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NEW: release DJI Payload-SDK version 3.4

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Signed-off-by: DJI-Martin <DJI-Martin@dji.com>
This commit is contained in:
DJI-Martin
2023-04-18 21:26:50 +08:00
parent b621c93fde
commit 29109dd0db
106 changed files with 3030521 additions and 1114 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/application.c
View File

@ -23,6 +23,8 @@
*********************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include <widget/test_widget_speaker.h>
#include <hms/test_hms.h>
#include "FreeRTOS.h"
#include "FreeRTOSConfig.h"
#include "task.h"
@ -101,7 +103,6 @@ void DjiUser_StartTask(void const *argument)
.consoleLevel = DJI_LOGGER_CONSOLE_LOG_LEVEL_INFO,
.isSupportColor = true,
};
T_DjiHalUartHandler uartHandler = {
.UartInit = HalUart_Init,
.UartDeInit = HalUart_DeInit,
@ -109,6 +110,12 @@ void DjiUser_StartTask(void const *argument)
.UartReadData = HalUart_ReadData,
.UartGetStatus = HalUart_GetStatus,
};
T_DjiFirmwareVersion firmwareVersion = {
.majorVersion = 1,
.minorVersion = 0,
.modifyVersion = 0,
.debugVersion = 0,
};
UART_Init(DJI_CONSOLE_UART_NUM, DJI_CONSOLE_UART_BAUD);
Led_Init(LED3);
@ -161,6 +168,18 @@ void DjiUser_StartTask(void const *argument)
goto out;
}
returnCode = DjiCore_SetFirmwareVersion(firmwareVersion);
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set firmware version error");
goto out;
}
returnCode = DjiCore_SetSerialNumber("PSDK12345678XX");
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("set serial number error");
goto out;
}
#ifdef CONFIG_MODULE_SAMPLE_POWER_MANAGEMENT_ON
T_DjiTestApplyHighPowerHandler applyHighPowerHandler = {
.pinInit = DjiTest_HighPowerApplyPinInit,
@ -185,6 +204,13 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
returnCode = DjiTest_WidgetSpeakerStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("widget speaker sample init error");
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
returnCode = DjiTest_DataTransmissionStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
@ -199,20 +225,37 @@ void DjiUser_StartTask(void const *argument)
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_HMS_ON
returnCode = DjiTest_HmsStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("hms test init error");
}
#endif
#if !USE_USB_HOST_UART
#ifdef CONFIG_MODULE_SAMPLE_CAMERA_ON
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
goto out;
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
USER_LOG_WARN("Not support camera emu sample.");
} else {
returnCode = DjiTest_CameraEmuBaseStartService();
if (returnCode != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("camera emu common init error");
goto out;
}
}
#endif
#ifdef CONFIG_MODULE_SAMPLE_GIMBAL_EMU_ON
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
if (aircraftInfoBaseInfo.aircraftType == DJI_AIRCRAFT_TYPE_M300_RTK
&& aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
USER_LOG_WARN("Not support gimbal emu sample.");
} else {
if (aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_SKYPORT_V2 ||
aircraftInfoBaseInfo.djiAdapterType == DJI_SDK_ADAPTER_TYPE_NONE) {
if (DjiTest_GimbalStartService() != DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS) {
USER_LOG_ERROR("psdk gimbal init error");
}
}
}
#endif

4
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/application/dji_sdk_config.h
View File

@ -38,6 +38,8 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_WIDGET_ON
#define CONFIG_MODULE_SAMPLE_WIDGET_SPEAKER_ON
#define CONFIG_MODULE_SAMPLE_DATA_TRANSMISSION_ON
#define CONFIG_MODULE_SAMPLE_FC_SUBSCRIPTION_ON
@ -50,6 +52,8 @@ extern "C" {
#define CONFIG_MODULE_SAMPLE_UPGRADE_ON
#define CONFIG_MODULE_SAMPLE_HMS_ON
/*!< Attention: Please uncomment it in gps environment.
* */
//#define CONFIG_MODULE_SAMPLE_TIME_SYNC_ON

