ -456,7 +456,7 @@ static void configure(uint16_t *bytes_to_send)
             status->lastConfigSent++;
         }
     // in the else case we must fall through because we must send something each time because successful send is tested externally
-
+    // fall through
     case LAST_CONFIG_SENT_START + 4:
         config_sbas(bytes_to_send);
         break;
@@ -628,6 +628,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
     // we can do that if we choose because we haven't sent any data in this state
     // break;
 
+    // fall through
     case INIT_STEP_SEND_MON_VER:
         build_request((UBXSentPacket_t *)&status->working_packet, UBX_CLASS_MON, UBX_ID_MON_VER, bytes_to_send);
         // keep timeouts running properly, we (will have) just sent a packet that generates a reply
@@ -649,6 +650,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
     // break;
 
     // if here, we have just verified that the baud rates are in sync (again)
+    // fall through
     case INIT_STEP_RESET_GPS:
         // make sure we don't change the baud rate too soon and garble the packet being sent
         // even after pios says the buffer is empty, the serial port buffer still has data in it
@@ -716,6 +718,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
     // break;
 
     // Revo and GPS are both at 9600 baud
+    // fall through
     case INIT_STEP_GPS_BAUD:
         // https://www.u-blox.com/images/downloads/Product_Docs/u-bloxM8_ReceiverDescriptionProtocolSpec_%28UBX-13003221%29_Public.pdf
         // It is possible to change the current communications port settings using a UBX-CFG-CFG message. This could
@@ -847,6 +850,7 @@ void gps_ubx_autoconfig_run(char * *buffer, uint16_t *bytes_to_send)
     // break;
 
     // the autoconfig has completed normally
+    // fall through
     case INIT_STEP_PRE_DONE:
 #if defined(AUTOBAUD_CONFIGURE_STORE_AND_DISABLE)
         // determine if we need to disable autoconfig via the autoconfig==AUTOBAUDCONFIGSTOREANDDISABLE setting

flight/modules/ManualControl/manualcontrol.c

@@ -597,6 +597,7 @@ void HandleBatteryFailsafe(uint8_t *position, FlightModeSettingsData *modeSettin
             *position = modeSettings->BatteryFailsafeSwitchPositions.Critical;
             break;
         }
+    // fall through
     case BATTERYFAILSAFE_WARNING:
         if (modeSettings->BatteryFailsafeSwitchPositions.Warning != -1) {
             *position = modeSettings->BatteryFailsafeSwitchPositions.Warning;
@@ -646,37 +647,38 @@ static uint8_t isAssistedFlightMode(uint8_t position, uint8_t flightMode, Flight
     case STABILIZATIONSETTINGS_FLIGHTMODEASSISTMAP_GPSASSIST:
     {
         // default to cruise control.
-        FlightModeSettingsStabilization1SettingsOptions thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
+        typedef FlightModeSettingsStabilization1SettingsOptions _tm;
+        _tm thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
 
         switch (flightMode) {
         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED1:
-            thrustMode = modeSettings->Stabilization1Settings.Thrust;
+            thrustMode = (_tm)modeSettings->Stabilization1Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED2:
-            thrustMode = modeSettings->Stabilization2Settings.Thrust;
+            thrustMode = (_tm)modeSettings->Stabilization2Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED3:
-            thrustMode = modeSettings->Stabilization3Settings.Thrust;
+            thrustMode = (_tm)modeSettings->Stabilization3Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED4:
-            thrustMode = modeSettings->Stabilization4Settings.Thrust;
+            thrustMode = (_tm)modeSettings->Stabilization4Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED5:
-            thrustMode = modeSettings->Stabilization5Settings.Thrust;
+            thrustMode = (_tm)modeSettings->Stabilization5Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_STABILIZED6:
-            thrustMode = modeSettings->Stabilization6Settings.Thrust;
+            thrustMode = (_tm)modeSettings->Stabilization6Settings.Thrust;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_POSITIONHOLD:
         case FLIGHTSTATUS_FLIGHTMODE_VELOCITYROAM:
             // we hard code the "GPS Assisted" PostionHold/Roam to use alt-vario which
             // is a more appropriate throttle mode.  "GPSAssist" adds braking
             // and a better throttle management to the standard Position Hold.
-            thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
+            thrustMode = (_tm)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
             break;
         case FLIGHTSTATUS_FLIGHTMODE_LAND:
         case FLIGHTSTATUS_FLIGHTMODE_AUTOTAKEOFF:
-            thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
+            thrustMode = (_tm)FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_CRUISECONTROL;
             break;
 
             // other modes will use cruisecontrol as default

flight/modules/Osd/osdgen/osdgen.c

@@ -805,7 +805,7 @@ void write_circle_filled(uint8_t *buff, unsigned int cx, unsigned int cy, unsign
 void write_line(uint8_t *buff, unsigned int x0, unsigned int y0, unsigned int x1, unsigned int y1, int mode)
 {
     // Based on http://en.wikipedia.org/wiki/Bresenham%27s_line_algorithm
-    unsigned int steep = abs(y1 - y0) > abs(x1 - x0);
+    unsigned int steep = abs((int)(y1 - y0)) > abs((int)(x1 - x0));
 
     if (steep) {
         SWAP(x0, y0);
@@ -816,7 +816,7 @@ void write_line(uint8_t *buff, unsigned int x0, unsigned int y0, unsigned int x1
         SWAP(y0, y1);
     }
     int deltax     = x1 - x0;
-    unsigned int deltay = abs(y1 - y0);
+    unsigned int deltay = abs((int)(y1 - y0));
     int error      = deltax / 2;
     int ystep;
     unsigned int y = y0;
@@ -884,7 +884,7 @@ void write_line_outlined(unsigned int x0, unsigned int y0, unsigned int x1, unsi
         omode = 1;
         imode = 0;
     }
-    int steep = abs(y1 - y0) > abs(x1 - x0);
+    int steep = abs((int)(y1 - y0)) > abs((int)(x1 - x0));
     if (steep) {
         SWAP(x0, y0);
         SWAP(x1, y1);
@@ -894,7 +894,7 @@ void write_line_outlined(unsigned int x0, unsigned int y0, unsigned int x1, unsi
         SWAP(y0, y1);
     }
     int deltax     = x1 - x0;
-    unsigned int deltay = abs(y1 - y0);
+    unsigned int deltay = abs((int)(y1 - y0));
     int error      = deltax / 2;
     int ystep;
     unsigned int y = y0;
@@ -1583,7 +1583,7 @@ void drawBattery(uint16_t x, uint16_t y, uint8_t battery, uint16_t size)
 
 void printTime(uint16_t x, uint16_t y)
 {
-    char temp[9] =
+    char temp[12] =
     { 0 };
 
     sprintf(temp, "%02d:%02d:%02d", timex.hour, timex.min, timex.sec);

flight/modules/PathFollower/inc/fixedwingautotakeoffcontroller.h

@@ -51,7 +51,7 @@ public:
     static FixedWingFlyController *instance()
     {
         if (!p_inst) {
-            p_inst = new FixedWingAutoTakeoffController();
+            p_inst = new FixedWingAutoTakeoffController;
         }
         return p_inst;
     }

flight/modules/PathFollower/vtolautotakeoffcontroller.cpp

@@ -94,14 +94,14 @@ void VtolAutoTakeoffController::Activate(void)
         autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
         // We only allow takeoff if the state transition of disarmed to armed occurs
         // whilst in the autotake flight mode
-        FlightStatusData flightStatus;
+        FlightStatusData _flightStatus;
-        FlightStatusGet(&flightStatus);
+        FlightStatusGet(&_flightStatus);
         StabilizationDesiredData stabiDesired;
         StabilizationDesiredGet(&stabiDesired);
 
