From 49441f3832dceb00a8d96e595c87acb0b553f4fe Mon Sep 17 00:00:00 2001
From: 488_MP-4 <488_MP-4@iastate.edu>
Date: Thu, 28 Mar 2024 18:02:08 +0100
Subject: [PATCH] commenting
---
.../deck/api/deck_analog.c | 85 +-
.../deck/api/deck_constants.c | 27 +-
.../deck/api/deck_digital.c | 36 +-
.../deck/api/deck_spi.c | 325 +++---
.../deck/api/deck_spi3.c | 248 ++---
.../deck/drivers/interface/lpsTdoa2Tag.h | 3 +-
.../deck/drivers/interface/lpsTwrTag.h | 3 +-
.../deck/drivers/src/activeMarkerDeck.c | 18 +-
.../deck/drivers/src/ledring12.c | 44 +-
.../deck/drivers/src/locodeck.c | 345 ++++---
.../deck/drivers/src/lpsTdoa2Tag.c | 281 +++---
.../deck/drivers/src/lpsTdoa3Tag.c | 229 ++---
.../deck/drivers/src/lpsTwrTag.c | 690 ++++++-------
.../deck/drivers/src/test/exptest.c | 169 ++--
.../deck/drivers/src/test/exptestBolt.c | 273 ++---
.../deck/drivers/src/test/exptestRR.c | 157 +--
.../deck/interface/deck_spi.h | 2 +
.../interface/kalman_core/kalman_core.h | 8 +-
.../modules/src/crtp_commander_high_level.c | 1 +
.../modules/src/kalman_core/kalman_core.c | 953 +++++++++---------
.../src/kalman_core/mm_absolute_height.c | 9 +-
.../modules/src/kalman_core/mm_distance.c | 39 +-
.../src/kalman_core/mm_distance_robust.c | 331 +++---
.../modules/src/kalman_core/mm_flow.c | 127 +--
.../modules/src/kalman_core/mm_pose.c | 51 +-
.../modules/src/kalman_core/mm_position.c | 13 +-
.../modules/src/kalman_core/mm_sweep_angles.c | 107 +-
.../modules/src/kalman_core/mm_tdoa.c | 119 +--
.../modules/src/kalman_core/mm_tdoa_robust.c | 329 +++---
.../modules/src/kalman_core/mm_tof.c | 41 +-
.../modules/src/kalman_core/mm_yaw_error.c | 9 +-
.../uart/Makefile | 20 +-
.../uart/build/activeMarkerDeck.o | Bin 0 -> 7360 bytes
.../uart/build/aideck.o | Bin 0 -> 3952 bytes
.../uart/build/bigquad.o | Bin 0 -> 880 bytes
.../uart/build/buzzdeck.o | Bin 0 -> 3144 bytes
.../uart/build/cfassert.o | Bin 0 -> 3776 bytes
.../uart/build/clockCorrectionEngine.o | Bin 0 -> 1848 bytes
.../uart/build/cppmdeck.o | Bin 0 -> 2544 bytes
.../uart/build/cpuid.o | Bin 0 -> 1016 bytes
.../uart/build/crc32.o | Bin 0 -> 2928 bytes
.../uart/build/crtp_commander_high_level.o | Bin 0 -> 13512 bytes
.../uart/build/debug.o | Bin 0 -> 944 bytes
.../uart/build/deck.o | Bin 0 -> 2800 bytes
.../uart/build/deck_analog.o | Bin 0 -> 1464 bytes
.../uart/build/deck_constants.o | Bin 0 -> 1968 bytes
.../uart/build/deck_digital.o | Bin 0 -> 1064 bytes
.../uart/build/deck_drivers.o | Bin 0 -> 2704 bytes
.../uart/build/deck_info.o | Bin 0 -> 9928 bytes
.../uart/build/deck_memory.o | Bin 0 -> 2952 bytes
.../uart/build/deck_spi.o | Bin 0 -> 1512 bytes
.../uart/build/deck_spi3.o | Bin 0 -> 1496 bytes
.../uart/build/deck_test.o | Bin 0 -> 1936 bytes
.../uart/build/eprintf.o | Bin 0 -> 3896 bytes
.../uart/build/estimator_kalman.o | Bin 0 -> 18520 bytes
.../uart/build/exptest.o | Bin 0 -> 1712 bytes
.../uart/build/exptestBolt.o | Bin 0 -> 1720 bytes
.../uart/build/exptestRR.o | Bin 0 -> 1720 bytes
.../uart/build/filter.o | Bin 0 -> 1728 bytes
.../uart/build/flowdeck_v1v2.o | Bin 0 -> 8096 bytes
.../uart/build/gtgps.o | Bin 0 -> 6920 bytes
.../uart/build/health.o | Bin 0 -> 10488 bytes
.../uart/build/kalman_core.o | Bin 0 -> 6104 bytes
.../uart/build/kalman_supervisor.o | Bin 0 -> 2040 bytes
.../uart/build/ledring12.o | Bin 0 -> 19616 bytes
.../uart/build/lighthouse.o | Bin 0 -> 3944 bytes
.../uart/build/locodeck.o | Bin 0 -> 6896 bytes
.../uart/build/lpsTdoa2Tag.o | Bin 0 -> 3520 bytes
.../uart/build/lpsTdoa3Tag.o | Bin 0 -> 888 bytes
.../uart/build/lpsTwrTag.o | Bin 0 -> 4672 bytes
.../uart/build/mm_absolute_height.o | Bin 0 -> 984 bytes
.../uart/build/mm_distance.o | Bin 0 -> 968 bytes
.../uart/build/mm_distance_robust.o | Bin 0 -> 984 bytes
.../uart/build/mm_flow.o | Bin 0 -> 1968 bytes
.../uart/build/mm_pose.o | Bin 0 -> 960 bytes
.../uart/build/mm_position.o | Bin 0 -> 968 bytes
.../uart/build/mm_sweep_angles.o | Bin 0 -> 976 bytes
.../uart/build/mm_tdoa.o | Bin 0 -> 960 bytes
.../uart/build/mm_tdoa_robust.o | Bin 0 -> 976 bytes
.../uart/build/mm_tof.o | Bin 0 -> 960 bytes
.../uart/build/mm_yaw_error.o | Bin 0 -> 968 bytes
.../uart/build/multiranger.o | Bin 0 -> 11024 bytes
.../uart/build/num.o | Bin 0 -> 1744 bytes
.../uart/build/oa.o | Bin 0 -> 7504 bytes
.../uart/build/outlierFilter.o | Bin 0 -> 3648 bytes
.../uart/build/planner.o | Bin 0 -> 3088 bytes
.../uart/build/pptraj.o | Bin 0 -> 7888 bytes
.../uart/build/pptraj_compressed.o | Bin 0 -> 3296 bytes
.../uart/build/tdoaEngine.o | Bin 0 -> 4312 bytes
.../uart/build/tdoaEngineInstance.o | Bin 0 -> 16752 bytes
.../uart/build/tdoaStats.o | Bin 0 -> 1584 bytes
.../uart/build/tdoaStorage.o | Bin 0 -> 3752 bytes
.../uart/build/uart.o | Bin 3888 -> 4112 bytes
.../uart/build/usddeck.o | Bin 0 -> 23936 bytes
.../uart/build/zranger.o | Bin 0 -> 4200 bytes
.../uart/build/zranger2.o | Bin 0 -> 6152 bytes
.../utils/src/cf_math.h | 7 +-
97 files changed, 2591 insertions(+), 2508 deletions(-)
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/activeMarkerDeck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/aideck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/bigquad.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/buzzdeck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cfassert.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/clockCorrectionEngine.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cppmdeck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cpuid.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/crc32.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/crtp_commander_high_level.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/debug.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_analog.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_constants.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_digital.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_drivers.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_info.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_memory.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_spi.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_spi3.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_test.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/eprintf.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/estimator_kalman.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptest.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptestBolt.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptestRR.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/filter.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/flowdeck_v1v2.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/gtgps.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/health.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/kalman_core.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/kalman_supervisor.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/ledring12.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lighthouse.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/locodeck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTdoa2Tag.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTdoa3Tag.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTwrTag.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_absolute_height.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_distance.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_distance_robust.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_flow.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_pose.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_position.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_sweep_angles.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tdoa.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tdoa_robust.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tof.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_yaw_error.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/multiranger.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/num.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/oa.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/outlierFilter.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/planner.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/pptraj.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/pptraj_compressed.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaEngine.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaEngineInstance.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaStats.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaStorage.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/usddeck.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/zranger.o
create mode 100644 uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/zranger2.o
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_analog.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_analog.c
index 27fed2489..6296ff178 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_analog.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_analog.c
@@ -68,13 +68,14 @@ void adcInit(void)
static uint16_t analogReadChannel(uint8_t channel)
{
/* According to datasheet, minimum sampling time for 12-bit conversion is 15 cycles. */
- ADC_RegularChannelConfig(ADC2, channel, 1, ADC_SampleTime_15Cycles);
+ //COMMENTED FIRMWARE
+ // ADC_RegularChannelConfig(ADC2, channel, 1, ADC_SampleTime_15Cycles);
- /* Start the conversion */
- ADC_SoftwareStartConv(ADC2);
+ // /* Start the conversion */
+ // ADC_SoftwareStartConv(ADC2);
- /* Wait until conversion completion */
- while(ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC) == RESET);
+ // /* Wait until conversion completion */
+ // while(ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC) == RESET);
/* Get the conversion value */
return ADC_GetConversionValue(ADC2);
@@ -82,25 +83,26 @@ static uint16_t analogReadChannel(uint8_t channel)
uint16_t analogRead(const deckPin_t pin)
{
- assert_param(deckGPIOMapping[pin.id].adcCh > -1);
+ //COMMENTED FIRMWARE
+ // assert_param(deckGPIOMapping[pin.id].adcCh > -1);
- /* Now set the GPIO pin to analog mode. */
+ // /* Now set the GPIO pin to analog mode. */
- /* Enable clock for the peripheral of the pin.*/
- RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin.id].periph, ENABLE);
+ // /* Enable clock for the peripheral of the pin.*/
+ // RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin.id].periph, ENABLE);
- /* Populate structure with RESET values. */
- GPIO_InitTypeDef GPIO_InitStructure;
- GPIO_StructInit(&GPIO_InitStructure);
+ // /* Populate structure with RESET values. */
+ // GPIO_InitTypeDef GPIO_InitStructure;
+ // GPIO_StructInit(&GPIO_InitStructure);
- /* Initialise the GPIO pin to analog mode. */
- GPIO_InitStructure.GPIO_Pin = deckGPIOMapping[pin.id].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // /* Initialise the GPIO pin to analog mode. */
+ // GPIO_InitStructure.GPIO_Pin = deckGPIOMapping[pin.id].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AN;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
/* TODO: Any settling time before we can do ADC after init on the GPIO pin? */
- GPIO_Init(deckGPIOMapping[pin.id].port, &GPIO_InitStructure);
+ // GPIO_Init(deckGPIOMapping[pin.id].port, &GPIO_InitStructure);
/* Read the appropriate ADC channel. */
return analogReadChannel((uint8_t)deckGPIOMapping[pin.id].adcCh);
@@ -117,29 +119,30 @@ void analogReference(uint8_t type)
void analogReadResolution(uint8_t bits)
{
- ADC_InitTypeDef ADC_InitStructure;
-
- assert_param((bits >= 6) && (bits <= 12));
-
- adcRange = 1 << bits;
- switch (bits)
- {
- case 12: stregResolution = ADC_Resolution_12b; break;
- case 10: stregResolution = ADC_Resolution_10b; break;
- case 8: stregResolution = ADC_Resolution_8b; break;
- case 6: stregResolution = ADC_Resolution_6b; break;
- default: stregResolution = ADC_Resolution_12b; break;
- }
-
- /* Init ADC2 witch new resolution */
- ADC_InitStructure.ADC_Resolution = stregResolution;
- ADC_InitStructure.ADC_ScanConvMode = DISABLE;
- ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
- ADC_InitStructure.ADC_ExternalTrigConvEdge = 0;
- ADC_InitStructure.ADC_ExternalTrigConv = 0;
- ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
- ADC_InitStructure.ADC_NbrOfConversion = 1;
- ADC_Init(ADC2, &ADC_InitStructure);
+ //COMMENTED FIRMWARE
+ // ADC_InitTypeDef ADC_InitStructure;
+
+ // assert_param((bits >= 6) && (bits <= 12));
+
+ // adcRange = 1 << bits;
+ // switch (bits)
+ // {
+ // case 12: stregResolution = ADC_Resolution_12b; break;
+ // case 10: stregResolution = ADC_Resolution_10b; break;
+ // case 8: stregResolution = ADC_Resolution_8b; break;
+ // case 6: stregResolution = ADC_Resolution_6b; break;
+ // default: stregResolution = ADC_Resolution_12b; break;
+ // }
+
+ // /* Init ADC2 witch new resolution */
+ // ADC_InitStructure.ADC_Resolution = stregResolution;
+ // ADC_InitStructure.ADC_ScanConvMode = DISABLE;
+ // ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
+ // ADC_InitStructure.ADC_ExternalTrigConvEdge = 0;
+ // ADC_InitStructure.ADC_ExternalTrigConv = 0;
+ // ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
+ // ADC_InitStructure.ADC_NbrOfConversion = 1;
+ // ADC_Init(ADC2, &ADC_InitStructure);
}
float analogReadVoltage(const deckPin_t pin)
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_constants.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_constants.c
index b7e31e8d8..b49d8d7fd 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_constants.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_constants.c
@@ -28,19 +28,20 @@
/* Mapping between Deck Pin number, real GPIO and ADC channel */
deckGPIOMapping_t deckGPIOMapping[13] = {
- {.periph= RCC_AHB1Periph_GPIOC, .port= GPIOC, .pin=GPIO_Pin_11, .adcCh=-1}, /* RX1 */
- {.periph= RCC_AHB1Periph_GPIOC, .port= GPIOC, .pin=GPIO_Pin_10, .adcCh=-1}, /* TX1 */
- {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_7, .adcCh=-1}, /* SDA */
- {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_6, .adcCh=-1}, /* SCL */
- {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_8, .adcCh=-1}, /* IO1 */
- {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_5, .adcCh=-1}, /* IO2 */
- {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_4, .adcCh=-1}, /* IO3 */
- {.periph= RCC_AHB1Periph_GPIOC, .port= GPIOC, .pin=GPIO_Pin_12, .adcCh=-1}, /* IO4 */
- {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_2, .adcCh=ADC_Channel_2}, /* TX2 */
- {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_3, .adcCh=ADC_Channel_3}, /* RX2 */
- {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_5, .adcCh=ADC_Channel_5}, /* SCK */
- {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_6, .adcCh=ADC_Channel_6}, /* MISO */
- {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_7, .adcCh=ADC_Channel_7}, /* MOSI */
+ //COMMENTED FIRMWARE
+ // {.periph= RCC_AHB1Periph_GPIOC, .port= GPIOC, .pin=GPIO_Pin_11, .adcCh=-1}, /* RX1 */
+ // {.periph= RCC_AHB1Periph_GPIOC, .port= GPIOC, .pin=GPIO_Pin_10, .adcCh=-1}, /* TX1 */
+ // {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_7, .adcCh=-1}, /* SDA */
+ // {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_6, .adcCh=-1}, /* SCL */
+ // {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_8, .adcCh=-1}, /* IO1 */
+ // {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_5, .adcCh=-1}, /* IO2 */
+ // {.periph= RCC_AHB1Periph_GPIOB, .port= GPIOB, .pin=GPIO_Pin_4, .adcCh=-1}, /* IO3 */
+ // {.periph= RCC_AHB1Periph_GPIOC, .port= GPIOC, .pin=GPIO_Pin_12, .adcCh=-1}, /* IO4 */
+ // {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_2, .adcCh=ADC_Channel_2}, /* TX2 */
+ // {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_3, .adcCh=ADC_Channel_3}, /* RX2 */
+ // {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_5, .adcCh=ADC_Channel_5}, /* SCK */
+ // {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_6, .adcCh=ADC_Channel_6}, /* MISO */
+ // {.periph= RCC_AHB1Periph_GPIOA, .port= GPIOA, .pin=GPIO_Pin_7, .adcCh=ADC_Channel_7}, /* MOSI */
};
// Pin definitions
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_digital.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_digital.c
index b8ae72c85..d0944da42 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_digital.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_digital.c
@@ -30,31 +30,35 @@
void pinMode(const deckPin_t pin, const uint32_t mode)
{
- RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin.id].periph, ENABLE);
+ //COMMENTED FIRMWARE
+ // RCC_AHB1PeriphClockCmd(deckGPIOMapping[pin.id].periph, ENABLE);
- GPIO_InitTypeDef GPIO_InitStructure = {0};
+ // GPIO_InitTypeDef GPIO_InitStructure = {0};
- GPIO_InitStructure.GPIO_Pin = deckGPIOMapping[pin.id].pin;
- GPIO_InitStructure.GPIO_Mode = (mode == OUTPUT) ? GPIO_Mode_OUT:GPIO_Mode_IN;
- if (mode == OUTPUT) GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- if (mode == INPUT_PULLUP) GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
- if (mode == INPUT_PULLDOWN) GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
- GPIO_Init(deckGPIOMapping[pin.id].port, &GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Pin = deckGPIOMapping[pin.id].pin;
+ // GPIO_InitStructure.GPIO_Mode = (mode == OUTPUT) ? GPIO_Mode_OUT:GPIO_Mode_IN;
+ // if (mode == OUTPUT) GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // if (mode == INPUT_PULLUP) GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+ // if (mode == INPUT_PULLDOWN) GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_25MHz;
+ // GPIO_Init(deckGPIOMapping[pin.id].port, &GPIO_InitStructure);
}
void digitalWrite(const deckPin_t pin, const uint32_t val)
{
- BitAction action = Bit_RESET;
- if (val) {
- action = Bit_SET;
- }
+ //COMMENTED FIRMWARE
+ // BitAction action = Bit_RESET;
+ // if (val) {
+ // action = Bit_SET;
+ // }
- GPIO_WriteBit(deckGPIOMapping[pin.id].port, deckGPIOMapping[pin.id].pin, action);
+ // GPIO_WriteBit(deckGPIOMapping[pin.id].port, deckGPIOMapping[pin.id].pin, action);
}
int digitalRead(const deckPin_t pin)
{
- int val = GPIO_ReadInputDataBit(deckGPIOMapping[pin.id].port, deckGPIOMapping[pin.id].pin);
- return (val==Bit_SET)?HIGH:LOW;
+ //COMMENTED FIRMWARE
+ // int val = GPIO_ReadInputDataBit(deckGPIOMapping[pin.id].port, deckGPIOMapping[pin.id].pin);
+ // return (val==Bit_SET)?HIGH:LOW;
+ return 0;
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi.c
index df9cd9ce6..6aff3645d 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi.c
@@ -93,127 +93,130 @@ static void spiConfigureWithSpeed(uint16_t baudRatePrescaler);
void spiBegin(void)
{
- GPIO_InitTypeDef GPIO_InitStructure;
+ //COMMENTED FIRMWARE
+// GPIO_InitTypeDef GPIO_InitStructure;
- // binary semaphores created using xSemaphoreCreateBinary() are created in a state
- // such that the the semaphore must first be 'given' before it can be 'taken'
- txComplete = xSemaphoreCreateBinary();
- rxComplete = xSemaphoreCreateBinary();
- spiMutex = xSemaphoreCreateMutex();
+// // binary semaphores created using xSemaphoreCreateBinary() are created in a state
+// // such that the the semaphore must first be 'given' before it can be 'taken'
+// txComplete = xSemaphoreCreateBinary();
+// rxComplete = xSemaphoreCreateBinary();
+// spiMutex = xSemaphoreCreateMutex();
- /*!< Enable the SPI clock */
- SPI_CLK_INIT(SPI_CLK, ENABLE);
+// /*!< Enable the SPI clock */
+// SPI_CLK_INIT(SPI_CLK, ENABLE);
- /*!< Enable GPIO clocks */
- RCC_AHB1PeriphClockCmd(SPI_SCK_GPIO_CLK | SPI_MISO_GPIO_CLK |
- SPI_MOSI_GPIO_CLK, ENABLE);
+// /*!< Enable GPIO clocks */
+// RCC_AHB1PeriphClockCmd(SPI_SCK_GPIO_CLK | SPI_MISO_GPIO_CLK |
+// SPI_MOSI_GPIO_CLK, ENABLE);
- /*!< Enable DMA Clocks */
- SPI_DMA_CLK_INIT(SPI_DMA_CLK, ENABLE);
+// /*!< Enable DMA Clocks */
+// SPI_DMA_CLK_INIT(SPI_DMA_CLK, ENABLE);
- /*!< SPI pins configuration *************************************************/
+// /*!< SPI pins configuration *************************************************/
- /*!< Connect SPI pins to AF5 */
- GPIO_PinAFConfig(SPI_SCK_GPIO_PORT, SPI_SCK_SOURCE, SPI_SCK_AF);
- GPIO_PinAFConfig(SPI_MISO_GPIO_PORT, SPI_MISO_SOURCE, SPI_MISO_AF);
- GPIO_PinAFConfig(SPI_MOSI_GPIO_PORT, SPI_MOSI_SOURCE, SPI_MOSI_AF);
+// /*!< Connect SPI pins to AF5 */
+// GPIO_PinAFConfig(SPI_SCK_GPIO_PORT, SPI_SCK_SOURCE, SPI_SCK_AF);
+// GPIO_PinAFConfig(SPI_MISO_GPIO_PORT, SPI_MISO_SOURCE, SPI_MISO_AF);
+// GPIO_PinAFConfig(SPI_MOSI_GPIO_PORT, SPI_MOSI_SOURCE, SPI_MOSI_AF);
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
-#ifdef DECK_SPI_MODE3
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
-#else
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
-#endif
+// GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+// GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+// GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+// #ifdef DECK_SPI_MODE3
+// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;
+// #else
+// GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
+// #endif
- /*!< SPI SCK pin configuration */
- GPIO_InitStructure.GPIO_Pin = SPI_SCK_PIN;
- GPIO_Init(SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
+// /*!< SPI SCK pin configuration */
+// GPIO_InitStructure.GPIO_Pin = SPI_SCK_PIN;
+// GPIO_Init(SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
- /*!< SPI MOSI pin configuration */
- GPIO_InitStructure.GPIO_Pin = SPI_MOSI_PIN;
- GPIO_Init(SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
+// /*!< SPI MOSI pin configuration */
+// GPIO_InitStructure.GPIO_Pin = SPI_MOSI_PIN;
+// GPIO_Init(SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
- /*!< SPI MISO pin configuration */
- GPIO_InitStructure.GPIO_Pin = SPI_MISO_PIN;
- GPIO_Init(SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
+// /*!< SPI MISO pin configuration */
+// GPIO_InitStructure.GPIO_Pin = SPI_MISO_PIN;
+// GPIO_Init(SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
- /*!< SPI DMA Initialization */
- spiDMAInit();
+// /*!< SPI DMA Initialization */
+// spiDMAInit();
- /*!< SPI configuration */
- spiConfigureWithSpeed(SPI_BAUDRATE_2MHZ);
+// /*!< SPI configuration */
+// spiConfigureWithSpeed(SPI_BAUDRATE_2MHZ);
- isInit = true;
+// isInit = true;
}
static void spiDMAInit()
{
- DMA_InitTypeDef DMA_InitStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
-
- /* Configure DMA Initialization Structure */
- DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable ;
- DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull ;
- DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single ;
- DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
- DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
- DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
- DMA_InitStructure.DMA_PeripheralBaseAddr =(uint32_t) (&(SPI->DR)) ;
- DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
- DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
- DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
- DMA_InitStructure.DMA_Priority = DMA_Priority_High;
- DMA_InitStructure.DMA_BufferSize = 0; // set later
- DMA_InitStructure.DMA_Memory0BaseAddr = 0; // set later
-
- // Configure TX DMA
- DMA_InitStructure.DMA_Channel = SPI_TX_DMA_CHANNEL;
- DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
- DMA_Cmd(SPI_TX_DMA_STREAM,DISABLE);
- DMA_Init(SPI_TX_DMA_STREAM, &DMA_InitStructure);
-
- // Configure RX DMA
- DMA_InitStructure.DMA_Channel = SPI_RX_DMA_CHANNEL;
- DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
- DMA_Cmd(SPI_RX_DMA_STREAM,DISABLE);
- DMA_Init(SPI_RX_DMA_STREAM, &DMA_InitStructure);
-
- // Configure interrupts
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-
- NVIC_InitStructure.NVIC_IRQChannel = SPI_TX_DMA_IRQ;
- NVIC_Init(&NVIC_InitStructure);
-
- NVIC_InitStructure.NVIC_IRQChannel = SPI_RX_DMA_IRQ;
- NVIC_Init(&NVIC_InitStructure);
+ //COMMENTED FIRMWARE
+ // DMA_InitTypeDef DMA_InitStructure;
+ // NVIC_InitTypeDef NVIC_InitStructure;
+
+ // /* Configure DMA Initialization Structure */
+ // DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable ;
+ // DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull ;
+ // DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single ;
+ // DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+ // DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+ // DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+ // DMA_InitStructure.DMA_PeripheralBaseAddr =(uint32_t) (&(SPI->DR)) ;
+ // DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+ // DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+ // DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+ // DMA_InitStructure.DMA_Priority = DMA_Priority_High;
+ // DMA_InitStructure.DMA_BufferSize = 0; // set later
+ // DMA_InitStructure.DMA_Memory0BaseAddr = 0; // set later
+
+ // // Configure TX DMA
+ // DMA_InitStructure.DMA_Channel = SPI_TX_DMA_CHANNEL;
+ // DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+ // DMA_Cmd(SPI_TX_DMA_STREAM,DISABLE);
+ // DMA_Init(SPI_TX_DMA_STREAM, &DMA_InitStructure);
+
+ // // Configure RX DMA
+ // DMA_InitStructure.DMA_Channel = SPI_RX_DMA_CHANNEL;
+ // DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+ // DMA_Cmd(SPI_RX_DMA_STREAM,DISABLE);
+ // DMA_Init(SPI_RX_DMA_STREAM, &DMA_InitStructure);
+
+ // // Configure interrupts
+ // NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
+ // NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+ // NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+ // NVIC_InitStructure.NVIC_IRQChannel = SPI_TX_DMA_IRQ;
+ // NVIC_Init(&NVIC_InitStructure);
+
+ // NVIC_InitStructure.NVIC_IRQChannel = SPI_RX_DMA_IRQ;
+ // NVIC_Init(&NVIC_InitStructure);
}
static void spiConfigureWithSpeed(uint16_t baudRatePrescaler)
{
- SPI_InitTypeDef SPI_InitStructure;
-
- SPI_I2S_DeInit(SPI);
-
- SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
- SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
- SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
-#ifdef DECK_SPI_MODE3
- SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
- SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
-#else
- SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
- SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
-#endif
- SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
- SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
- SPI_InitStructure.SPI_CRCPolynomial = 0; // Not used
-
- SPI_InitStructure.SPI_BaudRatePrescaler = baudRatePrescaler;
- SPI_Init(SPI, &SPI_InitStructure);
+ //COMMENTED FIRMWARE
+// SPI_InitTypeDef SPI_InitStructure;
+
+// SPI_I2S_DeInit(SPI);
+
+// SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+// SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+// SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
+// #ifdef DECK_SPI_MODE3
+// SPI_InitStructure.SPI_CPOL = SPI_CPOL_High;
+// SPI_InitStructure.SPI_CPHA = SPI_CPHA_2Edge;
+// #else
+// SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
+// SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
+// #endif
+// SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+// SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+// SPI_InitStructure.SPI_CRCPolynomial = 0; // Not used
+
+// SPI_InitStructure.SPI_BaudRatePrescaler = baudRatePrescaler;
+// SPI_Init(SPI, &SPI_InitStructure);
}
bool spiTest(void)
@@ -223,42 +226,44 @@ bool spiTest(void)
bool spiExchange(size_t length, const uint8_t * data_tx, uint8_t * data_rx)
{
- ASSERT_DMA_SAFE(data_tx);
- ASSERT_DMA_SAFE(data_rx);
+ //COMMENTED FIRMWARE
+ // ASSERT_DMA_SAFE(data_tx);
+ // ASSERT_DMA_SAFE(data_rx);
- // DMA already configured, just need to set memory addresses
- SPI_TX_DMA_STREAM->M0AR = (uint32_t)data_tx;
- SPI_TX_DMA_STREAM->NDTR = length;
+ // // DMA already configured, just need to set memory addresses
+ // SPI_TX_DMA_STREAM->M0AR = (uint32_t)data_tx;
+ // SPI_TX_DMA_STREAM->NDTR = length;
- SPI_RX_DMA_STREAM->M0AR = (uint32_t)data_rx;
- SPI_RX_DMA_STREAM->NDTR = length;
+ // SPI_RX_DMA_STREAM->M0AR = (uint32_t)data_rx;
+ // SPI_RX_DMA_STREAM->NDTR = length;
- // Enable SPI DMA Interrupts
- DMA_ITConfig(SPI_TX_DMA_STREAM, DMA_IT_TC, ENABLE);
- DMA_ITConfig(SPI_RX_DMA_STREAM, DMA_IT_TC, ENABLE);
+ // // Enable SPI DMA Interrupts
+ // DMA_ITConfig(SPI_TX_DMA_STREAM, DMA_IT_TC, ENABLE);
+ // DMA_ITConfig(SPI_RX_DMA_STREAM, DMA_IT_TC, ENABLE);
- // Clear DMA Flags
- DMA_ClearFlag(SPI_TX_DMA_STREAM, DMA_FLAG_FEIF5|DMA_FLAG_DMEIF5|DMA_FLAG_TEIF5|DMA_FLAG_HTIF5|DMA_FLAG_TCIF5);
- DMA_ClearFlag(SPI_RX_DMA_STREAM, DMA_FLAG_FEIF0|DMA_FLAG_DMEIF0|DMA_FLAG_TEIF0|DMA_FLAG_HTIF0|DMA_FLAG_TCIF0);
+ // // Clear DMA Flags
+ // DMA_ClearFlag(SPI_TX_DMA_STREAM, DMA_FLAG_FEIF5|DMA_FLAG_DMEIF5|DMA_FLAG_TEIF5|DMA_FLAG_HTIF5|DMA_FLAG_TCIF5);
+ // DMA_ClearFlag(SPI_RX_DMA_STREAM, DMA_FLAG_FEIF0|DMA_FLAG_DMEIF0|DMA_FLAG_TEIF0|DMA_FLAG_HTIF0|DMA_FLAG_TCIF0);
- // Enable DMA Streams
- DMA_Cmd(SPI_TX_DMA_STREAM,ENABLE);
- DMA_Cmd(SPI_RX_DMA_STREAM,ENABLE);
+ // // Enable DMA Streams
+ // DMA_Cmd(SPI_TX_DMA_STREAM,ENABLE);
+ // DMA_Cmd(SPI_RX_DMA_STREAM,ENABLE);
- // Enable SPI DMA requests
- SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Tx, ENABLE);
- SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Rx, ENABLE);
+ // // Enable SPI DMA requests
+ // SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Tx, ENABLE);
+ // SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Rx, ENABLE);
- // Enable peripheral
- SPI_Cmd(SPI, ENABLE);
+ // // Enable peripheral
+ // SPI_Cmd(SPI, ENABLE);
- // Wait for completion
- bool result = (xSemaphoreTake(txComplete, portMAX_DELAY) == pdTRUE)
- && (xSemaphoreTake(rxComplete, portMAX_DELAY) == pdTRUE);
+ // // Wait for completion
+ // bool result = (xSemaphoreTake(txComplete, portMAX_DELAY) == pdTRUE)
+ // && (xSemaphoreTake(rxComplete, portMAX_DELAY) == pdTRUE);
- // Disable peripheral
- SPI_Cmd(SPI, DISABLE);
- return result;
+ // // Disable peripheral
+ // SPI_Cmd(SPI, DISABLE);
+ //return result;
+ return false;
}
void spiBeginTransaction(uint16_t baudRatePrescaler)
@@ -274,52 +279,54 @@ void spiEndTransaction()
void __attribute__((used)) SPI_TX_DMA_IRQHandler(void)
{
- portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+ //COMMENTED FIRMWARE
+ // portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
- // Stop and cleanup DMA stream
- DMA_ITConfig(SPI_TX_DMA_STREAM, DMA_IT_TC, DISABLE);
- DMA_ClearITPendingBit(SPI_TX_DMA_STREAM, SPI_TX_DMA_FLAG_TCIF);
+ // // Stop and cleanup DMA stream
+ // DMA_ITConfig(SPI_TX_DMA_STREAM, DMA_IT_TC, DISABLE);
+ // DMA_ClearITPendingBit(SPI_TX_DMA_STREAM, SPI_TX_DMA_FLAG_TCIF);
- // Clear stream flags
- DMA_ClearFlag(SPI_TX_DMA_STREAM,SPI_TX_DMA_FLAG_TCIF);
+ // // Clear stream flags
+ // DMA_ClearFlag(SPI_TX_DMA_STREAM,SPI_TX_DMA_FLAG_TCIF);
- // Disable SPI DMA requests
- SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Tx, DISABLE);
+ // // Disable SPI DMA requests
+ // SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Tx, DISABLE);
- // Disable streams
- DMA_Cmd(SPI_TX_DMA_STREAM,DISABLE);
+ // // Disable streams
+ // DMA_Cmd(SPI_TX_DMA_STREAM,DISABLE);
- // Give the semaphore, allowing the SPI transaction to complete
- xSemaphoreGiveFromISR(txComplete, &xHigherPriorityTaskWoken);
+ // // Give the semaphore, allowing the SPI transaction to complete
+ // xSemaphoreGiveFromISR(txComplete, &xHigherPriorityTaskWoken);
- if (xHigherPriorityTaskWoken)
- {
- portYIELD();
- }
+ // if (xHigherPriorityTaskWoken)
+ // {
+ // portYIELD();
+ // }
}
void __attribute__((used)) SPI_RX_DMA_IRQHandler(void)
{
- portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+ //COMMENTED FIRMWARE
+ // portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
- // Stop and cleanup DMA stream
- DMA_ITConfig(SPI_RX_DMA_STREAM, DMA_IT_TC, DISABLE);
- DMA_ClearITPendingBit(SPI_RX_DMA_STREAM, SPI_RX_DMA_FLAG_TCIF);
+ // // Stop and cleanup DMA stream
+ // DMA_ITConfig(SPI_RX_DMA_STREAM, DMA_IT_TC, DISABLE);
+ // DMA_ClearITPendingBit(SPI_RX_DMA_STREAM, SPI_RX_DMA_FLAG_TCIF);
- // Clear stream flags
- DMA_ClearFlag(SPI_RX_DMA_STREAM,SPI_RX_DMA_FLAG_TCIF);
+ // // Clear stream flags
+ // DMA_ClearFlag(SPI_RX_DMA_STREAM,SPI_RX_DMA_FLAG_TCIF);
- // Disable SPI DMA requests
- SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Rx, DISABLE);
+ // // Disable SPI DMA requests
+ // SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Rx, DISABLE);
- // Disable streams
- DMA_Cmd(SPI_RX_DMA_STREAM,DISABLE);
+ // // Disable streams
+ // DMA_Cmd(SPI_RX_DMA_STREAM,DISABLE);
- // Give the semaphore, allowing the SPI transaction to complete
- xSemaphoreGiveFromISR(rxComplete, &xHigherPriorityTaskWoken);
+ // // Give the semaphore, allowing the SPI transaction to complete
+ // xSemaphoreGiveFromISR(rxComplete, &xHigherPriorityTaskWoken);
- if (xHigherPriorityTaskWoken)
- {
- portYIELD();
- }
+ // if (xHigherPriorityTaskWoken)
+ // {
+ // portYIELD();
+ // }
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi3.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi3.c
index 75bb87026..4b16d397d 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi3.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/api/deck_spi3.c
@@ -94,118 +94,120 @@ static void spi3ConfigureWithSpeed(uint16_t baudRatePrescaler);
void spi3Begin(void)
{
- GPIO_InitTypeDef GPIO_InitStructure;
+ //COMMENTED FIRMWARE
+ // GPIO_InitTypeDef GPIO_InitStructure;
- // binary semaphores created using xSemaphoreCreateBinary() are created in a state
- // such that the the semaphore must first be 'given' before it can be 'taken'
- txComplete = xSemaphoreCreateBinary();
- rxComplete = xSemaphoreCreateBinary();
- spiMutex = xSemaphoreCreateMutex();
+ // // binary semaphores created using xSemaphoreCreateBinary() are created in a state
+ // // such that the the semaphore must first be 'given' before it can be 'taken'
+ // txComplete = xSemaphoreCreateBinary();
+ // rxComplete = xSemaphoreCreateBinary();
+ // spiMutex = xSemaphoreCreateMutex();
- /*!< Enable the SPI clock */
- SPI_CLK_INIT(SPI_CLK, ENABLE);
+ // /*!< Enable the SPI clock */
+ // SPI_CLK_INIT(SPI_CLK, ENABLE);
- /*!< Enable GPIO clocks */
- RCC_AHB1PeriphClockCmd(SPI_SCK_GPIO_CLK | SPI_MISO_GPIO_CLK |
- SPI_MOSI_GPIO_CLK, ENABLE);
+ // /*!< Enable GPIO clocks */
+ // RCC_AHB1PeriphClockCmd(SPI_SCK_GPIO_CLK | SPI_MISO_GPIO_CLK |
+ // SPI_MOSI_GPIO_CLK, ENABLE);
- /*!< Enable DMA Clocks */
- SPI_DMA_CLK_INIT(SPI_DMA_CLK, ENABLE);
+ // /*!< Enable DMA Clocks */
+ // SPI_DMA_CLK_INIT(SPI_DMA_CLK, ENABLE);
- /*!< SPI pins configuration *************************************************/
+ // /*!< SPI pins configuration *************************************************/
- /*!< Connect SPI pins to AF5 */
- GPIO_PinAFConfig(SPI_SCK_GPIO_PORT, SPI_SCK_SOURCE, SPI_SCK_AF);
- GPIO_PinAFConfig(SPI_MISO_GPIO_PORT, SPI_MISO_SOURCE, SPI_MISO_AF);
- GPIO_PinAFConfig(SPI_MOSI_GPIO_PORT, SPI_MOSI_SOURCE, SPI_MOSI_AF);
+ // /*!< Connect SPI pins to AF5 */
+ // GPIO_PinAFConfig(SPI_SCK_GPIO_PORT, SPI_SCK_SOURCE, SPI_SCK_AF);
+ // GPIO_PinAFConfig(SPI_MISO_GPIO_PORT, SPI_MISO_SOURCE, SPI_MISO_AF);
+ // GPIO_PinAFConfig(SPI_MOSI_GPIO_PORT, SPI_MOSI_SOURCE, SPI_MOSI_AF);
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
- GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_DOWN;
- /*!< SPI SCK pin configuration */
- GPIO_InitStructure.GPIO_Pin = SPI_SCK_PIN;
- GPIO_Init(SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
+ // /*!< SPI SCK pin configuration */
+ // GPIO_InitStructure.GPIO_Pin = SPI_SCK_PIN;
+ // GPIO_Init(SPI_SCK_GPIO_PORT, &GPIO_InitStructure);
- /*!< SPI MOSI pin configuration */
- GPIO_InitStructure.GPIO_Pin = SPI_MOSI_PIN;
- GPIO_Init(SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
+ // /*!< SPI MOSI pin configuration */
+ // GPIO_InitStructure.GPIO_Pin = SPI_MOSI_PIN;
+ // GPIO_Init(SPI_MOSI_GPIO_PORT, &GPIO_InitStructure);
- /*!< SPI MISO pin configuration */
- GPIO_InitStructure.GPIO_Pin = SPI_MISO_PIN;
- GPIO_Init(SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
+ // /*!< SPI MISO pin configuration */
+ // GPIO_InitStructure.GPIO_Pin = SPI_MISO_PIN;
+ // GPIO_Init(SPI_MISO_GPIO_PORT, &GPIO_InitStructure);
- /*!< SPI DMA Initialization */
- spi3DMAInit();
+ // /*!< SPI DMA Initialization */
+ // spi3DMAInit();
- /*!< SPI configuration */
- spi3ConfigureWithSpeed(SPI_BAUDRATE_2MHZ);
+ // /*!< SPI configuration */
+ // spi3ConfigureWithSpeed(SPI_BAUDRATE_2MHZ);
- isInit = true;
+ // isInit = true;
}
static void spi3DMAInit()
{
- DMA_InitTypeDef DMA_InitStructure;
- NVIC_InitTypeDef NVIC_InitStructure;
-
- /* Configure DMA Initialization Structure */
- DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable ;
- DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull ;
- DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single ;
- DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
- DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
- DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
- DMA_InitStructure.DMA_PeripheralBaseAddr =(uint32_t) (&(SPI->DR)) ;
- DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
- DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
- DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
- DMA_InitStructure.DMA_Priority = DMA_Priority_High;
- DMA_InitStructure.DMA_BufferSize = 0; // set later
- DMA_InitStructure.DMA_Memory0BaseAddr = 0; // set later
-
- // Configure TX DMA
- DMA_InitStructure.DMA_Channel = SPI_TX_DMA_CHANNEL;
- DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
- DMA_Cmd(SPI_TX_DMA_STREAM,DISABLE);
- DMA_Init(SPI_TX_DMA_STREAM, &DMA_InitStructure);
-
- // Configure RX DMA
- DMA_InitStructure.DMA_Channel = SPI_RX_DMA_CHANNEL;
- DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
- DMA_Cmd(SPI_RX_DMA_STREAM,DISABLE);
- DMA_Init(SPI_RX_DMA_STREAM, &DMA_InitStructure);
-
- // Configure interrupts
- NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
- NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
- NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
-
- NVIC_InitStructure.NVIC_IRQChannel = SPI_TX_DMA_IRQ;
- NVIC_Init(&NVIC_InitStructure);
-
- NVIC_InitStructure.NVIC_IRQChannel = SPI_RX_DMA_IRQ;
- NVIC_Init(&NVIC_InitStructure);
-}
-
-static void spi3ConfigureWithSpeed(uint16_t baudRatePrescaler)
-{
- SPI_InitTypeDef SPI_InitStructure;
-
- SPI_I2S_DeInit(SPI);
-
- SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
- SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
- SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
- SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
- SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
- SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
- SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
- SPI_InitStructure.SPI_CRCPolynomial = 0; // Not used
-
- SPI_InitStructure.SPI_BaudRatePrescaler = baudRatePrescaler;
- SPI_Init(SPI, &SPI_InitStructure);
+ //COMMENTED FIRMWARE
+// DMA_InitTypeDef DMA_InitStructure;
+// NVIC_InitTypeDef NVIC_InitStructure;
+
+// /* Configure DMA Initialization Structure */
+// DMA_InitStructure.DMA_FIFOMode = DMA_FIFOMode_Disable ;
+// DMA_InitStructure.DMA_FIFOThreshold = DMA_FIFOThreshold_1QuarterFull ;
+// DMA_InitStructure.DMA_MemoryBurst = DMA_MemoryBurst_Single ;
+// DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_Byte;
+// DMA_InitStructure.DMA_MemoryInc = DMA_MemoryInc_Enable;
+// DMA_InitStructure.DMA_Mode = DMA_Mode_Normal;
+// DMA_InitStructure.DMA_PeripheralBaseAddr =(uint32_t) (&(SPI->DR)) ;
+// DMA_InitStructure.DMA_PeripheralBurst = DMA_PeripheralBurst_Single;
+// DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_Byte;
+// DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
+// DMA_InitStructure.DMA_Priority = DMA_Priority_High;
+// DMA_InitStructure.DMA_BufferSize = 0; // set later
+// DMA_InitStructure.DMA_Memory0BaseAddr = 0; // set later
+
+// // Configure TX DMA
+// DMA_InitStructure.DMA_Channel = SPI_TX_DMA_CHANNEL;
+// DMA_InitStructure.DMA_DIR = DMA_DIR_MemoryToPeripheral;
+// DMA_Cmd(SPI_TX_DMA_STREAM,DISABLE);
+// DMA_Init(SPI_TX_DMA_STREAM, &DMA_InitStructure);
+
+// // Configure RX DMA
+// DMA_InitStructure.DMA_Channel = SPI_RX_DMA_CHANNEL;
+// DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralToMemory;
+// DMA_Cmd(SPI_RX_DMA_STREAM,DISABLE);
+// DMA_Init(SPI_RX_DMA_STREAM, &DMA_InitStructure);
+
+// // Configure interrupts
+// NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = NVIC_HIGH_PRI;
+// NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
+// NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
+
+// NVIC_InitStructure.NVIC_IRQChannel = SPI_TX_DMA_IRQ;
+// NVIC_Init(&NVIC_InitStructure);
+
+// NVIC_InitStructure.NVIC_IRQChannel = SPI_RX_DMA_IRQ;
+// NVIC_Init(&NVIC_InitStructure);
+// }
+
+// static void spi3ConfigureWithSpeed(uint16_t baudRatePrescaler)
+// {
+// SPI_InitTypeDef SPI_InitStructure;
+
+// SPI_I2S_DeInit(SPI);
+
+// SPI_InitStructure.SPI_Direction = SPI_Direction_2Lines_FullDuplex;
+// SPI_InitStructure.SPI_Mode = SPI_Mode_Master;
+// SPI_InitStructure.SPI_DataSize = SPI_DataSize_8b;
+// SPI_InitStructure.SPI_CPOL = SPI_CPOL_Low;
+// SPI_InitStructure.SPI_CPHA = SPI_CPHA_1Edge;
+// SPI_InitStructure.SPI_NSS = SPI_NSS_Soft;
+// SPI_InitStructure.SPI_FirstBit = SPI_FirstBit_MSB;
+// SPI_InitStructure.SPI_CRCPolynomial = 0; // Not used
+
+// SPI_InitStructure.SPI_BaudRatePrescaler = baudRatePrescaler;
+// SPI_Init(SPI, &SPI_InitStructure);
}
bool spi3Test(void)
@@ -215,42 +217,44 @@ bool spi3Test(void)
bool spi3Exchange(size_t length, const uint8_t * data_tx, uint8_t * data_rx)
{
- ASSERT_DMA_SAFE(data_tx);
- ASSERT_DMA_SAFE(data_rx);
+ //COMMENTED FIRMWARE
+ // ASSERT_DMA_SAFE(data_tx);
+ // ASSERT_DMA_SAFE(data_rx);
- // DMA already configured, just need to set memory addresses
- SPI_TX_DMA_STREAM->M0AR = (uint32_t)data_tx;
- SPI_TX_DMA_STREAM->NDTR = length;
+ // // DMA already configured, just need to set memory addresses
+ // SPI_TX_DMA_STREAM->M0AR = (uint32_t)data_tx;
+ // SPI_TX_DMA_STREAM->NDTR = length;
- SPI_RX_DMA_STREAM->M0AR = (uint32_t)data_rx;
- SPI_RX_DMA_STREAM->NDTR = length;
+ // SPI_RX_DMA_STREAM->M0AR = (uint32_t)data_rx;
+ // SPI_RX_DMA_STREAM->NDTR = length;
- // Enable SPI DMA Interrupts
- DMA_ITConfig(SPI_TX_DMA_STREAM, DMA_IT_TC, ENABLE);
- DMA_ITConfig(SPI_RX_DMA_STREAM, DMA_IT_TC, ENABLE);
+ // // Enable SPI DMA Interrupts
+ // DMA_ITConfig(SPI_TX_DMA_STREAM, DMA_IT_TC, ENABLE);
+ // DMA_ITConfig(SPI_RX_DMA_STREAM, DMA_IT_TC, ENABLE);
- // Clear DMA Flags
- DMA_ClearFlag(SPI_TX_DMA_STREAM, DMA_FLAG_FEIF7|DMA_FLAG_DMEIF7|DMA_FLAG_TEIF7|DMA_FLAG_HTIF7|DMA_FLAG_TCIF7);
- DMA_ClearFlag(SPI_RX_DMA_STREAM, DMA_FLAG_FEIF0|DMA_FLAG_DMEIF0|DMA_FLAG_TEIF0|DMA_FLAG_HTIF0|DMA_FLAG_TCIF0);
+ // // Clear DMA Flags
+ // DMA_ClearFlag(SPI_TX_DMA_STREAM, DMA_FLAG_FEIF7|DMA_FLAG_DMEIF7|DMA_FLAG_TEIF7|DMA_FLAG_HTIF7|DMA_FLAG_TCIF7);
+ // DMA_ClearFlag(SPI_RX_DMA_STREAM, DMA_FLAG_FEIF0|DMA_FLAG_DMEIF0|DMA_FLAG_TEIF0|DMA_FLAG_HTIF0|DMA_FLAG_TCIF0);
- // Enable DMA Streams
- DMA_Cmd(SPI_TX_DMA_STREAM,ENABLE);
- DMA_Cmd(SPI_RX_DMA_STREAM,ENABLE);
+ // // Enable DMA Streams
+ // DMA_Cmd(SPI_TX_DMA_STREAM,ENABLE);
+ // DMA_Cmd(SPI_RX_DMA_STREAM,ENABLE);
- // Enable SPI DMA requests
- SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Tx, ENABLE);
- SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Rx, ENABLE);
+ // // Enable SPI DMA requests
+ // SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Tx, ENABLE);
+ // SPI_I2S_DMACmd(SPI, SPI_I2S_DMAReq_Rx, ENABLE);
- // Enable peripheral
- SPI_Cmd(SPI, ENABLE);
+ // // Enable peripheral
+ // SPI_Cmd(SPI, ENABLE);
- // Wait for completion
- bool result = (xSemaphoreTake(txComplete, portMAX_DELAY) == pdTRUE)
- && (xSemaphoreTake(rxComplete, portMAX_DELAY) == pdTRUE);
+ // // Wait for completion
+ // bool result = (xSemaphoreTake(txComplete, portMAX_DELAY) == pdTRUE)
+ // && (xSemaphoreTake(rxComplete, portMAX_DELAY) == pdTRUE);
- // Disable peripheral
- SPI_Cmd(SPI, DISABLE);
- return result;
+ // // Disable peripheral
+ // SPI_Cmd(SPI, DISABLE);
+ // return result;
+ return false;
}
void spi3BeginTransaction(uint16_t baudRatePrescaler)
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTdoa2Tag.h b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTdoa2Tag.h
index c0f76596e..258ed19b6 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTdoa2Tag.h
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTdoa2Tag.h
@@ -2,7 +2,8 @@
#define __LPS_TDOA2_TAG_H__
#include "locodeck.h"
-#include "libdw1000.h"
+//COMMENTED FIRMWARE
+//#include "libdw1000.h"
#include "mac.h"
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTwrTag.h b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTwrTag.h
index f37681914..a8ade7985 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTwrTag.h
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/interface/lpsTwrTag.h
@@ -2,7 +2,8 @@
#define __LPS_TWR_TAG_H__
#include "locodeck.h"
-#include "libdw1000.h"
+//COMMENTED FIRMWARE
+//#include "libdw1000.h"
#include "mac.h"
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/activeMarkerDeck.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/activeMarkerDeck.c
index dfa07af32..b5d1ecf58 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/activeMarkerDeck.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/activeMarkerDeck.c
@@ -70,7 +70,8 @@ static uint8_t requestedDeckMode = MODE_QUALISYS;
static uint8_t doPollDeckButtonSensor = 0;
static uint8_t deckButtonSensorValue = 0;
static uint32_t nextPollTime = 0;
-static const uint32_t pollIntervall = M2T(100);
+//COMMENTED FIRMWARE
+//static const uint32_t pollIntervall = M2T(100);
static bool i2cOk = false;
// defines eventTrigger_activeMarkerModeChanged
@@ -161,13 +162,14 @@ static void handleModeUpdate() {
}
static void handleButtonSensorRead() {
- if (doPollDeckButtonSensor) {
- uint32_t now = xTaskGetTickCount();
- if (now > nextPollTime) {
- i2cdevReadReg8(I2C1_DEV, DECK_I2C_ADDRESS, MEM_ADR_BUTTON_SENSOR, 1, &deckButtonSensorValue);
- nextPollTime = now + pollIntervall;
- }
- }
+ //COMMENTED FIRMWARE
+ // if (doPollDeckButtonSensor) {
+ // uint32_t now = xTaskGetTickCount();
+ // if (now > nextPollTime) {
+ // i2cdevReadReg8(I2C1_DEV, DECK_I2C_ADDRESS, MEM_ADR_BUTTON_SENSOR, 1, &deckButtonSensorValue);
+ // nextPollTime = now + pollIntervall;
+ // }
+ // }
}
static void task(void *param) {
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/ledring12.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/ledring12.c
index 4a86f542d..8386b88a7 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/ledring12.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/ledring12.c
@@ -564,10 +564,11 @@ static void brightnessEffect(uint8_t buffer[][3], bool reset)
static void setHeadlightsOn(bool on)
{
- if (on)
- GPIO_SetBits(GPIOB, GPIO_Pin_4);
- else
- GPIO_ResetBits(GPIOB, GPIO_Pin_4);
+ //COMMENTED FIRMWARE
+ // if (on)
+ // GPIO_SetBits(GPIOB, GPIO_Pin_4);
+ // else
+ // GPIO_ResetBits(GPIOB, GPIO_Pin_4);
}
@@ -1045,30 +1046,31 @@ static void ledring12Timer(xTimerHandle timer)
static void ledring12Init(DeckInfo *info)
{
- if (isInit) {
- return;
- }
+ //COMMENTED FIRMWARE
+ // if (isInit) {
+ // return;
+ // }
- GPIO_InitTypeDef GPIO_InitStructure;
+ // GPIO_InitTypeDef GPIO_InitStructure;
- ws2812Init();
+ // ws2812Init();
- neffect = sizeof(effectsFct)/sizeof(effectsFct[0])-1;
+ // neffect = sizeof(effectsFct)/sizeof(effectsFct[0])-1;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
- GPIO_Init(GPIOB, &GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // GPIO_InitStructure.GPIO_Pin = GPIO_Pin_4;
+ // GPIO_Init(GPIOB, &GPIO_InitStructure);
- memoryRegisterHandler(&ledringmemDef);
- memoryRegisterHandler(&timingmemDef);
+ // memoryRegisterHandler(&ledringmemDef);
+ // memoryRegisterHandler(&timingmemDef);
- isInit = true;
+ // isInit = true;
- timer = xTimerCreate( "ringTimer", M2T(50),
- pdTRUE, NULL, ledring12Timer );
- xTimerStart(timer, 100);
+ // timer = xTimerCreate( "ringTimer", M2T(50),
+ // pdTRUE, NULL, ledring12Timer );
+ // xTimerStart(timer, 100);
}
static bool handleLedringmemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer) {
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/locodeck.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/locodeck.c
index 21a788f23..d06338755 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/locodeck.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/locodeck.c
@@ -127,8 +127,10 @@ static uwbAlgorithm_t *algorithm = &uwbTwrTagAlgorithm;
static bool isInit = false;
static TaskHandle_t uwbTaskHandle = 0;
static SemaphoreHandle_t algoSemaphore;
-static dwDevice_t dwm_device;
-static dwDevice_t *dwm = &dwm_device;
+
+//COMMENTED FIRMWARE
+// static dwDevice_t dwm_device;
+// static dwDevice_t *dwm = &dwm_device;
static QueueHandle_t lppShortQueue;
@@ -161,19 +163,20 @@ static const MemoryHandlerDef_t memDef = {
};
static void buildAnchorMemList(const uint32_t memAddr, const uint8_t readLen, uint8_t* dest, const uint32_t pageBase_address, const uint8_t anchorCount, const uint8_t unsortedAnchorList[]);
-static void txCallback(dwDevice_t *dev)
-{
- timeout = algorithm->onEvent(dev, eventPacketSent);
-}
+//COMMENTED FIRMWARE
+// static void txCallback(dwDevice_t *dev)
+// {
+// timeout = algorithm->onEvent(dev, eventPacketSent);
+// }
-static void rxCallback(dwDevice_t *dev)
-{
- timeout = algorithm->onEvent(dev, eventPacketReceived);
-}
+// static void rxCallback(dwDevice_t *dev)
+// {
+// timeout = algorithm->onEvent(dev, eventPacketReceived);
+// }
-static void rxTimeoutCallback(dwDevice_t * dev) {
- timeout = algorithm->onEvent(dev, eventReceiveTimeout);
-}
+// static void rxTimeoutCallback(dwDevice_t * dev) {
+// timeout = algorithm->onEvent(dev, eventReceiveTimeout);
+// }
static bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* dest) {
bool result = false;
@@ -275,16 +278,16 @@ uint8_t locoDeckGetActiveAnchorIdList(uint8_t unorderedAnchorList[], const int m
static bool switchToMode(const lpsMode_t newMode) {
bool result = false;
+ //COMMENTED FIRMWARE
+ // if (lpsMode_auto != newMode && newMode <= LPS_NUMBER_OF_ALGORITHMS) {
+ // algoOptions.currentRangingMode = newMode;
+ // algorithm = algorithmsList[algoOptions.currentRangingMode].algorithm;
- if (lpsMode_auto != newMode && newMode <= LPS_NUMBER_OF_ALGORITHMS) {
- algoOptions.currentRangingMode = newMode;
- algorithm = algorithmsList[algoOptions.currentRangingMode].algorithm;
+ // algorithm->init(dwm);
+ // timeout = algorithm->onEvent(dwm, eventTimeout);
- algorithm->init(dwm);
- timeout = algorithm->onEvent(dwm, eventTimeout);
-
- result = true;
- }
+ // result = true;
+ // }
return result;
}
@@ -345,29 +348,30 @@ static void handleModeSwitch() {
}
static void uwbTask(void* parameters) {
- lppShortQueue = xQueueCreate(10, sizeof(lpsLppShortPacket_t));
-
- algoOptions.currentRangingMode = lpsMode_auto;
-
- systemWaitStart();
-
- while(1) {
- xSemaphoreTake(algoSemaphore, portMAX_DELAY);
- handleModeSwitch();
- xSemaphoreGive(algoSemaphore);
-
- if (ulTaskNotifyTake(pdTRUE, timeout / portTICK_PERIOD_MS) > 0) {
- do{
- xSemaphoreTake(algoSemaphore, portMAX_DELAY);
- dwHandleInterrupt(dwm);
- xSemaphoreGive(algoSemaphore);
- } while(digitalRead(GPIO_PIN_IRQ) != 0);
- } else {
- xSemaphoreTake(algoSemaphore, portMAX_DELAY);
- timeout = algorithm->onEvent(dwm, eventTimeout);
- xSemaphoreGive(algoSemaphore);
- }
- }
+ //COMMENTED FIRMWARE
+ // lppShortQueue = xQueueCreate(10, sizeof(lpsLppShortPacket_t));
+
+ // algoOptions.currentRangingMode = lpsMode_auto;
+
+ // systemWaitStart();
+
+ // while(1) {
+ // xSemaphoreTake(algoSemaphore, portMAX_DELAY);
+ // handleModeSwitch();
+ // xSemaphoreGive(algoSemaphore);
+
+ // if (ulTaskNotifyTake(pdTRUE, timeout / portTICK_PERIOD_MS) > 0) {
+ // do{
+ // xSemaphoreTake(algoSemaphore, portMAX_DELAY);
+ // dwHandleInterrupt(dwm);
+ // xSemaphoreGive(algoSemaphore);
+ // } while(digitalRead(GPIO_PIN_IRQ) != 0);
+ // } else {
+ // xSemaphoreTake(algoSemaphore, portMAX_DELAY);
+ // timeout = algorithm->onEvent(dwm, eventTimeout);
+ // xSemaphoreGive(algoSemaphore);
+ // }
+ // }
}
static lpsLppShortPacket_t lppShortPacket;
@@ -397,152 +401,159 @@ static uint8_t spiRxBuffer[196];
static uint16_t spiSpeed = SPI_BAUDRATE_2MHZ;
/************ Low level ops for libdw **********/
-static void spiWrite(dwDevice_t* dev, const void *header, size_t headerLength,
- const void* data, size_t dataLength)
-{
- spiBeginTransaction(spiSpeed);
- digitalWrite(CS_PIN, LOW);
- memcpy(spiTxBuffer, header, headerLength);
- memcpy(spiTxBuffer+headerLength, data, dataLength);
- spiExchange(headerLength+dataLength, spiTxBuffer, spiRxBuffer);
- digitalWrite(CS_PIN, HIGH);
- spiEndTransaction();
- STATS_CNT_RATE_EVENT(&spiWriteCount);
-}
+//COMMENTED FIRMWARE
+// static void spiWrite(dwDevice_t* dev, const void *header, size_t headerLength,
+// const void* data, size_t dataLength)
+// {
+// spiBeginTransaction(spiSpeed);
+// digitalWrite(CS_PIN, LOW);
+// memcpy(spiTxBuffer, header, headerLength);
+// memcpy(spiTxBuffer+headerLength, data, dataLength);
+// spiExchange(headerLength+dataLength, spiTxBuffer, spiRxBuffer);
+// digitalWrite(CS_PIN, HIGH);
+// spiEndTransaction();
+// STATS_CNT_RATE_EVENT(&spiWriteCount);
+// }
+
+//COMMENTED FIRMWARE
+// static void spiRead(dwDevice_t* dev, const void *header, size_t headerLength,
+// void* data, size_t dataLength)
+// {
+// spiBeginTransaction(spiSpeed);
+// digitalWrite(CS_PIN, LOW);
+// memcpy(spiTxBuffer, header, headerLength);
+// memset(spiTxBuffer+headerLength, 0, dataLength);
+// spiExchange(headerLength+dataLength, spiTxBuffer, spiRxBuffer);
+// memcpy(data, spiRxBuffer+headerLength, dataLength);
+// digitalWrite(CS_PIN, HIGH);
+// spiEndTransaction();
+// STATS_CNT_RATE_EVENT(&spiReadCount);
+// }
+
+// #if LOCODECK_USE_ALT_PINS
+// void __attribute__((used)) EXTI5_Callback(void)
+// #else
+// void __attribute__((used)) EXTI11_Callback(void)
+// #endif
+// {
+// portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+
+// // Unlock interrupt handling task
+// vTaskNotifyGiveFromISR(uwbTaskHandle, &xHigherPriorityTaskWoken);
+
+// if(xHigherPriorityTaskWoken) {
+// portYIELD();
+// }
+// }
+
+//COMMENTED FIRMWARE
+// static void spiSetSpeed(dwDevice_t* dev, dwSpiSpeed_t speed)
+// {
+// if (speed == dwSpiSpeedLow)
+// {
+// spiSpeed = SPI_BAUDRATE_2MHZ;
+// }
+// else if (speed == dwSpiSpeedHigh)
+// {
+// spiSpeed = SPI_BAUDRATE_21MHZ;
+// }
+// }
+
+
+//COMMENTED FIRMWARE
+// static void delayms(dwDevice_t* dev, unsigned int delay)
+// {
+// vTaskDelay(M2T(delay));
+// }
+
+//COMMENTED FIRMWARE
+// static dwOps_t dwOps = {
+// .spiRead = spiRead,
+// .spiWrite = spiWrite,
+// .spiSetSpeed = spiSetSpeed,
+// .delayms = delayms,
+// };
-static void spiRead(dwDevice_t* dev, const void *header, size_t headerLength,
- void* data, size_t dataLength)
-{
- spiBeginTransaction(spiSpeed);
- digitalWrite(CS_PIN, LOW);
- memcpy(spiTxBuffer, header, headerLength);
- memset(spiTxBuffer+headerLength, 0, dataLength);
- spiExchange(headerLength+dataLength, spiTxBuffer, spiRxBuffer);
- memcpy(data, spiRxBuffer+headerLength, dataLength);
- digitalWrite(CS_PIN, HIGH);
- spiEndTransaction();
- STATS_CNT_RATE_EVENT(&spiReadCount);
-}
+/*********** Deck driver initialization ***************/
-#if LOCODECK_USE_ALT_PINS
- void __attribute__((used)) EXTI5_Callback(void)
-#else
- void __attribute__((used)) EXTI11_Callback(void)
-#endif
- {
- portBASE_TYPE xHigherPriorityTaskWoken = pdFALSE;
+static void dwm1000Init(DeckInfo *info)
+{
+ //COMMENTED FIRMWARE
+ // EXTI_InitTypeDef EXTI_InitStructure;
- // Unlock interrupt handling task
- vTaskNotifyGiveFromISR(uwbTaskHandle, &xHigherPriorityTaskWoken);
+ // spiBegin();
- if(xHigherPriorityTaskWoken) {
- portYIELD();
- }
- }
+ // // Set up interrupt
+ // SYSCFG_EXTILineConfig(EXTI_PortSource, EXTI_PinSource);
-static void spiSetSpeed(dwDevice_t* dev, dwSpiSpeed_t speed)
-{
- if (speed == dwSpiSpeedLow)
- {
- spiSpeed = SPI_BAUDRATE_2MHZ;
- }
- else if (speed == dwSpiSpeedHigh)
- {
- spiSpeed = SPI_BAUDRATE_21MHZ;
- }
-}
+ // EXTI_InitStructure.EXTI_Line = EXTI_LineN;
+ // EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
+ // EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
+ // EXTI_InitStructure.EXTI_LineCmd = ENABLE;
+ // EXTI_Init(&EXTI_InitStructure);
-static void delayms(dwDevice_t* dev, unsigned int delay)
-{
- vTaskDelay(M2T(delay));
-}
+ // // Init pins
+ // pinMode(CS_PIN, OUTPUT);
+ // pinMode(GPIO_PIN_RESET, OUTPUT);
+ // pinMode(GPIO_PIN_IRQ, INPUT);
-static dwOps_t dwOps = {
- .spiRead = spiRead,
- .spiWrite = spiWrite,
- .spiSetSpeed = spiSetSpeed,
- .delayms = delayms,
-};
+ // // Reset the DW1000 chip
+ // digitalWrite(GPIO_PIN_RESET, 0);
+ // vTaskDelay(M2T(10));
+ // digitalWrite(GPIO_PIN_RESET, 1);
+ // vTaskDelay(M2T(10));
-/*********** Deck driver initialization ***************/
+ // // Initialize the driver
+ // dwInit(dwm, &dwOps); // Init libdw
-static void dwm1000Init(DeckInfo *info)
-{
- EXTI_InitTypeDef EXTI_InitStructure;
-
- spiBegin();
-
- // Set up interrupt
- SYSCFG_EXTILineConfig(EXTI_PortSource, EXTI_PinSource);
-
- EXTI_InitStructure.EXTI_Line = EXTI_LineN;
- EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
- EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising;
- EXTI_InitStructure.EXTI_LineCmd = ENABLE;
- EXTI_Init(&EXTI_InitStructure);
-
- // Init pins
- pinMode(CS_PIN, OUTPUT);
- pinMode(GPIO_PIN_RESET, OUTPUT);
- pinMode(GPIO_PIN_IRQ, INPUT);
-
- // Reset the DW1000 chip
- digitalWrite(GPIO_PIN_RESET, 0);
- vTaskDelay(M2T(10));
- digitalWrite(GPIO_PIN_RESET, 1);
- vTaskDelay(M2T(10));
-
- // Initialize the driver
- dwInit(dwm, &dwOps); // Init libdw
-
- int result = dwConfigure(dwm);
- if (result != 0) {
- isInit = false;
- DEBUG_PRINT("Failed to configure DW1000!\r\n");
- return;
- }
+ // int result = dwConfigure(dwm);
+ // if (result != 0) {
+ // isInit = false;
+ // DEBUG_PRINT("Failed to configure DW1000!\r\n");
+ // return;
+ // }
- dwEnableAllLeds(dwm);
