Merge remote-tracking branch 'upstream/master' into abo_multi_functio…

…n_utility
breadoven · Aug 28, 2023 · 274bfe6 · 274bfe6
2 parents 5fde0a0 + 029ae30
commit 274bfe6
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diff --git a/.dir-locals.el b/.dir-locals.el
@@ -0,0 +1,5 @@
+;;; Directory Local Variables            -*- no-byte-compile: t -*-
+;;; For more information see (info "(emacs) Directory Variables")
+
+((nil . ((c-basic-offset . 4)
+	 (c-default-style . "k&r"))))
diff --git a/.github/workflows/ci.yml b/.github/workflows/ci.yml
@@ -38,9 +38,9 @@ jobs:
       - name: Build targets (${{ matrix.id }})
         run: mkdir -p build && cd build && cmake -DWARNINGS_AS_ERRORS=ON -DCI_JOB_INDEX=${{ matrix.id }} -DCI_JOB_COUNT=${{ strategy.job-total }} -DBUILD_SUFFIX=${{ env.BUILD_SUFFIX }} -G Ninja .. && ninja ci
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}.zip
+          name: ${{ env.BUILD_NAME }}
           path: ./build/*.hex
 
   build-SITL-Linux:
@@ -68,9 +68,45 @@ jobs:
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}_SITL.zip
+          name: ${{ env.BUILD_NAME }}_SITL
+          path: ./build_SITL/*_SITL
+
+  build-SITL-Mac:
+    runs-on: macos-latest
+    steps:
+      - uses: actions/checkout@v3
+      - name: Install dependencies
+        run: |
+          brew install cmake ninja ruby
+
+      - name: Setup environment
+        env:
+          ACTIONS_ALLOW_UNSECURE_COMMANDS: true
+        run: |
+          # This is the hash of the commit for the PR
+          # when the action is triggered by PR, empty otherwise
+          COMMIT_ID=${{ github.event.pull_request.head.sha }}
+          # This is the hash of the commit when triggered by push
+          # but the hash of refs/pull/<n>/merge, which is different
+          # from the hash of the latest commit in the PR, that's
+          # why we try github.event.pull_request.head.sha first
+          COMMIT_ID=${COMMIT_ID:-${{ github.sha }}}
+          BUILD_SUFFIX=ci-$(date '+%Y%m%d')-$(git rev-parse --short ${COMMIT_ID})
+          VERSION=$(grep project CMakeLists.txt|awk -F VERSION '{ gsub(/^[ \t]+|[ \t\)]+$/, "", $2); print $2 }')
+          echo "BUILD_SUFFIX=${BUILD_SUFFIX}" >> $GITHUB_ENV
+          echo "BUILD_NAME=inav-${VERSION}-${BUILD_SUFFIX}" >> $GITHUB_ENV
+      - name: Build SITL
+        run: |
+          mkdir -p build_SITL && cd build_SITL
+          cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja ..
+          ninja
+
+      - name: Upload artifacts
+        uses: actions/upload-artifact@v3
+        with:
+          name: ${{ env.BUILD_NAME }}_SITL-MacOS
           path: ./build_SITL/*_SITL
 
   build-SITL-Windows:
@@ -103,9 +139,9 @@ jobs:
       - name: Build SITL
         run: mkdir -p build_SITL && cd build_SITL && cmake -DSITL=ON -DWARNINGS_AS_ERRORS=ON -G Ninja .. && ninja
       - name: Upload artifacts
-        uses: actions/upload-artifact@v2-preview
+        uses: actions/upload-artifact@v3
         with:
-          name: ${{ env.BUILD_NAME }}_SITL-WIN.zip
+          name: ${{ env.BUILD_NAME }}_SITL-WIN
           path: ./build_SITL/*.exe
 
 

diff --git a/.gitignore b/.gitignore
@@ -12,7 +12,7 @@
 __pycache__
 startup_stm32f10x_md_gcc.s
 .vagrant/
-.vscode/
+#.vscode/
 cov-int*
 /build/
 /obj/
@@ -31,3 +31,4 @@ README.pdf
 
