DNM: Green flying catfish and pegasus

.vscodeMac/launch.json

@@ -2,11 +2,11 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "Flight HELIO_SPRING",
-            "preLaunchTask": "Flight HELIO_SPRING",
+            "name": "Flight HELIOSPRING",
+            "preLaunchTask": "Flight HELIOSPRING",
             "type": "gdb",
             "request": "attach",
-            "executable": "./output/HELIO_SPRING.elf",
+            "executable": "./output/HELIOSPRING.elf",
             "target": "127.0.0.1:3333",
             "remote": true,
             "cwd": "${workspaceRoot}",
@@ -20,19 +20,19 @@
                 "monitor sleep 100",
                 "set debug remote 0",
                 "mon version",
-                "file ${workspaceRoot}/output/HELIO_SPRING.elf",
+                "file ${workspaceRoot}/output/HELIOSPRING.elf",
                 "load",
                 "monitor reset init",
                 "break main"
             ],
             "gdbpath": "arm-none-eabi-gdb"
         },
         {
-            "name": "Recovery HELIO_SPRING",
-            "preLaunchTask": "Recovery HELIO_SPRING",
+            "name": "Recovery HELIOSPRING",
+            "preLaunchTask": "Recovery HELIOSPRING",
             "type": "gdb",
             "request": "attach",
-            "executable": "./output/HELIO_SPRING_nrecovery.elf",
+            "executable": "./output/HELIOSPRING_nrecovery.elf",
             "target": "127.0.0.1:3333",
             "remote": true,
             "cwd": "${workspaceRoot}",
@@ -46,7 +46,7 @@
                 "monitor sleep 100",
                 "set debug remote 0",
                 "mon version",
-                "file ${workspaceRoot}/output/HELIO_SPRING_nrecovery.elf",
+                "file ${workspaceRoot}/output/HELIOSPRING_nrecovery.elf",
                 "load",
                 "monitor reset init",
                 "break main"

.vscodeMac/tasks.json

@@ -2,21 +2,21 @@
     "version": "0.1.0",
     "tasks": [
         {
-            "taskName": "Flight HELIO_SPRING",
+            "taskName": "Flight HELIOSPRING",
             "command": "python",
             "args": [
                 "make.py",
-                "-THELIO_SPRING",
+                "-THELIOSPRING",
                 "-D"
             ],
             "isShellCommand": true
         },
         {
-            "taskName": "Recovery HELIO_SPRING",
+            "taskName": "Recovery HELIOSPRING",
             "command": "python",
             "args": [
                 "make.py",
-                "-THELIO_SPRING_nrecovery",
+                "-THELIOSPRING_nrecovery",
                 "-D"
             ],
             "isShellCommand": true