+ // dwEnableAllLeds(dwm);
- dwTime_t delay = {.full = 0};
- dwSetAntenaDelay(dwm, delay);
+ // dwTime_t delay = {.full = 0};
+ // dwSetAntenaDelay(dwm, delay);
- dwAttachSentHandler(dwm, txCallback);
- dwAttachReceivedHandler(dwm, rxCallback);
- dwAttachReceiveTimeoutHandler(dwm, rxTimeoutCallback);
+ // dwAttachSentHandler(dwm, txCallback);
+ // dwAttachReceivedHandler(dwm, rxCallback);
+ // dwAttachReceiveTimeoutHandler(dwm, rxTimeoutCallback);
- dwNewConfiguration(dwm);
- dwSetDefaults(dwm);
+ // dwNewConfiguration(dwm);
+ // dwSetDefaults(dwm);
- #ifdef LPS_LONGER_RANGE
- dwEnableMode(dwm, MODE_SHORTDATA_MID_ACCURACY);
- #else
- dwEnableMode(dwm, MODE_SHORTDATA_FAST_ACCURACY);
- #endif
+ // #ifdef LPS_LONGER_RANGE
+ // dwEnableMode(dwm, MODE_SHORTDATA_MID_ACCURACY);
+ // #else
+ // dwEnableMode(dwm, MODE_SHORTDATA_FAST_ACCURACY);
+ // #endif
- dwSetChannel(dwm, CHANNEL_2);
- dwSetPreambleCode(dwm, PREAMBLE_CODE_64MHZ_9);
+ // dwSetChannel(dwm, CHANNEL_2);
+ // dwSetPreambleCode(dwm, PREAMBLE_CODE_64MHZ_9);
- #ifdef LPS_FULL_TX_POWER
- dwUseSmartPower(dwm, false);
- dwSetTxPower(dwm, 0x1F1F1F1Ful);
- #else
- dwUseSmartPower(dwm, true);
- #endif
+ // #ifdef LPS_FULL_TX_POWER
+ // dwUseSmartPower(dwm, false);
+ // dwSetTxPower(dwm, 0x1F1F1F1Ful);
+ // #else
+ // dwUseSmartPower(dwm, true);
+ // #endif
- dwSetReceiveWaitTimeout(dwm, DEFAULT_RX_TIMEOUT);
+ // dwSetReceiveWaitTimeout(dwm, DEFAULT_RX_TIMEOUT);
- dwCommitConfiguration(dwm);
+ // dwCommitConfiguration(dwm);
- memoryRegisterHandler(&memDef);
+ // memoryRegisterHandler(&memDef);
- algoSemaphore= xSemaphoreCreateMutex();
+ // algoSemaphore= xSemaphoreCreateMutex();
- xTaskCreate(uwbTask, LPS_DECK_TASK_NAME, 3 * configMINIMAL_STACK_SIZE, NULL,
- LPS_DECK_TASK_PRI, &uwbTaskHandle);
+ // xTaskCreate(uwbTask, LPS_DECK_TASK_NAME, 3 * configMINIMAL_STACK_SIZE, NULL,
+ // LPS_DECK_TASK_PRI, &uwbTaskHandle);
- isInit = true;
+ // isInit = true;
}
uint16_t locoDeckGetRangingState() {
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa2Tag.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa2Tag.c
index a49993f78..8239867dd 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa2Tag.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa2Tag.c
@@ -151,127 +151,128 @@ static void handleLppPacket(const int dataLength, const packet_t* rxPacket, tdoa
}
// Send an LPP packet, the radio will automatically go back in RX mode
-static void sendLppShort(dwDevice_t *dev, lpsLppShortPacket_t *packet)
-{
- static packet_t txPacket;
- dwIdle(dev);
-
- MAC80215_PACKET_INIT(txPacket, MAC802154_TYPE_DATA);
-
- txPacket.payload[LPS_TDOA2_TYPE_INDEX] = LPP_HEADER_SHORT_PACKET;
- memcpy(&txPacket.payload[LPS_TDOA2_SEND_LPP_PAYLOAD_INDEX], packet->data, packet->length);
-
- txPacket.pan = 0xbccf;
- txPacket.sourceAddress = 0xbccf000000000000 | 0xff;
- txPacket.destAddress = options->anchorAddress[packet->dest];
-
- dwNewTransmit(dev);
- dwSetDefaults(dev);
- dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+1+packet->length);
-
- dwWaitForResponse(dev, true);
- dwStartTransmit(dev);
-}
-
-static bool rxcallback(dwDevice_t *dev) {
- tdoaStats_t* stats = &tdoaEngineState.stats;
- STATS_CNT_RATE_EVENT(&stats->packetsReceived);
-
- int dataLength = dwGetDataLength(dev);
- packet_t rxPacket;
-
- dwGetData(dev, (uint8_t*)&rxPacket, dataLength);
- const rangePacket2_t* packet = (rangePacket2_t*)rxPacket.payload;
-
- bool lppSent = false;
- if (packet->type == PACKET_TYPE_TDOA2) {
- const uint8_t anchor = rxPacket.sourceAddress & 0xff;
-
- // Check if we need to send the current LPP packet
- if (lppPacketToSend && lppPacket.dest == anchor) {
- sendLppShort(dev, &lppPacket);
- lppSent = true;
- }
-
- dwTime_t arrival = {.full = 0};
- dwGetReceiveTimestamp(dev, &arrival);
-
- if (anchor < LOCODECK_NR_OF_TDOA2_ANCHORS) {
- uint32_t now_ms = T2M(xTaskGetTickCount());
-
- const int64_t rxAn_by_T_in_cl_T = arrival.full;
- const int64_t txAn_in_cl_An = packet->timestamps[anchor];
- const uint8_t seqNr = packet->sequenceNrs[anchor] & 0x7f;
-
- tdoaAnchorContext_t anchorCtx;
- tdoaEngineGetAnchorCtxForPacketProcessing(&tdoaEngineState, anchor, now_ms, &anchorCtx);
- updateRemoteData(&anchorCtx, packet);
- tdoaEngineProcessPacket(&tdoaEngineState, &anchorCtx, txAn_in_cl_An, rxAn_by_T_in_cl_T);
- tdoaStorageSetRxTxData(&anchorCtx, rxAn_by_T_in_cl_T, txAn_in_cl_An, seqNr);
-
- logClockCorrection[anchor] = tdoaStorageGetClockCorrection(&anchorCtx);
-
- previousAnchor = anchor;
-
- handleLppPacket(dataLength, &rxPacket, &anchorCtx);
-
- rangingOk = true;
- }
- }
-
- return lppSent;
-}
-
-static void setRadioInReceiveMode(dwDevice_t *dev) {
- dwNewReceive(dev);
- dwSetDefaults(dev);
- dwStartReceive(dev);
-}
-
-static uint32_t onEvent(dwDevice_t *dev, uwbEvent_t event) {
- switch(event) {
- case eventPacketReceived:
- if (rxcallback(dev)) {
- lppPacketToSend = false;
- } else {
- setRadioInReceiveMode(dev);
-
- // Discard lpp packet if we cannot send it for too long
- if (++lppPacketSendTryCounter >= TDOA2_LPP_PACKET_SEND_TIMEOUT) {
- lppPacketToSend = false;
- }
- }
-
- if (!lppPacketToSend) {
- // Get next lpp packet
- lppPacketToSend = lpsGetLppShort(&lppPacket);
- lppPacketSendTryCounter = 0;
- }
- break;
- case eventTimeout:
- setRadioInReceiveMode(dev);
- break;
- case eventReceiveTimeout:
- setRadioInReceiveMode(dev);
- break;
- case eventPacketSent:
- // Service packet sent, the radio is back to receive automatically
- break;
- default:
- ASSERT_FAILED();
- }
-
- uint32_t now = xTaskGetTickCount();
- uint16_t rangingState = 0;
- for (int anchor = 0; anchor < LOCODECK_NR_OF_TDOA2_ANCHORS; anchor++) {
- if (now < history[anchor].anchorStatusTimeout) {
- rangingState |= (1 << anchor);
- }
- }
- locoDeckSetRangingState(rangingState);
-
- return MAX_TIMEOUT;
-}
+//COMMENTED FIRMWARE
+// static void sendLppShort(dwDevice_t *dev, lpsLppShortPacket_t *packet)
+// {
+// static packet_t txPacket;
+// dwIdle(dev);
+
+// MAC80215_PACKET_INIT(txPacket, MAC802154_TYPE_DATA);
+
+// txPacket.payload[LPS_TDOA2_TYPE_INDEX] = LPP_HEADER_SHORT_PACKET;
+// memcpy(&txPacket.payload[LPS_TDOA2_SEND_LPP_PAYLOAD_INDEX], packet->data, packet->length);
+
+// txPacket.pan = 0xbccf;
+// txPacket.sourceAddress = 0xbccf000000000000 | 0xff;
+// txPacket.destAddress = options->anchorAddress[packet->dest];
+
+// dwNewTransmit(dev);
+// dwSetDefaults(dev);
+// dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+1+packet->length);
+
+// dwWaitForResponse(dev, true);
+// dwStartTransmit(dev);
+// }
+
+// static bool rxcallback(dwDevice_t *dev) {
+// tdoaStats_t* stats = &tdoaEngineState.stats;
+// STATS_CNT_RATE_EVENT(&stats->packetsReceived);
+
+// int dataLength = dwGetDataLength(dev);
+// packet_t rxPacket;
+
+// dwGetData(dev, (uint8_t*)&rxPacket, dataLength);
+// const rangePacket2_t* packet = (rangePacket2_t*)rxPacket.payload;
+
+// bool lppSent = false;
+// if (packet->type == PACKET_TYPE_TDOA2) {
+// const uint8_t anchor = rxPacket.sourceAddress & 0xff;
+
+// // Check if we need to send the current LPP packet
+// if (lppPacketToSend && lppPacket.dest == anchor) {
+// sendLppShort(dev, &lppPacket);
+// lppSent = true;
+// }
+
+// dwTime_t arrival = {.full = 0};
+// dwGetReceiveTimestamp(dev, &arrival);
+
+// if (anchor < LOCODECK_NR_OF_TDOA2_ANCHORS) {
+// uint32_t now_ms = T2M(xTaskGetTickCount());
+
+// const int64_t rxAn_by_T_in_cl_T = arrival.full;
+// const int64_t txAn_in_cl_An = packet->timestamps[anchor];
+// const uint8_t seqNr = packet->sequenceNrs[anchor] & 0x7f;
+
+// tdoaAnchorContext_t anchorCtx;
+// tdoaEngineGetAnchorCtxForPacketProcessing(&tdoaEngineState, anchor, now_ms, &anchorCtx);
+// updateRemoteData(&anchorCtx, packet);
+// tdoaEngineProcessPacket(&tdoaEngineState, &anchorCtx, txAn_in_cl_An, rxAn_by_T_in_cl_T);
+// tdoaStorageSetRxTxData(&anchorCtx, rxAn_by_T_in_cl_T, txAn_in_cl_An, seqNr);
+
+// logClockCorrection[anchor] = tdoaStorageGetClockCorrection(&anchorCtx);
+
+// previousAnchor = anchor;
+
+// handleLppPacket(dataLength, &rxPacket, &anchorCtx);
+
+// rangingOk = true;
+// }
+// }
+
+// return lppSent;
+// }
+
+// static void setRadioInReceiveMode(dwDevice_t *dev) {
+// dwNewReceive(dev);
+// dwSetDefaults(dev);
+// dwStartReceive(dev);
+// }
+
+// static uint32_t onEvent(dwDevice_t *dev, uwbEvent_t event) {
+// switch(event) {
+// case eventPacketReceived:
+// if (rxcallback(dev)) {
+// lppPacketToSend = false;
+// } else {
+// setRadioInReceiveMode(dev);
+
+// // Discard lpp packet if we cannot send it for too long
+// if (++lppPacketSendTryCounter >= TDOA2_LPP_PACKET_SEND_TIMEOUT) {
+// lppPacketToSend = false;
+// }
+// }
+
+// if (!lppPacketToSend) {
+// // Get next lpp packet
+// lppPacketToSend = lpsGetLppShort(&lppPacket);
+// lppPacketSendTryCounter = 0;
+// }
+// break;
+// case eventTimeout:
+// setRadioInReceiveMode(dev);
+// break;
+// case eventReceiveTimeout:
+// setRadioInReceiveMode(dev);
+// break;
+// case eventPacketSent:
+// // Service packet sent, the radio is back to receive automatically
+// break;
+// default:
+// ASSERT_FAILED();
+// }
+
+// uint32_t now = xTaskGetTickCount();
+// uint16_t rangingState = 0;
+// for (int anchor = 0; anchor < LOCODECK_NR_OF_TDOA2_ANCHORS; anchor++) {
+// if (now < history[anchor].anchorStatusTimeout) {
+// rangingState |= (1 << anchor);
+// }
+// }
+// locoDeckSetRangingState(rangingState);
+
+// return MAX_TIMEOUT;
+// }
static void sendTdoaToEstimatorCallback(tdoaMeasurement_t* tdoaMeasurement) {
@@ -294,22 +295,22 @@ static void sendTdoaToEstimatorCallback(tdoaMeasurement_t* tdoaMeasurement) {
}
}
+//COMMENTED FIRMWARE
+// static void Initialize(dwDevice_t *dev) {
+// uint32_t now_ms = T2M(xTaskGetTickCount());
+// tdoaEngineInit(&tdoaEngineState, now_ms, sendTdoaToEstimatorCallback, LOCODECK_TS_FREQ, TdoaEngineMatchingAlgorithmYoungest);
-static void Initialize(dwDevice_t *dev) {
- uint32_t now_ms = T2M(xTaskGetTickCount());
- tdoaEngineInit(&tdoaEngineState, now_ms, sendTdoaToEstimatorCallback, LOCODECK_TS_FREQ, TdoaEngineMatchingAlgorithmYoungest);
+// previousAnchor = 0;
- previousAnchor = 0;
+// lppPacketToSend = false;
- lppPacketToSend = false;
+// locoDeckSetRangingState(0);
+// dwSetReceiveWaitTimeout(dev, TDOA2_RECEIVE_TIMEOUT);
- locoDeckSetRangingState(0);
- dwSetReceiveWaitTimeout(dev, TDOA2_RECEIVE_TIMEOUT);
+// dwCommitConfiguration(dev);
- dwCommitConfiguration(dev);
-
- rangingOk = false;
-}
+// rangingOk = false;
+// }
static bool isRangingOk()
{
@@ -351,14 +352,14 @@ static void lpsHandleLppShortPacket(const uint8_t srcId, const uint8_t *data, td
}
}
-uwbAlgorithm_t uwbTdoa2TagAlgorithm = {
- .init = Initialize,
- .onEvent = onEvent,
- .isRangingOk = isRangingOk,
- .getAnchorPosition = getAnchorPosition,
- .getAnchorIdList = getAnchorIdList,
- .getActiveAnchorIdList = getActiveAnchorIdList,
-};
+// uwbAlgorithm_t uwbTdoa2TagAlgorithm = {
+// .init = Initialize,
+// .onEvent = onEvent,
+// .isRangingOk = isRangingOk,
+// .getAnchorPosition = getAnchorPosition,
+// .getAnchorIdList = getAnchorIdList,
+// .getActiveAnchorIdList = getActiveAnchorIdList,
+// };
void lpsTdoa2TagSetOptions(lpsTdoa2AlgoOptions_t* newOptions) {
options = newOptions;
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa3Tag.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa3Tag.c
index 51b0a1038..0b32ecbf7 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa3Tag.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTdoa3Tag.c
@@ -52,7 +52,7 @@ The implementation must handle
#include "tdoaStats.h"
#include "estimator.h"
-#include "libdw1000.h"
+//#include "libdw1000.h"
#include "mac.h"
#define DEBUG_MODULE "TDOA3"
@@ -162,100 +162,101 @@ static void handleLppPacket(const int dataLength, int rangePacketLength, const p
}
}
-static void rxcallback(dwDevice_t *dev) {
- tdoaStats_t* stats = &tdoaEngineState.stats;
- STATS_CNT_RATE_EVENT(&stats->packetsReceived);
-
- int dataLength = dwGetDataLength(dev);
- packet_t rxPacket;
-
- dwGetData(dev, (uint8_t*)&rxPacket, dataLength);
- const uint8_t anchorId = rxPacket.sourceAddress & 0xff;
-
- dwTime_t arrival = {.full = 0};
- dwGetReceiveTimestamp(dev, &arrival);
- const int64_t rxAn_by_T_in_cl_T = arrival.full;
-
- const rangePacket3_t* packet = (rangePacket3_t*)rxPacket.payload;
- if (packet->header.type == PACKET_TYPE_TDOA3) {
- const int64_t txAn_in_cl_An = packet->header.txTimeStamp;;
- const uint8_t seqNr = packet->header.seq & 0x7f;;
-
- tdoaAnchorContext_t anchorCtx;
- uint32_t now_ms = T2M(xTaskGetTickCount());
-
- tdoaEngineGetAnchorCtxForPacketProcessing(&tdoaEngineState, anchorId, now_ms, &anchorCtx);
- int rangeDataLength = updateRemoteData(&anchorCtx, packet);
- tdoaEngineProcessPacket(&tdoaEngineState, &anchorCtx, txAn_in_cl_An, rxAn_by_T_in_cl_T);
- tdoaStorageSetRxTxData(&anchorCtx, rxAn_by_T_in_cl_T, txAn_in_cl_An, seqNr);
- handleLppPacket(dataLength, rangeDataLength, &rxPacket, &anchorCtx);
-
- rangingOk = true;
- }
-}
-
-static void setRadioInReceiveMode(dwDevice_t *dev) {
- dwNewReceive(dev);
- dwSetDefaults(dev);
- dwStartReceive(dev);
-}
-
-static void sendLppShort(dwDevice_t *dev, lpsLppShortPacket_t *packet)
-{
- static packet_t txPacket;
- dwIdle(dev);
-
- MAC80215_PACKET_INIT(txPacket, MAC802154_TYPE_DATA);
-
- txPacket.payload[LPS_TDOA3_TYPE] = LPP_HEADER_SHORT_PACKET;
- memcpy(&txPacket.payload[LPS_TDOA3_SEND_LPP_PAYLOAD], packet->data, packet->length);
-
- txPacket.pan = 0xbccf;
- txPacket.sourceAddress = 0xbccf000000000000 | 0xff;
- txPacket.destAddress = 0xbccf000000000000 | packet->dest;
-
- dwNewTransmit(dev);
- dwSetDefaults(dev);
- dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+1+packet->length);
-
- dwStartTransmit(dev);
-}
-
-static bool sendLpp(dwDevice_t *dev) {
- bool lppPacketToSend = lpsGetLppShort(&lppPacket);
- if (lppPacketToSend) {
- sendLppShort(dev, &lppPacket);
- return true;
- }
-
- return false;
-}
-
-static uint32_t onEvent(dwDevice_t *dev, uwbEvent_t event) {
- switch(event) {
- case eventPacketReceived:
- rxcallback(dev);
- break;
- case eventTimeout:
- break;
- case eventReceiveTimeout:
- break;
- case eventPacketSent:
- // Service packet sent, the radio is back to receive automatically
- break;
- default:
- ASSERT_FAILED();
- }
-
- if(!sendLpp(dev)) {
- setRadioInReceiveMode(dev);
- }
-
- uint32_t now_ms = T2M(xTaskGetTickCount());
- tdoaStatsUpdate(&tdoaEngineState.stats, now_ms);
-
- return MAX_TIMEOUT;
-}
+//COMMENTED FIRMWARE
+// static void rxcallback(dwDevice_t *dev) {
+// tdoaStats_t* stats = &tdoaEngineState.stats;
+// STATS_CNT_RATE_EVENT(&stats->packetsReceived);
+
+// int dataLength = dwGetDataLength(dev);
+// packet_t rxPacket;
+
+// dwGetData(dev, (uint8_t*)&rxPacket, dataLength);
+// const uint8_t anchorId = rxPacket.sourceAddress & 0xff;
+
+// dwTime_t arrival = {.full = 0};
+// dwGetReceiveTimestamp(dev, &arrival);
+// const int64_t rxAn_by_T_in_cl_T = arrival.full;
+
+// const rangePacket3_t* packet = (rangePacket3_t*)rxPacket.payload;
+// if (packet->header.type == PACKET_TYPE_TDOA3) {
+// const int64_t txAn_in_cl_An = packet->header.txTimeStamp;;
+// const uint8_t seqNr = packet->header.seq & 0x7f;;
+
+// tdoaAnchorContext_t anchorCtx;
+// uint32_t now_ms = T2M(xTaskGetTickCount());
+
+// tdoaEngineGetAnchorCtxForPacketProcessing(&tdoaEngineState, anchorId, now_ms, &anchorCtx);
+// int rangeDataLength = updateRemoteData(&anchorCtx, packet);
+// tdoaEngineProcessPacket(&tdoaEngineState, &anchorCtx, txAn_in_cl_An, rxAn_by_T_in_cl_T);
+// tdoaStorageSetRxTxData(&anchorCtx, rxAn_by_T_in_cl_T, txAn_in_cl_An, seqNr);
+// handleLppPacket(dataLength, rangeDataLength, &rxPacket, &anchorCtx);
+
+// rangingOk = true;
+// }
+// }
+
+// static void setRadioInReceiveMode(dwDevice_t *dev) {
+// dwNewReceive(dev);
+// dwSetDefaults(dev);
+// dwStartReceive(dev);
+// }
+
+// static void sendLppShort(dwDevice_t *dev, lpsLppShortPacket_t *packet)
+// {
+// static packet_t txPacket;
+// dwIdle(dev);
+
+// MAC80215_PACKET_INIT(txPacket, MAC802154_TYPE_DATA);
+
+// txPacket.payload[LPS_TDOA3_TYPE] = LPP_HEADER_SHORT_PACKET;
+// memcpy(&txPacket.payload[LPS_TDOA3_SEND_LPP_PAYLOAD], packet->data, packet->length);
+
+// txPacket.pan = 0xbccf;
+// txPacket.sourceAddress = 0xbccf000000000000 | 0xff;
+// txPacket.destAddress = 0xbccf000000000000 | packet->dest;
+
+// dwNewTransmit(dev);
+// dwSetDefaults(dev);
+// dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+1+packet->length);
+
+// dwStartTransmit(dev);
+// }
+
+// static bool sendLpp(dwDevice_t *dev) {
+// bool lppPacketToSend = lpsGetLppShort(&lppPacket);
+// if (lppPacketToSend) {
+// sendLppShort(dev, &lppPacket);
+// return true;
+// }
+
+// return false;
+// }
+
+// static uint32_t onEvent(dwDevice_t *dev, uwbEvent_t event) {
+// switch(event) {
+// case eventPacketReceived:
+// rxcallback(dev);
+// break;
+// case eventTimeout:
+// break;
+// case eventReceiveTimeout:
+// break;
+// case eventPacketSent:
+// // Service packet sent, the radio is back to receive automatically
+// break;
+// default:
+// ASSERT_FAILED();
+// }
+
+// if(!sendLpp(dev)) {
+// setRadioInReceiveMode(dev);
+// }
+
+// uint32_t now_ms = T2M(xTaskGetTickCount());
+// tdoaStatsUpdate(&tdoaEngineState.stats, now_ms);
+
+// return MAX_TIMEOUT;
+// }
static void sendTdoaToEstimatorCallback(tdoaMeasurement_t* tdoaMeasurement) {
estimatorEnqueueTDOA(tdoaMeasurement);
@@ -293,31 +294,33 @@ static uint8_t getActiveAnchorIdList(uint8_t unorderedAnchorList[], const int ma
return tdoaStorageGetListOfActiveAnchorIds(tdoaEngineState.anchorInfoArray, unorderedAnchorList, maxListSize, now_ms);
}
-static void Initialize(dwDevice_t *dev) {
- uint32_t now_ms = T2M(xTaskGetTickCount());
- tdoaEngineInit(&tdoaEngineState, now_ms, sendTdoaToEstimatorCallback, LOCODECK_TS_FREQ, TdoaEngineMatchingAlgorithmRandom);
+//COMMENTED FIRMWARE
+// static void Initialize(dwDevice_t *dev) {
+// uint32_t now_ms = T2M(xTaskGetTickCount());
+// tdoaEngineInit(&tdoaEngineState, now_ms, sendTdoaToEstimatorCallback, LOCODECK_TS_FREQ, TdoaEngineMatchingAlgorithmRandom);
- #ifdef LPS_2D_POSITION_HEIGHT
- DEBUG_PRINT("2D positioning enabled at %f m height\n", LPS_2D_POSITION_HEIGHT);
- #endif
+// #ifdef LPS_2D_POSITION_HEIGHT
+// DEBUG_PRINT("2D positioning enabled at %f m height\n", LPS_2D_POSITION_HEIGHT);
+// #endif
- dwSetReceiveWaitTimeout(dev, TDOA3_RECEIVE_TIMEOUT);
+// dwSetReceiveWaitTimeout(dev, TDOA3_RECEIVE_TIMEOUT);
- dwCommitConfiguration(dev);
+// dwCommitConfiguration(dev);
- rangingOk = false;
-}
+// rangingOk = false;
+// }
static bool isRangingOk()
{
return rangingOk;
}
-uwbAlgorithm_t uwbTdoa3TagAlgorithm = {
- .init = Initialize,
- .onEvent = onEvent,
- .isRangingOk = isRangingOk,
- .getAnchorPosition = getAnchorPosition,
- .getAnchorIdList = getAnchorIdList,
- .getActiveAnchorIdList = getActiveAnchorIdList,
-};
+//COMMENTED FIRMWARE
+// uwbAlgorithm_t uwbTdoa3TagAlgorithm = {
+// .init = Initialize,
+// .onEvent = onEvent,
+// .isRangingOk = isRangingOk,
+// .getAnchorPosition = getAnchorPosition,
+// .getAnchorIdList = getAnchorIdList,
+// .getActiveAnchorIdList = getActiveAnchorIdList,
+// };
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTwrTag.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTwrTag.c
index d99344dcc..bed043dd8 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTwrTag.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/lpsTwrTag.c
@@ -99,10 +99,12 @@ static lpsTwrAlgoOptions_t* options = &defaultOptions;
// Outlier rejection
#define RANGING_HISTORY_LENGTH 32
#define OUTLIER_TH 4
-NO_DMA_CCM_SAFE_ZERO_INIT static struct {
- float32_t history[RANGING_HISTORY_LENGTH];
- size_t ptr;
-} rangingStats[LOCODECK_NR_OF_TWR_ANCHORS];
+
+//COMMENTED FIRMWARE
+// NO_DMA_CCM_SAFE_ZERO_INIT static struct {
+// float32_t history[RANGING_HISTORY_LENGTH];
+// size_t ptr;
+// } rangingStats[LOCODECK_NR_OF_TWR_ANCHORS];
// Rangin statistics
static uint8_t rangingPerSec[LOCODECK_NR_OF_TWR_ANCHORS];
@@ -112,12 +114,13 @@ static uint8_t succededRanging[LOCODECK_NR_OF_TWR_ANCHORS];
static uint8_t failedRanging[LOCODECK_NR_OF_TWR_ANCHORS];
// Timestamps for ranging
-static dwTime_t poll_tx;
-static dwTime_t poll_rx;
-static dwTime_t answer_tx;
-static dwTime_t answer_rx;
-static dwTime_t final_tx;
-static dwTime_t final_rx;
+//COMMENTED FIRMWARE
+// static dwTime_t poll_tx;
+// static dwTime_t poll_rx;
+// static dwTime_t answer_tx;
+// static dwTime_t answer_rx;
+// static dwTime_t final_tx;
+// static dwTime_t final_rx;
static packet_t txPacket;
static volatile uint8_t curr_seq = 0;
@@ -130,309 +133,313 @@ static lpsLppShortPacket_t lppShortPacket;
// TDMA handling
static bool tdmaSynchronized;
-static dwTime_t frameStart;
+//COMMENTED FIRMWARE
+// static dwTime_t frameStart;
static bool rangingOk;
static void lpsHandleLppShortPacket(const uint8_t srcId, const uint8_t *data);
-static void txcallback(dwDevice_t *dev)
-{
- dwTime_t departure;
- dwGetTransmitTimestamp(dev, &departure);
- departure.full += (options->antennaDelay / 2);
-
- switch (txPacket.payload[0]) {
- case LPS_TWR_POLL:
- poll_tx = departure;
- break;
- case LPS_TWR_FINAL:
- final_tx = departure;
- break;
- }
-}
-
-
-static uint32_t rxcallback(dwDevice_t *dev) {
- dwTime_t arival = { .full=0 };
- int dataLength = dwGetDataLength(dev);
-
- if (dataLength == 0) return 0;
-
- packet_t rxPacket;
- memset(&rxPacket, 0, MAC802154_HEADER_LENGTH);
-
- dwGetData(dev, (uint8_t*)&rxPacket, dataLength);
-
- if (rxPacket.destAddress != options->tagAddress) {
- dwNewReceive(dev);
- dwSetDefaults(dev);
- dwStartReceive(dev);
- return MAX_TIMEOUT;
- }
-
- txPacket.destAddress = rxPacket.sourceAddress;
- txPacket.sourceAddress = rxPacket.destAddress;
-
- switch(rxPacket.payload[LPS_TWR_TYPE]) {
- // Tag received messages
- case LPS_TWR_ANSWER:
- if (rxPacket.payload[LPS_TWR_SEQ] != curr_seq) {
- return 0;
- }
-
- if (dataLength - MAC802154_HEADER_LENGTH > 3) {
- if (rxPacket.payload[LPS_TWR_LPP_HEADER] == LPP_HEADER_SHORT_PACKET) {
- int srcId = -1;
-
- for (int i=0; i<LOCODECK_NR_OF_TWR_ANCHORS; i++) {
- if (rxPacket.sourceAddress == options->anchorAddress[i]) {
- srcId = i;
- break;
- }
- }
-
- if (srcId >= 0) {
- lpsHandleLppShortPacket(srcId, &rxPacket.payload[LPS_TWR_LPP_TYPE]);
- }
- }
- }
-
- txPacket.payload[LPS_TWR_TYPE] = LPS_TWR_FINAL;
- txPacket.payload[LPS_TWR_SEQ] = rxPacket.payload[LPS_TWR_SEQ];
-
- dwGetReceiveTimestamp(dev, &arival);
- arival.full -= (options->antennaDelay / 2);
- answer_rx = arival;
-
- dwNewTransmit(dev);
- dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+2);
-
- dwWaitForResponse(dev, true);
- dwStartTransmit(dev);
-
- break;
- case LPS_TWR_REPORT:
- {
- lpsTwrTagReportPayload_t *report = (lpsTwrTagReportPayload_t *)(rxPacket.payload+2);
- double tround1, treply1, treply2, tround2, tprop_ctn, tprop;
-
- if (rxPacket.payload[LPS_TWR_SEQ] != curr_seq) {
- return 0;
- }
-
- memcpy(&poll_rx, &report->pollRx, 5);
- memcpy(&answer_tx, &report->answerTx, 5);
- memcpy(&final_rx, &report->finalRx, 5);
-
- tround1 = answer_rx.low32 - poll_tx.low32;
- treply1 = answer_tx.low32 - poll_rx.low32;
- tround2 = final_rx.low32 - answer_tx.low32;
- treply2 = final_tx.low32 - answer_rx.low32;
-
- tprop_ctn = ((tround1*tround2) - (treply1*treply2)) / (tround1 + tround2 + treply1 + treply2);
-
- tprop = tprop_ctn / LOCODECK_TS_FREQ;
- state.distance[current_anchor] = SPEED_OF_LIGHT * tprop;
- state.pressures[current_anchor] = report->asl;
-
- // Outliers rejection
- rangingStats[current_anchor].ptr = (rangingStats[current_anchor].ptr + 1) % RANGING_HISTORY_LENGTH;
- float32_t mean;
- float32_t stddev;
-
- arm_std_f32(rangingStats[current_anchor].history, RANGING_HISTORY_LENGTH, &stddev);
- arm_mean_f32(rangingStats[current_anchor].history, RANGING_HISTORY_LENGTH, &mean);
- float32_t diff = fabsf(mean - state.distance[current_anchor]);
-
- rangingStats[current_anchor].history[rangingStats[current_anchor].ptr] = state.distance[current_anchor];
-
- rangingOk = true;
-
- if ((options->combinedAnchorPositionOk || options->anchorPosition[current_anchor].timestamp) &&
- (diff < (OUTLIER_TH*stddev))) {
- distanceMeasurement_t dist;
- dist.distance = state.distance[current_anchor];
- dist.x = options->anchorPosition[current_anchor].x;
- dist.y = options->anchorPosition[current_anchor].y;
- dist.z = options->anchorPosition[current_anchor].z;
- dist.anchorId = current_anchor;
- dist.stdDev = 0.25;
- estimatorEnqueueDistance(&dist);
- }
-
- if (options->useTdma && current_anchor == 0) {
- // Final packet is sent by us and received by the anchor
- // We use it as synchonisation time for TDMA
- dwTime_t offset = { .full =final_tx.full - final_rx.full };
- frameStart.full = TDMA_LAST_FRAME(final_rx.full) + offset.full;
- tdmaSynchronized = true;
- }
-
- ranging_complete = true;
-
- return 0;
- break;
- }
- }
- return MAX_TIMEOUT;
-}
-
+//COMMENTED FIRMWARE
+// static void txcallback(dwDevice_t *dev)
+// {
+// dwTime_t departure;
+// dwGetTransmitTimestamp(dev, &departure);
+// departure.full += (options->antennaDelay / 2);
+
+// switch (txPacket.payload[0]) {
+// case LPS_TWR_POLL:
+// poll_tx = departure;
+// break;
+// case LPS_TWR_FINAL:
+// final_tx = departure;
+// break;
+// }
+// }
+
+//COMMENTED FIRMWARE
+// static uint32_t rxcallback(dwDevice_t *dev) {
+// dwTime_t arival = { .full=0 };
+// int dataLength = dwGetDataLength(dev);
+
+// if (dataLength == 0) return 0;
+
+// packet_t rxPacket;
+// memset(&rxPacket, 0, MAC802154_HEADER_LENGTH);
+
+// dwGetData(dev, (uint8_t*)&rxPacket, dataLength);
+
+// if (rxPacket.destAddress != options->tagAddress) {
+// dwNewReceive(dev);
+// dwSetDefaults(dev);
+// dwStartReceive(dev);
+// return MAX_TIMEOUT;
+// }
+
+// txPacket.destAddress = rxPacket.sourceAddress;
+// txPacket.sourceAddress = rxPacket.destAddress;
+
+// switch(rxPacket.payload[LPS_TWR_TYPE]) {
+// // Tag received messages
+// case LPS_TWR_ANSWER:
+// if (rxPacket.payload[LPS_TWR_SEQ] != curr_seq) {
+// return 0;
+// }
+
+// if (dataLength - MAC802154_HEADER_LENGTH > 3) {
+// if (rxPacket.payload[LPS_TWR_LPP_HEADER] == LPP_HEADER_SHORT_PACKET) {
+// int srcId = -1;
+
+// for (int i=0; i<LOCODECK_NR_OF_TWR_ANCHORS; i++) {
+// if (rxPacket.sourceAddress == options->anchorAddress[i]) {
+// srcId = i;
+// break;
+// }
+// }
+
+// if (srcId >= 0) {
+// lpsHandleLppShortPacket(srcId, &rxPacket.payload[LPS_TWR_LPP_TYPE]);
+// }
+// }
+// }
+
+// txPacket.payload[LPS_TWR_TYPE] = LPS_TWR_FINAL;
+// txPacket.payload[LPS_TWR_SEQ] = rxPacket.payload[LPS_TWR_SEQ];
+
+// dwGetReceiveTimestamp(dev, &arival);
+// arival.full -= (options->antennaDelay / 2);
+// answer_rx = arival;
+
+// dwNewTransmit(dev);
+// dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+2);
+
+// dwWaitForResponse(dev, true);
+// dwStartTransmit(dev);
+
+// break;
+// case LPS_TWR_REPORT:
+// {
+// lpsTwrTagReportPayload_t *report = (lpsTwrTagReportPayload_t *)(rxPacket.payload+2);
+// double tround1, treply1, treply2, tround2, tprop_ctn, tprop;
+
+// if (rxPacket.payload[LPS_TWR_SEQ] != curr_seq) {
+// return 0;
+// }
+
+// memcpy(&poll_rx, &report->pollRx, 5);
+// memcpy(&answer_tx, &report->answerTx, 5);
+// memcpy(&final_rx, &report->finalRx, 5);
+
+// tround1 = answer_rx.low32 - poll_tx.low32;
+// treply1 = answer_tx.low32 - poll_rx.low32;
+// tround2 = final_rx.low32 - answer_tx.low32;
+// treply2 = final_tx.low32 - answer_rx.low32;
+
+// tprop_ctn = ((tround1*tround2) - (treply1*treply2)) / (tround1 + tround2 + treply1 + treply2);
+
+// tprop = tprop_ctn / LOCODECK_TS_FREQ;
+// state.distance[current_anchor] = SPEED_OF_LIGHT * tprop;
+// state.pressures[current_anchor] = report->asl;
+
+// // Outliers rejection
+// rangingStats[current_anchor].ptr = (rangingStats[current_anchor].ptr + 1) % RANGING_HISTORY_LENGTH;
+// float32_t mean;
+// float32_t stddev;
+
+// arm_std_f32(rangingStats[current_anchor].history, RANGING_HISTORY_LENGTH, &stddev);
+// arm_mean_f32(rangingStats[current_anchor].history, RANGING_HISTORY_LENGTH, &mean);
+// float32_t diff = fabsf(mean - state.distance[current_anchor]);
+
+// rangingStats[current_anchor].history[rangingStats[current_anchor].ptr] = state.distance[current_anchor];
+
+// rangingOk = true;
+
+// if ((options->combinedAnchorPositionOk || options->anchorPosition[current_anchor].timestamp) &&
+// (diff < (OUTLIER_TH*stddev))) {
+// distanceMeasurement_t dist;
+// dist.distance = state.distance[current_anchor];
+// dist.x = options->anchorPosition[current_anchor].x;
+// dist.y = options->anchorPosition[current_anchor].y;
+// dist.z = options->anchorPosition[current_anchor].z;
+// dist.anchorId = current_anchor;
+// dist.stdDev = 0.25;
+// estimatorEnqueueDistance(&dist);
+// }
+
+// if (options->useTdma && current_anchor == 0) {
+// // Final packet is sent by us and received by the anchor
+// // We use it as synchonisation time for TDMA
+// dwTime_t offset = { .full =final_tx.full - final_rx.full };
+// frameStart.full = TDMA_LAST_FRAME(final_rx.full) + offset.full;
+// tdmaSynchronized = true;
+// }
+
+// ranging_complete = true;
+
+// return 0;
+// break;
+// }
+// }
+// return MAX_TIMEOUT;
+// }
+
+//COMMENTED FIRMWARE
/* Adjust time for schedule transfer by DW1000 radio. Set 9 LSB to 0 */
-static uint32_t adjustTxRxTime(dwTime_t *time)
-{
- uint32_t added = (1<<9) - (time->low32 & ((1<<9)-1));
- time->low32 = (time->low32 & ~((1<<9)-1)) + (1<<9);
- return added;
-}
-
-/* Calculate the transmit time for a given timeslot in the current frame */
-static dwTime_t transmitTimeForSlot(int slot)
-{
- dwTime_t transmitTime = { .full = 0 };
- // Calculate start of the slot
- transmitTime.full = frameStart.full + slot*TDMA_SLOT_LEN;
-
- // DW1000 can only schedule time with 9 LSB at 0, adjust for it
- adjustTxRxTime(&transmitTime);
- return transmitTime;
-}
-
-static void initiateRanging(dwDevice_t *dev)
-{
- if (!options->useTdma || tdmaSynchronized) {
- if (options->useTdma) {
- // go to next TDMA frame
- frameStart.full += TDMA_FRAME_LEN;
- }
-
- current_anchor ++;
- if (current_anchor >= LOCODECK_NR_OF_TWR_ANCHORS) {
- current_anchor = 0;
- }
- } else {
- current_anchor = 0;
- }
-
- dwIdle(dev);
-
- txPacket.payload[LPS_TWR_TYPE] = LPS_TWR_POLL;
- txPacket.payload[LPS_TWR_SEQ] = ++curr_seq;
-
- txPacket.sourceAddress = options->tagAddress;
- txPacket.destAddress = options->anchorAddress[current_anchor];
-
- dwNewTransmit(dev);
- dwSetDefaults(dev);
- dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+2);
-
- if (options->useTdma && tdmaSynchronized) {
- dwTime_t txTime = transmitTimeForSlot(options->tdmaSlot);
- dwSetTxRxTime(dev, txTime);
- }
-
- dwWaitForResponse(dev, true);
- dwStartTransmit(dev);
-}
-
-static void sendLppShort(dwDevice_t *dev, lpsLppShortPacket_t *packet)
-{
- dwIdle(dev);
-
- txPacket.payload[LPS_TWR_TYPE] = LPS_TWR_LPP_SHORT;
- memcpy(&txPacket.payload[LPS_TWR_SEND_LPP_PAYLOAD], packet->data, packet->length);
-
- txPacket.sourceAddress = options->tagAddress;
- txPacket.destAddress = options->anchorAddress[packet->dest];
-
- dwNewTransmit(dev);
- dwSetDefaults(dev);
- dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+1+packet->length);
-
- dwWaitForResponse(dev, false);
- dwStartTransmit(dev);
-}
-
-static uint32_t twrTagOnEvent(dwDevice_t *dev, uwbEvent_t event)
-{
- static uint32_t statisticStartTick = 0;
-
- if (statisticStartTick == 0) {
- statisticStartTick = xTaskGetTickCount();
- }
-
- switch(event) {
- case eventPacketReceived:
- return rxcallback(dev);
- break;
- case eventPacketSent:
- txcallback(dev);
-
- if (lpp_transaction) {
- return 0;
- }
- return MAX_TIMEOUT;
- break;
- case eventTimeout: // Comes back to timeout after each ranging attempt
- {
- uint16_t rangingState = locoDeckGetRangingState();
- if (!ranging_complete && !lpp_transaction) {
- rangingState &= ~(1<<current_anchor);
- if (state.failedRanging[current_anchor] < options->rangingFailedThreshold) {
- state.failedRanging[current_anchor] ++;
- rangingState |= (1<<current_anchor);
- }
-
- locSrvSendRangeFloat(current_anchor, NAN);
- failedRanging[current_anchor]++;
- } else {
- rangingState |= (1<<current_anchor);
- state.failedRanging[current_anchor] = 0;
-
- locSrvSendRangeFloat(current_anchor, state.distance[current_anchor]);
- succededRanging[current_anchor]++;
- }
- locoDeckSetRangingState(rangingState);
- }
-
- // Handle ranging statistic
- if (xTaskGetTickCount() > (statisticStartTick+1000)) {
- statisticStartTick = xTaskGetTickCount();
-
- for (int i=0; i<LOCODECK_NR_OF_TWR_ANCHORS; i++) {
- rangingPerSec[i] = failedRanging[i] + succededRanging[i];
- if (rangingPerSec[i] > 0) {
- rangingSuccessRate[i] = 100.0f*(float)succededRanging[i] / (float)rangingPerSec[i];
- } else {
- rangingSuccessRate[i] = 0.0f;
- }
-
- failedRanging[i] = 0;
- succededRanging[i] = 0;
- }
- }
-
-
- if (lpsGetLppShort(&lppShortPacket)) {
- lpp_transaction = true;
- sendLppShort(dev, &lppShortPacket);
- } else {
- lpp_transaction = false;
- ranging_complete = false;
- initiateRanging(dev);
- }
- return MAX_TIMEOUT;
- break;
- case eventReceiveTimeout:
- case eventReceiveFailed:
- return 0;
- break;
- default:
- configASSERT(false);
- }
-
- return MAX_TIMEOUT;
-}
+// static uint32_t adjustTxRxTime(dwTime_t *time)
+// {
+// uint32_t added = (1<<9) - (time->low32 & ((1<<9)-1));
+// time->low32 = (time->low32 & ~((1<<9)-1)) + (1<<9);
+// return added;
+// }
+
+// /* Calculate the transmit time for a given timeslot in the current frame */
+// static dwTime_t transmitTimeForSlot(int slot)
+// {
+// dwTime_t transmitTime = { .full = 0 };
+// // Calculate start of the slot
+// transmitTime.full = frameStart.full + slot*TDMA_SLOT_LEN;
+
+// // DW1000 can only schedule time with 9 LSB at 0, adjust for it
+// adjustTxRxTime(&transmitTime);
+// return transmitTime;
+// }
+
+//COMMENTED FIRMWARE
+// static void initiateRanging(dwDevice_t *dev)
+// {
+// if (!options->useTdma || tdmaSynchronized) {
+// if (options->useTdma) {
+// // go to next TDMA frame
+// frameStart.full += TDMA_FRAME_LEN;
+// }
+
+// current_anchor ++;
+// if (current_anchor >= LOCODECK_NR_OF_TWR_ANCHORS) {
+// current_anchor = 0;
+// }
+// } else {
+// current_anchor = 0;
+// }
+
+// dwIdle(dev);
+
+// txPacket.payload[LPS_TWR_TYPE] = LPS_TWR_POLL;
+// txPacket.payload[LPS_TWR_SEQ] = ++curr_seq;
+
+// txPacket.sourceAddress = options->tagAddress;
+// txPacket.destAddress = options->anchorAddress[current_anchor];
+
+// dwNewTransmit(dev);
+// dwSetDefaults(dev);
+// dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+2);
+
+// if (options->useTdma && tdmaSynchronized) {
+// dwTime_t txTime = transmitTimeForSlot(options->tdmaSlot);
+// dwSetTxRxTime(dev, txTime);
+// }
+
+// dwWaitForResponse(dev, true);
+// dwStartTransmit(dev);
+// }
+
+// static void sendLppShort(dwDevice_t *dev, lpsLppShortPacket_t *packet)
+// {
+// dwIdle(dev);
+
+// txPacket.payload[LPS_TWR_TYPE] = LPS_TWR_LPP_SHORT;
+// memcpy(&txPacket.payload[LPS_TWR_SEND_LPP_PAYLOAD], packet->data, packet->length);
+
+// txPacket.sourceAddress = options->tagAddress;
+// txPacket.destAddress = options->anchorAddress[packet->dest];
+
+// dwNewTransmit(dev);
+// dwSetDefaults(dev);
+// dwSetData(dev, (uint8_t*)&txPacket, MAC802154_HEADER_LENGTH+1+packet->length);
+
+// dwWaitForResponse(dev, false);
+// dwStartTransmit(dev);
+// }
+
+// static uint32_t twrTagOnEvent(dwDevice_t *dev, uwbEvent_t event)
+// {
+// static uint32_t statisticStartTick = 0;
+
+// if (statisticStartTick == 0) {
+// statisticStartTick = xTaskGetTickCount();
+// }
+
+// switch(event) {
+// case eventPacketReceived:
+// return rxcallback(dev);
+// break;
+// case eventPacketSent:
+// txcallback(dev);
+
+// if (lpp_transaction) {
+// return 0;
+// }
+// return MAX_TIMEOUT;
+// break;
+// case eventTimeout: // Comes back to timeout after each ranging attempt
+// {
+// uint16_t rangingState = locoDeckGetRangingState();
+// if (!ranging_complete && !lpp_transaction) {
+// rangingState &= ~(1<<current_anchor);
+// if (state.failedRanging[current_anchor] < options->rangingFailedThreshold) {
+// state.failedRanging[current_anchor] ++;
+// rangingState |= (1<<current_anchor);
+// }
+
+// locSrvSendRangeFloat(current_anchor, NAN);
+// failedRanging[current_anchor]++;
+// } else {
+// rangingState |= (1<<current_anchor);
+// state.failedRanging[current_anchor] = 0;
+
+// locSrvSendRangeFloat(current_anchor, state.distance[current_anchor]);
+// succededRanging[current_anchor]++;
+// }
+// locoDeckSetRangingState(rangingState);
+// }
+
+// // Handle ranging statistic
+// if (xTaskGetTickCount() > (statisticStartTick+1000)) {
+// statisticStartTick = xTaskGetTickCount();
+
+// for (int i=0; i<LOCODECK_NR_OF_TWR_ANCHORS; i++) {
+// rangingPerSec[i] = failedRanging[i] + succededRanging[i];
+// if (rangingPerSec[i] > 0) {
+// rangingSuccessRate[i] = 100.0f*(float)succededRanging[i] / (float)rangingPerSec[i];
+// } else {
+// rangingSuccessRate[i] = 0.0f;
+// }
+
+// failedRanging[i] = 0;
+// succededRanging[i] = 0;
+// }
+// }
+
+
+// if (lpsGetLppShort(&lppShortPacket)) {
+// lpp_transaction = true;
+// sendLppShort(dev, &lppShortPacket);
+// } else {
+// lpp_transaction = false;
+// ranging_complete = false;
+// initiateRanging(dev);
+// }
+// return MAX_TIMEOUT;
+// break;
+// case eventReceiveTimeout:
+// case eventReceiveFailed:
+// return 0;
+// break;
+// default:
+// configASSERT(false);
+// }
+
+// return MAX_TIMEOUT;
+// }
// Loco Posisioning Protocol (LPP) handling
static void lpsHandleLppShortPacket(const uint8_t srcId, const uint8_t *data)
@@ -463,41 +470,41 @@ static void updateTagTdmaSlot(lpsTwrAlgoOptions_t * options)
options->tagAddress += options->tdmaSlot;
}
+//COMMENTED FIRMWARE
+// static void twrTagInit(dwDevice_t *dev)
+// {
+// updateTagTdmaSlot(options);
-static void twrTagInit(dwDevice_t *dev)
-{
- updateTagTdmaSlot(options);
-
- // Initialize the packet in the TX buffer
- memset(&txPacket, 0, sizeof(txPacket));
- MAC80215_PACKET_INIT(txPacket, MAC802154_TYPE_DATA);
- txPacket.pan = 0xbccf;
+// // Initialize the packet in the TX buffer
+// memset(&txPacket, 0, sizeof(txPacket));
+// MAC80215_PACKET_INIT(txPacket, MAC802154_TYPE_DATA);
+// txPacket.pan = 0xbccf;
- memset(&poll_tx, 0, sizeof(poll_tx));
- memset(&poll_rx, 0, sizeof(poll_rx));
- memset(&answer_tx, 0, sizeof(answer_tx));
- memset(&answer_rx, 0, sizeof(answer_rx));
- memset(&final_tx, 0, sizeof(final_tx));
- memset(&final_rx, 0, sizeof(final_rx));
+// memset(&poll_tx, 0, sizeof(poll_tx));
+// memset(&poll_rx, 0, sizeof(poll_rx));
+// memset(&answer_tx, 0, sizeof(answer_tx));
+// memset(&answer_rx, 0, sizeof(answer_rx));
+// memset(&final_tx, 0, sizeof(final_tx));
+// memset(&final_rx, 0, sizeof(final_rx));
- curr_seq = 0;
- current_anchor = 0;
+// curr_seq = 0;
+// current_anchor = 0;
- locoDeckSetRangingState(0);
- ranging_complete = false;
+// locoDeckSetRangingState(0);
+// ranging_complete = false;
- tdmaSynchronized = false;
+// tdmaSynchronized = false;
- memset(state.distance, 0, sizeof(state.distance));
- memset(state.pressures, 0, sizeof(state.pressures));
- memset(state.failedRanging, 0, sizeof(state.failedRanging));
+// memset(state.distance, 0, sizeof(state.distance));
+// memset(state.pressures, 0, sizeof(state.pressures));
+// memset(state.failedRanging, 0, sizeof(state.failedRanging));
- dwSetReceiveWaitTimeout(dev, TWR_RECEIVE_TIMEOUT);
+// dwSetReceiveWaitTimeout(dev, TWR_RECEIVE_TIMEOUT);
- dwCommitConfiguration(dev);
+// dwCommitConfiguration(dev);
- rangingOk = false;
-}
+// rangingOk = false;
+// }
static bool isRangingOk()
{
@@ -542,14 +549,15 @@ static uint8_t getActiveAnchorIdList(uint8_t unorderedAnchorList[], const int ma
return count;
}
-uwbAlgorithm_t uwbTwrTagAlgorithm = {
- .init = twrTagInit,
- .onEvent = twrTagOnEvent,
- .isRangingOk = isRangingOk,
- .getAnchorPosition = getAnchorPosition,
- .getAnchorIdList = getAnchorIdList,
- .getActiveAnchorIdList = getActiveAnchorIdList,
-};
+//COMMENTED FIRMWARE
+// uwbAlgorithm_t uwbTwrTagAlgorithm = {
+// .init = twrTagInit,
+// .onEvent = twrTagOnEvent,
+// .isRangingOk = isRangingOk,
+// .getAnchorPosition = getAnchorPosition,
+// .getAnchorIdList = getAnchorIdList,
+// .getActiveAnchorIdList = getActiveAnchorIdList,
+// };
/**
* Log group for Two Way Ranging data
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptest.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptest.c
index 52a3c7d01..f29fa51c4 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptest.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptest.c
@@ -81,21 +81,23 @@ typedef struct _etGpio
static EtGpio etGpioIn[ET_NBR_PINS] =
{
- {ET_GPIO_PORT_TX1, ET_GPIO_PIN_TX1, "TX1"},
- {ET_GPIO_PORT_RX1, ET_GPIO_PIN_RX1, "RX1"},
- {ET_GPIO_PORT_TX2, ET_GPIO_PIN_TX2, "TX2"},
- {ET_GPIO_PORT_RX2, ET_GPIO_PIN_RX2, "RX2"},
- {ET_GPIO_PORT_SCK, ET_GPIO_PIN_SCK, "SCK"},
- {ET_GPIO_PORT_MOSI, ET_GPIO_PIN_MOSI, "MOSI"},
- {ET_GPIO_PORT_MISO, ET_GPIO_PIN_MISO, "MISO"},
- {ET_GPIO_PORT_IO1, ET_GPIO_PIN_IO1, "IO1"},
- {ET_GPIO_PORT_IO2, ET_GPIO_PIN_IO2, "IO2"},
- {ET_GPIO_PORT_IO3, ET_GPIO_PIN_IO3, "IO3"},
- {ET_GPIO_PORT_IO4, ET_GPIO_PIN_IO4, "IO4"}
+ //COMMENTED FIRMWARE
+ // {ET_GPIO_PORT_TX1, ET_GPIO_PIN_TX1, "TX1"},
+ // {ET_GPIO_PORT_RX1, ET_GPIO_PIN_RX1, "RX1"},
+ // {ET_GPIO_PORT_TX2, ET_GPIO_PIN_TX2, "TX2"},
+ // {ET_GPIO_PORT_RX2, ET_GPIO_PIN_RX2, "RX2"},
+ // {ET_GPIO_PORT_SCK, ET_GPIO_PIN_SCK, "SCK"},
+ // {ET_GPIO_PORT_MOSI, ET_GPIO_PIN_MOSI, "MOSI"},
+ // {ET_GPIO_PORT_MISO, ET_GPIO_PIN_MISO, "MISO"},
+ // {ET_GPIO_PORT_IO1, ET_GPIO_PIN_IO1, "IO1"},
+ // {ET_GPIO_PORT_IO2, ET_GPIO_PIN_IO2, "IO2"},
+ // {ET_GPIO_PORT_IO3, ET_GPIO_PIN_IO3, "IO3"},
+ // {ET_GPIO_PORT_IO4, ET_GPIO_PIN_IO4, "IO4"}
};
-static EtGpio etGpioSDA = {ET_GPIO_PORT_SDA, ET_GPIO_PIN_SDA, "SDA"};
-static EtGpio etGpioSCL = {ET_GPIO_PORT_SCL, ET_GPIO_PIN_SCL, "SCL"};
+//COMMENTED FIRMWARE
+// static EtGpio etGpioSDA = {ET_GPIO_PORT_SDA, ET_GPIO_PIN_SDA, "SDA"};
+// static EtGpio etGpioSCL = {ET_GPIO_PORT_SCL, ET_GPIO_PIN_SCL, "SCL"};
static bool isInit;
@@ -107,76 +109,77 @@ static bool exptestRun(void)
int i;
volatile int delay;
bool status = true;
- GPIO_InitTypeDef GPIO_InitStructure;
- GpioRegBuf gpioSaved;
-
- isInit = true;
-
- status &= sensorsManufacturingTest();
-
-
- // Enable GPIOs
- RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
-
- decktestSaveGPIOStatesABC(&gpioSaved);
-
- for (i = 0; i < ET_NBR_PINS; i++)
- {
- //Initialize the pins as inputs
- GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
- }
-
- for (i = 0; i < ET_NBR_PINS && status; i++)
- {
- // Configure pin as output to poke others
- GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
-
- // Test high
- GPIO_SetBits(etGpioIn[i].port, etGpioIn[i].pin);
- for (delay = 0; delay < 1000; delay++);
- if (!exptestTestAllPins(1))
- {
- status = false;
- }
-
- // Test low
- GPIO_ResetBits(etGpioIn[i].port, etGpioIn[i].pin);
- for (delay = 0; delay < 1000; delay++);
- if (!exptestTestAllPins(0))
- {
- status = false;
- }
-
- // Restore
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
- }
-
- decktestRestoreGPIOStatesABC(&gpioSaved);
-
- if (status)
- {
- // Configure SDA & SCL to turn on OK leds
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_InitStructure.GPIO_Pin = etGpioSDA.pin;
- GPIO_Init(etGpioSDA.port, &GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Pin = etGpioSCL.pin;
- GPIO_Init(etGpioSCL.port, &GPIO_InitStructure);
- // Turn on OK LEDs.
- GPIO_ResetBits(etGpioSDA.port, etGpioSDA.pin);
- GPIO_ResetBits(etGpioSCL.port, etGpioSCL.pin);
- }
+ //COMMENTED FIRMWARE
+ // GPIO_InitTypeDef GPIO_InitStructure;
+ // GpioRegBuf gpioSaved;
+
+ // isInit = true;
+
+ // status &= sensorsManufacturingTest();
+
+
+ // // Enable GPIOs
+ // RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
+
+ // decktestSaveGPIOStatesABC(&gpioSaved);
+
+ // for (i = 0; i < ET_NBR_PINS; i++)
+ // {
+ // //Initialize the pins as inputs
+ // GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
+ // }
+
+ // for (i = 0; i < ET_NBR_PINS && status; i++)
+ // {
+ // // Configure pin as output to poke others
+ // GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
+
+ // // Test high
+ // GPIO_SetBits(etGpioIn[i].port, etGpioIn[i].pin);
+ // for (delay = 0; delay < 1000; delay++);
+ // if (!exptestTestAllPins(1))
+ // {
+ // status = false;
+ // }
+
+ // // Test low
+ // GPIO_ResetBits(etGpioIn[i].port, etGpioIn[i].pin);
+ // for (delay = 0; delay < 1000; delay++);
+ // if (!exptestTestAllPins(0))
+ // {
+ // status = false;
+ // }
+
+ // // Restore
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
+ // }
+
+ // decktestRestoreGPIOStatesABC(&gpioSaved);
+
+ // if (status)
+ // {
+ // // Configure SDA & SCL to turn on OK leds
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_InitStructure.GPIO_Pin = etGpioSDA.pin;
+ // GPIO_Init(etGpioSDA.port, &GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Pin = etGpioSCL.pin;
+ // GPIO_Init(etGpioSCL.port, &GPIO_InitStructure);
+ // // Turn on OK LEDs.
+ // GPIO_ResetBits(etGpioSDA.port, etGpioSDA.pin);
+ // GPIO_ResetBits(etGpioSCL.port, etGpioSCL.pin);
+ // }
return status;
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestBolt.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestBolt.c
index 9f5d24c27..b1a26cbd8 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestBolt.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestBolt.c
@@ -56,7 +56,8 @@
#define ET_GPIO_PIN_MISO GPIO_Pin_7
#define ET_GPIO_PORT_SDA GPIOB
-#define ET_GPIO_PIN_SDA GPIO_Pin_7
+//COMMENTED FIRMWARE
+// #define ET_GPIO_PIN_SDA GPIO_Pin_7
#define ET_GPIO_PORT_SCL GPIOB
#define ET_GPIO_PIN_SCL GPIO_Pin_6
@@ -100,33 +101,36 @@ typedef struct _etGpio
static EtGpio etGpioIn[ET_NBR_PINS] =
{
- {ET_GPIO_PORT_TX1, ET_GPIO_PIN_TX1, "TX1"},
- {ET_GPIO_PORT_RX1, ET_GPIO_PIN_RX1, "RX1"},
- {ET_GPIO_PORT_TX2, ET_GPIO_PIN_TX2, "TX2"},
- {ET_GPIO_PORT_RX2, ET_GPIO_PIN_RX2, "RX2"},
- {ET_GPIO_PORT_SCK, ET_GPIO_PIN_SCK, "SCK"},
- {ET_GPIO_PORT_MOSI, ET_GPIO_PIN_MOSI, "MOSI"},
- {ET_GPIO_PORT_MISO, ET_GPIO_PIN_MISO, "MISO"},
- {ET_GPIO_PORT_IO1, ET_GPIO_PIN_IO1, "IO1"},
- {ET_GPIO_PORT_IO2, ET_GPIO_PIN_IO2, "IO2"},
- {ET_GPIO_PORT_IO3, ET_GPIO_PIN_IO3, "IO3"},
- {ET_GPIO_PORT_IO4, ET_GPIO_PIN_IO4, "IO4"}
+ //COMMENTED FIRMWARE
+ // {ET_GPIO_PORT_TX1, ET_GPIO_PIN_TX1, "TX1"},
+ // {ET_GPIO_PORT_RX1, ET_GPIO_PIN_RX1, "RX1"},
+ // {ET_GPIO_PORT_TX2, ET_GPIO_PIN_TX2, "TX2"},
+ // {ET_GPIO_PORT_RX2, ET_GPIO_PIN_RX2, "RX2"},
+ // {ET_GPIO_PORT_SCK, ET_GPIO_PIN_SCK, "SCK"},
+ // {ET_GPIO_PORT_MOSI, ET_GPIO_PIN_MOSI, "MOSI"},
+ // {ET_GPIO_PORT_MISO, ET_GPIO_PIN_MISO, "MISO"},
+ // {ET_GPIO_PORT_IO1, ET_GPIO_PIN_IO1, "IO1"},
+ // {ET_GPIO_PORT_IO2, ET_GPIO_PIN_IO2, "IO2"},
+ // {ET_GPIO_PORT_IO3, ET_GPIO_PIN_IO3, "IO3"},
+ // {ET_GPIO_PORT_IO4, ET_GPIO_PIN_IO4, "IO4"}
};
static EtGpio etMotorGpio[ET_NBR_MOTOR_PINS] =
{
- {ET_GPIO_PORT_M1, ET_GPIO_PIN_M1, "M1"},
- {ET_GPIO_PORT_M2, ET_GPIO_PIN_M2, "M2"},
- {ET_GPIO_PORT_M3, ET_GPIO_PIN_M3, "M3"},
- {ET_GPIO_PORT_M4, ET_GPIO_PIN_M4, "M4"},
- {ET_GPIO_PORT_M1_OR, ET_GPIO_PIN_M1_OR, "M1_OR"},
- {ET_GPIO_PORT_M2_OR, ET_GPIO_PIN_M2_OR, "M2_OR"},
- {ET_GPIO_PORT_M3_OR, ET_GPIO_PIN_M3_OR, "M3_OR"},
- {ET_GPIO_PORT_M4_OR, ET_GPIO_PIN_M4_OR, "M4_OR"}
+ //COMMENTED FIRMWARE
+ // {ET_GPIO_PORT_M1, ET_GPIO_PIN_M1, "M1"},
+ // {ET_GPIO_PORT_M2, ET_GPIO_PIN_M2, "M2"},
+ // {ET_GPIO_PORT_M3, ET_GPIO_PIN_M3, "M3"},
+ // {ET_GPIO_PORT_M4, ET_GPIO_PIN_M4, "M4"},
+ // {ET_GPIO_PORT_M1_OR, ET_GPIO_PIN_M1_OR, "M1_OR"},
+ // {ET_GPIO_PORT_M2_OR, ET_GPIO_PIN_M2_OR, "M2_OR"},
+ // {ET_GPIO_PORT_M3_OR, ET_GPIO_PIN_M3_OR, "M3_OR"},
+ // {ET_GPIO_PORT_M4_OR, ET_GPIO_PIN_M4_OR, "M4_OR"}
};
-static EtGpio etGpioSDA = {ET_GPIO_PORT_SDA, ET_GPIO_PIN_SDA, "SDA"};
-static EtGpio etGpioSCL = {ET_GPIO_PORT_SCL, ET_GPIO_PIN_SCL, "SCL"};
+//COMMENTED FIRMWARE
+// static EtGpio etGpioSDA = {ET_GPIO_PORT_SDA, ET_GPIO_PIN_SDA, "SDA"};
+// static EtGpio etGpioSCL = {ET_GPIO_PORT_SCL, ET_GPIO_PIN_SCL, "SCL"};
static bool isInit;
@@ -135,121 +139,122 @@ static bool exptestTestPin(EtGpio *etPin, bool test);
static bool exptestRun(void)
{
+ //COMMENTED FIRMWARE
int i;
volatile int delay;
bool status = true;
- GPIO_InitTypeDef GPIO_InitStructure;
- GpioRegBuf gpioSaved;
-
- isInit = true;
-
- status &= sensorsManufacturingTest();
-
-
- // Enable GPIOs
- RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
-
- decktestSaveGPIOStatesABC(&gpioSaved);
-
- for (i = 0; i < ET_NBR_PINS; i++)
- {
- //Initialize the pins as inputs
- GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
- }
-
- for (i = 0; i < ET_NBR_PINS && status; i++)
- {
- // Configure pin as output to poke others
- GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
-
- // Test high
- GPIO_SetBits(etGpioIn[i].port, etGpioIn[i].pin);
- for (delay = 0; delay < 1000; delay++);
- if (!exptestTestAllPins(1))
- {
- status = false;
- }
-
- // Test low
- GPIO_ResetBits(etGpioIn[i].port, etGpioIn[i].pin);
- for (delay = 0; delay < 1000; delay++);
- if (!exptestTestAllPins(0))
- {
- status = false;
- }
-
- // Restore
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
- }
-
- // Do Bolt specific tests. Test motor signals
- // Initialize the Motor signal pins as inputs
- for (i = 0; i < ET_NBR_MOTOR_PINS; i++)
- {
- //Initialize the pins as inputs
- GPIO_InitStructure.GPIO_Pin = etMotorGpio[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etMotorGpio[i].port, &GPIO_InitStructure);
- }
-
- for (delay = 0; delay < 10000; delay++);
-
- for (i = 0; i < ET_NBR_SIG_PINS && status; i++)
- {
- if (!exptestTestPin(&etMotorGpio[i], 1))
- {
- status = false;
- }
- }
-
- for (i = ET_NBR_SIG_PINS; i < ET_NBR_MOTOR_PINS && status; i++)
- {
- // Initialize the mosfet pins as outputs.
- GPIO_InitStructure.GPIO_Pin = etMotorGpio[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etMotorGpio[i].port, &GPIO_InitStructure);
- // Set high to enable mosfet to pull low
- GPIO_SetBits(etMotorGpio[i].port, etMotorGpio[i].pin);
-
- for (delay = 0; delay < 10000; delay++);
- if (!exptestTestPin(&etMotorGpio[i-ET_NBR_SIG_PINS], 0))
- {
- status = false;
- }
- }
-
- //decktestRestoreGPIOStatesABC(&gpioSaved);
-
- if (status)
- {
- // Configure SDA & SCL to turn on OK leds
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_InitStructure.GPIO_Pin = etGpioSDA.pin;
- GPIO_Init(etGpioSDA.port, &GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Pin = etGpioSCL.pin;
- GPIO_Init(etGpioSCL.port, &GPIO_InitStructure);
- // Turn on OK LEDs.
- GPIO_ResetBits(etGpioSDA.port, etGpioSDA.pin);
- GPIO_ResetBits(etGpioSCL.port, etGpioSCL.pin);
- }
+ // GPIO_InitTypeDef GPIO_InitStructure;
+ // GpioRegBuf gpioSaved;
+
+ // isInit = true;
+
+ // status &= sensorsManufacturingTest();
+
+
+ // // Enable GPIOs
+ // RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
+
+ // decktestSaveGPIOStatesABC(&gpioSaved);
+
+ // for (i = 0; i < ET_NBR_PINS; i++)
+ // {
+ // //Initialize the pins as inputs
+ // GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
+ // }
+
+ // for (i = 0; i < ET_NBR_PINS && status; i++)
+ // {
+ // // Configure pin as output to poke others
+ // GPIO_InitStructure.GPIO_Pin = etGpioIn[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
+
+ // // Test high
+ // GPIO_SetBits(etGpioIn[i].port, etGpioIn[i].pin);
+ // for (delay = 0; delay < 1000; delay++);
+ // if (!exptestTestAllPins(1))
+ // {
+ // status = false;
+ // }
+
+ // // Test low
+ // GPIO_ResetBits(etGpioIn[i].port, etGpioIn[i].pin);
+ // for (delay = 0; delay < 1000; delay++);
+ // if (!exptestTestAllPins(0))
+ // {
+ // status = false;
+ // }
+
+ // // Restore
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_Init(etGpioIn[i].port, &GPIO_InitStructure);
+ // }
+
+ // // Do Bolt specific tests. Test motor signals
+ // // Initialize the Motor signal pins as inputs
+ // for (i = 0; i < ET_NBR_MOTOR_PINS; i++)
+ // {
+ // //Initialize the pins as inputs
+ // GPIO_InitStructure.GPIO_Pin = etMotorGpio[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etMotorGpio[i].port, &GPIO_InitStructure);
+ // }
+
+ // for (delay = 0; delay < 10000; delay++);
+
+ // for (i = 0; i < ET_NBR_SIG_PINS && status; i++)
+ // {
+ // if (!exptestTestPin(&etMotorGpio[i], 1))
+ // {
+ // status = false;
+ // }
+ // }
+
+ // for (i = ET_NBR_SIG_PINS; i < ET_NBR_MOTOR_PINS && status; i++)
+ // {
+ // // Initialize the mosfet pins as outputs.
+ // GPIO_InitStructure.GPIO_Pin = etMotorGpio[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etMotorGpio[i].port, &GPIO_InitStructure);
+ // // Set high to enable mosfet to pull low
+ // GPIO_SetBits(etMotorGpio[i].port, etMotorGpio[i].pin);
+
+ // for (delay = 0; delay < 10000; delay++);
+ // if (!exptestTestPin(&etMotorGpio[i-ET_NBR_SIG_PINS], 0))
+ // {
+ // status = false;
+ // }
+ // }
+
+ // //decktestRestoreGPIOStatesABC(&gpioSaved);
+
+ // if (status)
+ // {
+ // // Configure SDA & SCL to turn on OK leds
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_InitStructure.GPIO_Pin = etGpioSDA.pin;
+ // GPIO_Init(etGpioSDA.port, &GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Pin = etGpioSCL.pin;
+ // GPIO_Init(etGpioSCL.port, &GPIO_InitStructure);
+ // // Turn on OK LEDs.
+ // GPIO_ResetBits(etGpioSDA.port, etGpioSDA.pin);
+ // GPIO_ResetBits(etGpioSCL.port, etGpioSCL.pin);
+ // }
return status;
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestRR.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestRR.c
index 1714733d7..5a3022cce 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestRR.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/drivers/src/test/exptestRR.c
@@ -67,15 +67,17 @@ typedef struct _etGpio
static EtGpio etRRGpioIn[ET_NBR_PINS] =
{
- {ET_GPIO_PORT_TX2, ET_GPIO_PIN_TX2, "TX2"},
- {ET_GPIO_PORT_RX2, ET_GPIO_PIN_RX2, "RX2"},
- {ET_GPIO_PORT_IO2, ET_GPIO_PIN_IO2, "IO2"},
- {ET_GPIO_PORT_IO3, ET_GPIO_PIN_IO3, "IO3"},
- {ET_GPIO_PORT_IO4, ET_GPIO_PIN_IO4, "IO4"}
+ //COMMENTED FIRMWARE
+ // {ET_GPIO_PORT_TX2, ET_GPIO_PIN_TX2, "TX2"},
+ // {ET_GPIO_PORT_RX2, ET_GPIO_PIN_RX2, "RX2"},
+ // {ET_GPIO_PORT_IO2, ET_GPIO_PIN_IO2, "IO2"},
+ // {ET_GPIO_PORT_IO3, ET_GPIO_PIN_IO3, "IO3"},
+ // {ET_GPIO_PORT_IO4, ET_GPIO_PIN_IO4, "IO4"}
};
-static EtGpio etRRGpioSDA = {ET_GPIO_PORT_SDA, ET_GPIO_PIN_SDA, "SDA"};
-static EtGpio etRRGpioSCL = {ET_GPIO_PORT_SCL, ET_GPIO_PIN_SCL, "SCL"};
+//COMMENTED FIRMWARE
+// static EtGpio etRRGpioSDA = {ET_GPIO_PORT_SDA, ET_GPIO_PIN_SDA, "SDA"};
+// static EtGpio etRRGpioSCL = {ET_GPIO_PORT_SCL, ET_GPIO_PIN_SCL, "SCL"};
static bool isInit;
@@ -84,79 +86,80 @@ static bool exptestRRTestPin(EtGpio *etPin, bool test);
static bool exptestRRRun(void)
{
+ //COMMENTED FIRMWARE
int i;
volatile int delay;
bool status = true;
- GPIO_InitTypeDef GPIO_InitStructure;
- GpioRegBuf gpioSaved;
-
- isInit = true;
-
- status &= sensorsManufacturingTest();
-
-
- // Enable GPIOs
- RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
-
- decktestSaveGPIOStatesABC(&gpioSaved);
-
- for (i = 0; i < ET_NBR_PINS; i++)
- {
- //Initialize the pins as inputs
- GPIO_InitStructure.GPIO_Pin = etRRGpioIn[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etRRGpioIn[i].port, &GPIO_InitStructure);
- }
-
- for (i = 0; i < ET_NBR_PINS && status; i++)
- {
- // Configure pin as output to poke others
- GPIO_InitStructure.GPIO_Pin = etRRGpioIn[i].pin;
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_Init(etRRGpioIn[i].port, &GPIO_InitStructure);
-
- // Test high
- GPIO_SetBits(etRRGpioIn[i].port, etRRGpioIn[i].pin);
- for (delay = 0; delay < 1000; delay++);
- if (!exptestRRTestAllPins(1))
- {
- status = false;
- }
-
- // Test low
- GPIO_ResetBits(etRRGpioIn[i].port, etRRGpioIn[i].pin);
- for (delay = 0; delay < 1000; delay++);
- if (!exptestRRTestAllPins(0))
- {
- status = false;
- }
-
- // Restore
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
- GPIO_Init(etRRGpioIn[i].port, &GPIO_InitStructure);
- }
-
- decktestRestoreGPIOStatesABC(&gpioSaved);
-
- if (status)
- {
- // Configure SDA & SCL to turn on OK leds
- GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
- GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
- GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
- GPIO_InitStructure.GPIO_Pin = etRRGpioSDA.pin;
- GPIO_Init(etRRGpioSDA.port, &GPIO_InitStructure);
- GPIO_InitStructure.GPIO_Pin = etRRGpioSCL.pin;
- GPIO_Init(etRRGpioSCL.port, &GPIO_InitStructure);
- // Turn on OK LEDs.
- GPIO_ResetBits(etRRGpioSDA.port, etRRGpioSDA.pin);
- GPIO_ResetBits(etRRGpioSCL.port, etRRGpioSCL.pin);
- }
+ // GPIO_InitTypeDef GPIO_InitStructure;
+ // GpioRegBuf gpioSaved;
+
+ // isInit = true;
+
+ // status &= sensorsManufacturingTest();
+
+
+ // // Enable GPIOs
+ // RCC_AHB1PeriphClockCmd(ET_GPIO_PERIF, ENABLE);
+
+ // decktestSaveGPIOStatesABC(&gpioSaved);
+
+ // for (i = 0; i < ET_NBR_PINS; i++)
+ // {
+ // //Initialize the pins as inputs
+ // GPIO_InitStructure.GPIO_Pin = etRRGpioIn[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etRRGpioIn[i].port, &GPIO_InitStructure);
+ // }
+
+ // for (i = 0; i < ET_NBR_PINS && status; i++)
+ // {
+ // // Configure pin as output to poke others
+ // GPIO_InitStructure.GPIO_Pin = etRRGpioIn[i].pin;
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_Init(etRRGpioIn[i].port, &GPIO_InitStructure);
+
+ // // Test high
+ // GPIO_SetBits(etRRGpioIn[i].port, etRRGpioIn[i].pin);
+ // for (delay = 0; delay < 1000; delay++);
+ // if (!exptestRRTestAllPins(1))
+ // {
+ // status = false;
+ // }
+
+ // // Test low
+ // GPIO_ResetBits(etRRGpioIn[i].port, etRRGpioIn[i].pin);
+ // for (delay = 0; delay < 1000; delay++);
+ // if (!exptestRRTestAllPins(0))
+ // {
+ // status = false;
+ // }
+
+ // // Restore
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN;
+ // GPIO_Init(etRRGpioIn[i].port, &GPIO_InitStructure);
+ // }
+
+ // decktestRestoreGPIOStatesABC(&gpioSaved);
+
+ // if (status)
+ // {
+ // // Configure SDA & SCL to turn on OK leds
+ // GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
+ // GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
+ // GPIO_InitStructure.GPIO_Speed = GPIO_Low_Speed;
+ // GPIO_InitStructure.GPIO_Pin = etRRGpioSDA.pin;
+ // GPIO_Init(etRRGpioSDA.port, &GPIO_InitStructure);
+ // GPIO_InitStructure.GPIO_Pin = etRRGpioSCL.pin;
+ // GPIO_Init(etRRGpioSCL.port, &GPIO_InitStructure);
+ // // Turn on OK LEDs.
