`__main_thread_stack_base__` and `__main_thread_stack_end__` are
variables whose address is defined to be the corresponding part of the
stack. These are declared as `extern stkalign_t` in ChibiOS code, and
being declared as `extern uint32_t` in ArduPilot code creates a warning
at link time when using LTO. Correct the declaration to eliminate this
warning.
Also update `__main_stack_base__` and `__main_stack_end__` which don't
currently trigger this warning but serve similar purposes and so might
in the future.
The hardware expects an alignment of `stkalign_t` (which is 8 bytes) and
the linker script defines the variable values with this alignment as
well, so this is safe.
No code size or functional change.
allow DIRECT_PWM pages to be smaller than max channels
correct some over-eager register clearing in the global interrupt handler (NFC)
only sent TX events when using shared DMA (NFC)
zero out rx packet code and size to prevent errors with spurious callbacks
add a comment and check for offsets that are codes
make ADC readings interrupt driven
turn off iomcu updates when debugging
allow for correct number of telemetry channels
cycle between vservo and vrssi when reading adc
build adc with O2
prevent repeated rcout mode sets
add ESC telemetry if compiled in
add infrastructure to support propagating erpm and telemetry from iomcu
add support to propagate bdmask to iomcu
add support for EDT
scale voltage and current correctly when reading EDT data
ensure that telemetry data is reset
reset ESC telemetry data to zero if stale
ESC type and bdmask must be setup before the output mode
new event-based update() loop for iomcu to allow for DMA channel sharing
spin event loop at 2Khz to give dshot thread ample access to DMA channels
correct transmission complete callbacks
ensure peripheral is re-enabled on DMA resumption
ensure DMA transactions do not get clobbered by locking
restructure callbacks for shared and non-shared DMA cases
ensure RC updates happen at 1Khz
increase expected delay at startup
implement dshot ESC telemetry
add support for channel enablement/disablement
add stack checks and reporting for MSP stack
wait correct timeout in tickless mode
ensure that dshot sees all pwm updates as the occur in order to maintain periodicity
ensure dshot options are propagated on reset
implement dshot commands
ensure oneshot/125 and mode are setup correctly
add instrumentation for process stack
prevent illegal recursive locks
ignore requests for dshot 600
add support for soft reboot of iomcu
this fixes an issue where when you lose R/C input on IOMCU that you
may not regain it when R/C comes back.
The issue stems from us still processing the DSM uart when we are
using the SD3 "SBUS" uart for RC input, and still doing the switch of
the SD3 config every 2 seconds.
When we are not searching for a new protocol we should not be changing
UART config
if the IOMCU resets twice in quick succession then the code that
restores the safety state while flying can fail, leading to the
aircraft trying to continue flying with safety on
This results from two issues:
- a race in handling the last_safety_off variable
- the fact that plane sets the soft_armed state based on safety state
Iampete1
Andrew Tridgell
Andy Piper
Maxim Buzdalov
Peter Barker
Thomas Watson
bugobliterator
Hayden
murata
Randy Mackay
TunaLobster