diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/CONTRIBUTING.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/CONTRIBUTING.md
new file mode 100644
index 0000000000000000000000000000000000000000..1c54c91061e1292772443ad63662b69a5c363785
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/CONTRIBUTING.md
@@ -0,0 +1,44 @@
+Contributing
+============
+
+ðŸ‘🎉 Thanks a lot for considering contributing 🎉ðŸ‘
+
+We welcome and encourage contribution. There is many way to contribute: you can
+write bug report, contribute code or documentation.
+You can also go to the [bitcraze forum](https://forum.bitcraze.io) and help others.
+
+## Reporting issues
+
+When reporting issues the more information you can supply the better.
+
+ - **Information about the environment:**
+ - What version of the firmware are you running
+ - If relevant, what are you using to control the Crazyflie. ie. What lib or client, and what version.
+ - **How to reproduce the issue:** Step-by-step guide on how the issue can be reproduced (or at least how you reproduce it).
+ Include everything you think might be useful, the more information the better.
+
+## Improvements request and proposal
+
+We and the community are continuously working to improve the firmware.
+Feel free to make an issue to request a new functionality.
+
+## Contributing code/Pull-Request
+
+We welcome code contribution, this can be done by starting a pull-request.
+
+If the change is big, typically if the change span to more than one file, consider starting an issue first to discuss the improvement.
+This will makes it much easier to make the change fit well into the firmware.
+
+There is some basic requirement for us to merge a pull request:
+ - Describe the change
+ - Refer to any issues it effects
+ - Separate one pull request per functionality: if you start writing "and" in the feature description consider if it could be separated in two pull requests.
+ - The pull request must pass the automated test (see test section bellow)
+
+In your code:
+ - 2 spaces indentation
+ - Make sure the coding style of your code follows the style of the file.
+
+### Run test
+
+To run the tests please have a look at the [unit test documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/development/unit_testing/).
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/LICENSE.txt b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/LICENSE.txt
new file mode 100644
index 0000000000000000000000000000000000000000..20d40b6bceca3a6c0237d7455ebf1820aeff3680
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/LICENSE.txt
@@ -0,0 +1,674 @@
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+ Notwithstanding any other provision of this License, you have
+permission to link or combine any covered work with a work licensed
+under version 3 of the GNU Affero General Public License into a single
+combined work, and to convey the resulting work. The terms of this
+License will continue to apply to the part which is the covered work,
+but the special requirements of the GNU Affero General Public License,
+section 13, concerning interaction through a network will apply to the
+combination as such.
+
+ 14. Revised Versions of this License.
+
+ The Free Software Foundation may publish revised and/or new versions of
+the GNU General Public License from time to time. Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+ Each version is given a distinguishing version number. If the
+Program specifies that a certain numbered version of the GNU General
+Public License "or any later version" applies to it, you have the
+option of following the terms and conditions either of that numbered
+version or of any later version published by the Free Software
+Foundation. If the Program does not specify a version number of the
+GNU General Public License, you may choose any version ever published
+by the Free Software Foundation.
+
+ If the Program specifies that a proxy can decide which future
+versions of the GNU General Public License can be used, that proxy's
+public statement of acceptance of a version permanently authorizes you
+to choose that version for the Program.
+
+ Later license versions may give you additional or different
+permissions. However, no additional obligations are imposed on any
+author or copyright holder as a result of your choosing to follow a
+later version.
+
+ 15. Disclaimer of Warranty.
+
+ THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
+APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
+HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
+OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
+THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
+IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
+ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
+
+ 16. Limitation of Liability.
+
+ IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
+THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
+GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
+USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
+DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
+PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
+EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
+SUCH DAMAGES.
+
+ 17. Interpretation of Sections 15 and 16.
+
+ If the disclaimer of warranty and limitation of liability provided
+above cannot be given local legal effect according to their terms,
+reviewing courts shall apply local law that most closely approximates
+an absolute waiver of all civil liability in connection with the
+Program, unless a warranty or assumption of liability accompanies a
+copy of the Program in return for a fee.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+state the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software: you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation, either version 3 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program. If not, see <http://www.gnu.org/licenses/>.
+
+Also add information on how to contact you by electronic and paper mail.
+
+ If the program does terminal interaction, make it output a short
+notice like this when it starts in an interactive mode:
+
+ <program> Copyright (C) <year> <name of author>
+ This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, your program's commands
+might be different; for a GUI interface, you would use an "about box".
+
+ You should also get your employer (if you work as a programmer) or school,
+if any, to sign a "copyright disclaimer" for the program, if necessary.
+For more information on this, and how to apply and follow the GNU GPL, see
+<http://www.gnu.org/licenses/>.
+
+ The GNU General Public License does not permit incorporating your program
+into proprietary programs. If your program is a subroutine library, you
+may consider it more useful to permit linking proprietary applications with
+the library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License. But first, please read
+<http://www.gnu.org/philosophy/why-not-lgpl.html>.
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Makefile
index 5c1f5bcd6b80dadce9512241235c5ae5c62ff878..2b8a2293a7b1fae56f526ed0196f22f28b1e0865 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Makefile
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Makefile
@@ -55,7 +55,7 @@ UART2_LINK ?= 0
############### CPU-specific build configuration ################
ifeq ($(CPU), stm32f4)
-PORT = $(FREERTOS)/portable/GCC/ARM_CA72_64_BIT/
+PORT = $(FREERTOS)/portable/GCC/ARM_CM4F
LINKER_DIR = $(CRAZYFLIE_BASE)/tools/make/F405/linker
ST_OBJ_DIR = $(CRAZYFLIE_BASE)/tools/make/F405
@@ -334,7 +334,7 @@ CFLAGS += -DBOARD_REV_$(REV) -DESTIMATOR_NAME=$(ESTIMATOR)Estimator -DCONTROLLER
CFLAGS += $(PROCESSOR) $(INCLUDES)
-CFLAGS += -Wall -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11
+CFLAGS += -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11 #-Wall
# CFLAGS += -O0 -Wmissing-braces -fno-strict-aliasing $(C_PROFILE) -std=gnu11 #Use this compiler during debugger, as it has a different optimizer so you can better track variables
# Compiler flags to generate dependency files:
CFLAGS += -MD -MP -MF $(BIN)/dep/$(@).d -MQ $(@)
@@ -383,6 +383,15 @@ define n
endef
+# Make sure that the submodules are up to date.
+# Check if there are any files in the vendor directories, if not warn the user.
+ifeq ($(wildcard $(CRAZYFLIE_BASE)/vendor/*/*),)
+ $(error $n \
+ The submodules does not seem to be present, consider fetching them by:$n \
+ $$ git submodule init$n \
+ $$ git submodule update$n \
+ )
+endif
#################### Targets ###############################
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/README.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..2eb5a8e304e98e477a20f6736dcb625fd62ba945
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/README.md
@@ -0,0 +1,31 @@
+# Crazyflie Firmware [](https://github.com/bitcraze/crazyflie-firmware/actions?query=workflow%3ACI)
+
+This project contains the source code for the firmware used in the Crazyflie range of platforms, including the Crazyflie 2.X and the Roadrunner.
+
+### Crazyflie 1.0 support
+
+The 2017.06 release was the last release with Crazyflie 1.0 support. If you want
+to play with the Crazyflie 1.0 and modify the code, please clone this repo and
+branch off from the 2017.06 tag.
+
+## Building and Flashing
+See the [building and flashing instructions](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/building-and-flashing/build/) in the github docs folder.
+
+
+## Official Documentation
+
+Check out the [Bitcraze crazyflie-firmware documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/) on our website.
+
+## Generated documentation
+
+The easiest way to generate the API documentation is to use the [toolbelt](https://github.com/bitcraze/toolbelt)
+
+```tb build-docs```
+
+and to view it in a web page
+
+```tb docs```
+
+## License
+
+The code is licensed under LGPL-3.0
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/RELEASE_CHECKLIST.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/RELEASE_CHECKLIST.md
new file mode 100644
index 0000000000000000000000000000000000000000..a340016b8d7b818adb05051effb826c07b56c9f2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/RELEASE_CHECKLIST.md
@@ -0,0 +1,28 @@
+Crazyflie firmware release checklist
+====================================
+
+Build
+------
+ 1. Generate release candidates usging the build server
+
+Checks
+---------
+ - Verify basic connectivity and flight with client and Crzyradio
+ - CF 2.0
+ - CF 2.1
+ - Bolt
+ - Roadrunner (no flight obiously)
+ - Verify basic connectivity and flight with BLE, Android and Iphone clients
+ - CF 2.0
+ - CF 2.1
+ - Bolt
+ - Roadrunner (no flight obiously)
+ - Verify that LOG and params are still working
+ - Verify swarm connectivity using the multi test bench
+ - Veirfy basic functionality of all decks
+ - Verify the examples in the python lib
+ - Verify that positioning works using python example scripts
+ - LPS
+ - Lighthouse
+ - Mocap
+ - Flow
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Rakefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Rakefile
new file mode 100644
index 0000000000000000000000000000000000000000..b66c82b6fa2d8ed21ec2c51ced6de214632e2f9f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/Rakefile
@@ -0,0 +1,41 @@
+# Rakefile used for running unit tests
+
+HERE = File.expand_path(File.dirname(__FILE__)) + '/'
+
+require 'rake'
+require 'rake/clean'
+require 'rake/testtask'
+require './tools/test/rakefile_helper'
+
+include RakefileHelpers
+
+# Load default configuration, for now
+DEFAULT_CONFIG_FILE = './tools/test/gcc.yml'
+configure_toolchain(DEFAULT_CONFIG_FILE)
+
+task :unit do
+ # This prevents all argumets after 'unit' to be interpreted as targets by rake
+ ARGV.each { |a| task a.to_sym do ; end }
+
+ if ARGV.length == 0
+ parse_and_run_tests([])
+ else
+ parse_and_run_tests(ARGV[1..-1])
+ end
+end
+
+desc "Generate test summary"
+task :summary do
+ report_summary
+end
+
+desc "Build and test Unity"
+task :all => [:clean, :unit, :summary]
+task :default => [:clobber, :all]
+task :ci => [:default]
+task :cruise => [:default]
+
+desc "Load configuration"
+task :config, :config_file do |t, args|
+ configure_toolchain(args[:config_file])
+end
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/FreeRTOS-openocd.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/FreeRTOS-openocd.o.d
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--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/FreeRTOS-openocd.o.d
@@ -0,0 +1,157 @@
+FreeRTOS-openocd.o: src/utils/src/FreeRTOS-openocd.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/activeMarkerDeck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/activeMarkerDeck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..02c67e689b97abb07691c583774cb1127d1f05ee
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/activeMarkerDeck.o.d
@@ -0,0 +1,264 @@
+activeMarkerDeck.o: src/deck/drivers/src/activeMarkerDeck.c \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/system.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/modules/interface/eventtrigger.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h \
+ src/utils/interface/debug.h src/config/config.h
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/system.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/eventtrigger.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/aideck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/aideck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..4ea03ee0fb8890d949e796d3c43a591055a686b7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/aideck.o.d
@@ -0,0 +1,301 @@
+aideck.o: src/deck/drivers/src/aideck.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h src/drivers/interface/uart1.h \
+ src/utils/interface/debug.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/include/newlib/math.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/modules/interface/system.h \
+ src/drivers/interface/uart2.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+src/drivers/interface/uart1.h:
+
+src/utils/interface/debug.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/include/newlib/math.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/system.h:
+
+src/drivers/interface/uart2.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ak8963.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ak8963.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..fc5854f78f322d11e0b4c7268a18d532844f08a6
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ak8963.o.d
@@ -0,0 +1,183 @@
+ak8963.o: src/drivers/src/ak8963.c vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/ak8963.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h \
+ src/utils/interface/debug.h src/config/config.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/ak8963.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/amg8833.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/amg8833.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6245b1791c039a90b46210f67a52e8fafab5cf92
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/amg8833.o.d
@@ -0,0 +1,181 @@
+amg8833.o: src/hal/src/amg8833.c src/hal/interface/amg8833.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h src/utils/interface/num.h
+
+src/hal/interface/amg8833.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/utils/interface/num.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/app_channel.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/app_channel.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..bf16253629e138c625a76d08dee73a990d6bba3e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/app_channel.o.d
@@ -0,0 +1,223 @@
+app_channel.o: src/modules/src/app_channel.c \
+ src/modules/interface/app_channel.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/crtp.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/modules/interface/crtp.h src/modules/interface/platformservice.h
+
+src/modules/interface/app_channel.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/crtp.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/platformservice.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/app_handler.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/app_handler.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..47deef724c72d6fa17df11a172ee7112919d48db
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/app_handler.o.d
@@ -0,0 +1,169 @@
+app_handler.o: src/modules/src/app_handler.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/system.h \
+ src/modules/interface/static_mem.h src/modules/interface/app.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/app.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/attitude_pid_controller.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/attitude_pid_controller.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3f4f8dc46b2eb39823f9618700036684cb6f021c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/attitude_pid_controller.o.d
@@ -0,0 +1,222 @@
+attitude_pid_controller.o: src/modules/src/attitude_pid_controller.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h \
+ src/modules/interface/attitude_controller.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/pid.h src/utils/interface/filter.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/param.h \
+ src/modules/interface/log.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+src/modules/interface/attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/pid.h:
+
+src/utils/interface/filter.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bigquad.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bigquad.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..add02344c7f9e673cba44ed91ef6b4035f6fddcd
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bigquad.o.d
@@ -0,0 +1,267 @@
+bigquad.o: src/deck/drivers/src/bigquad.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/drivers/interface/motors.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/modules/interface/param.h src/modules/interface/extrx.h \
+ src/hal/interface/pm.h src/drivers/interface/adc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/hal/interface/syslink.h \
+ src/drivers/interface/uart1.h src/modules/interface/msp.h \
+ vendor/FreeRTOS/include/task.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/drivers/interface/motors.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/extrx.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/hal/interface/syslink.h:
+
+src/drivers/interface/uart1.h:
+
+src/modules/interface/msp.h:
+
+vendor/FreeRTOS/include/task.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi055_accel.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi055_accel.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..cce04204860f0480f3d727819c2041220d22fbcc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi055_accel.o.d
@@ -0,0 +1,13 @@
+bmi055_accel.o: src/drivers/bosch/src/bmi055_accel.c \
+ src/drivers/bosch/interface/bmi055.h \
+ src/drivers/bosch/interface/../interface/bmi055_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h
+
+src/drivers/bosch/interface/bmi055.h:
+
+src/drivers/bosch/interface/../interface/bmi055_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi055_gyro.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi055_gyro.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..69e2d61b9551caac3afede678c459df9a7c48761
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi055_gyro.o.d
@@ -0,0 +1,13 @@
+bmi055_gyro.o: src/drivers/bosch/src/bmi055_gyro.c \
+ src/drivers/bosch/interface/bmi055.h \
+ src/drivers/bosch/interface/../interface/bmi055_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h
+
+src/drivers/bosch/interface/bmi055.h:
+
+src/drivers/bosch/interface/../interface/bmi055_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_accel.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_accel.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..19cd422241f3e73a85dce7a51442c1db7e5a7ee5
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_accel.o.d
@@ -0,0 +1,16 @@
+bmi088_accel.o: src/drivers/bosch/src/bmi088_accel.c \
+ src/drivers/bosch/interface/bmi088.h \
+ src/drivers/bosch/interface/bmi088_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+src/drivers/bosch/interface/bmi088.h:
+
+src/drivers/bosch/interface/bmi088_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_fifo.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_fifo.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..abf1df1910100d33cac2cdd5e43bcf5f28d285f9
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_fifo.o.d
@@ -0,0 +1 @@
+bmi088_fifo.o: src/drivers/bosch/src/bmi088_fifo.c
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_gyro.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_gyro.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..45649114bd3eff420e800ffb359fb7fc3db928de
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi088_gyro.o.d
@@ -0,0 +1,16 @@
+bmi088_gyro.o: src/drivers/bosch/src/bmi088_gyro.c \
+ src/drivers/bosch/interface/bmi088.h \
+ src/drivers/bosch/interface/bmi088_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+src/drivers/bosch/interface/bmi088.h:
+
+src/drivers/bosch/interface/bmi088_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi160.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi160.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e8750b1687a879e4926a893824e1b62e7bd397c3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmi160.o.d
@@ -0,0 +1,66 @@
+bmi160.o: src/drivers/bosch/src/bmi160.c \
+ src/drivers/bosch/interface/bmi160.h \
+ src/drivers/bosch/interface/../interface/bmi160_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h
+
+src/drivers/bosch/interface/bmi160.h:
+
+src/drivers/bosch/interface/../interface/bmi160_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmm150.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmm150.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8bc7bc937889f81dfdf572b43f417c0497de0728
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmm150.o.d
@@ -0,0 +1,13 @@
+bmm150.o: src/drivers/bosch/src/bmm150.c \
+ src/drivers/bosch/interface/bmm150.h \
+ src/drivers/bosch/interface/../interface/bmm150_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h
+
+src/drivers/bosch/interface/bmm150.h:
+
+src/drivers/bosch/interface/../interface/bmm150_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmp280.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmp280.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..a3af8509e0441da3e380a87c88a3703665c1059d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmp280.o.d
@@ -0,0 +1,16 @@
+bmp280.o: src/drivers/bosch/src/bmp280.c \
+ src/drivers/bosch/src/../interface/bmp280.h \
+ src/drivers/bosch/src/../interface/bstdr_comm_support.h \
+ src/drivers/bosch/src/../interface/bstdr_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+src/drivers/bosch/src/../interface/bmp280.h:
+
+src/drivers/bosch/src/../interface/bstdr_comm_support.h:
+
+src/drivers/bosch/src/../interface/bstdr_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmp3.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmp3.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d912f23bcdbe97e030c15e04827fe436900e524e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bmp3.o.d
@@ -0,0 +1,12 @@
+bmp3.o: src/drivers/bosch/src/bmp3.c src/drivers/bosch/interface/bmp3.h \
+ src/drivers/bosch/interface/bmp3_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h
+
+src/drivers/bosch/interface/bmp3.h:
+
+src/drivers/bosch/interface/bmp3_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bootloader.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bootloader.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..086da162432270db92bff8b05e6dca64b99a4d5f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bootloader.o.d
@@ -0,0 +1,109 @@
+bootloader.o: src/modules/src/bootloader.c \
+ src/modules/interface/bootloader.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/modules/interface/bootloader.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bstdr_comm_support.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bstdr_comm_support.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3d8315d20eabbe30e9c5ca390bd5a2a803a19cdb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/bstdr_comm_support.o.d
@@ -0,0 +1,188 @@
+bstdr_comm_support.o: src/drivers/bosch/src/bstdr_comm_support.c \
+ src/drivers/bosch/interface/bstdr_comm_support.h \
+ src/drivers/bosch/interface/bstdr_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h
+
+src/drivers/bosch/interface/bstdr_comm_support.h:
+
+src/drivers/bosch/interface/bstdr_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/buzzdeck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/buzzdeck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d0ec9340e828b25af31a6c3628dfe946fdf8ca9e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/buzzdeck.o.d
@@ -0,0 +1,214 @@
+buzzdeck.o: src/deck/drivers/src/buzzdeck.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ src/modules/interface/param.h src/hal/interface/buzzer.h \
+ src/drivers/interface/piezo.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/param.h:
+
+src/hal/interface/buzzer.h:
+
+src/drivers/interface/piezo.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/buzzer.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/buzzer.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..af3b650654ae2fc23b1e5090c80ea953aff2fe0b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/buzzer.o.d
@@ -0,0 +1,9 @@
+buzzer.o: src/hal/src/buzzer.c src/hal/interface/buzzer.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+src/hal/interface/buzzer.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cfassert.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cfassert.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..aa97d7a479921ac15ad2bbcfe4b5412cde91e9d3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cfassert.o.d
@@ -0,0 +1,178 @@
+cfassert.o: src/utils/src/cfassert.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h src/drivers/interface/led.h \
+ src/modules/interface/power_distribution.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/debug.h src/config/config.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+src/drivers/interface/led.h:
+
+src/modules/interface/power_distribution.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/clockCorrectionEngine.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/clockCorrectionEngine.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..22cbec717ed2a881967f6d94dfa2649261320aa0
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/clockCorrectionEngine.o.d