.vscodeWin/launch.json

@@ -2,11 +2,11 @@
     "version": "0.2.0",
     "configurations": [
         {
-            "name": "Flight HELIO_SPRING Debug",
-            "preLaunchTask": "Flight HELIO_SPRING Debug",
+            "name": "Flight HELIOSPRING Debug",
+            "preLaunchTask": "Flight HELIOSPRING Debug",
             "type": "gdb",
             "request": "attach",
-            "executable": "./output/HELIO_SPRING.elf",
+            "executable": "./output/HELIOSPRING.elf",
             "target": "127.0.0.1:3333",
             "remote": true,
             "cwd": "${workspaceRoot}",
@@ -20,19 +20,19 @@
                 "monitor sleep 100",
                 "set debug remote 0",
                 "mon version",
-                "file ./output/HELIO_SPRING.elf",
+                "file ./output/HELIOSPRING.elf",
                 "load",
                 "monitor reset init",
                 "break main"
             ],
             "gdbpath": "arm-none-eabi-gdb"
         },
         {
-            "name": "Flight HELIO_SPRING Opt",
-            "preLaunchTask": "Flight HELIO_SPRING Opt",
+            "name": "Flight HELIOSPRING Opt",
+            "preLaunchTask": "Flight HELIOSPRING Opt",
             "type": "gdb",
             "request": "attach",
-            "executable": "./output/HELIO_SPRING.elf",
+            "executable": "./output/HELIOSPRING.elf",
             "target": "127.0.0.1:3333",
             "remote": true,
             "cwd": "${workspaceRoot}",
@@ -46,19 +46,19 @@
                 "monitor sleep 100",
                 "set debug remote 0",
                 "mon version",
-                "file ./output/HELIO_SPRING.elf",
+                "file ./output/HELIOSPRING.elf",
                 "load",
                 "monitor reset init",
                 "break main"
             ],
             "gdbpath": "arm-none-eabi-gdb"
         },
         {
-            "name": "Recovery HELIO_SPRING",
-            "preLaunchTask": "Recovery HELIO_SPRING",
+            "name": "Recovery HELIOSPRING",
+            "preLaunchTask": "Recovery HELIOSPRING",
             "type": "gdb",
             "request": "attach",
-            "executable": "./output/HELIO_SPRING_nrecovery.elf",
+            "executable": "./output/HELIOSPRING_nrecovery.elf",
             "target": "127.0.0.1:3333",
             "remote": true,
             "cwd": "${workspaceRoot}",
@@ -72,7 +72,7 @@
                 "monitor sleep 100",
                 "set debug remote 0",
                 "mon version",
-                "file ./output/HELIO_SPRING_nrecovery.elf",
+                "file ./output/HELIOSPRING_nrecovery.elf",
                 "load",
                 "monitor reset init",
                 "break main"

.vscodeWin/tasks.json

@@ -6,22 +6,22 @@
     "args": ["/C"],
     "tasks": [
         {
-            "taskName": "Flight HELIO_SPRING Debug",
+            "taskName": "Flight HELIOSPRING Debug",
             "suppressTaskName": true,
             "isBuildCommand": true,
-            "args": [ "powershell -Command \"Start-Process 'cmd' -Verb RunAs -ArgumentList '/c C:\\dev\\scripts\\openocd.bat f4'\" & cd ${workspaceFolderBasename} & python.exe make.py -THELIO_SPRING -D" ]
+            "args": [ "powershell -Command \"Start-Process 'cmd' -Verb RunAs -ArgumentList '/c C:\\dev\\scripts\\openocd.bat f4'\" & cd ${workspaceFolderBasename} & python.exe make.py -THELIOSPRING -D" ]
         },
         {
-            "taskName": "Flight HELIO_SPRING Opt",
+            "taskName": "Flight HELIOSPRING Opt",
             "suppressTaskName": true,
             "isBuildCommand": true,
-            "args": [ "powershell -Command \"Start-Process 'cmd' -Verb RunAs -ArgumentList '/c C:\\dev\\scripts\\openocd.bat f4'\" & cd ${workspaceFolderBasename} & python.exe make.py -THELIO_SPRING" ]
+            "args": [ "powershell -Command \"Start-Process 'cmd' -Verb RunAs -ArgumentList '/c C:\\dev\\scripts\\openocd.bat f4'\" & cd ${workspaceFolderBasename} & python.exe make.py -THELIOSPRING" ]
         },
         {
-            "taskName": "Recovery HELIO_SPRING",
+            "taskName": "Recovery HELIOSPRING",
             "suppressTaskName": true,
             "isBuildCommand": true,
-            "args": [ "powershell -Command \"Start-Process 'cmd' -Verb RunAs -ArgumentList '/c C:\\dev\\scripts\\openocd.bat f4'\" & cd ${workspaceFolderBasename} & python.exe make.py -THELIO_SPRING_nrecovery -D" ]
+            "args": [ "powershell -Command \"Start-Process 'cmd' -Verb RunAs -ArgumentList '/c C:\\dev\\scripts\\openocd.bat f4'\" & cd ${workspaceFolderBasename} & python.exe make.py -THELIOSPRING_nrecovery -D" ]
         },
         {
             "taskName": "Flight REVOLT",