8
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/hal/hal_uart.c
View File

@ -30,7 +30,9 @@
#include "dji_platform.h"
#if USE_USB_HOST_UART
#include "usbh_cdc.h"
#endif
/* Private constants ---------------------------------------------------------*/
@ -53,7 +55,7 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
{
T_UartHandleStruct *uartHandleStruct;
uartHandleStruct = malloc(sizeof(T_UartHandleStruct));
uartHandleStruct = pvPortMalloc(sizeof(T_UartHandleStruct));
if (uartHandleStruct == NULL) {
return DJI_ERROR_SYSTEM_MODULE_CODE_MEMORY_ALLOC_FAILED;
}
@ -72,12 +74,15 @@ T_DjiReturnCode HalUart_Init(E_DjiHalUartNum uartNum, uint32_t baudRate, T_DjiUa
T_DjiReturnCode HalUart_DeInit(T_DjiUartHandle uartHandle)
{
vPortFree(uartHandle);
return DJI_ERROR_SYSTEM_MODULE_CODE_SUCCESS;
}
T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf, uint32_t len, uint32_t *realLen)
{
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
int32_t ret;
if (uartHandleStruct->uartNum == USER_UART_NUM0) {
UART_Write(COMMUNICATION_UART_NUM, buf, len);
@ -91,6 +96,7 @@ T_DjiReturnCode HalUart_WriteData(T_DjiUartHandle uartHandle, const uint8_t *buf
T_DjiReturnCode HalUart_ReadData(T_DjiUartHandle uartHandle, uint8_t *buf, uint32_t len, uint32_t *realLen)
{
T_UartHandleStruct *uartHandleStruct = (T_UartHandleStruct *) uartHandle;
int32_t ret;
if (uartHandleStruct->uartNum == USER_UART_NUM0) {
*realLen = UART_Read(COMMUNICATION_UART_NUM, buf, len);

150
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/CMakeLists.txt
View File