-        if (flightStatus.Armed) {
+        if (_flightStatus.Armed) {
             // Are we inflight?
-            if (stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT || flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
+            if (stabiDesired.Thrust > AUTOTAKEOFF_INFLIGHT_THROTTLE_CHECK_LIMIT || _flightStatus.ControlChain.PathPlanner == FLIGHTSTATUS_CONTROLCHAIN_TRUE) {
                 // ok assume already in flight and just enter position hold
                 // if we are not actually inflight this will just be a violent autotakeoff
                 autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_POSITIONHOLD;
@@ -327,9 +327,9 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
     switch (autotakeoffState) {
     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_REQUIREUNARMEDFIRST:
     {
-        FlightStatusData flightStatus;
+        FlightStatusData _flightStatus;
-        FlightStatusGet(&flightStatus);
+        FlightStatusGet(&_flightStatus);
-        if (!flightStatus.Armed) {
+        if (!_flightStatus.Armed) {
             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
             fsm->setControlState(autotakeoffState);
         }
@@ -337,9 +337,9 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
     break;
     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED:
     {
-        FlightStatusData flightStatus;
+        FlightStatusData _flightStatus;
-        FlightStatusGet(&flightStatus);
+        FlightStatusGet(&_flightStatus);
-        if (flightStatus.Armed) {
+        if (_flightStatus.Armed) {
             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORMIDTHROTTLE;
             fsm->setControlState(autotakeoffState);
         }
@@ -360,11 +360,11 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
     {
         ManualControlCommandData cmd;
         ManualControlCommandGet(&cmd);
-        FlightStatusData flightStatus;
+        FlightStatusData _flightStatus;
-        FlightStatusGet(&flightStatus);
+        FlightStatusGet(&_flightStatus);
 
         // we do not do a takeoff abort in pathplanner mode
-        if (flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE &&
+        if (_flightStatus.ControlChain.PathPlanner != FLIGHTSTATUS_CONTROLCHAIN_TRUE &&
             cmd.Throttle < AUTOTAKEOFF_THROTTLE_ABORT_LIMIT) {
             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT;
             fsm->setControlState(autotakeoffState);
@@ -373,9 +373,9 @@ void VtolAutoTakeoffController::UpdateAutoPilot()
     break;
     case STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_ABORT:
     {
-        FlightStatusData flightStatus;
+        FlightStatusData _flightStatus;
-        FlightStatusGet(&flightStatus);
+        FlightStatusGet(&_flightStatus);
-        if (!flightStatus.Armed) {
+        if (!_flightStatus.Armed) {
             autotakeoffState = STATUSVTOLAUTOTAKEOFF_CONTROLSTATE_WAITFORARMED;
             fsm->setControlState(autotakeoffState);
         }

flight/modules/PathPlanner/pathplanner.c

@@ -260,6 +260,7 @@ static void pathPlannerTask()
     switch (pathAction.Command) {
     case PATHACTION_COMMAND_ONNOTCONDITIONNEXTWAYPOINT:
         endCondition = !endCondition;
+    // fall through
     case PATHACTION_COMMAND_ONCONDITIONNEXTWAYPOINT:
         if (endCondition) {
             setWaypoint(waypointActive.Index + 1);
@@ -267,6 +268,7 @@ static void pathPlannerTask()
         break;
     case PATHACTION_COMMAND_ONNOTCONDITIONJUMPWAYPOINT:
         endCondition = !endCondition;
+    // fall through
     case PATHACTION_COMMAND_ONCONDITIONJUMPWAYPOINT:
         if (endCondition) {
             if (pathAction.JumpDestination < 0) {
@@ -312,7 +314,7 @@ void updatePathDesired()
     pathDesired.End.East  = waypoint.Position.East;
     pathDesired.End.Down  = waypoint.Position.Down;
     pathDesired.EndingVelocity    = waypoint.Velocity;
-    pathDesired.Mode = pathAction.Mode;
+    pathDesired.Mode = (PathDesiredModeOptions)pathAction.Mode;
     pathDesired.ModeParameters[0] = pathAction.ModeParameters[0];
     pathDesired.ModeParameters[1] = pathAction.ModeParameters[1];
     pathDesired.ModeParameters[2] = pathAction.ModeParameters[2];
@@ -678,7 +680,7 @@ static uint8_t conditionPointingTowardsNext()
     PositionStateData positionState;
     PositionStateGet(&positionState);
 
-	// check if current position exactly matches nextWaipoint (in 2D space) 
+    // check if current position exactly matches nextWaipoint (in 2D space)
     if ((fabsf(nextWaypoint.Position.North - positionState.North) < 1e-6f) && (fabsf(nextWaypoint.Position.East - positionState.East) < 1e-6f)) {
         return true;
     }

flight/modules/Stabilization/innerloop.c

@@ -309,6 +309,7 @@ static void stabilizationInnerloopTask()
                 }
             // IMPORTANT: deliberately no "break;" here, execution continues with regular RATE control loop to avoid code duplication!
             // keep order as it is, RATE must follow!
+            // fall through
             case STABILIZATIONSTATUS_INNERLOOP_RATE:
             {
                 // limit rate to maximum configured limits (once here instead of 5 times in outer loop)

flight/modules/UAVOFrSKYSensorHubBridge/UAVOFrSKYSensorHubBridge.c

@@ -610,7 +610,7 @@ static uint16_t frsky_pack_fuel(
 {
     uint8_t index  = 0;
 
-    uint16_t level = lroundf(abs(fuel_level * 100));
+    uint16_t level = lroundf(fabsf(fuel_level * 100));
 
     // Use fixed levels here because documentation says so.
     if (level > 94) {

flight/modules/UAVOHottBridge/uavohottbridge.c

@@ -807,7 +807,7 @@ void update_telemetrydata()
         txt_armstate = txt_unknown;
     }
 
-    snprintf(telestate->statusline, sizeof(telestate->statusline), "%12s,%8s", txt_flightmode, txt_armstate);
+    snprintf(telestate->statusline, sizeof(telestate->statusline), "%12s,%7s", txt_flightmode, txt_armstate);
 }
 
 /**

flight/pios/common/libraries/CMSIS/Include/core_cmFunc.h

@@ -438,7 +438,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
 {
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
+  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : );
 }
 
 
@@ -465,7 +465,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
 {
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : "sp");
+  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : );
 }
 