+ // GPIO_ResetBits(etRRGpioSDA.port, etRRGpioSDA.pin);
+ // GPIO_ResetBits(etRRGpioSCL.port, etRRGpioSCL.pin);
+ // }
return status;
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/interface/deck_spi.h b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/interface/deck_spi.h
index c68b7677c..61f3449ae 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/interface/deck_spi.h
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/deck/interface/deck_spi.h
@@ -30,6 +30,8 @@
#include <stdbool.h>
#include <string.h>
+#include "stm32f4xx_spi.h"
+
// Based on 84MHz peripheral clock
#define SPI_BAUDRATE_21MHZ SPI_BaudRatePrescaler_4 // 21MHz
#define SPI_BAUDRATE_12MHZ SPI_BaudRatePrescaler_8 // 11.5MHz
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/interface/kalman_core/kalman_core.h b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/interface/kalman_core/kalman_core.h
index 3eb84cfc1..6ffba8945 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/interface/kalman_core/kalman_core.h
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/interface/kalman_core/kalman_core.h
@@ -87,7 +87,8 @@ typedef struct {
// The covariance matrix
__attribute__((aligned(4))) float P[KC_STATE_DIM][KC_STATE_DIM];
- arm_matrix_instance_f32 Pm;
+ //COMMENTED FIRMWARE
+ //arm_matrix_instance_f32 Pm;
// Indicates that the internal state is corrupt and should be reset
bool resetEstimation;
@@ -120,6 +121,7 @@ void kalmanCoreExternalizeState(const kalmanCoreData_t* this, state_t *state, co
void kalmanCoreDecoupleXY(kalmanCoreData_t* this);
-void kalmanCoreScalarUpdate(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, float error, float stdMeasNoise);
+//COMMENTED FIRMWARE
+// void kalmanCoreScalarUpdate(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, float error, float stdMeasNoise);
-void kalmanCoreUpdateWithPKE(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, arm_matrix_instance_f32 *Km, arm_matrix_instance_f32 *P_w_m, float error);
\ No newline at end of file
+// void kalmanCoreUpdateWithPKE(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, arm_matrix_instance_f32 *Km, arm_matrix_instance_f32 *P_w_m, float error);
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/crtp_commander_high_level.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/crtp_commander_high_level.c
index 973e5e454..7d309ccc6 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/crtp_commander_high_level.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/crtp_commander_high_level.c
@@ -55,6 +55,7 @@ such as: take-off, landing, polynomial trajectories.
#include "param.h"
#include "static_mem.h"
#include "mem.h"
+#include "config.h"
// Local types
enum TrajectoryLocation_e {
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/kalman_core.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/kalman_core.c
index 5e92ba761..1cb0f2b58 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/kalman_core.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/kalman_core.c
@@ -197,370 +197,375 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
this->P[KC_STATE_D1][KC_STATE_D1] = powf(stdDevInitialAttitude_rollpitch, 2);
this->P[KC_STATE_D2][KC_STATE_D2] = powf(stdDevInitialAttitude_yaw, 2);
- this->Pm.numRows = KC_STATE_DIM;
- this->Pm.numCols = KC_STATE_DIM;
- this->Pm.pData = (float*)this->P;
+ //COMMENTED FIRMWARE
+ // this->Pm.numRows = KC_STATE_DIM;
+ // this->Pm.numCols = KC_STATE_DIM;
+ // this->Pm.pData = (float*)this->P;
this->baroReferenceHeight = 0.0;
}
-void kalmanCoreScalarUpdate(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, float error, float stdMeasNoise)
-{
- // The Kalman gain as a column vector
- NO_DMA_CCM_SAFE_ZERO_INIT static float K[KC_STATE_DIM];
- static arm_matrix_instance_f32 Km = {KC_STATE_DIM, 1, (float *)K};
-
- // Temporary matrices for the covariance updates
- NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
- static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
-
- NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
- static arm_matrix_instance_f32 tmpNN2m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
-
- NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float tmpNN3d[KC_STATE_DIM * KC_STATE_DIM];
- static arm_matrix_instance_f32 tmpNN3m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN3d};
-
- NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float HTd[KC_STATE_DIM * 1];
- static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
-
- NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float PHTd[KC_STATE_DIM * 1];
- static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
-
- ASSERT(Hm->numRows == 1);
- ASSERT(Hm->numCols == KC_STATE_DIM);
-
- // ====== INNOVATION COVARIANCE ======
-
- mat_trans(Hm, &HTm);
- mat_mult(&this->Pm, &HTm, &PHTm); // PH'
- float R = stdMeasNoise*stdMeasNoise;
- float HPHR = R; // HPH' + R
- for (int i=0; i<KC_STATE_DIM; i++) { // Add the element of HPH' to the above
- HPHR += Hm->pData[i]*PHTd[i]; // this obviously only works if the update is scalar (as in this function)
- }
- ASSERT(!isnan(HPHR));
-
- // ====== MEASUREMENT UPDATE ======
- // Calculate the Kalman gain and perform the state update
- for (int i=0; i<KC_STATE_DIM; i++) {
- K[i] = PHTd[i]/HPHR; // kalman gain = (PH' (HPH' + R )^-1)
- this->S[i] = this->S[i] + K[i] * error; // state update
- }
- assertStateNotNaN(this);
-
- // ====== COVARIANCE UPDATE ======
- mat_mult(&Km, Hm, &tmpNN1m); // KH
- for (int i=0; i<KC_STATE_DIM; i++) { tmpNN1d[KC_STATE_DIM*i+i] -= 1; } // KH - I
- mat_trans(&tmpNN1m, &tmpNN2m); // (KH - I)'
- mat_mult(&tmpNN1m, &this->Pm, &tmpNN3m); // (KH - I)*P
- mat_mult(&tmpNN3m, &tmpNN2m, &this->Pm); // (KH - I)*P*(KH - I)'
- assertStateNotNaN(this);
- // add the measurement variance and ensure boundedness and symmetry
- // TODO: Why would it hit these bounds? Needs to be investigated.
- for (int i=0; i<KC_STATE_DIM; i++) {
- for (int j=i; j<KC_STATE_DIM; j++) {
- float v = K[i] * R * K[j];
- float p = 0.5f*this->P[i][j] + 0.5f*this->P[j][i] + v; // add measurement noise
- if (isnan(p) || p > MAX_COVARIANCE) {
- this->P[i][j] = this->P[j][i] = MAX_COVARIANCE;
- } else if ( i==j && p < MIN_COVARIANCE ) {
- this->P[i][j] = this->P[j][i] = MIN_COVARIANCE;
- } else {
- this->P[i][j] = this->P[j][i] = p;
- }
- }
- }
-
- assertStateNotNaN(this);
-}
-
-void kalmanCoreUpdateWithPKE(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, arm_matrix_instance_f32 *Km, arm_matrix_instance_f32 *P_w_m, float error)
-{
- // kalman filter update with weighted covariance matrix P_w_m, kalman gain Km, and innovation error
- // Temporary matrices for the covariance updates
- static float tmpNN1d[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, (float *)tmpNN1d};
- for (int i=0; i<KC_STATE_DIM; i++){
- this->S[i] = this->S[i] + Km->pData[i] * error;
- }
- // ====== COVARIANCE UPDATE ====== //
- mat_mult(Km, Hm, &tmpNN1m); // KH, the Kalman Gain and H are the updated Kalman Gain and H
- mat_scale(&tmpNN1m, -1.0f, &tmpNN1m); // I-KH
- for (int i=0; i<KC_STATE_DIM; i++) { tmpNN1d[i][i] = 1.0f + tmpNN1d[i][i]; }
- float Ppo[KC_STATE_DIM][KC_STATE_DIM]={0};
- arm_matrix_instance_f32 Ppom = {KC_STATE_DIM, KC_STATE_DIM, (float *)Ppo};
- mat_mult(&tmpNN1m, P_w_m, &Ppom); // Pm = (I-KH)*P_w_m
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, this->P, Ppo);
-
- assertStateNotNaN(this);
-
- for (int i=0; i<KC_STATE_DIM; i++) {
- for (int j=i; j<KC_STATE_DIM; j++) {
- float p = 0.5f*this->P[i][j] + 0.5f*this->P[j][i];
- if (isnan(p) || p > MAX_COVARIANCE) {
- this->P[i][j] = this->P[j][i] = MAX_COVARIANCE;
- } else if ( i==j && p < MIN_COVARIANCE ) {
- this->P[i][j] = this->P[j][i] = MIN_COVARIANCE;
- } else {
- this->P[i][j] = this->P[j][i] = p;
- }
- }
- }
- assertStateNotNaN(this);
-
-}
-
-
-void kalmanCoreUpdateWithBaro(kalmanCoreData_t* this, float baroAsl, bool quadIsFlying)
-{
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
-
- h[KC_STATE_Z] = 1;
-
- if (!quadIsFlying || this->baroReferenceHeight < 1) {
- //TODO: maybe we could track the zero height as a state. Would be especially useful if UWB anchors had barometers.
- this->baroReferenceHeight = baroAsl;
- }
-
- float meas = (baroAsl - this->baroReferenceHeight);
- kalmanCoreScalarUpdate(this, &H, meas - this->S[KC_STATE_Z], measNoiseBaro);
-}
-
-void kalmanCorePredict(kalmanCoreData_t* this, Axis3f *acc, Axis3f *gyro, float dt, bool quadIsFlying)
-{
- /* Here we discretize (euler forward) and linearise the quadrocopter dynamics in order
- * to push the covariance forward.
- *
- * QUADROCOPTER DYNAMICS (see paper):
- *
- * \dot{x} = R(I + [[d]])p
- * \dot{p} = f/m * e3 - [[\omega]]p - g(I - [[d]])R^-1 e3 //drag negligible
- * \dot{d} = \omega
- *
- * where [[.]] is the cross-product matrix of .
- * \omega are the gyro measurements
- * e3 is the column vector [0 0 1]'
- * I is the identity
- * R is the current attitude as a rotation matrix
- * f/m is the mass-normalized motor force (acceleration in the body's z direction)
- * g is gravity
- * x, p, d are the quad's states
- * note that d (attitude error) is zero at the beginning of each iteration,
- * since error information is incorporated into R after each Kalman update.
- */
-
- // The linearized update matrix
- NO_DMA_CCM_SAFE_ZERO_INIT static float A[KC_STATE_DIM][KC_STATE_DIM];
- static __attribute__((aligned(4))) arm_matrix_instance_f32 Am = { KC_STATE_DIM, KC_STATE_DIM, (float *)A}; // linearized dynamics for covariance update;
-
- // Temporary matrices for the covariance updates
- NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
- static __attribute__((aligned(4))) arm_matrix_instance_f32 tmpNN1m = { KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
-
- NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
- static __attribute__((aligned(4))) arm_matrix_instance_f32 tmpNN2m = { KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
-
- float dt2 = dt*dt;
-
- // ====== DYNAMICS LINEARIZATION ======
- // Initialize as the identity
- A[KC_STATE_X][KC_STATE_X] = 1;
- A[KC_STATE_Y][KC_STATE_Y] = 1;
- A[KC_STATE_Z][KC_STATE_Z] = 1;
-
- A[KC_STATE_PX][KC_STATE_PX] = 1;
- A[KC_STATE_PY][KC_STATE_PY] = 1;
- A[KC_STATE_PZ][KC_STATE_PZ] = 1;
-
- A[KC_STATE_D0][KC_STATE_D0] = 1;
- A[KC_STATE_D1][KC_STATE_D1] = 1;
- A[KC_STATE_D2][KC_STATE_D2] = 1;
-
- // position from body-frame velocity
- A[KC_STATE_X][KC_STATE_PX] = this->R[0][0]*dt;
- A[KC_STATE_Y][KC_STATE_PX] = this->R[1][0]*dt;
- A[KC_STATE_Z][KC_STATE_PX] = this->R[2][0]*dt;
-
- A[KC_STATE_X][KC_STATE_PY] = this->R[0][1]*dt;
- A[KC_STATE_Y][KC_STATE_PY] = this->R[1][1]*dt;
- A[KC_STATE_Z][KC_STATE_PY] = this->R[2][1]*dt;
-
- A[KC_STATE_X][KC_STATE_PZ] = this->R[0][2]*dt;
- A[KC_STATE_Y][KC_STATE_PZ] = this->R[1][2]*dt;
- A[KC_STATE_Z][KC_STATE_PZ] = this->R[2][2]*dt;
-
- // position from attitude error
- A[KC_STATE_X][KC_STATE_D0] = (this->S[KC_STATE_PY]*this->R[0][2] - this->S[KC_STATE_PZ]*this->R[0][1])*dt;
- A[KC_STATE_Y][KC_STATE_D0] = (this->S[KC_STATE_PY]*this->R[1][2] - this->S[KC_STATE_PZ]*this->R[1][1])*dt;
- A[KC_STATE_Z][KC_STATE_D0] = (this->S[KC_STATE_PY]*this->R[2][2] - this->S[KC_STATE_PZ]*this->R[2][1])*dt;
-
- A[KC_STATE_X][KC_STATE_D1] = (- this->S[KC_STATE_PX]*this->R[0][2] + this->S[KC_STATE_PZ]*this->R[0][0])*dt;
- A[KC_STATE_Y][KC_STATE_D1] = (- this->S[KC_STATE_PX]*this->R[1][2] + this->S[KC_STATE_PZ]*this->R[1][0])*dt;
- A[KC_STATE_Z][KC_STATE_D1] = (- this->S[KC_STATE_PX]*this->R[2][2] + this->S[KC_STATE_PZ]*this->R[2][0])*dt;
-
- A[KC_STATE_X][KC_STATE_D2] = (this->S[KC_STATE_PX]*this->R[0][1] - this->S[KC_STATE_PY]*this->R[0][0])*dt;
- A[KC_STATE_Y][KC_STATE_D2] = (this->S[KC_STATE_PX]*this->R[1][1] - this->S[KC_STATE_PY]*this->R[1][0])*dt;
- A[KC_STATE_Z][KC_STATE_D2] = (this->S[KC_STATE_PX]*this->R[2][1] - this->S[KC_STATE_PY]*this->R[2][0])*dt;
-
- // body-frame velocity from body-frame velocity
- A[KC_STATE_PX][KC_STATE_PX] = 1; //drag negligible
- A[KC_STATE_PY][KC_STATE_PX] =-gyro->z*dt;
- A[KC_STATE_PZ][KC_STATE_PX] = gyro->y*dt;
-
- A[KC_STATE_PX][KC_STATE_PY] = gyro->z*dt;
- A[KC_STATE_PY][KC_STATE_PY] = 1; //drag negligible
- A[KC_STATE_PZ][KC_STATE_PY] =-gyro->x*dt;
-
- A[KC_STATE_PX][KC_STATE_PZ] =-gyro->y*dt;
- A[KC_STATE_PY][KC_STATE_PZ] = gyro->x*dt;
- A[KC_STATE_PZ][KC_STATE_PZ] = 1; //drag negligible
-
- // body-frame velocity from attitude error
- A[KC_STATE_PX][KC_STATE_D0] = 0;
- A[KC_STATE_PY][KC_STATE_D0] = -GRAVITY_MAGNITUDE*this->R[2][2]*dt;
- A[KC_STATE_PZ][KC_STATE_D0] = GRAVITY_MAGNITUDE*this->R[2][1]*dt;
-
- A[KC_STATE_PX][KC_STATE_D1] = GRAVITY_MAGNITUDE*this->R[2][2]*dt;
- A[KC_STATE_PY][KC_STATE_D1] = 0;
- A[KC_STATE_PZ][KC_STATE_D1] = -GRAVITY_MAGNITUDE*this->R[2][0]*dt;
-
- A[KC_STATE_PX][KC_STATE_D2] = -GRAVITY_MAGNITUDE*this->R[2][1]*dt;
- A[KC_STATE_PY][KC_STATE_D2] = GRAVITY_MAGNITUDE*this->R[2][0]*dt;
- A[KC_STATE_PZ][KC_STATE_D2] = 0;
-
- // attitude error from attitude error
- /**
- * At first glance, it may not be clear where the next values come from, since they do not appear directly in the
- * dynamics. In this prediction step, we skip the step of first updating attitude-error, and then incorporating the
- * new error into the current attitude (which requires a rotation of the attitude-error covariance). Instead, we
- * directly update the body attitude, however still need to rotate the covariance, which is what you see below.
- *
- * This comes from a second order approximation to:
- * Sigma_post = exps(-d) Sigma_pre exps(-d)'
- * ~ (I + [[-d]] + [[-d]]^2 / 2) Sigma_pre (I + [[-d]] + [[-d]]^2 / 2)'
- * where d is the attitude error expressed as Rodriges parameters, ie. d0 = 1/2*gyro.x*dt under the assumption that
- * d = [0,0,0] at the beginning of each prediction step and that gyro.x is constant over the sampling period
- *
- * As derived in "Covariance Correction Step for Kalman Filtering with an Attitude"
- * http://arc.aiaa.org/doi/abs/10.2514/1.G000848
- */
- float d0 = gyro->x*dt/2;
- float d1 = gyro->y*dt/2;
- float d2 = gyro->z*dt/2;
-
- A[KC_STATE_D0][KC_STATE_D0] = 1 - d1*d1/2 - d2*d2/2;
- A[KC_STATE_D0][KC_STATE_D1] = d2 + d0*d1/2;
- A[KC_STATE_D0][KC_STATE_D2] = -d1 + d0*d2/2;
-
- A[KC_STATE_D1][KC_STATE_D0] = -d2 + d0*d1/2;
- A[KC_STATE_D1][KC_STATE_D1] = 1 - d0*d0/2 - d2*d2/2;
- A[KC_STATE_D1][KC_STATE_D2] = d0 + d1*d2/2;
-
- A[KC_STATE_D2][KC_STATE_D0] = d1 + d0*d2/2;
- A[KC_STATE_D2][KC_STATE_D1] = -d0 + d1*d2/2;
- A[KC_STATE_D2][KC_STATE_D2] = 1 - d0*d0/2 - d1*d1/2;
-
-
- // ====== COVARIANCE UPDATE ======
- mat_mult(&Am, &this->Pm, &tmpNN1m); // A P
- mat_trans(&Am, &tmpNN2m); // A'
- mat_mult(&tmpNN1m, &tmpNN2m, &this->Pm); // A P A'
- // Process noise is added after the return from the prediction step
-
- // ====== PREDICTION STEP ======
- // The prediction depends on whether we're on the ground, or in flight.
- // When flying, the accelerometer directly measures thrust (hence is useless to estimate body angle while flying)
-
- float dx, dy, dz;
- float tmpSPX, tmpSPY, tmpSPZ;
- float zacc;
-
- if (quadIsFlying) // only acceleration in z direction
- {
- // Use accelerometer and not commanded thrust, as this has proper physical units
- zacc = acc->z;
-
- // position updates in the body frame (will be rotated to inertial frame)
- dx = this->S[KC_STATE_PX] * dt;
- dy = this->S[KC_STATE_PY] * dt;
- dz = this->S[KC_STATE_PZ] * dt + zacc * dt2 / 2.0f; // thrust can only be produced in the body's Z direction
-
- // position update
- this->S[KC_STATE_X] += this->R[0][0] * dx + this->R[0][1] * dy + this->R[0][2] * dz;
- this->S[KC_STATE_Y] += this->R[1][0] * dx + this->R[1][1] * dy + this->R[1][2] * dz;
- this->S[KC_STATE_Z] += this->R[2][0] * dx + this->R[2][1] * dy + this->R[2][2] * dz - GRAVITY_MAGNITUDE * dt2 / 2.0f;
-
- // keep previous time step's state for the update
- tmpSPX = this->S[KC_STATE_PX];
- tmpSPY = this->S[KC_STATE_PY];
- tmpSPZ = this->S[KC_STATE_PZ];
-
- // body-velocity update: accelerometers - gyros cross velocity - gravity in body frame
- this->S[KC_STATE_PX] += dt * (gyro->z * tmpSPY - gyro->y * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][0]);
- this->S[KC_STATE_PY] += dt * (-gyro->z * tmpSPX + gyro->x * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][1]);
- this->S[KC_STATE_PZ] += dt * (zacc + gyro->y * tmpSPX - gyro->x * tmpSPY - GRAVITY_MAGNITUDE * this->R[2][2]);
- }
- else // Acceleration can be in any direction, as measured by the accelerometer. This occurs, eg. in freefall or while being carried.
- {
- // position updates in the body frame (will be rotated to inertial frame)
- dx = this->S[KC_STATE_PX] * dt + acc->x * dt2 / 2.0f;
- dy = this->S[KC_STATE_PY] * dt + acc->y * dt2 / 2.0f;
- dz = this->S[KC_STATE_PZ] * dt + acc->z * dt2 / 2.0f; // thrust can only be produced in the body's Z direction
-
- // position update
- this->S[KC_STATE_X] += this->R[0][0] * dx + this->R[0][1] * dy + this->R[0][2] * dz;
- this->S[KC_STATE_Y] += this->R[1][0] * dx + this->R[1][1] * dy + this->R[1][2] * dz;
- this->S[KC_STATE_Z] += this->R[2][0] * dx + this->R[2][1] * dy + this->R[2][2] * dz - GRAVITY_MAGNITUDE * dt2 / 2.0f;
-
- // keep previous time step's state for the update
- tmpSPX = this->S[KC_STATE_PX];
- tmpSPY = this->S[KC_STATE_PY];
- tmpSPZ = this->S[KC_STATE_PZ];
-
- // body-velocity update: accelerometers - gyros cross velocity - gravity in body frame
- this->S[KC_STATE_PX] += dt * (acc->x + gyro->z * tmpSPY - gyro->y * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][0]);
- this->S[KC_STATE_PY] += dt * (acc->y - gyro->z * tmpSPX + gyro->x * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][1]);
- this->S[KC_STATE_PZ] += dt * (acc->z + gyro->y * tmpSPX - gyro->x * tmpSPY - GRAVITY_MAGNITUDE * this->R[2][2]);
- }
-
- // attitude update (rotate by gyroscope), we do this in quaternions
- // this is the gyroscope angular velocity integrated over the sample period
- float dtwx = dt*gyro->x;
- float dtwy = dt*gyro->y;
- float dtwz = dt*gyro->z;
-
- // compute the quaternion values in [w,x,y,z] order
- float angle = arm_sqrt(dtwx*dtwx + dtwy*dtwy + dtwz*dtwz);
- float ca = arm_cos_f32(angle/2.0f);
- float sa = arm_sin_f32(angle/2.0f);
- float dq[4] = {ca , sa*dtwx/angle , sa*dtwy/angle , sa*dtwz/angle};
-
- float tmpq0;
- float tmpq1;
- float tmpq2;
- float tmpq3;
-
- // rotate the quad's attitude by the delta quaternion vector computed above
- tmpq0 = dq[0]*this->q[0] - dq[1]*this->q[1] - dq[2]*this->q[2] - dq[3]*this->q[3];
- tmpq1 = dq[1]*this->q[0] + dq[0]*this->q[1] + dq[3]*this->q[2] - dq[2]*this->q[3];
- tmpq2 = dq[2]*this->q[0] - dq[3]*this->q[1] + dq[0]*this->q[2] + dq[1]*this->q[3];
- tmpq3 = dq[3]*this->q[0] + dq[2]*this->q[1] - dq[1]*this->q[2] + dq[0]*this->q[3];
-
- if (! quadIsFlying) {
- float keep = 1.0f - ROLLPITCH_ZERO_REVERSION;
-
- tmpq0 = keep * tmpq0 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[0];
- tmpq1 = keep * tmpq1 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[1];
- tmpq2 = keep * tmpq2 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[2];
- tmpq3 = keep * tmpq3 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[3];
- }
-
- // normalize and store the result
- float norm = arm_sqrt(tmpq0*tmpq0 + tmpq1*tmpq1 + tmpq2*tmpq2 + tmpq3*tmpq3);
- this->q[0] = tmpq0/norm; this->q[1] = tmpq1/norm; this->q[2] = tmpq2/norm; this->q[3] = tmpq3/norm;
- assertStateNotNaN(this);
-}
+//COMMENTED FIRMWARE
+// void kalmanCoreScalarUpdate(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, float error, float stdMeasNoise)
+// {
+// // The Kalman gain as a column vector
+// NO_DMA_CCM_SAFE_ZERO_INIT static float K[KC_STATE_DIM];
+// static arm_matrix_instance_f32 Km = {KC_STATE_DIM, 1, (float *)K};
+
+// // Temporary matrices for the covariance updates
+// NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
+// static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
+
+// NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
+// static arm_matrix_instance_f32 tmpNN2m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
+
+// NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float tmpNN3d[KC_STATE_DIM * KC_STATE_DIM];
+// static arm_matrix_instance_f32 tmpNN3m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN3d};
+
+// NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float HTd[KC_STATE_DIM * 1];
+// static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
+
+// NO_DMA_CCM_SAFE_ZERO_INIT __attribute__((aligned(4))) static float PHTd[KC_STATE_DIM * 1];
+// static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
+
+// ASSERT(Hm->numRows == 1);
+// ASSERT(Hm->numCols == KC_STATE_DIM);
+
+// // ====== INNOVATION COVARIANCE ======
+
+// mat_trans(Hm, &HTm);
+// mat_mult(&this->Pm, &HTm, &PHTm); // PH'
+// float R = stdMeasNoise*stdMeasNoise;
+// float HPHR = R; // HPH' + R
+// for (int i=0; i<KC_STATE_DIM; i++) { // Add the element of HPH' to the above
+// HPHR += Hm->pData[i]*PHTd[i]; // this obviously only works if the update is scalar (as in this function)
+// }
+// ASSERT(!isnan(HPHR));
+
+// // ====== MEASUREMENT UPDATE ======
+// // Calculate the Kalman gain and perform the state update
+// for (int i=0; i<KC_STATE_DIM; i++) {
+// K[i] = PHTd[i]/HPHR; // kalman gain = (PH' (HPH' + R )^-1)
+// this->S[i] = this->S[i] + K[i] * error; // state update
+// }
+// assertStateNotNaN(this);
+
+// // ====== COVARIANCE UPDATE ======
+// mat_mult(&Km, Hm, &tmpNN1m); // KH
+// for (int i=0; i<KC_STATE_DIM; i++) { tmpNN1d[KC_STATE_DIM*i+i] -= 1; } // KH - I
+// mat_trans(&tmpNN1m, &tmpNN2m); // (KH - I)'
+// mat_mult(&tmpNN1m, &this->Pm, &tmpNN3m); // (KH - I)*P
+// mat_mult(&tmpNN3m, &tmpNN2m, &this->Pm); // (KH - I)*P*(KH - I)'
+// assertStateNotNaN(this);
+// // add the measurement variance and ensure boundedness and symmetry
+// // TODO: Why would it hit these bounds? Needs to be investigated.
+// for (int i=0; i<KC_STATE_DIM; i++) {
+// for (int j=i; j<KC_STATE_DIM; j++) {
+// float v = K[i] * R * K[j];
+// float p = 0.5f*this->P[i][j] + 0.5f*this->P[j][i] + v; // add measurement noise
+// if (isnan(p) || p > MAX_COVARIANCE) {
+// this->P[i][j] = this->P[j][i] = MAX_COVARIANCE;
+// } else if ( i==j && p < MIN_COVARIANCE ) {
+// this->P[i][j] = this->P[j][i] = MIN_COVARIANCE;
+// } else {
+// this->P[i][j] = this->P[j][i] = p;
+// }
+// }
+// }
+
+// assertStateNotNaN(this);
+// }
+
+//COMMENTED FIRMWARE
+// void kalmanCoreUpdateWithPKE(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, arm_matrix_instance_f32 *Km, arm_matrix_instance_f32 *P_w_m, float error)
+// {
+// // kalman filter update with weighted covariance matrix P_w_m, kalman gain Km, and innovation error
+// // Temporary matrices for the covariance updates
+// static float tmpNN1d[KC_STATE_DIM][KC_STATE_DIM];
+// static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, (float *)tmpNN1d};
+// for (int i=0; i<KC_STATE_DIM; i++){
+// this->S[i] = this->S[i] + Km->pData[i] * error;
+// }
+// // ====== COVARIANCE UPDATE ====== //
+// mat_mult(Km, Hm, &tmpNN1m); // KH, the Kalman Gain and H are the updated Kalman Gain and H
+// mat_scale(&tmpNN1m, -1.0f, &tmpNN1m); // I-KH
+// for (int i=0; i<KC_STATE_DIM; i++) { tmpNN1d[i][i] = 1.0f + tmpNN1d[i][i]; }
+// float Ppo[KC_STATE_DIM][KC_STATE_DIM]={0};
+// arm_matrix_instance_f32 Ppom = {KC_STATE_DIM, KC_STATE_DIM, (float *)Ppo};
+// mat_mult(&tmpNN1m, P_w_m, &Ppom); // Pm = (I-KH)*P_w_m
+// matrixcopy(KC_STATE_DIM, KC_STATE_DIM, this->P, Ppo);
+
+// assertStateNotNaN(this);
+
+// for (int i=0; i<KC_STATE_DIM; i++) {
+// for (int j=i; j<KC_STATE_DIM; j++) {
+// float p = 0.5f*this->P[i][j] + 0.5f*this->P[j][i];
+// if (isnan(p) || p > MAX_COVARIANCE) {
+// this->P[i][j] = this->P[j][i] = MAX_COVARIANCE;
+// } else if ( i==j && p < MIN_COVARIANCE ) {
+// this->P[i][j] = this->P[j][i] = MIN_COVARIANCE;
+// } else {
+// this->P[i][j] = this->P[j][i] = p;
+// }
+// }
+// }
+// assertStateNotNaN(this);
+
+// }
+
+//COMMENTED FIRMWARE
+// void kalmanCoreUpdateWithBaro(kalmanCoreData_t* this, float baroAsl, bool quadIsFlying)
+// {
+// float h[KC_STATE_DIM] = {0};
+// arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+
+// h[KC_STATE_Z] = 1;
+
+// if (!quadIsFlying || this->baroReferenceHeight < 1) {
+// //TODO: maybe we could track the zero height as a state. Would be especially useful if UWB anchors had barometers.
+// this->baroReferenceHeight = baroAsl;
+// }
+
+// float meas = (baroAsl - this->baroReferenceHeight);
+// kalmanCoreScalarUpdate(this, &H, meas - this->S[KC_STATE_Z], measNoiseBaro);
+// }
+
+//COMMENTED FIRMWARE
+// void kalmanCorePredict(kalmanCoreData_t* this, Axis3f *acc, Axis3f *gyro, float dt, bool quadIsFlying)
+// {
+// /* Here we discretize (euler forward) and linearise the quadrocopter dynamics in order
+// * to push the covariance forward.
+// *
+// * QUADROCOPTER DYNAMICS (see paper):
+// *
+// * \dot{x} = R(I + [[d]])p
+// * \dot{p} = f/m * e3 - [[\omega]]p - g(I - [[d]])R^-1 e3 //drag negligible
+// * \dot{d} = \omega
+// *
+// * where [[.]] is the cross-product matrix of .
+// * \omega are the gyro measurements
+// * e3 is the column vector [0 0 1]'
+// * I is the identity
+// * R is the current attitude as a rotation matrix
+// * f/m is the mass-normalized motor force (acceleration in the body's z direction)
+// * g is gravity
+// * x, p, d are the quad's states
+// * note that d (attitude error) is zero at the beginning of each iteration,
+// * since error information is incorporated into R after each Kalman update.
+// */
+
+// // The linearized update matrix
+// //COMMENTED FIRMWARE
+// NO_DMA_CCM_SAFE_ZERO_INIT static float A[KC_STATE_DIM][KC_STATE_DIM];
+// static __attribute__((aligned(4))) arm_matrix_instance_f32 Am = { KC_STATE_DIM, KC_STATE_DIM, (float *)A}; // linearized dynamics for covariance update;
+
+// // Temporary matrices for the covariance updates
+// NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
+// static __attribute__((aligned(4))) arm_matrix_instance_f32 tmpNN1m = { KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
+
+// NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
+// static __attribute__((aligned(4))) arm_matrix_instance_f32 tmpNN2m = { KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
+
+// float dt2 = dt*dt;
+
+// // ====== DYNAMICS LINEARIZATION ======
+// // Initialize as the identity
+// A[KC_STATE_X][KC_STATE_X] = 1;
+// A[KC_STATE_Y][KC_STATE_Y] = 1;
+// A[KC_STATE_Z][KC_STATE_Z] = 1;
+
+// A[KC_STATE_PX][KC_STATE_PX] = 1;
+// A[KC_STATE_PY][KC_STATE_PY] = 1;
+// A[KC_STATE_PZ][KC_STATE_PZ] = 1;
+
+// A[KC_STATE_D0][KC_STATE_D0] = 1;
+// A[KC_STATE_D1][KC_STATE_D1] = 1;
+// A[KC_STATE_D2][KC_STATE_D2] = 1;
+
+// // position from body-frame velocity
+// A[KC_STATE_X][KC_STATE_PX] = this->R[0][0]*dt;
+// A[KC_STATE_Y][KC_STATE_PX] = this->R[1][0]*dt;
+// A[KC_STATE_Z][KC_STATE_PX] = this->R[2][0]*dt;
+
+// A[KC_STATE_X][KC_STATE_PY] = this->R[0][1]*dt;
+// A[KC_STATE_Y][KC_STATE_PY] = this->R[1][1]*dt;
+// A[KC_STATE_Z][KC_STATE_PY] = this->R[2][1]*dt;
+
+// A[KC_STATE_X][KC_STATE_PZ] = this->R[0][2]*dt;
+// A[KC_STATE_Y][KC_STATE_PZ] = this->R[1][2]*dt;
+// A[KC_STATE_Z][KC_STATE_PZ] = this->R[2][2]*dt;
+
+// // position from attitude error
+// A[KC_STATE_X][KC_STATE_D0] = (this->S[KC_STATE_PY]*this->R[0][2] - this->S[KC_STATE_PZ]*this->R[0][1])*dt;
+// A[KC_STATE_Y][KC_STATE_D0] = (this->S[KC_STATE_PY]*this->R[1][2] - this->S[KC_STATE_PZ]*this->R[1][1])*dt;
+// A[KC_STATE_Z][KC_STATE_D0] = (this->S[KC_STATE_PY]*this->R[2][2] - this->S[KC_STATE_PZ]*this->R[2][1])*dt;
+
+// A[KC_STATE_X][KC_STATE_D1] = (- this->S[KC_STATE_PX]*this->R[0][2] + this->S[KC_STATE_PZ]*this->R[0][0])*dt;
+// A[KC_STATE_Y][KC_STATE_D1] = (- this->S[KC_STATE_PX]*this->R[1][2] + this->S[KC_STATE_PZ]*this->R[1][0])*dt;
+// A[KC_STATE_Z][KC_STATE_D1] = (- this->S[KC_STATE_PX]*this->R[2][2] + this->S[KC_STATE_PZ]*this->R[2][0])*dt;
+
+// A[KC_STATE_X][KC_STATE_D2] = (this->S[KC_STATE_PX]*this->R[0][1] - this->S[KC_STATE_PY]*this->R[0][0])*dt;
+// A[KC_STATE_Y][KC_STATE_D2] = (this->S[KC_STATE_PX]*this->R[1][1] - this->S[KC_STATE_PY]*this->R[1][0])*dt;
+// A[KC_STATE_Z][KC_STATE_D2] = (this->S[KC_STATE_PX]*this->R[2][1] - this->S[KC_STATE_PY]*this->R[2][0])*dt;
+
+// // body-frame velocity from body-frame velocity
+// A[KC_STATE_PX][KC_STATE_PX] = 1; //drag negligible
+// A[KC_STATE_PY][KC_STATE_PX] =-gyro->z*dt;
+// A[KC_STATE_PZ][KC_STATE_PX] = gyro->y*dt;
+
+// A[KC_STATE_PX][KC_STATE_PY] = gyro->z*dt;
+// A[KC_STATE_PY][KC_STATE_PY] = 1; //drag negligible
+// A[KC_STATE_PZ][KC_STATE_PY] =-gyro->x*dt;
+
+// A[KC_STATE_PX][KC_STATE_PZ] =-gyro->y*dt;
+// A[KC_STATE_PY][KC_STATE_PZ] = gyro->x*dt;
+// A[KC_STATE_PZ][KC_STATE_PZ] = 1; //drag negligible
+
+// // body-frame velocity from attitude error
+// A[KC_STATE_PX][KC_STATE_D0] = 0;
+// A[KC_STATE_PY][KC_STATE_D0] = -GRAVITY_MAGNITUDE*this->R[2][2]*dt;
+// A[KC_STATE_PZ][KC_STATE_D0] = GRAVITY_MAGNITUDE*this->R[2][1]*dt;
+
+// A[KC_STATE_PX][KC_STATE_D1] = GRAVITY_MAGNITUDE*this->R[2][2]*dt;
+// A[KC_STATE_PY][KC_STATE_D1] = 0;
+// A[KC_STATE_PZ][KC_STATE_D1] = -GRAVITY_MAGNITUDE*this->R[2][0]*dt;
+
+// A[KC_STATE_PX][KC_STATE_D2] = -GRAVITY_MAGNITUDE*this->R[2][1]*dt;
+// A[KC_STATE_PY][KC_STATE_D2] = GRAVITY_MAGNITUDE*this->R[2][0]*dt;
+// A[KC_STATE_PZ][KC_STATE_D2] = 0;
+
+// // attitude error from attitude error
+// /**
+// * At first glance, it may not be clear where the next values come from, since they do not appear directly in the
+// * dynamics. In this prediction step, we skip the step of first updating attitude-error, and then incorporating the
+// * new error into the current attitude (which requires a rotation of the attitude-error covariance). Instead, we
+// * directly update the body attitude, however still need to rotate the covariance, which is what you see below.
+// *
+// * This comes from a second order approximation to:
+// * Sigma_post = exps(-d) Sigma_pre exps(-d)'
+// * ~ (I + [[-d]] + [[-d]]^2 / 2) Sigma_pre (I + [[-d]] + [[-d]]^2 / 2)'
+// * where d is the attitude error expressed as Rodriges parameters, ie. d0 = 1/2*gyro.x*dt under the assumption that
+// * d = [0,0,0] at the beginning of each prediction step and that gyro.x is constant over the sampling period
+// *
+// * As derived in "Covariance Correction Step for Kalman Filtering with an Attitude"
+// * http://arc.aiaa.org/doi/abs/10.2514/1.G000848
+// */
+// float d0 = gyro->x*dt/2;
+// float d1 = gyro->y*dt/2;
+// float d2 = gyro->z*dt/2;
+
+// A[KC_STATE_D0][KC_STATE_D0] = 1 - d1*d1/2 - d2*d2/2;
+// A[KC_STATE_D0][KC_STATE_D1] = d2 + d0*d1/2;
+// A[KC_STATE_D0][KC_STATE_D2] = -d1 + d0*d2/2;
+
+// A[KC_STATE_D1][KC_STATE_D0] = -d2 + d0*d1/2;
+// A[KC_STATE_D1][KC_STATE_D1] = 1 - d0*d0/2 - d2*d2/2;
+// A[KC_STATE_D1][KC_STATE_D2] = d0 + d1*d2/2;
+
+// A[KC_STATE_D2][KC_STATE_D0] = d1 + d0*d2/2;
+// A[KC_STATE_D2][KC_STATE_D1] = -d0 + d1*d2/2;
+// A[KC_STATE_D2][KC_STATE_D2] = 1 - d0*d0/2 - d1*d1/2;
+
+
+// // ====== COVARIANCE UPDATE ======
+// mat_mult(&Am, &this->Pm, &tmpNN1m); // A P
+// mat_trans(&Am, &tmpNN2m); // A'
+// mat_mult(&tmpNN1m, &tmpNN2m, &this->Pm); // A P A'
+// // Process noise is added after the return from the prediction step
+
+// // ====== PREDICTION STEP ======
+// // The prediction depends on whether we're on the ground, or in flight.
+// // When flying, the accelerometer directly measures thrust (hence is useless to estimate body angle while flying)
+
+// float dx, dy, dz;
+// float tmpSPX, tmpSPY, tmpSPZ;
+// float zacc;
+
+// if (quadIsFlying) // only acceleration in z direction
+// {
+// // Use accelerometer and not commanded thrust, as this has proper physical units
+// zacc = acc->z;
+
+// // position updates in the body frame (will be rotated to inertial frame)
+// dx = this->S[KC_STATE_PX] * dt;
+// dy = this->S[KC_STATE_PY] * dt;
+// dz = this->S[KC_STATE_PZ] * dt + zacc * dt2 / 2.0f; // thrust can only be produced in the body's Z direction
+
+// // position update
+// this->S[KC_STATE_X] += this->R[0][0] * dx + this->R[0][1] * dy + this->R[0][2] * dz;
+// this->S[KC_STATE_Y] += this->R[1][0] * dx + this->R[1][1] * dy + this->R[1][2] * dz;
+// this->S[KC_STATE_Z] += this->R[2][0] * dx + this->R[2][1] * dy + this->R[2][2] * dz - GRAVITY_MAGNITUDE * dt2 / 2.0f;
+
+// // keep previous time step's state for the update
+// tmpSPX = this->S[KC_STATE_PX];
+// tmpSPY = this->S[KC_STATE_PY];
+// tmpSPZ = this->S[KC_STATE_PZ];
+
+// // body-velocity update: accelerometers - gyros cross velocity - gravity in body frame
+// this->S[KC_STATE_PX] += dt * (gyro->z * tmpSPY - gyro->y * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][0]);
+// this->S[KC_STATE_PY] += dt * (-gyro->z * tmpSPX + gyro->x * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][1]);
+// this->S[KC_STATE_PZ] += dt * (zacc + gyro->y * tmpSPX - gyro->x * tmpSPY - GRAVITY_MAGNITUDE * this->R[2][2]);
+// }
+// else // Acceleration can be in any direction, as measured by the accelerometer. This occurs, eg. in freefall or while being carried.
+// {
+// // position updates in the body frame (will be rotated to inertial frame)
+// dx = this->S[KC_STATE_PX] * dt + acc->x * dt2 / 2.0f;
+// dy = this->S[KC_STATE_PY] * dt + acc->y * dt2 / 2.0f;
+// dz = this->S[KC_STATE_PZ] * dt + acc->z * dt2 / 2.0f; // thrust can only be produced in the body's Z direction
+
+// // position update
+// this->S[KC_STATE_X] += this->R[0][0] * dx + this->R[0][1] * dy + this->R[0][2] * dz;
+// this->S[KC_STATE_Y] += this->R[1][0] * dx + this->R[1][1] * dy + this->R[1][2] * dz;
+// this->S[KC_STATE_Z] += this->R[2][0] * dx + this->R[2][1] * dy + this->R[2][2] * dz - GRAVITY_MAGNITUDE * dt2 / 2.0f;
+
+// // keep previous time step's state for the update
+// tmpSPX = this->S[KC_STATE_PX];
+// tmpSPY = this->S[KC_STATE_PY];
+// tmpSPZ = this->S[KC_STATE_PZ];
+
+// // body-velocity update: accelerometers - gyros cross velocity - gravity in body frame
+// this->S[KC_STATE_PX] += dt * (acc->x + gyro->z * tmpSPY - gyro->y * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][0]);
+// this->S[KC_STATE_PY] += dt * (acc->y - gyro->z * tmpSPX + gyro->x * tmpSPZ - GRAVITY_MAGNITUDE * this->R[2][1]);
+// this->S[KC_STATE_PZ] += dt * (acc->z + gyro->y * tmpSPX - gyro->x * tmpSPY - GRAVITY_MAGNITUDE * this->R[2][2]);
+// }
+
+// // attitude update (rotate by gyroscope), we do this in quaternions
+// // this is the gyroscope angular velocity integrated over the sample period
+// float dtwx = dt*gyro->x;
+// float dtwy = dt*gyro->y;
+// float dtwz = dt*gyro->z;
+
+// // compute the quaternion values in [w,x,y,z] order
+// float angle = arm_sqrt(dtwx*dtwx + dtwy*dtwy + dtwz*dtwz);
+// float ca = arm_cos_f32(angle/2.0f);
+// float sa = arm_sin_f32(angle/2.0f);
+// float dq[4] = {ca , sa*dtwx/angle , sa*dtwy/angle , sa*dtwz/angle};
+
+// float tmpq0;
+// float tmpq1;
+// float tmpq2;
+// float tmpq3;
+
+// // rotate the quad's attitude by the delta quaternion vector computed above
+// tmpq0 = dq[0]*this->q[0] - dq[1]*this->q[1] - dq[2]*this->q[2] - dq[3]*this->q[3];
+// tmpq1 = dq[1]*this->q[0] + dq[0]*this->q[1] + dq[3]*this->q[2] - dq[2]*this->q[3];
+// tmpq2 = dq[2]*this->q[0] - dq[3]*this->q[1] + dq[0]*this->q[2] + dq[1]*this->q[3];
+// tmpq3 = dq[3]*this->q[0] + dq[2]*this->q[1] - dq[1]*this->q[2] + dq[0]*this->q[3];
+
+// if (! quadIsFlying) {
+// float keep = 1.0f - ROLLPITCH_ZERO_REVERSION;
+
+// tmpq0 = keep * tmpq0 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[0];
+// tmpq1 = keep * tmpq1 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[1];
+// tmpq2 = keep * tmpq2 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[2];
+// tmpq3 = keep * tmpq3 + ROLLPITCH_ZERO_REVERSION * initialQuaternion[3];
+// }
+
+// // normalize and store the result
+// float norm = arm_sqrt(tmpq0*tmpq0 + tmpq1*tmpq1 + tmpq2*tmpq2 + tmpq3*tmpq3);
+// this->q[0] = tmpq0/norm; this->q[1] = tmpq1/norm; this->q[2] = tmpq2/norm; this->q[3] = tmpq3/norm;
+// assertStateNotNaN(this);
+// }
void kalmanCoreAddProcessNoise(kalmanCoreData_t* this, float dt)
@@ -597,120 +602,120 @@ void kalmanCoreAddProcessNoise(kalmanCoreData_t* this, float dt)
}
-
-void kalmanCoreFinalize(kalmanCoreData_t* this, uint32_t tick)
-{
- // Matrix to rotate the attitude covariances once updated
- NO_DMA_CCM_SAFE_ZERO_INIT static float A[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Am = {KC_STATE_DIM, KC_STATE_DIM, (float *)A};
-
- // Temporary matrices for the covariance updates
- NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
- static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
-
- NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
- static arm_matrix_instance_f32 tmpNN2m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
-
- // Incorporate the attitude error (Kalman filter state) with the attitude
- float v0 = this->S[KC_STATE_D0];
- float v1 = this->S[KC_STATE_D1];
- float v2 = this->S[KC_STATE_D2];
-
- // Move attitude error into attitude if any of the angle errors are large enough
- if ((fabsf(v0) > 0.1e-3f || fabsf(v1) > 0.1e-3f || fabsf(v2) > 0.1e-3f) && (fabsf(v0) < 10 && fabsf(v1) < 10 && fabsf(v2) < 10))
- {
- float angle = arm_sqrt(v0*v0 + v1*v1 + v2*v2);
- float ca = arm_cos_f32(angle / 2.0f);
- float sa = arm_sin_f32(angle / 2.0f);
- float dq[4] = {ca, sa * v0 / angle, sa * v1 / angle, sa * v2 / angle};
-
- // rotate the quad's attitude by the delta quaternion vector computed above
- float tmpq0 = dq[0] * this->q[0] - dq[1] * this->q[1] - dq[2] * this->q[2] - dq[3] * this->q[3];
- float tmpq1 = dq[1] * this->q[0] + dq[0] * this->q[1] + dq[3] * this->q[2] - dq[2] * this->q[3];
- float tmpq2 = dq[2] * this->q[0] - dq[3] * this->q[1] + dq[0] * this->q[2] + dq[1] * this->q[3];
- float tmpq3 = dq[3] * this->q[0] + dq[2] * this->q[1] - dq[1] * this->q[2] + dq[0] * this->q[3];
-
- // normalize and store the result
- float norm = arm_sqrt(tmpq0 * tmpq0 + tmpq1 * tmpq1 + tmpq2 * tmpq2 + tmpq3 * tmpq3);
- this->q[0] = tmpq0 / norm;
- this->q[1] = tmpq1 / norm;
- this->q[2] = tmpq2 / norm;
- this->q[3] = tmpq3 / norm;
-
- /** Rotate the covariance, since we've rotated the body
- *
- * This comes from a second order approximation to:
- * Sigma_post = exps(-d) Sigma_pre exps(-d)'
- * ~ (I + [[-d]] + [[-d]]^2 / 2) Sigma_pre (I + [[-d]] + [[-d]]^2 / 2)'
- * where d is the attitude error expressed as Rodriges parameters, ie. d = tan(|v|/2)*v/|v|
- *
- * As derived in "Covariance Correction Step for Kalman Filtering with an Attitude"
- * http://arc.aiaa.org/doi/abs/10.2514/1.G000848
- */
-
- float d0 = v0/2; // the attitude error vector (v0,v1,v2) is small,
- float d1 = v1/2; // so we use a first order approximation to d0 = tan(|v0|/2)*v0/|v0|
- float d2 = v2/2;
-
- A[KC_STATE_X][KC_STATE_X] = 1;
- A[KC_STATE_Y][KC_STATE_Y] = 1;
- A[KC_STATE_Z][KC_STATE_Z] = 1;
-
- A[KC_STATE_PX][KC_STATE_PX] = 1;
- A[KC_STATE_PY][KC_STATE_PY] = 1;
- A[KC_STATE_PZ][KC_STATE_PZ] = 1;
-
- A[KC_STATE_D0][KC_STATE_D0] = 1 - d1*d1/2 - d2*d2/2;
- A[KC_STATE_D0][KC_STATE_D1] = d2 + d0*d1/2;
- A[KC_STATE_D0][KC_STATE_D2] = -d1 + d0*d2/2;
-
- A[KC_STATE_D1][KC_STATE_D0] = -d2 + d0*d1/2;
- A[KC_STATE_D1][KC_STATE_D1] = 1 - d0*d0/2 - d2*d2/2;
- A[KC_STATE_D1][KC_STATE_D2] = d0 + d1*d2/2;
-
- A[KC_STATE_D2][KC_STATE_D0] = d1 + d0*d2/2;
- A[KC_STATE_D2][KC_STATE_D1] = -d0 + d1*d2/2;
- A[KC_STATE_D2][KC_STATE_D2] = 1 - d0*d0/2 - d1*d1/2;
-
- mat_trans(&Am, &tmpNN1m); // A'
- mat_mult(&Am, &this->Pm, &tmpNN2m); // AP
- mat_mult(&tmpNN2m, &tmpNN1m, &this->Pm); //APA'
- }
-
- // convert the new attitude to a rotation matrix, such that we can rotate body-frame velocity and acc
- this->R[0][0] = this->q[0] * this->q[0] + this->q[1] * this->q[1] - this->q[2] * this->q[2] - this->q[3] * this->q[3];
- this->R[0][1] = 2 * this->q[1] * this->q[2] - 2 * this->q[0] * this->q[3];
- this->R[0][2] = 2 * this->q[1] * this->q[3] + 2 * this->q[0] * this->q[2];
-
- this->R[1][0] = 2 * this->q[1] * this->q[2] + 2 * this->q[0] * this->q[3];
- this->R[1][1] = this->q[0] * this->q[0] - this->q[1] * this->q[1] + this->q[2] * this->q[2] - this->q[3] * this->q[3];
- this->R[1][2] = 2 * this->q[2] * this->q[3] - 2 * this->q[0] * this->q[1];
-
- this->R[2][0] = 2 * this->q[1] * this->q[3] - 2 * this->q[0] * this->q[2];
- this->R[2][1] = 2 * this->q[2] * this->q[3] + 2 * this->q[0] * this->q[1];
- this->R[2][2] = this->q[0] * this->q[0] - this->q[1] * this->q[1] - this->q[2] * this->q[2] + this->q[3] * this->q[3];
-
- // reset the attitude error
- this->S[KC_STATE_D0] = 0;
- this->S[KC_STATE_D1] = 0;
- this->S[KC_STATE_D2] = 0;
-
- // enforce symmetry of the covariance matrix, and ensure the values stay bounded
- for (int i=0; i<KC_STATE_DIM; i++) {
- for (int j=i; j<KC_STATE_DIM; j++) {
- float p = 0.5f*this->P[i][j] + 0.5f*this->P[j][i];
- if (isnan(p) || p > MAX_COVARIANCE) {
- this->P[i][j] = this->P[j][i] = MAX_COVARIANCE;
- } else if ( i==j && p < MIN_COVARIANCE ) {
- this->P[i][j] = this->P[j][i] = MIN_COVARIANCE;
- } else {
- this->P[i][j] = this->P[j][i] = p;
- }
- }
- }
-
- assertStateNotNaN(this);
-}
+//COMMENTED FIRMWARE
+// void kalmanCoreFinalize(kalmanCoreData_t* this, uint32_t tick)
+// {
+// // Matrix to rotate the attitude covariances once updated
+// NO_DMA_CCM_SAFE_ZERO_INIT static float A[KC_STATE_DIM][KC_STATE_DIM];
+// static arm_matrix_instance_f32 Am = {KC_STATE_DIM, KC_STATE_DIM, (float *)A};
+
+// // Temporary matrices for the covariance updates
+// NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN1d[KC_STATE_DIM * KC_STATE_DIM];
+// static arm_matrix_instance_f32 tmpNN1m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN1d};
+
+// NO_DMA_CCM_SAFE_ZERO_INIT static float tmpNN2d[KC_STATE_DIM * KC_STATE_DIM];
+// static arm_matrix_instance_f32 tmpNN2m = {KC_STATE_DIM, KC_STATE_DIM, tmpNN2d};
+
+// // Incorporate the attitude error (Kalman filter state) with the attitude
+// float v0 = this->S[KC_STATE_D0];
+// float v1 = this->S[KC_STATE_D1];
+// float v2 = this->S[KC_STATE_D2];
+
+// // Move attitude error into attitude if any of the angle errors are large enough
+// if ((fabsf(v0) > 0.1e-3f || fabsf(v1) > 0.1e-3f || fabsf(v2) > 0.1e-3f) && (fabsf(v0) < 10 && fabsf(v1) < 10 && fabsf(v2) < 10))
+// {
+// float angle = arm_sqrt(v0*v0 + v1*v1 + v2*v2);
+// float ca = arm_cos_f32(angle / 2.0f);
+// float sa = arm_sin_f32(angle / 2.0f);
+// float dq[4] = {ca, sa * v0 / angle, sa * v1 / angle, sa * v2 / angle};
+
+// // rotate the quad's attitude by the delta quaternion vector computed above
+// float tmpq0 = dq[0] * this->q[0] - dq[1] * this->q[1] - dq[2] * this->q[2] - dq[3] * this->q[3];
+// float tmpq1 = dq[1] * this->q[0] + dq[0] * this->q[1] + dq[3] * this->q[2] - dq[2] * this->q[3];
+// float tmpq2 = dq[2] * this->q[0] - dq[3] * this->q[1] + dq[0] * this->q[2] + dq[1] * this->q[3];
+// float tmpq3 = dq[3] * this->q[0] + dq[2] * this->q[1] - dq[1] * this->q[2] + dq[0] * this->q[3];
+
+// // normalize and store the result
+// float norm = arm_sqrt(tmpq0 * tmpq0 + tmpq1 * tmpq1 + tmpq2 * tmpq2 + tmpq3 * tmpq3);
+// this->q[0] = tmpq0 / norm;
+// this->q[1] = tmpq1 / norm;
+// this->q[2] = tmpq2 / norm;
+// this->q[3] = tmpq3 / norm;
+
+// /** Rotate the covariance, since we've rotated the body
+// *
+// * This comes from a second order approximation to:
+// * Sigma_post = exps(-d) Sigma_pre exps(-d)'
+// * ~ (I + [[-d]] + [[-d]]^2 / 2) Sigma_pre (I + [[-d]] + [[-d]]^2 / 2)'
+// * where d is the attitude error expressed as Rodriges parameters, ie. d = tan(|v|/2)*v/|v|
+// *
+// * As derived in "Covariance Correction Step for Kalman Filtering with an Attitude"
+// * http://arc.aiaa.org/doi/abs/10.2514/1.G000848
+// */
+
+// float d0 = v0/2; // the attitude error vector (v0,v1,v2) is small,
+// float d1 = v1/2; // so we use a first order approximation to d0 = tan(|v0|/2)*v0/|v0|
+// float d2 = v2/2;
+
+// A[KC_STATE_X][KC_STATE_X] = 1;
+// A[KC_STATE_Y][KC_STATE_Y] = 1;
+// A[KC_STATE_Z][KC_STATE_Z] = 1;
+
+// A[KC_STATE_PX][KC_STATE_PX] = 1;
+// A[KC_STATE_PY][KC_STATE_PY] = 1;
+// A[KC_STATE_PZ][KC_STATE_PZ] = 1;
+
+// A[KC_STATE_D0][KC_STATE_D0] = 1 - d1*d1/2 - d2*d2/2;
+// A[KC_STATE_D0][KC_STATE_D1] = d2 + d0*d1/2;
+// A[KC_STATE_D0][KC_STATE_D2] = -d1 + d0*d2/2;
+
+// A[KC_STATE_D1][KC_STATE_D0] = -d2 + d0*d1/2;
+// A[KC_STATE_D1][KC_STATE_D1] = 1 - d0*d0/2 - d2*d2/2;
+// A[KC_STATE_D1][KC_STATE_D2] = d0 + d1*d2/2;
+
+// A[KC_STATE_D2][KC_STATE_D0] = d1 + d0*d2/2;
+// A[KC_STATE_D2][KC_STATE_D1] = -d0 + d1*d2/2;
+// A[KC_STATE_D2][KC_STATE_D2] = 1 - d0*d0/2 - d1*d1/2;
+
+// mat_trans(&Am, &tmpNN1m); // A'
+// mat_mult(&Am, &this->Pm, &tmpNN2m); // AP
+// mat_mult(&tmpNN2m, &tmpNN1m, &this->Pm); //APA'
+// }
+
+// // convert the new attitude to a rotation matrix, such that we can rotate body-frame velocity and acc
+// this->R[0][0] = this->q[0] * this->q[0] + this->q[1] * this->q[1] - this->q[2] * this->q[2] - this->q[3] * this->q[3];
+// this->R[0][1] = 2 * this->q[1] * this->q[2] - 2 * this->q[0] * this->q[3];
+// this->R[0][2] = 2 * this->q[1] * this->q[3] + 2 * this->q[0] * this->q[2];
+
+// this->R[1][0] = 2 * this->q[1] * this->q[2] + 2 * this->q[0] * this->q[3];
+// this->R[1][1] = this->q[0] * this->q[0] - this->q[1] * this->q[1] + this->q[2] * this->q[2] - this->q[3] * this->q[3];
+// this->R[1][2] = 2 * this->q[2] * this->q[3] - 2 * this->q[0] * this->q[1];
+
+// this->R[2][0] = 2 * this->q[1] * this->q[3] - 2 * this->q[0] * this->q[2];
+// this->R[2][1] = 2 * this->q[2] * this->q[3] + 2 * this->q[0] * this->q[1];
+// this->R[2][2] = this->q[0] * this->q[0] - this->q[1] * this->q[1] - this->q[2] * this->q[2] + this->q[3] * this->q[3];
+
+// // reset the attitude error
+// this->S[KC_STATE_D0] = 0;
+// this->S[KC_STATE_D1] = 0;
+// this->S[KC_STATE_D2] = 0;
+
+// // enforce symmetry of the covariance matrix, and ensure the values stay bounded
+// for (int i=0; i<KC_STATE_DIM; i++) {
+// for (int j=i; j<KC_STATE_DIM; j++) {
+// float p = 0.5f*this->P[i][j] + 0.5f*this->P[j][i];
+// if (isnan(p) || p > MAX_COVARIANCE) {
+// this->P[i][j] = this->P[j][i] = MAX_COVARIANCE;
+// } else if ( i==j && p < MIN_COVARIANCE ) {
+// this->P[i][j] = this->P[j][i] = MIN_COVARIANCE;
+// } else {
+// this->P[i][j] = this->P[j][i] = p;
+// }
+// }
+// }
+
+// assertStateNotNaN(this);
+// }
void kalmanCoreExternalizeState(const kalmanCoreData_t* this, state_t *state, const Axis3f *acc, uint32_t tick)
{
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_absolute_height.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_absolute_height.c
index 8d41ba9eb..fa009ef40 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_absolute_height.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_absolute_height.c
@@ -27,8 +27,9 @@
// Measurement model where the measurement is the absolute height
void kalmanCoreUpdateWithAbsoluteHeight(kalmanCoreData_t* this, heightMeasurement_t* height) {
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- h[KC_STATE_Z] = 1;
- kalmanCoreScalarUpdate(this, &H, height->height - this->S[KC_STATE_Z], height->stdDev);
+ //COMMENTED FIRMWARE
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // h[KC_STATE_Z] = 1;
+ // kalmanCoreScalarUpdate(this, &H, height->height - this->S[KC_STATE_Z], height->stdDev);
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance.c
index 68fd7a6d5..2c9306966 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance.c
@@ -28,27 +28,28 @@
// Measurement model where the measurement is the distance to a known point in space
void kalmanCoreUpdateWithDistance(kalmanCoreData_t* this, distanceMeasurement_t* d) {
// a measurement of distance to point (x, y, z)
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ //COMMENTED FIRMWARE
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- float dx = this->S[KC_STATE_X] - d->x;
- float dy = this->S[KC_STATE_Y] - d->y;
- float dz = this->S[KC_STATE_Z] - d->z;
+ // float dx = this->S[KC_STATE_X] - d->x;
+ // float dy = this->S[KC_STATE_Y] - d->y;
+ // float dz = this->S[KC_STATE_Z] - d->z;
- float measuredDistance = d->distance;
+ // float measuredDistance = d->distance;
- float predictedDistance = arm_sqrt(powf(dx, 2) + powf(dy, 2) + powf(dz, 2));
- if (predictedDistance != 0.0f) {
- // The measurement is: z = sqrt(dx^2 + dy^2 + dz^2). The derivative dz/dX gives h.
- h[KC_STATE_X] = dx/predictedDistance;
- h[KC_STATE_Y] = dy/predictedDistance;
- h[KC_STATE_Z] = dz/predictedDistance;
- } else {
- // Avoid divide by zero
- h[KC_STATE_X] = 1.0f;
- h[KC_STATE_Y] = 0.0f;
- h[KC_STATE_Z] = 0.0f;
- }
+ // float predictedDistance = arm_sqrt(powf(dx, 2) + powf(dy, 2) + powf(dz, 2));
+ // if (predictedDistance != 0.0f) {
+ // // The measurement is: z = sqrt(dx^2 + dy^2 + dz^2). The derivative dz/dX gives h.
+ // h[KC_STATE_X] = dx/predictedDistance;
+ // h[KC_STATE_Y] = dy/predictedDistance;
+ // h[KC_STATE_Z] = dz/predictedDistance;
+ // } else {
+ // // Avoid divide by zero
+ // h[KC_STATE_X] = 1.0f;
+ // h[KC_STATE_Y] = 0.0f;
+ // h[KC_STATE_Z] = 0.0f;
+ // }
- kalmanCoreScalarUpdate(this, &H, measuredDistance-predictedDistance, d->stdDev);
+ // kalmanCoreScalarUpdate(this, &H, measuredDistance-predictedDistance, d->stdDev);
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance_robust.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance_robust.c
index 9b12da3df..e0662bd38 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance_robust.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_distance_robust.c
@@ -64,170 +64,171 @@ static void GM_state(float e, float * GM_e){
// robsut update function
void kalmanCoreRobustUpdateWithDistance(kalmanCoreData_t* this, distanceMeasurement_t *d)
{
- float dx = this->S[KC_STATE_X] - d->x;
- float dy = this->S[KC_STATE_Y] - d->y;
- float dz = this->S[KC_STATE_Z] - d->z;
- float measuredDistance = d->distance;
-
- float predictedDistance = arm_sqrt(powf(dx, 2) + powf(dy, 2) + powf(dz, 2));
- // innovation term based on x_check
- float error_check = measuredDistance - predictedDistance; // innovation term based on prior state
- // ---------------------- matrix defination ----------------------------- //
- static float P_chol[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_chol};
- static float Pc_tran[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_tran_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_tran};
-
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- // The Kalman gain as a column vector
- static float Kw[KC_STATE_DIM];
- static arm_matrix_instance_f32 Kwm = {KC_STATE_DIM, 1, (float *)Kw};
-
- static float e_x[KC_STATE_DIM];
- static arm_matrix_instance_f32 e_x_m = {KC_STATE_DIM, 1, e_x};
-
- static float Pc_inv[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_inv_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_inv};
-
- // rescale matrix
- static float wx_inv[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 wx_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)wx_inv};
- // tmp matrix for P_chol inverse
- static float tmp1[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 tmp1m = {KC_STATE_DIM, KC_STATE_DIM, (float *)tmp1};
-
- static float Pc_w_inv[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_w_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_w_inv};
-
- static float P_w[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 P_w_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_w};
-
- static float HTd[KC_STATE_DIM];
- static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
-
- static float PHTd[KC_STATE_DIM];
- static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
- // ------------------- Initialization -----------------------//
- // x prior (error state), set to be zeros. Not used for error state Kalman filter. Provide here for completeness
- // float xpr[STATE_DIM] = {0.0};
-
- // x_err comes from the KF update is the state of error state Kalman filter, set to be zero initially
- static float x_err[KC_STATE_DIM] = {0.0};
- static arm_matrix_instance_f32 x_errm = {KC_STATE_DIM, 1, x_err};
- static float X_state[KC_STATE_DIM] = {0.0};
- float P_iter[KC_STATE_DIM][KC_STATE_DIM];
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter,this->P); // init P_iter as P_prior
-
- float R_iter = d->stdDev * d->stdDev; // measurement covariance
- vectorcopy(KC_STATE_DIM, X_state, this->S); // copy Xpr to X_State and then update in each iterations
-
- // ---------------------- Start iteration ----------------------- //
- for (int iter = 0; iter < MAX_ITER; iter++){
- // cholesky decomposition for the prior covariance matrix
- Cholesky_Decomposition(KC_STATE_DIM, P_iter, P_chol); // P_chol is a lower triangular matrix
- mat_trans(&Pc_m, &Pc_tran_m);
-
- // decomposition for measurement covariance (scalar case)
- float R_chol = sqrtf(R_iter);
- // construct H matrix
- // X_state updates in each iteration
- float x_iter = X_state[KC_STATE_X], y_iter = X_state[KC_STATE_Y], z_iter = X_state[KC_STATE_Z];
- dx = x_iter - d->x; dy = y_iter - d->y; dz = z_iter - d->z;
-
- float predicted_iter = arm_sqrt(powf(dx, 2) + powf(dy, 2) + powf(dz, 2));
- // innovation term based on x_check
- float error_iter = measuredDistance - predicted_iter;
-
- float e_y = error_iter;
-
- if (predicted_iter != 0.0f) {
- // The measurement is: z = sqrt(dx^2 + dy^2 + dz^2). The derivative dz/dX gives h.
- h[KC_STATE_X] = dx/predicted_iter;
- h[KC_STATE_Y] = dy/predicted_iter;
- h[KC_STATE_Z] = dz/predicted_iter;
-
- } else {
- // Avoid divide by zero
- h[KC_STATE_X] = 1.0f;
- h[KC_STATE_Y] = 0.0f;
- h[KC_STATE_Z] = 0.0f;
- }
- // check the measurement noise
- if (fabsf(R_chol - 0.0f) < 0.0001f){
- e_y = error_iter / 0.0001f;
- }
- else{
- e_y = error_iter / R_chol;
- }
- // Make sure P_chol, lower trangular matrix, is numerically stable
- for (int col=0; col<KC_STATE_DIM; col++) {
- for (int row=col; row<KC_STATE_DIM; row++) {
- if (isnan(P_chol[row][col]) || P_chol[row][col] > UPPER_BOUND) {
- P_chol[row][col] = UPPER_BOUND;
- } else if(row!=col && P_chol[row][col] < LOWER_BOUND){
- P_chol[row][col] = LOWER_BOUND;
- } else if(row==col && P_chol[row][col]<0.0f){
- P_chol[row][col] = 0.0f;
- }
- }
- }
- // Matrix inversion is numerically sensitive.
- // Add small values on the diagonal of P_chol to avoid numerical problems.
- float dummy_value = 1e-9f;
- for (int k=0; k<KC_STATE_DIM; k++){
- P_chol[k][k] = P_chol[k][k] + dummy_value;
- }
- // keep P_chol
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, tmp1, P_chol);
- mat_inv(&tmp1m, &Pc_inv_m); // Pc_inv_m = inv(Pc_m) = inv(P_chol)
- mat_mult(&Pc_inv_m, &x_errm, &e_x_m); // e_x_m = Pc_inv_m.dot(x_errm)
-
- // compute w_x, w_y --> weighting matrix
- // Since w_x is diagnal matrix, directly compute the inverse
- for (int state_k = 0; state_k < KC_STATE_DIM; state_k++){
- GM_state(e_x[state_k], &wx_inv[state_k][state_k]);
- wx_inv[state_k][state_k] = (float)1.0 / wx_inv[state_k][state_k];
- }
-
- // rescale covariance matrix P
- mat_mult(&Pc_m, &wx_invm, &Pc_w_invm); // Pc_w_invm = P_chol.dot(linalg.inv(w_x))
- mat_mult(&Pc_w_invm, &Pc_tran_m, &P_w_m); // P_w_m = Pc_w_invm.dot(Pc_tran_m) = P_chol.dot(linalg.inv(w_x)).dot(P_chol.T)
-
- // rescale R matrix
- float w_y=0.0; float R_w = 0.0f;
- GM_UWB(e_y, &w_y); // compute the weighted measurement error: w_y
- if (fabsf(w_y - 0.0f) < 0.0001f){
- R_w = (R_chol * R_chol) / 0.0001f;
- }
- else{
- R_w = (R_chol * R_chol) / w_y;
- }
- // ====== INNOVATION COVARIANCE ====== //
-
- mat_trans(&H, &HTm);
- mat_mult(&P_w_m, &HTm, &PHTm); // PHTm = P_w.dot(H.T). The P is the updated P_w
-
- float HPHR = R_w; // HPH' + R. The R is the updated R_w
- for (int i=0; i<KC_STATE_DIM; i++) { // Add the element of HPH' to the above
- HPHR += h[i]*PHTd[i]; // this only works if the update is scalar (as in this function)
- }
- // ====== MEASUREMENT UPDATE ======
- // Calculate the Kalman gain and perform the state update
- for (int i=0; i<KC_STATE_DIM; i++) {
- Kw[i] = PHTd[i]/HPHR; // rescaled kalman gain = (PH' (HPH' + R )^-1) with the updated P_w and R_w
- //[Note]: The error_check here is the innovation term based on x_check, which doesn't change during iterations.
- x_err[i] = Kw[i] * error_check; // error state for next iteration
- X_state[i] = this->S[i] + x_err[i]; // convert to nominal state
- }
- // update P_iter matrix and R matrix for next iteration
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter, P_w);
- R_iter = R_w;
- }
-
-
- // After n iterations, we obtain the rescaled (1) P = P_iter, (2) R = R_iter, (3) Kw.
- // Call the kalman update function with weighted P, weighted K, h, and error_check
- kalmanCoreUpdateWithPKE(this, &H, &Kwm, &P_w_m, error_check);
+ //COMMENTED FIRMWARE
+ // float dx = this->S[KC_STATE_X] - d->x;
+ // float dy = this->S[KC_STATE_Y] - d->y;
+ // float dz = this->S[KC_STATE_Z] - d->z;
+ // float measuredDistance = d->distance;
+
+ // float predictedDistance = arm_sqrt(powf(dx, 2) + powf(dy, 2) + powf(dz, 2));
+ // // innovation term based on x_check
+ // float error_check = measuredDistance - predictedDistance; // innovation term based on prior state
+ // // ---------------------- matrix defination ----------------------------- //
+ // static float P_chol[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_chol};
+ // static float Pc_tran[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_tran_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_tran};
+
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // // The Kalman gain as a column vector
+ // static float Kw[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Kwm = {KC_STATE_DIM, 1, (float *)Kw};
+
+ // static float e_x[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 e_x_m = {KC_STATE_DIM, 1, e_x};
+
+ // static float Pc_inv[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_inv_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_inv};
+
+ // // rescale matrix
+ // static float wx_inv[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 wx_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)wx_inv};
+ // // tmp matrix for P_chol inverse
+ // static float tmp1[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 tmp1m = {KC_STATE_DIM, KC_STATE_DIM, (float *)tmp1};
+
+ // static float Pc_w_inv[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_w_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_w_inv};
+
+ // static float P_w[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 P_w_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_w};
+
+ // static float HTd[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
+
+ // static float PHTd[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
+ // // ------------------- Initialization -----------------------//
+ // // x prior (error state), set to be zeros. Not used for error state Kalman filter. Provide here for completeness
+ // // float xpr[STATE_DIM] = {0.0};
+
+ // // x_err comes from the KF update is the state of error state Kalman filter, set to be zero initially
+ // static float x_err[KC_STATE_DIM] = {0.0};
+ // static arm_matrix_instance_f32 x_errm = {KC_STATE_DIM, 1, x_err};
+ // static float X_state[KC_STATE_DIM] = {0.0};
+ // float P_iter[KC_STATE_DIM][KC_STATE_DIM];
+ // matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter,this->P); // init P_iter as P_prior
+
+ // float R_iter = d->stdDev * d->stdDev; // measurement covariance
+ // vectorcopy(KC_STATE_DIM, X_state, this->S); // copy Xpr to X_State and then update in each iterations
+
+ // // ---------------------- Start iteration ----------------------- //
+ // for (int iter = 0; iter < MAX_ITER; iter++){
+ // // cholesky decomposition for the prior covariance matrix
+ // Cholesky_Decomposition(KC_STATE_DIM, P_iter, P_chol); // P_chol is a lower triangular matrix
+ // mat_trans(&Pc_m, &Pc_tran_m);
+
+ // // decomposition for measurement covariance (scalar case)
+ // float R_chol = sqrtf(R_iter);
+ // // construct H matrix
+ // // X_state updates in each iteration
+ // float x_iter = X_state[KC_STATE_X], y_iter = X_state[KC_STATE_Y], z_iter = X_state[KC_STATE_Z];
+ // dx = x_iter - d->x; dy = y_iter - d->y; dz = z_iter - d->z;
+
+ // float predicted_iter = arm_sqrt(powf(dx, 2) + powf(dy, 2) + powf(dz, 2));
+ // // innovation term based on x_check
+ // float error_iter = measuredDistance - predicted_iter;
+
+ // float e_y = error_iter;
+
+ // if (predicted_iter != 0.0f) {
+ // // The measurement is: z = sqrt(dx^2 + dy^2 + dz^2). The derivative dz/dX gives h.