@ -1,150 +0,0 @@
#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.5)
# project settings
project(dji_sdk_demo_rtos C CXX ASM)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)
set(DEVICE STM32F407IG)
set(DEVICE_FAMILY STM32F40_41xxx)
set(USE_BOOTLOADER NO)
if (USE_BOOTLOADER MATCHES YES)
add_definitions(-DUSE_BOOTLOADER)
endif ()
add_definitions(-DUSE_HAL_DRIVER)
add_definitions(-DSTM32F407xx)
add_definitions(-DUSE_CMSIS_RTOS=1)
add_definitions(-DHSE_VALUE=8000000)
#add_definitions(-DUSE_USB_HOST_UART=1)
#Uncomment for hardware floating point
add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
#Uncomment for software floating point
#add_compile_options(-mfloat-abi=soft)
add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
# uncomment to mitigate c++17 absolute addresses warnings
#set(ADDITIONAL_CORE_FLAGS "-Wno-unused-function -Wno-missing-braces")
#set(CORE_FLAGS "-mthumb -mcpu=cortex-m4 -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb-interwork --specs=nano.specs --specs=nosys.specs ${ADDITIONAL_CORE_FLAGS}")
set(CMAKE_C_FLAGS "${CORE_FLAGS} -fno-builtin -Wall -std=gnu99 -fdata-sections -ffunction-sections -u _printf_float --specs=nosys.specs -g3 -gdwarf-2" CACHE INTERNAL "c compiler flags")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")
if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
message(STATUS "Maximum optimization for speed")
add_compile_options(-Ofast)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
message(STATUS "Maximum optimization for speed, debug info included")
add_compile_options(-Ofast -g)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
message(STATUS "Maximum optimization for size")
add_compile_options(-Os)
else ()
message(STATUS "Minimal optimization, debug info included")
# add_compile_options(-Og -g)
endif ()
include_directories(
../../../common/osal
../../hal
../../application
../../bootloader
../../drivers/BSP
../../drivers/STM32F4xx_HAL_Driver/Inc
../../drivers/STM32F4xx_HAL_Driver/Inc/Legacy
../../drivers/CMSIS/Device/ST/STM32F4xx/Include
../../drivers/CMSIS/Include
../../middlewares/Third_Party/FreeRTOS/Source/include
../../middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
../../../../../module_sample
../../drivers/USB_HOST/Target
../../drivers/USB_HOST/App
../../middlewares/ST/STM32_USB_Host_Library/Core/Inc
../../middlewares/ST/STM32_USB_Host_Library/Class/CDC/Inc
)
add_definitions(-DUSE_HAL_DRIVER -DSTM32F407xx)
file(GLOB_RECURSE SOURCES
"../../../common/*.c"
"../../hal/*.c"
"../../application/*.c"
"../../drivers/BSP/*.c"
"../../drivers/USB_HOST/*.*"
"../../middlewares/ST/*.*"
"../../drivers/STM32F4xx_HAL_Driver/*.*"
"../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c"
"../../middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c"
"../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f407xx.s"
"../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c"
"../../middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c"
"../../middlewares/Third_Party/FreeRTOS/Source/croutine.c"
"../../middlewares/Third_Party/FreeRTOS/Source/event_groups.c"
"../../middlewares/Third_Party/FreeRTOS/Source/list.c"
"../../middlewares/Third_Party/FreeRTOS/Source/queue.c"
"../../middlewares/Third_Party/FreeRTOS/Source/tasks.c"
"../../middlewares/Third_Party/FreeRTOS/Source/timers.c"
"../../../../../module_sample/camera_emu/test_payload_cam_emu_base.c"
"../../../../../module_sample/gimbal_emu/*.c"
"../../../../../module_sample/xport/*.c"
"../../../../../module_sample/payload_collaboration/*.c"
"../../../../../module_sample/fc_subscription/*.c"
"../../../../../module_sample/data_transmission/*.c"
"../../../../../module_sample/widget/*.c"
"../../../../../module_sample/positioning/*.c"
"../../../../../module_sample/time_sync/*.c"
"../../../../../module_sample/upgrade/*.c"
"../../../../../module_sample/utils/*.c"
"../../../../../module_sample/power_management/*.c"
)
if (USE_BOOTLOADER MATCHES YES)
set(FLASH_START 0x08010000)
set(FLASH_SIZE 448k)
else ()
set(FLASH_START 0x08000000)
set(FLASH_SIZE 1024k)
endif ()
set(RAM_SIZE 128k)
set(CCMRAM_SIZE 64k)
set(HEAP_SIZE 0x800)
set(STACK_SIZE 0x800)
configure_file(linker_script/stm32f407igt.ld.in ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld)
get_filename_component(LINKER_SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld ABSOLUTE)
add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_link_options(-T ${LINKER_SCRIPT})
include_directories(../../../../../../../out/include)
link_directories(${CMAKE_CURRENT_LIST_DIR}/../../../../../../../out/lib/arm-none-eabi-gcc)
link_libraries(${CMAKE_CURRENT_LIST_DIR}/../../../../../../../out/lib/arm-none-eabi-gcc/libpayloadsdk.a)
add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})
set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
COMMENT "Building ${HEX_FILE}
Building ${BIN_FILE}")
configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.jlink.in ${CMAKE_CURRENT_BINARY_DIR}/download.jlink)
configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.sh.in ${CMAKE_CURRENT_BINARY_DIR}/download.sh)
configure_file(${CMAKE_CURRENT_LIST_DIR}/debug_script/gdbserver.sh.in ${CMAKE_CURRENT_BINARY_DIR}/gdbserver.sh)
execute_process(COMMAND chmod 777 download.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
execute_process(COMMAND chmod 777 gdbserver.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/debug_script/gdbserver.sh.in
View File

@ -1,2 +0,0 @@
#!/bin/bash
JLinkGDBServerCLExe -device ${DEVICE} -speed 8100 -if SWD -s -halt -noir -x ${CMAKE_CURRENT_LIST_DIR}/debug_script/init.gdb -rtos GDBServer/RTOSPlugin_FreeRTOS

1
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/debug_script/init.gdb
View File

@ -1 +0,0 @@
reset

7
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/download_script/download.jlink.in
View File