 

flight/pios/common/pios_adxl345.c

@@ -355,7 +355,7 @@ int8_t PIOS_ADXL345_ReadAndAccumulateSamples(struct pios_adxl345_data *data, uin
     PIOS_Instrumentation_TimeStart(counterUpd);
 #endif
     for (uint8_t i = 0; i < samples; i++) {
-        uint8_t buf[7] = { 0 };
+        uint8_t buf[8] = { 0 };
         uint8_t *rec   = &buf[1];
         PIOS_SPI_RC_PinSet(dev->spi_id, dev->slave_num, 0);
         buf[0] = ADXL_X0_ADDR | ADXL_MULTI_BIT | ADXL_READ_BIT; // Multibyte read starting at X0

flight/pios/common/pios_com.c

@@ -295,6 +295,10 @@ int32_t PIOS_COM_ChangeBaud(uint32_t com_id, uint32_t baud)
 
     return 0;
 }
+void PIOS_COM_ChangeBaud_VoidWrapper(uint32_t com_id, uint32_t baud)
+{
+    PIOS_COM_ChangeBaud(com_id, baud);
+}
 
 int32_t PIOS_COM_ChangeConfig(uint32_t com_id, enum PIOS_COM_Word_Length word_len, enum PIOS_COM_Parity parity, enum PIOS_COM_StopBits stop_bits, uint32_t baud_rate)
 {
@@ -337,6 +341,10 @@ int32_t PIOS_COM_SetCtrlLine(uint32_t com_id, uint32_t mask, uint32_t state)
 
     return 0;
 }
+void PIOS_COM_SetCtrlLine_VoidWrapper(uint32_t com_id, uint32_t mask, uint32_t state)
+{
+    PIOS_COM_SetCtrlLine(com_id, mask, state);
+}
 
 /**
  * Set control lines associated with the port
@@ -827,12 +835,12 @@ void PIOS_COM_LinkComPair(uint32_t com1_id, uint32_t com2_id, bool link_ctrl_lin
     PIOS_COM_ASYNC_RegisterRxCallback(com2_id, PIOS_COM_LinkComPairRxCallback, com1_id);
     // Optionally link the control like and baudrate changes between the two.
     if (link_ctrl_line) {
-        PIOS_COM_RegisterCtrlLineCallback(com1_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine, com2_id);
+        PIOS_COM_RegisterCtrlLineCallback(com1_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine_VoidWrapper, com2_id);
-        PIOS_COM_RegisterCtrlLineCallback(com2_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine, com1_id);
+        PIOS_COM_RegisterCtrlLineCallback(com2_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine_VoidWrapper, com1_id);
     }
     if (link_baud_rate) {
-        PIOS_COM_RegisterBaudRateCallback(com1_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud, com2_id);
+        PIOS_COM_RegisterBaudRateCallback(com1_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud_VoidWrapper, com2_id);
-        PIOS_COM_RegisterBaudRateCallback(com2_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud, com1_id);
+        PIOS_COM_RegisterBaudRateCallback(com2_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud_VoidWrapper, com1_id);
     }
 }
 

flight/pios/common/pios_ms56xx.c

@@ -474,7 +474,7 @@ bool PIOS_MS56xx_driver_poll(__attribute__((unused)) uintptr_t context)
     case MS56XX_FSM_CALIBRATION:
         PIOS_MS56xx_ReadCalibrationData();
     /* fall through to MS56XX_FSM_TEMPERATURE */
-
+    // fall through
     case MS56XX_FSM_TEMPERATURE:
         PIOS_MS56xx_StartADC(MS56XX_CONVERSION_TYPE_TemperatureConv);
         next_state = MS56XX_FSM_PRESSURE;

flight/pios/common/pios_rfm22b.c

@@ -139,7 +139,7 @@ struct pios_rfm22b_transition {
 };
 
 // Must ensure these prefilled arrays match the define sizes
-static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
+__attribute__((unused)) static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
     PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
     PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
     PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE,
@@ -155,7 +155,7 @@ static const uint8_t FULL_PREAMBLE[FIFO_SIZE] = {
     PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE
 }; // 64 bytes
 
-static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1) / 2 + 2] = {
+__attribute__((unused)) static const uint8_t HEADER[(TX_PREAMBLE_NIBBLES + 1) / 2 + 2] = {
     PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, PREAMBLE_BYTE, SYNC_BYTE_1, SYNC_BYTE_2
 };
 
@@ -388,7 +388,7 @@ static const uint8_t reg_72[] = { 0x30, 0x48, 0x48, 0x48, 0x48, 0x60, 0x90, 0xCD
 
 static const uint8_t packet_time[] = { 80, 40, 25, 15, 13, 10, 8, 6, 5 };
 static const uint8_t packet_time_ppm[] = { 26, 25, 25, 15, 13, 10, 8, 6, 5 };
-static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
+__attribute__((unused)) static const uint8_t num_channels[] = { 32, 32, 32, 32, 32, 32, 32, 32, 32 };
 
 static struct pios_rfm22b_dev *g_rfm22b_dev = NULL;
 

flight/pios/common/pios_video.c

@@ -292,48 +292,48 @@ void PIOS_Video_Init(const struct pios_video_cfg *cfg)
     GPIO_Init(GPIOC, &initStruct);
 
     /* SPI3 - MASKBUFFER */
-    GPIO_Init(cfg->mask.sclk.gpio, (GPIO_InitTypeDef *)&(cfg->mask.sclk.init));
+    GPIO_Init(cfg->mask->sclk.gpio, (GPIO_InitTypeDef *)&(cfg->mask->sclk.init));
-    GPIO_Init(cfg->mask.miso.gpio, (GPIO_InitTypeDef *)&(cfg->mask.miso.init));
+    GPIO_Init(cfg->mask->miso.gpio, (GPIO_InitTypeDef *)&(cfg->mask->miso.init));
 
     /* SPI1 SLAVE FRAMEBUFFER */
-    GPIO_Init(cfg->level.sclk.gpio, (GPIO_InitTypeDef *)&(cfg->level.sclk.init));
+    GPIO_Init(cfg->level->sclk.gpio, (GPIO_InitTypeDef *)&(cfg->level->sclk.init));
-    GPIO_Init(cfg->level.miso.gpio, (GPIO_InitTypeDef *)&(cfg->level.miso.init));
+    GPIO_Init(cfg->level->miso.gpio, (GPIO_InitTypeDef *)&(cfg->level->miso.init));
 
-    if (cfg->mask.remap) {
+    if (cfg->mask->remap) {
-        GPIO_PinAFConfig(cfg->mask.sclk.gpio,
+        GPIO_PinAFConfig(cfg->mask->sclk.gpio,
-                         __builtin_ctz(cfg->mask.sclk.init.GPIO_Pin),
+                         __builtin_ctz(cfg->mask->sclk.init.GPIO_Pin),
-                         cfg->mask.remap);
+                         cfg->mask->remap);
-        GPIO_PinAFConfig(cfg->mask.miso.gpio,
+        GPIO_PinAFConfig(cfg->mask->miso.gpio,
-                         __builtin_ctz(cfg->mask.miso.init.GPIO_Pin),
+                         __builtin_ctz(cfg->mask->miso.init.GPIO_Pin),
-                         cfg->mask.remap);
+                         cfg->mask->remap);
     }
-    if (cfg->level.remap) {
+    if (cfg->level->remap) {
-        GPIO_PinAFConfig(cfg->level.sclk.gpio,
+        GPIO_PinAFConfig(cfg->level->sclk.gpio,
-                         __builtin_ctz(cfg->level.sclk.init.GPIO_Pin),
+                         __builtin_ctz(cfg->level->sclk.init.GPIO_Pin),
-                         cfg->level.remap);
+                         cfg->level->remap);
-        GPIO_PinAFConfig(cfg->level.miso.gpio,
+        GPIO_PinAFConfig(cfg->level->miso.gpio,
-                         __builtin_ctz(cfg->level.miso.init.GPIO_Pin),
+                         __builtin_ctz(cfg->level->miso.init.GPIO_Pin),
-                         cfg->level.remap);
+                         cfg->level->remap);
     }
 