+ // h[KC_STATE_X] = dx/predicted_iter;
+ // h[KC_STATE_Y] = dy/predicted_iter;
+ // h[KC_STATE_Z] = dz/predicted_iter;
+
+ // } else {
+ // // Avoid divide by zero
+ // h[KC_STATE_X] = 1.0f;
+ // h[KC_STATE_Y] = 0.0f;
+ // h[KC_STATE_Z] = 0.0f;
+ // }
+ // // check the measurement noise
+ // if (fabsf(R_chol - 0.0f) < 0.0001f){
+ // e_y = error_iter / 0.0001f;
+ // }
+ // else{
+ // e_y = error_iter / R_chol;
+ // }
+ // // Make sure P_chol, lower trangular matrix, is numerically stable
+ // for (int col=0; col<KC_STATE_DIM; col++) {
+ // for (int row=col; row<KC_STATE_DIM; row++) {
+ // if (isnan(P_chol[row][col]) || P_chol[row][col] > UPPER_BOUND) {
+ // P_chol[row][col] = UPPER_BOUND;
+ // } else if(row!=col && P_chol[row][col] < LOWER_BOUND){
+ // P_chol[row][col] = LOWER_BOUND;
+ // } else if(row==col && P_chol[row][col]<0.0f){
+ // P_chol[row][col] = 0.0f;
+ // }
+ // }
+ // }
+ // // Matrix inversion is numerically sensitive.
+ // // Add small values on the diagonal of P_chol to avoid numerical problems.
+ // float dummy_value = 1e-9f;
+ // for (int k=0; k<KC_STATE_DIM; k++){
+ // P_chol[k][k] = P_chol[k][k] + dummy_value;
+ // }
+ // // keep P_chol
+ // matrixcopy(KC_STATE_DIM, KC_STATE_DIM, tmp1, P_chol);
+ // mat_inv(&tmp1m, &Pc_inv_m); // Pc_inv_m = inv(Pc_m) = inv(P_chol)
+ // mat_mult(&Pc_inv_m, &x_errm, &e_x_m); // e_x_m = Pc_inv_m.dot(x_errm)
+
+ // // compute w_x, w_y --> weighting matrix
+ // // Since w_x is diagnal matrix, directly compute the inverse
+ // for (int state_k = 0; state_k < KC_STATE_DIM; state_k++){
+ // GM_state(e_x[state_k], &wx_inv[state_k][state_k]);
+ // wx_inv[state_k][state_k] = (float)1.0 / wx_inv[state_k][state_k];
+ // }
+
+ // // rescale covariance matrix P
+ // mat_mult(&Pc_m, &wx_invm, &Pc_w_invm); // Pc_w_invm = P_chol.dot(linalg.inv(w_x))
+ // mat_mult(&Pc_w_invm, &Pc_tran_m, &P_w_m); // P_w_m = Pc_w_invm.dot(Pc_tran_m) = P_chol.dot(linalg.inv(w_x)).dot(P_chol.T)
+
+ // // rescale R matrix
+ // float w_y=0.0; float R_w = 0.0f;
+ // GM_UWB(e_y, &w_y); // compute the weighted measurement error: w_y
+ // if (fabsf(w_y - 0.0f) < 0.0001f){
+ // R_w = (R_chol * R_chol) / 0.0001f;
+ // }
+ // else{
+ // R_w = (R_chol * R_chol) / w_y;
+ // }
+ // // ====== INNOVATION COVARIANCE ====== //
+
+ // mat_trans(&H, &HTm);
+ // mat_mult(&P_w_m, &HTm, &PHTm); // PHTm = P_w.dot(H.T). The P is the updated P_w
+
+ // float HPHR = R_w; // HPH' + R. The R is the updated R_w
+ // for (int i=0; i<KC_STATE_DIM; i++) { // Add the element of HPH' to the above
+ // HPHR += h[i]*PHTd[i]; // this only works if the update is scalar (as in this function)
+ // }
+ // // ====== MEASUREMENT UPDATE ======
+ // // Calculate the Kalman gain and perform the state update
+ // for (int i=0; i<KC_STATE_DIM; i++) {
+ // Kw[i] = PHTd[i]/HPHR; // rescaled kalman gain = (PH' (HPH' + R )^-1) with the updated P_w and R_w
+ // //[Note]: The error_check here is the innovation term based on x_check, which doesn't change during iterations.
+ // x_err[i] = Kw[i] * error_check; // error state for next iteration
+ // X_state[i] = this->S[i] + x_err[i]; // convert to nominal state
+ // }
+ // // update P_iter matrix and R matrix for next iteration
+ // matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter, P_w);
+ // R_iter = R_w;
+ // }
+
+
+ // // After n iterations, we obtain the rescaled (1) P = P_iter, (2) R = R_iter, (3) Kw.
+ // // Call the kalman update function with weighted P, weighted K, h, and error_check
+ // kalmanCoreUpdateWithPKE(this, &H, &Kwm, &P_w_m, error_check);
}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_flow.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_flow.c
index fb692d212..3f4aeb705 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_flow.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_flow.c
@@ -34,69 +34,70 @@ static float measuredNY;
void kalmanCoreUpdateWithFlow(kalmanCoreData_t* this, const flowMeasurement_t *flow, const Axis3f *gyro)
{
- // Inclusion of flow measurements in the EKF done by two scalar updates
-
- // ~~~ Camera constants ~~~
- // The angle of aperture is guessed from the raw data register and thankfully look to be symmetric
- float Npix = 30.0; // [pixels] (same in x and y)
- //float thetapix = DEG_TO_RAD * 4.0f; // [rad] (same in x and y)
- float thetapix = DEG_TO_RAD * 4.2f;
- //~~~ Body rates ~~~
- // TODO check if this is feasible or if some filtering has to be done
- float omegax_b = gyro->x * DEG_TO_RAD;
- float omegay_b = gyro->y * DEG_TO_RAD;
-
- // ~~~ Moves the body velocity into the global coordinate system ~~~
- // [bar{x},bar{y},bar{z}]_G = R*[bar{x},bar{y},bar{z}]_B
- //
- // \dot{x}_G = (R^T*[dot{x}_B,dot{y}_B,dot{z}_B])\dot \hat{x}_G
- // \dot{x}_G = (R^T*[dot{x}_B,dot{y}_B,dot{z}_B])\dot \hat{x}_G
- //
- // where \hat{} denotes a basis vector, \dot{} denotes a derivative and
- // _G and _B refer to the global/body coordinate systems.
-
- // Modification 1
- //dx_g = R[0][0] * S[KC_STATE_PX] + R[0][1] * S[KC_STATE_PY] + R[0][2] * S[KC_STATE_PZ];
- //dy_g = R[1][0] * S[KC_STATE_PX] + R[1][1] * S[KC_STATE_PY] + R[1][2] * S[KC_STATE_PZ];
-
-
- float dx_g = this->S[KC_STATE_PX];
- float dy_g = this->S[KC_STATE_PY];
- float z_g = 0.0;
- // Saturate elevation in prediction and correction to avoid singularities
- if ( this->S[KC_STATE_Z] < 0.1f ) {
- z_g = 0.1;
- } else {
- z_g = this->S[KC_STATE_Z];
- }
-
- // ~~~ X velocity prediction and update ~~~
- // predics the number of accumulated pixels in the x-direction
- float omegaFactor = 1.25f;
- float hx[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 Hx = {1, KC_STATE_DIM, hx};
- predictedNX = (flow->dt * Npix / thetapix ) * ((dx_g * this->R[2][2] / z_g) - omegaFactor * omegay_b);
- measuredNX = flow->dpixelx;
-
- // derive measurement equation with respect to dx (and z?)
- hx[KC_STATE_Z] = (Npix * flow->dt / thetapix) * ((this->R[2][2] * dx_g) / (-z_g * z_g));
- hx[KC_STATE_PX] = (Npix * flow->dt / thetapix) * (this->R[2][2] / z_g);
-
- //First update
- kalmanCoreScalarUpdate(this, &Hx, measuredNX-predictedNX, flow->stdDevX);
-
- // ~~~ Y velocity prediction and update ~~~
- float hy[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 Hy = {1, KC_STATE_DIM, hy};
- predictedNY = (flow->dt * Npix / thetapix ) * ((dy_g * this->R[2][2] / z_g) + omegaFactor * omegax_b);
- measuredNY = flow->dpixely;
-
- // derive measurement equation with respect to dy (and z?)
- hy[KC_STATE_Z] = (Npix * flow->dt / thetapix) * ((this->R[2][2] * dy_g) / (-z_g * z_g));
- hy[KC_STATE_PY] = (Npix * flow->dt / thetapix) * (this->R[2][2] / z_g);
-
- // Second update
- kalmanCoreScalarUpdate(this, &Hy, measuredNY-predictedNY, flow->stdDevY);
+ //COMMENTED FIRMWARE
+// // Inclusion of flow measurements in the EKF done by two scalar updates
+
+// // ~~~ Camera constants ~~~
+// // The angle of aperture is guessed from the raw data register and thankfully look to be symmetric
+// float Npix = 30.0; // [pixels] (same in x and y)
+// //float thetapix = DEG_TO_RAD * 4.0f; // [rad] (same in x and y)
+// float thetapix = DEG_TO_RAD * 4.2f;
+// //~~~ Body rates ~~~
+// // TODO check if this is feasible or if some filtering has to be done
+// float omegax_b = gyro->x * DEG_TO_RAD;
+// float omegay_b = gyro->y * DEG_TO_RAD;
+
+// // ~~~ Moves the body velocity into the global coordinate system ~~~
+// // [bar{x},bar{y},bar{z}]_G = R*[bar{x},bar{y},bar{z}]_B
+// //
+// // \dot{x}_G = (R^T*[dot{x}_B,dot{y}_B,dot{z}_B])\dot \hat{x}_G
+// // \dot{x}_G = (R^T*[dot{x}_B,dot{y}_B,dot{z}_B])\dot \hat{x}_G
+// //
+// // where \hat{} denotes a basis vector, \dot{} denotes a derivative and
+// // _G and _B refer to the global/body coordinate systems.
+
+// // Modification 1
+// //dx_g = R[0][0] * S[KC_STATE_PX] + R[0][1] * S[KC_STATE_PY] + R[0][2] * S[KC_STATE_PZ];
+// //dy_g = R[1][0] * S[KC_STATE_PX] + R[1][1] * S[KC_STATE_PY] + R[1][2] * S[KC_STATE_PZ];
+
+
+// float dx_g = this->S[KC_STATE_PX];
+// float dy_g = this->S[KC_STATE_PY];
+// float z_g = 0.0;
+// // Saturate elevation in prediction and correction to avoid singularities
+// if ( this->S[KC_STATE_Z] < 0.1f ) {
+// z_g = 0.1;
+// } else {
+// z_g = this->S[KC_STATE_Z];
+// }
+
+// // ~~~ X velocity prediction and update ~~~
+// // predics the number of accumulated pixels in the x-direction
+// float omegaFactor = 1.25f;
+// float hx[KC_STATE_DIM] = {0};
+// arm_matrix_instance_f32 Hx = {1, KC_STATE_DIM, hx};
+// predictedNX = (flow->dt * Npix / thetapix ) * ((dx_g * this->R[2][2] / z_g) - omegaFactor * omegay_b);
+// measuredNX = flow->dpixelx;
+
+// // derive measurement equation with respect to dx (and z?)
+// hx[KC_STATE_Z] = (Npix * flow->dt / thetapix) * ((this->R[2][2] * dx_g) / (-z_g * z_g));
+// hx[KC_STATE_PX] = (Npix * flow->dt / thetapix) * (this->R[2][2] / z_g);
+
+// //First update
+// kalmanCoreScalarUpdate(this, &Hx, measuredNX-predictedNX, flow->stdDevX);
+
+// // ~~~ Y velocity prediction and update ~~~
+// float hy[KC_STATE_DIM] = {0};
+// arm_matrix_instance_f32 Hy = {1, KC_STATE_DIM, hy};
+// predictedNY = (flow->dt * Npix / thetapix ) * ((dy_g * this->R[2][2] / z_g) + omegaFactor * omegax_b);
+// measuredNY = flow->dpixely;
+
+// // derive measurement equation with respect to dy (and z?)
+// hy[KC_STATE_Z] = (Npix * flow->dt / thetapix) * ((this->R[2][2] * dy_g) / (-z_g * z_g));
+// hy[KC_STATE_PY] = (Npix * flow->dt / thetapix) * (this->R[2][2] / z_g);
+
+// // Second update
+// kalmanCoreScalarUpdate(this, &Hy, measuredNY-predictedNY, flow->stdDevY);
}
/**
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_pose.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_pose.c
index 4f1fc7fbb..6b17370ef 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_pose.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_pose.c
@@ -30,33 +30,34 @@ void kalmanCoreUpdateWithPose(kalmanCoreData_t* this, poseMeasurement_t *pose)
{
// a direct measurement of states x, y, and z, and orientation
// do a scalar update for each state, since this should be faster than updating all together
- for (int i=0; i<3; i++) {
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- h[KC_STATE_X+i] = 1;
- kalmanCoreScalarUpdate(this, &H, pose->pos[i] - this->S[KC_STATE_X+i], pose->stdDevPos);
- }
+ //COMMENTED FIRMWARE
+ // for (int i=0; i<3; i++) {
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // h[KC_STATE_X+i] = 1;
+ // kalmanCoreScalarUpdate(this, &H, pose->pos[i] - this->S[KC_STATE_X+i], pose->stdDevPos);
+ // }
- // compute orientation error
- struct quat const q_ekf = mkquat(this->q[1], this->q[2], this->q[3], this->q[0]);
- struct quat const q_measured = mkquat(pose->quat.x, pose->quat.y, pose->quat.z, pose->quat.w);
- struct quat const q_residual = qqmul(qinv(q_ekf), q_measured);
- // small angle approximation, see eq. 141 in http://mars.cs.umn.edu/tr/reports/Trawny05b.pdf
- struct vec const err_quat = vscl(2.0f / q_residual.w, quatimagpart(q_residual));
+ // // compute orientation error
+ // struct quat const q_ekf = mkquat(this->q[1], this->q[2], this->q[3], this->q[0]);
+ // struct quat const q_measured = mkquat(pose->quat.x, pose->quat.y, pose->quat.z, pose->quat.w);
+ // struct quat const q_residual = qqmul(qinv(q_ekf), q_measured);
+ // // small angle approximation, see eq. 141 in http://mars.cs.umn.edu/tr/reports/Trawny05b.pdf
+ // struct vec const err_quat = vscl(2.0f / q_residual.w, quatimagpart(q_residual));
- // do a scalar update for each state
- {
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- h[KC_STATE_D0] = 1;
- kalmanCoreScalarUpdate(this, &H, err_quat.x, pose->stdDevQuat);
- h[KC_STATE_D0] = 0;
+ // // do a scalar update for each state
+ // {
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // h[KC_STATE_D0] = 1;
+ // kalmanCoreScalarUpdate(this, &H, err_quat.x, pose->stdDevQuat);
+ // h[KC_STATE_D0] = 0;
- h[KC_STATE_D1] = 1;
- kalmanCoreScalarUpdate(this, &H, err_quat.y, pose->stdDevQuat);
- h[KC_STATE_D1] = 0;
+ // h[KC_STATE_D1] = 1;
+ // kalmanCoreScalarUpdate(this, &H, err_quat.y, pose->stdDevQuat);
+ // h[KC_STATE_D1] = 0;
- h[KC_STATE_D2] = 1;
- kalmanCoreScalarUpdate(this, &H, err_quat.z, pose->stdDevQuat);
- }
+ // h[KC_STATE_D2] = 1;
+ // kalmanCoreScalarUpdate(this, &H, err_quat.z, pose->stdDevQuat);
+ // }
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_position.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_position.c
index cae521958..0d20ddb8c 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_position.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_position.c
@@ -29,10 +29,11 @@ void kalmanCoreUpdateWithPosition(kalmanCoreData_t* this, positionMeasurement_t
{
// a direct measurement of states x, y, and z
// do a scalar update for each state, since this should be faster than updating all together
- for (int i=0; i<3; i++) {
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- h[KC_STATE_X+i] = 1;
- kalmanCoreScalarUpdate(this, &H, xyz->pos[i] - this->S[KC_STATE_X+i], xyz->stdDev);
- }
+ //COMMENTED FIRMWARE
+ // for (int i=0; i<3; i++) {
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // h[KC_STATE_X+i] = 1;
+ // kalmanCoreScalarUpdate(this, &H, xyz->pos[i] - this->S[KC_STATE_X+i], xyz->stdDev);
+ // }
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_sweep_angles.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_sweep_angles.c
index 17c0aae93..e295eb46e 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_sweep_angles.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_sweep_angles.c
@@ -28,67 +28,68 @@
void kalmanCoreUpdateWithSweepAngles(kalmanCoreData_t *this, sweepAngleMeasurement_t *sweepInfo, const uint32_t tick, OutlierFilterLhState_t* sweepOutlierFilterState) {
- // Rotate the sensor position from CF reference frame to global reference frame,
- // using the CF roatation matrix
- vec3d s;
- arm_matrix_instance_f32 Rcf_ = {3, 3, (float32_t *)this->R};
- arm_matrix_instance_f32 scf_ = {3, 1, (float32_t *)*sweepInfo->sensorPos};
- arm_matrix_instance_f32 s_ = {3, 1, s};
- mat_mult(&Rcf_, &scf_, &s_);
+ //COMMENTED FIRMWARE
+ // // Rotate the sensor position from CF reference frame to global reference frame,
+ // // using the CF roatation matrix
+ // vec3d s;
+ // arm_matrix_instance_f32 Rcf_ = {3, 3, (float32_t *)this->R};
+ // arm_matrix_instance_f32 scf_ = {3, 1, (float32_t *)*sweepInfo->sensorPos};
+ // arm_matrix_instance_f32 s_ = {3, 1, s};
+ // mat_mult(&Rcf_, &scf_, &s_);
- // Get the current state values of the position of the crazyflie (global reference frame) and add the relative sensor pos
- vec3d pcf = {this->S[KC_STATE_X] + s[0], this->S[KC_STATE_Y] + s[1], this->S[KC_STATE_Z] + s[2]};
+ // // Get the current state values of the position of the crazyflie (global reference frame) and add the relative sensor pos
+ // vec3d pcf = {this->S[KC_STATE_X] + s[0], this->S[KC_STATE_Y] + s[1], this->S[KC_STATE_Z] + s[2]};
- // Calculate the difference between the rotor and the sensor on the CF (global reference frame)
- const vec3d* pr = sweepInfo->rotorPos;
- vec3d stmp = {pcf[0] - (*pr)[0], pcf[1] - (*pr)[1], pcf[2] - (*pr)[2]};
- arm_matrix_instance_f32 stmp_ = {3, 1, stmp};
+ // // Calculate the difference between the rotor and the sensor on the CF (global reference frame)
+ // const vec3d* pr = sweepInfo->rotorPos;
+ // vec3d stmp = {pcf[0] - (*pr)[0], pcf[1] - (*pr)[1], pcf[2] - (*pr)[2]};
+ // arm_matrix_instance_f32 stmp_ = {3, 1, stmp};
- // Rotate the difference in position to the rotor reference frame,
- // using the rotor inverse rotation matrix
- vec3d sr;
- arm_matrix_instance_f32 Rr_inv_ = {3, 3, (float32_t *)(*sweepInfo->rotorRotInv)};
- arm_matrix_instance_f32 sr_ = {3, 1, sr};
- mat_mult(&Rr_inv_, &stmp_, &sr_);
+ // // Rotate the difference in position to the rotor reference frame,
+ // // using the rotor inverse rotation matrix
+ // vec3d sr;
+ // arm_matrix_instance_f32 Rr_inv_ = {3, 3, (float32_t *)(*sweepInfo->rotorRotInv)};
+ // arm_matrix_instance_f32 sr_ = {3, 1, sr};
+ // mat_mult(&Rr_inv_, &stmp_, &sr_);
- // The following computations are in the rotor refernece frame
- const float x = sr[0];
- const float y = sr[1];
- const float z = sr[2];
- const float t = sweepInfo->t;
- const float tan_t = tanf(t);
+ // // The following computations are in the rotor refernece frame
+ // const float x = sr[0];
+ // const float y = sr[1];
+ // const float z = sr[2];
+ // const float t = sweepInfo->t;
+ // const float tan_t = tanf(t);
- const float r2 = x * x + y * y;
- const float r = arm_sqrt(r2);
+ // const float r2 = x * x + y * y;
+ // const float r = arm_sqrt(r2);
- const float predictedSweepAngle = sweepInfo->calibrationMeasurementModel(x, y, z, t, sweepInfo->calib);
- const float measuredSweepAngle = sweepInfo->measuredSweepAngle;
- const float error = measuredSweepAngle - predictedSweepAngle;
+ // const float predictedSweepAngle = sweepInfo->calibrationMeasurementModel(x, y, z, t, sweepInfo->calib);
+ // const float measuredSweepAngle = sweepInfo->measuredSweepAngle;
+ // const float error = measuredSweepAngle - predictedSweepAngle;
- if (outlierFilterValidateLighthouseSweep(sweepOutlierFilterState, r, error, tick)) {
- // Calculate H vector (in the rotor reference frame)
- const float z_tan_t = z * tan_t;
- const float qNum = r2 - z_tan_t * z_tan_t;
- // Avoid singularity
- if (qNum > 0.0001f) {
- const float q = tan_t / arm_sqrt(qNum);
- vec3d gr = {(-y - x * z * q) / r2, (x - y * z * q) / r2 , q};
+ // if (outlierFilterValidateLighthouseSweep(sweepOutlierFilterState, r, error, tick)) {
+ // // Calculate H vector (in the rotor reference frame)
+ // const float z_tan_t = z * tan_t;
+ // const float qNum = r2 - z_tan_t * z_tan_t;
+ // // Avoid singularity
+ // if (qNum > 0.0001f) {
+ // const float q = tan_t / arm_sqrt(qNum);
+ // vec3d gr = {(-y - x * z * q) / r2, (x - y * z * q) / r2 , q};
- // gr is in the rotor reference frame, rotate back to the global
- // reference frame using the rotor rotation matrix
- vec3d g;
- arm_matrix_instance_f32 gr_ = {3, 1, gr};
- arm_matrix_instance_f32 Rr_ = {3, 3, (float32_t *)(*sweepInfo->rotorRot)};
- arm_matrix_instance_f32 g_ = {3, 1, g};
- mat_mult(&Rr_, &gr_, &g_);
+ // // gr is in the rotor reference frame, rotate back to the global
+ // // reference frame using the rotor rotation matrix
+ // vec3d g;
+ // arm_matrix_instance_f32 gr_ = {3, 1, gr};
+ // arm_matrix_instance_f32 Rr_ = {3, 3, (float32_t *)(*sweepInfo->rotorRot)};
+ // arm_matrix_instance_f32 g_ = {3, 1, g};
+ // mat_mult(&Rr_, &gr_, &g_);
- float h[KC_STATE_DIM] = {0};
- h[KC_STATE_X] = g[0];
- h[KC_STATE_Y] = g[1];
- h[KC_STATE_Z] = g[2];
+ // float h[KC_STATE_DIM] = {0};
+ // h[KC_STATE_X] = g[0];
+ // h[KC_STATE_Y] = g[1];
+ // h[KC_STATE_Z] = g[2];
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- kalmanCoreScalarUpdate(this, &H, error, sweepInfo->stdDev);
- }
- }
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // kalmanCoreScalarUpdate(this, &H, error, sweepInfo->stdDev);
+ // }
+ // }
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa.c
index 761e0e4b0..46f7e17c5 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa.c
@@ -32,63 +32,64 @@ TESTABLE_STATIC uint32_t tdoaCount = 0;
void kalmanCoreUpdateWithTDOA(kalmanCoreData_t* this, tdoaMeasurement_t *tdoa)
{
- if (tdoaCount >= 100)
- {
- /**
- * Measurement equation:
- * dR = dT + d1 - d0
- */
-
- float measurement = tdoa->distanceDiff;
-
- // predict based on current state
- float x = this->S[KC_STATE_X];
- float y = this->S[KC_STATE_Y];
- float z = this->S[KC_STATE_Z];
-
- float x1 = tdoa->anchorPositions[1].x, y1 = tdoa->anchorPositions[1].y, z1 = tdoa->anchorPositions[1].z;
- float x0 = tdoa->anchorPositions[0].x, y0 = tdoa->anchorPositions[0].y, z0 = tdoa->anchorPositions[0].z;
-
- float dx1 = x - x1;
- float dy1 = y - y1;
- float dz1 = z - z1;
-
- float dy0 = y - y0;
- float dx0 = x - x0;
- float dz0 = z - z0;
-
- float d1 = sqrtf(powf(dx1, 2) + powf(dy1, 2) + powf(dz1, 2));
- float d0 = sqrtf(powf(dx0, 2) + powf(dy0, 2) + powf(dz0, 2));
-
- float predicted = d1 - d0;
- float error = measurement - predicted;
-
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
-
- if ((d0 != 0.0f) && (d1 != 0.0f)) {
- h[KC_STATE_X] = (dx1 / d1 - dx0 / d0);
- h[KC_STATE_Y] = (dy1 / d1 - dy0 / d0);
- h[KC_STATE_Z] = (dz1 / d1 - dz0 / d0);
-
- vector_t jacobian = {
- .x = h[KC_STATE_X],
- .y = h[KC_STATE_Y],
- .z = h[KC_STATE_Z],
- };
-
- point_t estimatedPosition = {
- .x = this->S[KC_STATE_X],
- .y = this->S[KC_STATE_Y],
- .z = this->S[KC_STATE_Z],
- };
-
- bool sampleIsGood = outlierFilterValidateTdoaSteps(tdoa, error, &jacobian, &estimatedPosition);
- if (sampleIsGood) {
- kalmanCoreScalarUpdate(this, &H, error, tdoa->stdDev);
- }
- }
- }
-
- tdoaCount++;
+ //COMMENTED FIRMWARE
+ // if (tdoaCount >= 100)
+ // {
+ // /**
+ // * Measurement equation:
+ // * dR = dT + d1 - d0
+ // */
+
+ // float measurement = tdoa->distanceDiff;
+
+ // // predict based on current state
+ // float x = this->S[KC_STATE_X];
+ // float y = this->S[KC_STATE_Y];
+ // float z = this->S[KC_STATE_Z];
+
+ // float x1 = tdoa->anchorPositions[1].x, y1 = tdoa->anchorPositions[1].y, z1 = tdoa->anchorPositions[1].z;
+ // float x0 = tdoa->anchorPositions[0].x, y0 = tdoa->anchorPositions[0].y, z0 = tdoa->anchorPositions[0].z;
+
+ // float dx1 = x - x1;
+ // float dy1 = y - y1;
+ // float dz1 = z - z1;
+
+ // float dy0 = y - y0;
+ // float dx0 = x - x0;
+ // float dz0 = z - z0;
+
+ // float d1 = sqrtf(powf(dx1, 2) + powf(dy1, 2) + powf(dz1, 2));
+ // float d0 = sqrtf(powf(dx0, 2) + powf(dy0, 2) + powf(dz0, 2));
+
+ // float predicted = d1 - d0;
+ // float error = measurement - predicted;
+
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+
+ // if ((d0 != 0.0f) && (d1 != 0.0f)) {
+ // h[KC_STATE_X] = (dx1 / d1 - dx0 / d0);
+ // h[KC_STATE_Y] = (dy1 / d1 - dy0 / d0);
+ // h[KC_STATE_Z] = (dz1 / d1 - dz0 / d0);
+
+ // vector_t jacobian = {
+ // .x = h[KC_STATE_X],
+ // .y = h[KC_STATE_Y],
+ // .z = h[KC_STATE_Z],
+ // };
+
+ // point_t estimatedPosition = {
+ // .x = this->S[KC_STATE_X],
+ // .y = this->S[KC_STATE_Y],
+ // .z = this->S[KC_STATE_Z],
+ // };
+
+ // bool sampleIsGood = outlierFilterValidateTdoaSteps(tdoa, error, &jacobian, &estimatedPosition);
+ // if (sampleIsGood) {
+ // kalmanCoreScalarUpdate(this, &H, error, tdoa->stdDev);
+ // }
+ // }
+ // }
+
+ // tdoaCount++;
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa_robust.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa_robust.c
index bd6f15caf..13d31dcdb 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa_robust.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tdoa_robust.c
@@ -65,174 +65,175 @@ static void GM_state(float e, float * GM_e){
// robsut update function
void kalmanCoreRobustUpdateWithTDOA(kalmanCoreData_t* this, tdoaMeasurement_t *tdoa)
{
- // Measurement equation:
- // d_ij = d_j - d_i
- float measurement = 0.0f;
- float x = this->S[KC_STATE_X];
- float y = this->S[KC_STATE_Y];
- float z = this->S[KC_STATE_Z];
-
- float x1 = tdoa->anchorPositions[1].x, y1 = tdoa->anchorPositions[1].y, z1 = tdoa->anchorPositions[1].z;
- float x0 = tdoa->anchorPositions[0].x, y0 = tdoa->anchorPositions[0].y, z0 = tdoa->anchorPositions[0].z;
-
- float dx1 = x - x1; float dy1 = y - y1; float dz1 = z - z1;
- float dx0 = x - x0; float dy0 = y - y0; float dz0 = z - z0;
-
- float d1 = sqrtf(powf(dx1, 2) + powf(dy1, 2) + powf(dz1, 2));
- float d0 = sqrtf(powf(dx0, 2) + powf(dy0, 2) + powf(dz0, 2));
- // if measurements make sense
- if ((d0 != 0.0f) && (d1 != 0.0f)) {
- float predicted = d1 - d0;
- measurement = tdoa->distanceDiff;
+ //COMMENTED FIRMWARE
+ // // Measurement equation:
+ // // d_ij = d_j - d_i
+ // float measurement = 0.0f;
+ // float x = this->S[KC_STATE_X];
+ // float y = this->S[KC_STATE_Y];
+ // float z = this->S[KC_STATE_Z];
+
+ // float x1 = tdoa->anchorPositions[1].x, y1 = tdoa->anchorPositions[1].y, z1 = tdoa->anchorPositions[1].z;
+ // float x0 = tdoa->anchorPositions[0].x, y0 = tdoa->anchorPositions[0].y, z0 = tdoa->anchorPositions[0].z;
+
+ // float dx1 = x - x1; float dy1 = y - y1; float dz1 = z - z1;
+ // float dx0 = x - x0; float dy0 = y - y0; float dz0 = z - z0;
+
+ // float d1 = sqrtf(powf(dx1, 2) + powf(dy1, 2) + powf(dz1, 2));
+ // float d0 = sqrtf(powf(dx0, 2) + powf(dy0, 2) + powf(dz0, 2));
+ // // if measurements make sense
+ // if ((d0 != 0.0f) && (d1 != 0.0f)) {
+ // float predicted = d1 - d0;
+ // measurement = tdoa->distanceDiff;
- // innovation term based on prior x
- float error_check = measurement - predicted; // innovation term based on prior state
- // ---------------------- matrix defination ----------------------------- //
- static float P_chol[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_chol};
- static float Pc_tran[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_tran_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_tran};
-
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- // The Kalman gain as a column vector
- static float Kw[KC_STATE_DIM];
- static arm_matrix_instance_f32 Kwm = {KC_STATE_DIM, 1, (float *)Kw};
+ // // innovation term based on prior x
+ // float error_check = measurement - predicted; // innovation term based on prior state
+ // // ---------------------- matrix defination ----------------------------- //
+ // static float P_chol[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_chol};
+ // static float Pc_tran[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_tran_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_tran};
+
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ // // The Kalman gain as a column vector
+ // static float Kw[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Kwm = {KC_STATE_DIM, 1, (float *)Kw};
- static float e_x[KC_STATE_DIM];
- static arm_matrix_instance_f32 e_x_m = {KC_STATE_DIM, 1, e_x};
+ // static float e_x[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 e_x_m = {KC_STATE_DIM, 1, e_x};
- static float Pc_inv[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_inv_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_inv};
+ // static float Pc_inv[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_inv_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_inv};
- // rescale matrix
- static float wx_inv[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 wx_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)wx_inv};
- // tmp matrix for P_chol inverse
- static float tmp1[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 tmp1m = {KC_STATE_DIM, KC_STATE_DIM, (float *)tmp1};
-
- static float Pc_w_inv[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 Pc_w_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_w_inv};
-
- static float P_w[KC_STATE_DIM][KC_STATE_DIM];
- static arm_matrix_instance_f32 P_w_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_w};
-
- static float HTd[KC_STATE_DIM];
- static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
-
- static float PHTd[KC_STATE_DIM];
- static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
- // ------------------- Initialization -----------------------//
- // x prior (error state), set to be zeros. Not used for error state Kalman filter. Provide here for completeness
- // float xpr[STATE_DIM] = {0.0};
-
- // x_err comes from the KF update is the state of error state Kalman filter, set to be zero initially
- static float x_err[KC_STATE_DIM] = {0.0};
- static arm_matrix_instance_f32 x_errm = {KC_STATE_DIM, 1, x_err};
- static float X_state[KC_STATE_DIM] = {0.0};
- float P_iter[KC_STATE_DIM][KC_STATE_DIM];
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter,this->P); // init P_iter as P_prior
+ // // rescale matrix
+ // static float wx_inv[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 wx_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)wx_inv};
+ // // tmp matrix for P_chol inverse
+ // static float tmp1[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 tmp1m = {KC_STATE_DIM, KC_STATE_DIM, (float *)tmp1};
+
+ // static float Pc_w_inv[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 Pc_w_invm = {KC_STATE_DIM, KC_STATE_DIM, (float *)Pc_w_inv};
+
+ // static float P_w[KC_STATE_DIM][KC_STATE_DIM];
+ // static arm_matrix_instance_f32 P_w_m = {KC_STATE_DIM, KC_STATE_DIM, (float *)P_w};
+
+ // static float HTd[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 HTm = {KC_STATE_DIM, 1, HTd};
+
+ // static float PHTd[KC_STATE_DIM];
+ // static arm_matrix_instance_f32 PHTm = {KC_STATE_DIM, 1, PHTd};
+ // // ------------------- Initialization -----------------------//
+ // // x prior (error state), set to be zeros. Not used for error state Kalman filter. Provide here for completeness
+ // // float xpr[STATE_DIM] = {0.0};
+
+ // // x_err comes from the KF update is the state of error state Kalman filter, set to be zero initially
+ // static float x_err[KC_STATE_DIM] = {0.0};
+ // static arm_matrix_instance_f32 x_errm = {KC_STATE_DIM, 1, x_err};
+ // static float X_state[KC_STATE_DIM] = {0.0};
+ // float P_iter[KC_STATE_DIM][KC_STATE_DIM];
+ // matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter,this->P); // init P_iter as P_prior
- float R_iter = tdoa->stdDev * tdoa->stdDev; // measurement covariance
- vectorcopy(KC_STATE_DIM, X_state, this->S); // copy Xpr to X_State and then update in each iterations
-
- // ---------------------- Start iteration ----------------------- //
- for (int iter = 0; iter < MAX_ITER; iter++){
- // cholesky decomposition for the prior covariance matrix
- Cholesky_Decomposition(KC_STATE_DIM, P_iter, P_chol); // P_chol is a lower triangular matrix
- mat_trans(&Pc_m, &Pc_tran_m);
-
- // decomposition for measurement covariance (scalar case)
- float R_chol = sqrtf(R_iter);
- // construct H matrix
- // X_state updates in each iteration
- float x_iter = X_state[KC_STATE_X], y_iter = X_state[KC_STATE_Y], z_iter = X_state[KC_STATE_Z];
-
- dx1 = x_iter - x1; dy1 = y_iter - y1; dz1 = z_iter - z1;
- dx0 = x_iter - x0; dy0 = y_iter - y0; dz0 = z_iter - z0;
-
- d1 = sqrtf(powf(dx1, 2) + powf(dy1, 2) + powf(dz1, 2));
- d0 = sqrtf(powf(dx0, 2) + powf(dy0, 2) + powf(dz0, 2));
+ // float R_iter = tdoa->stdDev * tdoa->stdDev; // measurement covariance
+ // vectorcopy(KC_STATE_DIM, X_state, this->S); // copy Xpr to X_State and then update in each iterations
+
+ // // ---------------------- Start iteration ----------------------- //
+ // for (int iter = 0; iter < MAX_ITER; iter++){
+ // // cholesky decomposition for the prior covariance matrix
+ // Cholesky_Decomposition(KC_STATE_DIM, P_iter, P_chol); // P_chol is a lower triangular matrix
+ // mat_trans(&Pc_m, &Pc_tran_m);
+
+ // // decomposition for measurement covariance (scalar case)
+ // float R_chol = sqrtf(R_iter);
+ // // construct H matrix
+ // // X_state updates in each iteration
+ // float x_iter = X_state[KC_STATE_X], y_iter = X_state[KC_STATE_Y], z_iter = X_state[KC_STATE_Z];
+
+ // dx1 = x_iter - x1; dy1 = y_iter - y1; dz1 = z_iter - z1;
+ // dx0 = x_iter - x0; dy0 = y_iter - y0; dz0 = z_iter - z0;
+
+ // d1 = sqrtf(powf(dx1, 2) + powf(dy1, 2) + powf(dz1, 2));
+ // d0 = sqrtf(powf(dx0, 2) + powf(dy0, 2) + powf(dz0, 2));
- float predicted_iter = d1 - d0; // predicted measurements in each iteration based on X_state
- float error_iter = measurement - predicted_iter; // innovation term based on iterated X_state
- float e_y = error_iter;
- if ((d0 != 0.0f) && (d1 != 0.0f)){
- // measurement Jacobian changes in each iteration w.r.t linearization point [x_iter, y_iter, z_iter]
- h[KC_STATE_X] = (dx1 / d1 - dx0 / d0);
- h[KC_STATE_Y] = (dy1 / d1 - dy0 / d0);
- h[KC_STATE_Z] = (dz1 / d1 - dz0 / d0);
-
- if (fabsf(R_chol - 0.0f) < 0.0001f){
- e_y = error_iter / 0.0001f;
- }
- else{
- e_y = error_iter / R_chol;
- }
- // Make sure P_chol, lower trangular matrix, is numerically stable
- for (int col=0; col<KC_STATE_DIM; col++) {
- for (int row=col; row<KC_STATE_DIM; row++) {
- if (isnan(P_chol[row][col]) || P_chol[row][col] > UPPER_BOUND) {
- P_chol[row][col] = UPPER_BOUND;
- } else if(row!=col && P_chol[row][col] < LOWER_BOUND){
- P_chol[row][col] = LOWER_BOUND;
- } else if(row==col && P_chol[row][col]<0.0f){
- P_chol[row][col] = 0.0f;
- }
- }
- }
- // Matrix inversion is numerically sensitive.
- // Add small values on the diagonal of P_chol to avoid numerical problems.
- float dummy_value = 1e-9f;
- for (int k=0; k<KC_STATE_DIM; k++){
- P_chol[k][k] = P_chol[k][k] + dummy_value;
- }
- // keep P_chol
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, tmp1, P_chol);
- mat_inv(&tmp1m, &Pc_inv_m); // Pc_inv_m = inv(Pc_m) = inv(P_chol)
- mat_mult(&Pc_inv_m, &x_errm, &e_x_m); // e_x_m = Pc_inv_m.dot(x_errm)
- // compute w_x, w_y --> weighting matrix
- // Since w_x is diagnal matrix, compute the inverse directly
- for (int state_k = 0; state_k < KC_STATE_DIM; state_k++){
- GM_state(e_x[state_k], &wx_inv[state_k][state_k]);
- wx_inv[state_k][state_k] = (float)1.0 / wx_inv[state_k][state_k];
- }
- // rescale covariance matrix P
- mat_mult(&Pc_m, &wx_invm, &Pc_w_invm); // Pc_w_invm = P_chol.dot(linalg.inv(w_x))
- mat_mult(&Pc_w_invm, &Pc_tran_m, &P_w_m); // P_w_m = Pc_w_invm.dot(Pc_tran_m) = P_chol.dot(linalg.inv(w_x)).dot(P_chol.T)
- // rescale R matrix
- float w_y=0.0; float R_w = 0.0f;
- GM_UWB(e_y, &w_y); // compute the weighted measurement error: w_y
- if (fabsf(w_y - 0.0f) < 0.0001f){
- R_w = (R_chol * R_chol) / 0.0001f;
- }else{
- R_w = (R_chol * R_chol) / w_y;
- }
- // ====== INNOVATION COVARIANCE ====== //
- mat_trans(&H, &HTm);
- mat_mult(&P_w_m, &HTm, &PHTm); // PHTm = P_w.dot(H.T). The P is the updated P_w
-
- float HPHR = R_w; // HPH' + R. The R is the updated R_w
- for (int i=0; i<KC_STATE_DIM; i++) { // Add the element of HPH' to the above
- HPHR += h[i]*PHTd[i]; // this only works if the update is scalar (as in this function)
- }
- // ====== MEASUREMENT UPDATE ======
- // Calculate the Kalman gain and perform the state update
- for (int i=0; i<KC_STATE_DIM; i++) {
- Kw[i] = PHTd[i]/HPHR; // rescaled kalman gain = (PH' (HPH' + R )^-1) with the updated P_w and R_w
- //[Note]: The error_check here is the innovation term based on prior state, which doesn't change during iterations.
- x_err[i] = Kw[i] * error_check; // error state for next iteration
- X_state[i] = this->S[i] + x_err[i]; // convert to nominal state
- }
- // update P_iter matrix and R matrix for next iteration
- matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter, P_w);
- R_iter = R_w;
- }
- }
- // After n iterations, we obtain the rescaled (1) P = P_iter, (2) R = R_iter, (3) Kw.
- // Call the kalman update function with weighted P, weighted K, h, and error_check
- kalmanCoreUpdateWithPKE(this, &H, &Kwm, &P_w_m, error_check);
-
- }
+ // float predicted_iter = d1 - d0; // predicted measurements in each iteration based on X_state
+ // float error_iter = measurement - predicted_iter; // innovation term based on iterated X_state
+ // float e_y = error_iter;
+ // if ((d0 != 0.0f) && (d1 != 0.0f)){
+ // // measurement Jacobian changes in each iteration w.r.t linearization point [x_iter, y_iter, z_iter]
+ // h[KC_STATE_X] = (dx1 / d1 - dx0 / d0);
+ // h[KC_STATE_Y] = (dy1 / d1 - dy0 / d0);
+ // h[KC_STATE_Z] = (dz1 / d1 - dz0 / d0);
+
+ // if (fabsf(R_chol - 0.0f) < 0.0001f){
+ // e_y = error_iter / 0.0001f;
+ // }
+ // else{
+ // e_y = error_iter / R_chol;
+ // }
+ // // Make sure P_chol, lower trangular matrix, is numerically stable
+ // for (int col=0; col<KC_STATE_DIM; col++) {
+ // for (int row=col; row<KC_STATE_DIM; row++) {
+ // if (isnan(P_chol[row][col]) || P_chol[row][col] > UPPER_BOUND) {
+ // P_chol[row][col] = UPPER_BOUND;
+ // } else if(row!=col && P_chol[row][col] < LOWER_BOUND){
+ // P_chol[row][col] = LOWER_BOUND;
+ // } else if(row==col && P_chol[row][col]<0.0f){
+ // P_chol[row][col] = 0.0f;
+ // }
+ // }
+ // }
+ // // Matrix inversion is numerically sensitive.
+ // // Add small values on the diagonal of P_chol to avoid numerical problems.
+ // float dummy_value = 1e-9f;
+ // for (int k=0; k<KC_STATE_DIM; k++){
+ // P_chol[k][k] = P_chol[k][k] + dummy_value;
+ // }
+ // // keep P_chol
+ // matrixcopy(KC_STATE_DIM, KC_STATE_DIM, tmp1, P_chol);
+ // mat_inv(&tmp1m, &Pc_inv_m); // Pc_inv_m = inv(Pc_m) = inv(P_chol)
+ // mat_mult(&Pc_inv_m, &x_errm, &e_x_m); // e_x_m = Pc_inv_m.dot(x_errm)
+ // // compute w_x, w_y --> weighting matrix
+ // // Since w_x is diagnal matrix, compute the inverse directly
+ // for (int state_k = 0; state_k < KC_STATE_DIM; state_k++){
+ // GM_state(e_x[state_k], &wx_inv[state_k][state_k]);
+ // wx_inv[state_k][state_k] = (float)1.0 / wx_inv[state_k][state_k];
+ // }
+ // // rescale covariance matrix P
+ // mat_mult(&Pc_m, &wx_invm, &Pc_w_invm); // Pc_w_invm = P_chol.dot(linalg.inv(w_x))
+ // mat_mult(&Pc_w_invm, &Pc_tran_m, &P_w_m); // P_w_m = Pc_w_invm.dot(Pc_tran_m) = P_chol.dot(linalg.inv(w_x)).dot(P_chol.T)
+ // // rescale R matrix
+ // float w_y=0.0; float R_w = 0.0f;
+ // GM_UWB(e_y, &w_y); // compute the weighted measurement error: w_y
+ // if (fabsf(w_y - 0.0f) < 0.0001f){
+ // R_w = (R_chol * R_chol) / 0.0001f;
+ // }else{
+ // R_w = (R_chol * R_chol) / w_y;
+ // }
+ // // ====== INNOVATION COVARIANCE ====== //
+ // mat_trans(&H, &HTm);
+ // mat_mult(&P_w_m, &HTm, &PHTm); // PHTm = P_w.dot(H.T). The P is the updated P_w
+
+ // float HPHR = R_w; // HPH' + R. The R is the updated R_w
+ // for (int i=0; i<KC_STATE_DIM; i++) { // Add the element of HPH' to the above
+ // HPHR += h[i]*PHTd[i]; // this only works if the update is scalar (as in this function)
+ // }
+ // // ====== MEASUREMENT UPDATE ======
+ // // Calculate the Kalman gain and perform the state update
+ // for (int i=0; i<KC_STATE_DIM; i++) {
+ // Kw[i] = PHTd[i]/HPHR; // rescaled kalman gain = (PH' (HPH' + R )^-1) with the updated P_w and R_w
+ // //[Note]: The error_check here is the innovation term based on prior state, which doesn't change during iterations.
+ // x_err[i] = Kw[i] * error_check; // error state for next iteration
+ // X_state[i] = this->S[i] + x_err[i]; // convert to nominal state
+ // }
+ // // update P_iter matrix and R matrix for next iteration
+ // matrixcopy(KC_STATE_DIM, KC_STATE_DIM, P_iter, P_w);
+ // R_iter = R_w;
+ // }
+ // }
+ // // After n iterations, we obtain the rescaled (1) P = P_iter, (2) R = R_iter, (3) Kw.
+ // // Call the kalman update function with weighted P, weighted K, h, and error_check
+ // kalmanCoreUpdateWithPKE(this, &H, &Kwm, &P_w_m, error_check);
+
+ // }
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tof.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tof.c
index 9d4b49280..a8e96875e 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tof.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_tof.c
@@ -27,27 +27,28 @@
void kalmanCoreUpdateWithTof(kalmanCoreData_t* this, tofMeasurement_t *tof)
{
- // Updates the filter with a measured distance in the zb direction using the
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ //COMMENTED FIRMWARE
+ // // Updates the filter with a measured distance in the zb direction using the
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- // Only update the filter if the measurement is reliable (\hat{h} -> infty when R[2][2] -> 0)
- if (fabs(this->R[2][2]) > 0.1 && this->R[2][2] > 0){
- float angle = fabsf(acosf(this->R[2][2])) - DEG_TO_RAD * (15.0f / 2.0f);
- if (angle < 0.0f) {
- angle = 0.0f;
- }
- //float predictedDistance = S[KC_STATE_Z] / cosf(angle);
- float predictedDistance = this->S[KC_STATE_Z] / this->R[2][2];
- float measuredDistance = tof->distance; // [m]
+ // // Only update the filter if the measurement is reliable (\hat{h} -> infty when R[2][2] -> 0)
+ // if (fabs(this->R[2][2]) > 0.1 && this->R[2][2] > 0){
+ // float angle = fabsf(acosf(this->R[2][2])) - DEG_TO_RAD * (15.0f / 2.0f);
+ // if (angle < 0.0f) {
+ // angle = 0.0f;
+ // }
+ // //float predictedDistance = S[KC_STATE_Z] / cosf(angle);
+ // float predictedDistance = this->S[KC_STATE_Z] / this->R[2][2];
+ // float measuredDistance = tof->distance; // [m]
- //Measurement equation
- //
- // h = z/((R*z_b)\dot z_b) = z/cos(alpha)
- h[KC_STATE_Z] = 1 / this->R[2][2];
- //h[KC_STATE_Z] = 1 / cosf(angle);
+ // //Measurement equation
+ // //
+ // // h = z/((R*z_b)\dot z_b) = z/cos(alpha)
+ // h[KC_STATE_Z] = 1 / this->R[2][2];
+ // //h[KC_STATE_Z] = 1 / cosf(angle);
- // Scalar update
- kalmanCoreScalarUpdate(this, &H, measuredDistance-predictedDistance, tof->stdDev);
- }
+ // // Scalar update
+ // kalmanCoreScalarUpdate(this, &H, measuredDistance-predictedDistance, tof->stdDev);
+ // }
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_yaw_error.c b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_yaw_error.c
index d9f903805..e0b256490 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_yaw_error.c
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/modules/src/kalman_core/mm_yaw_error.c
@@ -27,9 +27,10 @@
void kalmanCoreUpdateWithYawError(kalmanCoreData_t *this, yawErrorMeasurement_t *error)
{
- float h[KC_STATE_DIM] = {0};
- arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
+ //COMMENTED FIRMWARE
+ // float h[KC_STATE_DIM] = {0};
+ // arm_matrix_instance_f32 H = {1, KC_STATE_DIM, h};
- h[KC_STATE_D2] = 1;
- kalmanCoreScalarUpdate(this, &H, this->S[KC_STATE_D2] - error->yawError, error->stdDev);
+ // h[KC_STATE_D2] = 1;
+ // kalmanCoreScalarUpdate(this, &H, this->S[KC_STATE_D2] - error->yawError, error->stdDev);
}
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/Makefile b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/Makefile
index d8930a3e0..b9898090f 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/Makefile
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/Makefile
@@ -32,6 +32,8 @@ CFLAGS = -mcpu=cortex-a72 \
-I$(INCLUDEPATH23) \
-I$(INCLUDEPATH24) \
-I$(INCLUDEPATH25) \
+ -I$(INCLUDEPATH26) \
+ -I$(INCLUDEPATH27) \
-D__LINUX__
BUILTIN_OPS = -fno-builtin-memset
ASMFLAGS = -mcpu=cortex-a72
@@ -61,6 +63,8 @@ INCLUDEPATH22 ?= ../platform
INCLUDEPATH23 ?= ../modules/interface/lighthouse
INCLUDEPATH24 ?= ../deck/drivers/interface
INCLUDEPATH25 ?= ../modules/interface/kalman_core
+INCLUDEPATH26 ?= ../lib/FatFS
+INCLUDEPATH27 ?= ../utils/src/tdoa
PLATFORM ?= cf2
@@ -148,7 +152,7 @@ OBJS += build/controller.o build/controller_pid.o build/controller_mellinger.o b
OBJS += build/student_attitude_controller.o build/student_pid.o
OBJS += build/controller_student.o
OBJS += build/power_distribution_stock.o
-OBJS += build/collision_avoidance.o #health.o
+OBJS += build/collision_avoidance.o build/health.o
# Kalman estimator
OBJS += build/estimator_kalman.o build/kalman_core.o build/kalman_supervisor.o
@@ -159,7 +163,7 @@ OBJS += build/mm_tdoa_robust.o build/mm_distance_robust.o
OBJS += build/crtp_commander_high_level.o build/planner.o build/pptraj.o build/pptraj_compressed.o
# Deck Core
-OBJS += build/deck.o deck_info.o build/deck_drivers.o build/deck_test.o build/deck_memory.o
+OBJS += build/deck.o build/deck_info.o build/deck_drivers.o build/deck_test.o build/deck_memory.o
# Deck API
OBJS += build/deck_constants.o
@@ -175,12 +179,12 @@ OBJS += build/buzzdeck.o
OBJS += build/gtgps.o
OBJS += build/cppmdeck.o
OBJS += build/usddeck.o
-OBJS += build/zranger.o zranger2.o
+OBJS += build/zranger.o build/zranger2.o
OBJS += build/locodeck.o
OBJS += build/clockCorrectionEngine.o
OBJS += build/lpsTwrTag.o
OBJS += build/lpsTdoa2Tag.o
-OBJS += build/lpsTdoa3Tag.o tdoaEngineInstance.o tdoaEngine.o tdoaStats.o tdoaStorage.o
+OBJS += build/lpsTdoa3Tag.o build/tdoaEngineInstance.o build/tdoaEngine.o build/tdoaStats.o build/tdoaStorage.o
OBJS += build/outlierFilter.o
OBJS += build/flowdeck_v1v2.o
OBJS += build/oa.o
@@ -192,7 +196,7 @@ OBJS += build/activeMarkerDeck.o
ifeq ($(UART2_LINK), 1)
CFLAGS += -DUART2_LINK_COMM
else
-OBJS += aideck.o
+OBJS += build/aideck.o
endif
ifeq ($(LPS_TDOA_ENABLE), 1)
@@ -283,9 +287,6 @@ build/%.o : ../musl_libc/%.c
build/%.o : ../../../Source/%.c
$(CROSS)gcc $(CFLAGS) -c -o $@ $<
-build/%.o : ../../../Source/portable/GCC/ARM_CA72_64_BIT/%.c
- $(CROSS)gcc $(CFLAGS) -c -o $@ $<
-
build/%.o : ../../../Source/portable/GCC/ARM_CA72_64_BIT/%.S
$(CROSS)as $(ASMFLAGS) -c -o $@ $<
@@ -340,6 +341,9 @@ build/%.o : ../utils/src/tdoa/%.c
build/%.o : ../lib/vl53l1/core/src/%.c
$(CROSS)gcc $(CFLAGS) -c -o $@ $<
+build/%.o : ../utils/src/%.c
+ $(CROSS)gcc $(CFLAGS) -c -o $@ $<
+
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/activeMarkerDeck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/activeMarkerDeck.o
new file mode 100644
index 0000000000000000000000000000000000000000..d4ace454eaec7eb40fc3a525cacf43c0640a66db
GIT binary patch
literal 7360
zcmcIpU2I%O6+XMyp#chVaGakukefC^u4xwAO@g;n;;tP#wwe%QFG-{n?OyL*+bgek
zH+Qd%qZD;3sMLo(*lHelK-2^(*?sCm5Dh<)D=L8mLQzNy4-upx6_JooswyH@NzFNP
z&+(4Od#ixNMBX{`&3C?YX6F8!-8|QKv_Bq;fwUO>4C*660i5lctxN~DK`Y!l_lu=_
z7R=u{9bei8F!y#G=KqzmmUf{1!ANYW1^bJS!2HUiu(A_vbUnY_a#lVCu+>Fw{5!Sb
zJ$s#`6RQn>4d9FewTFlU&pIzt@5Y_vn;)$nSVpb|wJV#THat2Jbmy92z6qS<D-fT|
z0;J!wV(oE&<a5pNKH%KDAFZZejl;p~ap%(RCOEV7Zya|y$%R8sayM+6v~hgXYJKfd
z)C0`thGn(Cxv4h%!ZqloxEGK|`PsO(M{GzEc6D`iJ8{V`j()@^{O^eGwyn46@7}pz
zh5OM0E3LTRAE5^A!+|y@c@;1pYis)lBdMi3EzZilbH83(wleQL;lMoV%)M*1yoNp5
z=W8)INZ20A51bV|lS?+*3voy`(lGs(F&1Gd&Hpy#k5~-#_JDJV_WQ;IuRL@CHB%q1
zB45S9m|+eVaqlTli6{BWTJ`nHSyyqr*>)#sH^D*7na+Fe4(<h>+m$^2(HW9{e5cww
zwbq~q<}bu*S7Mke#-cqqPkVP0?S;6r@?E?(;_>=^|ILDS(x$l^$RWMlOn63=FYQyd
z9g?)qlJhDy)P<PU6t^sZZ%n(zLiKF5BatF_ZQPmYP~%i@dhkSF=2&X@>AvA7?ZHy6
zJXLXn!f4U6^ImS!?mvl_Fo2s23Nzj@*PrzK!-y+q{4o4!3SI1dRpqtbk9<ahkx~`=
zLRaoMiByAfC8LWI2^+<xel(ZTA~RnmaemA%mjdFsA;0L2(GdK?_yieK<-AAZO1W61
zeoc=C*!0lHklQ=qmd3q2{Blb;|KEP%dEHktc`|-J!dvFe=_tHr5_ue@-xk6Df8(1Y
z;?^SYsQf1)_)$7=q__7;yY0x=ziFq-<zjBaEtKrBvTp|yo}JoX@ylZcyaiHzZlVx)
zxnSD&>|~;Ae^*CmGSS&(x4Hh*ezZCsdyMczr%f}R9bNP^`j|%N)dcUWd(@;^4c|xr
z7XEA0EL1YvRt0RlD(Hb2*Yr1Q6bm+)GO$Y_8}Z$&)6D)i+4BJ77(}&2#zUQr`48fJ
zOk0<%WQ1|KE(Fgo{vhj0`ezvbjDd%7#hWLwdtUMDxahpZxWpCw662r5o|@p7mE8pV
zm|MgD#CS82u}NO<p&i5X`n*ExI{#pNuYuFhf=@77@4|I$#CvexV;Y}c?$oH{Aza3i
z7tL89tEExcLj8?6&01@#WioalUv{C6A5wAacw2o6b>tN5V5qYZKdp4?c((3>I-k`>
zp&9CI#LG&jjxTGT7U;X8>ukhdP&##dV4cqAv{7ijjQl#gKD`uyUqXBfUMDtF<x2fc
z1pjvt_&X8!Un1~-M&KVt;Bma(8m((f1imu@-xq;D9)W)q@h#eQyLP4OFLJ6v5;@pA
z3xQjmguVH7uX&nHd(~hAI9MtKkel{>uM`aC!S~KgBhAa}HaSzBAiTA4p?bpe3u6VW
z9lRM7NMi*u?)mF#8?C^|RNS-0vYUr|c?e4rlIfWaf^uoZD^<%r6sjtl8PBg45Dff6
zX`G9uyum%;7N<SPWc08@q55I3n#)9{kh!l+QMp(iudY);tm69aR1``nLgvWP<2|XP
zndANaBYo*iI@NQuF9TSM2Hw<3w-Ag3t{<pEum9V)ceGA8)|G~tG#=VvujrmtlReW_
zT6o@@IqBo8c-R~7UY9qPkbZ8e0=Y77T+thv4)A5}gIB>V3&voU)Ovl-4Lq3grm9}R
zYQvtJS7Lb|D_cK9IcEx`v9h}J<cZUQ*T4Sul54)zz<2QdO8hUeO`Xj);c_n%^tgt9
zfo<wK*nSxK!Xb#>uhf!=?+;D&`4rofkFK9)oOBWz{}~PcvW92b-e%}bFmA5*EygJy
z$(f+5j8oiBwyC?uwwdR34cGVK7UQJT#Wr=f**4?iOHMU2?k>j7{kIu6^BK_i4{$8%
zhBUs8rx~ZXPiXvSG#&kV$TM!9V})^Z|6kN}D6U+8_~lkL%3sINGj8Vd15HQI=O>Jt
z`Me&%zZk)Pi*Ymm-)nrihAHvOnm*-k6Nv39<FYPWp#XnooYtk6*w+|0<35P*32NrK
zH#2UY`!0=7`N(_S)^IkJ?g33l=Rc+4I^W>|<$p*igdb@Q|B8m6V%&V5WEnTF|B9v~
zwI0dMYC4o>mOyOJYC8J4e2;P2|EyvIyrk*t`!DZbsxwKyna`t*{RmgC>@Uv>!G-T=
zeA1EonPFAO$}?6lMdP?~KkNArU-m+LDK0%Hg(tn_Un5a$w)za~XUb=e$NIWRXD{Ot
zM|8f=xWm1~mHK~3!%2UE$M>7hb>{2&(0fY!&3tY#-{GF}A-;UCG4r|2yi*2WD*6cx
zr~L2oxT4{t|7jlAG+aO57d4#t^4^vGll_$Ms|y;R_FwXUUBf?aKi^=UZSa?Q+@|5A
zFYE2raMHibV@OobP6h5L_JJSv6Jq&T!z2Q4Hh@Il4O~c!R;!Tk%QPT*XQCU2L{bP^
zIGHGxb8b;^tVs^5@+46&PeK<}?O|C+MP@=TezhW#Rj_<p$6#1haM2U0hD+ejfm2w`
z%4+}T-bPQn<g{<7p_CJLu*lB`9<IITWc)B1bRLcX+;{L-x;Fl)q6Kk^vzh02aQ{Wd
z=^E49Esk6NW*E+jzi_D*Bh2)_%l`X>$i3-LwGic{*D^#E|8APpn)nOchjV0`@jGZ!
zunmOW+Nbyn;GofH|4z|{Vauvdd|zTuzb=Ts?BBN#YZQN$;|rf<*8F9B3XMkb-{ANX
zhlZpjdV<d))+m0B<G10w-o#(9DjJRAU*`A&Or#;*^Wrb@e~eh8_=_Ari}QLDf5Co;
zMx*#UwuX#3CQ^KQ28zGL|2blf;&0~bei`TWCjNr`6pcpl7dieAiDRSqbT5d%#Q!5=
zjpF~7;}77x-o#(9KcLYl{@vD)k!2#qZ^l3Im-v50jN*6TpWd4Jr?AsHh&C^0U2i;M
zlt+dAE4&Wc4yupM`1GDJ?>!Q@&M&y5hPcEh4mJAkghu|S@IMo&-3q(4Pt*TD3Uu+*
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/aideck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/aideck.o
new file mode 100644
index 0000000000000000000000000000000000000000..ff893923351f447170dde49533864db9a1273c0a
GIT binary patch
literal 3952
zcmbW3PiP!<6vy9Y+WM#dOM_Ug+KC29#f-a43yEH4n@u*s)P!^;1(C^Qcaj~tn_Xrn
zVPh*s5HEU2uwW4n!IOINBIuz=5f7e33QCS1ym^WApgF|&-u&K6ewm#?=r8QN_xt?5
z@4esrW`4iSyJJ)1J(&zh%fPpA*b@q{^WdRxN3IR0pchP7pS^83znwLWU+K4Z?fWnH
z4A{JT5_VB`1KwGmjqG*%<H!PR^kWQwz1s)&$nQqqi^R!hA`Um~%=#T+N~^{TINpcx
z?H<^qajJ)LUy=Xs{{9p3`l6jbfps!)0qmQzCTs<y$9vpBi*t!`Z61g9J5~G{`0II6
z&6)0P{sfHNJ!$XmUHjn+y3fMoP;qSZwV_gB2EzfWUgav;g-T(v$UgPkVYB7PAog8f
zbpo&A`K#W-TIi8X>0}W5l!y4OQ*^!e_FhUT-gjbKPow~8d1@*8v^-E69eu?dEWQ4Q
zS#CD#m741>n~TlB3~QcQ7-|L0MZb<-P^tN$R|!`F&m6JxL-}lO#LDH(K{sd&p_e^(
zj<}UGX(X4;Ur3n<W4hmC@YjBl%1C_E0Sx?0Y6fPCH?=LgSM^~O_GtO<=fKm<ALIUY
zwqy)AuJx4LADM1GfSmHvOH6G(x&pk6Hlxi`W~TCV&;LB@MJJZh8E}Hkk*4x=^FL9Q
z(e%SwlmT-0hfw9|=A<w{J8U>a>AU%>IG)k;6Ram=z(ZP3xhhXLr%jj9^hfhN(v@cp
zi9ADna4Ch;A(5nCP2nG<@K00t=PCT_6#jDx-%jCwAn(<l<H3_tXO~rhfes&XWv?AV
z$!!gn-S$-&s4|{h_CtuyJ-;3Kj#F<gwH-eE9H-?5ZlkRZ&GuS5^cr)nA6^dKAcRZ#
zGOSX*qE~m<z$r~lUo1>H)8pfp$I4E*aB*tP0XmqS(#+(vGdX=8TK@8-X4QkLzvPE*
zeJ;Rr1y(RwuH=P9H+1LxuvYXI-IaP+_8VSvB~-)F<T_MrH1J#uss?ys2Ru<e)St%n
zpmrt$@RV|+EA2~a#Lp-<y1v9dafv0AW!{JU8TQG@{ux33tj3G%Q=YRLpV7Ff@hckF
z>sB?c>s!oeKF8Q66SDt!jCYvF=kvbC``IV+8T;}4Tg>D6zhO@KpJSiQckEN1gLe_x
zEsgh}FMIAbbIPylf7H0H-)2sApJ$(p#L_1d`SS#^4Jre~DbEJ?voX%y14DZKbcyF5
zW~Iqi>e}4b>*~)-;zU2g`gnd>ACt#Le>x>UPB&`t{4x))+G~x_T|gTK%GSgSaPL~7
z*9pO@;{F3`q1^^6Xi|sdIcpfZB#H=nIB3<I6}K)Nzp#qYZnV^~p?0GR!qbE)tD^(O
zioUz7O0&`MmgOzxo45yKVhpW8{6C<LjM|Pe2Ul5N0dywNbFu}n9llRF|L_7oid}N$
zdCBv5fqDE3B`Xg`r8&69F`Yw{GcBIpUA@KQb2vyWuZz%^`s%Cpa8TwidB$*v{CNGF
zERgp~GDy7iZFG{>FZ+N}Ot6sFkDigl%lf^AEUEr4TwnB@<{)1BSI|kS-{JaFhw4)<
z$tV16WJ&e6x&8!>>rLW?t)P=se}n7Kvykf3*OJ6b{ST2P)i?RU|6lzNFg~gNPC|Y9
z%8J+jgzIO~>aE80-_#-cyevm-{2ir`pBQ%d#iD&j|Ci(SX`1nO4-weBq5r0i)}+3m
SUUZV;XZX`}ON4CW@&5t0+d%#R
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/bigquad.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/bigquad.o
new file mode 100644
index 0000000000000000000000000000000000000000..8f67334bf3aa7fba349274d76188b3890045ab0f
GIT binary patch
literal 880
zcmbVKu};G<5WO@N6fv<Ov6zWgB9;@0p|Av1&;>EU#N?zYiPSX3aV41e1wMhl=y&l2
za87MCa?AiH+3)V%J)bYm`_0{L&-1{T2OHQ$h6Px)$he_n7{ETjbTYXl!|DAad8n#I
zn)6~w=9M5a&&YMK64ks|peNG2kXb6%A|qoO1rZC!G>piQi!wlujYf*6AyJu-MHjo?
zE>B&j4`1J|obQ|fz=xiz9C`m2zTf4O;`wFGXEX(%^;;=<f+)onbK}YERRW!H$$=(y
z4K%IFGF!^-d4FV1uwKo+XX#=qHeu`88tN2x#n}_bO}4w)`ZFvU;QFur9JT69hO2F{
z4xZX1`lf#yU9b45bsrkl_fbpTRoU?t-~iFSyGk+L;852YFnvvYgpNypr3>xf*4F<3
D{@piv
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/buzzdeck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/buzzdeck.o
new file mode 100644
index 0000000000000000000000000000000000000000..a8cf2a882eef3882df87e5f0fc2683bd2a7173b9
GIT binary patch
literal 3144
zcmbtWO=uHQ5T0b~|G!nyR&bFbRqT?)A6ij}wzgG7#UBtA(rvOK!6aK>wo<ENy?XEm
z^yEqKpf_(`M2aVmUi93fN2M2gC_1xmrg`1$dU0TPX1@2$%)WVV-|oZH=Z4d%6o{nY
z1GGFr0luti+4<1S!&caW*32cmZQEm8-{@Mr_vziD1<&W#!NR-+2j(`-Y{l^xb5`ep
z`E~h)#e1LMCh<D~o{gpR19JdJC<d=*cs(cE#yVqZ7?2#ZR^dD1Q1XhmNRJm!O-@gH
zifoc*;7=4}P(#b^A3K)0u$f$IIrcB_QNmy)0iQ|0VPtUdnB6;a{;GY&_iM$9TW#27
zU)e#$vrqO-D8F2-p{0tIYTy-vN#)rCPOdMP$qqQ#oZaiHdLLSu{rd@bvNnxmGdb$u
zKZMq}1AhI9qgb&!fZ7w^APX}^Wqk;=@1#wLr;YrpIk21Ya2?R@WqcpwdG?R9CS}12
z!_(%WP_^Sn5l<P<DNm;P?axnXELa(4GjE#Tj-NnM%HYd9DAod*Wh;};(~iFk^R)2(
zRtV-<Yk1n!dD?LrwLq_e8Kn8`_*o>S4F0GQWWh$m)8;i)<{X7kPQaT9_=5!e3F2Ff
z`7U*29A9&Kubm?FOaXaA=v^q6TXti~JkzKK&{KkHGqi*~7^oT)3KOn!>rH)1OjNyT
z|FRcca)YW5;tebBwsw}{J%y}6zY!?E1|?O!<EaAWMP(j0vZK0iqwT`Ei1e`09l;MX
zPW&z*qdv!WC*qQmpo@&}h~Ts?B$S`tDUq9OP@W9}q8?*=dju~rPI-2-O{&Irw60L-
zQ<4@3wXB=qvS&<ujlt{XSmEc{7e%<_AS{|kcs3ivPs(rhQ{FS-@03JN^KLzG$H8d^
zO6!VP%B#6f;7tYKl-$4tXS~@2NBQIsJ?r$NOQaA%%c=QAw-yDJzZ}Q?JQQv$$J|&t
zQ@CfHaHly%zh3tmfjsGdX&a-lRmKUX)8(~-`>aKoYd{$7HR@*`FH^4ZQT&rZI{>
ztef<i&UwP4Uzm@G#R+juIfxGBOp1^4qka}+3CrPS$}Bs3O%QE)e#vthF|woee{fv1
zUlPy5Vc+8VH_D%y3=^q;1WCN~?>b^}^?!3*KWkAEFaA|D;_6Su)Tda9m-_VM6<0sQ
z4HCZ8i~9A1`fs_u)S>y)*G}REe~MUK{eG@LisPn8ykL*fh@1Z`*B@gd)u*qg#7q5G
zh*2q7Cp1Hu;rcfOV9jtCLlF7qxydw`W8zmHq<uu+lW2W9<Dz?ya=fQWp}f{==`QsJ
Spg;Mzc$@$G-w2U)H2yDShU!WH
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cfassert.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cfassert.o
new file mode 100644
index 0000000000000000000000000000000000000000..828bdec417db66f62ba1f0a589972e198f3db4bd
GIT binary patch
literal 3776
zcmbVOO>7fa5T5lWX&^!6w?&1jFD*ea3adD@5=50)+vEo+N}||Rsh~0&dtFD^UbDLv
zKdFS<a^RRqJ#YY(3sS?0o{FWajVcbU)Ju`5dV|m&$_+>_mPpf?-FdKV?5gcZ&ol3P
z^S=4nw{Lx6czh(HC?G|Fui^PjqNux{+q!4!&;=VI0x<uZTDy~ceEmrR^u}AT^dt$e
z7~c%_B{lQQ>fE=Bt12w4q?E-KRk`t}8rgR*q2B%CuzL3%j%A$RSGV0j%Fi+GJZj|I
zzVCsD>5U$M1zMxg1GQ-#hqP;K)13H}Ygg|m@XZs^t=B)rwZwPVZ0Ov%6(F)tbVHqd
z-VpxyYi;dSvO6)}L(Kmu=HIF4jiZ?V1_c_>u0$i7BGI-TYP93^wkXv?{*>bb^iQCF
z57s+_{%>NvavgJ-Ush|=@yFNgPF#;DdOZWmsZSJ0EA4vya3`Dw71D>h;k1aLZbMCL
zxX-UuZy?9^W^+J3@=>?w^+@}3KZ#3h?KAjU?q8i#7FUz75ZM&RS`t`GGP<GXNR;+G
zRH6Py7u2bLt8?*1+_xa>kbR=(M_lv_vF>TC+ZNc{l`d!;K#puguU~-3sTx3frAu$D
z&VBzSam;k!Ggw=DTcD53h2r?5HhrN3>Oue12dN<ucO27pMc$Y#nmN(y4E5$V;s%l?