 # local changes only
 make/local.mk
+launch.json
diff --git a/.vimrc b/.vimrc
@@ -0,0 +1,9 @@
+filetype on
+filetype indent on
+
+set expandtab
+set bs=2
+set sw=4
+set ts=4
+
+
diff --git a/.vscode/settings.json b/.vscode/settings.json
@@ -0,0 +1,12 @@
+{
+    "files.associations": {
+        "chrono": "c",
+        "cmath": "c",
+        "ranges": "c"
+    },
+    "editor.tabSize": 4,
+    "editor.insertSpaces": true,
+    "editor.detectIndentation": false,
+    "editor.expandTabs": true,
+    "C_Cpp.clang_format_fallbackStyle": "{ BasedOnStyle: Google, IndentWidth: 4,  BreakBeforeBraces: Mozilla }"
+}
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -14,6 +14,9 @@ option(SITL "SITL build for host system" OFF)
 
 set(TOOLCHAIN_OPTIONS none arm-none-eabi host)
 if (SITL)
+    if (CMAKE_HOST_APPLE)
+        set(MACOSX TRUE)
+    endif()
     set(TOOLCHAIN "host" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
 else()
     set(TOOLCHAIN "arm-none-eabi" CACHE STRING "Toolchain to use. Available: ${TOOLCHAIN_OPTIONS}")
@@ -52,7 +55,11 @@ project(INAV VERSION 7.0.0)
 
 enable_language(ASM)
 
-set(CMAKE_C_STANDARD 99)
+if(MACOSX AND SITL)
+    set(CMAKE_C_STANDARD 11)
+else()
+    set(CMAKE_C_STANDARD 99)
+endif()
 set(CMAKE_C_EXTENSIONS ON)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD 11)

diff --git a/cmake/at32.cmake b/cmake/at32.cmake
@@ -15,6 +15,8 @@ set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
 set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
 
 set(CMSIS_DSP_SRC
+    BasicMathFunctions/arm_scale_f32.c
+    BasicMathFunctions/arm_sub_f32.c
     BasicMathFunctions/arm_mult_f32.c
     TransformFunctions/arm_rfft_fast_f32.c
     TransformFunctions/arm_cfft_f32.c

diff --git a/cmake/host.cmake b/cmake/host.cmake
@@ -16,15 +16,23 @@ set(CMAKE_CXX_COMPILER "g++${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "c++ compil
 set(CMAKE_OBJCOPY "objcopy${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "objcopy tool")
 set(CMAKE_OBJDUMP "objdump${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "objdump tool")
 set(CMAKE_SIZE "size${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "size tool")
-set(CMAKE_DEBUGGER "gdb${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "debugger")
+if(CMAKE_HOST_APPLE)
+  set(CMAKE_DEBUGGER "lldb${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "debugger")
+else()
+  set(CMAKE_DEBUGGER "gdb${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "debugger")
+endif()
 set(CMAKE_CPPFILT "c++filt${TOOL_EXECUTABLE_SUFFIX}" CACHE INTERNAL "c++filt")
 
 set(CMAKE_BUILD_TYPE ${CMAKE_BUILD_TYPE} CACHE STRING "Build Type" FORCE)
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS ${CMAKE_CONFIGURATION_TYPES})
 
 set(debug_options "-Og -O0 -g")
 set(release_options "-Os -DNDEBUG")
-set(relwithdebinfo_options "-ggdb3 ${release_options}")
+if(CMAKE_HOST_APPLE)
+  set(relwithdebinfo_options "-g ${release_options}")
+else()
+  set(relwithdebinfo_options "-ggdb3 ${release_options}")
+endif()
 
 set(CMAKE_C_FLAGS_DEBUG ${debug_options} CACHE INTERNAL "c compiler flags debug")
 set(CMAKE_CXX_FLAGS_DEBUG ${debug_options} CACHE INTERNAL "c++ compiler flags debug")

diff --git a/cmake/main.cmake b/cmake/main.cmake
@@ -9,14 +9,27 @@ set(MAIN_DEFINITIONS
     __REVISION__="${GIT_REV}"
 )
 
