Project structure

Project structure

• STM23H7xx -- STM32H7 specific code

  • system_stm32h7xx.c -- STM32 system functions generated by CubeMX.
  • stm32h7xx_hal_conf.h -- HAL compile time part of config mostly generated by CubeMX.
  • startup_stm32h723vgtx.s -- startup code and NVIC table generated by CubeMX.
  • periphconf.c -- code that performs STM32 periphery configurations using .h file from periphdef directory.
  • linked-script.ld -- linker script generated by CubeMX.

• STM23F4xx -- STM32F4 specific code

  • system_stm32f4xx.c -- STM32 system functions generated by CubeMX.
  • stm32f4xx_hal_conf.h -- HAL compile time part of config mostly generated by CubeMX.
  • startup_stm32f405rgtx.s -- startup code and NVIC table generated by CubeMX.
  • periphconf.c -- code that performs STM32 peripherals configurations using .h file from periphdef directory.
  • linked-script.ld -- linker script generated by CubeMX.

• periphdef -- peripherals configuration files, that describes all interfaces, pins and external devices connected to STM32 MCU.

  • h7flight.h -- STM32H723 based board configuration.
  • f4flight.h -- STM32F405 based board configuration

• pcb -- the directory containing schematics and PCB projects for the flight controllers:

  • F4 -- for STM32F405 based board
  • H7 -- for STM32H723 based board
    • schematic.pdf -- rendered board schematic
    • project.kicad_sch -- board schematic project
    • esp8285.kicad_sch -- esp8285 related board part schematic project
    • library.kicad_sym -- board schematic library
    • project.kicad_pro -- board project
    • pcb.kicad_pcb -- board pcb project
    • componentvalues.txt -- values for all components on board.

• additional -- additional files

  • frame.dxf -- quadcopter frame outline.

• devices -- drivers for devices used by the flight controller:

  • device.h -- main interface for a character device. Used by almost all devices in devices directory.
  • uartconf.c and uartconf.h -- driver that receives and sends data through one of UART's used for configuration and debugging.
  • bmp280.c and bmp280.h -- driver for a bmp280 barometer (currenty unused).
  • crsf.c and crsf.h -- driver for the CRSF protocol used by a ERLS receiver to interract with the main MCU through UART.
  • esp8266.c and esp8266.h -- driver used to exchange data with esp8285 through SPI.
  • hmc5883l.c and hmc5883l.h -- driver for an HMC5883L magnetometer (currently unused).
  • hp206c.c and hp206c.h -- driver for a HP206C barometer.
  • dps368.c and dps368.h -- driver for a DPS368 barometer.
  • mpu6500.c and mpu6500.h -- I2C driver for mpu6050 and mpu6500 IMUs (accelerometer + gyroscope).
  • qmc5883l.c and qmc5883l.h -- driver for an QMC5883L magnetometer.
  • icm42688.c and icm42688.h` -- driver for an icm42688 IMU (accelerometer + gyroscope).
  • m10.c and m10.h -- driver for a M10 GNSS module.
  • w25.c and w25.h -- driver for a w25q SPI flash.
  • irc.c and irc.h -- driver for an IRC Tramp controlled VTX device.
  • dshot.h and dshot.c -- driver for DSHOT-300 ESC communication protocol.

• main.c -- all routines related to flight control.

• util.c and util.h` -- common utility functions that can be used in more than one source file.

• dsp.c and dsp.h -- functions for PID control and data filtering like low-pass filtering and complimentary filtering.

• command.c and command.h -- configuration and informational commands processing API.

• timev.c and timev.h -- periodic event processing API.

• settings.c and settings.h -- functions for read and write setting stored in MCU's internal flash.

• runvals.c and runvals.h-- global values used when UAV is running.

• log.c and log.h -- functions for work with flight log stored in external flash device.

• crc.h -- CRC-8 and CRC-16 implementation.

• Doxyfile -- Doxygen configuration.

• Makefile -- makefile for STM32 code.

• mcudef.h -- include file to choose proper defines for MCU.

• uavconf -- configuration tool that works through wi-fi AP created by flight controller using UDP protocol.

  • term -- terminal configuration tool.
    • main.c -- terminal tool source file.
    • Makefile -- makefile for terminal tool.
  • gui -- gui configuration tool:
    • main.cpp -- entry point for GUI configuration tool.
    • mainwidget.cpp -- implementation for Qt5 related functions.
    • mainwidget.h -- headers for Qt5 related functions.
    • uavconf.c and uavconf.h -- API for UDP interaction with UAV.
    • uavconf_gui.pro -- QT5 project for GUI tool.
  • api -- API for work with UAV configuration commands.
    • uavconf.c and uavconf.h -- UAV commands API.
  • uavconf_droid -- project for andriod gui compilation.
  • plots -- scripts for flight log processing.
  • values_4s_accro.txt -- settings values for quadcopter with 4s battery optimized for accromode.
  • values_4s_acc.txt -- settings values for quadcopter with 4s battery optimized for attitude stabilization mode.
  • values_2s_accro.txt -- settings values for quadcopter with 2s battery optimized for accromode.
  • values_2s_acc.txt -- settings values for quadcopter with 2s battery optimized for attitude stabilization mode.