Moves the CMSIS system_stm3210x.c from library.mk to the individual Makefiles for the F1 targets. This allows for custom SystemInit functions where necessary.
This is required so that we can always respond to HID and
CDC requests via the control endpoint (ep0). The F1/F3
implementation gets away with disabling these interfaces
because all of the ep0 handling is in the usbhook code
rather than (properly) split out into class-specific
drivers like it is done on the F4 implementation.
Conflicts:
flight/targets/DiscoveryF4/System/pios_board.c
flight/targets/FlyingF4/System/pios_board.c
flight/targets/Freedom/System/pios_board.c
flight/targets/Quanton/System/pios_board.c
The interface numbers differ for the HID interface between
the BL and FW. This is required to keep windows happy.
In HID+CDC, the CDC interfaces must come first with HID last
which makes it #2. In HID only mode, we can't use #2 for HID
since windows doesn't like the first/only interface to be
anything other than #0.
Conflicts:
flight/targets/board_hw_defs/discoveryf4/board_hw_defs.c
flight/targets/board_hw_defs/flyingf4/board_hw_defs.c
flight/targets/board_hw_defs/freedom/board_hw_defs.c
flight/targets/board_hw_defs/quanton/board_hw_defs.c
***** PLEASE NOTE ***** From this revision all F4 based boards (Revolution/OSD) needs bootloader version 5 to boot properly
Conflicts:
flight/pios/stm32f4xx/libraries/CMSIS2/Device/ST/STM32F4xx/Source/osd/system_stm32f4xx.c
flight/targets/boards/osd/board-info.mk
make/boot-defs.mk
make/common-defs.mk
This move and rework also breaks the dependency of the task monitor on the UAVO subsystem,
and pushes the responsibility for updating the TaskInfo UAVO into the System module.
+review OPReview
When the #define is reformatted by uncrustify, it differs from the same
in FreeRTOS default config and gives error. So the removal of it serves
to 2 purposes: removes the duplication and fixes uncrustified builds.
Also fixes warnings (and bugs) in F4 STM32_USB_OTG_Driver code, allowing -Werror to be enabled for all flight code.
Fixes all other compiler warnings that would otherwise cause the flight code to not compile with -Werror enabled.
Along the way, this also adds some uses of isnan() to various places rather than questionable tests for x != x and
x == x to check for NaNs.
+review OPReview
-Fixed casing for PIOS_BL_HELPER_FLASH_ERASE_BOOTLOADER
-fixed wrong condition in f1 bl_helper
-other cosmetic changes and use of stdbool in f1 pios_bl_helper
-remove now unused macros
+review OPReview-456
Added an Extensions to Alarm for detailed status/substatus reporting.
Extended Alarms are the first in the Alarm structure and have corresponding fields in Status and Substatus structures.
Also added a filter to the HWsettings update to prevent to block arming when actual settings have not changed.
+review OPReview
In fact, the cause of that error was badly written makefile rule which
generated 5 same files 5 times. If used with make -j, it tried to open
the same files for writing at the same time. Windows doesn't like this.
This is fixed now.
This is the first cleanup pass through makefiles and pios.
Probably it is difficult to track changes due to the nature of them.
I would recommend to look at resulting files and compiled code instead.
NOTE: original branch was rebased and lot of conflicts were fixed on
the way. So do not expect that every commit in this series will be
buildable (unlike original branch). Only final result was tested.
The main goal was to remove as much duplication of code (and copy/paste
errors) as possible, moving common parts out of Makefiles. It still is
not perfect, and mostly no code changes made - Makefiles and #ifdefs only.
But please while testing make sure that all code works as before, and no
modules/options are missed by accident.
Brief list of changes:
- Moved common parts of Makefiles into the set of *.mk files.
- Changed method of passing common vars from top Makefile to lower ones.
- Some pios cleanup, mostly #ifdefs, and all pios_config.h files.
- Many obsolete files removed (for instance, AHRS files, op_config.h).
- Many obsolete or unused macros removed or fixed/renamed (ALL_DIGNOSTICS).
- Unified pios_config.h template. Please don't remove lines for board
configs, only comment/uncomment them. Adding new PIOS options, please
propagate them to all board files keeping the same order.
- Some formatting, spacing, indentation (no line endings change yet).
- Some cosmetic fixes (no more C:\X\Y\filename.c printings on Windows).
- Added some library.mk files to move libs into AR achives later.
- EntireFlash target now uses cross-platform python script to generate bin
files. So it works on all supported platforms: Linux, OSX, Windows.
- Top level packaging is completely rewritten. Now it is a part of top
Makefile. As such, all dependencies are checked and accounted, no
more 'make -j' problems should occur.