@ -1,7 +0,0 @@
device ${DEVICE}
r
loadbin ${PROJECT_NAME}.bin, ${FLASH_START}
verifybin ${PROJECT_NAME}.bin, ${FLASH_START}
r
g
qc

9
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/download_script/download.sh.in
View File

@ -1,9 +0,0 @@
#!/bin/bash
if [ ! -n "$1" ] ;then
JLinkExe -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
echo "use default jlink device"
else
JLinkExe -usb $1 -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
echo "use selected jlink device, sn:"$1
fi
exit 0

190
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/linker_script/stm32f407igt.ld.in
View File

@ -1,190 +0,0 @@
/* Default STM32F4xx linker script.
*
* Modify memory sections according to the targeted platform.
*/
MEMORY
{
FLASH (rx) : ORIGIN = ${FLASH_START}, LENGTH = ${FLASH_SIZE}
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = ${RAM_SIZE}
CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = ${CCMRAM_SIZE}
}
/* Reset_Handler : Entry of reset handler */
ENTRY(Reset_Handler)
/* Linker script to place sections and symbol values. Should be used together
* with other linker script that defines memory regions FLASH and RAM.
* It defines following symbols, which code can use without definition.
* __exidx_start
* __exidx_end
* __etext
* _sdata
* __preinit_array_start
* __preinit_array_end
* __init_array_start
* __init_array_end
* __fini_array_start
* __fini_array_end
* _edata
* _sbss
* __bss_start__
* __bss_end__
* _ebss
* __end__
* end
* __HeapLimit
* __StackLimit
* __StackTop
* _sidata
* _siccmram
*/
_estack = ORIGIN(RAM) + LENGTH(RAM);
_Min_Heap_Size = ${HEAP_SIZE};
_Min_Stack_Size = ${STACK_SIZE};
SECTIONS
{
.text :
{
KEEP(*(.isr_vector))
*(.text*)
KEEP(*(.init))
KEEP(*(.fini))
/* .ctors */
*crtbegin.o(.ctors)
*crtbegin?.o(.ctors)
*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
*(SORT(.ctors.*))
*(.ctors)
/* .dtors */
*crtbegin.o(.dtors)
*crtbegin?.o(.dtors)
*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
*(SORT(.dtors.*))
*(.dtors)
*(.rodata*)
KEEP(*(.eh_frame*))
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
__exidx_start = .;
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
__exidx_end = .;
__etext = .;
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
.data : AT (__etext)
{
_sdata = .;
*(vtable)
*(.data*)
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP(*(.preinit_array))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
/* init data */
PROVIDE_HIDDEN (__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
/* finit data */
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP(*(SORT(.fini_array.*)))
KEEP(*(.fini_array))
PROVIDE_HIDDEN (__fini_array_end = .);
KEEP(*(.jcr*))
. = ALIGN(4);
/* All data end */
_edata = .;
} > RAM
_siccmram = LOADADDR(.ccmram);
/* CCM-RAM section
*
* IMPORTANT NOTE!
* If initialized variables will be placed in this section,
* the startup code needs to be modified to copy the init-values.
*/
.ccmram :
{
. = ALIGN(4);
_sccmram = .; /* create a global symbol at ccmram start */
*(.ccmram)
*(.ccmram*)
. = ALIGN(4);
_eccmram = .; /* create a global symbol at ccmram end */
} >CCMRAM AT> FLASH
.bss :
{
. = ALIGN(4);
_sbss = .;
__bss_start__ = _sbss;
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .;
__bss_end__ = _ebss;
} > RAM
.heap (COPY):
{
__end__ = .;
PROVIDE(end = .);
PROVIDE( _end = . );
*(.heap*)
__HeapLimit = .;
} > RAM
/* .stack_dummy section doesn't contains any symbols. It is only
* used for linker to calculate size of stack sections, and assign
* values to stack symbols later */
.stack_dummy (COPY):
{
*(.stack*)
} > RAM
/* Set stack top to end of RAM, and stack limit move down by
* size of stack_dummy section */
__StackTop = ORIGIN(RAM) + LENGTH(RAM);
__StackLimit = __StackTop - SIZEOF(.stack_dummy);
PROVIDE(_estack = __StackTop);
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
/* Check if data + heap + stack exceeds RAM limit */
ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed with stack")
}