@@ -0,0 +1,10 @@
+clockCorrectionEngine.o: src/utils/src/clockCorrectionEngine.c \
+ src/utils/interface/clockCorrectionEngine.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h
+
+src/utils/interface/clockCorrectionEngine.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/collision_avoidance.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/collision_avoidance.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7b997caaf61d20e3653e8b1f597a5f2a309d6a30
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/collision_avoidance.o.d
@@ -0,0 +1,236 @@
+collision_avoidance.o: src/modules/src/collision_avoidance.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ src/modules/interface/collision_avoidance.h \
+ src/modules/interface/math3d.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/peer_localization.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/param.h \
+ src/modules/interface/log.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/collision_avoidance.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/peer_localization.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/comm.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/comm.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..830db2f42b7858552050641ffdc493958d8d3e81
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/comm.o.d
@@ -0,0 +1,152 @@
+comm.o: src/modules/src/comm.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/crtp.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/crtpservice.h src/modules/interface/param.h \
+ src/modules/interface/log.h src/hal/interface/eskylink.h \
+ src/drivers/interface/uart_syslink.h src/hal/interface/syslink.h \
+ src/hal/interface/radiolink.h src/hal/interface/syslink.h \
+ src/hal/interface/usblink.h src/modules/interface/platformservice.h \
+ src/modules/interface/crtp.h \
+ src/modules/interface/crtp_localization_service.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/crtpservice.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
+
+src/hal/interface/eskylink.h:
+
+src/drivers/interface/uart_syslink.h:
+
+src/hal/interface/syslink.h:
+
+src/hal/interface/radiolink.h:
+
+src/hal/interface/syslink.h:
+
+src/hal/interface/usblink.h:
+
+src/modules/interface/platformservice.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/crtp_localization_service.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/commander.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/commander.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6cf6babf3bcf662d9e2bd7a669d2e025da9df015
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/commander.o.d
@@ -0,0 +1,263 @@
+commander.o: src/modules/src/commander.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h src/modules/interface/commander.h \
+ src/config/config.h src/modules/interface/stabilizer_types.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/crtp_commander.h src/modules/interface/crtp.h \
+ src/modules/interface/crtp_commander_high_level.h \
+ src/modules/interface/math3d.h /usr/include/newlib/math.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/modules/interface/param.h \
+ src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/crtp_commander.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/crtp_commander_high_level.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/configblockeeprom.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/configblockeeprom.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b6492ecc4deaa58f432cc80261b9f6693c1816e4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/configblockeeprom.o.d
@@ -0,0 +1,265 @@
+configblockeeprom.o: src/utils/src/configblockeeprom.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/unistd.h /usr/include/newlib/sys/unistd.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/debug.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/utils/interface/configblock.h src/drivers/interface/eeprom.h \
+ src/drivers/interface/i2cdev.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/unistd.h:
+
+/usr/include/newlib/sys/unistd.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/utils/interface/configblock.h:
+
+src/drivers/interface/eeprom.h:
+
+src/drivers/interface/i2cdev.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/console.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/console.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..a5f886afcc38c3ec22da46c4cb47dc5e19ae90bb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/console.o.d
@@ -0,0 +1,212 @@
+console.o: src/modules/src/console.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/crtp.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/crtp.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..19ec2283e79abf5f24480de08b581b4dc5a91402
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller.o.d
@@ -0,0 +1,226 @@
+controller.o: src/modules/src/controller.c src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/controller.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/controller_pid.h \
+ src/modules/interface/controller_mellinger.h \
+ src/modules/interface/controller_indi.h src/utils/interface/filter.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/math3d.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/position_controller.h \
+ src/modules/interface/attitude_controller.h \
+ src/modules/interface/commander.h \
+ src/modules/interface/position_controller_indi.h \
+ src/modules/interface/controller_indi.h \
+ src/modules/interface/controller_student.h
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/controller.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/controller_pid.h:
+
+src/modules/interface/controller_mellinger.h:
+
+src/modules/interface/controller_indi.h:
+
+src/utils/interface/filter.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/math3d.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/position_controller.h:
+
+src/modules/interface/attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/modules/interface/position_controller_indi.h:
+
+src/modules/interface/controller_indi.h:
+
+src/modules/interface/controller_student.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_indi.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_indi.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..50d2a64fc9844ce311dbbaf4c5a303ef78ab4f3a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_indi.o.d
@@ -0,0 +1,98 @@
+controller_indi.o: src/modules/src/controller_indi.c \
+ src/modules/interface/controller_indi.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/filter.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/math3d.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/position_controller.h \
+ src/modules/interface/attitude_controller.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/position_controller_indi.h \
+ src/modules/interface/controller_indi.h
+
+src/modules/interface/controller_indi.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/filter.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/math3d.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/position_controller.h:
+
+src/modules/interface/attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/position_controller_indi.h:
+
+src/modules/interface/controller_indi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_mellinger.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_mellinger.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..79f98f6aaf7d666c336558a550157649b485b56e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_mellinger.o.d
@@ -0,0 +1,73 @@
+controller_mellinger.o: src/modules/src/controller_mellinger.c \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/param.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/log.h src/modules/interface/math3d.h \
+ src/modules/interface/position_controller.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/controller_mellinger.h \
+ src/utils/interface/physicalConstants.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/param.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/math3d.h:
+
+src/modules/interface/position_controller.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/controller_mellinger.h:
+
+src/utils/interface/physicalConstants.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_pid.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_pid.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..38a184bbd4645147f63af7a95259bdd2e039ba8f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_pid.o.d
@@ -0,0 +1,100 @@
+controller_pid.o: src/modules/src/controller_pid.c \
+ src/modules/interface/stabilizer.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/attitude_controller.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/sensfusion6.h \
+ src/modules/interface/position_controller.h \
+ src/modules/interface/controller_pid.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/modules/interface/math3d.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h
+
+src/modules/interface/stabilizer.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/sensfusion6.h:
+
+src/modules/interface/position_controller.h:
+
+src/modules/interface/controller_pid.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_student.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_student.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8363119f45437dc08617b58f0b24fc25ffed7403
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/controller_student.o.d
@@ -0,0 +1,108 @@
+controller_student.o: src/modules/src/controller_student.c \
+ src/modules/interface/stabilizer.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/student_attitude_controller.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/sensfusion6.h \
+ src/modules/interface/controller_student.h src/modules/interface/log.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/param.h src/modules/interface/math3d.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h
+
+src/modules/interface/stabilizer.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/student_attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/sensfusion6.h:
+
+src/modules/interface/controller_student.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cppm.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cppm.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..fe6d5c2c0386054de3093d11ce66859fd214e9cc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cppm.o.d
@@ -0,0 +1,195 @@
+cppm.o: src/drivers/src/cppm.c vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h src/drivers/interface/cppm.h \
+ src/config/nvicconf.h src/modules/interface/commander.h \
+ src/config/config.h src/modules/interface/stabilizer_types.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/static_mem.h src/utils/interface/debug.h \
+ src/modules/interface/log.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/drivers/interface/cppm.h:
+
+src/config/nvicconf.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cppmdeck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cppmdeck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..41bc079f30b0660107533b64036179a9b2694d42
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cppmdeck.o.d
@@ -0,0 +1,215 @@
+cppmdeck.o: src/deck/drivers/src/cppmdeck.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/debug.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/modules/interface/extrx.h src/modules/interface/param.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/modules/interface/extrx.h:
+
+src/modules/interface/param.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cpuid.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cpuid.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f297f17936332faee45cdb84e187f453ff1c4eef
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/cpuid.o.d
@@ -0,0 +1,3 @@
+cpuid.o: src/utils/src/cpuid.c src/utils/interface/cpuid.h
+
+src/utils/interface/cpuid.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crc32.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crc32.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..442cb8cd15402000a531f3309746fdc582edd55a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crc32.o.d
@@ -0,0 +1,129 @@
+crc32.o: src/utils/src/crc32.c src/utils/interface/crc32.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/static_mem.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/crc32.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..5a0035dbc1453f7aaa99314dc67ba9180546df93
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp.o.d
@@ -0,0 +1,222 @@
+crtp.o: src/modules/src/crtp.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/errno.h /usr/include/newlib/sys/errno.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/config/config.h \
+ src/modules/interface/crtp.h src/modules/interface/info.h \
+ src/modules/interface/crtp.h src/modules/interface/queuemonitor.h \
+ src/modules/interface/static_mem.h src/modules/interface/log.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/errno.h:
+
+/usr/include/newlib/sys/errno.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/info.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0c2f944323852bdab22b16cf5beead195fbd4292
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander.o.d
@@ -0,0 +1,159 @@
+crtp_commander.o: src/modules/src/crtp_commander.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/modules/interface/crtp_commander.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/crtp.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/crtp.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/modules/interface/crtp_commander.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/crtp.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/crtp.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_generic.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_generic.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..037d412f48a1ee249378f67f222e874bc1aa656f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_generic.o.d
@@ -0,0 +1,233 @@
+crtp_commander_generic.o: src/modules/src/crtp_commander_generic.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/crtp_commander.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/crtp.h src/modules/interface/commander.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/param.h \
+ src/modules/interface/crtp.h src/utils/interface/num.h \
+ src/modules/interface/quatcompress.h /usr/include/newlib/math.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/crtp_commander.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/crtp.h:
+
+src/utils/interface/num.h:
+
+src/modules/interface/quatcompress.h:
+
+/usr/include/newlib/math.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_high_level.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_high_level.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..bb20b22298ca27b155bad2cbed602302518eba11
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_high_level.o.d
@@ -0,0 +1,296 @@
+crtp_commander_high_level.o: src/modules/src/crtp_commander_high_level.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/errno.h \
+ /usr/include/newlib/sys/errno.h /usr/include/newlib/math.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ src/modules/interface/crtp.h \
+ src/modules/interface/crtp_commander_high_level.h \
+ src/modules/interface/math3d.h src/modules/interface/stabilizer_types.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/planner.h src/modules/interface/pptraj.h \
+ src/modules/interface/pptraj_compressed.h /usr/include/newlib/stdio.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/static_mem.h src/modules/interface/mem.h \
+ src/config/config.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/errno.h:
+
+/usr/include/newlib/sys/errno.h:
+
+/usr/include/newlib/math.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/crtp_commander_high_level.h:
+
+src/modules/interface/math3d.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/planner.h:
+
+src/modules/interface/pptraj.h:
+
+src/modules/interface/pptraj_compressed.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/mem.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_rpyt.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_rpyt.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..33847b383c453f00a7036f22d3953dde1f2f412a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_commander_rpyt.o.d
@@ -0,0 +1,221 @@
+crtp_commander_rpyt.o: src/modules/src/crtp_commander_rpyt.c \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/crtp_commander.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/crtp.h src/modules/interface/commander.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/crtp.h \
+ src/modules/interface/param.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h src/utils/interface/num.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/crtp_commander.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/param.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+src/utils/interface/num.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_localization_service.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_localization_service.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..686c754275c4de6d37515b88ed634055d8e1479f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtp_localization_service.o.d
@@ -0,0 +1,287 @@
+crtp_localization_service.o: src/modules/src/crtp_localization_service.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/crtp.h \
+ src/modules/interface/crtp_localization_service.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/modules/interface/stabilizer.h \
+ src/modules/interface/estimator.h src/utils/interface/configblock.h \
+ src/modules/interface/worker.h \
+ src/modules/interface/lighthouse/lighthouse_storage.h \
+ src/deck/drivers/interface/locodeck.h \
+ src/modules/interface/quatcompress.h \
+ src/modules/interface/peer_localization.h src/modules/interface/math3d.h \
+ src/utils/interface/num.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/crtp_localization_service.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/stabilizer.h:
+
+src/modules/interface/estimator.h:
+
+src/utils/interface/configblock.h:
+
+src/modules/interface/worker.h:
+
+src/modules/interface/lighthouse/lighthouse_storage.h:
+
+src/deck/drivers/interface/locodeck.h:
+
+src/modules/interface/quatcompress.h:
+
+src/modules/interface/peer_localization.h:
+
+src/modules/interface/math3d.h:
+
+src/utils/interface/num.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtpservice.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtpservice.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d0ce4523670d0f43183225245a6f3ae05f15fb3d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/crtpservice.o.d
@@ -0,0 +1,217 @@
+crtpservice.o: src/modules/src/crtpservice.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/crtp.h \
+ src/modules/interface/crtpservice.h src/modules/interface/static_mem.h \
+ src/modules/interface/param.h src/config/config.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/crtpservice.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/param.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/debug.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/debug.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d69869aeff91493698b85b067876428cf6c4a887
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/debug.o.d
@@ -0,0 +1,30 @@
+debug.o: src/utils/src/debug.c src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1e4560f89340fe6679c697aaacffafe7ddafc91c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck.o.d
@@ -0,0 +1,212 @@
+deck.o: src/deck/core/deck.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h src/deck/interface/deck_memory.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/deck/interface/deck_memory.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_analog.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_analog.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f3c71d4bfa8ef05c8a667fa740b745fc78578bed
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_analog.o.d
@@ -0,0 +1,187 @@
+deck_analog.o: src/deck/api/deck_analog.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_constants.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_constants.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8f422dcdd77cce972aa64ac1209d26c9478ce1ce
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_constants.o.d
@@ -0,0 +1,187 @@
+deck_constants.o: src/deck/api/deck_constants.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_digital.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_digital.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8d1d7b6746f782cdc9a3d47908c4daa554e5639f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_digital.o.d
@@ -0,0 +1,187 @@
+deck_digital.o: src/deck/api/deck_digital.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_drivers.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_drivers.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..2ad88adc518cd4c7ef58bd5e4c926a64a7b667fc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_drivers.o.d
@@ -0,0 +1,217 @@
+deck_drivers.o: src/deck/core/deck_drivers.c /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_info.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_info.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..070f6c7287ac28acbf0d5ca80cd4d9f6aacdbdd8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_info.o.d
@@ -0,0 +1,229 @@
+deck_info.o: src/deck/core/deck_info.c /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h src/hal/interface/ow.h \
+ src/hal/interface/syslink.h src/utils/interface/crc32.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/static_mem.h src/utils/interface/cfassert.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/hal/interface/ow.h:
+
+src/hal/interface/syslink.h:
+
+src/utils/interface/crc32.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/cfassert.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_memory.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_memory.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c453c933d3dd61431a79c04be82a6166c27ea850
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_memory.o.d
@@ -0,0 +1,76 @@
+deck_memory.o: src/deck/core/deck_memory.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/deck/interface/deck_memory.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/mem.h src/utils/interface/test_support.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/deck/interface/deck_memory.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/mem.h:
+
+src/utils/interface/test_support.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_spi.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_spi.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..16f7b428a86ef49b3d50cecb49be8d34220f17c0
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_spi.o.d
@@ -0,0 +1,243 @@
+deck_spi.o: src/deck/api/deck_spi.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/nvicconf.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/nvicconf.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_spi3.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_spi3.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..eee3b86d6faf4d89a4417985faa277f67dceba43
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_spi3.o.d
@@ -0,0 +1,243 @@
+deck_spi3.o: src/deck/api/deck_spi3.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/nvicconf.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/nvicconf.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_test.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_test.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..40e5a444d9b5ebbf8aff150ee3fe94116c6e957a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/deck_test.o.d
@@ -0,0 +1,212 @@
+deck_test.o: src/deck/core/deck_test.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/deck/interface/deck_test.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/deck/interface/deck_test.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eeprom.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eeprom.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6c37d13cc7ca086bf0e87c0c5b46ed279bd13b9c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eeprom.o.d
@@ -0,0 +1,229 @@
+eeprom.o: src/drivers/src/eeprom.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/eeprom.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/modules/interface/mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/eeprom.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eprintf.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eprintf.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..255e1937d9ea61c0248f9387d5580727e287df82
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eprintf.o.d
@@ -0,0 +1,41 @@
+eprintf.o: src/utils/src/eprintf.c src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/ctype.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_locale.h
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/ctype.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_locale.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0567a167320b9ede3da8af4b8c4501d44321c5e7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator.o.d
@@ -0,0 +1,237 @@
+estimator.o: src/modules/src/estimator.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ src/modules/interface/static_mem.h src/utils/interface/debug.h \
+ src/config/config.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/estimator_complementary.h \
+ src/modules/interface/estimator_kalman.h src/modules/interface/log.h \
+ src/utils/interface/statsCnt.h src/modules/interface/eventtrigger.h \
+ src/modules/interface/quatcompress.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/estimator_complementary.h:
+
+src/modules/interface/estimator_kalman.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/eventtrigger.h:
+
+src/modules/interface/quatcompress.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator_complementary.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator_complementary.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8ee1c2898acb42a68a82dd4cd11c0f9d98bc1d20
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator_complementary.o.d
@@ -0,0 +1,198 @@
+estimator_complementary.o: src/modules/src/estimator_complementary.c \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ src/modules/interface/stabilizer.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/estimator_complementary.h \
+ src/modules/interface/sensfusion6.h \
+ src/modules/interface/position_estimator.h src/hal/interface/sensors.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/static_mem.h
