Merge pull request #53 from am32-firmware/Kiss_Ardupilot_DshotBranch

Kiss ardupilot dshot branch

.github/workflows/CI_build.yml

@@ -0,0 +1,25 @@
+name: CI Build Linux
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: 'ubuntu-latest'
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: Build CI
+        run: |
+          make arm_sdk_install
+          make -j8
+
+      - name: Archive build
+        uses: actions/upload-artifact@v3
+        with:
+          name: AM32-binaries
+          path: |
+            obj/*.hex
+          retention-days: 7

.github/workflows/CI_build_windows.yml

@@ -0,0 +1,25 @@
+name: CI Build Windows
+
+on: [push, pull_request]
+
+jobs:
+  build:
+    runs-on: 'windows-latest'
+
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          submodules: 'recursive'
+
+      - name: Build CI
+        run: |
+          make arm_sdk_install
+          tools/windows/make/bin/make
+
+      - name: Archive build
+        uses: actions/upload-artifact@v3
+        with:
+          name: AM32-binaries
+          path: |
+            obj/*.hex
+          retention-days: 7

.gitignore

@@ -7,3 +7,9 @@ Keil_Projects/*.uvguix.*
 Keil_Projects/Objects
 Keil_Projects/RTE/*
 Keil_Projects/Listings
+*.bin
+*.elf
+*.d
+*.hex
+*.log
+*~

.vscode/launch.json

@@ -0,0 +1,49 @@
+{
+    // Use IntelliSense to learn about possible attributes.
+    // Hover to view descriptions of existing attributes.
+    // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+    "version": "0.2.0",
+    "configurations": [
+      // STLink configuration
+      {
+        "name": "AM32 STLink",
+        "cwd": "${workspaceFolder}",
+        "executable": "${workspaceFolder}/obj/debug.elf",
+        "liveWatch": {
+            "enabled": true,
+            "samplesPerSecond": 4,
+        },
+        "request": "launch",
+        "type": "cortex-debug",
+        "servertype": "openocd",
+	      "configFiles": [
+	    "${workspaceFolder}/obj/openocd.cfg",
+        ],
+	      "showDevDebugOutput": "none",
+
+      	"serverpath": "${workspaceFolder}${/}tools${/}${config:OS}${/}openocd${/}bin${/}openocd",
+	      "armToolchainPath": "${workspaceRoot}/tools/${config:OS}/xpack-arm-none-eabi-gcc-10.3.1-2.3/bin",
+      },
+
+      // JLink configuration
+      {
+        "type": "cortex-debug",
+        "request": "launch",
+        "name": "AM32 JLink",
+        "cwd": "${workspaceRoot}",
+	      "device" : "-AT32F421K8U7",
+	      "gdbPath": "${workspaceRoot}/tools/${config:OS}/xpack-arm-none-eabi-gcc-10.3.1-2.3/bin/arm-none-eabi-gdb",
+        "executable": "${workspaceRoot}/obj/debug.elf",
+	      "showDevDebugOutput": "raw",
+        "servertype" : "jlink",
+        "swoConfig": {
+          "enabled": false,
+        },
+        "serialNumber": "", 
+        "liveWatch": {
+          "enabled": true,
+          "samplesPerSecond": 4
+        }
+      }
+    ]
+  }

.vscode/settings.json

@@ -0,0 +1,27 @@
+{
+    "OS": "windows",
+    "makefile.makePath": "tools/windows/make/bin/make.exe",
+
+    //"OS": "linux",
+    //"makefile.makePath": "/usr/bin/make",
+
+    "makefile.configurations": [
+        {
+            "name": "MakeSingle",
+            "makeArgs": [
+                "-j1"
+            ]
+	},
+        {
+            "name": "MakeParallel-8",
+            "makeArgs": [
+                "-j8"
+            ]
+	},
+        {
+	    "name": "MakeParallel-MAX",
+            "makeArgs": [
+		"-j"
+            ]
+	}
+}

Inc/common.h

@@ -1,5 +1,7 @@
 #pragma once
 
+
+extern uint32_t eeprom_address;
 extern uint8_t eepromBuffer[176];
 extern uint16_t TIMER1_MAX_ARR;
 extern uint16_t dshot_frametime_high;

Inc/dshot.h

@@ -24,7 +24,7 @@ extern char dir_reversed;
 extern char bi_direction;
 extern char buffer_divider;
 extern uint8_t last_dshot_command;
-extern uint16_t commutation_interval;
+extern uint32_t commutation_interval;
 
 // int e_com_time;