134
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/CMakeLists.txt
View File

@ -1,134 +0,0 @@
#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.5)
# project settings
project(dji_sdk_demo_bootloader C CXX ASM)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)
add_definitions(-DUSE_HAL_DRIVER)
add_definitions(-DSTM32F407xx)
add_definitions(-DUSE_CMSIS_RTOS=1)
add_definitions(-DHSE_VALUE=8000000)
set(DEVICE STM32F407IG)
set(DEVICE_FAMILY STM32F40_41xxx)
#Uncomment for hardware floating point
add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
#Uncomment for software floating point
#add_compile_options(-mfloat-abi=soft)
add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
# uncomment to mitigate c++17 absolute addresses warnings
#set(ADDITIONAL_CORE_FLAGS "-Wno-unused-function -Wno-missing-braces")
#set(CORE_FLAGS "-mthumb -mcpu=cortex-m4 -mlittle-endian -mfpu=fpv4-sp-d16 -mfloat-abi=softfp -mthumb-interwork --specs=nano.specs --specs=nosys.specs ${ADDITIONAL_CORE_FLAGS}")
set(CMAKE_C_FLAGS "${CORE_FLAGS} -fno-builtin -Wall -std=gnu99 -fdata-sections -ffunction-sections -g3 -gdwarf-2" CACHE INTERNAL "c compiler flags")
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")
if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
message(STATUS "Maximum optimization for speed")
add_compile_options(-Ofast)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
message(STATUS "Maximum optimization for speed, debug info included")
add_compile_options(-Ofast -g)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
message(STATUS "Maximum optimization for size")
add_compile_options(-Os)
else ()
message(STATUS "Minimal optimization, debug info included")
add_compile_options(-Og -g)
endif ()
include_directories(
../../../common
../../../common/osal
../../hal
../../application
../../bootloader
../../drivers/BSP
../../drivers/STM32F4xx_HAL_Driver/Inc
../../drivers/STM32F4xx_HAL_Driver/Inc/Legacy
../../drivers/CMSIS/Device/ST/STM32F4xx/Include
../../drivers/CMSIS/Include
../../middlewares/Third_Party/FreeRTOS/Source/include
../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
)
add_definitions(-DUSE_HAL_DRIVER -DSTM32F407xx)
file(GLOB_RECURSE SOURCES
"../../../common/*.c"
"../../hal/*.c"
"../../bootloader/*.c"
"../../drivers/BSP/*.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rcc_ex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ramfunc.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_cortex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma_ex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_pwr_ex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_gpio.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_tim_ex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_rng.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_can.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_i2c_ex.c"
"../../drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_uart.c"
"../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/system_stm32f4xx.c"
"../../drivers/CMSIS/Device/ST/STM32F4xx/Source/Templates/gcc/startup_stm32f407xx.s"
"../../middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c"
"../../middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c"
"../../middlewares/Third_Party/FreeRTOS/Source/croutine.c"
"../../middlewares/Third_Party/FreeRTOS/Source/event_groups.c"
"../../middlewares/Third_Party/FreeRTOS/Source/list.c"
"../../middlewares/Third_Party/FreeRTOS/Source/queue.c"
"../../middlewares/Third_Party/FreeRTOS/Source/tasks.c"
"../../middlewares/Third_Party/FreeRTOS/Source/timers.c"
)
#[[ LINK SCRIPT ]]
set(FLASH_START 0x08000000)
set(FLASH_SIZE 1024k)
set(RAM_SIZE 128k)
set(CCMRAM_SIZE 64k)
set(HEAP_SIZE 0x800)
set(STACK_SIZE 0x800)
include_directories(../../../../../../../out/include)
configure_file(linker_script/stm32f407igt.ld.in ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld)
get_filename_component(LINKER_SCRIPT ${CMAKE_CURRENT_BINARY_DIR}/stm32f407igt.ld ABSOLUTE)
add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_link_options(-T ${LINKER_SCRIPT})
add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT})
set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
COMMENT "Building ${HEX_FILE}
Building ${BIN_FILE}")
configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.jlink.in ${CMAKE_CURRENT_BINARY_DIR}/download.jlink)
configure_file(${CMAKE_CURRENT_LIST_DIR}/download_script/download.sh.in ${CMAKE_CURRENT_BINARY_DIR}/download.sh)
configure_file(${CMAKE_CURRENT_LIST_DIR}/debug_script/gdbserver.sh.in ${CMAKE_CURRENT_BINARY_DIR}/gdbserver.sh)
execute_process(COMMAND chmod 777 download.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})
execute_process(COMMAND chmod 777 gdbserver.sh WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