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/stabilizer.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/estimator_complementary.h:
+
+src/modules/interface/sensfusion6.h:
+
+src/modules/interface/position_estimator.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator_kalman.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator_kalman.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1da6376c99ad99fce362a02b016f7335bc1e0ea6
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/estimator_kalman.o.d
@@ -0,0 +1,326 @@
+estimator_kalman.o: src/modules/src/estimator_kalman.c \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/kalman_supervisor.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h src/hal/interface/sensors.h \
+ src/modules/interface/static_mem.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/estimator_kalman.h src/modules/interface/system.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/physicalConstants.h \
+ src/modules/interface/supervisor.h src/utils/interface/statsCnt.h \
+ src/utils/interface/rateSupervisor.h \
+ src/modules/interface/kalman_core/mm_distance.h \
+ src/modules/interface/kalman_core/mm_absolute_height.h \
+ src/modules/interface/kalman_core/mm_position.h \
+ src/modules/interface/kalman_core/mm_pose.h \
+ src/modules/interface/kalman_core/mm_tdoa.h \
+ src/modules/interface/kalman_core/mm_flow.h \
+ src/modules/interface/kalman_core/mm_tof.h \
+ src/modules/interface/kalman_core/mm_yaw_error.h \
+ src/modules/interface/kalman_core/mm_sweep_angles.h \
+ src/modules/interface/outlierFilter.h \
+ src/modules/interface/kalman_core/mm_tdoa_robust.h \
+ src/modules/interface/kalman_core/mm_distance_robust.h \
+ src/utils/interface/debug.h src/config/config.h
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/kalman_supervisor.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/estimator_kalman.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/physicalConstants.h:
+
+src/modules/interface/supervisor.h:
+
+src/utils/interface/statsCnt.h:
+
+src/utils/interface/rateSupervisor.h:
+
+src/modules/interface/kalman_core/mm_distance.h:
+
+src/modules/interface/kalman_core/mm_absolute_height.h:
+
+src/modules/interface/kalman_core/mm_position.h:
+
+src/modules/interface/kalman_core/mm_pose.h:
+
+src/modules/interface/kalman_core/mm_tdoa.h:
+
+src/modules/interface/kalman_core/mm_flow.h:
+
+src/modules/interface/kalman_core/mm_tof.h:
+
+src/modules/interface/kalman_core/mm_yaw_error.h:
+
+src/modules/interface/kalman_core/mm_sweep_angles.h:
+
+src/modules/interface/outlierFilter.h:
+
+src/modules/interface/kalman_core/mm_tdoa_robust.h:
+
+src/modules/interface/kalman_core/mm_distance_robust.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eventtrigger.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eventtrigger.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..988506a8131b208f271af10f9c7d2ed8e930d638
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/eventtrigger.o.d
@@ -0,0 +1,79 @@
+eventtrigger.o: src/modules/src/eventtrigger.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/eventtrigger.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/eventtrigger.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptest.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptest.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c01f69a849b20f3fa8c97860a8df3b84e95b460c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptest.o.d
@@ -0,0 +1,217 @@
+exptest.o: src/deck/drivers/src/test/exptest.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/debug.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/deck/interface/deck_test.h \
+ src/hal/interface/sensors.h src/modules/interface/stabilizer_types.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/deck/interface/deck_test.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptestBolt.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptestBolt.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c3c9a2eba689f036e7855b060caabf1e4da3183a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptestBolt.o.d
@@ -0,0 +1,217 @@
+exptestBolt.o: src/deck/drivers/src/test/exptestBolt.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/debug.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/deck/interface/deck_test.h \
+ src/hal/interface/sensors.h src/modules/interface/stabilizer_types.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/deck/interface/deck_test.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptestRR.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptestRR.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1bb8acb2ce5847e774656dc894e25f43e6b0e82e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exptestRR.o.d
@@ -0,0 +1,217 @@
+exptestRR.o: src/deck/drivers/src/test/exptestRR.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/debug.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/deck/interface/deck_test.h \
+ src/hal/interface/sensors.h src/modules/interface/stabilizer_types.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/deck/interface/deck_test.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exti.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exti.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7c8c1980e7a7be1f2f395bf9bfa954d996deffe7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/exti.o.d
@@ -0,0 +1,121 @@
+exti.o: src/drivers/src/exti.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/interface/exti.h src/config/nvicconf.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/interface/exti.h:
+
+src/config/nvicconf.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/extrx.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/extrx.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..dbe8a04a14228807717b28c73a84fab4844601e4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/extrx.o.d
@@ -0,0 +1,200 @@
+extrx.o: src/modules/src/extrx.c vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h src/config/config.h \
+ src/modules/interface/system.h src/config/nvicconf.h \
+ src/modules/interface/commander.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/drivers/interface/uart1.h src/drivers/interface/cppm.h \
+ src/utils/interface/debug.h src/modules/interface/log.h \
+ src/modules/interface/static_mem.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/config/config.h:
+
+src/modules/interface/system.h:
+
+src/config/nvicconf.h:
+
+src/modules/interface/commander.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/drivers/interface/uart1.h:
+
+src/drivers/interface/cppm.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/fatfs_sd.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/fatfs_sd.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..61e2c0e299c5bd4e50e1016856c8ab8eff65fc96
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/fatfs_sd.o.d
@@ -0,0 +1,13 @@
+fatfs_sd.o: src/drivers/src/fatfs_sd.c src/lib/FatFS/ff.h \
+ src/config/ffconf.h /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/FatFS/diskio.h src/drivers/interface/fatfs_sd.h
+
+src/lib/FatFS/ff.h:
+
+src/config/ffconf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/FatFS/diskio.h:
+
+src/drivers/interface/fatfs_sd.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ff.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ff.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0ea513e8bdc15c9021ab2a1f7764841677e1a593
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ff.o.d
@@ -0,0 +1,13 @@
+ff.o: src/lib/FatFS/ff.c src/lib/FatFS/ff.h src/config/ffconf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/lib/FatFS/diskio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/lib/FatFS/ff.h:
+
+src/config/ffconf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/FatFS/diskio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ffunicode.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ffunicode.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b634581bf06ceba6d2ff969faa42bd98171f1ec7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ffunicode.o.d
@@ -0,0 +1,8 @@
+ffunicode.o: src/lib/FatFS/ffunicode.c src/lib/FatFS/ff.h \
+ src/config/ffconf.h /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h
+
+src/lib/FatFS/ff.h:
+
+src/config/ffconf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/filter.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/filter.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..62252b0202b9606edf371d726b2797cc856d5c8d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/filter.o.d
@@ -0,0 +1,56 @@
+filter.o: src/utils/src/filter.c /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/utils/interface/filter.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/physicalConstants.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/filter.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/physicalConstants.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/flowdeck_v1v2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/flowdeck_v1v2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1f92b382c0f51e25dd9358aa4bb16cec50778784
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/flowdeck_v1v2.o.d
@@ -0,0 +1,283 @@
+flowdeck_v1v2.o: src/deck/drivers/src/flowdeck_v1v2.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/debug.h \
+ src/config/config.h src/modules/interface/system.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/drivers/interface/pmw3901.h src/utils/interface/sleepus.h \
+ src/modules/interface/stabilizer_types.h src/utils/interface/cf_math.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/drivers/interface/pmw3901.h:
+
+src/utils/interface/sleepus.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/freeRTOSdebug.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/freeRTOSdebug.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7a4ca8f749798feff682ade7578c2d1f15786f97
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/freeRTOSdebug.o.d
@@ -0,0 +1,185 @@
+freeRTOSdebug.o: src/hal/src/freeRTOSdebug.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/utils/interface/debug.h src/config/nvicconf.h \
+ src/drivers/interface/led.h src/modules/interface/power_distribution.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/utils/interface/debug.h:
+
+src/config/nvicconf.h:
+
+src/drivers/interface/led.h:
+
+src/modules/interface/power_distribution.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/gtgps.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/gtgps.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..2970ebf75c89c50207e81d84495f53b608b7f822
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/gtgps.o.d
@@ -0,0 +1,296 @@
+gtgps.o: src/deck/drivers/src/gtgps.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h src/drivers/interface/uart1.h \
+ src/utils/interface/debug.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/include/newlib/math.h src/modules/interface/log.h \
+ src/modules/interface/param.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+src/drivers/interface/uart1.h:
+
+src/utils/interface/debug.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/include/newlib/math.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/health.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/health.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..9c6d41bf621b9b7533edaa47f7ac703450f25944
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/health.o.d
@@ -0,0 +1,268 @@
+health.o: src/modules/src/health.c src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/drivers/interface/motors.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/hal/interface/sensors.h src/modules/interface/stabilizer_types.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h vendor/FreeRTOS/include/projdefs.h \
+ vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/hal/interface/syslink.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/static_mem.h
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/drivers/interface/motors.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/heap_4.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/heap_4.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b1bf9bbc42cd05be2d204c12a35cbf70286067c7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/heap_4.o.d
@@ -0,0 +1,203 @@
+heap_4.o: vendor/FreeRTOS/portable/MemMang/heap_4.c \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/i2c_drv.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/i2c_drv.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..20c971319cb9fb82bcb547a8e8a2eea7f8c63a8e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/i2c_drv.o.d
@@ -0,0 +1,223 @@
+i2c_drv.o: src/drivers/src/i2c_drv.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h src/drivers/interface/i2c_drv.h \
+ src/config/config.h src/config/nvicconf.h src/utils/interface/sleepus.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/i2c_drv.h:
+
+src/config/config.h:
+
+src/config/nvicconf.h:
+
+src/utils/interface/sleepus.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/i2cdev.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/i2cdev.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ecf2548802c68ee295f577e9b76e0b6acc171b3b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/i2cdev.o.d
@@ -0,0 +1,186 @@
+i2cdev.o: src/drivers/src/i2cdev.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h src/drivers/interface/i2c_drv.h \
+ src/config/nvicconf.h src/utils/interface/debug.h src/config/config.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+src/drivers/interface/i2c_drv.h:
+
+src/config/nvicconf.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kalman_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kalman_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ef7f6034663daa3754722534dbd9e4724120a41a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kalman_core.o.d
@@ -0,0 +1,230 @@
+kalman_core.o: src/modules/src/kalman_core/kalman_core.c \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/cfassert.h src/utils/interface/physicalConstants.h \
+ src/modules/interface/param.h src/modules/interface/math3d.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/static_mem.h
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/cfassert.h:
+
+src/utils/interface/physicalConstants.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/math3d.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kalman_supervisor.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kalman_supervisor.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e686e42edadb750ea22a83f14309e477b338776c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kalman_supervisor.o.d
@@ -0,0 +1,207 @@
+kalman_supervisor.o: src/modules/src/kalman_supervisor.c \
+ src/modules/interface/kalman_supervisor.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/param.h
+
+src/modules/interface/kalman_supervisor.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/param.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kve.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kve.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6da78e963db0ea5194b66283f9cb0b2d281b3ed8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kve.o.d
@@ -0,0 +1,85 @@
+kve.o: src/utils/src/kve/kve.c src/utils/interface/kve/kve.h \
+ src/utils/interface/kve/kve_common.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/kve/kve_storage.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h
+
+src/utils/interface/kve/kve.h:
+
+src/utils/interface/kve/kve_common.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/kve/kve_storage.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kve_storage.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kve_storage.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e57d4280010e23a19c11cacd50bedd2322cca028
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/kve_storage.o.d
@@ -0,0 +1,57 @@
+kve_storage.o: src/utils/src/kve/kve_storage.c \
+ src/utils/interface/kve/kve_storage.h \
+ src/utils/interface/kve/kve_common.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h
+
+src/utils/interface/kve/kve_storage.h:
+
+src/utils/interface/kve/kve_common.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/led.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/led.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e387baf1e450c1cf3cfee8ba16e372feac1ea661
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/led.o.d
@@ -0,0 +1,164 @@
+led.o: src/drivers/src/led.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/led.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/led.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ledring12.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ledring12.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..2902a58717b693f71609c1d43f144253ea717aab
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ledring12.o.d
@@ -0,0 +1,300 @@
+ledring12.o: src/deck/drivers/src/ledring12.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ src/drivers/interface/ws2812.h src/modules/interface/worker.h \
+ src/modules/interface/param.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h src/config/config.h \
+ src/hal/interface/syslink.h src/modules/interface/log.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/modules/interface/mem.h \
+ src/utils/interface/debug.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/ws2812.h:
+
+src/modules/interface/worker.h:
+
+src/modules/interface/param.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/hal/interface/syslink.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/mem.h:
+
+src/utils/interface/debug.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ledseq.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ledseq.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d340766b0e3134c67db307b1c53412597dbef3c3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ledseq.o.d
@@ -0,0 +1,178 @@
+ledseq.o: src/hal/src/ledseq.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/ledseq.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/drivers/interface/led.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ src/modules/interface/static_mem.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/ledseq.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/drivers/interface/led.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lh_bootloader.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lh_bootloader.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6f3805ebcd8ee3f50ebc4841f69db80718872e3e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lh_bootloader.o.d
@@ -0,0 +1,227 @@
+lh_bootloader.o: src/drivers/src/lh_bootloader.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/lh_bootloader.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/lh_bootloader.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/libdw1000.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/libdw1000.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..85b424a055d888d4634fc3ed618a0c70c561f93c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/libdw1000.o.d
@@ -0,0 +1,67 @@
+libdw1000.o: vendor/libdw1000/src/libdw1000.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ vendor/libdw1000/inc/libdw1000.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/libdw1000/inc/libdw1000Spi.h vendor/libdw1000/inc/dw1000.h \
+ vendor/libdw1000/inc/libdw1000Types.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+vendor/libdw1000/inc/libdw1000.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/libdw1000/inc/libdw1000Spi.h:
+
+vendor/libdw1000/inc/dw1000.h:
+
+vendor/libdw1000/inc/libdw1000Types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/libdw1000Spi.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/libdw1000Spi.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d4995d7475f183af9d86a36c80283b28ea6a7fd8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/libdw1000Spi.o.d
@@ -0,0 +1,18 @@
+libdw1000Spi.o: vendor/libdw1000/src/libdw1000Spi.c \
+ vendor/libdw1000/inc/libdw1000Spi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/libdw1000/inc/dw1000.h vendor/libdw1000/inc/libdw1000Types.h
+
+vendor/libdw1000/inc/libdw1000Spi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/libdw1000/inc/dw1000.h:
+
+vendor/libdw1000/inc/libdw1000Types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..dc0ba92cd9f91dbab399d8240970dce2dfef983c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse.o.d
@@ -0,0 +1,286 @@
+lighthouse.o: src/deck/drivers/src/lighthouse.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/param.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h src/deck/drivers/interface/lighthouse.h \
+ src/modules/interface/lighthouse/lighthouse_core.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/lighthouse/lighthouse_deck_flasher.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/param.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/deck/drivers/interface/lighthouse.h:
+
+src/modules/interface/lighthouse/lighthouse_core.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/lighthouse/lighthouse_deck_flasher.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_calibration.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_calibration.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..29168878d7fa7ccff7d65a69cc3210f399bf90af
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_calibration.o.d
@@ -0,0 +1,198 @@
+lighthouse_calibration.o: \
+ src/utils/src/lighthouse/lighthouse_calibration.c \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/utils/interface/cf_math.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/utils/interface/physicalConstants.h
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/utils/interface/physicalConstants.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b7ba93af99f97221d427fad5652297cd4c305d17
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_core.o.d
@@ -0,0 +1,294 @@
+lighthouse_core.o: src/modules/src/lighthouse/lighthouse_core.c \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/system.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/statsCnt.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/uart1.h \
+ src/modules/interface/crtp_localization_service.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h \
+ src/utils/interface/lighthouse/pulse_processor_v1.h \
+ src/utils/interface/lighthouse/pulse_processor_v2.h \
+ src/modules/interface/lighthouse/lighthouse_deck_flasher.h \
+ src/modules/interface/lighthouse/lighthouse_position_est.h \
+ src/modules/interface/lighthouse/lighthouse_core.h \
+ src/modules/interface/lighthouse/lighthouse_storage.h \
+ src/utils/interface/test_support.h src/modules/interface/static_mem.h
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/statsCnt.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/uart1.h:
+
+src/modules/interface/crtp_localization_service.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/utils/interface/lighthouse/pulse_processor_v1.h:
+
+src/utils/interface/lighthouse/pulse_processor_v2.h:
+
+src/modules/interface/lighthouse/lighthouse_deck_flasher.h:
+
+src/modules/interface/lighthouse/lighthouse_position_est.h:
+
+src/modules/interface/lighthouse/lighthouse_core.h:
+
+src/modules/interface/lighthouse/lighthouse_storage.h:
+
+src/utils/interface/test_support.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_deck_flasher.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_deck_flasher.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e3df7416f54d4e0f39e0bc2c61bdd9f996bf73ef
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_deck_flasher.o.d
@@ -0,0 +1,248 @@
+lighthouse_deck_flasher.o: \
+ src/modules/src/lighthouse/lighthouse_deck_flasher.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/deck/drivers/interface/lighthouse.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/drivers/interface/lh_bootloader.h \
+ src/modules/interface/lighthouse/lighthouse_deck_flasher.h \
+ src/utils/interface/crc32.h src/modules/interface/mem.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/deck/drivers/interface/lighthouse.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/drivers/interface/lh_bootloader.h:
+
+src/modules/interface/lighthouse/lighthouse_deck_flasher.h:
+
+src/utils/interface/crc32.h:
+
+src/modules/interface/mem.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_geometry.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_geometry.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f11393111a2385460ed4be8d6ff98c020ae9607a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_geometry.o.d
@@ -0,0 +1,201 @@
+lighthouse_geometry.o: src/utils/src/lighthouse/lighthouse_geometry.c \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/cf_math.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/cf_math.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_position_est.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_position_est.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..9aefd92135b37e69d6860e9c66b156d65e900958
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_position_est.o.d
@@ -0,0 +1,240 @@
+lighthouse_position_est.o: \
+ src/modules/src/lighthouse/lighthouse_position_est.c \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/estimator_kalman.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/utils/interface/cf_math.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/statsCnt.h src/modules/interface/mem.h \
+ src/modules/interface/lighthouse/lighthouse_position_est.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ src/modules/src/lighthouse/lighthouse_state.h
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/estimator_kalman.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/mem.h:
+
+src/modules/interface/lighthouse/lighthouse_position_est.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+src/modules/src/lighthouse/lighthouse_state.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_storage.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_storage.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3810bcd93d2390703c4538ef549c5929df9877f3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lighthouse_storage.o.d
@@ -0,0 +1,245 @@
+lighthouse_storage.o: src/modules/src/lighthouse/lighthouse_storage.c \
+ src/hal/interface/storage.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/modules/interface/lighthouse/lighthouse_storage.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/modules/src/lighthouse/lighthouse_state.h \
+ src/modules/interface/lighthouse/lighthouse_position_est.h \
+ src/modules/interface/lighthouse/lighthouse_core.h \
+ src/modules/interface/worker.h src/utils/interface/test_support.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h