z>xLU}@z%!-JC`@AMOPE{z>w%Y)-UWB>p|8BB+fw5_JK;4wc`P;<D#3hu}MDtVy5bf
zYWY;zI#U+zxr#{~US1QHF#OVH%X!N#8SboA7I~{$ezCrE!4%Fp$2CjBHl1n-n_%Q!
z(-wy83DX>ZKR!KibYk>FnWopHfAuq(Ob&^@(TVp&+Omq-f-y^(*uurw@%<Is%473I
z+|CweT{G)eZBrc52KNsR#13h(LD6T}rTu6PM5BajF+nS_fx&nFIXa#JXoJUV&Aim+
zHx9lgYBP64+t%U!^+ZwDiwf=Qz?VH_Jx;I+9WDIV<G%k(>-_Q3fvthM1bgg7y_xNx
zdKV{K0&)9zaTqo62%cYIJ%zd%Po@R_Q48E@fuC=IUqqbpSwc<H?<=^9n(#+F-_80f
z#y9h$xy|^GjNfOxz&K>{{u$S@u;(o7$${fqw&~vtBX~5A7_I@C(ecSdd^|HbGLjlj
zXVUS+_;3cCvQcpgmJ2?^2wo$QwaSiFG^eUA9(5bcialF)^MLnDvS=E1yjUbVWx7zY
z&X{(}wJO1g&u$biY#^1idDitXkI+vq#qm8noA<#9df$sF*Rb8R>A12?skdSMfluo*
z`w-%rq!a2fws#@k6~M>YCZ6Ewr1L=%=0D-XK>YqY-~%Ta-x1=;F-~!V=S@B@!nd#w
zDOn)l^bSa=u@T1UJdqH-%{RT@CAP!)|HOE>Kl0p#{hzk*m*+9;zZ>%)3G<IJPX5&A
zo1PcIIODQ!5}yk21p7=MdXm>r2m5)9amoLy?*=Crm;4ex$$0oV<`@t27ef4k`HL-h
zDvZmx(*NTY{IwAOW#+%wg8x#8U;59t;J+N=*O~uHh)3eL7!UX7Hsf^Og8l!U@$h+g
z8sG`Oj{^Vrl7#v9FfN}XUWuOcF)sTl@qWg``3wZ`S9}WpS98vlTw?|_$F+T3kd|#0
z4b8=i3A7yDlG=>pfM#1XA@`Ve5VZ379D-S^R5Hu*WexKGM_Zsjl^DExh(f0ylrgTu
zpS{>~!gk?k!=d8{%31!T9;8K-P8<}6G|5h1!CusahyN*D3dLo2*>*YgzF)-ofA`05
zFU22x#^@U|KAn%C$owU&<6^V?f8d1rf}7En`z1WW`v)Yz`VsFx9>QhZpl;TxDek+@
riyM%KzB@9$>_6e*-ciVTJ`l?^35bj<A^LVS+kcZka+A`Lb$I{Z1_RF$
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/clockCorrectionEngine.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/clockCorrectionEngine.o
new file mode 100644
index 0000000000000000000000000000000000000000..c4bd6c852f222eb26f950a9e2ed933ddaae6bd2c
GIT binary patch
literal 1848
zcmbtVO=uHQ5T4COjUv)k50y&tC`D4VOA-)T56!l*=F*Bvih>85Znq|wWaDNF6-0X!
zPaeGJK|Cmkcoka^>BUp^Xz?muM8uz)7mYLNOuN1=9(2O)%zX3Bym_<xHa8|FPsR)b
zL=1QiTb`f*%keGS?wB_0f!%1?KUd9*>nUZvrE46_HR!sY9EbR)Re%zJv1WsFA0U3q
zK&^Ubl41UP6P{p^+x=L_#7iaY6=QfdnNd!1Dh8z(#tMj&|H|0#Q+weGVH6uf4GAY{
z!&s_9>&2m4C16Ft(pd%2>Ft35$7l_MxQKVDa&oHO#@_zK9{p;UBqtV!GsNx3TGa26
z>chb!eKRjvkG^?L@;QI+F3C!M<jb9X>+P@k4>zCvH~`=BP%IRVt90?yv?_UC&8d{D
z4K?riDyX<>Y^dpb^VJ$!zEi0Nt`jWyt{Sm&L%B?L#LDJWy6o47(8>%B5^iM`MY5S3
z?c^^)&n^z%+ffuV^2q|2_=^$~E9r8u14O+cRA+}yheI7?J5I0(JGb#ui1dW|OfX}Z
z@h<k$tj{rSv;UYiI5p3?T=0A!hg<a;6OBvNhHE)6um}Tl(b1wCL<b7xnzK+V2X1tD
zx;aO&j-252_v47dyPIS@so^skU-mnv@da;ce3{3h#uxmW#_wf+N#hGH^OOD+^PXya
z!Cx>g{51QktYyD~gVnlP56ZKs1AjwT#PZ!**$Ujn04yA68LZh>3oPFw$8uW1Fj$UP
zue*(ai~omGm`iVQ_!&_-n{Fr{H`L}`<|#lQ8gx2r0a%~rqonwV>_VK(1jl90hZ)yT
zUYhfmzNvKhC`PE}zvgE#mumLl6&6`P69&<i{zZ=>M)^ALJU4nl%a{Jc8o%G$WSI#v
oKU$CeWn^8MA7T35sn|O%+9D?;vaUegXhh{V`IA=^B5OVWH%#Tq3jhEB
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cppmdeck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cppmdeck.o
new file mode 100644
index 0000000000000000000000000000000000000000..a9c70c39d24dc7ee8ffc2c23405723368d4f8d59
GIT binary patch
literal 2544
zcmbtV&1(};5T9gK)cVm<6tRNuP$UKWNFqYxX-llF_(2I31eIjF*^*$=4ZEvEdN6_q
zFG2<XfFAYc&6|k-gW}PnN2RA8iq7o5Ngi)Ey>vo$W`6HCGcPl5UtTWVy_L`9fF%c?
zVdOCi@aO2rwqw(VNjOW^Hh^9EYSn*S7S{LutuG(<EqJ#(0ejQ9*2vqH0l;<Sy%#X3
zHS$o|ov`=zx4wO#n5O4G#Wh%WtE;Q`0K&-c)fuD(Lj?Jg26%w`YRuZo7<@1WhvjPZ
zhA1rGe<0R;zvH%?_NLhI0}-`6u{hrg{Ec=8t-x)yBhQVV1)iwL@_e~is>o7V6r7+t
zk5+MRj&NBLv{EXTsWS%%&Eg3B{g*|tGA9LK;U`Nh%w)=`7)Vc?CY#stCp>^l3g;0N
zwS*REheY9Xu}<Sx5zlG+;T<IW^gbz#1;^rS`Xk||@fwnH8h=3xvf#MpC1#Q*jnk?H
zC&%#9_%&qaG`@b$EZ{DV(k-INy&RzcchH&A_Bq^{+v|1d{g5uq_JO@MFN}uH?ag)s
zvrTA+u~o14oWSXZ$!q2Hqgp@4n?d`z7t|?5`i+~$f#_3U`@DhEc_1<QB1QpBenH_g
znCG0bN%1){`TV=-iXxkR&O>+}aqc1KVVrX7LbyH!&d2$gE0n=F^Ypsh6Qc6@Vm|K&
zWcZ>RIqRsSAki(h0<Yu92nPbP=|m35^)Lh(_~a11Bp1*nQjDO5i?ZXpPKR+k2sh&~
z%F!5;ka*@YzDcF)ce~zZq<+$&l)z|gq4s7a>Fh)SYvm5-!u|{z)Hj;}r6*N0x0Qby
zHPzw1Ur_iJg_}3rK&_jKa_B<$4&@vdZ}LsQgt3H`@vF-~ITv*hZQeiUSwf6#v;GcZ
zBz%q%ZxqkIjYd}gc2xgX6p{Kzw<6c){yjk~tNu?F$9&}u<Jo_RMppgbsy^4D`jm_F
zG2TZktNt&<Nmddyd~!SkAsSir`LCy;h*Y0$XO8FkuMwmAd{3YmOMyU?M~NCf6&%M9
yNIu;+ro2(af?7O-1iIhM`X>-GXHU64Dey5lns9xFrqIZWZ>Yc6w@g&pjQ<bn2Br!C
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cpuid.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/cpuid.o
new file mode 100644
index 0000000000000000000000000000000000000000..6190496b593e74752ca7b3f693a55eb4f9eeefda
GIT binary patch
literal 1016
zcmbu8F-yZh6vtm1(FzXgqTt{Of-Tr12{`CfDYg{EMV%aMnxrJqG$p-4>*CjNa`8jB
z)~_Haj(!E59F+QAnzP}|qz^9d|9<yg-raF`eRN#Q=W-w|2lp_GBn9|L!AguPP=E!1
zuiMAh$=&-{yL{ec+7o<EV}S997}TrP16Hh`oU^kq?AV^=cUe1(nDAV7Snfq(+wY)?
zY|j_2Ee4Ux_PJR$bz`3!CM#M|P)4PfO2oOrXvWaZz1iBb6fJiS-X>XdTILP`G{|SA
zBiDZM#h9cHC6%FJXVsPvtfu->OtyxD_;MV<j|aOq@EvZ$_HZieu4p(U8xG1^$Lf2h
z{*?>B`=dZuE%YLqdQU3h4h3+>5*F}QzYp9FgTU>Iq}PAk1{Txq=arvSl9(x6?oZ+^
z6jZOCY*QvEUOnj@oG;+`YyB?P(m!<^X=^6IMH-@({nI|{wv3aym&DWg;46vON@$%v
fXmo$nwG+Qd8k8tVnd~dk3W}`yha^#b9%}tJF(g*n
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/crc32.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/crc32.o
new file mode 100644
index 0000000000000000000000000000000000000000..e0a3b990b4d1624c183e510ab5f4d510fb28b7cf
GIT binary patch
literal 2928
zcmeHI%}*0S6o1>PT8tmahap13qC`Fdo3>(NO-#0}N+86KQcfPsc3Etb?MIevQpLoQ
zaPvY9cY}!u@DBiqCWa8tT=XiaH!c|Dzya&L?o3$+@ZwQk(|zyvoA-V*^LBRk#hszM
z9!Uaj5-h?#;w-?HZ$DNmp$ey=22KD>&w?771n85XSVwD@Kaj_tPg4FPK*={c9rG=|
zw^p{!m%g_aV;jWVO{8M11HjU~@UZQ<G~5Bc!HwF<OL_}f;c_|t1w5PK)z+mcIzIWU
z9B+eSY!)Eo)^C-`C;Ssomscd{i_qM5FO+aSZ|S^K;CYGTmmAa@3GfWQ25B?WqP}`l
zNGwI==pfER*jl+3dZ2piMDE5tAl{pJH@`=qv^^}%Z-0Z*PXY_;q<&$i9(H$#v_M-i
z^OZC%Y><Wuj~K_%Zx4s(ck0#My@}O1)T^}Z_;TEV;|~149q5lnZ_1th_eSJ+Hf!oh
zEtQeSvX*Qo4LRJKv$A6;lSY=FOxcER=Pg4HDZ$>LKM+y^LAg`2(!DhDcXc7J1Y{fu
z_=DH~-co$0d*Mg<uq<-u8y|qs-(g0ml4vy*0%!Tt&QK`1@_B|_Njs>6G{LWmU~&Z?
z<gZX(a_74w3DB>QU_BJqx%OLN<F^=JWcW7o1B_o|825t~qkq&{M?h`JaR9odUkfTa
zv==apYYEdB$fWF)W~QDQqtHHDrJdAhHe(wF8*?0DBsZ$rh7;e<Gcu}~dfudbBtJH0
zSbQ>odfHIemaFkafp20ZnD6?OLkr^@1wP4mQD^!HotYzac&nSKKJOi-)>4dy{8=Zg
zT$^0{ITsJg_|vqlC8)P8$0vDY8K$OS6G5S^(?Cg#kAtG?X~$>NX(MC1wf-TNX)P{M
zJXtE`(0bVV9YpuZ1Lm8l$NQx+%-zx{C)#2JLX_h7ir>Ghj2E9wQ<#^@@b+^Ec>YoI
zsCrRG!~t51oLHaZiSEP5=Ay1@AsS(-zsfj4jy>9s1fI*fy+_DFxW?*>ED`sJ=S}P%
izNf^sQwkoi{y#zBGCnV-F3{kx`Z+dHgeNjD*8c|9;mwl(
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/crtp_commander_high_level.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/crtp_commander_high_level.o
new file mode 100644
index 0000000000000000000000000000000000000000..47a7737d61d83d401a4be63be346a2174f7f9030
GIT binary patch
literal 13512
zcmds7eQ;FQbw8^WLSTXk$e0+iJY?B?j3o;hCsN{8PZFOt#1zT36Q{FUt)9?=#ERVo
zi{O;yE8{Vq4ziubO+B#;WCGNkGKo7z6K%WLZtITI8HOgQXX?qUWKye{{E_$*C6?9S
zdGB29;h|^8<9{-}%-j3!@16TQANSmk_r!s9o7b0wLS#yaUZ7&jphV@Xi}$vBYt!{K
zmuLy4@<eUub9@=u4NEDsqcHQCoATl4&n?Ps<9ewT{+YQZ_UFz_glXXI*3g-^!*rI=
z2Xs#^1<wWWEI^+^c)_Z-Tbs^I?0@Mr_kVW*jaPvG+a)v*qU_^?W%fAt;VX3f;-#4s
z|6a$fcEg2R#@@1M`}f{l)E;@$?ueWyp*x*z_VCI1cJ4{^?VN89XHU>T*9p{RE!BrA
z?HqH!j#XjGUdn>E1T}PAV%*sA?gD$<*z$dFowTjUuO}yOWS{>3`SasXFh2hhI6h;`
z!@a+{y|h=4Q#p^*DsP;2cG$zqF;?ZD+a4)z>WDNGt@%5|Hj8nJEwmeUV64cpb4|eS
zUTH-VKSUcjU^iG19?KBfxfRQ-$jaAOMp#GLqLq=u=s&Z`ia5A<oOz7b;{KD2^Vsqh
z*uA!QV!!9x#Qr~ycqCLjX4S8Z>_9vofd5;<)MiOcyg00yHV##vG7cR3*@*csCGU&#
z`Jdc;Vck534`L1z=J3S+7v0==`#Kt5fWB#W%(9QS%iL|p_;4SdcRc49H}j7BzkMCg
zIgi8W^5)woACGp-cV0K%eX!)r4Y1{T*z(uV-%)8_8Cy&fS?Dg@L%GqLX=+_5!MZYn
z_31^dDTVODvn!Ch>)d>G+<Z0uh7kW)ncXl0@nyOAs6E_S*)-fpw0i{WU}5IQ>d||O
z>&!nwxAB?%9h7)Xtu+repBY<hPni76BBu|Y2oD(kL#vvGj#k=3N9Nk&hab1cS>KVp
zG|oD2DW@T;mU4%iufKBWLmKLUU4<4qH*#!abrklD!XCDp*SlX#tzYM_n(q~ey<U^;
z5^8IoYd0{yw2F4W5~4PaW9Z>;K4ImpSKnVu;|mef|AJqmFP088b+^~wM|7;Qly(=8
z3-7|8_ZK6+;R;#PUvcvSem77Vtyv1Wkq;+1hB=y76R8Mgw^^1IX#&<h8!{hG-pONE
zK%Cy`C>t1CN)zk@U!@qMH!w!eR@&!Z#yFM0j&6)oGr9WCW-(q(6gpP^x%R0s8~bi3
z*ACtJS#;+!b7|<A*);xh*nR=rdE^B1z9aiV9y;}YV0;-{YES$G@iTTAd&01Xpr7q{
z3HGoZBcn40VzA>BY{Yov25+((4pGUm$~nljMX^X_DdnuK)Iiv;3g7T-L+r*I=V2^M
zXbs1p5T-SSaOmvV%^}ymJnVhr#!b~!-clXH8hN?Z&NbKH5~2E=Bg^WmB9sl~N{)nb
zp+`cw4)k~ZgB|Rj&V!Hh^9lH<^^T%V$aA&><B7c+d*tkv>JjXtY>(fL?4zOTg9|Bl
zT5`>sze8sTV?1>RXbBBu=F)(fn>;_>YYh#&9}k~-0r@m`vy3-ln@3E`5lfspDjLga
zcl#V_JA?VxIEQxAENWw$u6#K8ozN1Re+c=CIdyjA{!qhcOUONAjG)cB+3t~hni?7_
zXm`F0921jmjTZR8v1tbQkmnY-8&}Zo7;5JIOX2+$e7P`_)^L6wybjOqZF0GJ?TfkR
zpzO90$Z&2T$EVg4UQ14N(7=pRx_%Jjz-N->$d#r?>}uph?(*N>UH#^wZui{6_FX{^
zg2P=O%zD9iXerJAcknkZ!u-NqY+ORSn`U}8!VlN?3wX{p&zkhwIc~$wZ;KB@Xpf>D
zLM)>2_4Ip_Z7-MDLpJ6#<ttwuEumx3z3rts`~2k{*7=rNI{%z-43<#C8R5Sm`o1sE
z*glR!;r&UR2S1(vdC~E@=y(imw)augoJZ!G*zfH>dY@^p+|-Z_)19#AI4*b2nEj><
zSjfY1UZsJ5#pN{58dwW|-8k2|`Qi0x{<2#y!!vr=e&WD<8agnS#@owi{6Hn{A4k0^
zG!(0x)ey8_P1!K$+EHQb<@oR!*zAp%i)XPex%o1<{+Vt0fghx@bM2fN`w%UUpwFel
zb$0Ghvz<G-&>lY$!TMiGIVxWk=~xxYIj(K?cqi;?pHDgO4E^G1*icc7S8=`PGxZ_N
zH$I2+{Cf{;4BK@dY_&`6abDZsmo*0*?pb>jvV6`igl{-&BY(%jH=bRFImv4ouVE}#
z0LC@v0?$i6w-@~=?s+^9j2!2(@jDN{*<a*e?nU@|0lwzp>q+tT1blrKz7E3ALHMcl
z6-sgbc>U<M!Of>rzr21+HSGN%#_!UBM`?(_X;J<XpC3nOex<sjZ04EE`|VtNGmXEA
zHPqQbxp=u1X~y+GQ9HK`bru)awV@->Ga9vrw%<*;k>!Z{>~M9VW!)8y^BZ^A;|F0+
z4E7yCUZ5UtUq$0xUjttqjb~x!A>;{<huK3W_Ivvv$B|?3g5-6$)NUw6o^zaO4h=Mw
zQ^VmoOYUeXr3QW%;{1U>?)q71p@B)9uL=u7!;^7p7}<{NWN7#YA54D7oSjU*xw0+P
zz_O#QkQdpfl`Q9ok!Kw)_x<PtJ+6*BXy3?A==f1+_&s00Vt#$ReLqrt|4@AqtOLd;
zqf6Tx<lj?D7t0g;YMm&qA?E#U<QRNJObT%tuu2=Nu|HRHOfR1-8IHTUy?0T(@6P9Q
z&_?7duOqyMEX$V;lwj?&aUQa8{#lB%mU#zeefk~P_*+PNy3DwZBCds{lzZCeC+k}#
zI^(GM{8b9QN1*oz^xg{o8B4zTpMzw*dKBlbZ*^Pstn*pq%L$9lpIqeS4extw2hpLc
z>_P5LtqmNXH^L$8JE7|uOYPkWIm>guk#Nb`(QtUx#QuNAmP^NZ|BmB)({5YGIDakZ
zoY;TCJ=^K=VcWG1oYz(n_?P<lnYREP%scAZ;C@dSUuNIz@*}3dWquP^qr=b7Jj}s1
z@wWkU9>e?P0IyrjVPk#styx$KsgbXiEo(P!#!YumOR~2&wyV=gp+&SelkDo^x(68Q
zbSBvs^$W4!A6enxe^fab@bK18h-U-jX+ulPm#h^VzH*<{mQ41<yJLx6R#!4*Wx5@!
zsk$$f>`L_DE*0-iWSn?rPs*_xYU--%YF9VZtgf?G#8SQ0xT{^clJT0=7C%{CTgSWm
zM-<FWDy82}PA3wc_6rwL82_d#VKDj2=UsrcTwN?QOTb?%@K2;(DY#K>@Y@ByC{**L
zUMF|~FB4oU1b+bc%x_HMT;#G6a*X$hshdUqg5dcXo?N%^aX;72at~iCIJd$i!rmkI
z_kjC*Eq(|%^W?AhgiWNL5Zs#Q;i8642%h!f9{;uRKL`1c8W+R=Z-Se)sXZRk@^tg>
zFI@Q|F5#j772Mco>bC?JGflYZJ;4{D<}$~t=y#|?kXj+_ywoL7#Q2!B*GN5Ea7zp^
zJaYxF6@0zO{|&~6dHMyn1ph0+pAwwo#pPDv*@)*{<S|tXzE$w7DE_M87x8k%<+xY5
zzhNp<E$`Ng^R;-l%TvU!=9wA5b1nXa%TvTH)iaDkrN4OgT#J9#<tgIrs$-b0Q!VfI
zA0R(}Dq2KUA~6Kq<bv+>9|8D(2jF7?`0oPnQjF7ddS?gV6#;lv0DgM_-WY)22mG`2
z)})yy#<)a){NVunQ~*94fa4>fQKiFABLVpD1MtsaiJ2~*%L4Fv;G7TH*`8Yd@WiDx
zKt2(Grvvb#0r<1PS+6B2YHYqBc&*_5o;if?3$FY*!JkGxaS3C|Gkrb8`@JCmUjdx;
zZvBiWXGy0o3f?Dpt>E_wJ}CHYg6|dlqTpuT8x(w=tTTq^$Aa5}8~IVevw|Cb-lEvf
zbAp?ETr7Cr$NvSve<L^!$!=*EyjJ!v!~ZS8+Xde$@_#S*Il+zIp9y|Z@U<fUd*IW>
zzXVGp+g~dWH;Vjn!H)}W?A!)?Iv$FrGJVmwIjcsy6WhC^J<eXIrzTES{gjFAbZ~O5
zBR;p*nP&8%M5a3mp=3Of+2=m<L43ZgNu*P;np#)I)M<Dl6l`Yxwpe;6RdrG~h<ltZ
zPVWXM)0+5(Qv~i$;Ye3(ZgXOt)ai7^_Vi@hJhT4XSRn9ba3ywapMtlil6(51y{rkQ
z?rclNcF?}qL)4c{Qy)Cqh10pSx2C@C&N_lglz{*ak;&A)Xs45orxJacL~>V}66sC5
z5*bRSTlb}-9I@%$Y0bpqJDc}(b%ECCljg^D<!Fd#uhYBM>7r<~FP4h+rmuQSU_&;r
zQ`G-wdz?K^tJ53n>rSQ|4hZc@JMp$euanNidiz`lqcVOXzQKXViFm7ncM$eJ%A-nM
zv5s_?*XCjK?h@%JH~Jir+@6ePlHMctHrka+_EL1i=6jo)Hb?JWzrJ-{TePjIdGoqx
zF^mZ(9fdoHC-o(qxbsjV?QpX7rJQuy>5TRyF{G{`FgcackBUQ~x;lGfJ<$}hCxza+
zW1zI^tn@OEo0dGR9C|mHF2b?dieYpz%{+uIwhg8y_Bwv}+9YtZ#B+F?vptc{IH`?p
zdZ#3)oJIYtuqEZhG7b_ZlZaFQ)G&JRmOUA#U!F~$ZJW}qGC0#eZ*zKjn7|2`d_32j
zOkXmwE8|%f-;+u?yE4)3Nkj%?&jF3P;YO$uos@v(El7MX1_7)xD?j?_S26zrjP@q=
z{a9P3X7KcqJkJA2_|YH85NrttH-LXbvMm|#Xj8gvYW=_rPV7RCPH#VkCY31)2S|Aw
zA1hWAz#{6dpwlaLm(!v!Ay4Cd`vP?HVyk4QXVea_M~0-k&8$QQ!G8~McP6vXEx@?~
zTk=$q*9ThY!_EG;7<kQ;G`_3Iy`QH?@Ed$Q=6u6Ew=159<(~0cg`W=K$t(HQO8zy4
z*D2h*Z~N`9hdwTT`|lFmZ$G{hy2Wq5c|Z5tZ{F|xJjWH!9Ui6ods^Yz{>uv2@h``@
zn2X>3IfDE3T7vuS=l2ONe*4XPrJtuq>BUiXs$>H6_6z=b_@U*GD81&4$YiG#uE#g8
za2=m_6t3g5NR;{GvqW&eU$uh!<FiKLIzQV3cpeGBA5%Qq-*XDr`S6OuwZCJ6vtN8`
z=J2ltH*q$2x!kZ{IzCl``{Tp!4P5;3S)+LL{Jl%z`cvLkg=_ndC|uifPH?|H&kOFi
z=c3}#_WV@gdc3YE{0p9o?(Yhm>$z}zzUbY$zqNw<^{!R&+OKm8H)nk&dQIWl-%|Os
z;`g^)aKGM+;QsvVSGe}~F~!e+*f!-!!5iT3mkfydImPp3g}*Gg-=2#~{w^gyrf?mf
zQuzerx4&HB+Wrc`IX>F{C4&3y?^8T~qU^~C?zjI`0DfNa{Hfx(sBrDqn8F*C{09oR
z6~0+EVE?#p72I!Ur{Em7CdG4F;mrzvUg0eYFO^Sc%%k(rQn;Q+RSMVR(xz~|KKCeG
z$7hawZ@EUV!mrY+@T>GHT(6Ul3GR<4{*#+q{PBER$uC#&8C3EbKP5QZzfQ?Nr||U(
zKd1Ps6#l%z=PLZX!g(vJmGK)EobA{0d4+5KpDJAQye2r?zd`9OD14*B&37t)Jgek;
zls}%g34Rm!^}1>c?&nz>z_V3wwo~WBDaEhzYB+#DAHaV(fPYNkI^X8Wftc;ttm3ms
z;ae15CAdF6^-5mbZ!28K?Gc4*{^tYu*UEP}wo~uFA4t;p<B$LB?H0eC8NvPX{Q>gk
z??gQAUsG{-NAc)&`vbxK>vripuQS{Kb;VO9IP*WK@CO8EJ2n5;1^4rJ2JjzI{C}bN
zpHlL*3O^;dKR%}g_s8>P!P)+(;*sf1{9pBXo|-s{_!OQMV3G7S@|NJ5hlkp<EhW#m
z>AynZa#VB?b5>z~mbXOCmYQ*W&fKbSmN&dqlit^xiFKgPq`bP@+@+kJSPj0UWT>Vy
zmWfeKM><V4sU$a8e05Dd)x_hy9?Zh-6Lf=64Zi;1Q%H?V;(m#%(SNS5!Plf-d@vES
zK6Pb*0WM$jmogg|msiX{dChCS<t_%!M@?Ivn`%X+cbAp<%F~(km~k`XbgSTcjJRj{
zXZg1%@3o5Of78BAWc>Z-Nq_Sl+{hdKrp<dg+ojhkerEdXImfu^&waSqxcJ_$f2-&}
zj%T`<{s!YUZ@T^k>2Dc9sr~&o0-rAar*HQ<@N+I4e?Fp_{wDqou<7*UBfnePy=v;$
z^fv%MpHBa8M8EN$_4AR*^f&tZfwBHtT)MQ2e!Uj*bC%_zYhG9UB`^KWpIkW&YjFAX
lvrYc7W3D_WHcDL1_g<^0*R*+<rt6;-hYlJ+sg2zR{y!rJl_UTF
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/debug.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/debug.o
new file mode 100644
index 0000000000000000000000000000000000000000..5dc45cbd159bcb86d0bd06f8aaf9d138948f8e89
GIT binary patch
literal 944
zcmb_a!AiqG5S=t)D|k>3B6wLrum!Uu0T1<5sagc_q$dxWq^SusiKN?7PyULZ;LU5l
z!vF9Kbf(>Hmo+yXSZ3ba_jY!ceZ9E8tXUSQu;2q$NU;F#8rhlC9cVxuX7<A;^t#<s
z*6iKfvD=~;MoEz7Y*3U;Br!X4p37p84zVhuBo%Qa#%0Xf+;@D}Yje+M&7jO2tlU<M
zc<wRU@m&98)!(e>I&1LtZSsWe$_a?CRmqXJfAJf0MjKjF*x1>OO(b@-zDq?v4#!VC
zg2O4y%d0#U0DSb4i6F!*%0*68CE}?7-Va0oJRFUHM@5#!Ihy_>_VEy!YTY=jBk}Uy
z5^ov01H|MvU+mn_DQLdn5pFd8;6Fw$o$2DzL-oJcNvu_WJy-pLH|d+nOz%_2MR%px
gTO^==Va`rlkFvq8)TyNUD!h$Fm470I=9f49Kg=jT1^@s6
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck.o
new file mode 100644
index 0000000000000000000000000000000000000000..3a0f830b982e6c8a4ec5620b68126a4d2c61f378
GIT binary patch
literal 2800
zcmb_eO>7%Q6n@@K3oU;sb`ndi)QOa!B*LrM0?||;)_)16rm31m0!7Gm?G3hKd&7Ez
zT6$<DE*v;CQt!YGTfHE)q6ehXss|1nY1E^W9_axTBJjbO_hx6(&Bn_C@uJCl^UeGD
z-u!HGHJhJTLLrb6g74w!Orij5&px$vZt8FpjzI6q53QaG8@tO&>(7$f8UwhF%Qw6O
z^IhLnVP+f0IKW0n(Yv&MSAkDrLtsR4J&HMYmO`yjv^N#lh`_b;M*$+zx0uqq9W~q@
zkLX<nZ*Sf>49D&&kyTK@=%|qy%BSdh_c7W#DzvxM(RK!XAN<|Fl^W8!_j~=@lxrK;
zx728x{D1BD$99&It=;7ma!<E<R~~%(qgvQJ$<&8($o{A|ia80$`H;)`4dh6i|G>V&
zXwx2yAphIQe^k}G&mez5{SEd^u}$Rsl@eaPz&VFG=MZupkK*X}Z&6>5G1no?arFe)
z+iDoOj<h@2%e`LTp!hMYL%Ar=7GfQBY-Ugo#EsUxePJAAvgtF0^y2yKX*OAAWwW$8
z)tqK4)_S9i+r4i+U98orjgMLGY|da-gO%;-r>4y&o9J%yP&QfRLH`oxclFfIU~$aA
z9JA@L<;61}X_zc<eLk7XbB~2|`ZSwbIQu>`EUQ+k6srwR$f=kt8C$chm1+$wyHu$<
zX31H%O*W?`Vu{)KoEA^8siIwvp*1@_O}G|kv=X09yiV;03cZOT_`N^KK^^#F095=L
zBr0YaBr4#^`^0^A2l3~)AF(<pDjYrlzKF=n9-hAl4}7mMe83wZ7J$DMfWI4ne;9z5
z0&qJ3|11Fi9C7NagPP=LR{_w~)=Dr@hKWmjl512QC@ka`Q^|Z`aejU&YZQ!RDxWRz
z<qW^wX?zHda9^=_2qk*YtXuZwy{YR}vKmdRW}aJj@Dkc!uG!Uwv$7Y=4Fm5sXC(JH
zj7KKl3@t<i-{Xk8XX*m@P2@uO^TH-|LfC}A;K7*(r?ZwaAq=YPy+yMEAMxR@349Lm
zmt+#ur-V&)WiJF}1TOP`Am;A~E%QtKoX?+$x#9Dd_yvLc`IH6j=ktXJKPGHaH-+ub
zb4TF*JWo8hcR&9Uxc?l7abHN}K77q*c)kLc`ylbC!2Nt!06yW%b4}!*61boLn;zV|
z4~D=cPnpN@_<PS6wC3fyQ@n`Uv0Yt}mTlIGnqyvaKr0uWB4`(zP0(zMCgdL1PJvdk
z>U9&})c+(5^AJ`47fwfv<fiDuo$bG?gdN90Utb-ES1RIh+)-Q<|90~_^534QaDGML
z{xACzUtQtOb4Z)?t2ij<e~pi0ER{;&@XBwZ{yi^<w&XAA>4=dn-#?mMz7u^fOF(ED
z=heb>pXab>=qKSwb&ueX_2vE%=I@;nJ)%QF`O;N;zhzws&|MxB&qSe|bQIbj{|`cZ
BQa=Cy
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_analog.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_analog.o
new file mode 100644
index 0000000000000000000000000000000000000000..6d50f893dbeb54baf37ce7cdd3f6dfd36210bc21
GIT binary patch
literal 1464
zcmbtSO=}ZT6us&Ak)mJ?f~76-EmT@C(<C6YrHd(1qfn$2EsBfqGI?o&lbP`5MIv3;
zg?~VB@3#H|m&U&!=-P!pK-~wucXD4k3~{4(n0M|w@7(h~U)|lkH<!zSjU0S{)1GAk
zhR$j3C8-DVkcW}e_<Bt^U+h0V`uHBi>(2sCevKV?gVML-qfaMO-3sV$SKlome}!tM
zJbO^Rt%GeS%q_@b?mMiL2SBq3dHfe;5xi!RYN1}MZHd+T!^h%L6a{`qc0<vQv@jhd
zc1nF6wYvdk+V6CY^36aivFTPz)pBLityIOT)V&gB<+U~9-HM=*O1XMF+2mgvI-@i2
z^Y<))GxG!i9Q<a5gHGAFln}FSf_%<q<xoJTkeb&z(m@lyz!fWuHxMnyR07-BlD^F3
zMaEskS^B4}_gH7=4Vm9#-ugjH`Oh0NltFap`fz;+vgJPry9OrQzLG82xl?P@m8nJH
z3#H?36duT6pr(qp(kk?^AID0YMqg^#n-0p>zKWw@V6ZGj9z=nWhYAF*XBm%no^yf?
z&X<tCkm8?kPWpU`2RDA%GqQ<j^aMLL(<+dzQ9}c6OBxAoGmgRaqh3#iChhSbxxiXn
z5}eC;c-%kE@Y%at#&NnUFQfZ0HzDpbPyRHI-TNZ*H<{1A=n;=+fjrW23p?cbuk{tI
zCC}-*!kl81v;fZ-E!g?f$Xm6N1O*HB7|$b1e|G=$cCu?HgFc%cQzsR6UQ1oZWLEtK
LlUr8En63W<+zpp8
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_constants.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_constants.o
new file mode 100644
index 0000000000000000000000000000000000000000..55e9a6eae14ff4d89ae78df723128e28e3e42624
GIT binary patch
literal 1968
zcmeH|QESvd5Xa}5s;&Ca3WCs=Efl<h7cOaqRuFQe^$cyz(L3Ql<V<s^IoeB(WDEAm
zM?Zn@1wVmLKKcp#2!db1PoTT)47WE1L49>!{xiSXnMpRgo433BPv&YhpizTQF!hK6
zOs-9B@6z;O5f<P!;#;UUQ5R7cP;a1KN2PM}=v%0Bs8!E^q5twHE711+N21<-_FVMx
z{4`FZQ6`S_LdY}`t;VFtk4LA<D&lk`lUSY=iP*N?hTC+uZO0Y$s2Det)m&fK+;)VH
zI8FEA?;k>czj^rnqiU8_xx)Y~pszohWvNKjuv7;=?p%UjxyBaIuA64vRpzo$hxXkX
za@xPdH;^x33F0l}_ZSb63&vj}uQPsvyvg`E@-4>SA@>-6kNhd)ACPw#|A@TL_-Ev=
z82^GiMZQG~F-+o<L7Zo$j51l;F{}+?XV>2wv^zmKI0(Ce=?2}<aJ&AV;T`r}!|Tm>
zLAYtef^cKTGxLJbF=AbR-}H7`hS%$xGY^%g-$g(6K{T0+vey81c|MlWky2S)X-bw%
z-bk>Ak&M7TDoe17{K|>*@i@sOuG7EDiYlO&n(k4m=aIpbJ`3ShWoX7vlt&Yo^8EWM
zuFu5Z=08xmx+XvAo??1ju!g#qIX0D}r_lMJ*f-33K>(G?naX?XsUE^5RQ<owy{SK)
iYyDs2@2(JZ@XGnB9b-^mLd(ji%5UJ+^q3~1^8BBfGlJLv
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_digital.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_digital.o
new file mode 100644
index 0000000000000000000000000000000000000000..0289c8e751b973116c59fa74a3d24d1f74ed4753
GIT binary patch
literal 1064
zcmbtT%}T>S5T2T1>&>5w;K3CHQ?N@C^iWTgqP?hxqImF7(qwCbO;gep>Pg>9j~;yi
zeF_iy1iI7g(6HpB1Izc#H#0jsllJlC>~yJ80kR4_!@?sKz+PJL_MEn%4mEhS`XAfO
zdZ%Oh08c&CpxfyjF}r(l#V*ry6hwYJX2UdNG7{{#ImyytJW?zRqF9PR-e-cfxYzU?
zx5ZtL*?yKZ6>}O5)Va$r;yT{p;$3A7XQ{&XPg%?=ofN==!mx!xOGQjuoeO0f!+WY`
zI&3Iqz0j93wzQt#hi}f!);iOET_c1dxa)`UZ7lr}4`6o&lX!fdh61#BovB5V(-VFO
zz^4z1^al!MmSaRrikSo+`qBqJm`;HQX_APsq;~&BoDa9OY+TgVKF(P*+5>4jieSC@
z1tLl?(EK8MDvrDRYyG~e#XB8!ibnl!ilXAwzldeOsyAKtr4jd2QwQIQwwVL0C^X-W
ap%>lYK<5!qU-H)!DXag~iRRzPtp5cdoK}+n
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_drivers.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_drivers.o
new file mode 100644
index 0000000000000000000000000000000000000000..aaca6502919044831ed2501784d6c3b26ea6a817
GIT binary patch
literal 2704
zcmb_dU1%It6h1q%X;V>&O$tIwJAt5WF~e?jq1%_vZcL)Gw!y5vMA%Mtr|huVpUzH0
zN{}Y>MUX;53;Na+6x@Q~gP;Y)twJf(zSJN3BE-@{Us})-NWkrS&dfc{?Cp-ec*5*C
z=ey^A=eu|2-kcfBj4P1{utnf&*vc3MnC#t(4KFlc2YBGJ3b1SftSDe?4#DC(Kt2Y^
z8Guay<p%scdS2^=D@`@`TMyQ*VlBjsBsNO47QSz^R9Jb~Zh!n4;;n_NpRe{BUM=Mu
z@6*&@>Dh+!uOdE(^Y5u}@KS)|cjTZkfW=#b$Z-UEN@aj-6ZODtYlFB+gIseiP($PN
z1pEDfoN4UWvj=v*jL#iqOLr4{HgP<P{VoEWd^-x+YuHag4Y)4@7eOg~p`wQQnT>Q5
zR#Y&OXHZwF-Oj2}ino{kc-+piwhk_(3s>a7xkx|l0drE!Yiccg=k52SsYqi0_i{<`
z_i}w&X{@VoIR%jT2-kE0@x^D1EBkOw=TJvKazt@GONbqT{?Y@~v7{KAYwE7cbANsC
z^Wc1aqrMHfqPW)p7n+aTiA5ZLG?i*Vac*OMI^Ae3{OIjJ=^?xWn;0EEtnHsT`mUC(
zR%i1?)2?VIs*dIsEiE-%bE+roS&W=~(RQu8d&;r2q&_k{5{oDG_=vXObjrgR#SR=G
zT#sus5|51}P|d$s1jnNAXS-X8+Vvy=sQA~-RAiE^&jYASr}bm11o&fO_@L*X<{3sj
z65!|KNXsLfbDn7k{8{v5K?N${DU|Fj%zdq$1II&fCj>u>_)hG`>p6ru*?D{juX!0j
zQTR&&UlaLH!ha+1FNN?=1b!2JH=R(h@}*qCvF9wOuIFKB-a`cNX2o{(n(4TD42B9I
zQ1%(C0yb474!xR$+(hPBI+e*C8y}w<%jUAFbY?6EIpTlaqtDe{WRj3-&Fkk^j8;!o
zTrZ!nTp#kXal2CR)AZ^0?82mtQjj(XA2rJs)LkcE=AH5v-jDmh?~)LH&xCVKIDZGb
zB%J3a5r2*fh2b6G8R5^1nA{!_@0ED?y~=%G6ZLZ6ObGsd2+pgP`Q4EE<q-T+fy?^8
z3aP&yQokl}S<l@No+$1YnY<4J0+;nnhSVPqssC2svYuuL&+QO=K=F0%#&Nofo|s-g
zU3SeG(D5VmeUT%_nl*LTns-4jn63%>OuY_zzFIC@___Z-rXdYU#{csjW{B(!p_>Q$
zI1qj}dO8n=$l0xmE3YQz6F>Fg^YWr7d`aN)4gaCkSCo4k9Fu<qAL0y~A3S?h&;2PT
zi{nGO_?!_&#{H-L^vN&Pk_CM?srLoACJMLX9J&*@Kd*lWVzPFG;JUbEexW2_+?Syj
RFz7bFPc%Brg~H48{{dVNbn*ZI
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_info.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_info.o
new file mode 100644
index 0000000000000000000000000000000000000000..c9b4a9d8c649ac60beedf229ddebdfc2f9fa9add
GIT binary patch
literal 9928
zcmeHNZ){W76+iZKLI!CYNPs|T^8%rR6ugjzHjY;D@)yuj$bws>!4y08OXK=qupJ-;
zE#8JEBtXI=AF8byMs3#ywHhBti?^;s6jik41FE*F+Bz*jC$%b?+EUhfE%nZM@7!>6
z!L2l@-+GaK@BQ6#f9KCV_uls$MmxK^oDK(w;((XnMo*vs8<yQ@8&=bR+u=599R@IR
zlUm=~HM;g!oO{>>>9>|4M(w2l8OPjoucNH?x1#`IeRAJ#ge=LIlo>e<j66WP_cXwc
zD*)bdfT}i^;b|*_xd6^Nh=*@;fH!!~*X-PD9O(z=fpy>tU;L`z)o~v2(R`|}?|EhX
zx(1mt<h{DZG5)FMJYItQH4fNuNCPj)l_LLp$iL6xcg?}E@C#1x{vP>V$p0+3kiXR8
z&tkjZ1wXE|<ug-S)$wD9jXJgPmh6$m{Xa8~U<}5NzHwjklvY`PbxZ5`^*v{vBU>sV
zJ@2R!JpU~e7Lu>@xxVL*mVIYGIP})pmCt|j^b6-dDZzM=t(6$BekWu;)!=w7+8J;f
zxoee>pFioyw3QhnQ`-FFg@AVIy@jsv%lAR<QW!=G_d>p~4RVD)!3fz=vjh?sF;=ZO
zpX3GhbM!CWX5^E|pKOCn4OD)pV?4;-Yn4X+`kvP;n_tz^y_YmchV+a1D%a%of|thH
z9Vq)MWN4i9sQk4kM>&9FhifqpFi&uuVNBI2Vq?eWMJqlOk1Cv(MtiSqbB=!&(8d>5
z7@mCCHU34iWc&dKG@ZtEwz#&n;duLaKHPz0of!W&EMHC+93Ik_EjUm&j4i;}`0Bu$
zEwp;lE@)bW{2t`E6YC__i?RL*)}D6ARHIL1&t<Lhxbt?*Un?Hf^~6IlHp;>4a~htS
z=d~S^*d{;c<0tDh^0u!qMi})kY1Q?FE#Nqj{_0sUH@VcAsnH<(;g<z3tv&Kt@yS-e
z#QhbpHjV3FgL~poDdnvd$IO2)H?H9a3?q;E)k{7s!MYmjYP7vYGxB$0e;IzBL>-PQ
zBexDJAEWgrfA%5gFDM6`j(Vstaz`~+c#j74^_UCUUm1C_nQV38*r?`u%;5s>1lmbF
z#7A6HxULtq>f=+|Vk^J0m{%I=BVOVsS;0+ui2q)k^VD2ei~AurhH|uT)APXdO>0QJ
zI{HL5JQar=#$oKKxRE2Bf5(00LVGE`Y0RyQXpe~Tvp9AU_Z99*%SQj*hG!k<;bWD!
zZc7c%)B;%RzsK<SmO`esjB*pk`myiF7;2+?j|3*057d@x2ijM_+-2ti&7(NiaR;73
z^^lp+oSFW|AxC?q7VYz$abzyxeh9XJwSK+@hDXQz^e;9%#Cs9f3y;{7WQ)JemKjC+
z#Qw_8fr*RSB8=ya@m)A><tfICWNBR}zxpvpXnnpwJG0o%p)I7Nbr#xz{bQPAg!*7W
z#*cltviH}8fd1wb$`ejC>9X1`I4SZ*<o+FaHfHg>YegNTt90+)Ba@T*foE_pb=?66
zvWUHE*gn`i>9>dr_vuNW)5b5Ozu8%E5~_^66K$qknJk5q<WGqU=GIiej%Sv@yw@@B
ziI3*XTzI}rjG~?E(C?#||MM}%(SH}bi;zp$>%pA3if8+oHY5Ll22B&CF!ycD5r3oM
zF@_9J5c3egQGeR$3i}$t^CsRETdx$FDF1v?>}hRUuNEe<h*5kU_;I3bwdlXF?RFgN
ztTuB0`m)e8Fx$wzromcsHsmfN?yENPM!qodXKd44u|8t%OA;?(#0%(e{wq6oX%6Ks
z;dBPjm=ERdN1vz9uYVR!rjh3~-AUHITXa1AIqoNEKb*lhe5PsjuN2Yu57bBde-_@0
zfcgp;*C?I|w7=*+Jj?fC09<nlpoI_N9a4gMAH@5x)VdE#tozV`ZM-)#wI~nRZUwOJ
ze!#sZ-@jMqfVDn-2jP_M6ZYrOJ!9XEWD9+8Y{v5g_dWKV4$#rr{-eH)o4Pi)=v)1X
zSSa>rt-dL)2NR*4W<no`566P|ozR13Ancw!L%uVSz=34IAERm0QhL;k#uFhkxk`^A
z5zb?_q`oT@iRk^N9*TuhA%7&4G=oTK70Hf=X#R+95`BxlD-lQXLDL^Zdp34_qkJe9
zh$j+eASLFs_qNZpdnW%4d2jb4Iy#*U#bdMOxO|;FlIzQN*FLy>HybAT(Lt^+59x#c
zq)s*s52f_YTkY_SxTPqoVR_sP*51O;UW@?++6rkb(Xu?KZ|iE^*xlLj({E;z?V=^`
z+T7dT`QY-Ty~H#8-P+o_Y2&8#EogLfC=@YQr$SMamN#GqMPlH@SUe>r;|farUq8(s
z4AQDg^3(b-?-KEN)XJpdBz9z^`JKJJn|oXI4m)Lg%tUBtP#;eEA2rc~*gzx{NKxvg
z26ewalrVRO;={=Z=2vVuY9{<Ca_UBs+L6Tm&Dkn1i){Z){p*K9@o!PP<o9&kyu0ju
zmedpGj^R+k)Ptdc0W)F7Qo5PM)$^y~iKNIVd%tap_nJHH=6B!UMc~_y!20&~7JbF~
zO%Lndcsvpq^oL^BMo$fzdh6<;M0@~`8of0U7!0NG^d816_P85YH#V&CxYso5EBuM*
zYHT&ETuHcljZPzL8XDJrz3F)Wg9|>!>-grP-SSNwK*N8xDjG7W#d<?8%2T3>LxqLh
zj1#N@J}D^0mcJRtXBpI5%6tILJkOTD*-m`VLHQfFXf0=4^eJ9c*5HTa%d8&7&@Sza
z<8KI75%Sd0V3rL^-?lwB<3W^hNb)*9$cmy(YZVBvpTe3Ocnq5kNnV!FVCI=evqtbU
z4`+xX{P-o~w!Hu=Sl}Sz2KRfo{vG3ox&H*$f52LBFl1FP;y3ASVAWMzpDiN)w<7ol
zMevWAzlY<vom1?qBJw4u|5kRE7r`rw;ERjkKPZBC6~P}Wg42utt?UdTPVqd!spUgI
zsXWej1t)@7$Nh{OjEi+Y#(0l{13eS;g<=D7cL3^kLtPMp!_nx7{geR#d@xQyD7g`z
zWZi2$O&;K@H`pmI+-amczH4JFWhSf}IbinUQ(XL^c+j*|Y(x!7TbcEQWi{I^cCvtm
zEyx?$xxt_8jF?fp)djNNOl?Ue@R<<snL98v0z=qIb%=R=>$^9%wRZPy?&{jo>Fx8j
zwsm**q3N+?JYx0?r|=L?fN9Mcuqa6zc?4v!Rc*nid+gDpCnQseh#7-GB5+@0yFU^b
zj^M*n+b}(8ShKrAv7jBEwvk6d!Jd#ch0Ma4sd)G%p-uj%9Rzd^U6H740Kcs{IM!=F
z*htZ(=tu)agKVe8^f%?PILinW?Yk6Q<eVyx@5feA<(Dw7?h~Ey`N%Ig336ed%AHu_
z?_<-Yn{nddl(fcr7$+VX-_AJMBjX1dC;mm#>;Ty!_zA{U{wYZwf5VtAS0r5KFXQuv
z^vd!TjH~?O+$VqKTdt1f3BPMvE1t^|k1W56aSzJhEy*`9PWI3pD9Uz;U*rId`6PZB
z&q_SCf&}a5Bz&oazs$J0j+2b5aX2f<%XxB6l9%!Gl03yhtm_3yUdBISoZ_%dva^gI
zbwvF4^H{lr%ki&ZT#a)T<K!3V6+HNxsa4eYFOm33UgWo4gnxy?FXS7F@Nba#=~+pX
zZpQCMJ7v5_;;9qDSZ`-s-S2}Ezq~FH#wiXmo|fe0c<z^QibFH^4@x{TewcAJ{wEk$
z?K~;*$oYJMak1{FI6wX($&+4zi-S^K$8shme`Wp(?x^-O6v3N{@B|rG{T*UlwI|KE
zdT#75!ZTKc=V=M2XJk>%6~QksuC99pKZlW>@_DFB_&tIg>m~^ocM1&~5?&|CdnH_!
z_c5-<e~@vp?(d^rR3Z{C=jRaP>V8QvF7~_N*~_@PUi%nV*Xv*r{xL~j_V>vm^3O~1
z-?v?|zE4T`3JITNT*P5F=l@y8g<k?cC&|nE`n)7B<L^i~?V}CM|1RTdJU?Pwjoasp
zt8sG?DHg(Izsea``70#(mG)HYTW4IvLD*?9uG-Tf@yPdSkA%ziL?r$hc_rc06z5lp
zaS?xk?`B-J=LF+wp1;gE#Ygt{Jmc#5a6!VUS<U<69ma({0)Llr)t)KF)%7ap_Y@K5
zGR}tz#?|$zVqEAI^7wa6tEhUHFs|yYV_fxjg@lvI^hX3LtBUY9FfQy7@=c7ZdVeVK
z%j<4PIO%P$wBql_jH`ZaU|i@G^4${8jC-7M)gCY7YMgzNynN22C0x$)F~-$+J|W@c
z*Zb@j{!P~^s$W^gg<nGcX~tFi>&k2%!t0rvD)Bx`_Rtl?V$i`2u`dKJ-gAY#cn|in
zzyjtGxKKs^g@ye3h@TI@og9g#{QX$t%bisZidMpm_}wXUcM9A=f65Q;{$vu|i8ysg
ze2u$Vbio}6MD1akWJ%z3cO)M0M{qD6wcdAy75{&&<5YCP@<C=XxU*dZi2L$cP7uAL
zQG5;j$YnqNQIkru{X-zk!8Yj;bmD#S9>zuZuxphkg`fbqCJwo*!VZZRo6qW}r;x33
zv4774Xp}*0XIcNp3b8Ot*kPb7wfWe>mR+9UMA;w!uEl%-(>Tpn)W8(a*A-%Q{=-G)
z1O7psiYl-6dr;<9>o>X7nhs)}X#Hrem@jY>F|uErKiITN8SCFB0Io&c<XUmjk{smu
tJ-lEPj)nM9^?wgBHFiXBiVwfng(3p6C|&xGUbme84*O5Pqsm2{|34Gcb)WzM
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_memory.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_memory.o
new file mode 100644
index 0000000000000000000000000000000000000000..9f6725e855fe47cca9e56c71696e73fa53d36ea9
GIT binary patch
literal 2952
zcmb_eO-xi*6h80WLE54e5rGa<c?Q$!q)cFxQo7;6Xpx{zWTvr+3wS&p&Sd`Rn`Z-R
zWLnde8>uukX%kU59ab((+9tNpbmO9%lGb!N)=ifJQZu!5dd{1B<!1Ov7ro@YbIy0q
z&v)*<?=n-zPQ0Tk3W%Y=*RXC06yW{~>$>i$I#j_+sLc&7u%QRd8vB(V2H)2<1B*ui
zA^=%;ZtcQ%xitpUD`6$K!odH8sdKAm)Le%TYU?lh!kA>{haGUL8I<@>JZ>f2lUqI0
zn_Ii^<5!eF&lErTfvy*zMla<5Dc)tE7jB~*w(AFeXLWNA*<Sx+#^&T$P@A7~BYtZa
zzIo2&3354%9Ei)G$myxca)r1j_bgM9qgo2~vWh-8R3(1M1Ch@!`NDbRIj=(egaVOy
z?1_35^`4p`j6aI;$B_4Zm$%G0OPoD=A%rq(Hz4PF<h;i}4BZdhT*zg+TqFDRPZg|}
z$2iJ+q#8QH)o>((oHWEU`=GXy)?9_IYrEjcb+w_YfE-yRoH8#~gy&Tj|C=#?YZXLh
zSCr}5!%!$*hM&)4-G}IxXI}r!PAE|BXAI_4Pj)enIMpO<IE36QVYj){6ZYaB{8a&W
zZ%@IudKK;o_JBG3Bk0==`f{l5hPSsx&vnDp@>ysKKB~Fw?S@Os26%&%b3fK>LCk=C
z!9G*(BD-0Er4sgPa0p;Y_<Ri6MFV_6vWoy8kWWtr`>KPth*!^Lm?ocm1MLUQxccib
zee*E!f*AvO_o_JGiFI-P3HvDC6vqAr7kWFd?DxQKg((B?gEDZdQ!n%^?7uRlHpV9w
zuX{6U<G@q3u}YoNuhDu^EUvTd!8Ps1K6Di#U*g)*I?t=V_#@`?CsvCQnxj3Tecf(P
z8_?&oVzGhz$bUOuI=@)|Dn8U_9X{|1y|x>Dq0rmf!M=Cj(<13~!i*ZRls1;OH79Cm
zJ+0$*dMuVe%{HSk$1<IBwxx9if~~=}_O3vCP&;VY$yU_b4jm#q(5}%;dt0z$yQ1LU
zAs$%5?b<llrZ)@#!@tc21J4HdWf$3aQ`I7_O8LdL)xz-_o@s{5Ajj`;`<}`b6bvfX
z4X){~+=zz|S0sPU^((y?R7zG!J&8hakta`Yfe&wipWOmaZGnG?cr7v==S#g4Z5p58
zvl$;4waoZX(n_Z7$$$w5CLn60MibUaE7@l`;n;a=9XM^{5n49~En^f8j6x~+s5R#1
z3Z>7b99Qd4jiqTaV>u+u@kz)yc8Vkw#R^!nKNWLlQ603-#xjm&A9o4ZE^Rnk63~Q4
zVHej)BqY3A!he%+*<a&FiSo$)6B1rJbEO2oNVx3(hlI=iS$?i4zr4;@x4>t&!0$@<
zZmF-w5-#T#`@9G1z9{)SeE;{B;S(J9BECoR7vB;6RN$rDSy4;icX&)AmjV}l5Xej>
z9b*KgW0z!9XttFw0**D|Kw#8x3<!*5G7xZ4vPlcr=|CcF8VLxP>15KvqxAm_4bxz2
zu%j%U&h3kQUBvYBemKyCl5Q!T+d?exgi%V4gVvE$v7Ta`UgLOK8Ms#tpdSsMu4Lf*
z4SXnPx%+>Oe-mRVXL<Yr2Q-|Mhu|-;c2qX&{~&if&K=35+f&4g{`(Q5`fd2gBhTxf
zkwMf&|FV?NrEu5zzm7b2q;G(}`||pPm-kLNG`@ddkRc6GS3vYFZWcez3(*fKd6dWh
E3w0#L;s5{u
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_spi.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_spi.o
new file mode 100644
index 0000000000000000000000000000000000000000..41bebca0b65906e729862ef06329be914cc338ed
GIT binary patch
literal 1512
zcmbu8&2AGh5XUE3K3V~yMLkq-zz2j{iL5q}Dz!bOln{^r(I%WY1b5?fSIzE5UPnq#
z<Pj>Kq7Q(?m1jVL_uvU&W;-U9$q7bsX6EOazrD8evGeMAy;cKjHTVLH%u;~MU=g>g
zunnuQ0$+o{kB1`oZU?~p*kyiRgZU?9-%w(MdIF5=IFKV-aI5EP5u+Tshll%OtNZ4i
z=oiH}PGp*kQK5xNlsITibTLZD80k1kjf%}wE3p^08m*|g7dBgBOX{qFQMA2HJZuV@
zX-2J`#W(s9oyj%$`OD{&2TM<kxN~SuV}MG&-LAm0lP8_)emUGla?e@UDsD1g<Bk>f
zf;o9I%b#FOI#ERduJ!@Y#@uS~ROR~kOZ9Dr8|+8um(|aZQ~d|7v-`YYKJhpVReUxm
zCutbNqZwfERGp?d1$|W-@|_vpcz&w>O!l?ROBtKA$YFLgRa4bdnVckrR(*L^)phdW
z-&I|eE1kwYl@H<B>x0&yXS9;p&fw+o(F>Um$4a|Aa``Ur`#xUTEsn{(b@&~JLs*_?
zMxLNI`pPFZ(rPS2qh<!ep)?Z0ld^;`F0xGJ#?|<bSYR)`t{a|4n{$61|1KY39o?O+
z=Qh~oCmt~%eOkx9FM5w;k8u$9{}G>Qa*0u`YxGV@^I!X$*h`vrpBPqV*MDyTd%M2t
t>s}3|Yg{mAe-jxE|NB>w`FlqM7c6>7iDPzMi`Fq%)}Jukw}tHe{@*08o$~+y
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_spi3.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_spi3.o
new file mode 100644
index 0000000000000000000000000000000000000000..6cef5099a5e88d6f18fad4cb8483cbfa6cc418e0
GIT binary patch
literal 1496
zcmbtS%Wl&^6upUgv<jf~u|VyDkwB<L#Il3BXvHEBg|I+KkRXa!6xW`_R^x~4iIl1f
zD)9v%koW}HBe6q>Pe6h-zks^xB7%GE8Dfmtz>OyN+%xB%8PCkq&YfG;N(EF@;62PL
z#R9z6X1JBY7R<vOeAITnUSQf6H2@Cp=ec4%J^1i;s=@OL9KJZJ!ST{{SVYZdw0!wZ
zTe@;oYaLGyKE1(unLIU|tKvXCYEs=YbldGMw${D-fc3+0WV@CZut69z;c|AP5yj!a
z8zG8q*Av_p<CwEez1e6Q=B92o*_svm4MfKJI`O*6XvQ>}8|jCY{?VD7fbT!bCbiNN
z1JLkS78*Jg<7`Tlojm!REXtvd%wld`<+vhwnx~k{5?sVgdM0bd8<M9?aWzZO!K^$a
zm8M63;Unb9|4FLC%ai#T<}x2}xV^WNMBX*shD#G5bdwLgAVqzih!k`tc)P)n&*uBF
z6(p7|yfA>ty)hs29`~)t4P)N7_A+5R3<lm1ul=DX++M`FlbHq1pWR&^@Yu6^JaA~s
zx8=T9@hWN(Q`(kz1^F{Mp1zxc_;VS|{`F+v7uGK5iHNi8DirgPr3*e0pgWeZK;KOg
z(CyIoc_8v0|A86y;+Ei4!J{SX;yT4UT16ebDW#WfP?t|yofG-fI_f>0m%_`EmvYGh
zy!(ZI2jr0tdWYosul*+WlBa<qA8P%_c@nW&KcA}w4V85%aAiJ?9F5}l&m&jdJ5n%_
Zrmv{Tg<4lp3kb^kw<WoygfbWVe*)c^ngaj;
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_test.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/deck_test.o
new file mode 100644
index 0000000000000000000000000000000000000000..b7d44112cda4d1ebf7c4dff815caf24e2ed687c5
GIT binary patch
literal 1936
zcmbtU&ubG=5T4Ci?GKgODu@-_LzNcHk_44TJZut@P>i<Ncq)=^H(L`-vSssHT6$<a
z>!E@E1)gF~-t;8Jv!{Zd)&D?yDp+)8^IrPc>|S)j^3D6^n{VFkzRhm7kc%h^h*01?
zoUQ~5Fg|pe8(wO_D2%|#&d0YWDzuNr;P^<5bkkrYR{`$8b(m-&9*r5tCp(`y2Wsi7
z3b2Q*dp}gA3t$|Z0Bv0F??xag>uzZ37jcn)WT<sWGg8nw?9Bn}hy9f|(59NwY8_(j
zm&c`*wgNA`HPwVK)-IE$*l({!dxoxozTeeJ&(q|dfS$;Eo+f$%deYkOd9$f4=Th^9
zXQKf5Oy<5elYjhFD>_cis+iS=w&u7RtJqp9y6!q_)f#55RjD%DVjHflCG|u!5sN4F
zctV>o-Fg(W*z7FvdR(JQJeIhNn-2?mS7+eopP;%L_$C2V`~`)IPC=o9^zymjf`^0r
zxW@;bAewu2z<v^$32C22uFw#BUYy`?FNDvA@Q;uu{}n`vLJ#0MVvv6WdD6e*x<!sq
zwyhT>W;dB`!E_m>w>*Z3?50_RQogW|P8CWEx!h8=SSqH{g=`5dr_pq3_TmP^)8K-=
z?p7OYt>3w1Zrb_9`GqBBqERZHfx2C{*0=kDCur}uK8?4d+k9V>_^9Q#5R-U3lKq(D
zSrYYQeHP#W&#(A=49-s>e_qmWN&H2Le;vYiIDZX&Wc}w5{kIVQcZd(@&FwlfR}q=p
z!-~jUyJqUl-eRDaO=g0=+H8XEI<z2pT%QBoa_V)v!MOc@gN6=xs{<$9K+X#)O5s0)
zQ&^*~(2z8ge&C<%Fz-Ky9Hqll#JJi6xP?f({|h&KbGh8piky(n6?y(^e;j*hR01zK
z#C-YeQC;j`Y|lWBa&e9^_2MBHEDM68=#w$x)6lZR1uc#=cLXmnUpznJ{P&I&%y9A*
YEu;{01$7CNp#B5?*E%nR9R2-&0cKd+$N&HU
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/eprintf.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/eprintf.o
new file mode 100644
index 0000000000000000000000000000000000000000..24a9c03ad96d39fcce2611de37ecdb5e63db38af
GIT binary patch
literal 3896
zcmbtXdrVvB6+icW7jPg60h*Wu3!8x2)EN%XU{_*Xn?NFkE^6XdThkUB$0>yH@FS0k
zY}{<sG&QLd+H7r;X;3YZdi_^6r7A3w>P_iOZKbK{QvR4GLuf)Xbqk>syUg*<@x7N^
z4A~#shpxZxobx;H^Ie<4mbO-&<3L*+yaV?sjSDck`u<r=A4SN8RgfI`gPdeAG`o+J
zzhMxW<)poH`+0c-z?thj3>`5+;k=K@amHJXAni?b3vz;Skxh7B*b0dSPWsGjVSn`>
zE!}5kMcq?h3~%z4zjtnm7py+m_>!;Uy>pC*%h5wVdjsl7eAD%(bD$uU4NnYaL$&i>
z${k~yth4)^^4xxxJnw6k6Wu%Hg{@*DIq?2lQPzGv#@1V31gM)&rs_%mPAX-jSpJ23
za^R2Y_$lT&jGtol3UIlp0%nw)xJWHXpM4~No8k=R7M%)xH+W6Ty>`xwm|vt)?)WYK
z_gcPWcl3=n?*0tr^Vv|)abo<u>)*}STn7GBhroXvJ=9?z!5BP089zVxFw7L8?5%VT
z#w9r<2d<`Lhiqvt<xM&<X0&QKF3Pda*p4CS^xEfHk(F>?V_p<1Jz9QRe@<q>WhGbM
z`YrZhz626wLi`=dw<inSG0df${9z8HUvVOOzUeeK;}f9ZB*uCg^Q9c$<yrUR9Jt@+
z+3t6F2z(9Tp2a#-yi{ZCPvA|&&hzW@CfJ5Zj6D>&m`c3{V9Z<WRSES-$#W!2$rEGx
znDlR8uD37`&7K8)lAeaA7%0xa>vE-dn*<2lU|{_e<JpXI7sd@ISV<G`-4qYagH{`*
zKBJ5CJB$6N+RzNpoGyg2<OQse1w_YFf++v6SR9*Zf`rqA`!N`kOi*XU`hUat$Q&;w
zXr|xJhM{bLhiFC@SXRV?xp<i9h~+|^`78wdIWSa)arkmX$6yo!+$LqNE|^67Fw#+!
zO`t8wB)-C<y)r@Rt%X~+o#K_E@C0FTp7MBs&m$c5UQ8Jq{)Tw7Al~(2Uxr5^FoCu%
z2%_Unw4vaR*r9k`17W_zyka<a!<V?g74lIC?hmt3?+h0h$p!aEd3b)E3vhUj9TUf<
zYauzZI^OW7@54|G`?>wjk6$r>m^3&$N{h=Zr5CZ@24`6*^^tO?yf<?8QpzF5iXvr$
z;;YYM|EV`o!Z4Oc7z^86I>Ag<5#Jl6XK+|bah}gkAZ`-*q-%lAr3S;6QjW9#rVVX8
z%^;6zI$bL!J#(r074Ltj1!v{M^c@=hoD0NOVLmY~;KbUD7GNH>`+0C6j**{F?<uy=
z;!F*Hg4nw$w>^7l&L+U#pl{DisxHAy5eN2@@^G<@c^2fmz_i<wO4Wad@4KIpoeNmQ
zJ1KYZnoOV4m{uF3n$uCjd$<5BU|&w7|9_%?wp0&r7Pa~wLOk_`6QQ69An<ZNxc{v7
zhvxGs?9pq8;mQ^Hnzi@kamHCm{)tXrNpiI=ntTf7_Ek$`(CYO&wO+drGlFww##xFQ
zz<qpeyx}UwLHGVw=);Wlzhc0-$J)hEz6*O`#yRug%$Tu0Cy~}_@wsZV7HyibUu8Gx
z{azF~sPZd`k2S&?yRCShV$8|}X)odF{?R*v=0ST;roRhxv+(OE-XDYLxQOx4oftXf
zv6Jp%jdGUP;Fmi2%lMAGs;d#@*RPZJ@XPftqkLS5H$>H%Y(Sk6jN!^^r6yD#@4S-d
zGisi*_prB3VgjP}Q`C#!q76O$9MY56`}BJ#mvEa;nKCd(GU(O}x*ci2*)ZemJdSZ|
zJ&WVrqrARAxq$Lvl+*k412z6Q6Rh8&{3Vo6V2owy7zOLkm(XDS0O{nwC3%_&L;t{s
zeka^+W<y_PNrltfm^_^?72Ym~#8<mvY<drj-QLzLPd~Clp3Gk(Pc|cV8;3M6$Ba_r
zM2XZmX_gvqluM0Mk4TMQZj~BuZj%~s)go<NE8jHd%k<tz4*Vs3=c}q~YU}E^H`pCc
zSM!dRR@m9x{Fr6S&L2E!argBd_H}x@dMyY0f|hWn-{P$75B44GI*g~Fud^%c_l1uH
z{T7F<rn080+F`4%v25`Mdn)l%_2{F-w^dt6Qe9P3k6!=FqTf;i%%oO=Fj(oA768M)
zl@>!wnJX{NSZ-%6@_C*8sH(VL<!kh~%CAuQBdVz>l}{UkEFGmBx2Ct{d>isP9e$lo
zlL3A+W~@4-3sK_?uLvj(T94sF{HV(JsIHokueV89T0g>PCB7H=WXED46u@z11Mv3;
zyL!V1Z9b?t4qf3sZ}oO%t9r6G)b)I?|A0zD#Q`|b^?X+t`umRggWx}^XhQqWwmmLq
zTl=2Y)_pDRcDK{j*3u5`zVHkE{&vm2=B`*h6k&Z=X-wQr>Un(z-=Ov(6Te#JXX2#?
z;9q<IUK=s8pRbF@ppKpc`TBagAH-KjvIOyKbaqaw^(H>e;^MM}Ug!yXJHQqS2bH~3
zI|coRy|%Fbco=L4ykRfcIzl0^1^X1j*VohI?+q^+`u`3VRL9VkO{9oCTCc0|E7a0j
z5U&IuN?pW9zdDr*30nVhP)L3>bJ`p{tnxE&`nU$v8&$D-*7uMg=>Mu;t=d$t*P?07
zzrOb*%nZw+>Q^mlDu-zmxIcqWHK3*6GkueMmwGuasX#JEbEWy$>PN85+>r(GT>1p)
bQntlU&9BBNz{5)V{p$a@E)A&enfm_$?~B>u
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/estimator_kalman.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/estimator_kalman.o
new file mode 100644
index 0000000000000000000000000000000000000000..918557966a7be006a2dc372b37d901723bc6d3c9
GIT binary patch
literal 18520
zcmeHPe{3Arah|)QWa>u?Mxte!7S2mrs%ckZDMk%MwW;>_OO!=P40*O>J1KcQuEeX3
zcjVq)M9D71C`PNMC@RJdEWk$0q)H*FDIlaqt3$(<Nex4Pw1rT#u7Vf^X*vnhw1r(+
zjp$fWXLe`qM$6lv0s2>aPuQFHzW2SEdGluXcK052x~sQ4914My5c~y{T7m)`=_u7r
zw`xKyY=k?{{ne#A5ttr^ss0d5{eywW&2_N65#SusUK$F+@(jT15yZoI5Qp$w7^a6B
zVVdgU=gk*aBYzbhXq(2JdlOLSL0JA8$_6|-QNOEW|5QKryW`MS|InFm+s$?6@}1|t
zeQ_=__!f-?Fx#m9uo3yEJI~F!{-ND3-W&*B`XB<AZ*7F-`;qr&<ikO8nS4lmH9S2Z
zsl9w=t>>TkOa0>WOxRo&oUoe%u}il$lI_2_h&pP?UKsVZqkngv`|C^QOw}~S2D$x%
zQ?NW(9V!f-MOlY(Gag2$K(_IqIpdgbT?8{sb8~fh{{N}#zw7(wBh$B@4PV-X{I}5e
zx7x$gKTbw2-TtG<^z!klOFzl2y0rA@>al<QmHWn6?@JWV`PYE#oO>M1JJeo-lG+Q0
zVR`;pJUSxN^T)uAgUf%#<1g&RzCne*426XOuTAT<8ILnKzl8`qz7^+a&Q(o+KMBhh
z)=%{(@d*F6yH+m^UHx+Z)FT&dT7znMG&&XWVm@bgx0&nVSIJil?B$=Jp7~eI!rd34
z@Gv}heBUoXeEwy#U_@ZQH=o96onb`(01%ICy1b135dI?ia6j5V_0_8BmocX(ZnT!v
zSG5^zGYs*CMYFJ{7AEF4L%ezu#P?KV{UL~7s>S+xn3$<YPUL~hr1w^&>Tw#Yb%cI;
zH$MNOiGCq>t$AuHLi`6GC%((wOL+pALz^x)?lKGQRq(OKU7mjrqYokUf&6TsoXx}v
z-?CS?(Hz@D5Qh)FIECTCb@NGcc{md)xVi=?PF}2NEX7aqbrEe3pIJ5S<*ny~<fhKq
zdGrhYn+^?`g$DE~Gz6%7>Wg{};Dft6-8mfQIXvr)Aq=^6zEO^rU8Cxo7?;<~0{JKF
zlxU0<*5NuYtcIOK(O6*y<yJ^W6RlO#iTc=V6+9B9b9Wi@@{zOV_IX_Imd&TPpI#d(
zG|V+dkA`Ejr_aE066@`Foc;nVpRNxTYSuPIe^A{NJsk}dPB$XAIu(5r+ewt|cr?^m
z(Ig)2cr=*9(N*<ZqDhns--X$Bl;8US%r360-@aJ4CHe*)i$8+dcNbxn=C+8rw}3e_
z^qq#^q&0l!n7N#6UDZZ?6hm4MqsA-%#?YvNf*Bi%(wwQE@_!!JqXE}1_wB0b1@HV}
ze50EmlmlP+A;v1=wcnvJgB)+Q&YgGfJ`k&hoqMWaVgdR7oO}ZN_ZTo?RzZ9X=HQ+!