15
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/Readme.txt
View File

@ -1,15 +0,0 @@
Config items of CLion project:
1. Go to https://segger.com/downloads/jlink/#J-LinkSoftwareAndDocumentationPack
For x64 ubuntu:
Download <J-Link Software and Documentation pack for Linux, DEB installer, 64-bit>, double click the downloaded file to install.
2. Go to https://developer.arm.com/tools-and-software/open-source-software/developer-tools/gnu-toolchain/gnu-rm/downloads
Download toolchain, for x64 ubuntu is <gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2>
cd /usr/local/
sudo tar xjf ~/Downloads/gcc-arm-none-eabi-9-2020-q2-update-x86_64-linux.tar.bz2
add "export PATH=$PATH:/usr/local/gcc-arm-none-eabi-9-2020-q2-update/bin" to /etc/profile
reboot system
3. Create External Tool named "fw_download", Program is $CMakeCurrentBuildDir$/download.sh and Work Directory is $CMakeCurrentBuildDir$
You can add shortcuts to this external tool to quickly download and run program.
4. Create Embedded GDB Server, setting GDB Server to <cmake build dir>/gdbserver.sh, 'target remote' args to 127.0.0.1:2331
Note: double-check the all above path, and ensure they are correct

2
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/debug_script/gdbserver.sh.in
View File

@ -1,2 +0,0 @@
#!/bin/bash
JLinkGDBServerCLExe -device ${DEVICE} -speed 8100 -if SWD -s -halt -noir -x ${CMAKE_CURRENT_LIST_DIR}/debug_script/init.gdb -rtos GDBServer/RTOSPlugin_FreeRTOS

1
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/debug_script/init.gdb
View File

@ -1 +0,0 @@
reset

7
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/download_script/download.jlink.in
View File

@ -1,7 +0,0 @@
device ${DEVICE}
r
loadbin ${PROJECT_NAME}.bin, ${FLASH_START}
verifybin ${PROJECT_NAME}.bin, ${FLASH_START}
r
g
qc

9
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/download_script/download.sh.in
View File

@ -1,9 +0,0 @@
#!/bin/bash
if [ ! -n "$1" ] ;then
JLinkExe -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
echo "use default jlink device"
else
JLinkExe -usb $1 -device ${DEVICE} -speed 1000 -if SWD -CommanderScript ${CMAKE_CURRENT_BINARY_DIR}/download.jlink
echo "use selected jlink device, sn:"$1
fi
exit 0

189
samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/linker_script/stm32f407igt.ld.in
View File