lib/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_dma.c

@@ -454,6 +454,8 @@ HAL_StatusTypeDef HAL_DMA_Start(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, ui
   * @param  DataLength: The length of data to be transferred from source to destination
   * @retval HAL status
   */
+#pragma GCC push_options
+#pragma GCC optimize ("O3")
 HAL_StatusTypeDef HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress, uint32_t DstAddress, uint32_t DataLength)
 {
   HAL_StatusTypeDef status = HAL_OK;
@@ -504,6 +506,7 @@ HAL_StatusTypeDef HAL_DMA_Start_IT(DMA_HandleTypeDef *hdma, uint32_t SrcAddress,
 
   return status;
 }
+#pragma GCC pop_options
 
 /**
   * @brief  Aborts the DMA Transfer.

lib/STM32F4xx_HAL_Driver/Src/stm32f4xx_hal_spi.c

@@ -1488,6 +1488,8 @@ HAL_StatusTypeDef HAL_SPI_Receive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pData, u
   * @param  Size: amount of data to be sent
   * @retval HAL status
   */
+#pragma GCC push_options
+#pragma GCC optimize ("O3")
 HAL_StatusTypeDef HAL_SPI_TransmitReceive_DMA(SPI_HandleTypeDef *hspi, uint8_t *pTxData, uint8_t *pRxData, uint16_t Size)
 {
   uint32_t tmp = 0U, tmp1 = 0U;
@@ -1594,6 +1596,7 @@ error :
   __HAL_UNLOCK(hspi);
   return errorcode;
 }
+#pragma GCC pop_options
 
 /**
   * @brief  Pause the DMA Transfer.

make.py

@@ -163,29 +163,29 @@ def configure_target(TARGET):
         FEATURES.extend(["usb_fs"])
         OPTIMIZE_FLAGS = "-Og"
 
-    elif TARGET == "HELIO_SPRING":
+    elif TARGET == "HELIOSPRING":
         if args.debug:
             os.system("PID=\"$(ps -elf | grep  openocd | grep -v 'grep' | sed -e 's/    / /g' | sed -e 's/   / /g' | sed -e 's/  / /g' | cut -d ' ' -f 3)\";kill $PID")
             os.system("openocd -s ~/dev -s /usr/local/share/openocd/scripts -f /usr/local/share/openocd/scripts/interface/stlink-v2.cfg -f /usr/local/share/openocd/scripts/target/stm32f4x.cfg &> redirection &")
-        FC_NAME = "HELIO_SPRING"
+        FC_NAME = "HELIOSPRING"
         TARGET_DEVICE_LC = "stm32f405xx"
         PROJECT = "flight_controller"
         TARGET_DEVICE = "STM32F405xx"
         TARGET_SCRIPT = "stm32_flash_f405.ld"
         TARGET_PROCESSOR_TYPE = "f4"
         FEATURES.extend(["usb_otg_fs"])
         FEATURES.extend(["imuf9001/spi"])
-        OPTIMIZE_FLAGS = "-Og"
+        OPTIMIZE_FLAGS = "-O2"
         THIS_ADDRESS = str(0x08020000)
         EXTRA_DEF_FLAGS = ""
         STM32F4_ARCH_FLAGS_ADD = ""
         #STM32F4_ARCH_FLAGS_ADD = "-s -fdata-sections -ffunction-sections -flto"
 