     /* Initialize the SPI block */
-    SPI_Init(cfg->level.regs, (SPI_InitTypeDef *)&(cfg->level.init));
+    SPI_Init(cfg->level->regs, (SPI_InitTypeDef *)&(cfg->level->init));
-    SPI_Init(cfg->mask.regs, (SPI_InitTypeDef *)&(cfg->mask.init));
+    SPI_Init(cfg->mask->regs, (SPI_InitTypeDef *)&(cfg->mask->init));
 
     /* Enable SPI */
-    SPI_Cmd(cfg->level.regs, ENABLE);
+    SPI_Cmd(cfg->level->regs, ENABLE);
-    SPI_Cmd(cfg->mask.regs, ENABLE);
+    SPI_Cmd(cfg->mask->regs, ENABLE);
 
     /* Configure DMA for SPI Tx SLAVE Maskbuffer */
-    DMA_Cmd(cfg->mask.dma.tx.channel, DISABLE);
+    DMA_Cmd(cfg->mask->dma.tx.channel, DISABLE);
-    DMA_Init(cfg->mask.dma.tx.channel, (DMA_InitTypeDef *)&(cfg->mask.dma.tx.init));
+    DMA_Init(cfg->mask->dma.tx.channel, (DMA_InitTypeDef *)&(cfg->mask->dma.tx.init));
 
     /* Configure DMA for SPI Tx SLAVE Framebuffer*/
-    DMA_Cmd(cfg->level.dma.tx.channel, DISABLE);
+    DMA_Cmd(cfg->level->dma.tx.channel, DISABLE);
-    DMA_Init(cfg->level.dma.tx.channel, (DMA_InitTypeDef *)&(cfg->level.dma.tx.init));
+    DMA_Init(cfg->level->dma.tx.channel, (DMA_InitTypeDef *)&(cfg->level->dma.tx.init));
 
     /* Trigger interrupt when for half conversions too to indicate double buffer */
-    DMA_ITConfig(cfg->level.dma.tx.channel, DMA_IT_TC, ENABLE);
+    DMA_ITConfig(cfg->level->dma.tx.channel, DMA_IT_TC, ENABLE);
 
     /* Configure and clear buffers */
     draw_buffer_level = buffer0_level;
@@ -347,16 +347,16 @@ void PIOS_Video_Init(const struct pios_video_cfg *cfg)
 
     /* Configure DMA interrupt */
 
-    NVIC_Init(&cfg->level.dma.irq.init);
+    NVIC_Init(&cfg->level->dma.irq.init);
 
     /* Enable SPI interrupts to DMA */
-    SPI_I2S_DMACmd(cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
+    SPI_I2S_DMACmd(cfg->mask->regs, SPI_I2S_DMAReq_Tx, ENABLE);
-    SPI_I2S_DMACmd(cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
+    SPI_I2S_DMACmd(cfg->level->regs, SPI_I2S_DMAReq_Tx, ENABLE);
 
     mask_dma    = DMA1;
     main_dma    = DMA2;
-    main_stream = cfg->level.dma.tx.channel;
+    main_stream = cfg->level->dma.tx.channel;
-    mask_stream = cfg->mask.dma.tx.channel;
+    mask_stream = cfg->mask->dma.tx.channel;
     /* Configure the Video Line interrupt */
     PIOS_EXTI_Init(cfg->hsync);
     PIOS_EXTI_Init(cfg->vsync);
@@ -377,26 +377,26 @@ static void prepare_line(uint32_t line_num)
 
         dev_cfg->pixel_timer.timer->CNT = dc;
 
-        DMA_ClearFlag(dev_cfg->mask.dma.tx.channel, DMA_FLAG_TCIF7 | DMA_FLAG_HTIF7 | DMA_FLAG_FEIF7 | DMA_FLAG_TEIF7);
+        DMA_ClearFlag(dev_cfg->mask->dma.tx.channel, DMA_FLAG_TCIF7 | DMA_FLAG_HTIF7 | DMA_FLAG_FEIF7 | DMA_FLAG_TEIF7);
-        DMA_ClearFlag(dev_cfg->level.dma.tx.channel, DMA_FLAG_FEIF5 | DMA_FLAG_TEIF5);
+        DMA_ClearFlag(dev_cfg->level->dma.tx.channel, DMA_FLAG_FEIF5 | DMA_FLAG_TEIF5);
 
         // Load new line
-        DMA_MemoryTargetConfig(dev_cfg->level.dma.tx.channel, (uint32_t)&disp_buffer_level[buf_offset], DMA_Memory_0);
+        DMA_MemoryTargetConfig(dev_cfg->level->dma.tx.channel, (uint32_t)&disp_buffer_level[buf_offset], DMA_Memory_0);
-        DMA_MemoryTargetConfig(dev_cfg->mask.dma.tx.channel, (uint32_t)&disp_buffer_mask[buf_offset], DMA_Memory_0);
+        DMA_MemoryTargetConfig(dev_cfg->mask->dma.tx.channel, (uint32_t)&disp_buffer_mask[buf_offset], DMA_Memory_0);
 
         // Enable DMA, Slave first
-        DMA_SetCurrDataCounter(dev_cfg->level.dma.tx.channel, BUFFER_LINE_LENGTH);
+        DMA_SetCurrDataCounter(dev_cfg->level->dma.tx.channel, BUFFER_LINE_LENGTH);
-        DMA_SetCurrDataCounter(dev_cfg->mask.dma.tx.channel, BUFFER_LINE_LENGTH);
+        DMA_SetCurrDataCounter(dev_cfg->mask->dma.tx.channel, BUFFER_LINE_LENGTH);
 
-        SPI_Cmd(dev_cfg->level.regs, ENABLE);
+        SPI_Cmd(dev_cfg->level->regs, ENABLE);
-        SPI_Cmd(dev_cfg->mask.regs, ENABLE);
+        SPI_Cmd(dev_cfg->mask->regs, ENABLE);
 
         /* Enable SPI interrupts to DMA */
-        SPI_I2S_DMACmd(dev_cfg->mask.regs, SPI_I2S_DMAReq_Tx, ENABLE);
+        SPI_I2S_DMACmd(dev_cfg->mask->regs, SPI_I2S_DMAReq_Tx, ENABLE);
-        SPI_I2S_DMACmd(dev_cfg->level.regs, SPI_I2S_DMAReq_Tx, ENABLE);
+        SPI_I2S_DMACmd(dev_cfg->level->regs, SPI_I2S_DMAReq_Tx, ENABLE);
 