zFfnx>$|jgdEZvPSKJc0C@7^?LhcJf2t7Ef?wRqqfK+_}9_NJ}T@H)(crY+G3o`aMR
zL*WqihYG{1L$k?mz;a@3Xm<FwLWLHxQwI}3x;Mkb=f1bnmq(Ga7^%PfPUIns-M#0I
zfqnViU2TGYX%)CRR*$$~a-Q8^2CJd*pD2yL74gQeMZ7r24LHY5I6urO%DKQfZU|vN
z&T$jY@iNY_9_RQ>sPN;T-hE)WeHC86?)CkB#KpJ&Q1u^S9oPGw?-#mWHehZvR`qW;
z&YQF07hpTAhgtdlk^Y97$n=>i_q(MQb-?~u?}6As0Ncu0PFK!JjU}8^HUq~K>9Irx
zplcxRQFa@LWBmvB9o)Oy*zfik<F+-DN)p?!6OLu1vnPzEt?B$@Yf-NnH{eijHt!hO
zqsDMHpBc$*GhBO4Dszm;SSIp`k$t)D^ht!MZD)t`IVV1nO;D@YK4E)J$T`{ZL2(i>
zRG&^+_EGMJ^yuLfy6^E+XDZX3P8}O{gqI`djt~#!(=4B1*>}Xl`<`a`j3+x=Sngoi
z3ZG5bs0B!(7FVJcSE3eAQU~_;Q3p!Y;>jH>TTxCBNRmL31d{x?CvE4+@ey>@YhhfR
zK3oQp-Kk6>O|ZFe>V-W|uKE4%eDL=49^qAFB?6TQR3cD`KqUf|2vj0ai9jU+l?YTK
zP>Db#0+k3<B2bAyB?6TQR3h;IB?3#4|Jh7`Uf$;d)Z+X1vgN+ADB#Z><x2(k;_`nr
z4tvWlJN&%(RDhnK{KVhU%a*CKC_s>&rT~6*03O5-!h`&Qy&WC9ji$W^pETmxY&tob
zNM($pS=(?%EhDyl+|C|NrLkrwM^lcKbn>=kv^BSGZ*AGp*1V(DXiC^)+p*U2*kgn@
z?=YxmM@uX13iug?&g&|8|86--r0fnBfC&C8S0bpXT!{egNbwc-$Gb8({V)h+?AE*J
zeXt8RhESQ?;K@&*2qS-pFHp4kMM?x#W`$=r2w&-c43&k{yd)3$8J9L~JfSj-2l3Cl
zEdc4KU$zLJVVvEC9OD-mkF)$8#&M8a)-(Pk#%p}|*BIZ-xXh%$xZ%V9p7AEe#n10E
z-oiNUO>xUdjQ29m0@h%K=5@e_*D`+4hesLjV_fF-7~?}e{Ns$L8JBsHQ;{;?GT!>G
zyt;O}dP=yg*C6B4zQA@o{Sp;wdBxMe5+8N-l<+3zpJH6vBEP_RAM*sKW(4?0W$q*4
z*<FdBclDI;89qN~Oay;G_ZLskO8k#qJte$H4UE7qs+L#v^sL1H+|^UUC9X6o0yQi2
zyovk`lH}Mc{C`1wB^%&B1Mn)GcR9WhfVUz}cEz5|{0YWq*wZx2X9DzO0`NTRk@HmI
z`FjEUR|D`r3Bdm{0ROuHd@%t3uK@hR0K672{pI4kH30u)0NxjXI|2A)0RFoH_#Xz~
zmjm#t0r(pM_&*2WKMcVCJpg|{0I$XiUAZ_n2H?2QsVx7~0r>L)_-g_9)d2jv0r-aj
z_(uGGE;p~10DK?fbe_J)U)ge=eui=R3Xt!q=NUKnQtw@-0A2~u50<xQC~Na>oaQ8K
z8G$X6kj)L8%rO{G<c{MupycuP{L!P9&AW>T1v{T{d#$m=_-NL)0C%?}4&)tclDWk;
zq;mT*DF+-J#ygd=w!66q63JvNnaq#n(+MYQ!?BZgR=4l%?!YZbj-TU!xf7N(e#qNO
z)SXH@7VD?|O#}IH%l>RCm$f^x8FbINch8dAu*6l|t3;0U;@F%+E^_Te!p`6>r}lI<
zc|4vPvsOfk;=z+oVnjMIAW+(D<$8)SJWBh0Ql~6w=iPll(i$90XOBtvfm_9WP=kZx
z2|F=X>@O~&x3!BLa6>)$sl1i9_F5UsP9-~Ri#8tJgAG`j5ttm1#q%ic>e0fak}yfS
zJeZL(w&D~ZAI^4)s^f{{7K~YA$?=nZs_QDx&0Dp8+ResU)`1~(8M%`=#~M4FNIB?<
z?Rc*3wVZe=dE8t6!M(kQ+GD+ghq}85y5fWJSbJ~RAl$q7uBv$JfYKft8R@gLNh_B-
zm`&xZl6#%j1jSELz0F&PQ_g5SdsN}><}F-IhDy1%FXv`BjYwtM-OY1wpfwK3Y$lgY
zTYY&4A9ZZ7#_d$b(HgrZF?+oXaW#Ou;yB%>6863kuQgyf`|woA6*IfI1JB!8N1>zb
zWw^@^2GD4{^?)xLPhkqW+tKa~l9%aTP)n*xlkdysQfiwa*(r5CojB2D+jtt68#zE{
zXe@IqZRJ#dzq?zoq@pvGa}t@Pg!5kgXuNz!Y#2j|SDqfr-62>q?^hr1JQP#bOLn_)
z4`kVnpXrdR&X@k>P6=GRF7Ik<jo>6odA8r(kg2=-v$(8y2Ie|4PCuTtz1d?uiOfhE
zuNz*eW4RIU2l1<>Smb-)A;fv>q1$ILgPuP$e<$O_=PimZvWxNieSA~#Wh_B*e@FgA
znM0zN>w?SkYoEgLtEpJx3ddWp;&UzS!K6a|X#GPjTEa#Dh{CmgN8wukB;ynZ{mS4R
z;}Yi?ZokBG6URsJtBebuoA6Dp_~ZEo<78K2PS8Ipyp8K5mK3hn>)#mnuWvQ#rBaVl
z^X0zW?<YOCQt|s~GERQ}nn!Uz>A8}MtgqL?d{BDydc_$he|}xaD4hU3lL30@xsM9@
z^GUDje!i;k-%$7r<K$=QX%XO}53lAiUuT@+srgqFpYlrhulx9dU-j|pSpVNLPX22@
zuPc6|^8bdy$*#eD?=tS!v!wWX6Y&QD{M(98`j4>wj})%28~D=6E&e>A=S?c)kLlLD
zkDZMB^Ha`O;_LkHRC;uLMim}Y`ll4$uJ9Ka_xnlDn^eedhgWq!Zz#M|;qwaD{3?8Y
zp+b7PysG=To^i6<sBlB^yA{4o@pYVg6koqXKBD+~y@nWXL%Tgn|A^AFPvN6VkG4zC
zp;Y|qa#rC_cog^ZRfX&8%mt-i$AO+Vsrd8Zn@W$)hieMo?G1H5uPgl&2RZL<_;5Mz
z-d1|(kHMt8t8n?wqP``C>pZ0AQ!4(vs$rbs7V{|X=Nk$?pzwKxA5{2~(y!z8k;1v^
zjiSk8A-jjXs{2`|aQV)qjx7rRl;ZDHIKAVQVlqzirK-UlJ&gPFtyk&M`Ic7rfG9_K
zTj6pKK;5<c+)ML%Qt`Jb{3(T-3O}syxWeVyM%`(JyMOq>W3DUQ{X-DO-&XjujFDJU
z_@@;v&+YO(JHve+FyDXwAkXvu@6#%No~QUnm4127_w%;|@LL$C?_YgiAu8!lc!#8c
zQqCvBbsjb`$Iow3IPrxix##E0T8Mt(X}gpfa{d}hKjH6jTkMb?Ixpls{VpFLu%C+Q
ze&V}(Y*ReXaa-&YPWt8kN&88Bx&IsGal)7Ts&R!A|2(&+6z<N8{W+^};=jsm87KM;
z=Fj-}(!Qc_(%;1Vs|qLm7r1>*;lyuY{&j^D|01{N6;AwJ%wJMC@xRXP+X^SX$$VJ{
ziNE+Q@ss)XFu#ta@Wr0YPxyVzlX(bV^oo7qA7Q@O5x&ez`h`Ele38PJ_PFws<~z#m
zNrh8<&T?C%=$G;5eEciio>4gI7rhr1PWo?f`>Mi;KgI1ig%cmb^Z{^P;lvmJM4!yJ
ziTO)DzWDu~!b$(@q?`(mllh)!UbVuBFZo)haPmjyZz!Dj@_f~zaN<i`<UUjUpTj;X
zJwCp~xliGZ$m?_2cx_ZT>6bXleJSZDzLZHH{~FJCO5wzB;sNIrPWmMd)!Z*}yT)z9
zhu`3~=p#N|54W-1T|WLixBdF-7&lmoUEyi{6#s4Pw_pER9&ai=`uZ$!75(R#cf`k+
z-&aQ!?yfJl#}!Wc<#*R9h3j}ibMEArlNd(n*q$7fnr)>M&F&lGW_o!I&BM7IG}~Ef
z5Pe7Uu3|HpbFh(2j(Hp!>C#XKa;S;#ahttYQ3@!&$@MtyyS*YSnH?Lm@V(yuMlnzc
zEj{0E6jhpB+sXF>(orK7mJgw%c$(Z6G0uPA+Q$#aAHxo^Bl#iu^Gl5LZL|yr$7feM
zI8CJq+ptDD{o^Nj{J3v`*cS!lCQ<aeFzS=>*8|22Y$BKH8}QJjXN}kL$4l&sq<eiD
z@Av-*kH1~3wU**1DBXLO8{bDK9hON?6hFnT0Cdk>ZvE!?CC)h}()!U@887RXLadzq
zYixgp&wEx=953w=tdz6g$1i_s=%mC#_9>P8_D>;J&i-fvc3|o8MDbI`3y{Z3Ir~E~
zk1@nVvcDb=887q4|0ATV{VQx=;>T)=<E4ETE9LCZvHka$NcL&hfZzTrh=uTI!9y3b
z(QD~v5JHGcMN8ijx&1RdzK-*d@_Pp!e*4tz&s|b*^_S@r;2XStUaMqR+BC0n<FB-P
Mj0-|!DSiw5-v9tf_W%F@
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptest.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptest.o
new file mode 100644
index 0000000000000000000000000000000000000000..93189f286f562a345223a6e124c1cfe81e2be95a
GIT binary patch
literal 1712
zcmbVM&2G~`5T3;R|8oPu!H7z<5?RHTklJ!FDy19{hf*XY4w2(*l?W#e_7=Ilw2#1%
zN8k;(aNsErj{!GsFk{a&+qH#6SF&d2oA28huV;O@`Qll((*ao>_yUVaP=L9&@T1C&
z;3`}JAC9)ad4uo6WV4*_=)y4V>z@VxRNmIc#=5_}_42j9lVxc#jwdsJH_Lr9*8Y>;
zJkNF~DSCM_o*12&y<GciD(r>*U`+*~zZ~b&9(w(i6~a~EQzqz#kN({az55yX)!Mz+
zdNKeWbXzy|FypSv70^84YlwHP{V!NT4?A+#?Fwk(1bcASr9;hc;`fo+vG}W&(u4C>
zRJ-*)O`NhGTx{^~B68E(=lH#JIX5^iDuJaEIN08s!O{pu`Q(Gn2Mi8II(Y}8qfxc1
z_qihBZC`=#6J4ode`?|(sKVs69gAmlX+Vu)6N4HS1*klufS7?=#Zaell_n39D$SBO
z6&$;KS~adtG_I0tI@L3|7mWk@Pv8#nX?o5%x`<;rCrRHBhwVMIq<1Itxx<r?xb}L0
z0o6FI{vm2<&k!GbN&QPUh`zj!^bsM}*8dyU+4D<~=s69K(V<%t3BdL<50A_f^+C5q
z^tYHtb=vBG<h<}XJl0G63Z1t4Ke)csq53rEvY+7Z5u^IjC%V=8#P%&)F>-FUZM!GG
pS#ZQe`cGZQ$E{Cy$^G^uEuHftjF!}`Bl;J#>wmKTK!|Kz{a*vvZ*l+t
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptestBolt.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptestBolt.o
new file mode 100644
index 0000000000000000000000000000000000000000..944a009b7cd0bee73e4da017389e4fac0c625cbb
GIT binary patch
literal 1720
zcmbVM&1w`u5U$<vC;p-FB#6*Lzy#c8XF%BKWi-Zk5Dzhe;9;4a?XZipJ7K0*#*5|=
za`Z90dGX*=c=i>%<r1`NrYhUc41#G`s_N_StE%p)-cQ>vo^?ANkkx^&u#5x+D7>W~
zmTm~w;3_CM-2Ltie~jWMX=3+GZY$omlO_L5-p<z6L$$v1^0nGa(<Gim)4AGDGi4`6
zJ?<T3>Hai9FN-HrYht^|jM~&eFX;Q5+7Hxvl+AkR^*1&M*S?}1zaKpKcQ<tQbMWhT
z8_R3G82}HuZFIz)OJm0M(l&4SCgNQu|B92*!;b3fP6;$|f;~82r$fbW;`fl*argsA
z>A^)Os@y716Q^AdE;aZHkyR(p>A6gCU~yV#YIF>11u(F?n8Vr_#@Y0}$%YJ$kTo2e
z_#KFzM%L}3&y@*p`x=D*)t$~i%xp9Qo!hLk6Y;DmEa-7$BhaHf2c4x95YyKK3{4W1
z+vMS<PSQ9^1jjC)md)!%^EysvGc)HW(zvVt0d6CirszUV6ml&0B-=N{VS5)X>FX2v
zyvCD|xbC94p&Dn^-$yOw4DjbJsei=<(U<c`A0c9G{l8(IJI4fxp10u<I`n!%0oZ=w
z;gNZ|j5xg-(cfYo)oH7L#QVbM@Ki7HD|FiG|K$2ohw9UuOFqFDh*5p%6WwxsX8V?{
x7`Zpsw!M>M7928>z61Sd)$7w+s(*Wu7MyfIfwQEpK&$Aq>5p0eQHX5o`aj^Nbrb*q
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptestRR.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/exptestRR.o
new file mode 100644
index 0000000000000000000000000000000000000000..b02c228187f2ef3ef0be96992af168443b1eee34
GIT binary patch
literal 1720
zcmbtTL2J}d5T4yst+hpa6N>PJf-Sg@O+ab&5~;Nw#KT%a@UUdFuk2!Wvm~z)L9jo;
zqd&u&7Z3gl&;A8(J*hL<ncZg+Jk$qaX1@8pnaRuK!{M_h?N$rqwBQRYBS8TQZ|R4n
z8^Q*xgMzc(H?RMF5FZw^W0Tunugre^wd7yOJ32UcpmvU)zf{L*n#7}MJXI%YrtHY5
zN1a)go{SUpvUoJMCbp-UQTsaR1YLh$`+?etvPlQM?(Qz(+E<kEyTQGGPebp%0zZE@
zvAo8c0q~&RL`U4YG-hm+wtmAm5N|v6SDlI;PE<X&N}!Gt?7^if9p?Nxeg~N?hrj12
zJ-FgTb9Y{+j#Jiyt2MqtWYej$crR1TY`HEvhV23tVefPb+d~*;<F_X3FW~;r#BZ>c
z=xJr$DZ1R5@TRXp_+QiM{N2Px1JJq6=5{2WHH8H|jBEsYkmsPYlmcS<dJjXBL}i*h
zOzI?!qeO6=^Km)6t_-i^bTTnh%ai_}*+MyO(d9~+kYl+gNz;D0=QakUuWsm5m*n`w
zbr0<g^|+}1E^4V}fRB5m|GEpJFYhCBgoriG|B7|)9up*bPQycV=<f*yVEdVuNA_tA
zar$dSf0KFCr>Xx(&I_Nzg<j$p=rr~J!TqHV^`||TdV=SOQGb~e-ST{5`<ks7xi{A~
t{U_%vIAh{9jIZNU?N9$w_1lxQ;G*{_aE|m9XcL_#{W<I33z2PA{|AD}a_Im7
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/filter.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/filter.o
new file mode 100644
index 0000000000000000000000000000000000000000..9a29d97d2388558e9058e4456155b6ac8cad2c61
GIT binary patch
literal 1728
zcmbW1&r1|>6u{r?_+xgp*v!MG^4;%f<g7K*?n0yzH0zckNtoIxA;)dDUD{vHj-V*G
zf(NgG$Dm^t9XbdhxFF%7V-WQ>Sf|2E5>oHG`yCvH_2PH=^4|NrpF8uIwfhsJK0yHI
z2=Eb3Er$YBnof1Srt07a3GRWuE6#?d?*c3UtxU-Wue(rxA%CfK%|X)xSd}hAQ0NwV
z#=c_SE~S;Weevn{FcrVC3n7^pf7hpE|F(6qviJ5xgqOY0Pk!DM^KC(m9JRsmkqGY&
z`+a#mL<zRun!|Yd<Bb*2De+@0)GlmEXww8G<Ng66MHC_rT_=(n2+N9$c7*g^K^9U-
zQt2i09Z;RWD5!=Hs;nj`lmy-f!jZ@T_D<&4Mua~K#%Effdeo*LANG&rPgV}L-Ltd#
zD*!u#6ng^9V4Y5{U+B?QA^4%ASsGFMaL%TXUTx76YN8^9*Ed?j{ri;sqJ2buMTxNK
zQ%9sI`6LP9iqsrtwS@MB>I>>sS-}{bTfpZfZ1_~x3&xVkVXBNhd`xGG#at?5WD7K1
zw5XjiX+kYo#dJ1@nw83AZ8K#rS|%OR;%Yn^8`5HNsu)&YMJ*bMFs{WY^TeX@TUh;!
z!*-(ye*bIa78`C3fQY|FN5o3r6R3ek8_4Q3d&A)Zk`7njK^_t2T<7)<mvNLquDiwU
zGx#0kwfcOdPM$Q%IptjE{1NAKocC}J_$qAE(o%4B39?yhVsf+wrn80TITLcFbi6ce
z+Q~(`m`;yc<^tG8Aq}ZwIbC;-7qWI;OO#5v<+?g$mQB0Xp~U-iV_(116Xm9h*Pm@2
z9Gt=1`P^M7B_6}Xl8d*yIB4bNylu>*w5__#IGSbV49zx|Y|x$=wgK9FxeQvWn9rMq
z`qb`1=hG>svC&#Q={mPp`P`1%`|i8Z!M0F$0=WFlS9XcptUfE{Jd+UT*EsiX_@1XP
z53kj5bS7`$Wi`*6AH!VMDvH;Aoc>ST5OrrPxAb{pm>J@5k_WaTW7qrt*{*qKM+6xT
ZXPMzTPG1LILZwl@&OZ&qP9T@w{QtYRz5f6J
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/flowdeck_v1v2.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/flowdeck_v1v2.o
new file mode 100644
index 0000000000000000000000000000000000000000..6012d21e811d8d93803f5d6f8eefe107f06e9adc
GIT binary patch
literal 8096
zcmd6sYitzP6@bs~7~%$!@-V~@YL632>=ZWM1yo!`%@}O+3|Ph$G_=|s?+$pyzL=dg
zc1fB=L8>G1!zlSdsx~3%1B{XisjW&{XiOBTRG|`zRMe>bVWj+Ut3;(GRdHMDo-=dK
z`g(RpZPixlMZ>-4yXSS!%$>cveztp8PdF3;X(9L#%t}H5^p&$?!yOv19G1b|W8WXY
ztHG(;dqd-YIuIUT1~9f9uRkZX@dvP<K3q3Gt%XlbJu)x*yT|5dKm6=HSu}r<uDbGx
zz7vsgTRZxE-@`l3+HViN-1pkA&)O&9k)~H)da3XDn`iCAINpKR9SzR6VQ+-W?~(0m
zVPpCSco|@H+|(M*6MNxaW8~}eCq`~-OLrDO4@)PtrH>MCJ{dalVIB1UMO(S^sV9i9
ztnjtSC&ETYxehjrE;pX3f4}9c^=%897qzrCeH!OlJN2gDhT-x=7*0W*(E)#(+4w5P
z)iG}KMEJ<@zs~eij7DgD_df06m)}^iwuxjj{7{pjJ=Ams%6*jkq_*Px)VG$byZIcv
z`OzzI`Q~$r*OA_}nVAQ!pl`h%eb>Qay&gJ#hHMg9eVuW63S-|yxmnkKNf+9T-97e}
zTXVo1@MdiwhSw?b2aU$`-D6kI-NKj<ZoYx{lIF%*+<9Z#)xn%dXF`kLxO?oU-u+tu
z(@RmWh;bA58yyLNjfo{#7k~}77m&}lU48O}mmBLQ#enjAEe%wUCvJFi6a(|ZT$)#b
zt^a+dU(I12>ZkD1@CwJued0^UoD%m#hZ>94`+t?+lIr|u&Hv5&f&L7-x@|je>qiIE
z8B0&+(oWjUq`#8R9nzgaOYePh-};XBs9v;k#k_ql>cc?tsXjAz$g)Ym*0XERKI$tx
zMiM~EN*<<uAlZ}2AC*1^MJHc~%OuWc^G-USL;ZBo9LQK;rp$tq9<s=m+CjA5>!f<p
z!&Zu9*ItZJPFWep+|T_NaelDmIGA159PTqQZZ@5Bd;G6h!Z$*`<Ydy8y(M4DIj+AW
zB{Sptb=||IPZF(e;c7I8Tym>32f4yOv-4XV_XC#k*{<2<)uaGHJSd+a|Nm=#PeA_V
z03KAI!2tar{_py)5AYwv*97PX#f7a~wtP-+-Mae=dVfBjNe-InoPH3uChfz{bp<<r
zkhW;2og7R%R?;cimfjJGt&6osJ0j7T-fG&}bvSBoYa<?s>NFE=k8KP{gfZRUI{3p(
zEiJ9)Cp3VD|7tZ2J^9;W7gRq*4amca|3O7XtMT-<xPGdi>ecM0!1lea9ss?D$o~ZM
zZ!kBQCwL<W-_2Z>CVsrQ)$9Ed>W4%b$Fg#Iix3xCde4tYsKo6E_MwV4jlEW8F0%CW
zp-B3&kA;7exnwH*JIp1raKxD9eCp=37FVj~-$lcaqQ8l)E-@EbdYaatdUtsKtGTCN
z{Sx)`tGTDYkh(d|)34@lpjHTGxsG{D)8Kv?R(j7*HU9}}gcSWm#e&wmNRhmu=ck(g
z9H&Ey{;*=H!4gIChVNrn?FHcX0h~5;E&cm&-L-gQ0AGWAG5m2x?wC|?Lx6ry0N)Y7
z4+L=9&$aS=Hh_OEfWHvHUqQYYW}hor-w$0b5>%excU@jrk!3&qhPl*5xO;G+b549H
zIuwf}VfAnY^_#`RusT(dqy1LVnU%KVF{~oR=1Q(+5zj+(sG4&&Diy6xK0D!g2~Z@R
zF7H^CntSd^7s+cBygml;cqV_S80TYEJYFzuGh6hIX%$Ikx9-}rxpP;1PfyR@?*4dx
z=jL7AaVU-y9V@%fOgnoW({?C)vOk^0b(z@$4AF|atc*DVUEN!D#<%uv-xJ@yXFViK
zwr%B{C%r>pA$ydLn|+p<Vqy*y0ez&irjxh3b4N;6$#RdDJ?UJk%f@q}y?JD}nYAF9
z$0KUS>Mc3=(P@KKu+ur`Ah1ifh{Ke{7TYo%^x@jZse*KqV%}PPG|IGqhtJGNykJ{H
z>3pdODHjaS0%fl)#pj_FWoh&|M~!&p*+6-fOFb^{Y(n%Ui`s*z-{uY7|K+_({85Fw
zhgjDCjKbx8(t-MG75+4jiPINDX`?(K{}F-MpHcW@3cnb@-(kKS{iy5xfcdA8tLvR&
zzRaipF>`;Ob*M+pUx$VO{<y;1JyZApF6REY`xUO{nPBeEU(OwJf5ql$)|Wa6Kf#>z
z>Fg^xjWVZvRDO~<tv9OVe}=jEk*RMhTzwADF&F=$|2lK3Gk<k+r!Fw3xa&n3`)kZ)
zy)t#3xxb#b6n%AFA1nGQzr)<W-i3VNp}6Y07BTlf=Z(zCkL)SRb+zJ$;u-|8wJMy4
zE?>)n)Xi`y+9_Ps?_z=Csz>h(bAR0miXU~qj4Aq*=QfV}qN1<z)6D&KdtLFP*6jjw
zf88!Be$=|Xqxezlc2(g#bThrig1>H)3Rm?%V8LHEd09x^q(%#QL&^RU-oTvn)%r9t
zmwcq2tC;)i*6#De<%bOlSL?aS=U?<6XYSu$26Kw5?yq__q@PMD|3Q`|7I7+7g6k#k
z58+ZTgYCpmf@SGNe**nclQ_cVz2?p0Srzs0_g0Y4AwL({pMRMrbnYb|;p)27&m)N=
z`V(w#a8I1{<r(T#IMwYc%lj2h`tqEp>m~i`tXJ^q%L%cpaMJ%3%cBY>|Me`NRygTT
zvV4Yn$^R29Ur;#dPqBPa;pCs@s9p6s_r4Ij#j>n}{L@;cK9f8z^~5h9Zj(5Yk9_mH
z<I}HaeX%2beuQ1kMLaM5Wj#_4;rrRI?(?5uxmDqmzr@(2a9Zym%Z9>9U+!<O!b!it
zvOk|PbDew1bChL&K2ipMK4YwJD1IatLjHWtu%6UI>M1s|KFQ|->qDeCl6A}h>>b<d
z2W4dA2|MCg!wy7Jrei{6pjd>6ohO0RqmfN0l9Eesgp-j>K8e48GRL#9cdU-c(U=dx
zf%ANH_U7?xM1;R5c)<N85pjR-Re|Uv^Vuw(|7C6eL9e4N-5Ys+#g)N>UU`sMUL*?K
zKZrfm-e6g}N&X378#~6oUAS@NIcj9ZHOzfsV2pw2i(k3VBGVb2bo}<G8Tj+{+tb;Q
z)~}x7Pz14GC=V_{Y?6=QZe%p}$3Mq`3S^`-u@_|EpjQ1_@eg&>#=H)wepE`am->Af
zS*`eu{F9&Pvzv;&$h41Y#lOh$B@V?WU*b>rGstSi*Z;-%!vXQH*N9J_DgOB0?|0Sp
zZ{_&9+$glACib3$_ZbJZ)<4DZ<(y3Gr{5~XUe^CTWVO~W&wT>t)h71B#&J+9{vG_|
zEH(B1)0Pr@iT@U|TJg{EzN7l8P3(pJ7zefDk8*$sR;2aQUJ`qW{|jUkza1~N>HL9v
zK!rG#+oAUIS*xm+*}lN{u>mJr@$$!~bAW&Ek)K=q!_r3*h#)qfh`(jkw%@kGRR{W`
JsoMPZ{{SPB0>c0R
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/gtgps.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/gtgps.o
new file mode 100644
index 0000000000000000000000000000000000000000..f80236e5061f3295c45971c003b503f665d8e5e0
GIT binary patch
literal 6920
zcmbW6YfK#16@bsotP4(@);#<mq%dG?W5?buw3Z-h>sj87NkU<(x^=64^N<%7W|tHT
zT5k|iiJTv7oVJ#1DcFrv!!O58)L2a$V!2T(|FL2x>W@}}P(?)Tk0i!TN$k>dX3mA{
zVMkSRqv721-E+@5_sqRBv(Cxp_7+u9Kr{t@2kV-k0F&F-`-asupb!eEHw9qS&uPJT
z%XRIYd!xUfxu-!^17qcOmojr(gV|+GoeiN)`6U>d2MCZ|)C1Y53M(<>FCu?tbu|z|
zcGv?$A>@Vvfy4PQq-=sfgOce~AoDiHdLg62mD^qZnR}yux=1mX_G<l`{{dekn*~kD
z-YJ5WBFJ=-?H!DbYniG5$X4R~`CY~ead-f}QQ;4j!Bnh_^oSZMyNH)&gvtcZ-`rSk
z*_MRL?i3j-OM4sp!HAS${6EO?<+x<Oh%qRx#dj%LS`+bwUr%+0zcp({RbyphOQus@
z8ohb`XBB4~0IuiVc)l~QXxdcs)l<6*vYnd>UN+xfR4!NCjh}A#@TWI>u|^eRzc{j|
zAp3F4Sj$=cmZ!A*Wf*!3)Kf5)SNhi7=F?a2j$ikT?LIqkH+0hjo(Ct!HWg*YGDj*P
zue1u(2j{Wwl*=OKM)g&Sjk?29-D!=)Lms0ZM!s4Ik3eC0yD~IUJn_Q`N6o2@3%E8~
zBk=n0KJQ=9nq~l$>&U*l86suBSzX<6Z}fF*KTuph-WO|6EJAi(E1JD?Or6<=_vaNA
zvcIf^?0eew*~M~LNv^K`YP{CA!Ta8Mob-luy@&KpTPL4U(j)77kaW}5D{%Z6>J)E$
z9I~W;AN9p@TrclQ-0*=gu7mdFqNdC)U=Ed7pCH$V_UZ-I_SZ0F`=C6V(GQ?M+7EY*
zHQ=7SX6;GxBQCLiS~sm%!I)I{IlLbV`klvkBG!341H|yCO}&Hhma$G3E|5*Jm6IQ1
z{q{0sUp1BN9*j*f-otefC!16uWOd{x)ouUuqpx?ZoQr3#qJ0J0l;GIaamDgS`Zm&^
zU)Kvz|Nraxqjf)NJw=#jNHyvW6%G|+U!1iJ?s1@Vc4@*ohs23(!ZS!`u?nSzms(<<
zQyp``y;pCatE>0b@ZRVZE8eu4=@k3rRb1DCwry7Au>6LS{UoZ*?8G=b@LD<UnfdHd
zuyV+J+kS3<ai&v;X_N92?0f{W2Kps-{wnr0yFZM%UfB-We`AbKwUSw?Gu4;u=HKww
z3t2t|L%8-p1ntYKVaSj7R!9BtbIQ=<e^&!^)~h^F&;(E)`g28{n-2wTL*xVP-p4Z&
z!~TnC{|xPwi!h{nAb>S`Tg5tQ0LA5#%13j!e=0$JT<ML~0qz;HqkI0DrtY6s;gpK&
zQg9CCdQyYq%BQP=3#e1w0H4pqLjZ^7wTEZvJlJE~XXmlDG?w|#Dvp)RZpE=TF{e_D
zO*wpkeH@3Xjwb>~Y7f;MsHr(r>+|ieX?f^@bzbW`K(MyahQj{qK8qjl+5hdY<w-d1
zrODV@1FaohkLk?=;Ygxyphq|3;TXwoGuf}VCX$hGB9I)^(Z~vC+ta*`)-Jy-TS@i|
zrtmL7BAm8ma=?<kPjt0Yr`I2ik{n3c2Hkxlq(Um491M!dsK?^b<HRFTD>HjsK;*CI
z(dZX%&$vwe(&yxEX}Iyv>p$a?k6Zq2F7|GIptZ5_F}=F=$?xfbWHJ%$4fhS`-APkV
z_r`Vq!9g?G-Iu_g8SU*$$D`?CGp^TrYY*1?YU;f;wR&~f>_3P--@bjsy)`<G)c9%-
zxg^3^LFs{yR&!ZtIlqJej}M;098E({&bHYC6y^T51yxn@Pr7ItY!clyX@7og<Rxf9
zezvmZR@LrQG1pmN=5e3kyo77azsdYV=Dp1AxEt5og5!!*2YioP?MdeNEVf!9%O9X5
zdx}r(VOxOhe`DR^IIc+b6ctP`&*%9%OFG?TU(LF~l7t2uce@>TBQL{1iez7RpC1u*
z9ol|2ayzd5j9Rw_UhhUeh(-#2n2I(hIw&=ecZWS-$KA+BaafV;+wSx8Wl6KU&!P}}
zM;@GV;b&a<ITwD}g}>>-|Kh@LA}_?1g?OvHz#HQ4F7_X|@K0R0iv9}V<5h7dV`xV$
z4|%To6tg|2ftlHDhsA{#fVEyv8s943C{&Gr)eXc`X{d_9VAxE>g9GuAG`_QXdcqx~
zo77LO^=ayN2Kv$v2@l7j{V^CGjD^#26ECS-3w^d#KSUrHOeA|!)|)IC#2DfJRM2{D
zrP5|PnZWm$IS}n1gu&!bAlTaeRD-`g_*6?vS92g3@HezK2O*jqNF@{Tj^Q*uj7^9S
zntcQ5ZWs=m=^85;dl})>aTp2U-$r~@Q$94_6(5K-h0|epnns%9iSP-C40rSF*0}95
z(g!iK@9DT1v|QQwaUF#y!g|V22hrc|;PhOeR*JmB?pl9ozfyDZX^R4ofB7Bx67y{i
zeu+8xspLM1IqnnR#eEWgbKzUij+!%{Di`kI=eN_|VD79>6LZR6)QaLQx$po#+MRxm
zGI#np=fdy0_z_7s?^ix2M{%ntL2g?lPWMHepRLTreG$Bvc|H2sEu5g-$(-u8N8-A~
z_evbU)2$}<gLv*&Oa7}RdmnR=kFYl+|NA8SHs;Pc3^J#<TtaJBTJkURjAUOW`F~F0
zR5ydirX0MD`8noPpZ&~8yd?2QC4Ncba@}5&xNLt-;<Eo6F8mgAx{n8>xc`#u4@!Jl
z;_`j>@Fx=a@k;iONL=>sV@`FD{ntr+x8$cy@+12XNL=<mE%~XC{Jg?k>>q>2UX$!A
zCHor=dvPCcx!8;ILI1Qz`(c`Wi9Jl59tq-m&&T6}v$`gTi*G!FPX8Tjsk0PukFqYu
zrCYa!xi~k%KE&K$Nu2D(J6OaK_PuN;;t2aH=3-pf4>A{0*#C%mhNZ9{VSQ5Kl+RAq
z&q$o=oMC;MrSLD-e@WtGFZ|{^xbUkx_%!RnpYYEZ>KyhL#eg?;qCXvufR{c1EZHl1
zCcdA&Y5D^3;%7w|ypdE2yk?RVGOzL0p-M&;!5$8J6Uk^eAvpd@Zn9qGUg=eC&%y5y
zFa4mlHS1HvYki4$qsjjM_<;TUT%`F$rH&JEt4Lq&wkN|Du*~O#)wTU3^iu55eKiDN
zd4@lk4W9oM<P=BTFR>5k9Yb7xR-+1a{1fAGQluv43q;QhV$S)KJik{MvUJX`K~C{&
z9d=?qeTU0U%%?fjn(@k&zd@T6o7h*jw!VI$8`#NJzrPmQ7Hw=u^`j+;_@aJ4MwTo7
z2*(%p>}GAg(2rs#S9~4+VUn7NL-EO%@F(~QWVzyJIQ|@t%T3G|jCOIZ_;nn=g9}aZ
z=~teZFXI0kS+4j78@A!N+{Apr#<7zt{v<!NLu^R#>Dephi}<IJQG6d>a+_qsV=}}(
zFXui<?-OTR;`td$4%=3|D)4f~-;B(;_YpzwL-ZG5p9pBHYjIh%{!dh{`AfWh`h6-l
HhdcNmaHV~n
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/health.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/health.o
new file mode 100644
index 0000000000000000000000000000000000000000..05f25bbb5fdb1c4ce84bec5c2e30ac9c2746e803
GIT binary patch
literal 10488
zcmeHNU2GiH6+W};IL3s=aZF-Dx*q=|S%-LWLaN$nRK`E~LD*o$o75p7?_|A>t*pKF
z?uI6WDx1_$C{(gV+U9|ZgcKU1K12ewaTQB`pva&|MT8<AD%DVskf>-VAVMK^zcX|1
z`ef{R>kCqDG<)y;?svX>?zv}X=dN>XTif=4VUR8c{gLK+8YQ|~GuO79rbQ*Rl)0l-
zL}Mmdji-q=2hhKpsIi-9Vk+4Ej#XeaP620LoN~Lm3#hSLjX`FV$eO5FO~W&bpIgQJ
zYe)Yyel192U+fEv--_`w0c+y3PGkJDAiZQPrOkI2fLlP(yNhV}w1IjF4Vx=am(Z|P
zg1VfBr&gjaqhVT0(a$=Y#=qFtJbvxyYv)+M44S_R(AZQJ=6%{2u3bh^DxhU2fK@=-
zpj@eC(!@+DMJuLhILGy<F`Qe4`q`z!PhOjiS~b>0H#lrpf%z}h6EK?iaCUZO0rW=@
zk66H(45DqLoinY8Dywj8ZEnffhe2BJ*kNw-@S2OULTl3Ey4aeWLjB}T6g3KH=}gdg
z={d|%W0|1}Gx%3(wJsv2A7iXyBy5I`&(20^@3~zgMKvMlE#-NFv@T>~o=VIUfZa%W
zb*QGH#<4eGkA3;rB%`7^T$#6TE~*MGQuYSh!?tp&bnGnbo69Rh)KKNv2bBG`vOq;V
zT$Q(v7gdKwrm8}OYX#P8;0i#e68=mDtgmw6SSVgz6*}8c9kQ86bkaf|@V=Z5(1dqy
zPGTPj<IfdSBXdo(naAxj0c#?6g6eXC0Ip!&PY~}MV&vW9<?tZ`omiDMfp{&euquY_
zDw-Jo*KE}Oxm9OioPDiSKAP~W66>r~{>3ooG4OfbA<PlOUd~|O*p6+g5#uVv$vkX2
z`xoOH`)8qMKQFJ%O<XQs{*+y6O_rFIp^?QDoq{jD&@!OS`6GRXO_|Qi%iujzNSlup
zB7c!{$6ll1*UM4Afn2<uqM1Tk#xdf!Jp&(EN9T5a-Mx?Rihc6CbnJ1fj`zZ7s0`Jc
zRU!L6n&dTJ!hOT{DX&NG8?URGtZP%)GhPG7JyvBj&ZziD;Jdalt(dddY||ucj)DI<
zcx=z>jg``5E&6{4&KR$43j6muYa!>F5eL3UV$d-V(<bB`=Q-zTpol6eMV^~Ql_9<_
zY;ap2wVo*ux&9d9@xpY~Q`Kx=UK46=FhkFWX;R-etjG6FT<I;seG^087C`Sf=Ls}l
zfL?V`!BYnIm5~2Gb+pzXFU*kLK$9l?svzUzf|5BMzW+G?n>l}Q@xE|g6+&yI7+PpQ
zhWoo2Imof%y|Th~=w~Ik*AZvCd~JyL@%e^zA>KpQIgY(jd06&!X3;q3#k0^|PPw<f
zj0eY0ou#o~|AWT9I#@7%8^#*(to%=K`TG6Hi@?#$#hFJk7n`xpF4GLX8o;w{)C_f?
zokaWi%~m7tE18#95gF@qH&Y|>Y3x`jefl1rYwZ7f82>WfGJXcRpL@|d^3}oC@vk%6
z#tCc4y+}uX|KHh_yhirb7>$K^9rOX+`Cjn0mk4|O4*Ex-k!xvceCLtOVaKk;XgvE#
zZrA(473(W8HWOU6p1D>bd_hgvPp*R)3*a&YC%5E!&e6p*d<MS0g&g`N{AIf{xc8j<
zY!O9YMvn14@_md$r<9<@oEgN(?bAuFErrM2`M{%-IgYdG+OKo%Ve8tnPo`*l?43EL
zFn$*<er~LU{TXG$`_A#?z3#^M1n)KG!`9Ntm*MZ}Vwz;1i(#`EAeWunn%bf}x0p@w
zxH*{W&m_#=WGa<5AGXu|_Fz0=cHOae%bMN|X7~YAwZ*R0oLze=3wHaOp6e~lHIYrd
zjt%PC4d%nCWY#{AFf;anEj%<&=boNq!WnTWj=96p{x#d#Y$APxN6nr?>Hfh3W-?{>
znAt=oYlfZKe&|@$n)|jl-P5+M^`Qt0X#2eWp1BG3nBlFC%^n!tfA2$*-;quYC6dWR
z+MOXa=&aF^ekg*ef4s$9Q;&sgF#Gxs^yNDP2|IHro#;_OG4&<vWVVlJfaA2sPIt9$
zbV8{6dp-TG_D!Dg>-$~pcX`II?{~Ft_Kb^uhn>kdqeT1Ncy`(cTtM~n49CAHg4>ch
zG?*pIWK%=kdNDA`WbJg8gTx%&$0n&Ri^h6;KfxpMM!6Az8xgn>fp13yj{CT&zc0PR
z-xeJ2g$oux|NZ!QH(#*i7DS2s;u-eg`{922w4<eEiy7W=-)=LSN+siccK@K+i&v6t
zU&3sv8%n2o`;%y;<9+?vL_CWxXR|S~scuvK#>U9TO=j3m57ePmUt7y~WTVL=8|ycH
z&&NRp8>kED)7gbs!3BTWAPVB&LL~?#Z*gCcc$WDkNQ>ryw>ZdroZ%o9`tbem`F@r_
z!4UpykKK87Z*CgA_=7)(>y_~SGOqi&=5RBv^GoCW0>QXe()GOxFG9^l;}4?EeD;@%
zuKB%(ag#w5%|C=T<24RChaXqC&PT2Dq{15%U*mj0V4a-`*Z%)T;cW`n^PW?9hll?M
zh4YI(7ab372WkG@>c)RQ{%7zF!RJFbmp5=RuKT+Fi^5H{^%`fJAn7P`&n@n}^YOPa
zYzTgb4g~NZxmm3woXXXikH7Ee%;7O%6r?4h=QjV1suVNpqT{+45aYV9L$U(6-aBo>
z^#&jO2R?X<55C(6@AttE``{;h@L%}gV?MY#h(zL4bC_y+h|f)(Sv#BXyvaN7_4+;D
zIRrRIf_@y&_PA#_8t5Nv!_h0zBY;jE$dZZc;ePkf6HPg10y`e(;}5y@UVQ*@)Wu<B
zFumQz1G|T9GD;wS3W2R7u$NUHpziKu>Oe-HO1is;?6f_Q@4JVU&OSSt{83`pp+UzB
z7gW6rb?<1qzqzTc`~L0QJGVu<qfO0i+qx;98qB1UiH<{Ae4V5zF@)o0wwE#q!0Ak9
zBHI*?x2Jj%G&HaykwvihWSS2KAM}{C%g*+voH%E2gz9nEl4(vPhNyj0lpc=SnS-r~
zq<uuDA1%lJ>1PBF==QB1T;F+|$C|@@oztu%pW<aah~nj!yD)v%!w)OmtFzgMztx9t
z`SAHU&Bd!9b5NS+&v}J=<MWEbz44j$!Ar1CE?%87g?n{Y3;yk{sq<+HzQmvK!KZ!j
zCF%js{?rQn5`oKa>2ig$pAuiK@J8V4g-*S~ZwG#dz_%*gyYFoZ_r|9~;okT>DD*c7
z{T?6vKEbaOeEe?c6t6${t<Wi6e@-df>(48K&+*B*=5#^eGR_x;j^s}%+#Am~74D7a
z-xTik|DOtH|7D(BQ8@cA@e*~@vc8N@tHM_SkEk_qwNv5V__Qh98=tHX{<M$Is1N^w
z;Ol1*`*Ts?9M2gBQC=0ejQ_OIm;6f#4`IDh|4oH^_vLMcd-vr7h0og;g>&4b{uP0<
zKd0Gwl&b=l{(qxzj<e+JhqBjy{4KyKUjK^}?)AS+;4&Y=KDecDZ@#rE+?#JhKKO{h
zRnzf%$_IZ{;4+_=s3VCt4@(rze#&^R7C6UKzh{Sqj>H=j?u}=c!ufuY&%Kz?m+R^g
z`VxOs@OfVS{gD%ViC+@9)OlCo-aPzV=*u|hhr4%OOL#IAZ=RGWocVXU6z8)+@aqL`
z3Ecff+8x{}aQByI7k^OTQm04YQYR^Jsq?79z4?$6e3|FJ6}Wuvo%g{n`ry+(_$7sV
z{rSL$f5iv?#s@D_M>F0p>3^BRz4;LK!5b9L`7FO@w+ek3H~mcG|8l{u#ZYrGoll(6
z6yB%su)sNQbzk3qn$PDHE|&A@>M&pPIt0%1>i3~8fiqvPp-<q<Kc)1C1kQZ@ewh<E
z^Uo>%69Q+x&e2l>XZ{7nKP_<PTdIFv;LO+WZ5IU2eEl9gEpX<)tMuO#IP+Uoe@5WU
z|48va5;*hK>j7OAIP<S6K900b;eBC#o7>GlpY(neDWP%?f2ZPy1<v~V{jy%*tgnBM
zumsNhu+lG5dU{^Jd}~nru;8=4E)A-ob#^MgC2-~|H}dCt&DZ`=By(gSYwt&$O}llU
zZl!VRiewXqvlQvEvo=Nc<IiG|bc#Dn-xz7gcjK8XI`Q~`%VA3#IwR^YVG&2lId|rv
zcxqrE!GALQzZ4THyjG62ESBnYsQX`!mFR}5`Ma3oWvRZdO#a^!C>`o2mRr!~dGtP(
z^B~GvT#T#N9EO}Ss^*n@#{=Fz-{-99wLhioqiiIKo?k=!ox=0W?+_l-_PbSnFvdmO
zvkeyu7q?4s$#Uf;x2O4fO!sx&j)8^Ne^uF^_bgc3X}t%0?9YA2Wys&h81dTg2DZ@t
z4OP1KLu&oJe{8Gm_5K|MwxIt@UHh0@<v+E(271w0X#SaMmoch{JU^$Bw%7CXuNypn
zJuX?gRHE*aAll63B5ThUJL4CW{j`cdhjSe+@BF+?-rQq>+^zgc^sJu9?dIoIU0R05
RLiR&7F5`qIs@fw*{{vD@JjVb4
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/kalman_core.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/kalman_core.o
new file mode 100644
index 0000000000000000000000000000000000000000..563d5e817e9c5422eb2458c1eb223714987d37dd
GIT binary patch
literal 6104
zcmeHLZ)_CD6@R;HoVDY)hfN$Bn%zD7Aa=x^Y?n%;Qp?)dfgplha1no`-tDc=@+o(|
z%iXych{|CorKpX3h)9Spbt4)u$_FY{sx4(Jw~eBzr4q746{-CY(hs$od;n2Yh;ZHa
zc4vI!wU<x**g?yi_j|wh=FOX#o%NmS-}{;@Nx+)~zlN&DQGm-Es(sV#n(!Pnz~V_~
zdQpMO#J2Lh1m*n;&9JD3wrUR!NYf7#xPjD5_)MaErQB#b3YgBsIWr1syJpuz)T##u
z=2|u4kzImT?PtBxBeI`vs@eeYGxg?UDHPMBd)MZZNvSgNqUj_GwH3Qpeq_&Md<~rB
z#JZ^UHcVS@OVidtz<A|(-B9kt$HOz>8mR1u!2O>uEe-ZgLPZDpa|!!!`1*b+WMB?2
zyLrea_600?1oOcB2zPmyLvo^unRl=3Pn^A0;4zXno?@GSitWp%*jlCK99E6D=P9;=
zXFK(tG`rAjE+(!>&VvIz(~Bp6e|=7g|7G#yhwl1qG>qjn`{}bVi0d_ZNrno|>ETg%
zx&`$+sQ*qjorO)f##oCpTTDk*TeWhl=|G*KnV{;>-saZuBjl0qL`z@PK4LmGbrDUj
zYt`&_#8g$cv8HDGW|w=lR^U#o!Npp0Zt{l5rTAxX++K`VZcuez^W=Phoz*@0rDvxx
zSNOBqCtG{mysy@y{S_fTtABD&fSs*DvcT-Pmsj|+b+E4VI1i8ZPA_aS7sHslh3g^V
zUYq*&x&3oD-!I5`c7||ohjA||c%Eud(*C`x)ZF+KpU)KKm3n{;r$BylPJuxK+&$y;
z*1&oQK_wo6x5Bu$K_;7b-T>Dq0kRIb#=`)EAtS6k_a8h1=o2P?<|obRAChkm+HAC)
zor20KiuYt`(AzT~xqBvLM6`ayBIsL#&)ub^7br)1miH5$5&jPNmm=YNz<j*$vXV_;
zT^}~X<A*qpwg}7`8{qMQ1~WQx@%89{YC0vX+c~vOd#lBC(tqrWj$L>yTKm;z{aEep
z==Tqr&f)rQ&FBOt(PTOwzZlZjsS$0LYG{4vBdcMp4doA8RDI-JfApHRLBHD6tpB~S
zSs(j0zIW<h&_CY3T`TS}owjW_c3oKONY&|WeK5PZr3JYmy|uns-!g#vO~yUi7}DR@
z*6ZpoR6RT;>8+QZi2|<KmhIp~8tS6-POvWaMdeVZR)^;y^-g~@tZvp$pKa3(tU1|-
zF7!p|tk{@OKb;kP&R&Y>36OMqQo-|LXyFD)C$8EPCZEZU-=Z(R6O(wpBrq3M)a`E5
zc~^$njyg*N)zVay9X&}6%%rBG{Ba{V<@X?(XrVgq%)Z+Mvu7?S(K5bEY3&|1n~xVy
zdh5s6ilm&7DoVb#a#xXWkRI=YnH_!d%nndKr}tzH?#<8eJuXcmZ>qLZa|mYReGM~f
z@#K3_MQ?yvDUaMTa&HrNbv$`WspvJxn?l}A<dv(uQy{tH(wWdh$aw^_^q#`H>;Ne5
z`17q>-=YU~6CZff%4Drkfc(B5+m4SPCybh>pFnvqm2vffT+zczC6w8Hy;dPda@X-f
zE?&rGGWm4L9zm1a7=GM3=IQCtbSZ6R4ly$@{jg6z;?oav|6(bZkMm@a^p7idtV`2-
z&C}e$C%5=?uKpkQDpBSI@ylI1cYf1o-?i_%#$Ya&u}7@*s4<)?7^RVv(G$%Va>MBi
z_6qh$x|Fg@V}+FQYOFij-P!eOtgG8-w+h)P_BuN{2#<9cWa;Yc{)T^`mAZs#4cuQ^
ziF%r{<`)%!g8$ZP3P$p`uebn>vbrg-ZWY+%BCBzN6{rp12jQ#pd>$i6LjFAC%?#%{
zm)jVwvXMEym*EXQ{Cf-!`EYMu+?yFu&>5G6x^c!B!@17o4;b#x=SK|p=W~(aJRdHv
zGTcB(jmQ5b_9>r;i&pX9FudJ|ld8Zo46O=pzN_&+Aw?4S1H#r&pspH#_5O;o2|ak5
zW8Hruz~{nkB<}~{ivf5Y##<{+BjPkJA8)rz(E-{S9%2Q%%JSJ65NA&SPV;u-v#oyJ
z3(qfxxScDcVm3s^Au<Gb`t5zWbTP&5iWT|^$fm5KYxZ3UD{;CKmJ#<7S-u;VF9p^)
zvV2XT55vAQW|dNf(R6OKnhsr2%el}!wXF2uWfhO-t%8*;^6SI9MRwxEUdKxbbIBG{
zCBXL<PPP~y{(86DFQ!M`em-|>nB9`((lazPfK^Bpy_pJ@{&C97%A`-E4wNuQuu9fw
z_b^x(NsQ2!vU6kkOzMz(_Zh6-n{XZI<ApcA@0$_lXM${e-#_oeJDKB4K72RBDL#E9
z@ixRdgc}@0d0W840=^J{KMBA$Vq9tzUyQRY0O#k=&(8$#&j;ZA9QfmW!ubAr{*B@O
zdM*fj@$LPEz!&j*45#{w_y%@f{rPNUxSwwZ@G}AUctD(=1n@5h@IMIP-wMFL2*4ZI
z<o)yA8h}4xo16H2&(ps78halRPIn@2y9He24=|k8SLI}s35IJvoO9@>8}ZgQm@mgU
zuU){!_1!Mu6lWvTO#vr9n<fkhIPndp^ABShm$)1sVRoJm&m%A3#OJjr3pmB+?}hUM
zPJABcvVaqx&u2=&DgO}DZwff^O{UKXIPq1c|3Scs&*yntz=_Yl7d{nm;*T(WLBJ`0
z-X5_Iug^F)U>&LPdUBtTfK&YQE(_O9z=^9eobFj_JpN@*g-!t{KF{A2aEgDO@gY_`
zo-J8Pl%;|vM|iK0%2=^dYP<xoA-psomMj(_R>+Y;^sd<UWz{a0NFfjRR*SK}iDGsx
zn@x?<pJxA)W?&SW3e7=mCR0Xy2EIQycN2D~E+z+<G#kCnI4wFh{4K^Ehu3?fivnz6
zIHNHX>&eE&-`7?&zP=pXiXDpS_n%|_WEUGBpJQFvq4{@nfJyHED<97N+48&droQ+6
zStXCNPf^b27Or!-9}VR1&%ez4`F-j4=lUDiS*!jt>pe!Ey}zmc6q1k2>z_c3#_z;O
zY_}Qls0d=8&s&sih!xCE_Gx{cP3&2;zJ!l|e4_d1PJupQ2Q9@1A`qKT#UJz5_HSn!
MC+&Jw|MUC*7wAMKN&o-=
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/kalman_supervisor.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/kalman_supervisor.o
new file mode 100644
index 0000000000000000000000000000000000000000..591bc7f5c64713d56229af81fe475d91738eb534
GIT binary patch
literal 2040
zcmbVMK~EDw6n^cZK}7|P35iJ^q#+Px(>5^yPur3LCXEnV^&rW1DNDMs+pW8UfrAnM
z0o?cj9{d3&UL@h*!HZXafd>;$-t;2Ax1C4FZF_N=+3&q?zBh07&D*{%SC-SM6!1vF
z2k3ds0{j~3*;Z^?Fb0=Mdyvk-;WSvkr*PK6Iz~J;tf@>E=cEvsF95YPa^vE5=35GC
z>tZ_d7IA^s#;oHUu8qWN*~}-@!#Et?g7lBnpVOLv{YNK;{T0qo6ahY$=ortPmhZFy
zd}nt(h+=%=wg4g-bZlNk-JAH#{g0V`DrSc9`$P1wvb1zx%&t6qENVf}YBU|MEw+PD
z$fhfb^PMo*_F8C#jix8vhTI8Vv1k_N3%UHFnJ<W0C-mph%FWFYZ{`K9<a334!xDCR
zx~mcRc{)gC47^DI1Al{tfjcF~jhLV;{lkEBedJ`!4C9C8JwIfhe*PvZQ_$n<TBHG^
zn%6b&AY9YxAeCYbaa`Ftxadq^eYg^gFBH#O=2ZjQ(N4z=UwTmxnhnVALUs#myW@n8
zA8{LYyRmvEd=OQoBi*N-Y<lfdu+!d(z+S1Wm5LR6ZF#v`uGzI>sZzF8b9>SY+GJyc
z2Mtf|@mUD3;}u=e2(H8;@>ex}OxeWi@6USrE9g}hKqx))tee$%eg6fGr+qkwrSZ%W
zwXX4`@AeNGX0+!^XA@C|U2L)yx-G|)?ydxL%aIP4n^6R27?4Bqyt#lbiQ)?|)!%^G
z2z=jda|fuz{|N%)uvGuling-ofg_nke`i{!KBgYBaO&ekeIl!hynsk~xb9q^8O0~R
zsP`(4^~yc#XZG)+L7HUzM;0WI&Y+JxI>Z%p673V^XA?Z1hxaMtI@!tm-&I^)Ap^&=
zZ=o@$exvHcJWxWaAN3W-bN#BwQT`lGeXObjKGR9G`P@3D6B=^gDZ!D#i^yHZnaoe;
fO1?W%U@7tyIoja7OiiFMDE>&j{{{;cCgcACRHLX;
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/ledring12.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/ledring12.o
new file mode 100644
index 0000000000000000000000000000000000000000..df44183d277c7a5e5f60f822788c3dc5f473e0f9
GIT binary patch
literal 19616
zcmc&+4RBP~bv|$36D&gD1!P<Nc=xR&Y()W85*T(fB&=2l%Ldm}$cf{))~;47q#*RO
zS`iUsYX!1HD|afzWa`wOAYoGr;&j~BX;8-$;W!>TO=gIdy14b!62<`srzOO8p@FF1
zdGB87@}y0gX=i#pPxs#MoqO&%=bn4+&s*GGv30Xc(?}+bzDLtFi4sLNPnSbhF+@u#
zhc>RDM8rkax{<1K5%q_O2Hw~8!t;10bUHStp9Tz~>`fF3Rv4jRxjPi}XVF0Z8DAib
zeC4<=kayV^*hq6OP5gSYdJf)myNq5Mm`kBO7A@N5p=~bSal1UU$+g;KT+${dtLJ)L
zop-t^II7pY#qx~mR80omqC=jcZ+^3?=je+GKi%ck3jAK^*6)XmQKAzr$YxULvjjQl
ztp8DR`@M90=y5vZ+h7{NRcsuX+ksv7ZKxr-G;w3Hn)~MdG*6K?LZK5L)9*cUeX@Fd
za`JYcssEFFSU$E1j9krnvVI$((?;mD5jwp~+NCITg3bDSA!n}%dzPiDc9^Lu=CKd9
zV0nApG|+RoCQ$CaV|%zu-yX{@EA)G4akwjExgSrgYwq&!BeckmC)_n>Nvs!T&hfa=
zpN774^!YC2j|%yj{~YxD2Kr@PV#rTZXk@aSe(a*un>$eUQ>yBHU#jZ7P6IJdD0oq)
zkvEWEm`@|`t)bvgmrxLXknP8K<*n!*i;}-Dqru;)lh#+`p<k4d(HAyopc~`G<IQ|0
zY@UnH=h49L*mg175N-Cjz;EL!t#c!C$UDH}!TPYhQ}9pFSiTt^qyg!d8Sq&Hed~DG
zN6TT`O^~}n_-G#N#6Fr2JFSGh()lR&^Sk;fw~_Ki;IC4?40o!k;lXcIRX+ILL^z}k
zT+lNL_iL%DpTg!W<2_;?ZHA1|uHk1{KL7RDnBUOmN8Q?%m_cp%UENRjjQacLHuwVu
z?EZv7!6#uCKkS|HR4Ax*(!d-~xYOz%;}6+?oS%j9!Z_w;V~*tz#*TuyCIxwZ!6)`)
zpgr64#@>@h3t-b582=Ao`?3tG&Vp@I8VxKkLnGhGphaAs(A|aeVe3rjFs{!(_Q|g&
z|BSJ5J@eT2C%HWD*g4=U2WWuhFrXLPkbRqVDnC;b=<U+B?>EZl^Eepe@O3;>7{<h4
z|Hm_hS!0xOX$b!O6lA!u_tfy8_-TaYUX3wkIp3aTKEfZWITo<bBQ6a1lcAA~`PB9j
z=4g*b>)<1cSuP*s@LByLCzmx(d5-uES`<y%{it+4$iwl0=QGnV?Z&Ot_8p8vx1hKD
z7kxY9z(&FUUmfytT-Xmj8OVo_*LH?R?sSJn5U)<u(43v@Oa9l(R=W^~Dj(T4cF%^&
zvCS)Jaju(2JX)?d-v7Yr3zX}915ctibVASZd(9Q06RpqPvby-W@ap<rI$;`gqAZZ-
z&2{H{SGrev{q9n4{%yL?m8ttC4Bcn;YpZj6U8{3U)B7WXst-dBj(a`G4d}Azxw6%H
z2Od~m4E{z=zIXG%@M<%V@73J7UfrGNC3ms+T$bTGWf;CeGJNF}@aE#t@Wdc%7>^$h
z`vu!mhuvMUJIAa;!k&YO>nX(bBiuJ)`ylkEfFC)X;PEbp?q$%Oc`=P2`qtuM`9jD~
z8Z=T)LG&B+9yVO7HROXibmF)5?<2z+PZ?ii&a(1zWAEP|<+<_8`E>1<m>*aw4-#a^
zUHZ)`*W2GqXkQ$z(y=zN%=y5Kw_i+DpnR@nxN2Nqa?C_I_I1Q}<Y7F1tU)Ga`0`+{
zGSo4Zy{#te67+`89D11b>&3(C%>-gZ6Hzsf%S3taGPa#2Y{$OnBmL4T_}(w)hpye&
z``R$eeq-<VEO|Lj{&Kr^^drdp@t0gj|1+i^&4G^*bh)<EIQpyhjH5%hQ?+&=HIj??
z9scO?u@!jttga74bXQ-;&e}k9zSg${@pBns(|RK`GU!@T7}BYbZl$&BR$$$NEzVv0
z)|<6oe)Wn`e3$oda_q{!oby+ns0m%myk0(5_NT*DZ!e_9Kh;+pyYI2rp3Q^4Z+R=m
zF6hgT^_9B@4ve`5KEPVoWTvVXJeI1u@5ZLFm57OEclXmvM}vK}jln=fTiR#9NII_r
znadL)%;7;-uJ^6S7c776mC%V(C=>f2{F31NRFLZ(eT7b(IuIK9!6S5y=jplA{=P3j
zezPm|H1-h#rw-5vLEq0qhY6y-j~gO^HPDk~W%)h>eWk903utX!<{jH>AJ?}JX5Ko#
zH~Znj@+E|ID&ttVYu@sVg2%?F^^WZ^lvh$lUvF2|@{^Q#iP!2FuhnZekM&}$j&Y9X
z@GVrm{ucL|f6mm`OfGD=@}H0AZ11@`S$!(xvf?Jkja-Z|uTgnC#+to<IEA=z;YDrW
z{cmdn(mt=jKIa>Pf#>n$VC;PJmM2`_!@Plw2=*+~w10f-aawLt-nT3}!9L*v(@UO}
z-YC|jvImbObj<Tcl<&p*^fO&6oQw6F5L?4;6aE_T^4zNI@;~do5q;YI*uE{{fa!H-
zxaU{8-CNul^ars(uGgB^u=9C+&an)Q=41VR)75qK*`cn&XT!XfU5`E;HeB=lT~BOr
zxm{a$ZQFu1t@c!I-w@Wgl_(Eked}>)eeYvG(Sto)FUD!Gp>_k$7kl59=QYXY<Nci3
zkhcNr;y`y6{h|l{?<=OZH(<95Soco-3iDxm+0l=`6o${2AHBA76MVhm=#9PqV9gJL
zohS6{WBV{CtvOCuN72@b^RPM3D|P=?gZ&%tYnH&i-G2+efzQ7OpO3-kyZ@L*o`=ux
zhtCuIeINAJ*nVB#f0nLq8jCzi*FKGL%R<|Ke_k6n|1~Z6RGDkwr~1NU@AYZH3wqYE
zA7Q<GAN5OEFOS$d419of@gmm2Z^I9cLZ)HJbW+Q(<dD8|5q|S$`uMtXj4@HIm&eh!
zAatdcV&4koM7*w0t(V894DtLu@c$b3vtL83yvvL6eY2-AvVraDbJH&j_^oAU#B-B$
z%f^uga|6$nLHJS%d*_dM-2(rKOV|U0AKQ!fod)F7E&1$q@lnt{wE%lbyq~13OFh^#
ze-YTYzO*p^mhQ0(*aG|Dz9SfiQO)Q(g7Llpxv(a`In+?Mf&J|eWZFk_XUIei`5P?1
zxHwrI#(ZU&ZtOi_$7jSkj?W)2p=-Ay&b{KoemWQHzCk7A#(coIeHR$V!@+Q9j}^NR
z%TDR3s=@n0dk(r>TMmAX79aX5wH^F=&oVAE4PyNg-b4GcsBIMMj*0zI#>?fw{h8TY
zPNB{*{@|SK`MH-vBX#hpSiiQ2*PI?NEp{W8t>U=|TgbhJ9k-23Ch!{UNirrU@0M|$
z_wVw(AA5{2<`nPUYp}=oA=ZJ{F4KtR+e<j!f8X-wcW1%;n7=FWXfNx*w_qcU<31ig
zcp>NKplbsycH;YTZT}{`OWjE$f1}u!X}P_$FWZvW7q<DheyhDMf-me_C}~wZ^x$w+
zwEoGeX!h}hhV}A2YyW$fcO2^^uL~~rOYA8K`w<V;!<V41jx~|64zfLC+YT+8fUWms
zrK%#Z^Lah5kmqkwqqX^%!+BUE_^iNl*@rn>2KzZ}l?ytobvSoY@Du1J*LU8l^BOPZ
zmTP@T*oy5n!RvX;@v1qHo$14PmkXKWkR<~-`vLPSH!4=MZWA~!`?2RT@C+gD`rU@F
z7<%PHr>CG>0oL^WLNDx7gFeW`ZDpG>Zj)oT$y3@y(Z&y3SU$t^j`vTPW9lBjifdE*
zm+ASD4Y?2UyeJKgl)102x5rK^<oyA^`v%^zuD2oX5B{vonj?c(%J$rfy5%#--`|*8
ztcOz8-iG%l@4DP2rw>1|te)ek=5BNUc>l7Ku8f^80-Gd#=Y=!-m(@_l&Wgb&mYqcX
z2<q>;sLg%kz{AF4+LDtfUwGkb55L!?EvX@DJMzL44<AO^x02d=M-MHV#2kqsKZ!hy
zyoQXn3Qx~6?3aVxD92G|TO2|;1M}wzeh0g}3%d*<ZnM6rE9F7NvPG#YdQh$na{erV
z-tC~_vF9;lAGdVH9FYFN_`Xsak@lPQ{U^%Y`7e8(%06x$kH5P)UMaR8`lLK~@h*MW
z&wkI?_2H-KM$a5tn+bojbZ~{O@t7Afy{SyQOlG0ijrtJcn|oe?x4=KoM`c*wF@`*^
z=D{yL=BK>7=HN`{$@9*~x}S}>;O++x?3)hGp+%vfP46*RdB-uH{-p)p`{ADv;QklL
z=f{|Dyso#g&u+x{_y-RyGvR}WN~sO^M8WojG!QxG3q-E?0(|cv?R)XAa_F%MdW3G=
z*!zYRt8Rmh-<q=ZZE0+M+p)tg&01$Uj&Up+`a};7&e29rV9w5iJ*1AT+oo%i)v`YC
z_|T)DdfWf#4?t%wwe^bps;A1l_F}^0FZ5<|j43Ge8i>6XzH~UD!6p`tyQ0jTLhoOq
zZ4_<%^M(^Hypwc=Xv=$iZl8&D^1h{h@AIJLeKyB(4d)OZ=b5qI-oMFng+)IX^w0x7
zJawPN=L8dbv%~N|>35rpHwF28;~&Sm?bc4bhJ8|a^v=G!$kmtEP#ZXhHE;rZRoSn4
zu9D{(=2y0MQ!o_R6!c>b_%U`o7dCpRjn6S<YYn_Jg7-p)H-Ovw!tW+(fS>9bdKP;(
z>n`FA(za|aHiEp@ng?1wgAH!j6g-KxKKRA>?T3~PZZLv_AtT7TTDtLE!oI}sE;~_-
zc()Q`^*U^J^L()5lRU3*Ok#WTIU1|hjB_-{c0Pa0xtLlP8X28)b^TPmFudpD?R10Z
z0MCt7sXbS;{&ilDA9r}TJL0p|6PPoR&f`@)raV_P+zE8!@Yr2MK>`+qZ$}rR{u$&?
zQjq1}bt_f#9EpAo*nN0DPeI%PWV`zB1n*q$&$Dda#v;yhz2CuJ-_@UQ@n@cS2Q;7G
zt@&EP>qp?leX<Paz*Fs$`&$dXGB)v=tHvkZ-|+f7TO2xkn>}~r`p)r;<JaM3HqP_u
zW9%PN>u!!w8tVYNd<VXHlgyCU54l<9tcAAChV~3w^78r@!P=z3kJyH6GuDOern3#9
z$2K$1;>qu8VP9S|YGGqu?`vUOUK4q5699kMqpA*NQ}E<7G~3#;Iqc2nWwtrX$@>E=
z0bV!Su^$uG#K@N^7}<?yA6aq!;_V!J?0piq(aQW@+;duE(=^ZSvk(4|A2Pjs#_mN7
z&@f*AfIXheARqOT&+-jmEH|(7`*G*&$3CUiT<LAXxvf*kZJ^BYDL>@*{v7#3%x^wb
zhan@M=|_R(_)YHz@a>!ItN6rL#A)Vt9=<sU8%N<A>=$h3zd(Dnoj%X))Beb9jSJsD
zJ;3iFFXpyy4CMg$)IksC!#utXjQx%MSo(Gp;}OMJM1_yv58DvNK=p5K$8w+kV6ytF
zD6@R;|Hq^?cX+J3U6>;nZ|<WT<Nc)Qhx>JL{02VNAKpKX_bgjJ?7+Uy?|Xsq7<Xf=
zyD`q)7~?+y#<Hl`0br7^v)=~1<NoTA&lX=WSNeIs%5map%pDi*zN6l<5uERKo`#*U
z2kVb+E*pvDW(?GB)<$9!x`sQuofC5pEvr3SdzI&4h&H|zIad)Rjqb)B^gs{pae2KX
zGXwi#dryvj&;=cg?k*c4;<FhY^fleyRteh<t?REk)%bj3-%9Mwt=JkLGgGeRzJ9H3
zV*jCsIW{xjeFn~u;K^-&Q$LY?#*_@~=iE2Xq3+$<NcXvnAp2o<Hj6_WCy_WO>Moyt
zY@FZK*KZEh*FPEJGAEpQtfaYg1F@Xuy60uiN1kkq?c^6tEwSy1-49cHGMbE|-nxrX
zqQ>^}mgeSoEE&g4MoL8M8e2GTZ*S!K?%HUQ^G^PQv|~?#U(+7`gY;E9qt?b`tN~^4
zuWf8<{AxU5zeuz+HE}7~kmzU!r@FW;Pi<^#ysoOTd52Agb}g+n@+GkLJ?+UjWNc{M
z(a?m)5`uB2lP^(E2o~}BdMH8EEDG%{O^tO`LMd*?^?MTWcrz-p9&YMjTX1TKN9(M9
zDw?CUO>v6vYEAAbZ-^##*cA00O-)Lb>Z5h>@|LC+p{7-@Zrml=*>XzZz~3}Yx7+P<
zxvbuP(;t(_LpTDH;qiFT#xRU&h)6I9g(gii<aUGfH>Pa7mCtV^{C|G=Di%yNL4S&<
zz;7w{q<KF#4W3Gar{lxEJzGl61_DdRryvdem($?s=>M<qJJa-=4ln#2=~HRwe^>jY
z<3sn9mw(1AxaapDG^<-$nqm#n#%8m=C1EBT;%3?E)<jEvV-re=SVLnH5uzgzH-kl`
zt4oVZf<+~zW<fNuYc)#6pZXNzMI|P`DJd?!JB{E1){q<Y3y#q<627(0z!=c+-)u<-
zCudq<0W<mVe0M4Q`J#xEiHC7nKgb|b2_D9a1*_*Qlqf9lGXlq+ZYt@NF;$iYoH3DR
z;@f~S|3ML#p0VicxyyJ+sQj|Pc`;!8vcO*#_+tVe6{dJW;QIyMD!RsZMJqima1s+-
zT5w3<9)Zh#|61Uq0>3O8j0*haEEJF;g8z?DW;s0zEtuZ1Gde5q%L4z2z&{lDnOkh2
zSMcG34fBaCvT<qeOuT2j7>5Q<tL%(!6L>`6IQv=&`!9>Wm4i7F|3E<|o#g5-5h8oM
zX5zmGKAJ+GFPa1eF5`;C%LUHk%t_)~1upjm^X%86-<f{?phZ88qiUr`1up9{Zxpy(
zFD2eCaH+n`_Y2%D_)7dafs5gtnrSZ!+~c4h6}T|-6#bh5&vDSdC-4;x{6m484*b^w
zmv)qLE`XvM;)Arm#Fq+O`iI2x1zzmnUn20e4jlKT7XN?)xBWzN6)%x}*5Wgb%hLS<
zmv)x+cu3%;gMY2SrC#~seUreQezjZRNe3UCA0WRmwGWl@{E@)B9Q4l!JmtWT3cS~W
zj|lvL1OI`*`vorL{}+M3;-LSzz>f=D+UdH$M+Gj&bD=dZ27M@SxQCT;1%6r7rM{mQ
z_(u*rAn>aWyh7mD1upqNC~%HXoFv{La0$qMI|MG{k;Hoh?iLIr&Oheh@yZgo<o_*!