+
+src/hal/interface/storage.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/modules/interface/lighthouse/lighthouse_storage.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/modules/src/lighthouse/lighthouse_state.h:
+
+src/modules/interface/lighthouse/lighthouse_position_est.h:
+
+src/modules/interface/lighthouse/lighthouse_core.h:
+
+src/modules/interface/worker.h:
+
+src/utils/interface/test_support.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/list.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/list.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1e631830793dd84ff5a487ecee695259cfa3cdfd
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/list.o.d
@@ -0,0 +1,199 @@
+list.o: vendor/FreeRTOS/list.c /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/list.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/list.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/locodeck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/locodeck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..214a02da2f7545784811618bcb0613a826718de3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/locodeck.o.d
@@ -0,0 +1,283 @@
+locodeck.o: src/deck/drivers/src/locodeck.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/modules/interface/system.h src/utils/interface/debug.h \
+ src/config/config.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/config/nvicconf.h \
+ src/utils/interface/statsCnt.h src/modules/interface/mem.h \
+ src/deck/drivers/interface/locodeck.h \
+ src/modules/interface/stabilizer_types.h \
+ src/deck/drivers/interface/lpsTdoa2Tag.h \
+ src/deck/drivers/interface/locodeck.h src/deck/drivers/interface/mac.h \
+ src/deck/drivers/interface/lpsTdoa3Tag.h \
+ src/deck/drivers/interface/lpsTwrTag.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/config/nvicconf.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/mem.h:
+
+src/deck/drivers/interface/locodeck.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/deck/drivers/interface/lpsTdoa2Tag.h:
+
+src/deck/drivers/interface/locodeck.h:
+
+src/deck/drivers/interface/mac.h:
+
+src/deck/drivers/interface/lpsTdoa3Tag.h:
+
+src/deck/drivers/interface/lpsTwrTag.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/log.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/log.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..40f1b4b8edfb54c7db410b0abe66d773d7469ff5
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/log.o.d
@@ -0,0 +1,239 @@
+log.o: src/modules/src/log.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/errno.h \
+ /usr/include/newlib/sys/errno.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h src/config/config.h \
+ src/modules/interface/crtp.h src/modules/interface/log.h \
+ src/utils/interface/crc32.h src/modules/interface/worker.h \
+ src/utils/interface/num.h src/utils/interface/debug.h \
+ src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/errno.h:
+
+/usr/include/newlib/sys/errno.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/crc32.h:
+
+src/modules/interface/worker.h:
+
+src/utils/interface/num.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lps25h.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lps25h.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..90cf8a86de3de6f17350811e42ef01718809d8d8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lps25h.o.d
@@ -0,0 +1,222 @@
+lps25h.o: src/drivers/src/lps25h.c vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/lps25h.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/interface/i2cdev.h src/utils/interface/debug.h \
+ src/config/config.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/lps25h.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTdoa2Tag.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTdoa2Tag.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..122a2f9e5fc891f614f1b78e685df76d8f449f9e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTdoa2Tag.o.d
@@ -0,0 +1,259 @@
+lpsTdoa2Tag.o: src/deck/drivers/src/lpsTdoa2Tag.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/deck/drivers/interface/lpsTdoa2Tag.h \
+ src/deck/drivers/interface/locodeck.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/drivers/interface/mac.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h \
+ src/utils/interface/physicalConstants.h \
+ src/modules/interface/tdoaEngineInstance.h \
+ src/utils/interface/tdoa/tdoaEngine.h \
+ src/utils/interface/tdoa/tdoaStorage.h \
+ src/utils/interface/clockCorrectionEngine.h \
+ src/utils/interface/tdoa/tdoaStats.h /usr/include/newlib/inttypes.h \
+ /usr/include/newlib/sys/_intsup.h src/utils/interface/statsCnt.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/deck/drivers/interface/lpsTdoa2Tag.h:
+
+src/deck/drivers/interface/locodeck.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/drivers/interface/mac.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/utils/interface/physicalConstants.h:
+
+src/modules/interface/tdoaEngineInstance.h:
+
+src/utils/interface/tdoa/tdoaEngine.h:
+
+src/utils/interface/tdoa/tdoaStorage.h:
+
+src/utils/interface/clockCorrectionEngine.h:
+
+src/utils/interface/tdoa/tdoaStats.h:
+
+/usr/include/newlib/inttypes.h:
+
+/usr/include/newlib/sys/_intsup.h:
+
+src/utils/interface/statsCnt.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTdoa3Tag.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTdoa3Tag.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0b7297365d64b0657293fd866b05ed853aad9ecd
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTdoa3Tag.o.d
@@ -0,0 +1,262 @@
+lpsTdoa3Tag.o: src/deck/drivers/src/lpsTdoa3Tag.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/deck/drivers/interface/lpsTdoa3Tag.h \
+ src/deck/drivers/interface/locodeck.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/tdoaEngineInstance.h \
+ src/utils/interface/tdoa/tdoaEngine.h \
+ src/utils/interface/tdoa/tdoaStorage.h \
+ src/utils/interface/clockCorrectionEngine.h \
+ src/utils/interface/tdoa/tdoaStats.h /usr/include/newlib/inttypes.h \
+ /usr/include/newlib/sys/_intsup.h src/utils/interface/statsCnt.h \
+ src/modules/interface/log.h src/utils/interface/tdoa/tdoaStats.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h \
+ src/deck/drivers/interface/mac.h src/utils/interface/debug.h \
+ src/config/config.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/deck/drivers/interface/lpsTdoa3Tag.h:
+
+src/deck/drivers/interface/locodeck.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/tdoaEngineInstance.h:
+
+src/utils/interface/tdoa/tdoaEngine.h:
+
+src/utils/interface/tdoa/tdoaStorage.h:
+
+src/utils/interface/clockCorrectionEngine.h:
+
+src/utils/interface/tdoa/tdoaStats.h:
+
+/usr/include/newlib/inttypes.h:
+
+/usr/include/newlib/sys/_intsup.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/tdoa/tdoaStats.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/deck/drivers/interface/mac.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTwrTag.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTwrTag.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0ae5b5db0448ceb319751e6e6f6a608732ae7859
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/lpsTwrTag.o.d
@@ -0,0 +1,282 @@
+lpsTwrTag.o: src/deck/drivers/src/lpsTwrTag.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ src/deck/drivers/interface/lpsTwrTag.h \
+ src/deck/drivers/interface/locodeck.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/drivers/interface/mac.h src/deck/drivers/interface/lpsTdma.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ src/modules/interface/log.h \
+ src/modules/interface/crtp_localization_service.h \
+ src/modules/interface/stabilizer_types.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/estimator.h src/utils/interface/cf_math.h \
+ src/utils/interface/cfassert.h src/utils/interface/physicalConstants.h \
+ src/utils/interface/configblock.h src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+src/deck/drivers/interface/lpsTwrTag.h:
+
+src/deck/drivers/interface/locodeck.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/drivers/interface/mac.h:
+
+src/deck/drivers/interface/lpsTdma.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/crtp_localization_service.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/estimator.h:
+
+src/utils/interface/cf_math.h:
+
+src/utils/interface/cfassert.h:
+
+src/utils/interface/physicalConstants.h:
+
+src/utils/interface/configblock.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/main.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/main.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..a8f4083e2063d861724aa51fd30e3bcfa3b1df77
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/main.o.d
@@ -0,0 +1,176 @@
+main.o: src/init/main.c src/config/FreeRTOSConfig.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/platform/platform.h src/drivers/interface/motors.h \
+ src/modules/interface/system.h src/drivers/interface/led.h \
+ src/modules/interface/bootloader.h
+
+src/config/FreeRTOSConfig.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/platform/platform.h:
+
+src/drivers/interface/motors.h:
+
+src/modules/interface/system.h:
+
+src/drivers/interface/led.h:
+
+src/modules/interface/bootloader.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/maxsonar.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/maxsonar.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..83cdf48a99e01525f68b879ab0f5dccc8a216a6a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/maxsonar.o.d
@@ -0,0 +1,205 @@
+maxsonar.o: src/drivers/src/maxsonar.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/log.h src/drivers/interface/maxsonar.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/log.h:
+
+src/drivers/interface/maxsonar.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mem.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mem.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..dc778c34bac006677737bbf87d80efd44e902055
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mem.o.d
@@ -0,0 +1,239 @@
+mem.o: src/modules/src/mem.c /usr/include/newlib/errno.h \
+ /usr/include/newlib/sys/errno.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/cdefs.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ src/modules/interface/mem.h src/modules/interface/crtp.h \
+ src/modules/interface/system.h /usr/include/newlib/assert.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/static_mem.h
+
+/usr/include/newlib/errno.h:
+
+/usr/include/newlib/sys/errno.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/mem.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/system.h:
+
+/usr/include/newlib/assert.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_absolute_height.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_absolute_height.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6e2e96b9d570d77a7ee6b37b994746a8acb7e5ed
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_absolute_height.o.d
@@ -0,0 +1,205 @@
+mm_absolute_height.o: src/modules/src/kalman_core/mm_absolute_height.c \
+ src/modules/interface/kalman_core/mm_absolute_height.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/modules/interface/kalman_core/mm_absolute_height.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_distance.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_distance.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..be53c19870299e8c3a821d0aa73c4efb9755ff7e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_distance.o.d
@@ -0,0 +1,205 @@
+mm_distance.o: src/modules/src/kalman_core/mm_distance.c \
+ src/modules/interface/kalman_core/mm_distance.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/modules/interface/kalman_core/mm_distance.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_distance_robust.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_distance_robust.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d65b71edc075bc74d8b3eeae7c6fb63d7650fb02
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_distance_robust.o.d
@@ -0,0 +1,208 @@
+mm_distance_robust.o: src/modules/src/kalman_core/mm_distance_robust.c \
+ src/modules/interface/kalman_core/mm_distance_robust.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/test_support.h
+
+src/modules/interface/kalman_core/mm_distance_robust.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/test_support.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_flow.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_flow.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1d454f03aa2a9ebcd4b52ae4b18062a459e7815f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_flow.o.d
@@ -0,0 +1,208 @@
+mm_flow.o: src/modules/src/kalman_core/mm_flow.c \
+ src/modules/interface/kalman_core/mm_flow.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/log.h
+
+src/modules/interface/kalman_core/mm_flow.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_pose.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_pose.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..26e19c74f252f5e294e8416cca88444059363b74
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_pose.o.d
@@ -0,0 +1,208 @@
+mm_pose.o: src/modules/src/kalman_core/mm_pose.c \
+ src/modules/interface/kalman_core/mm_pose.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/math3d.h
+
+src/modules/interface/kalman_core/mm_pose.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/math3d.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_position.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_position.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c130b01928868c617079834767949e3c0b865a45
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_position.o.d
@@ -0,0 +1,205 @@
+mm_position.o: src/modules/src/kalman_core/mm_position.c \
+ src/modules/interface/kalman_core/mm_position.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/modules/interface/kalman_core/mm_position.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_sweep_angles.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_sweep_angles.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c6f392f6363b3c6d5284fc7f42f38a0da748f2b9
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_sweep_angles.o.d
@@ -0,0 +1,211 @@
+mm_sweep_angles.o: src/modules/src/kalman_core/mm_sweep_angles.c \
+ src/modules/interface/kalman_core/mm_sweep_angles.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/outlierFilter.h \
+ src/modules/interface/stabilizer_types.h
+
+src/modules/interface/kalman_core/mm_sweep_angles.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/outlierFilter.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tdoa.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tdoa.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d0d00bd210ead06cb401236188682daf5269fc1d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tdoa.o.d
@@ -0,0 +1,214 @@
+mm_tdoa.o: src/modules/src/kalman_core/mm_tdoa.c \
+ src/modules/interface/kalman_core/mm_tdoa.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/outlierFilter.h \
+ src/modules/interface/stabilizer_types.h \
+ src/utils/interface/test_support.h
+
+src/modules/interface/kalman_core/mm_tdoa.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/outlierFilter.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/utils/interface/test_support.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tdoa_robust.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tdoa_robust.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..74010b850dd1ba16d5436e73e4f01a07274b00c3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tdoa_robust.o.d
@@ -0,0 +1,208 @@
+mm_tdoa_robust.o: src/modules/src/kalman_core/mm_tdoa_robust.c \
+ src/modules/interface/kalman_core/mm_tdoa_robust.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/test_support.h
+
+src/modules/interface/kalman_core/mm_tdoa_robust.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/test_support.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tof.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tof.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..89e7c800ade30a08867ce5ccf474256c50bec2db
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_tof.o.d
@@ -0,0 +1,205 @@
+mm_tof.o: src/modules/src/kalman_core/mm_tof.c \
+ src/modules/interface/kalman_core/mm_tof.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/modules/interface/kalman_core/mm_tof.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_yaw_error.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_yaw_error.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..79d7a75707886814b4c89b9389b67688e0a54bef
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mm_yaw_error.o.d
@@ -0,0 +1,205 @@
+mm_yaw_error.o: src/modules/src/kalman_core/mm_yaw_error.c \
+ src/modules/interface/kalman_core/mm_yaw_error.h \
+ src/modules/interface/kalman_core/kalman_core.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/modules/interface/kalman_core/mm_yaw_error.h:
+
+src/modules/interface/kalman_core/kalman_core.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/motors.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/motors.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..db7f778d19949153c79dc0105aa641dd13be91b4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/motors.o.d
@@ -0,0 +1,261 @@
+motors.o: src/drivers/src/motors.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/interface/motors.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/hal/interface/syslink.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/debug.h \
+ vendor/FreeRTOS/include/task.h src/modules/interface/log.h \
+ src/drivers/src/motors_def_cf2.c
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/interface/motors.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/debug.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/log.h:
+
+src/drivers/src/motors_def_cf2.c:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mpu6500.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mpu6500.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b61b58f0fd2cd465c561ae2a4e5084dd9bdf9949
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/mpu6500.o.d
@@ -0,0 +1,222 @@
+mpu6500.o: src/drivers/src/mpu6500.c /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/drivers/interface/mpu6500.h \
+ src/drivers/interface/i2cdev.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/mpu6500.h:
+
+src/drivers/interface/i2cdev.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/msp.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/msp.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..19954aaa8922ba91880e5fac183c210d97125ba8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/msp.o.d
@@ -0,0 +1,48 @@
+msp.o: src/modules/src/msp.c src/modules/interface/msp.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/sensfusion6.h src/modules/interface/commander.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/modules/interface/msp.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/sensfusion6.h:
+
+src/modules/interface/commander.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/multiranger.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/multiranger.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..a9fc7f922344d3db211b6ee75458f25ff17f9667
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/multiranger.o.d
@@ -0,0 +1,366 @@
+multiranger.o: src/deck/drivers/src/multiranger.c \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/param.h \
+ src/modules/interface/system.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/log.h src/hal/interface/pca95x4.h \
+ src/drivers/interface/vl53l1x.h src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/include/newlib/stdio.h /usr/include/newlib/sys/types.h \
+ /usr/include/newlib/sys/_stdint.h /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h vendor/FreeRTOS/include/projdefs.h \
+ vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform.h src/lib/vl53l1/vl53l1_platform_log.h \
+ src/modules/interface/range.h src/modules/interface/static_mem.h \
+ vendor/FreeRTOS/include/task.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/log.h:
+
+src/hal/interface/pca95x4.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/modules/interface/range.h:
+
+src/modules/interface/static_mem.h:
+
+vendor/FreeRTOS/include/task.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/num.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/num.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..72bf53744e346b082409e1148cd34b1a7e0dbf6d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/num.o.d
@@ -0,0 +1,46 @@
+num.o: src/utils/src/num.c /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/num.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/num.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/nvic.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/nvic.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f0e03192e25c585754cff4548dd26dec85d7ba0a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/nvic.o.d
@@ -0,0 +1,159 @@
+nvic.o: src/drivers/src/nvic.c src/drivers/interface/exti.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/led.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/interface/motors.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/modules/interface/power_distribution.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/drivers/interface/uart1.h
+
+src/drivers/interface/exti.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/led.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/interface/motors.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/power_distribution.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/drivers/interface/uart1.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/oa.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/oa.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..bb030f56235ad19dfdc0f4e6e4475ae86b5d870f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/oa.o.d
@@ -0,0 +1,277 @@
+oa.o: src/deck/drivers/src/oa.c src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/deck/interface/deck_digital.h src/deck/interface/deck_analog.h \
+ src/deck/interface/deck_spi.h /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/param.h \
+ src/modules/interface/system.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/modules/interface/log.h src/hal/interface/pca95x4.h \
+ src/drivers/interface/vl53l0x.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h vendor/FreeRTOS/include/projdefs.h \
+ vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/interface/i2cdev.h vendor/FreeRTOS/include/task.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/modules/interface/log.h:
+
+src/hal/interface/pca95x4.h:
+
+src/drivers/interface/vl53l0x.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/i2cdev.h:
+
+vendor/FreeRTOS/include/task.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ootx_decoder.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ootx_decoder.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..adf3c374d134760b4e6f318c424dd20f83ba1b15
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ootx_decoder.o.d
@@ -0,0 +1,10 @@
+ootx_decoder.o: src/utils/src/lighthouse/ootx_decoder.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/outlierFilter.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/outlierFilter.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e67f165fe80122d40904367375cc6da5657859d7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/outlierFilter.o.d
@@ -0,0 +1,88 @@
+outlierFilter.o: src/modules/src/outlierFilter.c \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/outlierFilter.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/stabilizer_types.h src/modules/interface/log.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/outlierFilter.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ow_common.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ow_common.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0a8c70655b62a952354b883fb27873171e46762b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ow_common.o.d
@@ -0,0 +1,15 @@
+ow_common.o: src/hal/src/ow_common.c src/hal/interface/ow.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/hal/interface/syslink.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/mem.h
+
+src/hal/interface/ow.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/hal/interface/syslink.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ow_syslink.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ow_syslink.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..057e04351edca5d5be7be83d7031cf492d697e05
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ow_syslink.o.d
@@ -0,0 +1,221 @@
+ow_syslink.o: src/hal/src/ow_syslink.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/hal/interface/ow.h \
+ src/hal/interface/syslink.h /usr/include/newlib/assert.h \
+ src/utils/interface/debug.h src/config/config.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/hal/interface/ow.h:
+
+src/hal/interface/syslink.h:
+
+/usr/include/newlib/assert.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/param.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/param.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..800b7c9d2cb075e78c56bc82197358179b2f3a1b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/param.o.d
@@ -0,0 +1,224 @@
+param.o: src/modules/src/param.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/errno.h \
+ /usr/include/newlib/sys/errno.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/modules/interface/crtp.h src/modules/interface/param.h \
+ src/utils/interface/crc32.h src/utils/interface/debug.h \
+ src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/errno.h:
+
+/usr/include/newlib/sys/errno.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/crc32.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca9555.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca9555.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..eab03d0d82c81d2a88cf3d43f53fa1a9e82598b2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca9555.o.d
@@ -0,0 +1,181 @@
+pca9555.o: src/hal/src/pca9555.c src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/hal/interface/pca9555.h src/utils/interface/debug.h \
+ src/config/config.h
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/hal/interface/pca9555.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca95x4.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca95x4.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6835cb8eba7f591740c3239433ff5b68d56aa714
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca95x4.o.d
@@ -0,0 +1,181 @@