-        DMA_Cmd(dev_cfg->level.dma.tx.channel, ENABLE);
+        DMA_Cmd(dev_cfg->level->dma.tx.channel, ENABLE);
-        DMA_Cmd(dev_cfg->mask.dma.tx.channel, ENABLE);
+        DMA_Cmd(dev_cfg->mask->dma.tx.channel, ENABLE);
     }
     reset_hsync_timers();
 }
@@ -417,27 +417,27 @@ static void flush_spi()
 
     // Can't flush if clock not running
     while ((dev_cfg->pixel_timer.timer->CR1 & 0x0001) && (!level_stopped | !mask_stopped)) {
-        level_empty |= SPI_I2S_GetFlagStatus(dev_cfg->level.regs, SPI_I2S_FLAG_TXE) == SET;
+        level_empty |= SPI_I2S_GetFlagStatus(dev_cfg->level->regs, SPI_I2S_FLAG_TXE) == SET;
-        mask_empty  |= SPI_I2S_GetFlagStatus(dev_cfg->mask.regs, SPI_I2S_FLAG_TXE) == SET;
+        mask_empty  |= SPI_I2S_GetFlagStatus(dev_cfg->mask->regs, SPI_I2S_FLAG_TXE) == SET;
 
-        if (level_empty && !level_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->level.regs ,SPI_I2S_FLAG_BSY) == RESET) {
+        if (level_empty && !level_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->level->regs ,SPI_I2S_FLAG_BSY) == RESET) {
-            SPI_Cmd(dev_cfg->level.regs, DISABLE);
+            SPI_Cmd(dev_cfg->level->regs, DISABLE);
             level_stopped = true;
         }
 
-        if (mask_empty && !mask_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->mask.regs ,SPI_I2S_FLAG_BSY) == RESET) {
+        if (mask_empty && !mask_stopped) { // && SPI_I2S_GetFlagStatus(dev_cfg->mask->regs ,SPI_I2S_FLAG_BSY) == RESET) {
-            SPI_Cmd(dev_cfg->mask.regs, DISABLE);
+            SPI_Cmd(dev_cfg->mask->regs, DISABLE);
             mask_stopped = true;
         }
     }
     /*
        uint32_t i = 0;
-       while(SPI_I2S_GetFlagStatus(dev_cfg->level.regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
+       while(SPI_I2S_GetFlagStatus(dev_cfg->level->regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
-       while(SPI_I2S_GetFlagStatus(dev_cfg->mask.regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
+       while(SPI_I2S_GetFlagStatus(dev_cfg->mask->regs ,SPI_I2S_FLAG_TXE) == RESET && i < 30000) i++;
-       while(SPI_I2S_GetFlagStatus(dev_cfg->level.regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;
+       while(SPI_I2S_GetFlagStatus(dev_cfg->level->regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;
-       while(SPI_I2S_GetFlagStatus(dev_cfg->mask.regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;*/
+       while(SPI_I2S_GetFlagStatus(dev_cfg->mask->regs ,SPI_I2S_FLAG_BSY) == SET && i < 30000) i++;*/
-    SPI_Cmd(dev_cfg->mask.regs, DISABLE);
+    SPI_Cmd(dev_cfg->mask->regs, DISABLE);
-    SPI_Cmd(dev_cfg->level.regs, DISABLE);
+    SPI_Cmd(dev_cfg->level->regs, DISABLE);
 }
 
 /**
@@ -446,8 +446,8 @@ static void flush_spi()
 void PIOS_VIDEO_DMA_Handler(void)
 {
     // Handle flags from stream channel
-    if (DMA_GetFlagStatus(dev_cfg->level.dma.tx.channel, DMA_FLAG_TCIF5)) { // whole double buffer filled
+    if (DMA_GetFlagStatus(dev_cfg->level->dma.tx.channel, DMA_FLAG_TCIF5)) { // whole double buffer filled
-        DMA_ClearFlag(dev_cfg->level.dma.tx.channel, DMA_FLAG_TCIF5);
+        DMA_ClearFlag(dev_cfg->level->dma.tx.channel, DMA_FLAG_TCIF5);
         if (gActiveLine < GRAPHICS_HEIGHT) {
             flush_spi();
             stop_hsync_timers();
@@ -461,12 +461,12 @@ void PIOS_VIDEO_DMA_Handler(void)
             stop_hsync_timers();
 
             // STOP DMA, master first
-            DMA_Cmd(dev_cfg->mask.dma.tx.channel, DISABLE);
+            DMA_Cmd(dev_cfg->mask->dma.tx.channel, DISABLE);
-            DMA_Cmd(dev_cfg->level.dma.tx.channel, DISABLE);
+            DMA_Cmd(dev_cfg->level->dma.tx.channel, DISABLE);
         }
         gActiveLine++;
-    } else if (DMA_GetFlagStatus(dev_cfg->level.dma.tx.channel, DMA_FLAG_HTIF5)) {
+    } else if (DMA_GetFlagStatus(dev_cfg->level->dma.tx.channel, DMA_FLAG_HTIF5)) {
-        DMA_ClearFlag(dev_cfg->level.dma.tx.channel, DMA_FLAG_HTIF5);
+        DMA_ClearFlag(dev_cfg->level->dma.tx.channel, DMA_FLAG_HTIF5);
     } else {}
 }
 

flight/pios/inc/pios_video.h

@@ -36,8 +36,8 @@
 #include <pios_spi_priv.h>
 
 struct pios_video_cfg {
-    const struct pios_spi_cfg  mask;
+    const struct pios_spi_cfg  *mask;
-    const struct pios_spi_cfg  level;
+    const struct pios_spi_cfg  *level;
 
     const struct pios_exti_cfg *hsync;
     const struct pios_exti_cfg *vsync;

flight/pios/stm32f0x/libraries/CMSIS/Include/core_cmFunc.h

@@ -438,7 +438,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_PSP(void)
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_PSP(uint32_t topOfProcStack)
 {
-  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : "sp");
+  __ASM volatile ("MSR psp, %0\n" : : "r" (topOfProcStack) : );
 }
 
 
@@ -465,7 +465,7 @@ __attribute__( ( always_inline ) ) __STATIC_INLINE uint32_t __get_MSP(void)
  */
 __attribute__( ( always_inline ) ) __STATIC_INLINE void __set_MSP(uint32_t topOfMainStack)
 {
-  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : "sp");
+  __ASM volatile ("MSR msp, %0\n" : : "r" (topOfMainStack) : );
 }
 