-set(MAIN_COMPILE_OPTIONS
-    -Wall
-    -Wextra
-    -Wunsafe-loop-optimizations
-    -Wdouble-promotion
-    -Wstrict-prototypes
-    -Werror=switch
-)
+
+# Can't check for OSX yet at this point
+if(SITL)
+    set(MAIN_COMPILE_OPTIONS
+        -Wall
+        -Wextra
+        -Wdouble-promotion
+        -Wstrict-prototypes
+        -Werror=switch
+        #-Wno-unknown-warning-option
+    )
+else()
+    set(MAIN_COMPILE_OPTIONS
+        -Wall
+        -Wextra
+        -Wunsafe-loop-optimizations
+        -Wdouble-promotion
+        -Wstrict-prototypes
+        -Werror=switch
+    )
+endif()
 
 macro(main_sources var) # list-var src-1...src-n
     set(${var} ${ARGN})
@@ -70,7 +83,7 @@ function(setup_executable exe name)
     set_target_properties(${exe} PROPERTIES
         RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}/bin"
     )
-    if(IS_RELEASE_BUILD)
+    if(IS_RELEASE_BUILD AND NOT (CMAKE_HOST_APPLE AND SITL))
         set_target_properties(${exe} PROPERTIES
             INTERPROCEDURAL_OPTIMIZATION ON
         )

diff --git a/cmake/sitl.cmake b/cmake/sitl.cmake
@@ -25,56 +25,71 @@ main_sources(SITL_SRC
     target/SITL/sim/xplane.h
 )
 
+
+if(CMAKE_HOST_APPLE)
+  set(MACOSX ON)
+endif()
+
 set(SITL_LINK_OPTIONS
-    -lrt
     -Wl,-L${STM32_LINKER_DIR}
-    -Wl,--cref
-    -static-libgcc # Required for windows build under cygwin
 )
 
+if(${WIN32} OR ${CYGWIN})
+    set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-static-libgcc")
+endif()
+
 set(SITL_LINK_LIBRARIS
     -lpthread
     -lm
     -lc
 )
 
+if(NOT MACOSX)
+    set(SITL_LINK_LIBRARIS ${SITL_LINK_LIBRARIS} -lrt)
+endif()
+
 set(SITL_COMPILE_OPTIONS
     -Wno-format #Fixme: Compile for 32bit, but settings.rb has to be adjusted
-    -Wno-return-local-addr
-    -Wno-error=maybe-uninitialized
-    -fsingle-precision-constant
     -funsigned-char
 )
 
+if(NOT MACOSX)
+    set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
+        -Wno-return-local-addr
+        -Wno-error=maybe-uninitialized
+        -fsingle-precision-constant
+    )
+    if (CMAKE_COMPILER_IS_GNUCC AND NOT CMAKE_C_COMPILER_VERSION VERSION_LESS 12.0)
+        set(SITL_LINK_OPTIONS ${SITL_LINK_OPTIONS} "-Wl,--no-warn-rwx-segments")
+    endif()
+else()
+    set(SITL_COMPILE_OPTIONS ${SITL_COMPILE_OPTIONS}
+    )
+endif()
+
 set(SITL_DEFINITIONS
     SITL_BUILD
 )
 
-function(generate_map_file target)
-    if(CMAKE_VERSION VERSION_LESS 3.15)
-        set(map "$<TARGET_FILE:${target}>.map")
-    else()
-        set(map "$<TARGET_FILE_DIR:${target}>/$<TARGET_FILE_BASE_NAME:${target}>.map")
-    endif()
-    target_link_options(${target} PRIVATE "-Wl,-gc-sections,-Map,${map}")
-endfunction()
-
 function (target_sitl name)
+    if(CMAKE_VERSION VERSION_GREATER 3.22)
+        set(CMAKE_C_STANDARD 17)
+    endif()
 