@ -1,189 +0,0 @@
/* Default STM32F4xx linker script.
*
* Modify memory sections according to the targeted platform.
*/
MEMORY
{
FLASH (rx) : ORIGIN = ${FLASH_START}, LENGTH = ${FLASH_SIZE}
RAM (xrw) : ORIGIN = 0x20000000, LENGTH = ${RAM_SIZE}
CCMRAM (rw) : ORIGIN = 0x10000000, LENGTH = ${CCMRAM_SIZE}
}
/* Reset_Handler : Entry of reset handler */
ENTRY(Reset_Handler)
/* Linker script to place sections and symbol values. Should be used together
* with other linker script that defines memory regions FLASH and RAM.
* It defines following symbols, which code can use without definition.
* __exidx_start
* __exidx_end
* __etext
* _sdata
* __preinit_array_start
* __preinit_array_end
* __init_array_start
* __init_array_end
* __fini_array_start
* __fini_array_end
* _edata
* _sbss
* __bss_start__
* __bss_end__
* _ebss
* __end__
* end
* __HeapLimit
* __StackLimit
* __StackTop
* _sidata
* _siccmram
*/
_estack = ORIGIN(RAM) + LENGTH(RAM);
_Min_Heap_Size = ${HEAP_SIZE};
_Min_Stack_Size = ${STACK_SIZE};
SECTIONS
{
.text :
{
KEEP(*(.isr_vector))
*(.text*)
KEEP(*(.init))
KEEP(*(.fini))
/* .ctors */
*crtbegin.o(.ctors)
*crtbegin?.o(.ctors)
*(EXCLUDE_FILE(*crtend?.o *crtend.o) .ctors)
*(SORT(.ctors.*))
*(.ctors)
/* .dtors */
*crtbegin.o(.dtors)
*crtbegin?.o(.dtors)
*(EXCLUDE_FILE(*crtend?.o *crtend.o) .dtors)
*(SORT(.dtors.*))
*(.dtors)
*(.rodata*)
KEEP(*(.eh_frame*))
} > FLASH
.ARM.extab :
{
*(.ARM.extab* .gnu.linkonce.armextab.*)
} > FLASH
__exidx_start = .;
.ARM.exidx :
{
*(.ARM.exidx* .gnu.linkonce.armexidx.*)
} > FLASH
__exidx_end = .;
__etext = .;
/* used by the startup to initialize data */
_sidata = LOADADDR(.data);
.data : AT (__etext)
{
_sdata = .;
*(vtable)
*(.data*)
. = ALIGN(4);
/* preinit data */
PROVIDE_HIDDEN (__preinit_array_start = .);
KEEP(*(.preinit_array))
PROVIDE_HIDDEN (__preinit_array_end = .);
. = ALIGN(4);
/* init data */
PROVIDE_HIDDEN (__init_array_start = .);
KEEP(*(SORT(.init_array.*)))
KEEP(*(.init_array))
PROVIDE_HIDDEN (__init_array_end = .);
. = ALIGN(4);
/* finit data */
PROVIDE_HIDDEN (__fini_array_start = .);
KEEP(*(SORT(.fini_array.*)))
KEEP(*(.fini_array))
PROVIDE_HIDDEN (__fini_array_end = .);
KEEP(*(.jcr*))
. = ALIGN(4);
/* All data end */
_edata = .;
} > RAM
_siccmram = LOADADDR(.ccmram);
/* CCM-RAM section
*
* IMPORTANT NOTE!
* If initialized variables will be placed in this section,
* the startup code needs to be modified to copy the init-values.
*/
.ccmram :
{
. = ALIGN(4);
_sccmram = .; /* create a global symbol at ccmram start */
*(.ccmram)
*(.ccmram*)
. = ALIGN(4);
_eccmram = .; /* create a global symbol at ccmram end */
} >CCMRAM AT> FLASH
.bss :
{
. = ALIGN(4);
_sbss = .;
__bss_start__ = _sbss;
*(.bss*)
*(COMMON)
. = ALIGN(4);
_ebss = .;
__bss_end__ = _ebss;
} > RAM
.heap (COPY):
{
__end__ = .;
PROVIDE(end = .);
*(.heap*)
__HeapLimit = .;
} > RAM
/* .stack_dummy section doesn't contains any symbols. It is only
* used for linker to calculate size of stack sections, and assign
* values to stack symbols later */
.stack_dummy (COPY):
{
*(.stack*)
} > RAM
/* Set stack top to end of RAM, and stack limit move down by
* size of stack_dummy section */
__StackTop = ORIGIN(RAM) + LENGTH(RAM);
__StackLimit = __StackTop - SIZEOF(.stack_dummy);
PROVIDE(_estack = __StackTop);
/* Remove information from the standard libraries */
/DISCARD/ :
{
libc.a ( * )
libm.a ( * )
libgcc.a ( * )
}
/* Check if data + heap + stack exceeds RAM limit */
ASSERT(__StackLimit >= __HeapLimit, "region RAM overflowed with stack")
}