 

flight/pios/stm32f10x/pios_usart.c

@@ -539,6 +539,7 @@ static int32_t PIOS_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
             return -2; /* do not allow dsm bind on port with inverter */
         }
 #endif /* otherwise, return RXGPIO */
+    // fall through
     case PIOS_IOCTL_USART_GET_RXGPIO:
         *(struct stm32_gpio *)param = usart_dev->cfg->rx;
         break;

flight/pios/stm32f30x/libraries/STM32F30x_StdPeriph_Driver/src/stm32f30x_hrtim.c

@@ -2838,6 +2838,7 @@ void HRTIM_ADCTriggerConfig(HRTIM_TypeDef * HRTIMx,
       /* Set the ADC trigger 3 source */
       HRTIMx->HRTIM_COMMON.ADC3R = pADCTriggerCfg->Trigger;
     }
+    break;
     case HRTIM_ADCTRIGGER_4:
     {
       HRTIM_cr1 &= ~(HRTIM_CR1_ADC4USRC);

flight/pios/stm32f30x/libraries/STM32F30x_StdPeriph_Driver/src/stm32f30x_rcc.c

@@ -1386,8 +1386,10 @@ void RCC_TIMCLKConfig(uint32_t RCC_TIMCLK)
       break;
     case 0x05:
       RCC->CFGR3 &= ~RCC_CFGR3_TIM20SW;
+      break;
     case 0x06:
       RCC->CFGR3 &= ~RCC_CFGR3_TIM2SW;
+      break;
     case 0x07:
       RCC->CFGR3 &= ~RCC_CFGR3_TIM3SW;
       break;

flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/discoveryf4bare/system_stm32f4xx.c

@@ -405,7 +405,7 @@ static void SetSysClock(void)
     RCC->CFGR |= RCC_CFGR_SW_PLL;
 
     /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
     {
     }
   }

flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c

@@ -405,7 +405,7 @@ static void SetSysClock(void)
 		RCC->CFGR |= RCC_CFGR_SW_PLL;
 		
 		/* Wait till the main PLL is used as system clock source */
-		while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+		while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
 		{
 		}
 	}

flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/revolution/system_stm32f4xx.c

@@ -405,7 +405,7 @@ static void SetSysClock(void)
     RCC->CFGR |= RCC_CFGR_SW_PLL;
 
     /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
     {
     }
   }

flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/revonano/system_stm32f4xx.c

@@ -404,7 +404,7 @@ static void SetSysClock(void)
     RCC->CFGR |= RCC_CFGR_SW_PLL;
 
     /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
     {
     }
   }

flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/revoproto/system_stm32f4xx.c

@@ -405,7 +405,7 @@ static void SetSysClock(void)
     RCC->CFGR |= RCC_CFGR_SW_PLL;
 
     /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
     {
     }
   }

flight/pios/stm32f4xx/libraries/CMSIS/Device/ST/STM32F4xx/Source/sparky2/system_stm32f4xx.c

@@ -405,7 +405,7 @@ static void SetSysClock(void)
     RCC->CFGR |= RCC_CFGR_SW_PLL;
 
     /* Wait till the main PLL is used as system clock source */
-    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL);
+    while ((RCC->CFGR & (uint32_t)RCC_CFGR_SWS ) != RCC_CFGR_SWS_PLL)
     {
     }
   }

flight/pios/stm32f4xx/libraries/STM32_USB_OTG_Driver/src/usb_core.c

@@ -180,7 +180,7 @@ USB_OTG_STS USB_OTG_WritePacket(USB_OTG_CORE_HANDLE *pdev,
     fifo = pdev->regs.DFIFO[ch_ep_num];
     for (i = 0; i < count32b; i++, src+=4)
     {
-      USB_OTG_WRITE_REG32( fifo, *((__packed uint32_t *)src) );
+      USB_OTG_WRITE_REG32( fifo, *((uint32_t *)src) );
     }
   }
   return status;
@@ -205,7 +205,7 @@ void *USB_OTG_ReadPacket(USB_OTG_CORE_HANDLE *pdev,
   
   for ( i = 0; i < count32b; i++, dest += 4 )
   {
-    *(__packed uint32_t *)dest = USB_OTG_READ_REG32(fifo);
+    *(uint32_t *)dest = USB_OTG_READ_REG32(fifo);
     
   }
   return ((void *)dest);

flight/pios/stm32f4xx/pios_usart.c

@@ -595,6 +595,7 @@ static int32_t PIOS_USART_Ioctl(uint32_t usart_id, uint32_t ctl, void *param)
             return -2; /* do not allow dsm bind on port with inverter */
         }
 #endif /* otherwise, return RXGPIO */
+    // fall through
     case PIOS_IOCTL_USART_GET_RXGPIO:
         *(struct stm32_gpio *)param = usart_dev->cfg->rx;
         break;

flight/pios/stm32f4xx/startup.c

@@ -112,7 +112,7 @@ static void default_cpu_handler(void)
 }
 
 /** Prototype for optional exception vector handlers */
-#define HANDLER(_name) extern vector _name __attribute__((weak, alias("default_cpu_handler")))
+#define HANDLER(_name) extern vector _name __attribute__((weak, alias("default_cpu_handler"), noreturn))
 
 /* standard CMSIS vector names */
 HANDLER(NMI_Handler);

flight/targets/boards/osd/board_hw_defs.c

@@ -607,154 +607,157 @@ static const struct pios_exti_cfg pios_exti_vsync_cfg __exti_config = {
     },
 };
 
+static const struct pios_spi_cfg mask = {
+    .regs  = SPI3,
+    .remap = GPIO_AF_SPI3,
+    .init  = {
+        .SPI_Mode              = SPI_Mode_Slave,
+        .SPI_Direction         = SPI_Direction_1Line_Tx,
+        .SPI_DataSize          = SPI_DataSize_8b,
+        .SPI_NSS                                   = SPI_NSS_Soft,
+        .SPI_FirstBit          = SPI_FirstBit_MSB,
+        .SPI_CRCPolynomial     = 7,
+        .SPI_CPOL              = SPI_CPOL_Low,
+        .SPI_CPHA              = SPI_CPHA_2Edge,
+        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
+    },
+    .use_crc = false,
+    .dma     = {
+        .irq                                       = {
+            // Note this is the stream ID that triggers interrupts (in this case RX)
+            .flags = (DMA_IT_TCIF7),
+            .init  = {
+                .NVIC_IRQChannel    = DMA1_Stream7_IRQn,
+                .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
+                .NVIC_IRQChannelSubPriority        = 0,
+                .NVIC_IRQChannelCmd = ENABLE,
+            },
+        },
+        /*.rx = {},*/
+        .tx                                        = {
+            .channel = DMA1_Stream7,
+            .init    = {
+                .DMA_Channel            = DMA_Channel_0,
+                .DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
+                .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+                .DMA_BufferSize         = BUFFER_LINE_LENGTH,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
+                .DMA_Mode               = DMA_Mode_Normal,
+                .DMA_Priority           = DMA_Priority_VeryHigh,
+                .DMA_FIFOMode           = DMA_FIFOMode_Enable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_INC4,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+            },
+        },
+    },
+    .sclk                                          = {
+        .gpio = GPIOC,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_10,
+            .GPIO_Speed = GPIO_Speed_100MHz,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL
+        },
+    },
+    .miso                                          = {
+        .gpio = GPIOC,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_11,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_NOPULL
+        },
+    },
+    /*.mosi = {},*/
+    .slave_count                                   = 1,
+};
+
+static const struct pios_spi_cfg level = {
+    .regs  = SPI1,
+    .remap = GPIO_AF_SPI1,
+    .init  = {
+        .SPI_Mode              = SPI_Mode_Slave,
+        .SPI_Direction         = SPI_Direction_1Line_Tx,
+        .SPI_DataSize          = SPI_DataSize_8b,
+        .SPI_NSS                                   = SPI_NSS_Soft,
+        .SPI_FirstBit          = SPI_FirstBit_MSB,
+        .SPI_CRCPolynomial     = 7,
+        .SPI_CPOL              = SPI_CPOL_Low,
+        .SPI_CPHA              = SPI_CPHA_2Edge,
+        .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
+    },
+    .use_crc = false,
+    .dma     = {
+        .irq                                       = {
+            .flags = (DMA_IT_TCIF5),
+            .init  = {
+                .NVIC_IRQChannel    = DMA2_Stream5_IRQn,
+                .NVIC_IRQChannelPreemptionPriority = 0,
+                .NVIC_IRQChannelSubPriority        = 0,
+                .NVIC_IRQChannelCmd = ENABLE,
+            },
+        },
+        /*.rx = {},*/
+        .tx                                        = {
+            .channel = DMA2_Stream5,
+            .init    = {
+                .DMA_Channel            = DMA_Channel_3,
+                .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
+                .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
+                .DMA_BufferSize         = BUFFER_LINE_LENGTH,
+                .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
+                .DMA_MemoryInc          = DMA_MemoryInc_Enable,
+                .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
+                .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
+                .DMA_Mode               = DMA_Mode_Normal,
+                .DMA_Priority           = DMA_Priority_VeryHigh,
+                .DMA_FIFOMode           = DMA_FIFOMode_Enable,
+                .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
+                .DMA_MemoryBurst        = DMA_MemoryBurst_INC4,
+                .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
+            },
+        },
+    },
+    .sclk                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_3,
+            .GPIO_Speed = GPIO_Speed_100MHz,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_UP
+        },
+    },
+    .miso                                          = {
+        .gpio = GPIOB,
+        .init = {
+            .GPIO_Pin   = GPIO_Pin_4,
+            .GPIO_Speed = GPIO_Speed_50MHz,
+            .GPIO_Mode  = GPIO_Mode_AF,
+            .GPIO_OType = GPIO_OType_PP,
+            .GPIO_PuPd  = GPIO_PuPd_UP
+        },
+    },
+    /*.mosi = {},*/
+    .slave_count                                   = 1,
+};
 