zFL2<0CGdp~{ItOF!Tu&W#{}+i;O_|>2P-Q{d3e2Hd2$^1b%C#N;078py(#c~n;qeP
z*TOeB=<&k<3$Jw07Ye*p;4%*3M=ch8m%v44^`gr~P4vl`Jx^!f&FUnh?{ov3ekT4o
ztfQJjFXI8X)QL}wHz%9VOq{87T5vNlYBv2${Iiz6(|D!QQpXjsGueD*;`ds7rtzEk
zh(%UmX7ibef5GB2jho5<=p+{38GL5qaf{D1ezQEd`E#TW(0d#hSMfo0R{T&J{IAmB
zucpCqS3E2KH`Cz%mIgnc2LD+aocCFa;c;i=LLu!8Kb*}Dw*g<I`2RD)R{k{ftJ2`b
zY4G(H|7m}g@tK<9b$nbeDJ_aoekXl}j|<yd8=EWaiv{ccz&h{?V0U98*%58JKfX%<
zwJp)4DCXBujPC~2_EW4%sjj61R}AXQ#suyqrmhqOmnn(vZEj4Gbve<{($O9luamfK
znC{)a-`S4aosM?v@<vJ(O(x?Bag!mj1Yf8$$J^Tlup<%O-I(07)w*Y?ZHmTriWd-}
zI^HhTN;WphqGcZI`o>b!D%IjP#VRDxq^1@3MpKtC%I%9)v@Tv^9SNwN+>DzP>*l02
z5#QYi1*`eeC285ZX#Lu?r4)<C8sc@5j<Gc)8smls^)>5c-MZmnWW7YVD+U77S2VV*
zs&O-RFSicdjoUD`T->g%yXo>rx%lC`uZJ4ZWX<}!#f28irE95n%AiH-OChirxm~!x
z!Yx)Sh)UK{dq-^vmrA%)%B51ior3@+wrrNhl(e)LdId#Qs<pOQ079#^C19~jc*MO*
zc^hmQ?ttqi6tJoVN;bAME0AS)Auc#!0<^Q#xb$PMsn{J)Y;E}p+bDoWENfuBbp`lE
z+YD>0%ENZ$W;?7|zYdp+?7EFnz7J%xt%arep3tJlAoAs)U3Rn$t|!Zh;`Q}4&9%^h
zJ*qC=6x~x3Yw2i)Y||HZHP%ZBTb24mOLKCXLR{%hcU@XK-F4}jsXIf<^QGU^pl{q4
z6s^BIP)xO!DY;x?PsHtwJDQ_SLP4sjX=>TgUX$Rv$QpQlBD$;HzRaAe-TY2mV77KN
zwa2$5T4I=rEs3(`9Zm7}KR{5yTqI2N7>^DvRCl#fXLYoF=RNTxJ8d~z02jJDP=By-
zs(9~I>GRRVy>)_Ma}&Z6wYMdb^_T#)?e!E*Mw{!Ui<Xprp(U{s=B&AA>jUAktu+s9
z-n_k{x~94;ytSf+Y#X$1#?9(i+Dii^rQ74pbyQt?Kfz1d<4Hoygpbrrg{rA5T)EF#
zf_N{_MjXmz%)ixvKPTcm(__h)N-rxowrW#J?z@?fiXRsgcR2XSeW;Va+$TEeA3}Rh
zPWnd#&i$%#%5y!_XWC7zzdupvRs5{LCB0mS-f_@Nd>H2kPE4=b^Cf{h?TPOfv(j%B
zxRajuyPTZ*x&`jkH#-gfOd9;9H2i;<20xRAkGz6%%ES8rPEK6j8#(n#rlIc?IMb_s
z)uqs@xFN1sxL*~|QgES)C0|OxRr(jw;HKE}F9(0|>B8dkj=-IIjSJjqhwEwZRl>oT
ze~ZQ0{&QR$9h`h}#Ma4)n*w+8sZK*55dp%<=XHTQ?SERKSM7FI;M{MkBL6#S=r1bt
zZ3=ysIGQjY`AvskXA9hE=M@5X%D*ZN-k%2liNc@bgN%=79k|>+zoYO`>Bk+oq(3ik
z)~j97_d^GNQ@p$EzzYQak%Paazv{pxJ&F5KXTLcDXM3{z#e)9|fwMhTJl{bd67&TQ
zdWi=F?(BDif~(`c$-%!;@UL|6m-se?k800q1($bM%<3Zte`%lV4t$&FS006>9VDJ5
zj=U0=d^`eo>YJ_Lsyz7uch0W@g}*w#-bq70o`(LaLa)ZX>k7S!ONVFqRXMZ7L~!Cc
zY49@wch1Ml0+;?45qADap=W=S_*Dn}LxLWMQY%UOOB}x)vXayOSpt{+HrQn3aqyA&
z3WZ*^kEzhBc)q}${jO5@uwJdA-(rQ2if>56C#mpJ`|VWtsQAG&_;U(>b$o}@;IAuq
zhmf7Kj}&~jf<Lm@u1Gtl#Jh;V<#<WF&OzTP=$jn$5^oi_)6Sg^KK+7EmxGVQ52WEU
ztl+A?$J5|HRPe8eJ~?X=S5RyRbzD*ccg~Amg<joH9#H62{EULD{0p*eA)Ndx1@4q*
zYa04tg<g$6FDdjYeq5nf<#|=1SMk#VcgB;Sq`{vOS9eao>KC}vuby$xOaB>k&`bOU
zg<h3&SfN+(mjv$g!&ekOJg=p{9as3M`0Hu-{LsPY8GBgijDwHF-$}#gY>wTK?Z)F3
z5PZfJT-EEmz@7ecQQ&+oQ~6v~_{iTNaTo5Tc1QdjQ~oB2kph7``G*9)4D@^Lrq<t0
z0%tqR*vT)pDR`GcpGw33DTSWDZOhc3hJIM!PI+EUgG+w=zYgFdp!|;P7B3_&={yd6
zP@EfuIZ4vX@5`oxUVhh>`wmGT5|gsnK`+1W2OPNc&yWL`-@7Xvxctt(&4J7F_CpSQ
zR5(|}fy?jja=n%E7sGy>TJ3Dw4&uDm>A>ah0a6ZJ{(j(q10NOVE~&TdSN=Z1t<dv4
z9TxQh1-FJu@DZ>j=OeO$+{x#%cxQ^7`(^%}LSL0X522is>Uc5z0YUHNKZtjnOzSVc
zDGC0=qOS61-ts$_lmBr+@8q9O{;RX_SL1_|KR!KJDJ0sloGi}@fp1fA)>nSVd`Q8C
zi(5#8f-}ARp4h73OfT3|O2L`FK)g7h;7l*3BR!+wOdk;Rg9^^_dj$Tnf-}AR{&-x$
znZF#5(+bY?4+%bJ6rAZ-iTb#LGkt@gzo_6WPp7C~RdA-4{w58=_GkWbZz1)N{&PU^
zcRTn<xlIQy<t|WgmZw$l2`D(rGcM{>)V^mIeyfT+nXvN)SxVrdxhNU$Oj1!DZcC}C
zw!NK-5-nU|@{*!}tRiP(>kUdp__Tm)VF#FKxf#b#U^iL!rbUi>Q@b5*c8jd*V!LWx
zCl^^ija7je6yi>~DAuxT7e1><J^z=viS}$taXmG~EhI{3#QG#(cw|B3%aQYVghX9t
zXN&DpM4SupZ;h;e<hbVu!aD`dKBFejGP|}x1ySa{)Wm+wJe}>giS~~PKap)@|FT|!
z0+W<VK;*Lh*VD9@a0v8Vmh)RQr;BVDq#iq)`s?ife!SuKPWfBK1bSwwrCo5guLL}s
z{R1JJ{<IL3?axb$Y%lF!3v9Oj-FMjS<@~a1)9q#b4^fz{f9nT`cqiO|xPQKKboS4C
zx!L*;iT))$$gJe7cL1HO|KhMsFZJa9`KnU3m-wFpo2~y!(SN1QX6mnOFM)5MFkAnX
zqW_2><o@|8O}3Z)9|bmB|NZ~N{$D`*+4>)zrGK7^&i?-{P5);_|0WBkB-vg<-$h}z
z{@vv^g~w&*tUn*|WqYarKLVRg|Ev73CXp)bZ0fIUFM&5un63Yu3Y#J#2)Tbg;>z~2
z|F?m0|I$xUv{DHFh>p{j>}=|<G>4iC6{l#pFeutz6!+u!$1~RbzO#Rx6VAEM?GJpK
g|Kj&HVxMZ)Y*}TQbGGSh?K_43=Tu^prQ8z!Z(kzJ82|tP
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lighthouse.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lighthouse.o
new file mode 100644
index 0000000000000000000000000000000000000000..0ae8aed52372ff57b114402443984a3391433275
GIT binary patch
literal 3944
zcmb`KUuYaf9LIlmn`jmP#aOYe+D(m;YO~}H3%TOMCYL`aoJO0I22?Jay@|KxE_>{4
zB%z`wC<?wLH27p6g|_(6xAvhzzz6%R=yMf>zDf-kA?WY7Gr!zqZx?)U!tL)jpZU)3
zH#@U4yZLy!Jd@32fJ+8$K)1#e;O>K6-;P`x9)|()o;Yb5Kl5+@;&)f~4cNLjpSd~+
zu(_DE3p;&qc6Si=!Ypi|ejDR&qTL(<*y@MQj{x>w4XuH{Y`$}zG;mDXEb993_p1Rf
zes&7BKE*zyv(cW4`oi{~*hYPJ4Y&p%`}KWjU;52Bdad)3eTno#O1nE~@0qAs%tGPb
z{KVD$i{D?_F{;0mOBex5L)0o>Qv|XGP!sM7`Acrud#@hW{k67u8SCxPZ&kUG#R-<?
za{Gsu1}=XkXZ6-&2_i&zpZ}?RlA@}o@J<Sc*<$gWIWqhDTV}=g8*bh4R?THUFvGeq
zCq`R=zw9;83*5RF3O8H}gjuliqxrF1!OG>$5hrMlqBnN>G;u3uQcG?ue>N?l<TML?
z@W($%DkJg912FI}sTde3ULJ{noNK*}p46-sU+-x^zb=h@GrIQj=a5qzUdEe|4nXSl
zsInoCCZmm$M^;e$h?K#CvSbXnPpe7Sj7%?|MxN31BT^n+4dCcqXhv=?rz0Sv>BqZW
za6H=PS6s&F<<xAzLrT>(X5{wrIpi5lU+Q+jIC3>L1n**n=U(Sw3jaKXUryoIQ~0eE
zzLUa#O5wk!@V}7{X!Fb~G=S@pbiZd(_)H3i#=-GrxiGwbaL|>U)mlTqa7|OZy6T1C
zwIdVKX*jvIyo_gJQ#AcxV@fPTwc2t5r`eWAU^jNr4@8-d(8D;2R-G-+O-_`nb2BsZ
z)0JvvVzNA4)iP86iql?!b-ES<;e-NS%U7^Y<B(uJbVARSl35W}Ja?t&udRkkG%Hp`
z;JHP=*~EK;THt*kf@*g#@i9-~5kJ##+I10J2=K7ehNCr|7mhwfTFV=O-x5LSiT0ao
zBG|x%)XH&Ok7HW>Y2^<h*G~&m@h4;ajN(UQd`$5Z$d4<Z485DEQ2hI)8(n!n6F;Hx
zSCmijb^Vm$1>`(tLKVd+?=#9L^Nz-!)%c?Fc|81F*EFub`&x?Acyzw5aT+Jb=_pR)
zIjMXyUufJ^KACOhlU^U^w;CT(KAD@!kFN_$=-i}t0v8?^@nME&c@GnRUgNr+?#ond
zY)SvHVq`{?Pn_n5<0=fqbrz5RloFcCl3vfN$Jd`vetuX##tE(VMl*Dlz-otqv~~6Z
z(QvF#tcPILoX`Plsoe%E@To%boHdSB5=8_(Z0sdg!*`tqbKI;`(T=v_J6eW{&Lu1Q
zGP7Jf0tB85|3fh`22Pdsrj<c$Y2dc9Z1goCMthFt)5f1(7SyJ@L&32;ia&CB-FUrT
zP(1!6bVT*T=0hcp=^UY$Y5f-u_3q|poI{6V()WyBIR7~vqR->!ameqK-uxvc7)j~R
z*hVL5{>C4Wijor2{Lxnu=jZvmfQ(Yb@4uz;^Ye|8sBnL-(?2Ci`8x^usW12E{64az
z{8v<d)^omi{r!~uw^e@5L-$W#W!#_nCbFdb*H!)!w(EuaGy4*qr2D_4@-HeO<)^Pa
z?$7zZMn<U)&JFab{H5~0EvpAtg`++Msjj~dSh%3zrdn9qcl5rE=ci%D*PdeB?WZfi
Z3MZ7+gS@I5{imDM-&UW%->@*H|G&aHTMqyL
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/locodeck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/locodeck.o
new file mode 100644
index 0000000000000000000000000000000000000000..cf0e4bce1887145027ce18f0d83298384cd4a9f2
GIT binary patch
literal 6896
zcmb_gQEVL56}{_$kT#|@*#x2z!Bh(1m}Xg<Kw}id+OcCJxy1Eul~h#Poy<<WtL*Nq
zX2*>~Ds@{4DMEZWEg$VqiTFUV+Yh8xg%4Un=?7B#(@I5=`je<2@zD>8LBbzax%a($
zJ<o4vAyNCJ^?moux#!+_@6DSx{_*tO@qtVRq-EfBNIXFSKH8J?3#wayeQ*z4b;|GE
z?>hgG-{yrsu5LPTX?+)LWC2zx1BLM}z~S{>g^kS%f4V|^)L%h~m2U!E0w`=?|0Uv?
zoJ8*rs{_bYn#Ig&5enl!AArN3IGME!bbt0~7B=?ohur|(zmpDeZ#a9_CQ<jgvv*|j
zw!%gMo_a5f90xfA_`^8lYW}BL;$=tHixaDx7v53zNp7-qKaw9c$JeojEOZwpv4(XA
z*07Ed(xO_7{3AMlc5QO!7w1oM>#_Nt^9|lwJ_pAuz<KcT-h6<^t~<^M%@NhH1ILWU
z{qnG$&)>Rm=~WlTUpWBdbgws@?3#?JjOYEg!GHdB&&%H+o%H#9YxM?>8|l(qm~opI
z-oA1jW6d>%d2p>1&I<-dVK=QG7eHZneXAME7^Y5s=LvT@io(b}SF1Myx8AD9b+1u>
zuHIU7@#<(kpZ_XABlJTOXogiB27pc+w#x#N->#pGv|S)V<h2%20eN0bzTyjrel_sV
zqJh&s=O720;>ktyOD7i;UYZIg#>hwes6xK@&xbf+H`8vG_hnjd?nr0gGm*Ma*zBL!
z0Q>mtr?#0?6rdm8?ZfYvm+DSy-82xfemb>2{9Dx-zC|6FId<#`cX;NR@42NgZ1^>=
z-g3|2DvxV{J8`HTg=c8BPegvL9tVEB6b0^hZtT!lesnxHI_3_0QS%V?@&^wRo*Q-P
z%4mM<u|9<`oI#6^_J7k@PM?+FK>A{JP|0qC3ZN|8+t<+@F!aqx2X5a^M(<vQ^y2ri
z&Jah;veo?FI&o9StO+i!Kg~C*&_a(ZeuB%LJjwV@O#_!L83%eFF0J2-&mli!@MYb6
zpK<ZUYJJH{o^D#d7k>*2&Om}6kpQ#~;6`aRt<#GW%>g}|W{BqZ;)_Vi82n`;$bqjJ
zp6+U$Uc94p5`5N(bU<c30kuvq{!^us;M;X}Cj#8lI=%Rc(n;{`I<lG)xnE&7$(rE5
z>w~}32mcG=yKzJ-XsN~8zz1m4^y%=Gh7aO;NW<?#ob<1=Zkz4njL)N`CU}YQtBlw5
zWvHT`rhk_CdETgpng3iL{zc|jm@g~rGUIK=CD$8>-({@lovi;?h3|lQ_6uzPiMYfv
zq|C>C@H;SH8ebhW=>4Db;lMIf&o$`)@-!Yw;6PQ}QqYOPYb=H*+HpN>b)eo+j7Ga%
ztc6iL@A+qgn9d{%fmb~iF13_%GQzE1du2SkEOzt(hWm0jDVN(`<TX2Gbqd+?)LExI
zGk0QgVy=AR`0?U&sa%?voSQC#k0peSV16ma*GvRKJF2(hGwM#J@J?oec%tQFUGrfF
z&sJdzmcP3cECt1&>9r9KO5WK3md>3nor_A|;so9o7FugEZ6;_1QQa>Ft!l62)77~;
zjs+Dbsr<P9!$2pLtL+X&&++I$Gidtl^U!E_u(T~y7qt-h0mhq(3;HNmR3|yfR1D&6
zcs0VPsLb=F$Bt%5-AP9kNk_rXu@=U~!CbgF>$R$lAW}D84ZX2#w@#yh;G^3>T2T9W
zab<B`C2tV`m+`wT{IJ2lgZpG;-zJ?04E!kf_abic3yhB={-D91;{LseKV;ytkJ<H9
znPb=AX58k#Xy_j_^j8cWv;JQ&PIc0|S=yW2p*kNH5bgWix9j;g<90o?-%%qSvz{Tw
z?eW~lxLwatL&vO#_CacPJwIUFuIERFj#*FF&@sn{_CacPJ-;z@%z9)$w(I#b^J$%!
z>+oI1?K(d*^dHeBsK0}}@7nV+W#FR*U-oaRCpmTD_Z0K@TX@X4&0p@rmsIqPNM|)^
zvi}oKXH9AH-m&?4CJ0}66$3ZdXU)Lrxx381JQt+%ZN|vR`G;`gU*T(AwuH+wPS8aI
zC;n^f@3inP`@;s#L!}V&z6c*;o*2rD|IgWKw!Y}P%#iv;SFRII^DFUkFT$VY_=2HB
z^CI!{22S@Y{wV`D=dots#Fu=MU-C-4Yw;`WOMa=J;VnJUk$krPG6%S9h2Lf0)Hk0y
zsaN<b%(wL=-sS7U?>GLE!`2rca-H+d*gK6jj<l^wFA5r7E)JGs$W^`AgWTy(2XawJ
z4$((*N6;mbLa=AK$j#vk*W1GJG%=-Kw7G3BS}lSn8e)emLav-?G(nwfa_U%P0y@SI
zo6P{vN&lxt<BLn!_!85?1#O^fK2(SeF)oI_7ijDY0<gV!r|wjE^V^Fq<&k;b$2@vR
z6K?L2bm=PR-9wJiBwnCzVTUj~{u;;2IugDePkT1yr~g@*P2zuVg4maMilH`*zqI;S
zxFA{Iij03GUi<=f(#G#Y9_WvlNaIIe(GoA?S3)c;zsnEA*7|21iDws1U?(mAwYxN9
zmWh;~VkKVkHxNt9e~R-9pJle<#b3luT7H*5H6;(_r>}F-6Z{3l((+e0|1w@To5TzD
zJa*FZAL0C0nMnBu@h9<;|CflR<-f-HXE|Ps#EbtDcGB{H#`!Bur2O>X0Ew6UzeX%A
zzk9n5{IdM7A}uZdDSkOtv<y&wT9S5tI<KbXuia$+*D*dV{~Ia!X-Mq+?{fY;TC=^z
z`JXjG>{G4OOlxg%>iQ5pY}ih*&fVC50DpG=uOMdcJqST<7yZTWAWK~G>Z|nao*uuC
MH@?3Kk*yv7IfMS4dH?_b
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTdoa2Tag.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTdoa2Tag.o
new file mode 100644
index 0000000000000000000000000000000000000000..e230a4e697b3232b837bce6a0be3b47be4c51156
GIT binary patch
literal 3520
zcmeH}Jxml)5XawnsQ3{@qX~%?YeM3gxSP9E5I>3~ppy7SA|^x&SoRL@;&Hp#TO(Ft
zM@dOZNl7OqrKO39v9zSb&Q9n5c1Ff^sf>k*FS*Q{-~Q(9?AzlVZ*JeebD&f*GD_y1
z*~^4dJhnIY?bIi9)NGe$KOs#UQBbGYxaL-oH>z&U#+nOk8g=)IjaS^OHePjyZ5(z-
zY#ec~A%>wXr)bM5+H#7voT4qKXv-<ua*DRxG}^rsEg+%=M6`g277)<_B3eL13y5f;
zmqzidJPh^o7EKk5!vzfJKhHMiZ|}o_efIxf;miB<Z|;td-*75-A3kxWqo@<Mf_B$g
zh!Q7lHJvdxPNIc&hh|CGYNyRGeVH_!>t5ZhS8Lb3THUDx$)ZcM>ZMEIUd_RkTD6}2
zx$JjW`#0ZbzJ4zf%Ec#wDVyTmF4L9#IB7xQ$wGEtUN@&L*^mFe{#o)%>b?WK;zj0?
zJIrq|&rTa-gyVAA97OnKWc~ckACOg2eyp~nTyPpZCI7VA&!11&iF?yHL#Ko1UTB7v
z%uvI0qUU4XuoWc}bUFpyun98WiNY7-QIgQxZ%19AC$HvF3u~giuwZ6q3HJCHQwu+C
zrjKG2^-MoM9ghA(>Pej(7q6l?dX{|~RUGTcKKqKp&rWS)rWA)i$oY)o@MYbW;_w~L
zW5wa$;(S?g_|o@^;_!XW*A#~@&$X^N{0YuC6^Ac<ZYd6blJob9!}mG=pg8>doPSXq
zzO1vOIQ#+5zbOuXigWpj;r+rt!+d~p40-P}S!xCqhd;=?qBz!{V_sDp{(0uU;_zF{
zCl!b9FrQHze$0GMari^bW5wYwF<(*~euepp;_#Q5uPP4zGV^uC;jb{?P#nIDEydxl
z@`Y{1;mfh`L2>wN?0;4qzT9I+aro=(?<x)#*X-aM$@|@4+^;zNe&&OUV~tJbj^gl-
zGOsEQe~bC3;_#0%pHv+FHuEXP;h$hWr#Srg%#GK3y_g2`6w@S&Et#dwrPO$hAPtN+
z-|HDKiIBjod83pzJAp?hqL=+&=Y`SYVzZmd%6}BkQ8iu#dey_{1ka|&fKF(Bfj+3u
z|DsLgJW2VrOKR}@hIg5-pJZd|r<qOUy$i<o9&2X*WeeRqcRubRJCl0p!zWtQzr%w5
zJ;VZ1k2%Io`e2WI`sneEe`+^*15pPg^>RMlBZga5>7&OgZ^$zZX)b;1$X~f%%w4Wu
oWAO-G#k<SjA3VSJSZIa&kCCV$_Z4)CCPnod{0BEJBFB9F54>Z)asU7T
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTdoa3Tag.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTdoa3Tag.o
new file mode 100644
index 0000000000000000000000000000000000000000..a4f95e6fb180fa842b3c89e970ba2dd9519a60f7
GIT binary patch
literal 888
zcmbVKy-ve05WX}OlnJpRv6zWgB32T_P!@tJ=z^HS#N?(aiImipW27?i3OoXD!E^Bh
za87MCa?Mgp=kM;j`+WZUxPN@;c^;VI!8dFp!vd^3WYW?J4B!x8I+@&%;q>X5q?}h-
z!OA6Ba6x2|le=Ig_@b=P6IoHpJd<xCCu151aTtwh6q6wnb%0(t8Y!MeL}j8dzTWnB
zd1^a-`1y6^eCG)OeCWB#k@x@M`@4L#YSKApS1Eg?831kGYsqGaQf#m=p3K)0=$uIg
zbk;OLGhWyEQtqy~2XlrRbq5EQHnCz8cAl@L&T&?pee$Hu?oPJ;0!s#H`|2-ItJVzB
zx+BrSOP567^zWkUHNUj(Q=_^cWooZ#oNfS)5beFIRHz#q>pBCbuZd64ap`Y$q5XYr
F{U1)NIMV<C
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTwrTag.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/lpsTwrTag.o
new file mode 100644
index 0000000000000000000000000000000000000000..2616de8729482728f3332653b089c5819c76cd78
GIT binary patch
literal 4672
zcmeI0J!~UY6op^b{Dhxf85X3hScw5e$SaYN9saV2!YC}+0)e&3ibx10jx!q@9NRlH
zQA|Z>P|AfWWlG9)q@YNdavRW=Dbv!WgL`J~v9F(<28nLpDtYgGbKbpo?l?2!{qfEh
zpI@1pavW3ccQ;g|&YfHvuB+Ly>aMw~?xe8x*PB7%PyV=@)n8@*qqm&<CFrmJf#a~p
z_0CqSv*k8hNm}nTqH-3)4RpoR^PYas)9-uw15bbG>5o+R;wVXW;z53D=BH+UYUZbA
zero2YW`1hsPttC0jm?mn(%m?#OwsaAqag*}tEXC_@>&!xM-6G(xG%4K#3yLnm!Hvy
zPtdq8KhqJPpmAT`ff1jeabMn<5uc!}4?KD4z)yO8{ONfgsD8@xM*QD>*t?|vmt8OU
z+n+d|^1Lm36T2gDX>sx6ptSVm{a~frZ8w_rRwsDSjf1oq1)t9K;_ic1TUK$S*-E2E
zDz~uUb~rybU#{E^EAv6A9&gXds(kAfcvuN=q*9*ejp>rSxGvAQzyFzZxG?ca;9Noe
zO&SG><d3Tvn0)mM?pfdNiW#|#kH^0*{wb4pT_fI5PR$D5R^C+Kw9aS~;`BTYS#ZxO
z9Zq?j<9typQ^tS9#916>^W%*3ds&<zuZ_fcaTq{X-^%=|xnAtlL*;qB&b`K+?Ow97
z8?V&2!iJmeyV*^-CCgLCHFn~7Er}jZxRVp*4<om>*6wa4gNK<)+|ze<H}craQTkOc
zZFM_|8{}Jx($DlIKx$z<*X8_JGfJG%I$!rVJAzjh+x<ZO<n)ycxA7MYM;zv>8V*1A
z)C`B8aaRq8mwB6p!_R#De4$SGUsm6q&aD5g>V3oE=XE?V9PwGlq2chezek3{&-#uH
zhkr)(sp0VVRX;Wy{+p`L42Pd}pBoN;p!&ja_zzU`Bh3EHDlbaEFxa2pa_MFaNBolV
zlHrJdth{VE{O>BS8V>)d^1Ft^Usk?qIQ&nPuNw}(yb@)jXE^-qOW$z#7jnDXHyr*8
z<&O-9{}bhhhQmLtdRmXOZ|qm#@j(6TAN$`_AM0YA1@%`=9MscOT{9f@u#c;T!{1WP
zJdDpiG9K%}{S0F-`#t<Tu)q6;BmQ@)4-7{=?C+uB@aJ#i&K(&J|AC(GvElH4ulm$*
z_>a{8*l_q0)n|sof1>_#!{KkMzAzmAC+c@Pvp=c&iiX2~uA0}M{%!S_Jioh=A1E7+
zdUn)bH5~Da>UUxC!**KVkU5R>xye-=wd-LT^-~va*3-HRH<HAKaTfyiO1K~rCV8-g
z`i;R5JX*p=cY8bP@HDlW|2_q>6{mu8u%oJC)<RhqJ^hAg^rh<Yz3Cj3mA@o2@+cnM
zXWvoozfo=KK7Z1-4>0aui0SWds-r(}<_qR0#<xer%)cFy4xbM<cwO}n_p^>Wy5G;g
zulx9Sz{uQBU6sY8{vD~Ytbx%#TqEwEku}EG@`GCZ{0j&wqsBsWIoPk#;XP|o{xc+$
z(bMyQL~cL-x-g{Rb(Uo|_VpF^8v>nKj-9<0XU=oo&%Z0YC*WD`=YK(%f9?oyp<fJt
YhA@M9iC&S#r2RGh{~q3->G${l3)Vte=l}o!
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_absolute_height.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_absolute_height.o
new file mode 100644
index 0000000000000000000000000000000000000000..d7c99d4c7651551f9dbfa3091c6e6c50781cb298
GIT binary patch
literal 984
zcmbtTu};G<5WNya%LWVx#9|~QT8UaoB!(h}Rt3s{n5Y;SiW^)Kku+7}N@e0l82Ag;
zeg)z;_yRb$c59hTaFTWRp5OENtmNhV>SCo-0v#oIhb7W1z^6erXLJ)PP==|~`+!cn
zeL||8>n^!T(>MrOG$eyGBO>IaRUc*PAd0cdf-n+15aW!K2KDQ{>out7lPb%SI#zD2
zCVA=+x#PM1@v^^N$?L4b*SF0}>=aHQ`IRC$^3E@Qd&U?;8wv+I+p&wpmeF^iNRl4w
z=V?3^ychE5F%&d_g9$vbIAOzfn(^-FfeC&aiLj-Fmopsz&7Tv&`j|yF&!Mgap9r96
zWI+3Q4m3!Ugb#&%ufO6wG|K7MtOJ?~FXmHt!_w^|mVWzX&n%sW_Ddh)M&%#=BlOBM
zU0i19{&yycweD}`qOavm`KBt%_bKC&ca^a-Pq2>Jo?UL;s|Ke^r<3lh@g^2U{#PZm
Ie+}FJ1GmXd_5c6?
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_distance.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_distance.o
new file mode 100644
index 0000000000000000000000000000000000000000..813c4c723b1d1b52f18644f8dc547aa65b9cff60
GIT binary patch
literal 968
zcmbtTu};G<5WO~tmI>&D#9|~QT8Ww@5<{7aTIhn9s2CWEo4QIwlT?l?m5EQ_7x)X-
zj(h?C!56@}wcE&Kf|IPf_xxVYXT>j9H`nD-2~3pW9X80Y03SKBy`<Yvg$gX3!6)=O
zoeNU$-S){{nofd{MF|<Fg2<4Q%jQ(1<7k4F2*OD6K+XgwE$TOY*K1MFCv_&`CRT2v
zp?K;Mwd1+|`KG^JspD+H*SF0p>=aI*_;QgPdFL0uyJT`h=M)ZhwxfnbE!TIgh~vR1
z$|OqyP6Ife!xNjtEa{|z_opK!`F$kAu2ulh>^YWfh*^qN4oxNbTmnT413Jtypg|hP
zJdyTM{)7+FrKa7s+-;55^Ju(h>5dR9zkQQkOJ|^cvnRMw{fGY)z3Q7Tu6&sO4|x)6
z(?6e!{*E{8Tj;Frr-DnJRmH(7!4777cD41W8=PsKNv5yC`&bnDU$xMF3by|T*0@Mz
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_distance_robust.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_distance_robust.o
new file mode 100644
index 0000000000000000000000000000000000000000..64218c8a8ed0be9de814fad1e64ae01f6b3e82e1
GIT binary patch
literal 984
zcmbtTu};G<5WO~tmJJvXh{Z@q6p30%B!(h}q87R!21LccP~6m2BATRfT&Ya_2m^n?
z+OI(T244W@)@~z{2~M)^-t&7tpOw5^USE|<B`{HfcUU3A0(|Dk=A3Rq6)G@udLPhf
zwa!SbbJHbvX*vo*7A0hu3L-;JF6v{E4x<rPA_ybN133|#G^k(qU9UkspVXL$>sYzR
z$BL&OQ9GXNpRW4bmAcLve0|%z!cO4?iZ2(*k#~OaJ98#CbWY)5XFK+g*v|D`D&n{|
zh%(8NfcHe&pJb8-a5#l0Hi}u&N(H~2v)%E4Nq!&6u&w0)G<%LE>tmK;kwa5SK9xYx
z!hrU(3}}$XF;Ap@ufO7bG^**>tpl1GFXz*E)6yLvR(|_s+m_Bi`=yU?qxuj333}C;
zF0Oo-{ttN)YtuiUi@ugO?VIVW-lu{~-BrczBEbe`dv>+;s2iMXok^yz!CP1q`Cqlr
I{xxj>4-HIC8UO$Q
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_flow.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_flow.o
new file mode 100644
index 0000000000000000000000000000000000000000..da92486b8886c9a3eb522efc3c65f2724d979fcc
GIT binary patch
literal 1968
zcmb_c%Wl(95S=vTS%iQU5-f~ViBzIjP7qQH3tR<S7AOKlMG6bcO&lE6jwAab%8Kv@
z`2;?J9b3MF?<ijYGuJcn#dcOOQZjRn&pdn|{`~a${#vUAVlDU%B@!0kY`u&<6MC=#
zm*Gd-|4Hy9h?8LE&$DoBo>DLv0vLY;kc2@_*m%UbPUn6#2{XT#?E2q@I%Syu#V=OW
zhl76qq0>1S96GPlG#*94bmmOb%+XQk>}}7pbTW-G%0|&tha>$V3!Pon+wQsDUDfS5
zoghoLF><%Ih*w>Qo^;*bgH;U+p7vlJe*JDzwHtQ`pbcwHa^%}Je#0<LJ56=0&F0Lj
z#;@Y*^{=D8W%ZTJ+sq3Vf0y}-rVqV)VfUH8QsD`<;T*H2E9R{8k5SUH^vf~@>(o!t
zD|~*#T4$LDlEk0H=|?q!%~RMMn*)uTJ{}yE;m{oW=|~%zu0RnF!T00zeg4<MFD^kp
z&BDX^IMCsnsgCxsLouMN2VK$g*31sa!e3+Dv3QzU)@{e)sm@Ktp2d@1`n|At(mRat
z3LB%oq?dJxES~f-$K2vYOVq;RN$)ZSm48ZfaExAOg^wiC;i(3NYZQPw&T~*%N`RDI
zwSzE>1BL6W?C**irAZRbwABAce+%>J*3ithc?|4#Bue&$AHy9CD8G7Ro`|60NoyP3
z6WXIy`PF{adG28@)$HNVwr33XY!YMYMJ98299R1<NrWc8KxMw*M;Opdo)GN6a=|mk
z)R%6t^q2Gc5;>a1#h+~s5BSa|F_yV)-}IGSu;3f}OPEXFuxfwetM85!xJ;f9uuS?2
RMKzo9m%LGLMaaII{|6m3ip&52
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_pose.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_pose.o
new file mode 100644
index 0000000000000000000000000000000000000000..d2dbcc0b61384672c7b10fabf4f08a78502c0ee9
GIT binary patch
literal 960
zcmbtT!AiqG5S=z+D}tye!OIGQE!ZUqc&MjJ)m}tASUh;B+qfmcZc{cZ)RRYl!@uyF
zukb(o0-bHM?Xu>i17T*~yqCALB(E1&m(@xIOjO_lR-HisatrLt;SSWH2Dvx*gkHCM
zN*cZEKDkZPaTK#;LPn`1D(2*@HI?Zo8Dk}*I8i)O&ytfi4O^ifv}q8M29u(NmEUY?
zoCZWs0zW)i`MZ@q&Ki7uySVPX(hW3TEu$mu{lYirh_$rE@X*<fEd+Kg-z7tc!8FY{
zjo@$wPi!pMq?=0KpFT3h?-CW?;1qynFG8^)W+fLnHkINt1r+HF=rGHGMyU{dqTD0=
zsozJH-g4bhcZz<wN6~LPyaVjD-o3$dhi6*%Mvrh%|A+n<wfdbtK6V)YdmF^s_}jVc
ut9UPTd6D(~)bP<~)v>oouz}g#U5_3L1HGRe#@ApwSd{7C3ZnZ9xcVOx#6=wd
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_position.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_position.o
new file mode 100644
index 0000000000000000000000000000000000000000..0e6d0b9a4da57201ac5963fe61d11adb1269b14e
GIT binary patch
literal 968
zcmbtTu};G<5WO~tmI>&D#9|~QT8Ww@5<{7S3Uon;fr^2lxFJ;{>bOdbR3<)wU*IoT
zJMsnm2VVf^)@~z{2~M)^-t&7opB2BHUtUxz6);hOcUU3A0(=z6U`_{6hZ@YB!6)>(
z-4oL6UG>S05aTdrNlHc{BQlQ2X?v21Q8LCV3*$sap?u0B(xHCacfAhve9~kYZ)4@Q
zT8gJ0Q9GXNAFuk`l{(HEe0|%z!cOS~im#T*k#~Oan{%cxbV1=@XFD25Gzxu}3eE=;
zktZ?{DGgzN3Xg2eS=tp@)So;s8Qmr_zSar=nm=>NhL~lx$g!zpG?hTn!hjC*9B3#w
zk5XwL<xhAQU258O%N=OEoJZp=OSgwu`R$uLvvda9H+z5^^?&#e(W}1c;wpyee^(^2
zHvNma?C*HfzM0PIermYXSyk*T5^P|$XIESIy1|jwnPmDJyp2Vf|5Xd^r(pYk0GP!{
Axc~qF
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_sweep_angles.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_sweep_angles.o
new file mode 100644
index 0000000000000000000000000000000000000000..87fc486d1f9fb4981ad76e1ab4b0c0a8f64bb445
GIT binary patch
literal 976
zcmbtT%}N6?5T16$)|)>df|m$_E!eQTpwOOLs`esYw0Q7P(=~M$_orkd){}4H*|+f8
zNATo(_yjs>H|-Mlqyu5*`|^D|nXq{|JwGd#N}!_z@32Ig1^CF3?HS#MDpX)<4L+gQ
z?Y2m*chM(TNfLTK3t}=#1d%=`oyJ%sqaegeczz(cCm#hTP3ksW+i6nAB{e3Z23B^x
zu6XJYwd2_C(Xzi;spG7`*SE<lY!yzR_;QgPdFvOyHDhu^=M)xpHe(x!&0ODwB8mp-
z6X)Xri|<38QV;eg@W8@|#oa{k{`ihbejP~vQmHyK5dck}BguxCrI=@5SCUU8P;@b%
z!!!lzB~ip<X`bkBco%JI>Q%$u&hTQc46hryJ;cgy-sp*;)6l%(1Kg<o!+(fg^-UXB
zK6L+^Jc+gLpU*{q$y?@|W?9`&1(!Ojik*3aHO%JhYU?&@aGdFM(tS1Fz@o_inhDJ(
HVfudnG`&k`
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tdoa.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tdoa.o
new file mode 100644
index 0000000000000000000000000000000000000000..cb8ee1445917c7146ff29405dbc1607da748677e
GIT binary patch
literal 960
zcmbVL!A`<J5FMxyjEPZCCSKOWL`Y=QHt~Qb2q+h$7l;QBxRfPrWGPwJ1Wz9Q4gbO`
zU*UiF1v(2|*sMJ<$!6xgzSo)AwC^`}x5YvMOcdY?Hps953yW+l=?0Xc1PibK4V_l&
znp8UXJ<?6naTK#;LPn`1D(0kFo62;QjIokYoG2ctSIJ48hPBWS>NE&Rg-KDv%CA;6
zPXnT#1b%q6>F-v0oE`Z2b$N}w+zm8e%#$PU{p0tSjJ33-@UXKR2S^-Seb)*h`f8Xm
z8o~J-Uf5W$Nh_7SHytv?9}^XK+Ye0uI(rj}4KORY%CV^wpDUm!XFvzD8PF&df=`q?
z!dCbcU3$x1$KA;AdXEerI=VB&+V9?A+tC@QwRT(}DC61Ie~DiGP9KjQrvH;oVr}}{
xIq$3Z%zTS1>-#C;(X;9}StZ!R?9Q$qJ!cK{es-9?hC9L{&;OAL-Cw}<{{i@3M4tcv
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tdoa_robust.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tdoa_robust.o
new file mode 100644
index 0000000000000000000000000000000000000000..cc49247361997ea1bdb972cd45665f88f645a7d2
GIT binary patch
literal 976
zcmbVL!A=4(5FNk>-ju||#7j*~ghZO%jUMm>0p(&eF%S<Puq;b<BTGrQBzW>C`~d&L
zE1%%W|L_ZR3R`IEo|t4Z^IqR{W}4l%>)V@rE(h9j@Ch5FS%5EtY%J*pl%NQULjM~&
zt=1K(bnbej%lX(3Su`OdE{F^R(yUDdA4Ox#gdavS@a0Sdq)xq>=eTw1dZfZcT*J(%
zRuxZOqE1}LyWI4*Gd0c*{QTOy!iCHY6razMBVYK(mzRvOw4o?qXWI^uC>wp(ia74e
zA!mKT2eU*{A5Q1+!p1S1w73W!mTYf2WHNY+WY}%rHvwq!8cR07D8(v<I+MX%0!29k
zI!F?rK9A#IBJFv$#m88vw%)ZaXry?(SBm#7-3ek<Z@*~U(rKu)rkx=up>JD%j<xDe
z2i-K?|H&jV*Zs|y^_6_2b&E8r_bH;QS(P2F0_<V5XIDqhX@iSYr-SaR@c|}T_3x?B
I{w3`CKla8-Q~&?~
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tof.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_tof.o
new file mode 100644
index 0000000000000000000000000000000000000000..8830ddd0e87cbf77c12b8e9eb3b6bbb4920d9b75
GIT binary patch
literal 960
zcmbtT!Ab)$5S@0#RzXltf|m%2E!eQT;Gv!>ReKRnEgn47blqhao2H~G)RQOw!@uy_
zukb(o0-dy*HpD&YK$v+i@9kv5=Jopard%q4i4uIk8W|Q~Zjr48-GVAqVD9xlq0??(
zkXq-iN4i1`qm*SMk_bsu8k5V$Sc)VYVkM(AQ*orGGA2zLHbOsW(jX)?CV2xZzh2io
z4T#<e{P29;->vj<HsI^q<u&#SC(wMkNRGVsi{D-_*3g#1!_IE(AhB=tT`4&4E0NF$
zj%V=9hMbMsLdL!E6I1bhrqZrR0O;g}D>lHa<T9tGQt?ayMKuFDm`s31g7bK!+ynd(
zAEHlBx#{>@IbO|?<6TF0gjoCC8@zIK2D&$TiW}8`_|MR*zv<($!}Nc!NvutOI~V;G
u@40WDXMH~vT>7j!4webFFuSwst;f8<Nv<==^fh=7iz5G9E_9!O>;C~l{6sqd
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_yaw_error.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/mm_yaw_error.o
new file mode 100644
index 0000000000000000000000000000000000000000..863f4e1c34ad4590b77f4fe86f566cb0cfd4014f
GIT binary patch
literal 968
zcmbtT%}&BV5FV%zy!mr6@v<f+LL!^Ci3dDkDsnNNB*u8ar7meBWy!JzIQa@bf^XrK
zqfg*__yjr&EnQc<=p>u@=G*x?Kj}U-FV2gF0%TTzSIDD`1$Z;a#++_I8A>p7I`7a5
zf)i3{UAD=U5dAP>@qqM%Br4+Mv^JEY7xxj#Fp3oq)uZI3PW_tidUfjgq{3uUL*!Pg
znx`JoH=gSs=k;x*+gXE;Pn*}VvvLB>7gwbt@BH95=ZrD5k>Oxv+jfxHHtH@jlB6?b
z;|`ZnNE*Vy1RhvFVS_+O-X7jF#jj%(-LP>}X8_RAG*PUJUde@zGNkxK0YwP|+8vF6
zh9XJ$K-s<gCEi1ko_5_5H_~`HPZ}@wlPB*Z)Ovf9XL-suWN-EmZ_EGCAE8!%)5T+2
zR{z!{5oh&Hzv}OJNp-W->;07Q=w7w$E*xy2w`bQ^cWD8;udHq=hpk`q&uOCl6m0z$
DG(1TN
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/multiranger.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/multiranger.o
new file mode 100644
index 0000000000000000000000000000000000000000..53d37adf73b7b073c1279f93d845b3a1eb655fb2
GIT binary patch
literal 11024
zcmeI2U2Ggz701u+CTVa&abl;5NLr8ElsKW;+KwZ<r4Q?mIIe1wuy&v#g5B}%I9_GH
zG&^f-ITD+^@bN;H6p@EYxQGYG>O(4!u%HmD0jUp_sQ3~Ok#GwSmFPntj;JLpbI#mz
zyT`LT2&p{Ijk5RN-}&Ej?mc&QcXqD7ab|2J914LhA@~{8dzu2g^O<@(?l$AF4_aY!
z;TN|yBT#!V5xTX02kQtdZ{2~|yOH+gwMg4CN?$ghnxGo4#BWgj-ko?XytUQ$?p>&9
z&H9b_yl&U)_7e{#25xOG{AOu2lKfML5&5Hx*9LIC9EO^6?eW^fi{V?9Hy^FdhCg5X
z*J0TB`rtFQ_d8&d;?@1B`K(0_xbv#l?c8r)UVkc7Q)3P?)AeKAS2bw{zPprII|dtF
zaO{cdUbV&$u5k_5uH&w3ZT%qhJnRR|fq^>sbLZFKP}dX6eqi}F+bKt0dkWXJ#P(`4
zJFan&?eS)I%*9Q%r<&M*zqNI6bK#dC?H}#kS|oI0JrZ7i*ajO1FuycU@=dkgKg#E;
z;rIrzjw4{>xD%-mOyYHO{XJa!BHB6uIFD`a9zJY~Z)`5yb@%aq)v5ii&ri?kC%ESr
zBen|Am)aGN(KRCdr(5E&cAU%0s0(9F`!R^~35BbP^e%|q#hhet++T6t1Gu&-UN@v8
zO&WHzkmlz?(@7fK3$NyNp$Y9q4ep0mL;I&=T_r!bCtl4DQDfqK;0Wx05;Z>xLyXn~
z5Nb)`T-19&<!*D~S8BiZz=pp5Q@GwL=HkH~%JG|Sjsf>(t)+_Bom;#6N4_cd$gcDL
z)OJGkcT+78%U~VB|KuawTTPH3)U}T%o-<x3WF6z_vQf4Q<)Up|Jon;PThQi~X7-VR
z7sj+=+AbCxR8E=c%QT=;a)&|AnkEc(_R<VB#%YFFGM3U!rN=8dCu^I9OO}ni>=a8$
zZFH5vOOSye13?CY3<MbnG7w}S$Uu;RAOk@Lf(!&12r>|4Ajm+Ff&X6y-q`!`d|mY!
zKI6lyJ{-;t4LxUco&CZEW3pJxrDx1+!I;LUa?Xrp44f?4#p!GgTXuRT>sV>0Vp~Qm
z+IzCMyC)Xy={34cJAV>e-N%m;kM<a3>FMr0?H5pSd~OIk;2&GfRFS491^^NK*Q`X)
zlec`z1r%j_p$C{@;XlXblg#;XBAgdPBd~M36YTZ5q>+D){jBo%S9s(w^AtX;rP9jw
z7qLzADe=;De0qEt66?~_QE?mBdy(~8r|S%J4l7np`P_xp?M3--<n*vLB=om=zVxh>
zxbExv3iH$>%D?8<n78iP&cDNa_0jE|dJ$kJ%H+PPc{cKY;=)5h-!H~Q;1i;!n#xZj
zCu;<Fl46w7H}V^(2?_nE7!!d{ik@n|idAa^1z7drzxLt3_2Kt@_#>E~W^p@w__IEI
zz=wa)hkwO~mwfnDAO3A0{(T?*V;}yS4`1=&Z~O4S`0&3Y-zToO-MAla$=8n|qG>of
z2YLIf<&0Zq89!R{R>2u4WD-`{F>MD;lV<rc9L->h4oxQ90~5k1U<TPT^{fmw&YR`3
z+aNI>eaw!yrzO}Jq~j8-FO=wYj1Eh%PPm69$z;j2&3suMhkR-5^r^9)<n}oYn~s^V
z%*;HD_fEnr&1%@nne$LrC-7t?Teu_^LW8tm0*_mSsg7}(l9%UkDfus(xK=j<a})~a
zGMP<Z9x7Jw=%*h1Lcz)Az&+8KupCI99XmHTFqS+wGBR;yGC4UgICdrprL-A4J=ceV
za}}plp=GBp4_3-Bn>&3f*E8p4DqX~bsGN1a;^6n64OYp{7My84)|IfIp<-b=dx>3X
zma|NokvrcZ+cF&sGIn;>vXf%N#etK-m&0MaPCB_wRhQsT3f?XFQ-ag?3KjBmR5jh#
z^V}x>wBRoZE{@=VKCh{?p?;rgy02AkAMo%+=H&kvx2akZT*kdExQx3ZxYVx-F7<B-
zF7<y9T<Y%$F7<yCT<Sj%T<X^am--I{*Lz23FXn{`<wx%0A;FI;iTm0w_zA&Z^5Jtn
z{H70I@!|KF)4qRJ#9b5mX9Ry=aJjDgg3IgkL*_B8=^jg$e+zw7L#+3PRfp!YTkv+~
z<mXwz4>70fQ|gZ}r~K>p4h`$`_&3<s^FIFL9{*ZD?Bl;A{O@4jR5`+r<a5j)!+A=6
zQ}~hZ$5(_O$rpv5@(`z>SeArd^0z$tQ6-1BJ$lVQ@aXmD%YBbt^H#n;)cdGEciNfj
z{nEV8qfhaC`aOEhCz*Tmc18G+`K$^*lHX)b*GUh@q-s&{Ucr|HKP9-nzt!uVVcSnx
zPn=R!V!py$=Rxb=5M1i-G5<9BQTL$A(Qfufe{x0bIqr7}?)u^J`n^DU;wgF&h4>-S
z_xjiKH(2xE;!>Wq`+kr9Til0ec|Px$Q&>B;s%Lb|##@Z2W6e1b&CtC>bgEp2s9mHE
z$$O&x5KX7^3X|Bi;4l<LbH%ioL%GZGOMlq?I*vAc9V>-<3lw$#AS9YD=IKUE&+uc_
z29Cy*ieFC3U0hYL#{0tEhI{kFXrMgCwSeoc4%HalrE2=wL~-<f={=<HD&n3nV8}NC
z+I1nVEcDq=KK;gfxpzFhr-;e-5OzO`|2^u6qUW#u#L-4=Z=4mLe`&uMj7>dW({XGx
z8{c(MDfD%z_1^KLXlR!I65kw<oeJfjevRt!I{y~3X7N)TU+Yok7H>a=v|0QWj<4fT
zeEJou$7}vgWX<BwaQsoU%c93?b`2ZN;=jZ3Q!J$T^s88p*YVZw;_ctTG~_nNr{@;3
z&|Im=T7QNpi+XM40IfS!pPu)0;(u>^%8B>dp%KR8^oll*a~)S%)xB`D@!fnAsGsj>
Iy?6Y704w+8E&u=k
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/num.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/num.o
new file mode 100644
index 0000000000000000000000000000000000000000..4d9fd5f2d3727fd6f0485968050b44b455ae3d73
GIT binary patch
literal 1744
zcmbtU&rcIU6n@)9ZNW%Eg9J=FC;{5gwQbY@A+iM(4q&h?k;Fr@ZFlX)?v`$sq=qJ-
ziDxwNj^6NuH!sFC{sksPJ(GCo5jh!SQ{R+XSvJLkzGn7&@0<5)X5V)G_WT_e$AKjr
zyn`dlVga7F9qD3I6~O~;^d0hDF5ln1Qt>BJzxZO6gJf#VRjg5b&lLeS;vUq=^1|*w
zcz%}yu4B5&-6NBH5Jp@<n1t>spZYSjEFM60Gyb~KNUj4ET^pNm*w~7L_h}#9_Y?ke
zb9s9V7shatoe3CgPl%Y?Ux8-b>A~{}sB&Gg3Ks<8Nf3Y_z_5?TH}|j?x@YH8gW|y+
zKoa(M;(K5Dt5aB;#*j;-83#Xh;#Lk?f3L9>_fwx&TYY}u9>J$4$NJ+%;;XNHcvI)$
z1wp;m0rfdV2^U`5OO9fU@?yQd_Hi4z3xCdr`K{R6FsB93*UjR*B;fmoefACzUkJ|(
z;{ji7IHu7Y^nB0;oyTmf@eJ=00s-I8M&lyP&df}Zk=eUTBv~lrGdW4siBd3#nUhH@
zv|<z#HIJH+$*HECF;@+lj0@3FG#nWhB2h9T8CnRna3DZ=AwuX*BpkhtC-{rdS!#pt
zjaDvv%Si*^@z+Xt%;c0aO`_Gr(mbb}?$C}*x2<lDdGs)Th1nH`ml?m$>|TZf<Grl(
zHO7x2dYNvAn<wzMkf;4DvOLQyXyF8Z&{s7f1A}EKsrtjb9L-621?VGsNI+iIRC7ty
z&BzVN6!em5;Hw5jlgbJ{Rb7FsEM?P@o&`lpmz2YTqpW^EVh8Ji0)Agj=|enws5YNj
zoBuf*4?^j&W=d&9(>TPOr5SQw5=^;lf{>L=350a11VW~uX|itGbNq)+FqXD<+L1$K
z_BQL=+IGIHe%zo_CRz>*-E8#cm`(H3RBmQlb1}qt=LF;bVM}q+qv%C*{%d>$V`<JX
zF1uLuAJ|FMt@?I!Iee%&$H*LWq~9G~&hvYabM}rDyk%s98aA=&T2vP*t>PEi{ZCkq
I44v`60m}H=a{vGU
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/oa.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/oa.o
new file mode 100644
index 0000000000000000000000000000000000000000..56905475c647a3ab8d1f2f64a4f28ae20a0d3c6b
GIT binary patch
literal 7504
zcmc(jU2Ggz6@c&VG?7UPq^*-!jipY4p-yNP+fAf6>ciS@99L|yWjn=?mfi90IJ?Sv
zcbT2FY#G5Ic(6nzVo^{e`VbW)>?o=tR6!7dnzj!W>Vp+g)Q1QK38X%N6cnP?Qmt^#
zopW}N@6Noy1K0ANd%t`B?zwkoX6HL+GNZ{vLUBu|U#r%LsZyI=t$tc})9O+6h}vHM
z-TJnrR_{$E);pED6eQDw_s=KS?LF$`Pm*d?C4<TLcc%v*gE=sJ#Yv{OHjb#(BPy80
z@e|$3JKUkBA?BsSO0DK#em~8nNe18t?X=Am@JV*To}G5c?I;^N(X_FRSZJd<!d!O7
zY1wS-YL62{#z{8g;5u?v%Z_t{7=w4L{m1T24XxilKfJ!Z{Px<0mHjj7a}7}U4-Xz3
zw4f%)aw@%rwc)x%*|RO{{2lD2Pv*B`_?t2O8t^A<>wW&;UjA)!zj06Nus8mZ#47Ij
z0_<z!HMRQDA+`0<=fe6WpiXzJ16OfPkoQ#_V?X4bn&)0itTN9XNjCf1=1H}MvD3TB
z?px^}-LVdmztHbrEp-fiJClhev<b(ZSDhDHV~pW^U5p`)^Nnzvn@uczNbB5Q{(ZQ<
zy=sfsmxJ>gD0SlA-t^Y?@>_bpbZ&csM@i~6;rYaU0H)6}$kkmcxHY?54HiIJ@Q*%{
z1HmNvf%(qyq0{z=Q>j#a+jr}}Jw9X?-26q`vFmQWS}E9mY2MwV6zV-!Df#xCSFQLk
zS*ce&`~3KqUxG<!G4rEC&t<embAHwV?``HS`yKO5^VWQ$7GW*oi}{wdm@m6?5$U)5
z@0f3SXy)&gE)*ji#LPDxj1TEDsj3r7T}J5Qa*;G@A;<98(_ui?{c0@>Mz|@+XY-*a
z%^3o}xff^u`}W-!)8zk&2QhKu@*IoNkMpC>j*OhPd(VF5oIPEwmh(lYRI%saNc%<C
z9y(t0s&l0>^t^nr<hyyl;kou;YT)=lU;kjLf57f_y!qqM>pOZBd8*&Wnf|_klQD@9
zPJnz!{p&%LmKAyDQ_6zBsAhqusAj2MZFsjP?fg@kV^%xc!!S&WeEvo%a81(uE{$)K
z+2h1F>A=u&R$<)sJP(6@LgddG93#$Smi@##Kw`7?r&6auqMu$GGan|-=YlzoQNIWh
zo2@^UngEG>g~rUkMtqGpe;*3O@kW4+c?J6D=bEN1zCiqSg9pT~8ytrgRgb2$2<sVs
zO8z<&Dk1bwiAhU!h*8)LJ+yP2wN!Xbmqwv}JO2SFC4@fLDfEM<XlD!kwDTW>T0*t>
zm@u={XT&J%{tU#vHmcNbV)!3p_^lZJml*!f7=Ay7?}B}a%CkF$r(*a(3?Gi+#Tf3#
z@Rb<;(-{5>;E#xN)jUa6CzV${1=X_%_qu6#q(I@+FM`152UV&gbPLeY<AS>|ijNd<
zhg%rNn<2<^HT=xrtq|lS-f@-ZR4%xortWH8-2-hcwZ86!7TIjMdZCUt&uq5lc+Px1
zt8bXuvzhVXp-gssbad*>bar}ZICCbeYI$ey<l>1b*B@{AwFXAcUmR}K)k68?)8)QJ
zoh&>N)vIN9qT$00!&7d}D^>hCRbPS?&41M?`BT2*`D~&GBe1qorBMY>i&%%Vu0LJM
zUmU46V9n1DOsfT?&$?x2=^SX5*?7`*3X{0zmV@U@<uW{t`L0*zbahsgIw;PSE>QN&
z%C6%P(&0xu*YRCd@Jb7=2ek=HqMF~l$6#OO)tb-l0fTqLdB?Wj;JqPM=%<JJD4wGJ
zA>f}EypQ^Wz`r2)GeZAK!TGv?{_$?c;|%FwK9WxmNB^7~q8Z|t&r#~5$Wh<S6R-E!
z%=H#StjzrNLmbSZADMqZ`kX)8f1fz#&wPcrng7eg&HP^xT-N!r@GtlGRpDROe@*z2
z`M*J&^Jl#q!avrZ`Ay<x{u{*2{NEK^=KmgXv;LdJ&HCRKeq{b166gGR{14$D^JjjS
zxS9XIiJSR<BDl;SZf?4n`9DP5%zqzo^ZaxP{a%WN!Y0n^>ZNfHNj_K1S(^Fxk-qtT
zA0uwoAw#?wmvWjg;}XXgE!fPsFA6{Mx{(tc_k~-5xS3CpIIoxWYsAgCD~5kw=gWp4
z=J4V`H`C9n#LaxJ82&qG{Bx3=C-ZB>P5*BYH~rrr&h>wn7JSq2&-|Sj|L?{4-!%NM
zkpDj!{+Zv7@&AeNBd<UF;B0;`y6J%$>u`)>qUaU;i-Mns;prHjiQzLb{6)c^5^>9d
z9~XR4@RZ<z;9nB_QVhQm!>`BijTnBLIGz((|2xFZ`hP6^@I6|mOFu<%U+^~>w+_Jv
z7=qkKoX=;G&OxW(80s$ZF5>*XVEt~vrT#O-9|!xVMcfYR<Ev%7Zd@n-y@I13{=Ld;
zM15L1X@&xMmmsEpzP{L`!*LfQ;$r>RNbi)PACP`paMZs_;|alWT`QzNBRJ|`qj6Di
z)W1afHNjDzf0qV=qyA;mUlAPjuhaOl;Hb~nJF`A(<i|GjqxJ>;le#kN!`C~NsxQs^
z&MZjZ3uTde9z0B^e0R}Tse<D>Dm7cLtCUy80jl?>PQehBG=UyWrpnd4Q)Uj&{?F=1
z<P<+5hX(MA0tjj89~CM6n<AC3&d<B>ME}1wo7NuwPHuTiQ#VcLooDuOhvXrUSidxl
zS*(0I>}}G<d=`dSW8SAOQp9IK<VF}3n1J+opJ=F`^U<fN&i21#MUot!armA`DR~XS
zIktbx2*~z~&wy@J{$qGJq49YNN3HeqI1Qbs`pp~&HO5F0>xX;9@wt940gH+sP<+-W
zH%)sU&p;<C{uPSPaWFpmVt>rT_e|~eU!nMG9Ec>_GyW!YqT=76_%;<9<Kx>Pw&(cY
z0~WRZK0452FfSY1Gy67lqT+vWFx1GABF29h{@I@6{}33)?}LBY7AgLD387ER*&(B@
z{~wV3$Cw;6{NDAzzZoCjr<!LUklLj8^S|PN2%#B6c&8F=e~K1(SzEO}O#A-;Hf!ef
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/outlierFilter.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/outlierFilter.o
new file mode 100644
index 0000000000000000000000000000000000000000..4027af9286a3fb491bb98c413a71727e14af63cd
GIT binary patch
literal 3648
zcmcJRO>7%g5P)aBPH>wDIi-ct7JEY-l2*jB14s@+bmKHhkqo7YDMcVT&SqU(wX@E8
z(;pR7M+B*d9$L`@;nE<eXnN`eQ45S(xD?b%<pAx0g9}Jhh(l43pb{a>?7o-0Z0r+a
zqTQMKcHYdqx9_cUVjwZ-ktE<E!Kbj|aSEWe2)1pi&<ZUepH{m)<#@N$s#a%WN&vR0
z)v?&)0Xc-eFBDLaX};}&xZe{59|Zl%_CW2{xh+@Z)b~L}{%-Mjb$(HXGj}^Z1)r(}
zC?CwkyFHk%iE_l+0}|%cC^wXc&-*$8l(!GL=9h!*tx_<ebOcTTB=2^{3ya6Ux<I)l
zzY<WqYIUIn?k~vFMQr)(I?PXebiG<7f5#5yKj`=h`o!T;M>heS_Tn`M>irL~_B38)
zfU2aZRZmE*_?7lRlNXXHfXP8G?0XS=XbwSzo`C}2rhG7|U76m}j?Z>^A=>xPQWD3X
zk-TbU7s!V$dLVgKE)PpSsLUWgu@NTU_ClqG{5;mw-hAubg%<Tb&Fh1#_Bqw7y?SoT
zbSqT(JX0aNc3b}MrR1HZrAKZoE+suawL(1=(2is6pJZvL2W$L-&!yKc3@bPf%8Pj_
z;+oO>_)#ivz<zeDyq_=T!Pg$3ceF4f%`eDs@ej;L>ohkzJ6xXs*p#3%Fxu>_$2-_N
z_@OO02b0&)z9YlV(PpTOdDIHkO~J-PU*kH7WBI(!dZZT11C@o5zWK%DU)t{x*KuD^
zh3Gdpmm2o=8_ofm%ELVGujHfLxPJY4M<;fXet&k>*2ry*NF{DeS^1o9X2>QPo6-*H
zR)py&(>+W-#q`sV*0h9v7(h48-88Ob8O4;4Y?@#lX|BTv{onk726Y?pa)Wpn>hFJ6
z=^A?J6(wmHc`cjHO(+?|RIIG7^mP|aBa_RcWop@+rEAudsVlwVp6;GVv^N~>QM%G*
zp&P9T9ya9Rs6tPok)CH76?8a#gS_zjQoSg-?iUI`#=m+ZV<xw>*?_976&dj4yJVy7
zH{xsSI`M1k(q@%}et1L&<J{-EmvNt6pVq{YeT=udIJt72-R1PNcGsotJS+S*%je|b
zRaf97nj3`me~vvm!??=)Q*3E3q3>r*RG&29pEclD8}M7m+l2Stg+9s8cu}7>Ss#3z
z{$#wy_(v2>!p`zwE^p~(ScA|}2#wQmH_Y9+l9is&bSRqo;hZs5a)Mr%7}t*iZhsum
zpEpYSZatqq)^AKrAfOM1UbKhdcSFxZDwQ`5mR3F)tLp7f=X2v}OHYm)>5*KanAcbL
zv+B8}7fVnyj%1)TX<8Y`q{m7bNDU?S#`_Yfy@P`z1IbjfFP<1kvF_{+N~=>2>m}V<
zjd+zr?qJr+;ym?{Bf4I+m*;|g2iS`1=IkX0TyDUxHQ+Y|zKPkS_`ak34-5PUW<P}7
z{?IeOCUAZx2+?~d>BacXj%nZTG5ay(VtfRBl1(nYrvX2}xI6z}jJx~iCy4&VS~+C^
zid_}I1&s4E!uKz6>Yw)-bH($ysRAd)_xZ~Lr@9LB4+xy%`Mb;toZ@*OMS)ZNHs+TF
zPVo`upA<O7hnWAKz$re){5gTsTzUVO1WxfP^DhgWuMMGV0;l*r%!hF4Siwq<p|(s%
zXSrqKc@10oQ47L&_|gy_E0rK@8st!TG#o>hg7D~umw)WTno%g|6Be)VpR|Ib@l~(d
z8<bF`8_JBw(fsb`2Gd(n(>kck=c>!+STRbDvJNjY8D2gcPcZKO1-r)TcHwhT_;}8q
zM1z=n{5>|_-LLr0C`S}8>Z^wwLHPLn0wa^xXVZcKWMsSR?_uCJ4HATp=SW4P-ujKw
zf}xaIA#!P7@$sAKA<76|6vFpEF%pGM^mWHwzVp6C?Rv#_Y?+Ne$sVppx&beDed^0S
gcS_)6|LASwg$Sa!T>R~<KfXo<QQmOW^4&fDUkW0_X8-^I
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/planner.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/planner.o
new file mode 100644
index 0000000000000000000000000000000000000000..c2bd6ddde79620add0e19bff4afd404bc8e3a2d0
GIT binary patch
literal 3088
zcmbtWQD_ur5T3m~bEmN;8cRgOWiN^5Y`x<WB5m}+KRIipmJ&@0g%&oO%f>ssyN!FR
zRjy#5eX3GC5c=RlE%d?oR79{>JV<FN6#Ag0Ej}jE#KS_-UWIPyv7OodH*T+&hqe>`
z%s=1EKmW}9Gs~TS<+VdTK>(KoxCPH77X`Sp{@I?{TL$YP2v$P8yO~L$QCwZP0)A+L
z2`JVIO>?#PgyIdv=5d9GrO=b+P0?lCui$!c0m@UzMZ^~`u+l>j%1is1X$8Qv+Mu-9
z4W(aSM63nn9k}*G>0tuORxj?yp!B!^WenqTt#D`#V<^sx@=u+T_@l4@#ZCaTQ-Z<H
zAeh27FkKz#QCITHf}fQX0R|5E;nX6)I0TvL^Rp<t+!bn-!l8v*A8#jn31*KG_o03m
zSb1oa4f@a~?1KTek(psX9DToa_84IPVynLh;46kVetJbXc=&cF2tPw49Qwqv#)tf@
z48d?{RFYPG)0saktDWKlU?q(4)Iz&+Z>><CtBFt)5U)0aSry@Wr3Gq1tR2NH2{3+O
zBb>q<#w+b$QcXHLK(Dkj6W?k4ybnqfO{^qgoSkStPdTDZwV9cf7FMejzPd(vO?0tA
zW?6e-ND57CV78xn8wG7#{g(g(jr=si?7CC!>3uK{1<$(mbn~N}Dwva-;|a_9s0(Jl
zUliM}pYMV}!1_=6z>HiJZd2UK2CN0<;KuLXLH?;86FwMU%l8=ip8OZS-B{@kOBC-m
zVVpA7cow<a=hd;m9KB6XoRupHs9i(d0@ga-!J^4XPiSY5mA{F^L*YnoXgIPnv~v$D
z8<S9632ccjh+D5OU4ioQ6;|rOURuUk=$2S%8E0VS2s0nxOx(v=xQ}x|v#>%lf%9M`
zaPfHv2U)ax>rix8$8eP1AdLCBbu+M53f3;Q9m+H>)v=MeN`loem({s(>sKq>vit2(
zJJdeF94ftHmU2nss*VYB)ud4Tjd~E@Wg!rZUPb(A8<=}LV9U}GXC~KS4;{p{BtHK_
zH*$JI%5foZIJ$HM`=9!6Y-sLj8#5oZvs$G$k*yWJwfpcs)evK+_nyKzp2Rs;aE{%X
zT|zzD+#r1d^)l**xE@9liG5OJ<n=eCaZSr4Q%X7~O>4Sjq*Q4rI-_gT=?w1lWGZc_
zN#nGxN`tZfXn(wKFxJ;EMHD?7#a(>&Zo*@I5^4J4{d+OuHAq0*4^ON{YO&#$6hOqk
zMkJ!AdTO=-y5;Y*2}PgB|3!~lgmoUt+3rHt`VSOf1hFmX=MvX#<NPScKjU(c^S3xY
z&t>=C497=#sP0|wa(sg0U-NSxB6n>#WV5Sl;9snPW1}?mvxqq575Cu==}m{hFUakD
zIsP`sf9LpPj{m^%AjVDhcleXda=eY>qx{J_IKG?XGj%x3WRzS^)niHMIcp2Dp`28;
z>1kQhWz<cjbH`yOttQoX(s@-TbNMABh1w}qmvfqYLe)<?2h+K<;q3B;Hp8*JJdJoh
zrB1B^q@8i)<Y`@3bB26eQ!-%a$_ZILqh#cC4*#d|%<9caEjy#D`Mf%1TX;0~0bM<#
z>Zq*4olAL2jzCE{yW^T{X!5kKWj(U9%^Qkt$P^C_q^6(qqMk@R22P==uZVVFz1`j<
z`4Y-Rggdk2$TvMW&5ld=Ja~%>BLCBad;7GN_Xqjk?6JSh`=dUdR^A7MKj*O@@ZeiL
zIK=YjvW7B=+|V7Ka(B9#QDTOA)_~ZQVki)s%;zD7Rm$SSdVTzly@Y2e^`<%>jLR2!