+pca95x4.o: src/hal/src/pca95x4.c src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/hal/interface/pca95x4.h src/utils/interface/debug.h \
+ src/config/config.h
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/hal/interface/pca95x4.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca9685.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca9685.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..460919580266c3b5cd1fdf0230bff32e2a323256
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pca9685.o.d
@@ -0,0 +1,219 @@
+pca9685.o: src/drivers/src/pca9685.c src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/interface/pca9685.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h vendor/FreeRTOS/include/task.h \
+ src/config/config.h src/modules/interface/static_mem.h
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/pca9685.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/config/config.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/peer_localization.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/peer_localization.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d220c8474b97c6d2f6e7bb4c673ec79110f7c8db
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/peer_localization.o.d
@@ -0,0 +1,220 @@
+peer_localization.o: src/modules/src/peer_localization.c \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/peer_localization.h \
+ src/modules/interface/math3d.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/stabilizer_types.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/peer_localization.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pid.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pid.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..fac4437bf7f13cc7720560e332847e0546665762
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pid.o.d
@@ -0,0 +1,56 @@
+pid.o: src/modules/src/pid.c src/modules/interface/pid.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/filter.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/utils/interface/num.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h
+
+src/modules/interface/pid.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/filter.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/utils/interface/num.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/piezo.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/piezo.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ad7fcb9ea744e85bae4c5e1dbbdad39d13baf555
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/piezo.o.d
@@ -0,0 +1,167 @@
+piezo.o: src/drivers/src/piezo.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/interface/piezo.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/interface/piezo.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/planner.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/planner.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..451531c515bb51dbf2e552c5588819b6e7918428
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/planner.o.d
@@ -0,0 +1,92 @@
+planner.o: src/modules/src/planner.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/modules/interface/planner.h src/modules/interface/math3d.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/pptraj.h src/modules/interface/pptraj_compressed.h \
+ /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/modules/interface/planner.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/pptraj.h:
+
+src/modules/interface/pptraj_compressed.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..73d4c94bb5cc4e352a9a658099cabe565aaa9694
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform.o.d
@@ -0,0 +1,174 @@
+platform.o: src/platform/platform.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/platform/platform.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/motors.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/platform/platform.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/motors.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_cf2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_cf2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ceebb77626af6965fadcd37b6c67d8088e915c2a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_cf2.o.d
@@ -0,0 +1,190 @@
+platform_cf2.o: src/platform/platform_cf2.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/platform/platform.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/motors.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/interface/exti.h src/drivers/interface/nvic.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/platform/platform.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/motors.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/interface/exti.h:
+
+src/drivers/interface/nvic.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_stm32f4.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_stm32f4.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ad2284fa3c2e868356596c7ef3ea60a6dd88a028
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_stm32f4.o.d
@@ -0,0 +1,175 @@
+platform_stm32f4.o: src/platform/platform_stm32f4.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/platform/platform.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/motors.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/platform/platform.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/motors.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
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+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_utils.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_utils.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..576bc3b9c43f98eb7bf5e3b3cc2cb736f13e3f9d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platform_utils.o.d
@@ -0,0 +1,144 @@
+platform_utils.o: src/platform/platform_utils.c src/platform/platform.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/motors.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/hal/interface/radiolink.h src/hal/interface/syslink.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/platform/platform.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/motors.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/hal/interface/radiolink.h:
+
+src/hal/interface/syslink.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platformservice.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platformservice.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..784e6b1e2ecab49a6aa8bc8769a1cff6b4fd03d6
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/platformservice.o.d
@@ -0,0 +1,230 @@
+platformservice.o: src/modules/src/platformservice.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/modules/interface/crtp.h src/modules/interface/platformservice.h \
+ src/modules/interface/crtp.h src/hal/interface/syslink.h \
+ src/utils/interface/version.h src/platform/platform.h \
+ src/drivers/interface/motors.h src/modules/interface/app_channel.h \
+ src/modules/interface/static_mem.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/modules/interface/crtp.h:
+
+src/modules/interface/platformservice.h:
+
+src/modules/interface/crtp.h:
+
+src/hal/interface/syslink.h:
+
+src/utils/interface/version.h:
+
+src/platform/platform.h:
+
+src/drivers/interface/motors.h:
+
+src/modules/interface/app_channel.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pm_stm32f4.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pm_stm32f4.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b9a1addf5213a2b040523c92346a720c26ebb1bb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pm_stm32f4.o.d
@@ -0,0 +1,268 @@
+pm_stm32f4.o: src/hal/src/pm_stm32f4.c src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/modules/interface/system.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ src/hal/interface/syslink.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/drivers/interface/led.h src/modules/interface/log.h \
+ src/hal/interface/ledseq.h src/modules/interface/commander.h \
+ src/modules/interface/sound.h src/modules/interface/static_mem.h
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
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+
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+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
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+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/modules/interface/system.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/drivers/interface/led.h:
+
+src/modules/interface/log.h:
+
+src/hal/interface/ledseq.h:
+
+src/modules/interface/commander.h:
+
+src/modules/interface/sound.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pmw3901.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pmw3901.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f6032a704fdbd594736f2cf6c1b209ed669110aa
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pmw3901.o.d
@@ -0,0 +1,251 @@
+pmw3901.o: src/drivers/src/pmw3901.c vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/pmw3901.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/debug.h \
+ src/config/config.h src/modules/interface/system.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/sleepus.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
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+
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+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
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+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
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+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
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+vendor/FreeRTOS/include/list.h:
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+src/drivers/interface/pmw3901.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/sleepus.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/port.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/port.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..a83a70112dd005530733d5236dc17b14bdd97a6a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/port.o.d
@@ -0,0 +1,162 @@
+port.o: vendor/FreeRTOS/portable/GCC/ARM_CM4F/port.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_controller_indi.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_controller_indi.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f1b6ee9431e1644c529bbe72ad198257ea1c33cb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_controller_indi.o.d
@@ -0,0 +1,98 @@
+position_controller_indi.o: src/modules/src/position_controller_indi.c \
+ src/modules/interface/position_controller_indi.h \
+ src/modules/interface/controller_indi.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/filter.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/math3d.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/position_controller.h \
+ src/modules/interface/attitude_controller.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/position_controller_indi.h
+
+src/modules/interface/position_controller_indi.h:
+
+src/modules/interface/controller_indi.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/filter.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/math3d.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/position_controller.h:
+
+src/modules/interface/attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/position_controller_indi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_controller_pid.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_controller_pid.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..bae94b6d4bed525e8de4384722493ec9b800ff12
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_controller_pid.o.d
@@ -0,0 +1,87 @@
+position_controller_pid.o: src/modules/src/position_controller_pid.c \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/utils/interface/num.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/commander.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/pid.h src/utils/interface/filter.h \
+ src/modules/interface/position_controller.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/utils/interface/num.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/commander.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/pid.h:
+
+src/utils/interface/filter.h:
+
+src/modules/interface/position_controller.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_estimator_altitude.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_estimator_altitude.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..407f99b8682482cdc7d3570d0e020f6b98b59cb7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/position_estimator_altitude.o.d
@@ -0,0 +1,185 @@
+position_estimator_altitude.o: \
+ src/modules/src/position_estimator_altitude.c \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/utils/interface/num.h \
+ src/modules/interface/position_estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/num.h:
+
+src/modules/interface/position_estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/power_distribution_stock.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/power_distribution_stock.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..31e986e49e36de94a4985181c3567a93d2dc564b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/power_distribution_stock.o.d
@@ -0,0 +1,209 @@
+power_distribution_stock.o: src/modules/src/power_distribution_stock.c \
+ src/modules/interface/power_distribution.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/utils/interface/num.h \
+ src/platform/platform.h src/drivers/interface/motors.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/modules/interface/power_distribution.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/num.h:
+
+src/platform/platform.h:
+
+src/drivers/interface/motors.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pptraj.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pptraj.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ec667b9c8949241fc63098d11fff70d1f923c6cc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pptraj.o.d
@@ -0,0 +1,48 @@
+pptraj.o: src/modules/src/pptraj.c src/modules/interface/pptraj.h \
+ src/modules/interface/math3d.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+src/modules/interface/pptraj.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pptraj_compressed.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pptraj_compressed.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..5230597d6b97655f504ef992bf1776c444b37aff
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pptraj_compressed.o.d
@@ -0,0 +1,103 @@
+pptraj_compressed.o: src/modules/src/pptraj_compressed.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ src/modules/interface/pptraj_compressed.h src/modules/interface/pptraj.h \
+ src/modules/interface/math3d.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/pptraj_compressed.h:
+
+src/modules/interface/pptraj.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/proximity.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/proximity.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0b8abd77c4123feebed2a4462280e7309be6fe52
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/proximity.o.d
@@ -0,0 +1,250 @@
+proximity.o: src/hal/src/proximity.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/hal/interface/proximity.h src/drivers/interface/maxsonar.h \
+ src/modules/interface/system.h src/modules/interface/param.h \
+ src/modules/interface/log.h src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/hal/interface/proximity.h:
+
+src/drivers/interface/maxsonar.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..680e67c1c175fdfe1a7e0dbf253b89cdd7cd2aad
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor.o.d
@@ -0,0 +1,218 @@
+pulse_processor.o: src/utils/src/lighthouse/pulse_processor.c \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/pulse_processor_v1.h \
+ src/utils/interface/lighthouse/pulse_processor_v2.h \
+ src/utils/interface/cf_math.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/pulse_processor_v1.h:
+
+src/utils/interface/lighthouse/pulse_processor_v2.h:
+
+src/utils/interface/cf_math.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor_v1.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor_v1.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..09f921533367977655d3d8fdc6423145acf8bdaa
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor_v1.o.d
@@ -0,0 +1,127 @@
+pulse_processor_v1.o: src/utils/src/lighthouse/pulse_processor_v1.c \
+ src/utils/interface/lighthouse/pulse_processor_v1.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/test_support.h \
+ src/utils/interface/physicalConstants.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/lighthouse/pulse_processor_v1.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/test_support.h:
+
+src/utils/interface/physicalConstants.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor_v2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor_v2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..4dffbb53a5cebc4590c75e1a30850ee3894596ef
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/pulse_processor_v2.o.d
@@ -0,0 +1,126 @@
+pulse_processor_v2.o: src/utils/src/lighthouse/pulse_processor_v2.c \
+ src/utils/interface/lighthouse/pulse_processor_v2.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/string.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/modules/interface/math3d.h src/utils/interface/test_support.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/lighthouse/pulse_processor_v2.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/modules/interface/math3d.h:
+
+src/utils/interface/test_support.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/queue.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/queue.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..99020d0c33e7b5f7543e080a51160a206a4239d7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/queue.o.d
@@ -0,0 +1,217 @@
+queue.o: vendor/FreeRTOS/queue.c /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/queuemonitor.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/queuemonitor.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d42ff424e442c56e4fa1fc50ecea706b965e70a7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/queuemonitor.o.d
@@ -0,0 +1,159 @@
+queuemonitor.o: src/modules/src/queuemonitor.c \
+ src/modules/interface/queuemonitor.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h
+
+src/modules/interface/queuemonitor.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/radiolink.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/radiolink.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..1150422b34fd2fc9b1a6c222fa813dfd78efe125
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/radiolink.o.d
@@ -0,0 +1,241 @@
+radiolink.o: src/hal/src/radiolink.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/config/config.h \
+ src/hal/interface/radiolink.h src/hal/interface/syslink.h \
+ src/hal/interface/syslink.h src/modules/interface/crtp.h \
+ src/utils/interface/configblock.h src/modules/interface/log.h \
+ src/drivers/interface/led.h src/hal/interface/ledseq.h \
+ src/modules/interface/queuemonitor.h src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/hal/interface/radiolink.h:
+
+src/hal/interface/syslink.h:
+
+src/hal/interface/syslink.h:
+
+src/modules/interface/crtp.h:
+
+src/utils/interface/configblock.h:
+
+src/modules/interface/log.h:
+
+src/drivers/interface/led.h:
+
+src/hal/interface/ledseq.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/range.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/range.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d364f791bf7b644322a3b9df8cb5eecec98db257
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/range.o.d
@@ -0,0 +1,30 @@
+range.o: src/modules/src/range.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/log.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/range.h src/modules/interface/stabilizer_types.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/log.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/range.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/rateSupervisor.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/rateSupervisor.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7319dfd9fe81b213a640ce79051fb3e3b8ca7397
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/rateSupervisor.o.d
@@ -0,0 +1,10 @@
+rateSupervisor.o: src/utils/src/rateSupervisor.c \
+ src/utils/interface/rateSupervisor.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+src/utils/interface/rateSupervisor.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensfusion6.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensfusion6.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f2ad02d687d0d9b0e2dadb7c5a71f5bad96531b8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensfusion6.o.d
@@ -0,0 +1,56 @@
+sensfusion6.o: src/modules/src/sensfusion6.c /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/sensfusion6.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/modules/interface/log.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/param.h src/utils/interface/physicalConstants.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/sensfusion6.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/modules/interface/log.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/physicalConstants.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..eb49c9e51bb68f93335fe807e567bd725f73ca1c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors.o.d
@@ -0,0 +1,161 @@
+sensors.o: src/hal/src/sensors.c src/hal/interface/sensors.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h src/platform/platform.h \
+ src/drivers/interface/motors.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/utils/interface/debug.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/hal/interface/sensors_bmi088_bmp388.h src/hal/interface/sensors.h \
+ src/hal/interface/sensors_mpu9250_lps25h.h
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/platform/platform.h:
+
+src/drivers/interface/motors.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/hal/interface/sensors_bmi088_bmp388.h:
+
+src/hal/interface/sensors.h:
+
+src/hal/interface/sensors_mpu9250_lps25h.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_bmp388.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_bmp388.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7f462b1e98c416c99ab1ca9556dc4293588bc946
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_bmp388.o.d
@@ -0,0 +1,286 @@
+sensors_bmi088_bmp388.o: src/hal/src/sensors_bmi088_bmp388.c \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/hal/interface/sensors_bmi088_bmp388.h \
+ src/hal/interface/sensors.h src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/hal/interface/imu.h src/utils/interface/filter.h \
+ src/hal/interface/imu_types.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/task.h \
+ src/modules/interface/system.h src/utils/interface/configblock.h \
+ src/modules/interface/param.h src/modules/interface/log.h \
+ src/utils/interface/debug.h src/config/config.h src/config/nvicconf.h \
+ src/hal/interface/ledseq.h src/drivers/interface/led.h \
+ src/modules/interface/sound.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/bosch/interface/bmi088.h \
+ src/drivers/bosch/interface/bmi088_defs.h \
+ src/drivers/bosch/interface/bmp3.h \
+ src/drivers/bosch/interface/bmp3_defs.h \
+ src/drivers/bosch/interface/bstdr_types.h \
+ src/modules/interface/static_mem.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h \
+ src/hal/src/sensors_bmi088_common.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/hal/interface/sensors_bmi088_bmp388.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/hal/interface/imu.h:
+
+src/utils/interface/filter.h:
+
+src/hal/interface/imu_types.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/configblock.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/config/nvicconf.h:
+
+src/hal/interface/ledseq.h:
+
+src/drivers/interface/led.h:
+
+src/modules/interface/sound.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/bosch/interface/bmi088.h:
+
+src/drivers/bosch/interface/bmi088_defs.h:
+
+src/drivers/bosch/interface/bmp3.h:
+
+src/drivers/bosch/interface/bmp3_defs.h:
+
+src/drivers/bosch/interface/bstdr_types.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/src/sensors_bmi088_common.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_i2c.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_i2c.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..9ac52911bcb928cf940b93e720341be12188eac7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_i2c.o.d
@@ -0,0 +1,185 @@
+sensors_bmi088_i2c.o: src/hal/src/sensors_bmi088_i2c.c \
+ src/drivers/bosch/interface/bmi088.h \
+ src/drivers/bosch/interface/bmi088_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/bosch/interface/bstdr_types.h \
+ src/hal/src/sensors_bmi088_common.h
+
+src/drivers/bosch/interface/bmi088.h:
+
+src/drivers/bosch/interface/bmi088_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/bosch/interface/bstdr_types.h:
+
+src/hal/src/sensors_bmi088_common.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_spi.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_spi.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..5493bc403357561ad31ade11a897d16b80069329
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_bmi088_spi.o.d
@@ -0,0 +1,231 @@
+sensors_bmi088_spi.o: src/hal/src/sensors_bmi088_spi.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/bosch/interface/bmi088.h \
+ src/drivers/bosch/interface/bmi088_defs.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/bosch/interface/bstdr_types.h src/config/nvicconf.h \
+ src/hal/src/sensors_bmi088_common.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/bosch/interface/bmi088.h:
+
+src/drivers/bosch/interface/bmi088_defs.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/bosch/interface/bstdr_types.h:
+
+src/config/nvicconf.h:
+
+src/hal/src/sensors_bmi088_common.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_mpu9250_lps25h.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_mpu9250_lps25h.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b8265c454ddef520e447d0169ca1ea656cf35646
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sensors_mpu9250_lps25h.o.d
@@ -0,0 +1,276 @@
+sensors_mpu9250_lps25h.o: src/hal/src/sensors_mpu9250_lps25h.c \
+ src/hal/interface/sensors_mpu9250_lps25h.h src/hal/interface/sensors.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/drivers/interface/lps25h.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/interface/mpu6500.h src/drivers/interface/ak8963.h \
+ vendor/FreeRTOS/include/task.h src/modules/interface/system.h \
+ src/utils/interface/configblock.h src/modules/interface/param.h \