 static const struct pios_video_cfg pios_video_cfg = {
-    .mask                                              = {
+    .mask  = &mask,
-        .regs  = SPI3,
+    .level = &level,
-        .remap = GPIO_AF_SPI3,
-        .init  = {
-            .SPI_Mode              = SPI_Mode_Slave,
-            .SPI_Direction         = SPI_Direction_1Line_Tx,
-            .SPI_DataSize          = SPI_DataSize_8b,
-            .SPI_NSS                                   = SPI_NSS_Soft,
-            .SPI_FirstBit          = SPI_FirstBit_MSB,
-            .SPI_CRCPolynomial     = 7,
-            .SPI_CPOL              = SPI_CPOL_Low,
-            .SPI_CPHA              = SPI_CPHA_2Edge,
-            .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
-        },
-        .use_crc = false,
-        .dma     = {
-            .irq                                       = {
-                // Note this is the stream ID that triggers interrupts (in this case RX)
-                .flags = (DMA_IT_TCIF7),
-                .init  = {
-                    .NVIC_IRQChannel    = DMA1_Stream7_IRQn,
-                    .NVIC_IRQChannelPreemptionPriority = PIOS_IRQ_PRIO_HIGH,
-                    .NVIC_IRQChannelSubPriority        = 0,
-                    .NVIC_IRQChannelCmd = ENABLE,
-                },
-            },
-            /*.rx = {},*/
-            .tx                                        = {
-                .channel = DMA1_Stream7,
-                .init    = {
-                    .DMA_Channel            = DMA_Channel_0,
-                    .DMA_PeripheralBaseAddr = (uint32_t)&(SPI3->DR),
-                    .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
-                    .DMA_BufferSize         = BUFFER_LINE_LENGTH,
-                    .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
-                    .DMA_MemoryInc          = DMA_MemoryInc_Enable,
-                    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
-                    .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
-                    .DMA_Mode               = DMA_Mode_Normal,
-                    .DMA_Priority           = DMA_Priority_VeryHigh,
-                    .DMA_FIFOMode           = DMA_FIFOMode_Enable,
-                    .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
-                    .DMA_MemoryBurst        = DMA_MemoryBurst_INC4,
-                    .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
-                },
-            },
-        },
-        .sclk                                          = {
-            .gpio = GPIOC,
-            .init = {
-                .GPIO_Pin   = GPIO_Pin_10,
-                .GPIO_Speed = GPIO_Speed_100MHz,
-                .GPIO_Mode  = GPIO_Mode_AF,
-                .GPIO_OType = GPIO_OType_PP,
-                .GPIO_PuPd  = GPIO_PuPd_NOPULL
-            },
-        },
-        .miso                                          = {
-            .gpio = GPIOC,
-            .init = {
-                .GPIO_Pin   = GPIO_Pin_11,
-                .GPIO_Speed = GPIO_Speed_50MHz,
-                .GPIO_Mode  = GPIO_Mode_AF,
-                .GPIO_OType = GPIO_OType_PP,
-                .GPIO_PuPd  = GPIO_PuPd_NOPULL
-            },
-        },
-        /*.mosi = {},*/
-        .slave_count                                   = 1,
-    },
-    .level                                             = {
-        .regs  = SPI1,
-        .remap = GPIO_AF_SPI1,
-        .init  = {
-            .SPI_Mode              = SPI_Mode_Slave,
-            .SPI_Direction         = SPI_Direction_1Line_Tx,
-            .SPI_DataSize          = SPI_DataSize_8b,
-            .SPI_NSS                                   = SPI_NSS_Soft,
-            .SPI_FirstBit          = SPI_FirstBit_MSB,
-            .SPI_CRCPolynomial     = 7,
-            .SPI_CPOL              = SPI_CPOL_Low,
-            .SPI_CPHA              = SPI_CPHA_2Edge,
-            .SPI_BaudRatePrescaler = SPI_BaudRatePrescaler_2,
-        },
-        .use_crc = false,
-        .dma     = {
-            .irq                                       = {
-                .flags = (DMA_IT_TCIF5),
-                .init  = {
-                    .NVIC_IRQChannel    = DMA2_Stream5_IRQn,
-                    .NVIC_IRQChannelPreemptionPriority = 0,
-                    .NVIC_IRQChannelSubPriority        = 0,
-                    .NVIC_IRQChannelCmd = ENABLE,
-                },
-            },
-            /*.rx = {},*/
-            .tx                                        = {
-                .channel = DMA2_Stream5,
-                .init    = {
-                    .DMA_Channel            = DMA_Channel_3,
-                    .DMA_PeripheralBaseAddr = (uint32_t)&(SPI1->DR),
-                    .DMA_DIR                = DMA_DIR_MemoryToPeripheral,
-                    .DMA_BufferSize         = BUFFER_LINE_LENGTH,
-                    .DMA_PeripheralInc      = DMA_PeripheralInc_Disable,
-                    .DMA_MemoryInc          = DMA_MemoryInc_Enable,
-                    .DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte,
-                    .DMA_MemoryDataSize     = DMA_MemoryDataSize_Word,
-                    .DMA_Mode               = DMA_Mode_Normal,
-                    .DMA_Priority           = DMA_Priority_VeryHigh,
-                    .DMA_FIFOMode           = DMA_FIFOMode_Enable,
-                    .DMA_FIFOThreshold      = DMA_FIFOThreshold_Full,
-                    .DMA_MemoryBurst        = DMA_MemoryBurst_INC4,
-                    .DMA_PeripheralBurst    = DMA_PeripheralBurst_Single,
-                },
-            },
-        },
-        .sclk                                          = {
-            .gpio = GPIOB,
-            .init = {
-                .GPIO_Pin   = GPIO_Pin_3,
-                .GPIO_Speed = GPIO_Speed_100MHz,
-                .GPIO_Mode  = GPIO_Mode_AF,
-                .GPIO_OType = GPIO_OType_PP,
-                .GPIO_PuPd  = GPIO_PuPd_UP
-            },
-        },
-        .miso                                          = {
-            .gpio = GPIOB,
-            .init = {
-                .GPIO_Pin   = GPIO_Pin_4,
-                .GPIO_Speed = GPIO_Speed_50MHz,
-                .GPIO_Mode  = GPIO_Mode_AF,
-                .GPIO_OType = GPIO_OType_PP,
-                .GPIO_PuPd  = GPIO_PuPd_UP
-            },
-        },
-        /*.mosi = {},*/
-        .slave_count                                   = 1,
-    },
 
