FIX: fixed the problem of occasionally obtaining abnormal camera parameters

Signed-off-by: DJI-Martin <DJI-Martin@dji.com>

psdk_lib/include/dji_version.h

@@ -37,7 +37,7 @@ extern "C" {
 #define DJI_VERSION_MINOR     3 /*!< DJI SDK minor version num, when add functionality in a backwards compatible manner changes. Range from 0 to 99. */
 #define DJI_VERSION_MODIFY    0 /*!< DJI SDK modify version num, when have backwards compatible bug fixes changes. Range from 0 to 99. */
 #define DJI_VERSION_BETA      0 /*!< DJI SDK version beta info, release version will be 0, when beta version release changes. Range from 0 to 255. */
-#define DJI_VERSION_BUILD     1702 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
+#define DJI_VERSION_BUILD     1703 /*!< DJI SDK version build info, when jenkins trigger build changes. Range from 0 to 65535. */
 
 /* Exported types ------------------------------------------------------------*/
 

samples/sample_c++/platform/linux/manifold2/application/main.cpp

@@ -86,7 +86,7 @@ start:
         << "| [i] Start power management sample - you will see notification when aircraft power off            |\n"
         << "| [j] Start data transmission sample - you can send or recv custom data on MSDK demo               |\n"
         << "| [l] Run camera manager sample - shoot photo by the selected camera mounted position              |\n"
-        << "| [m] Run camera manager download sample - download camera media file (not support on M3E/M3T)    |\n"
+        << "| [m] Run camera manager download sample - download camera media file (not support on M3E/M3T)     |\n"
         << std::endl;
 
     std::cin >> inputChar;

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/BSP/stm32f4xx_it.c

@@ -176,6 +176,7 @@ void TIM1_UP_TIM10_IRQHandler(void)
   /* USER CODE END TIM1_UP_TIM10_IRQn 1 */
 }
 
+#if USE_USB_HOST_UART
 /**
   * @brief This function handles USB On The Go FS global interrupt.
   */
@@ -192,6 +193,7 @@ void OTG_FS_IRQHandler(void)
 
   /* USER CODE END OTG_FS_IRQn 1 */
 }
+#endif
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/drivers/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_flash_ex.c

@@ -177,7 +177,7 @@ HAL_StatusTypeDef HAL_FLASHEx_Erase(FLASH_EraseInitTypeDef *pEraseInit, uint32_t
   {
     /*Initialization of SectorError variable*/
     *SectorError = 0xFFFFFFFFU;
-    
+
     if(pEraseInit->TypeErase == FLASH_TYPEERASE_MASSERASE)
     {
       /*Mass erase to be done*/
@@ -185,7 +185,7 @@ HAL_StatusTypeDef HAL_FLASHEx_Erase(FLASH_EraseInitTypeDef *pEraseInit, uint32_t
 
       /* Wait for last operation to be completed */
       status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE);
-      
+
       /* if the erase operation is completed, disable the MER Bit */
       FLASH->CR &= (~FLASH_MER_BIT);
     }
@@ -201,11 +201,11 @@ HAL_StatusTypeDef HAL_FLASHEx_Erase(FLASH_EraseInitTypeDef *pEraseInit, uint32_t
 
         /* Wait for last operation to be completed */
         status = FLASH_WaitForLastOperation((uint32_t)FLASH_TIMEOUT_VALUE);
-        
+
         /* If the erase operation is completed, disable the SER and SNB Bits */
         CLEAR_BIT(FLASH->CR, (FLASH_CR_SER | FLASH_CR_SNB));
 
-        if(status != HAL_OK) 
+        if(status != HAL_OK)
         {
           /* In case of error, stop erase procedure and return the faulty sector*/
           *SectorError = index;
@@ -214,7 +214,7 @@ HAL_StatusTypeDef HAL_FLASHEx_Erase(FLASH_EraseInitTypeDef *pEraseInit, uint32_t
       }
     }
     /* Flush the caches to be sure of the data consistency */
-    FLASH_FlushCaches();    
+    FLASH_FlushCaches();
   }
 
   /* Process Unlocked */

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/hal/hal_uart.c

@@ -27,9 +27,12 @@
 /* Includes ------------------------------------------------------------------*/
 #include "hal_uart.h"
 #include "uart.h"
-#include "usbh_cdc.h"
 #include "dji_platform.h"
 
+#if USE_USB_HOST_UART
+#include "usbh_cdc.h"
+#endif
+
 /* Private constants ---------------------------------------------------------*/
 #define COMMUNICATION_UART_NUM          UART_NUM_3
 

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_app/CMakeLists.txt

@@ -0,0 +1,150 @@
+#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})

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

@@ -0,0 +1,2 @@
+#!/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

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

@@ -0,0 +1 @@
+reset

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

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

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

@@ -0,0 +1,9 @@
+#!/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

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

@@ -0,0 +1,190 @@
+/* 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")
+}

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/CMakeLists.txt

@@ -0,0 +1,134 @@
+#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})

samples/sample_c/platform/rtos_freertos/stm32f4_discovery/project/clion_bootloader/Readme.txt

@@ -0,0 +1,15 @@
+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

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

@@ -0,0 +1,2 @@
+#!/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

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

@@ -0,0 +1 @@
+reset

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

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

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

@@ -0,0 +1,9 @@
+#!/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

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

@@ -0,0 +1,189 @@
+/* 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")
+}