- Default GCS_BUILD_CONF is release now, may be changed if necessary
using 'make GCS_BUILD_CONF=debug gcs'.
- GCS build paths are separated into debug and release, so no more obj
file clashes. Packaging system supports only release builds.
- New target is introduced: 'clean_package'. Now 'make package' does not
clean build directory. Use clean_package instead for distributable builds.
- Targets like 'all', 'opfw_resource', etc now will print extra contex
in parallel builds too.
- If any of 'package', 'clean_package', 'opfw_resource' targets are given
on command line, GCS build will depend on the resource, so all fw_*.opfw
targets will be built and embedded into GCS. By default GCS does not
depend on resource, and will be built w/o firmware (unless the resource
files already exist and the Qt resource file is generated).
- fw_simposix (ELF executable) is now packaged for linux. Run'n'play!
- Make help is refined and is now up to date.
Still broken:
- UnitTests, should be fixed
- SimPosix: buildable, but should be reworked.
Next planned passes to do:
- toolchain bootstrapping and packaging (including windows - WIP)
- CMSIS/StdPeriph lib cleanup
- more PIOS cleanup
- move libs into AR archives to save build time
- sim targets refactir and cleanup
- move android-related directories under <top>/android
- unit test targets fix
- source code line ending changes (there are many different, were not changed)
- coding style
Merging this, please use --no-ff git option to make it the real commit point
Conflicts:
A lot of... :-)
It was reasonable to use "USE_FEATURE" on the make level when we didn't
have optional modules. Now is better to add them using += make operator.
Conflicts:
flight/targets/CopterControl/Makefile
Inconsistent use of debug macros in board definition files resulted in
BU compilation error. It was attempted to use PIOS_COM_SendFormattedStringNonBlocking()
directly even if PIOS_COM was not included (like for BootloaderUpdater).
So this function in pios_debug.c was replaced by DEBUG_PRINTF() macro.
The macro itself is defined in pios_debug.h file. Its definitions are
removed from board files. And to use it one has to define in pios_config.h:
#define PIOS_INCLUDE_DEBUG_CONSOLE
#define DEBUG_LEVEL <number>
in addition to PIOS_INCLUDE_COM with aux port.
Conflicts:
flight/PiOS/Boards/STM32103CB_PIPXTREME_Rev1.h
flight/PiOS/Boards/STM32F4xx_RevoMini.h
Now PipXtreme uses the same apps-defs.mk file as CopterControl.
Next steps are F4 boards.
Conflicts:
flight/targets/PipXtreme/Makefile
flight/targets/PipXtreme/System/inc/pios_config.h
Note that $(QUOTE) variable is uppercased. Windows make does not
export lowercased variables with export keyword (even if must do).
Conflicts:
make/firmware-defs.mk
Verify that the flash component on the board matches exactly
what we're expecting. This is a simple way to verify that we
are communicating properly with the JEDEC flash chip.
Conflicts:
flight/targets/board_hw_defs/freedom/board_hw_defs.c
flight/targets/board_hw_defs/quanton/board_hw_defs.c
When storing an opaque pointer value in a uint, the
appropriate type is uintptr_t which is guaranteed to
be wide enough to hold a pointer.
This is particularly important when the code can be
compiled in a sim or unit test environment which is
intended to run on a 64-bit machine.
Conflicts:
flight/PiOS/Common/pios_flash_jedec.c
flight/targets/DiscoveryF4/System/pios_board.c
flight/targets/FlyingF4/System/pios_board.c
flight/targets/Freedom/System/pios_board.c
flight/targets/Quanton/System/pios_board.c
When storing an opaque pointer value in a uint, the
appropriate type is uintptr_t which is guaranteed to
be wide enough to hold a pointer.
This is particularly important when the code can be
compiled in a sim or unit test environment which is
intended to run on a 64-bit machine.
Conflicts:
flight/targets/DiscoveryF4/System/pios_board.c
flight/targets/FlyingF4/System/pios_board.c
flight/targets/Freedom/System/pios_board.c
flight/targets/Quanton/System/pios_board.c
Filesystem magic value has been updated to deal with the
format change.
Conflicts:
flight/targets/board_hw_defs/discoveryf4/board_hw_defs.c
flight/targets/board_hw_defs/flyingf4/board_hw_defs.c
flight/targets/board_hw_defs/freedom/board_hw_defs.c
flight/targets/board_hw_defs/quanton/board_hw_defs.c
The flashfs layer is now entirely decoupled from the UAVO
data types. All UAVO related calls are now properly
contained within uavobjectmanager.c.
This will make the flashfs layer more portable as well as
more testable in a standalone environment. Eventually,
this layer could be used to store arbitrary files.
Also fixed all of the doxygen headers for the flashfs API.