+ src/modules/interface/log.h src/utils/interface/debug.h \
+ src/config/config.h src/hal/interface/imu.h src/utils/interface/filter.h \
+ src/hal/interface/imu_types.h src/config/nvicconf.h \
+ src/hal/interface/ledseq.h src/drivers/interface/led.h \
+ src/modules/interface/sound.h src/modules/interface/static_mem.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h
+
+src/hal/interface/sensors_mpu9250_lps25h.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/drivers/interface/lps25h.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/mpu6500.h:
+
+src/drivers/interface/ak8963.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/configblock.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/hal/interface/imu.h:
+
+src/utils/interface/filter.h:
+
+src/hal/interface/imu_types.h:
+
+src/config/nvicconf.h:
+
+src/hal/interface/ledseq.h:
+
+src/drivers/interface/led.h:
+
+src/modules/interface/sound.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sleepus.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sleepus.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7a7887453ff36227f8ed84a46e94fe58a7c62dd2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sleepus.o.d
@@ -0,0 +1,9 @@
+sleepus.o: src/utils/src/sleepus.c src/utils/interface/sleepus.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/hal/interface/usec_time.h
+
+src/utils/interface/sleepus.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/hal/interface/usec_time.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sound_cf2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sound_cf2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..9a7e1d87fd28875a3d2daf8b46ceaa482635f0c4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sound_cf2.o.d
@@ -0,0 +1,227 @@
+sound_cf2.o: src/modules/src/sound_cf2.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ src/config/config.h src/modules/interface/param.h \
+ src/modules/interface/log.h src/modules/interface/sound.h \
+ src/hal/interface/buzzer.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/sound.h:
+
+src/hal/interface/buzzer.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stabilizer.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stabilizer.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..485a53f56e55a67f81b4848ab650832bf4736f2e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stabilizer.o.d
@@ -0,0 +1,337 @@
+stabilizer.o: src/modules/src/stabilizer.c /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/modules/interface/system.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/motors.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ src/hal/interface/syslink.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ src/modules/interface/stabilizer.h src/hal/interface/sensors.h \
+ src/modules/interface/stabilizer_types.h \
+ src/modules/interface/commander.h \
+ src/modules/interface/crtp_localization_service.h \
+ src/utils/interface/lighthouse/pulse_processor.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/utils/interface/lighthouse/lighthouse_geometry.h \
+ vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/modules/interface/controller.h \
+ src/modules/interface/power_distribution.h \
+ src/modules/interface/collision_avoidance.h \
+ src/modules/interface/math3d.h src/modules/interface/health.h \
+ src/modules/interface/supervisor.h src/deck/drivers/interface/usddeck.h \
+ src/modules/interface/quatcompress.h src/utils/interface/statsCnt.h \
+ src/modules/interface/static_mem.h src/utils/interface/rateSupervisor.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/modules/interface/system.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/motors.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/stabilizer.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/modules/interface/commander.h:
+
+src/modules/interface/crtp_localization_service.h:
+
+src/utils/interface/lighthouse/pulse_processor.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/utils/interface/lighthouse/lighthouse_geometry.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/modules/interface/controller.h:
+
+src/modules/interface/power_distribution.h:
+
+src/modules/interface/collision_avoidance.h:
+
+src/modules/interface/math3d.h:
+
+src/modules/interface/health.h:
+
+src/modules/interface/supervisor.h:
+
+src/deck/drivers/interface/usddeck.h:
+
+src/modules/interface/quatcompress.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/rateSupervisor.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/static_mem.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/static_mem.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..a58284f87680b365f32157b8e1355e497bd084c2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/static_mem.o.d
@@ -0,0 +1,160 @@
+static_mem.o: src/modules/src/static_mem.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h \
+ src/modules/interface/static_mem.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/statsCnt.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/statsCnt.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7f7e12a577442cc9367b4dcf13cda69e74bf83e3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/statsCnt.o.d
@@ -0,0 +1,35 @@
+statsCnt.o: src/utils/src/statsCnt.c src/utils/interface/statsCnt.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/log.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/utils/interface/statsCnt.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/log.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_adc.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_adc.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..d1fab3fe09076762d3b9f265966c6b79ffd4e1d2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_adc.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_adc.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_dbgmcu.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_dbgmcu.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..60280e29b05ccda55fe83fc8f2bbf1edab7e96af
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_dbgmcu.o.d
@@ -0,0 +1,107 @@
+stm32f4xx_dbgmcu.o: \
+ src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dbgmcu.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_dma.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_dma.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..022fc6e510ddebd078ef2653214551f92a3073e4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_dma.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_dma.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_exti.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_exti.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b84abf7096ce5d87e6efa5b76ecadc7df7eab42d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_exti.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_exti.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_exti.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_flash.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_flash.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e86925ae1f61edfa0a71470fc5d5f95252295f94
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_flash.o.d
@@ -0,0 +1,107 @@
+stm32f4xx_flash.o: \
+ src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_flash.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_gpio.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_gpio.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c3eb87b46c594fb6a862df2db03e1e64091b25bf
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_gpio.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_gpio.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_i2c.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_i2c.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8de41b9216763f3b2c4b6d94ec2294ee8f784b61
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_i2c.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_i2c.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_iwdg.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_iwdg.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3d1335f74f7d07d67a25352d237b92c997bd3ee7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_iwdg.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_iwdg.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_iwdg.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_misc.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_misc.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..714dd9e1af6007d97829c5151bdfc931a5386a7c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_misc.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_misc.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_misc.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_rcc.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_rcc.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..90b6440d6b5d8b9dff66f0fe86850a69df7b3686
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_rcc.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_rcc.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_spi.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_spi.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6b9b2113435d81f4a9ee7ded5d0ceb888d7634b1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_spi.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_spi.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_syscfg.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_syscfg.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..dcc7a102fb1edab342597b9cf885dd127cc8dfdf
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_syscfg.o.d
@@ -0,0 +1,107 @@
+stm32f4xx_syscfg.o: \
+ src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_syscfg.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_tim.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_tim.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..cdaf34e68ba45dff2e7aa73490bb755a8c537081
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_tim.o.d
@@ -0,0 +1,106 @@
+stm32f4xx_tim.o: src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_usart.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_usart.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c84a3afa43815f378f0d42a5c4d0a4d5d4b12240
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/stm32f4xx_usart.o.d
@@ -0,0 +1,107 @@
+stm32f4xx_usart.o: \
+ src/lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/storage.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/storage.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..eee6ba700e3e7e27bb56c714e7b5867dcc95fadf
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/storage.o.d
@@ -0,0 +1,191 @@
+storage.o: src/hal/src/storage.c src/hal/interface/storage.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/utils/interface/kve/kve.h src/utils/interface/kve/kve_common.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/queue.h \
+ src/drivers/interface/eeprom.h src/drivers/interface/i2cdev.h \
+ src/utils/interface/debug.h src/config/config.h
+
+src/hal/interface/storage.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/utils/interface/kve/kve.h:
+
+src/utils/interface/kve/kve_common.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/eeprom.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/student_attitude_controller.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/student_attitude_controller.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ec1e7f136586654c1e4db7d45169544512dd5cb7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/student_attitude_controller.o.d
@@ -0,0 +1,223 @@
+student_attitude_controller.o: \
+ src/modules/src/student_attitude_controller.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h \
+ src/modules/interface/student_attitude_controller.h \
+ src/modules/interface/commander.h src/config/config.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/modules/interface/student_pid.h src/utils/interface/filter.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/modules/interface/param.h \
+ src/modules/interface/log.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+src/modules/interface/student_attitude_controller.h:
+
+src/modules/interface/commander.h:
+
+src/config/config.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/modules/interface/student_pid.h:
+
+src/utils/interface/filter.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/student_pid.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/student_pid.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..5105ff0f94dec3f574a0b97535505d2267253841
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/student_pid.o.d
@@ -0,0 +1,57 @@
+student_pid.o: src/modules/src/student_pid.c \
+ src/modules/interface/student_pid.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/filter.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/math.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h src/utils/interface/num.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h
+
+src/modules/interface/student_pid.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/filter.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+src/utils/interface/num.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/supervisor.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/supervisor.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3e93dcf9d5d22a7d3d58d4aa257c5d30fbc77364
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/supervisor.o.d
@@ -0,0 +1,271 @@
+supervisor.o: src/modules/src/supervisor.c /usr/include/newlib/math.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h src/modules/interface/log.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/param.h src/drivers/interface/motors.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/hal/interface/pm.h src/drivers/interface/adc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/hal/interface/syslink.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ src/modules/interface/stabilizer.h src/modules/interface/supervisor.h
+
+/usr/include/newlib/math.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/modules/interface/log.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/param.h:
+
+src/drivers/interface/motors.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/stabilizer.h:
+
+src/modules/interface/supervisor.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/swd.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/swd.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..03e7472bfd241475507c275ebcf45440fe16f995
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/swd.o.d
@@ -0,0 +1,164 @@
+swd.o: src/drivers/src/swd.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/drivers/interface/swd.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/drivers/interface/swd.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/syslink.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/syslink.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7d7831d42d1eb9a81c741e6a1c2bf5db07554de1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/syslink.o.d
@@ -0,0 +1,273 @@
+syslink.o: src/hal/src/syslink.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h src/config/config.h \
+ src/utils/interface/debug.h src/hal/interface/syslink.h \
+ src/hal/interface/radiolink.h src/hal/interface/syslink.h \
+ src/drivers/interface/uart_syslink.h src/modules/interface/crtp.h \
+ src/utils/interface/configblock.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/hal/interface/ow.h src/modules/interface/static_mem.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/utils/interface/debug.h:
+
+src/hal/interface/syslink.h:
+
+src/hal/interface/radiolink.h:
+
+src/hal/interface/syslink.h:
+
+src/drivers/interface/uart_syslink.h:
+
+src/modules/interface/crtp.h:
+
+src/utils/interface/configblock.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/hal/interface/ow.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sysload.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sysload.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7ac625ae281be567e6999cecd2be412e40a568a6
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/sysload.o.d
@@ -0,0 +1,177 @@
+sysload.o: src/modules/src/sysload.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/modules/interface/param.h src/modules/interface/static_mem.h \
+ src/modules/interface/sysload.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/sysload.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/system.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/system.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ad1e65b9235f3d141ddcbe0b20f6555b8e8b7470
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/system.o.d
@@ -0,0 +1,349 @@
+system.o: src/modules/src/system.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/utils/interface/version.h src/modules/interface/param.h \
+ src/modules/interface/log.h src/hal/interface/ledseq.h \
+ src/drivers/interface/led.h src/hal/interface/pm.h \
+ src/drivers/interface/adc.h src/hal/interface/syslink.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/system.h \
+ src/platform/platform.h src/drivers/interface/motors.h \
+ src/hal/interface/storage.h src/utils/interface/configblock.h \
+ src/modules/interface/worker.h src/hal/interface/freeRTOSdebug.h \
+ src/drivers/interface/uart_syslink.h src/modules/interface/crtp.h \
+ src/hal/interface/syslink.h src/drivers/interface/uart1.h \
+ src/drivers/interface/uart2.h src/modules/interface/comm.h \
+ src/modules/interface/stabilizer.h src/modules/interface/commander.h \
+ src/hal/interface/usblink.h src/modules/interface/mem.h \
+ src/hal/interface/proximity.h src/drivers/interface/watchdog.h \
+ src/modules/interface/queuemonitor.h src/hal/interface/buzzer.h \
+ src/modules/interface/sound.h src/modules/interface/sysload.h \
+ src/modules/interface/estimator_kalman.h src/modules/interface/extrx.h \
+ src/modules/interface/app.h src/modules/interface/static_mem.h \
+ src/modules/interface/peer_localization.h src/modules/interface/math3d.h \
+ /usr/include/newlib/math.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/queue.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/utils/interface/version.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/log.h:
+
+src/hal/interface/ledseq.h:
+
+src/drivers/interface/led.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/system.h:
+
+src/platform/platform.h:
+
+src/drivers/interface/motors.h:
+
+src/hal/interface/storage.h:
+
+src/utils/interface/configblock.h:
+
+src/modules/interface/worker.h:
+
+src/hal/interface/freeRTOSdebug.h:
+
+src/drivers/interface/uart_syslink.h:
+
+src/modules/interface/crtp.h:
+
+src/hal/interface/syslink.h:
+
+src/drivers/interface/uart1.h:
+
+src/drivers/interface/uart2.h:
+
+src/modules/interface/comm.h:
+
+src/modules/interface/stabilizer.h:
+
+src/modules/interface/commander.h:
+
+src/hal/interface/usblink.h:
+
+src/modules/interface/mem.h:
+
+src/hal/interface/proximity.h:
+
+src/drivers/interface/watchdog.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/hal/interface/buzzer.h:
+
+src/modules/interface/sound.h:
+
+src/modules/interface/sysload.h:
+
+src/modules/interface/estimator_kalman.h:
+
+src/modules/interface/extrx.h:
+
+src/modules/interface/app.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/peer_localization.h:
+
+src/modules/interface/math3d.h:
+
+/usr/include/newlib/math.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/queue.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/system_stm32f4xx.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/system_stm32f4xx.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..215e484d7667acb13533cb5b7f18af804f42eac1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/system_stm32f4xx.o.d
@@ -0,0 +1,106 @@
+system_stm32f4xx.o: src/lib/CMSIS/STM32F4xx/Source/system_stm32f4xx.c \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tasks.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tasks.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..99bf820914f42f7de96f4c2a4af25d8e8805fff1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tasks.o.d
@@ -0,0 +1,219 @@
+tasks.o: vendor/FreeRTOS/tasks.c /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/stack_macros.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/stack_macros.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaEngine.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaEngine.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7e6ac60f58fea016b2b338cb680824bfa1b91120
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaEngine.o.d
@@ -0,0 +1,111 @@
+tdoaEngine.o: src/utils/src/tdoa/tdoaEngine.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/utils/src/tdoa/tdoaEngine.h src/utils/src/tdoa/tdoaStorage.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/clockCorrectionEngine.h \
+ src/utils/src/tdoa/tdoaStats.h /usr/include/newlib/inttypes.h \
+ /usr/include/newlib/sys/_intsup.h src/utils/interface/statsCnt.h \
+ src/modules/interface/log.h src/utils/interface/physicalConstants.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/utils/src/tdoa/tdoaEngine.h:
+
+src/utils/src/tdoa/tdoaStorage.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/clockCorrectionEngine.h:
+
+src/utils/src/tdoa/tdoaStats.h:
+
+/usr/include/newlib/inttypes.h:
+
+/usr/include/newlib/sys/_intsup.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/log.h:
+
+src/utils/interface/physicalConstants.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaEngineInstance.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaEngineInstance.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c8169e9f8f34ab647d229ea545e8613a8e2f7b3f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaEngineInstance.o.d
@@ -0,0 +1,184 @@
+tdoaEngineInstance.o: src/modules/src/tdoaEngineInstance.c \
+ src/modules/interface/tdoaEngineInstance.h \
+ src/utils/interface/tdoa/tdoaEngine.h \
+ src/utils/interface/tdoa/tdoaStorage.h \
+ src/modules/interface/stabilizer_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/clockCorrectionEngine.h \
+ src/utils/interface/tdoa/tdoaStats.h /usr/include/newlib/inttypes.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/_intsup.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_locale.h src/utils/interface/statsCnt.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/static_mem.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/modules/interface/tdoaEngineInstance.h:
+
+src/utils/interface/tdoa/tdoaEngine.h:
+
+src/utils/interface/tdoa/tdoaStorage.h:
+
+src/modules/interface/stabilizer_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/clockCorrectionEngine.h:
+
+src/utils/interface/tdoa/tdoaStats.h:
+
+/usr/include/newlib/inttypes.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/_intsup.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaStats.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaStats.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..973ff6d758db41f8e0b0cbabf95c2a1960c85195
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaStats.o.d
@@ -0,0 +1,65 @@
+tdoaStats.o: src/utils/src/tdoa/tdoaStats.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/tdoa/tdoaStats.h \
+ /usr/include/newlib/inttypes.h /usr/include/newlib/sys/_intsup.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/statsCnt.h src/modules/interface/log.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/tdoa/tdoaStats.h:
+
+/usr/include/newlib/inttypes.h:
+
+/usr/include/newlib/sys/_intsup.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/log.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaStorage.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaStorage.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3b31e2b321d8c3d786556962a14cd4c9df394404
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/tdoaStorage.o.d
@@ -0,0 +1,94 @@
+tdoaStorage.o: src/utils/src/tdoa/tdoaStorage.c \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/utils/src/tdoa/tdoaStorage.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/utils/interface/clockCorrectionEngine.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/utils/src/tdoa/tdoaStorage.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/utils/interface/clockCorrectionEngine.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/timers.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/timers.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c80228d6afb71072707856cfc35a26672060e905
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/timers.o.d
@@ -0,0 +1,209 @@
+timers.o: vendor/FreeRTOS/timers.c /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/timers.h
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/timers.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart1.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart1.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..fa651bc10c4ea42dba7793e2904848e5a756a03b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart1.o.d
@@ -0,0 +1,224 @@
+uart1.o: src/drivers/src/uart1.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ src/config/config.h src/drivers/interface/nvic.h \
+ src/drivers/interface/uart1.h src/config/nvicconf.h \
+ src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/drivers/interface/nvic.h:
+
+src/drivers/interface/uart1.h:
+
+src/config/nvicconf.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..440b75d3d9506f67345e6a3f01ea14654e3c8e61
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart2.o.d
@@ -0,0 +1,224 @@
+uart2.o: src/drivers/src/uart2.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/list.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ src/config/config.h src/drivers/interface/nvic.h \
+ src/drivers/interface/uart2.h src/config/nvicconf.h \
+ src/modules/interface/static_mem.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/drivers/interface/nvic.h:
+
+src/drivers/interface/uart2.h:
+
+src/config/nvicconf.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart_syslink.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart_syslink.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..95391d50a53c6dfd404a45b135ca3e14cb016614
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/uart_syslink.o.d
@@ -0,0 +1,232 @@
+uart_syslink.o: src/drivers/src/uart_syslink.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/config/config.h \
+ src/drivers/interface/uart_syslink.h src/modules/interface/crtp.h \
+ src/hal/interface/syslink.h src/config/nvicconf.h \
+ src/modules/interface/queuemonitor.h src/modules/interface/static_mem.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/config/config.h:
+
+src/drivers/interface/uart_syslink.h:
+
+src/modules/interface/crtp.h:
+
+src/hal/interface/syslink.h:
+
+src/config/nvicconf.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..7c4d892398e1ea8658293fd1a4e347cd6154ea85
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb.o.d
@@ -0,0 +1,278 @@
+usb.o: src/hal/src/usb.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/modules/interface/queuemonitor.h \
+ src/config/config.h src/hal/interface/usblink.h \
+ src/modules/interface/crtp.h src/hal/interface/radiolink.h \
+ src/hal/interface/syslink.h src/hal/interface/usb.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usb_conf.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_usr.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usbd_desc.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h \
+ src/modules/interface/static_mem.h src/modules/interface/bootloader.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/config/config.h:
+
+src/hal/interface/usblink.h:
+
+src/modules/interface/crtp.h:
+
+src/hal/interface/radiolink.h:
+
+src/hal/interface/syslink.h:
+
+src/hal/interface/usb.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_usr.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usbd_desc.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/bootloader.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_bsp.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_bsp.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..22a9ed5a429aa7e7e378429b6cbefd756a23c806
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_bsp.o.d
@@ -0,0 +1,163 @@
+usb_bsp.o: src/hal/src/usb_bsp.c \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usb_conf.h \
+ src/config/stm32fxxx.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/config/nvicconf.h
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
+
+src/config/stm32fxxx.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/config/nvicconf.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f53d047ce298abce565b4951d4ef7fa4fe2e5470
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_core.o.d
@@ -0,0 +1,140 @@
+usb_core.o: src/lib/STM32_USB_OTG_Driver/src/usb_core.c \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_dcd.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_dcd.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c82b14ca06994ad536e2c9d22f79c91112548cfe
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_dcd.o.d
@@ -0,0 +1,140 @@
+usb_dcd.o: src/lib/STM32_USB_OTG_Driver/src/usb_dcd.c \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_dcd_int.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_dcd_int.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..610c4317dd46e42d55d39bef2fa4087b9cc8a3f2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usb_dcd_int.o.d
@@ -0,0 +1,140 @@
+usb_dcd_int.o: src/lib/STM32_USB_OTG_Driver/src/usb_dcd_int.c \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd_int.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd_int.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3384fbc17988e3146ec33a43afe2a3f6dcb6d7d7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_core.o.d
@@ -0,0 +1,166 @@
+usbd_core.o: src/lib/STM32_USB_Device_Library/Core/src/usbd_core.c \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usb_conf.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_req.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd_int.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_req.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd_int.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_bsp.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_desc.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_desc.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3e65d2940a36edcd78e53a5f585c71382f6ad644
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_desc.o.d
@@ -0,0 +1,176 @@
+usbd_desc.o: src/hal/src/usbd_desc.c \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usb_conf.h \
+ src/hal/interface/usbd_desc.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_req.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
+
+src/hal/interface/usbd_desc.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_req.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_ioreq.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_ioreq.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f5f322772b01ce1f71f7aeb80f43ed6dbcc48c59
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_ioreq.o.d
@@ -0,0 +1,154 @@
+usbd_ioreq.o: src/lib/STM32_USB_Device_Library/Core/src/usbd_ioreq.c \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usb_conf.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_req.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_req.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..87b8c6ee970833eb5790675c409822b0d37340fa
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usbd_req.o.d
@@ -0,0 +1,182 @@
+usbd_req.o: src/lib/STM32_USB_Device_Library/Core/src/usbd_req.c \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h src/hal/interface/usb_conf.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/_newlib_version.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/CMSIS/CMSIS/Core/Include/core_cm4.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h \
+ src/hal/interface/usbd_conf.h src/hal/interface/usb_conf.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_req.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h \
+ src/lib/STM32_USB_OTG_Driver/inc/usb_core.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h \
+ src/hal/interface/usbd_desc.h \
+ src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h \
+ src/modules/interface/static_mem.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/modules/interface/console.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_dcd.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/hal/interface/usb_conf.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_regs.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/CMSIS/CMSIS/Core/Include/core_cm4.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_defines.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_req.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_core.h:
+
+src/lib/STM32_USB_OTG_Driver/inc/usb_core.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_ioreq.h:
+
+src/hal/interface/usbd_desc.h:
+
+src/lib/STM32_USB_Device_Library/Core/inc/usbd_def.h:
+
+src/modules/interface/static_mem.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/console.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usblink.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usblink.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b958c8301c427f100a03a26c09ea0b4cc4e91520
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usblink.o.d
@@ -0,0 +1,280 @@
+usblink.o: src/hal/src/usblink.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/hal/interface/usblink.h src/modules/interface/crtp.h \
+ src/utils/interface/configblock.h src/hal/interface/ledseq.h \
+ src/drivers/interface/led.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/hal/interface/pm.h src/drivers/interface/adc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/modules/interface/console.h \
+ src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/hal/interface/syslink.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h \
+ src/modules/interface/queuemonitor.h src/modules/interface/static_mem.h \
+ src/hal/interface/usb.h src/hal/interface/usbd_conf.h \
+ src/hal/interface/usb_conf.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/hal/interface/usblink.h:
+
+src/modules/interface/crtp.h:
+
+src/utils/interface/configblock.h:
+
+src/hal/interface/ledseq.h:
+
+src/drivers/interface/led.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/hal/interface/pm.h:
+
+src/drivers/interface/adc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/hal/interface/syslink.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/modules/interface/static_mem.h:
+
+src/hal/interface/usb.h:
+
+src/hal/interface/usbd_conf.h:
+
+src/hal/interface/usb_conf.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usddeck.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usddeck.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..8a77b03209e065d45c7b89da5326fb80404f4c34
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usddeck.o.d
@@ -0,0 +1,301 @@
+usddeck.o: src/deck/drivers/src/usddeck.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdlib.h \
+ /usr/include/newlib/machine/stdlib.h /usr/include/newlib/alloca.h \
+ /usr/include/newlib/ctype.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/timers.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h src/lib/FatFS/ff.h src/config/ffconf.h \
+ src/lib/FatFS/diskio.h src/drivers/interface/fatfs_sd.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ src/deck/drivers/interface/usddeck.h src/modules/interface/system.h \
+ src/hal/interface/sensors.h src/modules/interface/stabilizer_types.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/drivers/interface/led.h src/utils/interface/statsCnt.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/utils/interface/crc32.h src/modules/interface/static_mem.h \
+ src/modules/interface/mem.h src/modules/interface/eventtrigger.h \
+ src/deck/interface/deck_spi.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+/usr/include/newlib/ctype.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/timers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/FatFS/ff.h:
+
+src/config/ffconf.h:
+
+src/lib/FatFS/diskio.h:
+
+src/drivers/interface/fatfs_sd.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+src/deck/drivers/interface/usddeck.h:
+
+src/modules/interface/system.h:
+
+src/hal/interface/sensors.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/led.h:
+
+src/utils/interface/statsCnt.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/utils/interface/crc32.h:
+
+src/modules/interface/static_mem.h:
+
+src/modules/interface/mem.h:
+
+src/modules/interface/eventtrigger.h:
+
+src/deck/interface/deck_spi.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usec_time.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usec_time.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..aa72c0172cd31081e95e771a27b39679187a633b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/usec_time.o.d
@@ -0,0 +1,127 @@
+usec_time.o: src/hal/src/usec_time.c \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h src/config/nvicconf.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/config/nvicconf.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/version.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/version.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..4a892c880bcd0b6952f6061e67ee3550e2b76039
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/version.o.d
@@ -0,0 +1,21 @@
+version.o: version.c /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/modules/interface/param.h
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/modules/interface/param.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l0x.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l0x.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..6d399a66b17b3175696f9a1fd99318f873eee7cb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l0x.o.d
@@ -0,0 +1,186 @@
+vl53l0x.o: src/drivers/src/vl53l0x.c vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/drivers/interface/vl53l0x.h \
+ src/drivers/interface/i2cdev.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/vl53l0x.h:
+
+src/drivers/interface/i2cdev.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..ba8b33bd9df537701109272e810c51a7faf22219
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api.o.d
@@ -0,0 +1,348 @@
+vl53l1_api.o: src/lib/vl53l1/core/src/vl53l1_api.c \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_settings.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_funcs.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_calibration.h \
+ src/lib/vl53l1/core/inc/vl53l1_wait.h \
+ src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_preset_setup.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_debug.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
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+
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+
+src/lib/vl53l1/core/inc/vl53l1_api_debug.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_calibration.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_calibration.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c1439fca7edf63a7e4c71b49789b974582f4ff24
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_calibration.o.d
@@ -0,0 +1,352 @@
+vl53l1_api_calibration.o: \
+ src/lib/vl53l1/core/src/vl53l1_api_calibration.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
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+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/vl53l1_platform.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_funcs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_settings.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_wait.h \
+ src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h \
+ src/lib/vl53l1/core/inc/vl53l1_silicon_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_calibration.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
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+src/drivers/interface/vl53l1x.h:
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+src/lib/vl53l1/core/inc/vl53l1_def.h:
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+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
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+src/drivers/interface/i2c_drv.h:
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+vendor/FreeRTOS/include/FreeRTOS.h:
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+src/config/FreeRTOSConfig.h:
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+src/config/config.h:
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+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
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+src/hal/interface/usec_time.h:
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+src/utils/interface/cfassert.h:
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+src/config/stm32fxxx.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_funcs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_settings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_wait.h:
+
+src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_silicon_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_calibration.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..0a4491ef4c854e27ff99849fa2d5478a73d787af
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_core.o.d
@@ -0,0 +1,354 @@
+vl53l1_api_core.o: src/lib/vl53l1/core/src/vl53l1_api_core.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/vl53l1_platform.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_settings.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_funcs.h \
+ src/lib/vl53l1/core/inc/vl53l1_nvm_map.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_wait.h \
+ src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h \
+ src/lib/vl53l1/core/inc/vl53l1_silicon_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_tuning_parm_defaults.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_settings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_funcs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_nvm_map.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_wait.h:
+
+src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_silicon_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_tuning_parm_defaults.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_debug.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_debug.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f9b5c46f8d65e23d241477d122e96e8673478a21
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_debug.o.d
@@ -0,0 +1,330 @@
+vl53l1_api_debug.o: src/lib/vl53l1/core/src/vl53l1_api_debug.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h src/lib/vl53l1/vl53l1_platform.h \
+ src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_debug.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_debug.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_preset_modes.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_preset_modes.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..c0346d2eaa4ef8edc1123e5897e53ef613b90533
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_preset_modes.o.d
@@ -0,0 +1,337 @@
+vl53l1_api_preset_modes.o: \
+ src/lib/vl53l1/core/src/vl53l1_api_preset_modes.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_settings.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h src/lib/vl53l1/vl53l1_platform.h \
+ src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h \
+ src/lib/vl53l1/core/inc/vl53l1_tuning_parm_defaults.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
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+
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+src/drivers/interface/nrf24l01.h:
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+src/drivers/interface/nRF24L01reg.h:
+
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+src/hal/interface/usec_time.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
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+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
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+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
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+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
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+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_tuning_parm_defaults.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_strings.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_strings.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..5d7ba7a361b2ded6cffa8ff07ea8187382e39bb2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_api_strings.o.d
@@ -0,0 +1,327 @@
+vl53l1_api_strings.o: src/lib/vl53l1/core/src/vl53l1_api_strings.c \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
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+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
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+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_strings.h
+
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+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_strings.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..4f028081f901011e0f44313068af08fe2dbfb3e4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_core.o.d
@@ -0,0 +1,342 @@
+vl53l1_core.o: src/lib/vl53l1/core/src/vl53l1_core.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_funcs.h \
+ src/lib/vl53l1/vl53l1_platform.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_settings.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/src/../../../../drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_tuning_parm_defaults.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_funcs.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_settings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_preset_modes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/src/../../../../drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_tuning_parm_defaults.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_core_support.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_core_support.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..b2eb9b81d7bcbb87a6c46f916d7fa3c5e7deb83d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_core_support.o.d
@@ -0,0 +1,304 @@
+vl53l1_core_support.o: src/lib/vl53l1/core/src/vl53l1_core_support.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_error_strings.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_error_strings.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..e9949143e212fd57fb536d7c28c1aaee745b4d48
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_error_strings.o.d
@@ -0,0 +1,133 @@
+vl53l1_error_strings.o: src/lib/vl53l1/core/src/vl53l1_error_strings.c \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_register_funcs.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_register_funcs.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3e6c1b764fa685052fcfd85e7654f2909183ec15
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_register_funcs.o.d
@@ -0,0 +1,336 @@
+vl53l1_register_funcs.o: src/lib/vl53l1/core/src/vl53l1_register_funcs.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
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+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
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+ src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
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+ src/config/trace.h src/hal/interface/usec_time.h \
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+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_funcs.h \
+ src/lib/vl53l1/core/src/../../../../drivers/interface/vl53l1x.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
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+/usr/include/newlib/string.h:
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+/usr/include/newlib/_ansi.h:
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+/usr/include/newlib/newlib.h:
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+/usr/include/newlib/_newlib_version.h:
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+/usr/include/newlib/sys/config.h:
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+/usr/include/newlib/machine/ieeefp.h:
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+/usr/include/newlib/sys/features.h:
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+/usr/include/newlib/sys/reent.h:
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+/usr/include/newlib/_ansi.h:
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+/usr/include/newlib/sys/_types.h:
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+/usr/include/newlib/machine/_types.h:
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+/usr/include/newlib/machine/_default_types.h:
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+/usr/include/newlib/sys/lock.h:
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+/usr/include/newlib/sys/cdefs.h:
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+/usr/include/newlib/sys/_locale.h:
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+/usr/include/newlib/strings.h:
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+/usr/include/newlib/sys/string.h:
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+/usr/include/newlib/stdio.h:
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+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
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+/usr/include/newlib/sys/types.h:
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+/usr/include/newlib/sys/_stdint.h:
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+/usr/include/newlib/machine/endian.h:
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+/usr/include/newlib/machine/_endian.h:
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+/usr/include/newlib/sys/select.h:
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+/usr/include/newlib/sys/_sigset.h:
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+/usr/include/newlib/sys/timespec.h:
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+/usr/include/newlib/sys/_timespec.h:
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+/usr/include/newlib/sys/_pthreadtypes.h:
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+/usr/include/newlib/sys/sched.h:
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+/usr/include/newlib/machine/types.h:
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+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
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+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
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+src/lib/vl53l1/core/inc/vl53l1_core.h:
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+src/lib/vl53l1/vl53l1_platform.h:
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+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
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+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_funcs.h:
+
+src/lib/vl53l1/core/src/../../../../drivers/interface/vl53l1x.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_silicon_core.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_silicon_core.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..75133b07f731bbf8e691eae192104e4e551b65c5
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_silicon_core.o.d
@@ -0,0 +1,330 @@
+vl53l1_silicon_core.o: src/lib/vl53l1/core/src/vl53l1_silicon_core.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h src/lib/vl53l1/vl53l1_platform.h \
+ src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_silicon_core.h \
+ src/lib/vl53l1/core/src/../../../../drivers/interface/vl53l1x.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
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+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
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+/usr/include/newlib/newlib.h:
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+/usr/include/newlib/machine/ieeefp.h:
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+/usr/include/newlib/sys/features.h:
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+/usr/include/newlib/sys/reent.h:
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+/usr/include/newlib/_ansi.h:
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+/usr/include/newlib/machine/_types.h:
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+/usr/include/newlib/machine/_default_types.h:
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+/usr/include/newlib/sys/lock.h:
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+/usr/include/newlib/sys/cdefs.h:
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+/usr/include/newlib/sys/_locale.h:
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+/usr/include/newlib/strings.h:
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+/usr/include/newlib/sys/string.h:
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+/usr/include/newlib/stdlib.h:
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+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
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+
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+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