     .hsync = &pios_exti_hsync_cfg,
     .vsync = &pios_exti_vsync_cfg,
 
-    .pixel_timer                                       = {
+    .pixel_timer            = {
         .timer = TIM4,
-        .timer_chan                                    = TIM_Channel_1,
+        .timer_chan         = TIM_Channel_1,
         .pin   = {
             .gpio = GPIOB,
             .init = {
@@ -764,13 +767,13 @@ static const struct pios_video_cfg pios_video_cfg = {
                 .GPIO_OType = GPIO_OType_PP,
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
-            .pin_source                                = GPIO_PinSource6,
+            .pin_source     = GPIO_PinSource6,
         },
-        .remap                                         = GPIO_AF_TIM4,
+        .remap              = GPIO_AF_TIM4,
     },
-    .hsync_capture                                     = {
+    .hsync_capture          = {
         .timer = TIM4,
-        .timer_chan                                    = TIM_Channel_2,
+        .timer_chan         = TIM_Channel_2,
         .pin   = {
             .gpio = GPIOB,
             .init = {
@@ -780,11 +783,11 @@ static const struct pios_video_cfg pios_video_cfg = {
                 .GPIO_OType = GPIO_OType_PP,
                 .GPIO_PuPd  = GPIO_PuPd_UP
             },
-            .pin_source                                = GPIO_PinSource7,
+            .pin_source     = GPIO_PinSource7,
         },
-        .remap                                         = GPIO_AF_TIM4,
+        .remap              = GPIO_AF_TIM4,
     },
-    .tim_oc_init                                       = {
+    .tim_oc_init            = {
         .TIM_OCMode       = TIM_OCMode_PWM1,
         .TIM_OutputState  = TIM_OutputState_Enable,
         .TIM_OutputNState = TIM_OutputNState_Disable,

flight/targets/boards/osd/firmware/pios_board.c

@@ -118,7 +118,7 @@ static const TIM_TimeBaseInitTypeDef tim_4_time_base = {
     .TIM_RepetitionCounter = 0x0000,
 };
 
-static const struct pios_tim_clock_cfg pios_tim4_cfg = {
+__attribute__((unused)) static const struct pios_tim_clock_cfg pios_tim4_cfg = {
     .timer = TIM4,
     .time_base_init                            = &tim_4_time_base,
     .irq   = {

flight/uavobjects/inc/uavobjectprivate.h

@@ -102,13 +102,13 @@ struct UAVOBase {
         bool isSettings    : 1;
         bool isPriority    : 1;
     } flags;
-} __attribute__((packed));
+} __attribute__((packed, aligned(4)));
 
 /* Augmented type for Meta UAVO */
 struct UAVOMeta {
     struct UAVOBase base;
     UAVObjMetadata  instance0;
-} __attribute__((packed));
+} __attribute__((packed, aligned(4)));
 
 /* Shared data structure for all data-carrying UAVObjects (UAVOSingle and UAVOMulti) */
 struct UAVOData {
@@ -130,7 +130,7 @@ struct UAVOSingle {
      * Additional space will be malloc'd here to hold the
      * the data for this instance.
      */
-} __attribute__((packed));
+} __attribute__((packed, aligned(4)));
 
 /* Part of a linked list of instances chained off of a multi instance UAVO. */
 struct UAVOMultiInst {
@@ -151,7 +151,7 @@ struct UAVOMulti {
      * Additional space will be malloc'd here to hold the
      * the data for instance 0.
      */
-} __attribute__((packed));
+} __attribute__((packed, aligned(4)));
 
 /** all information about a metaobject are hardcoded constants **/
 #define MetaNumBytes sizeof(UAVObjMetadata)

make/tool_install/gcc-arm-none-eabi.sh

@@ -1,24 +1,26 @@
 if [ "$uname" = Linux ]
 then
-	url_ext="linux.tar.bz2"
+	url_ext="x86_64-linux.tar.bz2"
+    tool_md5="2383e4eb4ea23f248d33adc70dc3227e"
 elif [ "$uname" = Darwin ]
 then
 	url_ext="mac.tar.bz2"
+    tool_md5="7f2a7b7b23797302a9d6182c6e482449"
 elif [ "$uname" = Windows ]
 then
 	url_ext="win32.zip"
+    tool_md5="2bc8f0c4c4659f8259c8176223eeafc1"
 	depends=(7z)
 fi
 
-pkgver=4.9_2015_q2_update
+pkgver=10.3-2021.10
-pkgdate=20150609
 _pkgver=${pkgver//_/-}
 _pkgvershort=${_pkgver%-*}
 _pkgvershort=${_pkgvershort/-q/q}
 
-tool_url="https://launchpad.net/gcc-arm-embedded/${pkgver%%_*}/${_pkgver}/+download/${tool}-${_pkgvershort/./_}-${pkgdate}-${url_ext}"
+tool_url="https://developer.arm.com/-/media/Files/downloads/gnu-rm/${pkgver}/${tool}-${pkgver}-${url_ext}"
-tool_md5_url="${tool_url}/+md5"
+#tool_install_name="${tool}-${_pkgvershort/./_}"
-tool_install_name="${tool}-${_pkgvershort/./_}"
+tool_install_name="${tool}-${pkgver}"
 if [ "$uname" = Windows ]
 then
 	tool_extract_dir=$tools_dir/$tool_install_name

tool_install.sh

@@ -191,7 +191,7 @@ function download_and_verify
 		fi
 	elif [ -n "${tool_md5:-}" ]
 	then
-		if [[ "$tool_md5"* != "$(cd "$downloads_dir" && md5sum "$downloaded_file")" ]]
+		if [[ "${tool_md5:-}  -" != "$(cd "$downloads_dir" && md5sum <"$downloaded_file")" ]]
 		then
 			mv -f "$downloaded_file"{,.rej} && \
 			verified=false