z+^*VN8^U(rA`^zoOP}*cy2nBCPxrWQ=YDtSJ4JZ?7xKHhd(p%uvh~s)6v*d)J>Q3C
z$!8pwm)!g5`{yP1elO=O;x&T^|0FZ644{_ctk0i*X4l6~j#6|0=~ee4N3>(*Tbof&
SHadTa|9;=+HO76NJNOHR`g%S9
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/pptraj.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/pptraj.o
new file mode 100644
index 0000000000000000000000000000000000000000..fd62e0b8bc789a00ca7335ad1004c35c4a7c3d17
GIT binary patch
literal 7888
zcmbtYe^69Mp6@p^3=jM@2q+rT?+qXfu7hAuadSBzpwUEY7m?KFE~$lK7z2?J9N1k9
zmC8tP-7IbauC=DhR6=68Vceu*x!GOWV=k=8xw$o!GpV{%uJ*QS98d|mDRag;t&`<G
z-}m~#W6az?*Huk-fBM_s{`RN8-*3O+g{?auwMh~)i^P7%=0+yUSWWI+U(>r9OJ`{;
zM^$;brt;!+R@dVju3a`zz*C+Wu9a$02UhXSfjs^ME8@M64%gau4cDGSzo&Y*b|c!u
z@&=wIGw%WPkIHU-0_}sY0<J7%BN?*FSIQ6Z!>?{oa$Wg+Kwi&}{>iQM$`$-U`4PTc
z-pDH<zb$vAGH`yqk}a3<-lG*tj=TvvALg~&A5?PXzvDI9a%K6YRs2oJRk^a1O{>fJ
zyXh+5n7)yp(Q*_C`<~sNt7O-#;!U|3%7*j}JZB)Ezb;Ek0BcLr*Yjt#uTYlC<^23W
zhH`9mIrll1DIXkjDK6I<{>N7`l(O^+o+7W~ez}xadGh#$-VEi8XBB7iDt=INbGyu<
z&-}EAYdI=+=allVbIQ5I?B21Qbv(<(qAZI=$L#f=G3aw-F|RVl?kJjcN6BR)7r=uP
z>uFw5?f+g?;pURc25n(BSOt9&_#=Gt7Itnkvt9qg%uJmrOSl9%y=7X|4PDX}HmWe`
z`avNlxk|X?VuK8FD)iZKmn84j<@0zI*0`}|Gh^3%3A#zHp0WKdthr%lrx(eruHM1+
z7h-KV6@8iQk5Q|#{pnJ;_VG(UU1?)%po+1<JO^7+ox*l$AFl4ZYPX$cF80YJ+O41a
zM-Q>^r)ex)yMq<-Ezte54ED)0EPV9M&)wgT3Hws8J|EQ%SqEcT)y>VL=bM{G3!589
z4?@n5+K6*ip{-{r*C&|$V(+=3l5y<emJ4wY`KWpPl*i58f19aG!Ce)nu#9>sZSSd^
zB7Ul6)##AK>f-j4i<>3wzs~Q}M*S&$|9A>Io8WgT*oV$ZHvMI0X1SAzJFHT9%)an6
zLL}=Cur<%2MX66*8N7x+WnI2e2ESlk?oqeQ1~(V5uS{+woJnd2KhRB_yTOYDU!?m|
zq0f4^q;I<WpCZ$CHaJ;i3(A<kwSe8dg}cC>$I>uv=)v7qs+`6W#?)`HNrN8h1Ec$v
zfZbZ4-Br;}7F7kOyZ>d_+{X=mZLmRQd0Zm95ic6q?SS1X`>GOlk)N9K*@#saVwn6g
z74e_rT2JwOcbTgYzWxwj?sD^$@bfc>l|Oq5`I|DhMr{8B;<^qo_9SvbHhk_!i0|j*
zZzF#c@(kB1?n2Biy;Q{Gm^+2K3~N>*E=u25l|#Q!725))+&rJHWMTcuU)Ys+dbaY}
z>J9u<l~ZZ#%T|85*r}vKKgDnUu}mdTUaGiX&QPv-iuj8QGnMd9mMXoD48@nTf%oG6
z8DbQ%7?r}3*F2lS_irOHyL_5BzwBp&J+APlGc!_TX2ynUM|Gg4pgK`gQRPVN1Y#Uq
zPj~-mmRHjsrn}G1-rr-m3;hmvOOacCX|M<5m_76K*Vylie%bp4##c@_y|F(V`t-ZR
z{l+(H(aYO(KRagLZ~S3kI}9v7j@Tz3pu6vp2FaGo&>OR7ohJKfd~0`Q#JKy9=h-;j
z9o6ldTEeDRV}J59va=c0>T8;=8@>izD)r%G)HnAe|C(B&O&fc>Ka4p&CQ{+&PF0Jh
zXj;_Kphd5FRDJ<5c?x;7*OSjv5m!!?VV+@rE)UM}XV^EnoK2hDeGUJo7`UCu?q)OF
zAaO``bWkk7rWb74dM*q1Xwlo5+Fd4l_~deJI^4se#KUy=`?DNOcmK0~e(PEFn1UYj
zjKnFOZ@T;Z?78Ob8`0NahCRgfE!=Gua^Nu=8zdX)4#>`_wT|G8jVVF0k1%WdEbL@>
zSG6>iXR``E<Yc?vv$6dQG5Pokm3tkmZXxnUCUWLvkv;e`oOKA5^mI5`#()29=J>a8
zUvzJzmw0NxJoPCjsOZbZ$VV8nVwJyLyqYt04L|Z1mA_}p-23|UOkEf<#0~K^SyUaI
zTDt}IZbh#6qs|rWPxB;4GKuphAIkGAqC795+9FEXT;4F}*`0T4FXyM9#V5&Kd|u4v
z6?0yaH7}F3sHWl_?8F(Ld2QwV_&gi2!xkea+Jk90A90(GcaFHHSjq(d9pImMzl}Q}
z-oM=J4359RqHlpK2i6SXPKlTJuUT{=HQP(vEC7Dlo~_@b?o+_bmSm~_3f7Z9#NUIz
z3T`J3FVol4e5~JyT~mGl@`T4PvS=(dN0&3_Uc%h?3tF_{+^e<W{NYgiB#T~s_(@!M
z5&!E&4f2`Z@fTV2<Kle&uZWemiwpR_rIqltkEAK@JhDiM!6vesa(n~&RV(s%VOk!4
z8}(z<t2i&sFBJ3CzuNy@uS53o59NIR!C=1flh?h<5$H@iQ>aXwSmKq^JUr}hD5{jE
zm}|#VcYA5Ci4))T?p(2kUpuKq^W+lVC_9yYc@3A-*6=l`ae0yQSnp!xa+;U-LTB|6
zr?TypMT#x0kpK8lq2d_yDqp@-qFn2Dd1)`wUj_fZ)?eeDIR1Df-oGQ#yNpF>pPt21
zq*5;C)v&V)Z^)H?BbGggWqRM=#u=K`C5jKW{`H-e$eG&6c6Fgr=~%3ozWL?mM}u;u
zn@=8I;U%9AuVW*z!#g8kr!8XSf%&<Rd~mwkh-W?DFb(+vxf(u1er2!GHpvwp&K7ES
z#~rM^(ZO~(T(-eOu5c~Ie}hwtR=G}{NI~v%1D7|sIeoK*?X1on)}r(+TB>^ZxA3MK
zxr+__27XF;BL=@CJ{p{rUh;1mH!d~uJM~F7%`@D?B;wwbpN(1MH#1fb!k$J~_~_&~
z8_btao?y)0$FM)G4=k<p(i`T7ZhFV!soT8q{w<N%;jNJ>eABu;1)R8#RpT2EJjM2E
zBk|N!FN6QhY-1yO9wi>DSv1~X9qC!j1eZphnC?Djymt>EUkm;yU*CSp7P$=$i9ZQE
z5{Cz!to$Kx_#*6e=W0jY+CvxJSyG=(b$rrc%RdpunJZ<fkNE6ZYWu|CGxPcw@}Uno
z)5_;E#QbOAlHNUo&t*EF2A9iDhrw%);FI*m?8dy=j`bLC$C!B6#t`Ggmnl1mJD@$)
zA*RQL&ihkUk;w;$_Yd_PIhl_&xI0>RNar~v64rTkg6GG;^H%Wu=q%4~fameuT6Bnb
z?k1ko44%KoMo9k<cqaX^-Nf~l$Q$7LHug04GyL`Uv+s}n=9{19;f<JDYY*-~%s-1t
z@7fz^Gr{)_yz$q6mF}JLYf<xi@+Hh&?;}1kPvhN--au^UYwXTu{6@*EVVkbLCVR*C
zYSD>qEqdkWTJ-9#=KPS}$vD1CE`Lvpj<-Pux$Meu$h>2b0iW?5ka-F+9gukuGAAJO
zYeU8fzUbS9aw_@uAyj&6o6uIF-oQ7-`>>I|E2h>~<2|}C?+rG;k175*<X%HHd6+Dc
zg7h8Z#M!4Z+4L7UL;R%dB|av>`&bw`+3q|&g>%h6v(q~cdna)2E3o$}?EU+DGsnlO
z@qLcpQRes9cs*or?kk5O^O_c2Z^|&7`C;SxY#dxq;M`aGAOmjKK!(n|6=xd@OM?Yy
zZK#t)mBGuTA9X6zI5T~xtM_J>!=D)aW~XXH#cvUogW8393BVaVcx+pB^|w{ew(mTl
z*0r^@`kQ?%`_w&cA+@tPpjLX@Lv4FnTG0#nn_D^q{>~qS0_vucb>4NQWt&RM)~Oy}
zDCkA6w78h?k}{QM%1YO*hwlHQkWCKu)yy}E*maBVpRqIh{U8uKG$odF9iUz2mqi%b
zEc#o8$V!1D=j!EYqtXA`88S&iDb&aJ<Hf)wi@Yk<8S?krS)$9&;k`nh8oPdD769E%
zs7tX!yRh3Mrnd-uNZ_i#za#K5ftL&X`vTV;1AUK}ZxMK@;6cTh$`4R!-x`4z=qO{)
z3p^(9H3B~*aF;mR=K}8&_)US6-BgaFy7b=sKd)j)`)Y#fm&Np30*?vYysr^co}3-U
zJnsecNl#edru=^hJeD9oE^sv!9TZvc^FQc+lb!UhGSXiv>*Dy=jZs_zuSvl31l}%i
zic2c%1wJ6~ItpBrO5oqL@3tiP&LsFQq5q~4AWXxUN`t^l7aC(TF1iFhM1g~H$7tA~
zi7z&Q34ycr_Rf&+*%Ci1=wj_{tp_&N?`wND5ZbE`e&}nh?>g`tD`;YSeEtp{D{rdr
z47Tgt)|Pz%Ur6tE_<gMbqt_V<bo!e+TY|>8G4NbVzz_-r_Ov1=>0(f=w@qShy*`5S
z=K`TN77PUa?FUTAvJV92wxU6E%N|1^4HCA7?(!y6Nzm6-@ALZut@XZkq{%LvsIg-Y
zqtn+1=%D(>bHkQ>09%?^OGo`2Xh6ghwxd<7V}Gb~5A(M{RY%LdJ*>SY;1B$$r6XWW
z&mY!@0zV9dIs!0iR;<0%x37MEXLEg9Natey#71)h*HW+Fi*a$K!p|~sufp~8iE@Ew
zC*V0E-d6&*`elIy7p|e}d0F5OK%Sl*vkWJ}N0Z<l5$~i&f8d0oE(>nm_ec_aC<*><
z68r-TZr#@*@&?&MA8=-ICBbu(;1vQVKCODrSmdod-?ZRnuA#l}B*B@;V`QgQ-X(C_
z*NT@5ocuwgYW-*x0w;g4;x!iiR(_te;JGF_Xd9B?XDm4VNHxo768xhi_`AZ16YW1I
z@I?D31)k`i_bj;eT#huuGLpBR%VWW<eqL_Dt@1TV@F5GHZ<2s^%z_tK@Q*C`Dhqzk
zf?M@GE%HCvKM!AEEKcODLEwqJwF;c{SosNCaQe0~%MlCyfC-{~#e(Nq@Q;$<!{VJv
zwDT>2C)znG@I*T=S#YbJ|7pRkc1~FEr4~DHB*DK<g5OJmXNh-~?6mSwo&?Vl$&Tc+
zE%sC-!Jkfo9}_s`0jnNX(s3Zz>1#yW88X^tvlj}q`bs(jU7f6?$=B&)C5;^&tR&QC
z4E$}uU|?UT#isvHSH)tOcHbAV28>FtHECjO&6PAycS!k4L$#Kh;;=a)Z&Es;eMH#n
zzn4h9P~hTOB1kVEB<ySAq{CX)U_d$(*MBJ1_gaO8tQ9K5fOLxIcy`KMug)Sy$F$#s
z>30LIFEs(tPKy1XO2AF~t!?7ov}C&=`ldJ-?Mtp??r(nAQW{D;J0Mme9-Xu1Mg*cH
W3|R)SZ(1*lWLl-Kn){Qu{(k{r5>l=J
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/pptraj_compressed.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/pptraj_compressed.o
new file mode 100644
index 0000000000000000000000000000000000000000..5948fab43d8341736425fe9204614cf99909fcb5
GIT binary patch
literal 3296
zcmbVOUu;uV82|3QWrKA=*aj>@F1H&<hpuiD<Ay}e%D<TqQJ9GdCf)7r9j)osdfUmy
zNH#JfCd5FM#9)k0d4SG@5CSn(nqWj@<i%{!=dNHfBM;~{p^;L*@Alm7+HEhK<n)~L
zJHPM$cWyegXa8PN5WpG&d=2v_3k6Ur=J(9pGH^l#NC0OvfJA=qdNMCT;*KPYX&wI7
zX(!||^^jJWBKsY%+PeX&d=7Z~4-q<J4tQ;H1QIcMXySL|$0{K45mcYrs7Sw#I9S_z
zn^>#1q4tmlWzHed@u#)}sx_#Swc0xQ{C>DT`KZu|E}YFs)nn66mdg*`ym&+M{Wgud
zNbh2Iq?=||g0b%;xLOaaZF41YhsT2ss5(;Vo#?LFJrOuwcBtc1XxMv3XsBP#+8WTG
zJ(ZAC(H|GAaJqItRXf1I2?4fYp3b;1cBLcOTHkS`wXUPP)zuMb1(2KoB2K{x?xBfM
zfK%ij+47;RkHG`q4V<W#aLYGZ^Ml`-d7M5ZBx^21VjBI;NHt@#)sUOT_)e@E9-mqV
zc{9fEA)!{W+^s_4V+np5&uVOdxVKkN{oQ{0;=xgorTuW^GdFCJ+rckqUtlR$tzWLg
z^W+wmb1}cHUV`*#lo#6-Ir}0@O`^T779lZO#?tB~mVV#5+sW^);9W)W?gZYQKX>ln
zNa})--DSy&2|wx|Z7Fj4ku!a$Jvm#=a#QPAK0o+_St~2%{NOicyeG<r$0_ES^YbxN
zjM_?;6EQa2pUGlelNg@^Se|OX3uE(ReF6$3bgZWrYvhGxPA~S07vuHTYO)t&%svfi
ze<f?vv7SqEo<&X#a#sDHLwR$d9?I3^bI94i+O%4<Sp~VFt&l3}lT4coxlkLB0lAsO
zkp6(jo*(>iF6R8;H8WlTSeoLc`igFro;@rk@2`j4eQEjF)D}n23Vb&%cb(j%C~_U{
z@0LSn7uLG(3M6K33yFU;A<-qmwI=~;C{OBEmd;3P$EY9NZnqrV3h6y)pZcA0M)~ri
z&q2gUPsRaPRq79vBRfH?HQAXmxogH;r~|Mknp`fqB46lK+Un-+$e#XTdt>J0%gNcp
z-ejgsOm?lMc-oWM(;dld`GLmlN+EfBgr&Xi%^1ffIr9}uO>NoT1MYe`(*mh%`4f$q
z5lClF?n8ON*y$bLGV|m|zq-&buN!-^P*`^qeYX2bex?z(-ivte!Z>|<D4*3Zd~gQe
zMe)7B*hYYq_z;o;zBL{7e1Wm!H>-x;N=y`;^j`jbRQTBJ`$FLwV6SzFnoO}|u-^pi
zF{o9|nvRx1n)=x4Vax-3a*jr7CkRqG?Ax_#yW-yW%IivJBofwwYN%J~ju=Wjs4MM_
zQ6thF3ggbuf}yys#rq6hY4fx+wlp=jd74`kw`%k>;;yNofpAZ=LO0D#Ezgss#Rq<a
zzyW_17Q2;zZWj)TzS@fn2{o0DH72l7Pc7o2P5(tMxSivd`S~ng-{APGT-6lEM>x*J
zB5;@Ev`Dbbb}DW^H<yJt!4i}eNw(i2e<A)Qas(US9=QbNHVwsX3YS$2P=K3D;6Ec?
zg%+B4s`vA_?<~Q;$N9tDk>hwaM>HBY)VF+Eq$g_Vv6vq4Xt1dtG&QXCh1Iz3i$=l&
zy^)@f8b*@d-5t_GdT%@iQPqg)zM!rKbi)_v_Gx{Fffv4LNY`{Qe~*TcF|XOz7Y&fc
zIVNh}7Fe8W=to1n0oW7(Ez%n|B4P9+gl2vI0bhI|iUv^FuOAEP2KbNZMr3g{`a5da
zq;3oNihJ^|)UR+v4Osc$Yc=Mx(uVQ0!I~1hpL5nDZm*x!m!<f_CG=aZzCb^(E9qHn
z^XE<8&!u>f<K(~XFBQZ&E|=i%^8O(`)i(VzOW@#%4fMoSKdy13xCX7Ap@&sZT<?#A
z2kWeY#~+J<$B59uqs8K_)&V@&6g}81HiM73RZtFHx4pEYB34}Bp;b73w%3TD^*D*b
zaN5V^<;9ai%5l(<wj2ifKGApzC*eF@1es&U;-3(cYjJ3O1}Eu!T=`~{CHqx4?Spaq
zmcQ1Wb+*=*@Pg!ddssB+;PNHun~UEf?&b1L7Qom2T>fwgPPS;+*HYVbf04^S;KUV(
qQSB_ht^5;SnmdGGlz(C?EJFn1C^?#MYBBj=NHLBB#bxfdRQ^BE!j(t>
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaEngine.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaEngine.o
new file mode 100644
index 0000000000000000000000000000000000000000..aa5fadb61d4970d9a2d82005128b31436be69926
GIT binary patch
literal 4312
zcmbVPeQZ<L6+eF0NlZe4@|BRJwppVB(PAapkZ>!FXIzpMP(g{Sc3~=Z%mcf2{K)f*
zl#xG@01eVIX+-poerav0N~_&TwChlLTB&G*)~eF93T;T0Dr6f(qpJM_1)8|vdgr{4
zaBb{=dZXui@9&<E-#Pc(`(DO(@9Pn4Hn5rvK7{)-3k7&?)%~%k4@Ibl6;K%aC{<uE
zGv5LQhZuA&^xIMk4AQq5Yrk_)NZnyV`UhrfN0pc0%+!@E+t?lyV4CK^RpQLZwdQ;z
z*IZD)*si(WYxFMk`%-rf?n=$Kh=sz~<##TzLswmH_CM<>jD4*8TWEkh`5`;5R!}kk
zfnZM6zzz=wbHCOW8pM2I>{DGoSU+Om_1jBuvRN2=->`?gZ=<~ov!xgCA?`mQ_dATG
z7sD*|VJoc7$Ly(Bu_vEPy6if`KZ9HLCh^BCa<KR>hW)90?8#JN>_0k(>nNXPP3ie9
zwL>??#lPp+M)b8o*QdN?m|+WiL8lcHZcAW(OV3a>n{^XYS4i(}vL<yxsGD9wzPWzL
zH!)#`Y}n@f-kso%1s{O`$xU{TXqz!Vlik}jT5oa(o&R<~VB(7r&1Hw-OE`8pV0bfO
z+SHYk|D3u~oCEE3+^-B{Gg*uw$6C`T1vZ`84|$7os9w}EbE1|#4VnvJxT6*VHkepD
zz@V@AE@&+<(U+YDEjuU7WcNb824MYI9X$Mc9n6d~i0!dM;1$2<J;Y!*BmC~TyI2fl
z*`{{Oeh}b1*<UCY8*``8kG{4(eSNQ(w{iujlQ}5no9xKtT~TwP-RMunzzHULGbook
z2YSr8bE0+#bE5OTTMXop*AjC48f|B$QO^!tv#TI*H@Q1Sxt~S+Wvo+*pK@XU;92jB
zn3pNc59Q;eP^0JKgiwn)T9>An?_!*%Fwgc68ok6Xi22DP|4pcyISblO%+YsPE8n1P
zK+KD|0I)Ueq+Hx92HIAC(oDHHb;H(jN@$xtwNjj!I)=JJ&+!S2Da&fxb7w{EI%~li
zTA#j&dB2C_8@;fckDHjM8@*yagnr2PP4qR{i8fF!``Vgq#4G#Sfo)VDHa*|9%lSqh
z|M>O^DA4(s92n6uxaWV&4HWd+88B*Rk%2CsWsUmT&gu2tsAG#*hh+ap#H>ABq1Sk8
z`l`^p_o~pSpa1g$?EPFA{0rVUXLkMSY~L^D{;CwmSEgnWBcE;%3%g*8GrM2R7snq;
zZGG{#uHtpj99s5y$5)}}9V>!P$EFvY4&R`2e!8{8s)boRH`e}r`-E6%!PxIn?LE2+
z<Hx!|+Y}$w66t(~>lyT669M<xJkxZi6tJfH5x*d68$iId)->f{_Hm<@aR2pq@xIV=
z@Ybh(Z`cWI2?x9<#zBZp2zaKbXLvW9WZvv)<|SW~*9P)#*m;%bdFv<SVfu##p9bQf
zlkPKEgp1H%(^ezTxBun$z5x&mA-6Yx#ol?$cF||@boe$q9dFw%(q0p9xV+ozLKz>{
z)DmK}pEY<E?f78a>+zwsXY|_pKIrxPA9ru<efk-9K$hd-NGO_cACVQe8j;+-j$?{^
zBpSz&5{^VwDXfktlH2R)?&$99@_M?u-CIM-PzR1Ww{0Wb)8(d>uFmf5hLdW)^sceP
ztzxBhR`E>)!0@k9V`!<o8Lut!@?c|tH&I!`gNW@xoKOa})Ri<!;#!X9VRQ9S?AMe?
z8WXw@D&f6|lbvIx&OWmrt|I?uQ~r`E_njH~xhnFPtKeT%!I!Gwk6<b*@%L82_f)|n
zRq&}QIG*W>e$Q9IzpR3Pk2vM|J#&j!Vw`$Y56hw5iKEek<OxIDD6}1h`_NN~sH#u<
zRaprgm1rIf#iPe16Ah`!Wf{XtucZ1C;fSpG)zKbVIS>lRB=vwIhoxjPnmEc^Ls7pX
zg;Z%-fpcxD82UZYxGE`<LCxfX+I^#e=#WK4Cx~Fc0K;)P9P`VHf`>LLCk%4_P&_;m
zM~~$+N`*}iP|?OS#|}Se;Hh$I{!)u&{`#aLS(W;w;ir{-(PT-ADFO^?|B;?}^k}4f
zNmr?8tYR*V#2%27xNUNxT6U=pwi?v{Em$Y@=9s!29Nxg;6CC~!hu`M#)f{eJ6=a`3
zM<ULt5pLW;#(W=#(}$<k@B>S4B)`rAv45GvtqY!(FL3w<P96kfLUuNCIDVt+jqpYe
z$M@MX&d2*V4sYV*-R4zYZvPC2^L8$9IB(}m4(IvcH~TUlK3=<dAC~iP;_yuz&o&O{
z^Rt7)`F(uS#Mfbd__xCEP25?A|B18H%=x{<;d~zc%i+BI5{L8gI?Vfw;^pxGhx2h=
zF!5%T=l-<=@Ff2*q=p8uR~4g=SR+M>hdin@s)7fPeh55+$s~9bnI@iaQr!Wbusk#*
zB~&iJpE-1+9#SjGEtwMO2ir#`e`8j9mI!OXhf*ct!?!io;Wg`~4j0Lf!xXY=?lBWL
z#mrTJdu4vD1+u}nU*d#p{#^Yo)FqqznaAmJLM*;IhCkNa>VJb6>33QJX74bI^<Wup
z@#lN<NS8=PO#L^_Me?@-AIq<mKf=mmCqoWez*bXc-12Lz8h2nN{WWH>()SYI%Ju&b
D&m>*X
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaEngineInstance.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaEngineInstance.o
new file mode 100644
index 0000000000000000000000000000000000000000..da59c662603facd30a8e1c0c42df30bed72eb4d2
GIT binary patch
literal 16752
zcmeI4J8Tm{5Qf*7M|dh}5QyfGkZ=S!#TJhwfN*5xB>{;bNRbe7E@vmUWc#AKjbti9
zM@fT}G6hA-P?0ia%9NCpDMObIW^QNV&Dqza0%=x?clO_ZcGlne>}vCI;>F~dOh$3b
zs2{2`VpXZbXPvkhhedTwT~)dgcoVIadaG*Y8^Ov<1w!a&buElzoN0R6uZ=fW0%KE=
z4pz%na-?6kaVpXik&gTMdK1=+^klHssz6`z&HQxT%)hKhky3uFDy4&EoR0Ss2l65W
zgn$qb0zyCt2mv7=1cZPP5CTF#2nYcoAOwVf5D)@FKnMr{As_^VfDjM@LO=)z0U;m+
zgn$qb0zyCt2mv7=1cZPP5CTF#2nYcoAOwVf5D)_Y1c6T}yO{b<^b0BbJd>iQ`PWnY
zX?$`i{xrQW#h+GJO_fSxPHyVeTW3B98h*{Ix18l5babuij1R4b!E(I;QRvs|y6Wq-
zu<DGug`vW5e$>quoSYXnhaegr97NsCJ2;acE<8-x2+4Sd@vQp&r<W_+^M<2RS=F0%
z7G`?2EL2Fg>#@+SqnuUel6GbM-MaCgPw{u_H^G@v9o?}mab{KbshPUn`n`Cajvimi
zq+MjyrLO%v2W7x|Ux$1yox7bgtw?(<zv}wxPDPc=a5XftuYQ)xt6u0ePiUR&H`>#1
z50rO=S5<9V4(*8bX&UD&y&vNB2SymNbX;eS#zjj<{}%aqp4VR>ANQ!E-=X(iv(~}&
z7iqj|>FA#(|GK54pYuOkI{Mq>->`J_^SYasj{bex|F)&0zfI#EOGp0^`S&ax{p&Q|
zw{-Mt+RrabM?dfTz|zsbN&X{CNB<WZ^CQVTzmdP6KF7>|g#3Mpb$A&kp<``qInya#
zf1B3l^?3ao<SQop-^o8`>9~Jhcfr!J<{tTLmX3a|r`+g6Q+rF$>(KNyj&!xHm0R(&
zr`#pD<m`q44$zr*N0jUPO(Rzuo(oTt+j&~Ri(>phosj*Y*{rrS?dJ5|El9;9>3q|e
zwTh<edZpt#)^9_ETJjsUc<eYCB=hgWG@kuw^Y240u33OTyA^5h)fOSfTG)6WPbf~-
z{~5dBo;;m94UhAAJe`ui_sBRLE<_1jpYux);IB)O1?soPOwdn1VV7ZuXT<sZxqc5C
zmPqdZ;4z5M+NL{x<$M+vAm~+p=c#e*k`e1;F6VQ7y#J5&hvCm|iz8<A&K4nN9CqL9
wS9+K7H^_Jea`8D#*1rf^^1Xwk7Kq<04y?v?SsH+#SALuRKSG<0)F<=*0=fLam;e9(
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaStats.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaStats.o
new file mode 100644
index 0000000000000000000000000000000000000000..56bcff0ed8529d7e84039d2dd68ab78db6e546bd
GIT binary patch
literal 1584
zcmbtUL2DC16n?W)ZF&%_dJqd{302e5EJ;9ci%4qJA`}lv3xbEbNw!UBk`0>?S}HX9
z3oPW|F?cdPd6QfuNa<M$dY1lzN_+4U^u1)(Y=?~pePMX-ecw0V+hK<6JY0IDF$P{R
z_z1(!LjjKYuuk>M6ih$}dfT7cJr29tt;XR=mbFhgn`O|*oN(A{9*$3<v>CzvJHNaq
zW?ARey+&roV4d6nH**JLCh^bT!7kzb`iKwf`)pVr`Rdo&5RVM>C)tH|Z~OCm^tck%
z`B!gg(S^<`u#KDs%Ubt=$-8ND2egeAP|wZqDRjaqZ7V#@I@&(+`vbl~{66xMi+mZM
zWOJyAvQC$;euKqydR~t%K3UP19jBZxTBWMK=D4~j+WJDQ<~nPoGFEQBSQ2(#yl`#Z
zG?KAoJYgD%q#m{0N(`&`%nad1LMJ8>Pu|88{3Yma#^A@VAPEn=IRK8opy24F#)Uo*
z^a9A|oGOQlh+Oi`ZA!&;%*3g21A!p?F5=|Vk{h1N45HvzSz(E~k%#HcVf(mR5>T-#
zbz4B4_;gidEMYG>>+81LXa8(nsTGjvJL=MR3Xd4_W?)YF@ChHjGy?a&k9_?4!U%nB
z1paaa{zl^06n`-4TNPpDFbj8(i(cj0Wy=uurT_!aYk`rg*TKj;m5N;z((iwhjt2BP
z&MQVK+5c2<^{%Ior&pI!bjR8N=t`XYX^wYCS0#Q^;_8dOL*jr?;W^Zh=fCbx;9l~K
z<MM|$|Ct}e+MDms@~CH&Z>1n4^Ek4!)brC@Q@@>zTGG^euY^%}a|ay&{UHbK{~*D6
JPbjmx|2GMascZlM
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaStorage.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/tdoaStorage.o
new file mode 100644
index 0000000000000000000000000000000000000000..41a4be52ab50c9e87468ca9ce111a0dad3ecc8d3
GIT binary patch
literal 3752
zcmbtWT}%{L6h6DNKhR<XG}?d(14Tqrwm`LEjSmBhQWB~b*2Kgnur7nF%kIMNv_a9Z
zDr(HWNNUogFJK$1_|zwrq?XmR#)dR$FeSc;_?u`STB~-`;P#xEb72{mHfb*z=FWG{
z`OZ1ty?15@x3+AvS}Y)j1unzFlRyEw^A_fcK2;zWa=?1}#FPc%tq83wk)>be2EHAe
zlVI3}m;*06#0&T4!1%K^%h-Espzsd~F5boK`5x=ob4j|0v@6%iiaQM}f}?iuuCpoQ
zrSh`jG+2W-<e{P=8x%CiCyPcD=#wqrl|gY&*r2B4ReIC8e8W!uWG_vpy<~e?45?8o
zcrUFveCr46+Q~~#58ax!+9#)fKYYs?h);cPU6r7kXQb5^vF<Z6&YzWmJHG$@I>7m5
zE2N&a)sH>j(=hh3SV_$de19P+wNFnY-wkWU<h0J`n0%T}uRfdMEBr_YaoxvW0W~5G
zO0oar012|iv5z>w#-rGKJ6M7<0Nx?$1ME+z52|AjAVqmQ`A%`|0DZrr4ief)V?XL+
zN3Ovw(1+X`?Z~(GW_cay7XP{7ARy<HS7~n?a}yWw(p}U?e14_mqY&yve7Ih%WOE=V
zaXds$2d>E-kb<YMMhEg&++16C4s9ctllVt5PXcp{X2}7dqyS??PW?Gg(fgu2`g4xy
zId1aD{EOm8VOTs{i9bgf_tYulfPJ85!5*wr^w}`fR3&3iN~3c1ZGiEzA*hn`;HrqX
zaJ)R^tSW1St8yL8=c4*-Y(HwVjKys*ek>02z0B8-^@#oNM1NXm((-}q9R3=0Jl6rk
zcW{l9w8o?x?$vr;W2)oGp~26}ljVu~dA5WFd!gEo->x5@z?fY0JMvgbQ4jUF4~~>K
zxqYxu!`#4k`gyz84#Ts4y^b>_Yan`eImYCVd@(n0UEjM@D_w7JeSWTy&Sx&>bdpA;
z&S6@2s<i|6gCien(QCH{AMshdAfM3B;sYsX!&zMO8LZuzT$gBC=1j;3py00Tbl)p?
zx@R9lYUZ{@*Yc5M+wcO<3gt)s6lvqcoJrK@2JRoi?U-u<oWUPaBihd@?qR!4ac||l
zOm&oi<H<G5S&r){)(?Gky{*Xkm24UA#8^N2j<DVhsCWB<-cuA;k2RMi%MxGaS%uzH
zp54m$AnUDEF6_r#=I8TPNbj^9tX(d(7<FSlS|<hdq8_Nu39#Y2>sS$;&6D!+qCw1m
zUvlbtB{8=nS&^t%=14$&Nx?PQ;=W#q=X|%((?dzx@NYh1E$KeX?-$y09(=bbSWg_!
zY@@8WNrO?;vjH`32WkGjLK;Am$Fo_kY}&p{_C_K-{%&6&EO$ksvevE2^;NymNLQc-
zXHkE5KvVtNCs9>)yK1Xyt83h@np(Ni7Y$Y6ta|-=!d*2oS!$|lH^Dy+`nK5Mw{$iq
zDeIR9K*GOlLqaC=Sgr%vzF@>-H@ib2B83@w@q46?O8lSC^UT}3_(1-`X5&;JGLGLU
zeY6-iP#N!K`~$|1F`i`nW5&-jE?W&i)N_ULY7_nw<GBCyA^c|<-)X{MFy3LpS705~
zSFZ`LV?56I79$PpVm!(CTZ~5;pE2R57#B+^>O7CQ(2^<i8|k9!%uC<H#u>)rjMF;N
z_>1vx7(ZmdunOxSo@(AIEsSquJkGe#e+T0;jGtlu{lcHO5dKgwhSnMJwP}&4Z=dS&
zLwP@B0L|fm7Vz~14yq7RLorp$G&ZT4C#w21wLa|cjzm4$qENIhg|`G^+Kw*6+T0m4
zakAB~1wLiw*L|8hO+l^w-atq-f!=Ijo7%TMYI1Dx#k5_$o!Cki7Ee#aAM`|`QGAI6
zB4L)w#9%bDGZI6+BH>J9o6uniBUawu=+k_eF{JF`tl(e#yfwTp5LVI86xOPSBARNb
zk*(8AduAwBxs(Z$7$%*MRwpwMt)$tGu5CSmecg*p$hnlMImW9$FDL#IH%1Yj12HEg
zX~0ly!gKhXkpF7-q1$Q3$zPml-Rz1T2x-2(;EHKc<K8W1QMJeC($szpT(}8*;MyCD
zfy*BWh19T?!To=xG6rKw;4qOW{CvgqYB#@AiqVgbwD9LJxcR0r>tKNRDUZ-lXi&j8
z%fsFPf12_N194=IckqEY|7&~=#u8^WUYSGW-;)XAT;$KZ<16g7v6}^b%tj}A&}HsF
j7cq0~M5d4d$4L{p$ZJ>u3UHDwzLGx#n}s9a&GCN&R(>rV
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/uart.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/uart.o
index 2e96d794b41454348d431df4d5775bb1b4035d61..90412596972e866cbc49a2fa1290d91f25e100d2 100644
GIT binary patch
delta 537
zcmdlWH$h>72Ga!Ijao*`rVp7JRxvOzOaS7E2iX{Y0_iCrtjN$1RLtb?vw@-OlERba
zpN<0gEgW5!RDf*8$+gVJJn{<6S7CVa2If!3Ky5(4%N3rOS(2HTu27m+l9{96lbKgq
zp-^0sSX5H1kd&Vfkt$Ho)6?VSn!JFeV)9&G_RTV^DNKwelN;HCCof?a;f!NsU=U(p
zWSFq|CVM=iVmZ*n`1H)=_{_Y_5{As8!uX8Dyp){OB8Zg?B9kX_if>NfOkk=P2I^!3
z3QItxRG1+QQ8aNKsJJvxTokGnL>VB7%OQzdK*cSA>ba4`L!jayds!G5Cg11glq`UX
z$w9;zUO?6Fnas!|Zg>PL3vv-q2OLO1IZ%_};tG>Jd5$v{Ocvxd=RCm)5w4gV$ZO8D
zfn_oytJvfPyc&!fCZFWB=iC4_!fmo3pE={V$)0@nToJ5Llb9z@;xprn;DB(mCST+;
P=XBtO@H{6^<dp{ihvZ?H
delta 296
zcmbQBut9Eu2Ga(fjao*`ii!*kLB&iCKbsi3E-5`({^=-?e}IkQXA4KyB^4mwaq>iF
z<H;A8KTZD5QntB(HG_#!Ve(D(U{)apMuvjTo*eOvf|*5y@fnGEDLJV{3?LvfS&&P7
z^8?NVCP7O^1_o}hAcSz3ypcy-GKLw#lLN}K0GThKD&|an2$Wp{l@*1`LM0h~fMgjN
zCTsE@XAGG9k=LBlgA*brG1-vMoM{5f<Um%j$qjrOj1wlW<g@3T05Tg01SfywGiO{l
nS(D$Mi-8p)_JV105x*Jd3w8)MX7WaUbIt@F2+wnJA)h<|NyJ24
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/usddeck.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/usddeck.o
new file mode 100644
index 0000000000000000000000000000000000000000..d9b66723802e7198793a63fe5a6ee8f930ae9eeb
GIT binary patch
literal 23936
zcmb_^4|J5*b?2KIfn~rB7#Yhzst=4)BHOZTge^JgVT3^77y_2Yf%TtiMl%B%^k;^d
z5tb~s3<mGIi_=Apw()6vifoe{P~8*u7&a(%YPlwjxAtir+s$E5+;)&Tts8q2vf#uD
zDB9nB-@Ve+hrXsg+joxUd++z|``!EQyYJ8UW?=97O^v}oz(@+1@0h8QpvDxoP36Nj
z8#d+U2Fe`@%qldYP47sk<wv$0m@1F=y?SgsWcq;*jQ72E)I1*k8uDcoPU!FGkL0Ih
z!o4CFFoh<nGbTKSzdC6X0v0!>KRG`<d@dBI45GXi<+C9(R1B3=u60cR5mPcZG2aYR
z8<8LH`<}I9^i|02b=w#BnmWf6-bvJkhrd~3797A|673STw(UUi)o|T--|I)IUt;fg
z-(MU<Uk_2AF3dG!3zwSf9N4(b+H36`KnGV}m>V7&@B7Q6WCOf+-9JoBd|hM0=d~{h
zTP`#QjxB_aT+sCAmYe>Iwr>lEK3QnSK0%-1o9m94>*tP!t{)OxM?+;pXG05zE;QF4
zD+2#yA?bhJ>K9$~B>Tm7*fxN_L*zs9a|q)|{b;~gE`-mEp@o$sLr=nIvS0Iw&C%r>
z>k7uyh&=g^d`7yKVXWLSH3KB4Wv1E3KFGrd1;`b_NB+QgHAR<~)=@vnzY=rcwlPNa
z$PZ9FP=4Q>0OH3Ce1J09P<W!WpKMr;y8YL>b%Q~(+G`)_qIMdeg;-gEzYzX{cUnD@
zI=wdOcGO?to5_AXKF~>iB3?U3#`|7z;}+xo!3D$|{Bi+(K~Nnkkd1`}{Tvr|{K;m6
z{!kso2gQVmF1B_G_vjjmvHD|yXn2_7WSI%h4MffGc;9L3&*`?qS25S8A5Bc$fV#2Z
zeA8P|W_kl9fnyb6ciu}M0_ZE%5l;1b?vPAiKIV8?xYse}KB|*>N&UJQ3Jg)-s6P*U
z(OgG;d3Cwd{#3|Bx`U?XEMokdv(5d5*`|M%bMrysyQwT(8@(2>YfN4Ax^QnI7#@qG
zTrlQfyu|eHHRhxE`~!a+zt)VcF|$6}_v?vB>mt%$XgV1T&h1`gddU|uU)*>?ta~u&
z-+145-T7nfg{=<-kNpC6Uyt#489x7IJalY3)&#OWmVL0Uc)J;Ujn)I=duZ*kU&b2{
zw|`~*-1<V}Fy`_z(QE6+)?)2xePK4OSp(4>n|on@O>|eoSlE~ogneyJxc586|H9(_
zV(5k;!g9g#xw%TSU@v_1)qshdM7@no#3y*)83ZrM&7^yOFx<NqJ~;bO!18_YZPQD#
zL9E?p<1R+!?WKsNIpMnKEK^gCK9*zM8*48)_VvZ4|3;MSP+kmO3lOhsOz<bPR=hUL
zMAn$lPu2zt?}STCgm_+nZ8RstgNyq~FJZ*{;8mu-!Yppz95j&&k3H6N7r12IsaR@u
z2X8FAv%jS9&TGp@{`l(giAXV2J``L78$&k^QCs05j(Hf{vG#Sxo`){yNaL`9Pn{#P
zhrf%sCEFa-ll+Tp%V=m(Wfb-h_V<vXr?&G6w)01*8x56Lo((O+9^?A{&w)`)==G0c
zmpDq`mjjr?Po8faJ`i2fe{;yx7{qfBe5fmHMSQ$!ZfZ}V&kfiQW2cuNTz3BV-d$!w
zZ#KZ@eI<c|%WA{DYm8}s9yad}72X-a+8je%n|UvMqxFffT{jDeaasc(f-T;4RN|G^
zJ(_QWm_O0d@R)=7o0x|=YDzweBW7Zlj|t4#eFi#>d2<=;tT(1NQEDIyotVcoC-!;j
z#;m^zO;^ls=n96zcK%~sxi5gVK+BBx9XVE*S7@?(5atlgpHE&4+Id59btyON*b?}U
z{7Cx}`7!_>kv}Q6!|vMs4%G)xM?OEh!Pqz-MZN?wB!~Tq;>eCic(xmFeD)YXTf4><
z*O;*=;<vbp+7~QmaTR==d9bc9F;Q~?d77Vln?hqWM@eTC^N*e~&j_cv=Gud~Jcs34
zAF7MDF6rO<%$(su6~-UFq%onGG#LNb8_`<WTe)vyVm0ZEl$iV1mYVwqen0%Rub{sR
z5jSVCeoyuxU{*(W<!dX>ncV?!3|1P<g@r@0T{X2NNBRwHz6h?hG>1`Fcw&LIb)?d)
zE^eT{m_wt$m)ZRV{Y0BWtJ|N}(!zDtXYpYFXgpZg`s<0W(>$#wKehwAJJ9<Gu-3)l
z;bJb>Px$B;0=?UT6~9p58?B^1x_+HVo8eFQ2m6a(Fk{rWvJaQ^7yD3dFk^)mT6#$D
z6MxxKOB`6ZhYE|$4@cJode?(%AL@$}hnpz&ovTe`RVX|rK5)-?upjICJ&^riO?@wM
zEN{SBr2+jmp}EAf3Uv;!!BSJR5cQbYhZf=Q8qB>gVz2mOux=S}Iw!4!><HEa;<=gI
z<*>h0n1$_sHrqs;tHNWC{q*s7jahtfNeS7q#QNH`Wyw%E+E^}dTu<#GA832*)S5E0
zyST(ep28ekGtcaHkY6+3>^7GtB5O*_?(kBSOU>?mz|GaJO+Ut*T7xwY{)nt`P-jeJ
zknMes>dG<psB^Ay<^L9#oVjN5(a*;xzE1rj-~1H$-d|3fEWq#1oaug94Bw3H4E8Ue
zGY4!cTxB8^usJ~eC);+4ziu3QA3Wl(|BXEHiN8A0?zzWuJ?^=q9I?B!lE(T{^Ob)4
zYqTZ5g)#qrfc&LxSIWG`GDZ0IFOV0$3iuH=ME>ko6Ojt|gz~gkEQ7B{$X~FR{8a%z
z*P||6>SE+CoK1E=4>?0Vgxp^Pv;If^2guv_K>jrH*3ZblhJ0%t@>gv*M*aC7%4gHz
z;eqdB?Lh1=!+fkTf%dbA`+5H|5jl&Pcd&-kU~d`3-v2rHRo0bgiCqiqdhrX$1+c!1
z@Y;es2In=J^JO;1=-q<W8LG$LVfS>>|MK`m&Dn<f-XeU~1HZ^RC2N$lpJ|N}JBpVk
zR*$m&@Vxr5X5I&9!&c#rS)aRW=#*`48UD_`hP{b&iyrjl9kC(G>xy0DfYZJ``l1=$
z1kNb0OVrmW)=2785q@cX=1ar0M$!62ytHN|aYmwbH1RF$=h&x6R`k(YOF9WV^lOY4
z&!ej`K6ZRD&u1fVV*>dQ@=v6v#&H5|Y;2(JGV%udL=@|3bl09*TBoDC?y5ZueDqJT
z=E0uep*h26z(M=?*MO6)lqY))+u^s)QcRG{nzoSbgFchdndMS$J<f&i+jAkUooVQ?
z`vr8Mf8-<kK7i-6auH|Gv!P(+Xed;PGw`9flBM>)sop`1q5Tl;wQD_Xsl8KjY}y__
z-ZyN|zjV&M8++D7(Cnst`&U@UH<y~or{Eg<cA%g3bvhIO0{BUs$=!F_LQ@(1b?Fu}
zcIo9n|4FQ~u(|AT@P_uEV4i+}wRJh_>1;>wLgRW4^XxF@aRBcC=e}KEcX%b%r={U%
z3XnH#-L=lIEABr0G}hW14ll+#Rwd@f>Ves2!RbY&mU!E7X8gyXsVjyS+jnC*gIk~9
zLhr~wus$c5nt-YKO>#7DblxSNOK4B>bfzah;iCEqypOnNBpR=9ot%N(@e2=o%9Cd#
z8Q)O#t~!G=z}`(}_r2H$Nd7d=fKTEqNHIrozrXCoZx|Cg_~XlNtk8Ik_nn-4KPiL%
zFNA`2EXbF1KBAZ{U_2;hN3kChPJgp74)mn6mh2@|#y(dW#(4t!QWocnh`i_Q!5k*8
zBF@CbMdL>DgYaRrX;<A~$bF|Sur8{TIU=z?-uI^UJ;l;58*s+p^L3!a<qBVIPT1JG
zDcJ9xX%^d<pmp8MF%i-uz8}0iQA6)PWE0u*GS-X%=zigy&AqZ74kAx>P)v@@HYW%d
z`4c$TSv%k_l5x-aWkb}S%HJA#sE%ZjKlIJDOY9xOtGn!6?w2!X@V-LRMVzmGfpzU$
z*~N9#?q$3K(zq0UD{OgO|GMuGBd7ys)81fUR}6bn0q=bK7KMlDToA>W<7`{`f3Xe_
z56M#brznr$y>JpkS^V%K^14qX<L7hobpU>r_nE;@CQfJ{(|bb?eCUoz`Ox!-fzVCv
zJ7W0a1bpYt&kD@Pr>-@Te}Zi#STjSVX2CGVVHVcX+W3<GyY?@z9HeX3o1d#CeY4(N
zQCsomO|@iSae<lCOK1O8@4EZJ{$QbL9duSKF~gWkKQCT&crn=$diPqqa^jtUV&p!W
z*EbB6RG8im>=_<s4I10I_MO?TlX3=a#e9LU@viHh-=f!;)qS5a{pH}IcUr>Fa-T-7
zp>@EO`xJapmv5jPXVGZT^wRqYy*KQgW9snNTfEzhdHqRtgb`!3?vw6i&`tdv#CtT&
z-N&yoKcsiT1MTtJ!>4eD!TM%xz&i=aon1rkXn~Jz!dW*O3LHEe3Jo2_e!CQH&xV#_
zedKc}os}J@ePkZq<?uee2J6LBb4>*87R3H)*+FNX>5aoqHx_UwfqMkUICG=0`(4D#
z<Dt+&TB~rjvUBTSfbECh6ZmVy-&av~E;J4=!&p{qG`l~<8P9<GU93e5OJ4qlb7A&y
zE^GQPU7R>c_aCyiBkr(9$$g*uu2xWMfrEOQyV0h~I@$l`Ll?Cnxl!~_d^VGB&yiit
zQ}h2E?bDu^E?l}YrnSsXe|wFcli^=Yms^JZVvW7d`PuB@R*d(uRh4!7r`c9MY1`|-
z$=-ADAMIcEob(0voYKd2AE1u<bM|f*?*>k50{vlJXn)ZA!Q|aI)sOf6xn0j`Kc#n=
zzk`oo#Jcx7&Xw20hj@pnq`hdo@B4Nw<@>=(x=W)t8^jrj*0pVTuZOMyternE(At81
zjQsyI*m4SMIi1s<$9$K0P26Fu<v)TxId2i)2*2M-`y$%oU9(c!jo>|%?&&^Q6#(ZA
zlQ^wiB9p@&UEC7JyuP9R6YSgn3=XNIaTVXV{de!}ssF2SR{5VnGk2<wK^wE!yW9U4
z`b04|wYRwU_IMY;y-gYJ>DC^@zE(-~axV^lnC|9v_c-gb*>u)<v@O+<bW&ZZd@9zF
zdMwqo(?PA1NXFaekf=>ozBAq3m3Nxg-PRDxCY*=1-1kV8NIcNIZqt?x%<GYBtiN}Y
zNLE$dPQ<q-vZ+1EZ0`14Hhz0|E<soo&TuA|kL9~_&hPw=)7aFq<vz0`){#pBhfE~Z
znasM@u%1onojb|geEJ^e=A1QUN2({8Xv`*ecPG2zi1L-(;Pd>f;-~G;wro0|bZ+iQ
zIBS{1SxKez4htstB)jst&s$zA-x!0Z5)gILnPiu<10_*x>mQA!^3D#pG?(nkrL$yF
zy6YaR(bhlE)!vnUw9B!?uEo>vj`U7vPb`~?wPHYS&Q)=rh``D<x2H0WM~Do7ptCaF
zohQR{`E)k6GwE8b+r`seJ5oEH*p7TMJ86MmGgn`O+a#NeO^&w9QkCz?yN<MWO_S53
z&H6iI9UbYo)7rgb2Xx<@a9Vrw$(%FUFBM4-G_Tv%bZ=z6%g*f|n&Lzp*s5G6wJp0g
zlM^|Vo06)$BbJ|DpHF96q%j)BV_k?IW8h5+AwvO3T&;0ffG6CTX%Ubrena{YoAbXV
z{YT6FTXd2P_Lpf1YwEw6UMZbkjXm2GmQKh1wbDMHN-PmGrhhM9n32U8KfP@}^8Zmh
zvd(zb`0<+!4Gs4=D>r=k0Vk49cf{LbDJ&>hI`VBvr~bA~HchLGQ=g5urSi#mzB`+A
z>Z<O%?at~u>Z<Oz(^(nIcHV|u_2)lNc-0*a)!b2i=W4G7)5{bG*a|16qi!j5MU)6W
zb8v^i<V|xe;Egt8t_2=c{PVftXBn5WJa1*(VL6;vZK}a1@r2!?AvsF4$`YQjC1a}j
zNpVH^AeT4ta|`3=J@{7`4|5mX)duSY<Hs2n9%>#kc#HHTyO_*?cR|kj0T&OHHn|V8
z2T#JcGJcWq-)H>L0v9;Ss{TOad1&Ub{4<Q>oNm)0#t$=oo`-B6>p97|xyltBVEG?1
zUR~+}w{rbIFuv9P1cGA8O+RBi$^-Q<<E|e>ia|Wa@fVnEO?`LMZ1|UORy$d-P;eIH
zVK9pspU=3o`)$U{J@{RWJB)|<`9;Q~Y-%mz>ll9)7lf3gCtDbQj&T%idW7*o#>Ji#
z<3|}^$?`eI-}cBKVEhc@r+7T+MW6h0h!0+3&z~?pz&MJNDP)*r62X@YHh(2f7Xtw$
zFLr*1aVg95b;h?cx8PI^O^qVgir&)6vSi-2JX82~slYRYOAl{y?Y|QLd&@J0JKV4y
zT@8Ro%C(9xWMuYCfiC}*I7x);YBnWHIai)mx#{VgwPy<NQPm+cUzOaf%X20EGs`oD
zZ&WQq_7z6~$htiA>N7o!Tb?OAs;WcwDog>$&cQsG(mGXltq*>q4}O~u-r$4Z?}PuY
z55CI>f7}P(?}I<>gVUF?Gx-7Esn3Z2sSo~|5B{zX{$n5fpM7wAVKSpVxJRB5zs3j0
z-4LQGV9xWp!^^r^$@qL;c*-~==yHnWs~HzxH8UP&{3y%Efs4#kR2j3|2Y=EBr;GHN
zcwY3u|A!C$iVyxbz^Pw@y#FQGSlkm@d_FH(;-6po@ZgScMmrbz;J5hTwLbV7AH2~A
z-{yn2``}q0{7E1D4}I`I^1<;tMC;G!XIux%%KL(k{3({tc;rv|$p3)l3oI|=b=pV%
zJ(eHz$kXNJOz}3#@*^xS^Wq<U<o^%w<%p{y%gfF;#ysa4uf}>!X#viCGwHq22X}x|
z+&X-26o1~uc(n(=m+`O%e~|I5jMuv6m<;fl>?!!*2Yhh)0%j(jV?OwCAN+eh`1gJA
zw|wwXAN;32_?QpA2<Hv*f0)n7;{VSv9%Wq4`F8@J$q)AcU!cw>5+`5sk*A9?zD!%u
zV{*xSb4U8o=1gjHI+3JeV=R}KVj|fQ>)o6)@!Y2Lqo$`bWox=S@+s33Z`%nmRBcS{
zY%|&To-DPpb#zlmbt@9~RxX*#)AL@S^u(=7B$jKpRrbOT*tRU*Vb{g-F+#~Y3#_N>
zHH}&zpH1!Dnanoe%BVGlI~i$iN!wywiH_vvWakESEcIB@Oae`~qcXWnsyUNPCQK6c
z$GUbV*W$*>q;l3a-1Ic!m3nh`KG{RpK2(>?y2Zv=zA;B2Ntk#xjvFnA<xR4S?&8oV
zdr9PWuNhaAR@h}QJsYi6wolS^v~VxQOa~lJtkzuXy6$*9nah!}wn<YgkCCD4t60M3
z?bQ_==2j%&YO$s>*|{#c!?d)((wx1`YH7*Dva!ybdsQ`Af}v*foe{H#>{&;{Od8fE
z(Thkn)|HFJ^Qm-~Y1y!8%i8))En6BJo7YELBK2!Gt#2{w);HYOvSI7JTUzejQezUS
zovD1R!<tGY>)Ew7-<8mGFb@$nsmWwgT{i6EY21c(B)4|wF)CS;%w$tt`5gx0>1=Nk
zjLP9k(sg3i^xWT_>`pe|&N0tpwWGz}Cz~GXj9X!v*R>>4x%QSkg%~bN;$}z7qZDN{
zc&qMwAd?`k#&Wr279pSNFi^=O-a><*%h@DZtps9w(1OOjITMQ~bxo!_*M^8p#_28^
zSJj;vwzoOi8OyY#v&l%TJ?Xl=DVgi;Omh8(WLGkqiZ>^_5)@_#-}*!XiftUB6zR<*
zjlCA;_y=}xVw!5)M?zzEnxz@Kq)c}~i@h9Y=U7J(X)4~{Kv(u$%|<k&J3A4vu9eN*
zIb3BY;6A!}$AfORT_<wX*~#NEZEY`%%jL5jkafGWA)D^b)ORJm97CV&7;Nb#x_Cz#
z_xBQqNeqe%9Swv1!eI&`6S{Mg5_Io8S#U>pvT-_|?=U-)`4-F;3IeD?DcAC7D&K~i
z@Rm3_Nw@c=C7y?GTTpN5cmcxvq#3>5PH(%8(Xzy-4O$kQ`YM5eh`T<qsLAyrcssY@
z;=kDrPUEy$_dr)3vB%#A)Mt}e)l#ilgr@agKHXt5d$y*t`OWr%oIKhUM@->Kk1L#R
zo$LDhE3qtw0C{BW(xQcBPU%II`Zu`_abIZ3fn)FuOS0X#-^kFa;w~mM7`cY7JS{`$
zt;|o}|K&mVGB~nKCfT2sdT`m>yz+7m^UAMe#wFlsm}JKf1vpRlKI;@7=De4G6XRa~
zt&9`@dd|~B?yZQYQQ=X}(+?NuPEk@DXULw70^*tBJn`J3@I2?Q_uvI3ul;#I$!q*M
z#z`-JCo`D_Ip@`TgmJIlGmMiTG>@E1ynZNw93`(G<}*$_+7AxnWapRMruGv*2C&JC
zhZ*<UPxo+?y!LNb^4dQSD|wC6y&5I5^FB9gKL;82`tubfFR?@oMi}?{=d{AL-ZvQc
z`t3c&z42LOob24J?7YZ0*{S_3_qk+`)+_g-<Ts74#61BelIK?qTfSA{I{vE}Cmt<d
z!#MTp%a+0Yko!}ze~ZE&R{YwYsN&anhYx;0@vKt(Pbqng)4dKQvPb4VmFZrG65;o|
zS^Ig!2Y-oi@!LvnbAoa4kKiMUr%Ca@;o+&~y0;Xr{r|RyU*z9o-0S}{N?!Z(ea5}x
zQe<5EB|bW*aLUT}5Fauw{T2Dk3fJ<uG_{HJHgjL;LHA6QMDKRDXqGBm`@vyc^osln
z#=U-^`zlH#ul;Z<<6b{(Wt{90A5;5?;?eka#%VrANRU&H;?a5^S3DXmdWfRNz%
ztdIOrB~Ra3NqUKKvS05z#}$vp-&685uX~v2j0b;~@%I&vmM?m6k(ckgsbAZ~NIW0r
z&J+Hi!b|Z!O^NK+{+Y+PcO1(ZCmz|msr^=kKSBVfgu;JUKs-Bq_<NMRw)1Hp`9US$
zqWI~)ffCvIkejui@B82%GcNPuD7QJ!xWvEUmp$?_j`CHG$P2z=wo6F%M46i&D;f9t
zxmL+*`?o7Rrg#bp*W-@gDBI-aKd$7Xisyun{Anex?RiV#nn%80^Xe@sdChat2cOUP
zz~r}9WoH@V-ncDi+^aWI>NfVu<KG?HMEnhk|6wIh^X@p;MHNo#t*l>djFVoCXB4h^
zdKf3YNu~F3#ows#r<D8-g%2uxr^1gaT=(m^!q+MJ6O2pzOWdAfocg8LpAm)Yb>l6?
z-=_FKR=8dtE-L&#Df!Z?-2(YX&+9UUYo3I{Q;O#)AAC^ZyOjJ(jEf&exb6hw;s?P`
zG49<5Us3#96#r?3w<~-ee}yV~k8<67#zn8-HH?#gIuuWv!aEgy#KZp~*B$lX=NUiE
zxabx9q7Q%RT(_af3x9!e>DL+NKj4uU{AtFiU)ugxJUqfb;=#qv(;oa&)_ak0u~X#n
z`(>L*Fa2gj(ya>D_JkQ19^v2WBcJfdi~SiT9}}f`o>#bD&ug!7g~-k}CBISOdR}Z-
zcwEV66t3qN{o_SS#IJdtRd~V`v7av~T=Tr8aLsd0;hN{7!nK`c{8c{LqxqLAJgw}h
zRd`0>>lB_+_*TXxJ`MCxiZCwYD|iRv-ua$U{Cd70P`I}Ll*0A+US?eES?QW%N@(##
z5_<%n$2j>%zweYWE<EzR)>03T;11*7eyvdaTU-<DXN|&lD?G|L>8)0Hf^o86<86%7
zd4BT8rD!MLGkSUQK0G~&r(5ZLnsG1BAs?Or#q+4*dC7<8xDU?>#X~>-m-L1Y&s#n`
zZ!4ZYA;EL$e78XT(&vN~jMF&MZ`mY0%s9o#UIFox?<<Li_Hp@r)e8Rpaghg??=eOG
zV?MXlu>5CPUU2z-Q{?}N<=3&i+`|Yi-+PL@m>OYuiXVO6c#d(B*M2z4IQ4gjkl=Y-
z$&+ihqMp(T#=Y@>igB5DB0r+|x40Dc^R&VbDEuvjKdJCD3jfave_!GMMd9Ze_xk4|
z<6i$<R`S$exhE>&pCn1Y1fRz^`E8fdyOeR#OFSFtkc;Fn?)BRW55LH-RQ%d+)e7J3
zQrpk%3jaNYXB7UF!k=c`>xV;(i~VhE|A3OGehK~@<KBK9Wt{w@?LV&YKT!6JFfMwZ
zV!fvs7yk?Xp5oE`=M=tO@qg^$f0p^rE1aO}Qn%5kjEi28Hw)c*!nOQT#;L#h9_dzv
z>v*nJxQ^$9!uKotdlatk2L>1yza8a%J<GV*FZgqcNBixF!gXAoR=AF<_Y|(<>b%0W
z{AGoAs(zJ~P5D!=S6^hD{Hb{&3fFq`jEf)I(2mm6N?!9k>ybas^3O3YeiQs94=(&C
z6#sv9Roc%H55Jt-PkVR-e_Qb!R6Or1{Aq=MsPI;WUu0bTfdB8prcW7{ehFT7y<6|~
z^Ge1=Uiy2hlGpvEe~3(pc=Y%_uJEtABKGsB!ea`5N#TE}@V6AM`RDOJ7$G}#{FE_H
z_GA>#QpU+YcB=3_h@*HkzC!W*H^sA3@q7lj!}IP|#=Yxdwc^+EHHu%)$E_az4D6*8
z@!@~i!!PntAO4KOr_Bo={HVh9yc<!t=6PG;TK;3kB|bmoew}CB>$guCmpByp%Zgw7
zt>gyRPhOsK#wi}OyyGKZ?ISP0n<D!u-sJc0>sVgSb%M*kN1${2A=fnf*}?L{BUKs3
zz482#vgZ*I#`8Ue>vKrahv%Y_*Y8>L%3V_O&ohdDg~IiDxLV<Qer@u>3kuhMIK?>m
zr(fxnYykLx6!0wNJmI$}e5Jy*e6_+!UgWkaT+44)ILV6~!-n+IRF{20+rvwM6`juw
zL|)3=-ASH7mUBGvVd$YG_6kqNg(u$)1wYStEk6Yhb6K8(JB)knmv|L>MPB~>jJAi?
zvGR~hw2}Elek(g;s|R-%T?X+W`Biv23~76a{}l5`J;@V3!nn3a$Ak6*$;<bYVdN<h
zk6%2He3AM6;-Ss5xI83(p5?vv&u9NQ9(nPbwx8CMQs(j6FW)bE`ThK3Sg)5~{vD2&
zzm(;}%1*LJ-gEUh>i(LlTyJMS){197>pt5gm&FhKs_f4dtMIe8n5k;T@5-vOX)2KT
z9aXg`l8{A^^AxM_uXAHpfZ6nP96umhXaCi9)#Pu4Tvq%Fi6ADmKS->ipBqgBtN{Ni
zi~Iin^Kj4@p(S5$O;Uw9_e%LBWHU0)1YLp*`8_NEKf^Rhklv_ppL84|JrWN>`#HvW
zI9*|UUKW8##LW<gPPd{!oZj~4Mpx>;&(YFT`USlM8REQC0C{qI`cIK`68puD^{Ax0
zN6b_&bzAl5#>h*1fy2nm<iFBpSK<&0lK*DoPuh!nBEV+Sf0Xra=l1fD_EO%0%uM>9
zW&LMZkn~eqX)pTe&UGgJ=Cf|Y-=seQv6=K|sAEVy?!%CN8cMJJeZXeYzn%4qJkw0J
zm-6Gt%%uNA)-U}e{d9FNe1d-i*i8DPtY7Shm`&1N%728+O#0==3nMH@`soT;+Kc{U
zz-H2ahV^gc_VSSSQa*yrO!`M2a3!KFNcw5+OMB7(U0^fmcYe!l7<C_$pVD4{lgP}Z
z-}#Cwq2r&fIHbMk|2{C%U+s!deim52{w|s-NtTj+@)qV+@Mn?Re|n7z(DA(ie_s7p
k1M|*(YH@}ZCZrfmT9rhvKnswWsr_;8|KErpKfUe$AHtd+bpQYW
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/zranger.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/zranger.o
new file mode 100644
index 0000000000000000000000000000000000000000..bd24ca0092ba73c6c374841bc6ae4214b3bb302b
GIT binary patch
literal 4200
zcmb`K-ES0C6u{4RKnj8u3Q_@=*@Dob9k)dSOVI3gTUxYyWV?u|#O-u<%1+qbS!QNS
z3np%j55}0-1|N(Mra=?HM-w9^U<iMLMuUkD#Ro%-4;b`;#9Ggpxu?DC?)c<scFwuK
zdp_>HGjr$m?f#*|O`#C5gy3sfZZQSOuU)p|o*9Q0coG&aesgU>f!PPcp=*DB7MlI5
z6&`K^nE9#+X7BA*iVu`cU;OsMisJA4R~9ksqu!=!Dg@QkJaTH^4pmbTsV(<WfAYht
zsb7x1lNvj5#ZKJ)B&FxB*e2`_zly&-_?zDk54Wqz52FX;Q{*3dD}HHS+34k-S6V&Y
zbO<)gVU0NYkM+V7+=;viZJlBAAMK4#ZU0$2*Zj|7x*2wa*R^P2eOLTu^Xliq5bFv<
zb0iG6+CAU37*8?NKVf`A4M#e<!ja}Z9-CiW+)U$GxcKeTdbHv?IJgd@m*X*2fqfgX
z-Hzj!Zi+u#8e2~_wGyh|RgvMk&-9@k0hm=#Q?2Tnd#KNRN_J@PrBvkmD>guTnDRtu
zK9?Z|ZISTkF1Yz%IB{*^;_a)ql+2Gb7W!e_4E|<AbMcrCun#bf`jO#q07g=YV*~vu
z$QjwQ)E>)@r1a7m1B-a#xK=sCok(u179En39u0{$Hm4h7$OrIh0EdBO@}Sx=aO|X-
zwyZ)nubU-x+_F_SZ>Wi`vTco<1+?sJ-gJ$uTd@r_ruB67M7v{JcaPek+r=)lqMe<@
zwQiMqx}!a~LjNUrk6;D-vDnB*Y53*<DEQY%6wFjBk9&Zs)QbWu>);a}3F7tn*Q0+(
zs;i2O_|AHq+f9N~oBVf*HfQV<yhCt##0oqn=(6(1S<la7U`X;mupEM`)-1Jr)6Y}S
zsaJtD0si$oik>0Ke^824p#F(|8T&V21j|}szJj2Ip`=FwcqM>;5WwlhZ<POX0RJ+8
z-wEJ%1Ng52d=<`{)}ckr|2_00X~lM<adrmq?g0K$06!AIk0Gb=%%LXP<|`Np@Gm1@
zFFjXFPtpb3+xE09?3{$1IouE@z(bjW?zmt~mXnq-J`SdHq-45~$&__lFFO9-c){N@
z)4FpOoGHgOil=nb9d>owg^9wxy@lxHu;IRzb&SG^O2IKs7`AEUmb%C<X_Z{FRIw@!
zOj4c!!%dsnvq`H`a^YxC8YYPL83ldnBzhJ&IA!QLuljO=qh_IC77f?19e)Z~n<g;s
zxB5%xDn`ZVv(A^iz$2x8$2E((YuO+s;!km4=y-2pD0BSq;o<&tCY|UV>d$x|ie4O~
zn3m`14LE5Vx@$neIy25`(gv=aa3mXtSi-&7v`Ub(%?ZQKh*e+y!gwDgyodBW@m@o>
zv`yUCO*Q;^!M7scENoJTB+jvfh64EO5`S9Qq)tnGi^S=DC84@oebc*sENtTZEE1ZN
z_%p&LbwlEGkYKqd49c^eA?o`Qm&daL{Yc1P^(_CgP4L?FR0XeFPszVs%JZV&G1NOG
zen@bt%ijp<9+do_lKh7Rr}4;NgS6l@9+{sOobo>_<;hEYm&AD=sGaZU!oPOD*9G5#
zx<kst`vM(}X*|5Qu@CWx<R29_@!b+<llVGrpsvl&ZB_V?e^6a|FL)dWYWz7KG-s;l
z>SL%~+t+!vY}`aN*O+uc%jvET+L+^jW?R%C_ipU~Hp$5&XkjN4JSX;f@2>X9yX*UV
zd!ptY7qzTaEE>3X{XatU!X<g+*`UmEx}e;kPD%KFF`{>r)-BFJ=ozu_?=|^=?h&Qp
z`@wq$J!8acPjY|P)I}FhYBB9ol(RM-L|r;h$-?!Sb)!K!dl;}5@q4%}G{^He`jL}e
zTR$q|`8nb=9MA1I8jaSk%|Echpm3!1qvw|6dHqfyYg9ik>a)K{vlP$m6dH}{kBa(S
zhw4)<&c~e2U5)COMg2kSmxbe*mC<Nae^S&R6^>M&PMaLh^{0_hecmU~^yIpz{{{o0
z$(Kad!qx8(*EVrO?+Z=mW7=<P>(jq&wfCM<G_Rs7z`I<?Z!XmpO*}I-j=v-3|2{hg
G#QzH`)tLAI
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/zranger2.o b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/uart/build/zranger2.o
new file mode 100644
index 0000000000000000000000000000000000000000..78fad7ca3378b8c09a6d1e575e66c2ec07ea5443
GIT binary patch
literal 6152
zcmeI0Uu+a*5Wwed1q-4At%!oh7ElV<qb-nlhJ-uXQV1<H*TX+WJ+^n-_R{<3?iO1?
zy`m4skk~2@#0SG0l*Giu1WAO1L?3uE#6%Ml6N>mi3=a~5NMciGcE34>yIWs;GGQ*e
zGvDu<`DXUpy>Gv}_d2_G1_J?L3BcEIuf-JLQvE$U>Y7nl0*lF-1c*j1YRR8g>DrI8
zhc8UeYA|)HFEEWElLv#*NC{xet-jdw?BQ=ulV5`y1CtZM=v|DT!sGa=m0*=LNR*Ia
z{>et<x9j2VXwd5?HV;ZaP(Sr`psnE%Y%9enzO?ZA4*)}-lMS#s6j;0|)Ci@x5rhck
zhUJZ+lk?%i?fU3lu0!VH`Y^tMu7i)+!)MFaLv<g=dTwbAXKo(|PT#%~nEF!-PTfgq
z(|4`~rj}#>^>q*Be%~}NcVjcmQY|y+OFD+NupQWXtZXwQpZ1SW$A9fP8XxFAWyP+3
z7B|wTtPHFR?ZIOM9y8nFZUfG(u6frSI1>GIMtjm7f9^^kLN#C2o;Wk3)w@i`oHQ<=
zpIgh7SOn(gwp`Vgm3^*nj=jVFtl{UzH%?;ghfCodSiU|)v8AQa@vFt7@l_BQsr!2_
zQ3q>6FsX+o=0`8oE!Y@>h#rEv#t>Xw?fNgmdMR!K#|kbEhajeh8k<&!8tXQ={QJ4N
zC$S&;<83eM{mtpZTY23!^LD|~5A56X`a<d>>5s?uc6G+vyjE@how42B9FaCtBjh`f
z>W>@wA=6Tkwo@o3xswNbpdZY@gBkc=%)t4_s>@tdjeN<3PtULqFZpojYHxp0Z|d5+
zUr!VY+0?L+$?Jo-YB|HE9&0XIg~3b~Eh{ygam<u6YMFW@+}7OI(i#c3w&_iVm1{<;
zW&L{M;Z~h`T3gz-`X%%@zW?AMxH(tLORM?D2GH<ROEes*QoOmOEY+gHyejy(OZ<5C
z_)F10Ao6mirxfQ1)~gk-bMpWMl_sUZe9`huubyh&jNJj@|D~7`4IcIxr<z~Gf&;?;
z1re#i0@3nJubyg7y&62?<6q5N(K8_YcZo<19u+Om+>UA~MzHXAq+4-!$A<QI%HdVi
z%oK7}!H2))!{7JepZM_4kW-yAs7YQ^C7(jORy|+&@N+)=k`KS)!~gW*Yq73c^=$Lu
zdwqD^hY$Gh2_JsUhkxP2&-(CheE2WOmx$+?zkl$y<!z_JDOfuOYtxXicjq$>m}ABE
zf;l({Zhtas*bb!4Ly$}s4a>;c-lpqqwHZs8*v$<$KH1g1Z%3><xo_vrzRpB45!=z-
znZyxNBRfWIIF#MGIomqsdZr4vJ<OWDqYkdR7MMjVlXnKoqa_S`1jgvxZkdK-Lbfn8
z2==(`n7NmYjML{BmIE(!Z{6J8n(V{vV2^3oxIE{~{5@<s9U0p(@+q^YkT%QSrX!pa
znOr76v|}_qggBG33VkM)mbS~@lt}n{MRl1@B9j_vFN|Wkp0)%WqEb7|tTDbn?_{zZ
zjea7w!*GnaX{5)6yYQr0#ab!?yj#&{x;IDNn9ls0qvojDf%|OtR_xAq+D;~CI0XyR
zR_2gtCHW55+$PuKbHQsfepSl$vI@SEI#DY9b(aEE`fpL3{GV1fDPCWR^BP8c8=X)h
z$X9r#dyXpmi3<M?#aAHb+6eV3PUAeIY*GnjQ(pNtc|~y=U-E;3%lSzwPI>7E56iGJ
zczj*8i%L^HtCUU3Q8wq*Rr>>_X?$jcCIxR)HmQ@!uAKk#idW9VMa8+!7S;YvX|9L)
zWyPPydgS%q5aY=E_=gxr@<kX=LV4wUu2h_^m-YrMv_6v%U*nnXxkd1`g44Q9LjKQs
zrhD!X{5ipQ3BFG7qT)0Uvd%H#-z5A$5PZGhCj{Rh_({R#IHv{QDE!Y0{=DFq1ef!3
zS#Wv1zX?uzCzb}a0i$^fGeo^oa5+C)1m7h5`F%ovInnoszgK*X#A#2+!p|4+<qU-;
z?(MZaSUG;L^3|38x4iN`^7_O6!zv!a_IS=Q22eYer-#|Ha4`=%=9mNFG_Kna9<Xf)
zTLo&6du#Xw2&Ymx50kUogJI}|jxNC$Ux&LMhwopHy>9oN8g~E32&W1;_ua*n{U@zs
zG*0DxYa0z1r4!0Fbw9mU^`3~<Vw%4wJ1DKI-)+5Wa;Zsq_&)JHrDu@1*q&nx;7CPY
z7vhP0rO-1^WBSFH|4>pv@?I12_SpdCKbn+ZN#(axn-$m3bwshFR{ejec=@}7#^89e
zNqX?86@Qw(Bq;nmdadgCUD#1;{)_a(3x)bgX#O9@gY)zJCy~|4Kcn)qKf1Y6+3rVL
zEB`r_pYu?D`c=g7%-=;;EB|$se;4*k;do}_Xw=GoS>->d94SBj%Hnv={}D3E&+84E
zuC&l(p&am3`AohfQrCJ^Csq6j^}x|uML8?;)0|X3yNIAky&P|HB7!ItP298Bj&D)_
M+tVMwQYz#B0m_&eRR910
literal 0
HcmV?d00001
diff --git a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/utils/src/cf_math.h b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/utils/src/cf_math.h
index 4a8aae466..b99fe11bf 100644
--- a/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/utils/src/cf_math.h
+++ b/uboot-compiler/bm_crazyflie/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/utils/src/cf_math.h
@@ -36,10 +36,9 @@
#pragma GCC diagnostic pop
#include "cfassert.h"
-
-
-// #define DEG_TO_RAD (PI/180.0f)
-// #define RAD_TO_DEG (180.0f/PI)
+//COMMENTED FIRMWARE
+#define DEG_TO_RAD (3.14/180.0f)
+#define RAD_TO_DEG (180.0f/3.14)
#define MIN(a, b) ((b) < (a) ? (b) : (a))
#define MAX(a, b) ((b) > (a) ? (b) : (a))
--
GitLab