-    elif TARGET == "HELIO_SPRING_nrecovery":
+    elif TARGET == "HELIOSPRING_nrecovery":
         if args.debug:
             os.system("PID=\"$(ps -elf | grep  openocd | grep -v 'grep' | sed -e 's/    / /g' | sed -e 's/   / /g' | sed -e 's/  / /g' | cut -d ' ' -f 3)\";kill $PID")
             os.system("openocd -s ~/dev -s /usr/local/share/openocd/scripts -f /usr/local/share/openocd/scripts/interface/stlink-v2.cfg -f /usr/local/share/openocd/scripts/target/stm32f4x.cfg &> redirection &")
-        FC_NAME = "HELIO_SPRING"
+        FC_NAME = "HELIOSPRING"
         TARGET_DEVICE_LC = "stm32f405xx"
         PROJECT = "new_bootloader"
         TARGET_DEVICE = "STM32F405xx"
@@ -429,7 +429,7 @@ def configure_target(TARGET):
         INCLUDE_DIRS.append("src/flight_controller/inc/input")
         SOURCE_DIRS.append("src/flight_controller/src/telemetry")
         SOURCE_DIRS.append("src/flight_controller/src/input")
-        FEATURES.extend(["adc", "transponder", "softSerial", "maxOsd", "esc_1wire", "leds", "dmaShenanigans", "actuator_output", "buzzer", "flash_chip", "rx", "serial", "spm_laptimer"])
+        FEATURES.extend(["adc", "transponder", "dshot", "softSerial", "maxOsd", "shared_spi", "esc_1wire", "leds", "dmaShenanigans", "actuator_output", "buzzer", "flash_chip", "rx", "serial", "spm_laptimer"])
     elif PROJECT == "nesc":
         excluded_files.append("stm32f3xx_spi_msp.c")
         excluded_files.append("stm32f4xx_spi_msp.c")
@@ -545,6 +545,7 @@ def configure_target(TARGET):
         "-Wl,-gc-sections,-Map," + mapFile,
         "-Wl,-L" + linkerDir,
         "-Wl,--cref",
+        "-Wl,--print-memory-usage",
         "-T" + ldScript
     ])
 

src/esc/inc/includes.h

@@ -1,4 +1,4 @@
 #pragma once
 
 #include "target.h"
-#include "mcu_include.h"
+#include "mcu_include.h"

src/esc/src/main.c

@@ -12,34 +12,35 @@
 /* Private function prototypes -----------------------------------------------*/
 int BoardInit(void);
 void SystemClock_Config(void);
-void InitializeLED(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin);
+void InitializeLED(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin);
 
 /* Private functions ---------------------------------------------------------*/
 
 int main(void)
 {
+    BoardInit();
+    InitializeLED(LED1_GPIO_PORT, LED1_PIN);
 
-	BoardInit();
-	InitializeLED(LED1_GPIO_PORT, LED1_PIN);
+    while (1)
+    {
+        HAL_GPIO_TogglePin(LED1_GPIO_PORT, LED1_PIN);
+        HAL_GPIO_TogglePin(SERVO1_GPIO_PORT, SERVO1_PIN);
 
-	while (1) {
-		HAL_GPIO_TogglePin(LED1_GPIO_PORT, LED1_PIN);
-		HAL_GPIO_TogglePin(SERVO1_GPIO_PORT, SERVO1_PIN);
-
-		HAL_Delay(100);
-	}
+        HAL_Delay(100);
+    }
 }
 
-void InitializeLED(GPIO_TypeDef* GPIOx, uint16_t GPIO_Pin)
+
+void InitializeLED(GPIO_TypeDef *GPIOx, uint16_t GPIO_Pin)
 {
-	HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_RESET);
+    HAL_GPIO_WritePin(GPIOx, GPIO_Pin, GPIO_PIN_RESET);
 
-	GPIO_InitTypeDef GPIO_InitStructure;
+    GPIO_InitTypeDef GPIO_InitStructure;
 
-	GPIO_InitStructure.Pin = GPIO_Pin;
+    GPIO_InitStructure.Pin = GPIO_Pin;
 
-	GPIO_InitStructure.Mode = GPIO_MODE_OUTPUT_PP;
-	GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
-	GPIO_InitStructure.Pull = GPIO_NOPULL;
-	HAL_GPIO_Init(GPIOx, &GPIO_InitStructure);
+    GPIO_InitStructure.Mode  = GPIO_MODE_OUTPUT_PP;
+    GPIO_InitStructure.Speed = GPIO_SPEED_LOW;
+    GPIO_InitStructure.Pull  = GPIO_NOPULL;
+    HAL_GPIO_Init(GPIOx, &GPIO_InitStructure);
 }