     if(NOT host STREQUAL TOOLCHAIN)
         return()
     endif()
-    
+
     exclude(COMMON_SRC "${SITL_COMMON_SRC_EXCLUDES}")
 
     set(target_sources)
     list(APPEND target_sources ${SITL_SRC})
     file(GLOB target_c_sources "${CMAKE_CURRENT_SOURCE_DIR}/*.c")
     file(GLOB target_h_sources "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
     list(APPEND target_sources ${target_c_sources} ${target_h_sources})
-    
+
     set(target_definitions ${COMMON_COMPILE_DEFINITIONS})
-    
+
     set(hse_mhz ${STM32_DEFAULT_HSE_MHZ})
     math(EXPR hse_value "${hse_mhz} * 1000000")
     list(APPEND target_definitions "HSE_VALUE=${hse_value}")
@@ -92,35 +107,33 @@ function (target_sitl name)
     target_include_directories(${exe_target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR})
     target_compile_definitions(${exe_target} PRIVATE ${target_definitions})
 
-    
+
     if(WARNINGS_AS_ERRORS)
         target_compile_options(${exe_target} PRIVATE -Werror)
     endif()
-    
+
     target_compile_options(${exe_target} PRIVATE ${SITL_COMPILE_OPTIONS})
-  
+
     target_link_libraries(${exe_target} PRIVATE ${SITL_LINK_LIBRARIS})
     target_link_options(${exe_target} PRIVATE ${SITL_LINK_OPTIONS})
-
-    generate_map_file(${exe_target})
-
+
     set(script_path ${MAIN_SRC_DIR}/target/link/sitl.ld)
     if(NOT EXISTS ${script_path})
         message(FATAL_ERROR "linker script ${script_path} doesn't exist")
     endif()
     set_target_properties(${exe_target} PROPERTIES LINK_DEPENDS ${script_path})
-    target_link_options(${exe_target} PRIVATE -T${script_path})
+    if(NOT MACOSX)
+        target_link_options(${exe_target} PRIVATE -T${script_path})
+    endif()
 
     if(${WIN32} OR ${CYGWIN})
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name}.exe)
     else()
         set(exe_filename ${CMAKE_BINARY_DIR}/${binary_name})
     endif()
-    
+
     add_custom_target(${name} ALL
-        cmake -E env PATH="$ENV{PATH}"
-        ${CMAKE_OBJCOPY} $<TARGET_FILE:${exe_target}> ${exe_filename}
-        BYPRODUCTS ${hex}
+        cmake -E copy $<TARGET_FILE:${exe_target}> ${exe_filename}
     )
 
     setup_firmware_target(${exe_target} ${name} ${ARGN})

diff --git a/cmake/stm32.cmake b/cmake/stm32.cmake
@@ -16,6 +16,8 @@ set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
 set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
 
 set(CMSIS_DSP_SRC
+    BasicMathFunctions/arm_scale_f32.c
+    BasicMathFunctions/arm_sub_f32.c
     BasicMathFunctions/arm_mult_f32.c
     TransformFunctions/arm_rfft_fast_f32.c
     TransformFunctions/arm_cfft_f32.c

diff --git a/cmake/stm32h7.cmake b/cmake/stm32h7.cmake
@@ -149,6 +149,8 @@ main_sources(STM32H7_SRC
     drivers/bus_i2c_hal.c
     drivers/dma_stm32h7xx.c
     drivers/bus_spi_hal_ll.c
+    drivers/bus_quadspi.c
+    drivers/bus_quadspi_hal.c
     drivers/memprot.h
     drivers/memprot_hal.c
     drivers/memprot_stm32h7xx.c
@@ -185,7 +187,7 @@ function(target_stm32h7xx)
         VCP_SOURCES ${STM32H7_USB_SRC} ${STM32H7_VCP_SRC}
         VCP_INCLUDE_DIRECTORIES ${STM32H7_USB_INCLUDE_DIRS} ${STM32H7_VCP_DIR}
 
-        OPTIMIZATION -Ofast
+        OPTIMIZATION -O2
 
         OPENOCD_TARGET stm32h7x