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+
+src/lib/vl53l1/core/inc/vl53l1_core.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
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+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
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+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_silicon_core.h:
+
+src/lib/vl53l1/core/src/../../../../drivers/interface/vl53l1x.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_wait.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_wait.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f69b577414d7be0518fe561eb7e98fea82804101
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1_wait.o.d
@@ -0,0 +1,336 @@
+vl53l1_wait.o: src/lib/vl53l1/core/src/vl53l1_wait.c \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h /usr/include/newlib/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/types.h /usr/include/newlib/sys/_stdint.h \
+ /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h \
+ src/lib/vl53l1/vl53l1_platform.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h src/drivers/interface/i2cdev.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform_log.h \
+ src/lib/vl53l1/core/inc/vl53l1_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_core_support.h \
+ src/lib/vl53l1/core/inc/vl53l1_silicon_core.h \
+ src/lib/vl53l1/core/inc/vl53l1_wait.h \
+ src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_settings.h
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
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+/usr/include/newlib/string.h:
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+/usr/include/newlib/_ansi.h:
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+/usr/include/newlib/newlib.h:
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+/usr/include/newlib/_newlib_version.h:
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+/usr/include/newlib/sys/config.h:
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+/usr/include/newlib/machine/ieeefp.h:
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+/usr/include/newlib/sys/features.h:
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+/usr/include/newlib/sys/reent.h:
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+/usr/include/newlib/_ansi.h:
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+/usr/include/newlib/sys/_types.h:
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+/usr/include/newlib/machine/_types.h:
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+/usr/include/newlib/machine/_default_types.h:
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+/usr/include/newlib/sys/lock.h:
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+/usr/include/newlib/sys/cdefs.h:
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+/usr/include/newlib/sys/timespec.h:
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+/usr/include/newlib/sys/sched.h:
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+/usr/include/newlib/machine/types.h:
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+/usr/include/newlib/sys/stdio.h:
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+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/drivers/interface/i2cdev.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_core_support.h:
+
+src/lib/vl53l1/core/inc/vl53l1_silicon_core.h:
+
+src/lib/vl53l1/core/inc/vl53l1_wait.h:
+
+src/lib/vl53l1/core/inc/../../../../drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_settings.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1x.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1x.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..87fb898cbf67d607dd5354b595cd2b25c473b8b8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/vl53l1x.o.d
@@ -0,0 +1,321 @@
+vl53l1x.o: src/drivers/src/vl53l1x.c /usr/include/newlib/stdio.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/types.h \
+ /usr/include/newlib/sys/_stdint.h /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ /usr/include/newlib/string.h /usr/include/newlib/sys/_locale.h \
+ /usr/include/newlib/strings.h /usr/include/newlib/sys/string.h \
+ vendor/FreeRTOS/include/FreeRTOS.h src/config/FreeRTOSConfig.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/drivers/interface/vl53l1x.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform.h src/lib/vl53l1/vl53l1_platform_log.h
+
+/usr/include/newlib/stdio.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/watchdog.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/watchdog.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..3dca21604712935b040edcb8b408fa9dd595c0f0
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/watchdog.o.d
@@ -0,0 +1,137 @@
+watchdog.o: src/drivers/src/watchdog.c src/utils/interface/debug.h \
+ src/config/config.h src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ src/drivers/interface/watchdog.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+src/drivers/interface/watchdog.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/worker.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/worker.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..f52ea801b32cf678c9d6b67588314a404b40b54a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/worker.o.d
@@ -0,0 +1,207 @@
+worker.o: src/modules/src/worker.c src/modules/interface/worker.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ /usr/include/newlib/errno.h /usr/include/newlib/sys/errno.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h src/drivers/interface/nRF24L01reg.h \
+ src/config/trace.h src/hal/interface/usec_time.h \
+ src/utils/interface/cfassert.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h src/modules/interface/queuemonitor.h \
+ src/modules/interface/static_mem.h
+
+src/modules/interface/worker.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+/usr/include/newlib/errno.h:
+
+/usr/include/newlib/sys/errno.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+src/modules/interface/queuemonitor.h:
+
+src/modules/interface/static_mem.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ws2812_cf2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ws2812_cf2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..82cbc95b13f02738211055aed79166163b94fceb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/ws2812_cf2.o.d
@@ -0,0 +1,212 @@
+ws2812_cf2.o: src/drivers/src/ws2812_cf2.c /usr/include/newlib/string.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/newlib.h \
+ /usr/include/newlib/_newlib_version.h /usr/include/newlib/sys/config.h \
+ /usr/include/newlib/machine/ieeefp.h /usr/include/newlib/sys/features.h \
+ /usr/include/newlib/sys/reent.h /usr/include/newlib/_ansi.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/include/newlib/sys/_types.h /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/config/stm32fxxx.h \
+ src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/config/nvicconf.h vendor/FreeRTOS/include/FreeRTOS.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/config/nvicconf.h:
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/zranger.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/zranger.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..57bdd9ef014d7afb64d431054d6f5ca52dd8c840
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/zranger.o.d
@@ -0,0 +1,301 @@
+zranger.o: src/deck/drivers/src/zranger.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/deck/interface/deck.h \
+ src/deck/interface/deck_core.h src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/system.h \
+ src/utils/interface/debug.h src/config/config.h \
+ src/modules/interface/log.h src/modules/interface/param.h \
+ src/modules/interface/range.h src/modules/interface/static_mem.h \
+ src/drivers/interface/i2cdev.h src/drivers/interface/i2c_drv.h \
+ vendor/FreeRTOS/include/semphr.h vendor/FreeRTOS/include/queue.h \
+ vendor/FreeRTOS/include/task.h vendor/FreeRTOS/include/queue.h \
+ src/deck/drivers/interface/zranger.h \
+ src/modules/interface/stabilizer_types.h src/deck/interface/deck_core.h \
+ src/drivers/interface/vl53l0x.h src/drivers/interface/i2cdev.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/debug.h:
+
+src/config/config.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/range.h:
+
+src/modules/interface/static_mem.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/deck/drivers/interface/zranger.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/deck/interface/deck_core.h:
+
+src/drivers/interface/vl53l0x.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/zranger2.o.d b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/zranger2.o.d
new file mode 100644
index 0000000000000000000000000000000000000000..2477e7cae3a821d0563612f2d287d83458803235
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/dep/zranger2.o.d
@@ -0,0 +1,393 @@
+zranger2.o: src/deck/drivers/src/zranger2.c \
+ vendor/FreeRTOS/include/FreeRTOS.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h \
+ src/config/FreeRTOSConfig.h src/config/config.h \
+ src/drivers/interface/nrf24l01.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h \
+ src/drivers/interface/nRF24L01reg.h src/config/trace.h \
+ src/hal/interface/usec_time.h src/utils/interface/cfassert.h \
+ src/config/stm32fxxx.h src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cm4.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h \
+ src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h \
+ src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h \
+ src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h \
+ src/config/stm32f4xx_conf.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h \
+ src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h \
+ src/modules/interface/console.h src/utils/interface/eprintf.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h \
+ vendor/FreeRTOS/include/projdefs.h vendor/FreeRTOS/include/portable.h \
+ vendor/FreeRTOS/include/deprecated_definitions.h \
+ vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h \
+ vendor/FreeRTOS/include/mpu_wrappers.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/list.h src/config/config.h \
+ src/deck/interface/deck.h src/deck/interface/deck_core.h \
+ src/modules/interface/estimator.h \
+ src/modules/interface/stabilizer_types.h src/hal/interface/imu_types.h \
+ src/utils/interface/lighthouse/lighthouse_calibration.h \
+ src/utils/interface/lighthouse/ootx_decoder.h \
+ src/deck/interface/deck_constants.h src/deck/interface/deck_digital.h \
+ src/deck/interface/deck_analog.h src/deck/interface/deck_spi.h \
+ /usr/include/newlib/string.h /usr/include/newlib/_ansi.h \
+ /usr/include/newlib/newlib.h /usr/include/newlib/_newlib_version.h \
+ /usr/include/newlib/sys/config.h /usr/include/newlib/machine/ieeefp.h \
+ /usr/include/newlib/sys/features.h /usr/include/newlib/sys/reent.h \
+ /usr/include/newlib/_ansi.h /usr/include/newlib/sys/_types.h \
+ /usr/include/newlib/machine/_types.h \
+ /usr/include/newlib/machine/_default_types.h \
+ /usr/include/newlib/sys/lock.h /usr/include/newlib/sys/cdefs.h \
+ /usr/include/newlib/sys/_locale.h /usr/include/newlib/strings.h \
+ /usr/include/newlib/sys/string.h src/modules/interface/system.h \
+ src/utils/interface/debug.h src/modules/interface/log.h \
+ src/modules/interface/param.h src/modules/interface/range.h \
+ src/modules/interface/static_mem.h src/drivers/interface/i2cdev.h \
+ src/drivers/interface/i2c_drv.h vendor/FreeRTOS/include/semphr.h \
+ vendor/FreeRTOS/include/queue.h vendor/FreeRTOS/include/task.h \
+ vendor/FreeRTOS/include/queue.h src/deck/drivers/interface/zranger2.h \
+ src/modules/interface/stabilizer_types.h src/deck/interface/deck_core.h \
+ src/drivers/interface/vl53l1x.h src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_device.h src/lib/vl53l1/vl53l1_types.h \
+ /usr/include/newlib/stdio.h /usr/include/newlib/sys/types.h \
+ /usr/include/newlib/sys/_stdint.h /usr/include/newlib/machine/endian.h \
+ /usr/include/newlib/machine/_endian.h /usr/include/newlib/sys/select.h \
+ /usr/include/newlib/sys/_sigset.h /usr/include/newlib/sys/_timeval.h \
+ /usr/include/newlib/sys/timespec.h /usr/include/newlib/sys/_timespec.h \
+ /usr/include/newlib/sys/_pthreadtypes.h /usr/include/newlib/sys/sched.h \
+ /usr/include/newlib/machine/types.h /usr/include/newlib/sys/stdio.h \
+ /usr/include/newlib/stdlib.h /usr/include/newlib/machine/stdlib.h \
+ /usr/include/newlib/alloca.h \
+ src/lib/vl53l1/vl53l1_platform_user_config.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_codes.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_structs.h \
+ src/lib/vl53l1/core/inc/vl53l1_register_map.h \
+ src/lib/vl53l1/vl53l1_platform_user_defines.h \
+ src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h \
+ src/lib/vl53l1/vl53l1_platform_user_data.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_ll_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_strings.h \
+ src/lib/vl53l1/core/inc/vl53l1_def.h \
+ src/lib/vl53l1/core/inc/vl53l1_api_core.h \
+ src/lib/vl53l1/vl53l1_platform.h src/lib/vl53l1/vl53l1_platform_log.h \
+ src/utils/interface/cf_math.h vendor/CMSIS/CMSIS/DSP/Include/arm_math.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h \
+ vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h /usr/include/newlib/math.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h \
+ /usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h \
+ src/utils/interface/cfassert.h
+
+vendor/FreeRTOS/include/FreeRTOS.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stddef.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdint.h:
+
+src/config/FreeRTOSConfig.h:
+
+src/config/config.h:
+
+src/drivers/interface/nrf24l01.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdbool.h:
+
+src/drivers/interface/nRF24L01reg.h:
+
+src/config/trace.h:
+
+src/hal/interface/usec_time.h:
+
+src/utils/interface/cfassert.h:
+
+src/config/stm32fxxx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cm4.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmInstr.h:
+
+src/lib/CMSIS/STM32F4xx/Include/cmsis_gcc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmFunc.h:
+
+src/lib/CMSIS/STM32F4xx/Include/core_cmSimd.h:
+
+src/lib/CMSIS/STM32F4xx/Include/system_stm32f4xx.h:
+
+src/config/stm32f4xx_conf.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_adc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_crc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dbgmcu.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dma.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_exti.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_flash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_gpio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_i2c.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_iwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_pwr.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rcc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rtc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_sdio.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_spi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_syscfg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_tim.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_usart.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_wwdg.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_misc.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_cryp.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_hash.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_rng.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_can.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dac.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_dcmi.h:
+
+src/lib/STM32F4xx_StdPeriph_Driver/inc/stm32f4xx_fsmc.h:
+
+src/modules/interface/console.h:
+
+src/utils/interface/eprintf.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/stdarg.h:
+
+vendor/FreeRTOS/include/projdefs.h:
+
+vendor/FreeRTOS/include/portable.h:
+
+vendor/FreeRTOS/include/deprecated_definitions.h:
+
+vendor/FreeRTOS/portable/GCC/ARM_CM4F/portmacro.h:
+
+vendor/FreeRTOS/include/mpu_wrappers.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/list.h:
+
+src/config/config.h:
+
+src/deck/interface/deck.h:
+
+src/deck/interface/deck_core.h:
+
+src/modules/interface/estimator.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/hal/interface/imu_types.h:
+
+src/utils/interface/lighthouse/lighthouse_calibration.h:
+
+src/utils/interface/lighthouse/ootx_decoder.h:
+
+src/deck/interface/deck_constants.h:
+
+src/deck/interface/deck_digital.h:
+
+src/deck/interface/deck_analog.h:
+
+src/deck/interface/deck_spi.h:
+
+/usr/include/newlib/string.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/newlib.h:
+
+/usr/include/newlib/_newlib_version.h:
+
+/usr/include/newlib/sys/config.h:
+
+/usr/include/newlib/machine/ieeefp.h:
+
+/usr/include/newlib/sys/features.h:
+
+/usr/include/newlib/sys/reent.h:
+
+/usr/include/newlib/_ansi.h:
+
+/usr/include/newlib/sys/_types.h:
+
+/usr/include/newlib/machine/_types.h:
+
+/usr/include/newlib/machine/_default_types.h:
+
+/usr/include/newlib/sys/lock.h:
+
+/usr/include/newlib/sys/cdefs.h:
+
+/usr/include/newlib/sys/_locale.h:
+
+/usr/include/newlib/strings.h:
+
+/usr/include/newlib/sys/string.h:
+
+src/modules/interface/system.h:
+
+src/utils/interface/debug.h:
+
+src/modules/interface/log.h:
+
+src/modules/interface/param.h:
+
+src/modules/interface/range.h:
+
+src/modules/interface/static_mem.h:
+
+src/drivers/interface/i2cdev.h:
+
+src/drivers/interface/i2c_drv.h:
+
+vendor/FreeRTOS/include/semphr.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+vendor/FreeRTOS/include/task.h:
+
+vendor/FreeRTOS/include/queue.h:
+
+src/deck/drivers/interface/zranger2.h:
+
+src/modules/interface/stabilizer_types.h:
+
+src/deck/interface/deck_core.h:
+
+src/drivers/interface/vl53l1x.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_device.h:
+
+src/lib/vl53l1/vl53l1_types.h:
+
+/usr/include/newlib/stdio.h:
+
+/usr/include/newlib/sys/types.h:
+
+/usr/include/newlib/sys/_stdint.h:
+
+/usr/include/newlib/machine/endian.h:
+
+/usr/include/newlib/machine/_endian.h:
+
+/usr/include/newlib/sys/select.h:
+
+/usr/include/newlib/sys/_sigset.h:
+
+/usr/include/newlib/sys/_timeval.h:
+
+/usr/include/newlib/sys/timespec.h:
+
+/usr/include/newlib/sys/_timespec.h:
+
+/usr/include/newlib/sys/_pthreadtypes.h:
+
+/usr/include/newlib/sys/sched.h:
+
+/usr/include/newlib/machine/types.h:
+
+/usr/include/newlib/sys/stdio.h:
+
+/usr/include/newlib/stdlib.h:
+
+/usr/include/newlib/machine/stdlib.h:
+
+/usr/include/newlib/alloca.h:
+
+src/lib/vl53l1/vl53l1_platform_user_config.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_codes.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_structs.h:
+
+src/lib/vl53l1/core/inc/vl53l1_register_map.h:
+
+src/lib/vl53l1/vl53l1_platform_user_defines.h:
+
+src/lib/vl53l1/core/inc/vl53l1_error_exceptions.h:
+
+src/lib/vl53l1/vl53l1_platform_user_data.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_ll_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_strings.h:
+
+src/lib/vl53l1/core/inc/vl53l1_def.h:
+
+src/lib/vl53l1/core/inc/vl53l1_api_core.h:
+
+src/lib/vl53l1/vl53l1_platform.h:
+
+src/lib/vl53l1/vl53l1_platform_log.h:
+
+src/utils/interface/cf_math.h:
+
+vendor/CMSIS/CMSIS/DSP/Include/arm_math.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_compiler.h:
+
+vendor/CMSIS/CMSIS/Core/Include/cmsis_gcc.h:
+
+/usr/include/newlib/math.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include/float.h:
+
+/usr/lib/gcc/arm-none-eabi/9.2.1/include-fixed/limits.h:
+
+src/utils/interface/cfassert.h:
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/estimator.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/bin/estimator.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/cf2.map b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/cf2.map
new file mode 100644
index 0000000000000000000000000000000000000000..8041cc358563be1d1855b9e9e1576bd3e819653f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/cf2.map
@@ -0,0 +1,44443 @@
+Archive member included to satisfy reference by file (symbol)
+
+bin/libarm_math.a(arm_add_f32.o)
+ bin/lighthouse_geometry.o (arm_add_f32)
+bin/libarm_math.a(arm_cos_f32.o)
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+bin/libarm_math.a(arm_dot_prod_f32.o)
+ bin/lighthouse_geometry.o (arm_dot_prod_f32)
+bin/libarm_math.a(arm_scale_f32.o)
+ bin/lighthouse_geometry.o (arm_scale_f32)
+bin/libarm_math.a(arm_sin_f32.o)
+ bin/kalman_core.o (arm_sin_f32)
+bin/libarm_math.a(arm_sub_f32.o)
+ bin/lighthouse_geometry.o (arm_sub_f32)
+bin/libarm_math.a(arm_common_tables.o)
+ bin/libarm_math.a(arm_cos_f32.o) (sinTable_f32)
+/usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_atan.o)
+ bin/ledring12.o (atanf)
+/usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_cos.o)
+ bin/sensors_mpu9250_lps25h.o (cosf)
+/usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_fabs.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_atan.o) (fabsf)
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+ .debug_ranges 0x0000000000000000 0x28 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ .debug_line 0x0000000000000000 0x22a /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ .debug_str 0x0000000000000000 0x62b /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ .comment 0x0000000000000000 0x4f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ .debug_frame 0x0000000000000000 0x40 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ .ARM.attributes
+ 0x0000000000000000 0x34 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ .text 0x0000000000000000 0x4 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .data 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .bss 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_info 0x0000000000000000 0xa3 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_abbrev 0x0000000000000000 0x6a /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_loc 0x0000000000000000 0x15 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_aranges
+ 0x0000000000000000 0x20 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_line 0x0000000000000000 0x6e /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_str 0x0000000000000000 0x19f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .comment 0x0000000000000000 0x4f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .debug_frame 0x0000000000000000 0x20 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .ARM.attributes
+ 0x0000000000000000 0x34 /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ .text 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .data 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .bss 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .eh_frame 0x0000000000000000 0x4 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .tm_clone_table
+ 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .comment 0x0000000000000000 0x5a /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .ARM.attributes
+ 0x0000000000000000 0x32 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+ .text 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+ .data 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+ .bss 0x0000000000000000 0x0 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+ .init 0x0000000000000000 0x8 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+ .fini 0x0000000000000000 0x8 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+ .ARM.attributes
+ 0x0000000000000000 0x1e /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+
+Memory Configuration
+
+Name Origin Length Attributes
+RAM 0x0000000020000000 0x0000000000020000 xrw
+CCMRAM 0x0000000010000000 0x0000000000010000 xrw
+FLASH 0x0000000008004000 0x00000000000fc000 xr
+FLASHPATCH 0x0000000000000000 0x0000000000000000 r
+ENDFLASH 0x0000000000000000 0x0000000000000000 xr
+FLASHB1 0x0000000000000000 0x0000000000000000 xr
+EXTMEMB0 0x0000000000000000 0x0000000000000000 xr
+EXTMEMB1 0x0000000000000000 0x0000000000000000 xr
+EXTMEMB2 0x0000000000000000 0x0000000000000000 xr
+EXTMEMB3 0x0000000000000000 0x0000000000000000 xr
+*default* 0x0000000000000000 0xffffffffffffffff
+
+Linker script and memory map
+
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crti.o
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtbegin.o
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+LOAD bin/list.o
+LOAD bin/tasks.o
+LOAD bin/queue.o
+LOAD bin/timers.o
+LOAD bin/heap_4.o
+LOAD bin/port.o
+LOAD bin/stm32f4xx_adc.o
+LOAD bin/stm32f4xx_dbgmcu.o
+LOAD bin/stm32f4xx_dma.o
+LOAD bin/stm32f4xx_exti.o
+LOAD bin/stm32f4xx_flash.o
+LOAD bin/stm32f4xx_gpio.o
+LOAD bin/stm32f4xx_i2c.o
+LOAD bin/stm32f4xx_iwdg.o
+LOAD bin/stm32f4xx_rcc.o
+LOAD bin/stm32f4xx_spi.o
+LOAD bin/stm32f4xx_tim.o
+LOAD bin/stm32f4xx_usart.o
+LOAD bin/stm32f4xx_misc.o
+LOAD bin/stm32f4xx_syscfg.o
+LOAD bin/usb_core.o
+LOAD bin/usb_dcd_int.o
+LOAD bin/usb_dcd.o
+LOAD bin/usbd_ioreq.o
+LOAD bin/usbd_req.o
+LOAD bin/usbd_core.o
+LOAD bin/sensors_mpu9250_lps25h.o
+LOAD bin/sensors_bmi088_bmp388.o
+LOAD bin/sensors_bmi088_i2c.o
+LOAD bin/sensors_bmi088_spi.o
+LOAD bin/ff.o
+LOAD bin/ffunicode.o
+LOAD bin/fatfs_sd.o
+LOAD bin/main.o
+LOAD bin/platform.o
+LOAD bin/platform_utils.o
+LOAD bin/platform_cf2.o
+LOAD bin/platform_stm32f4.o
+LOAD bin/exti.o
+LOAD bin/nvic.o
+LOAD bin/motors.o
+LOAD bin/led.o
+LOAD bin/mpu6500.o
+LOAD bin/i2cdev.o
+LOAD bin/ws2812_cf2.o
+LOAD bin/lps25h.o
+LOAD bin/i2c_drv.o
+LOAD bin/ak8963.o
+LOAD bin/eeprom.o
+LOAD bin/maxsonar.o
+LOAD bin/piezo.o
+LOAD bin/uart_syslink.o
+LOAD bin/swd.o
+LOAD bin/uart1.o
+LOAD bin/uart2.o
+LOAD bin/watchdog.o
+LOAD bin/cppm.o
+LOAD bin/bmi055_accel.o
+LOAD bin/bmi055_gyro.o
+LOAD bin/bmi160.o
+LOAD bin/bmp280.o
+LOAD bin/bstdr_comm_support.o
+LOAD bin/bmm150.o
+LOAD bin/bmi088_accel.o
+LOAD bin/bmi088_gyro.o
+LOAD bin/bmi088_fifo.o
+LOAD bin/bmp3.o
+LOAD bin/pca9685.o
+LOAD bin/vl53l0x.o
+LOAD bin/pca95x4.o
+LOAD bin/pca9555.o
+LOAD bin/vl53l1x.o
+LOAD bin/pmw3901.o
+LOAD bin/amg8833.o
+LOAD bin/lh_bootloader.o
+LOAD bin/usb_bsp.o
+LOAD bin/usblink.o
+LOAD bin/usbd_desc.o
+LOAD bin/usb.o
+LOAD bin/crtp.o
+LOAD bin/ledseq.o
+LOAD bin/freeRTOSdebug.o
+LOAD bin/buzzer.o
+LOAD bin/pm_stm32f4.o
+LOAD bin/syslink.o
+LOAD bin/radiolink.o
+LOAD bin/ow_syslink.o
+LOAD bin/ow_common.o
+LOAD bin/proximity.o
+LOAD bin/usec_time.o
+LOAD bin/sensors.o
+LOAD bin/storage.o
+LOAD bin/libdw1000.o
+LOAD bin/libdw1000Spi.o
+LOAD bin/vl53l1_api_core.o
+LOAD bin/vl53l1_api.o
+LOAD bin/vl53l1_core.o
+LOAD bin/vl53l1_silicon_core.o
+LOAD bin/vl53l1_api_strings.o
+LOAD bin/vl53l1_api_calibration.o
+LOAD bin/vl53l1_api_debug.o
+LOAD bin/vl53l1_api_preset_modes.o
+LOAD bin/vl53l1_error_strings.o
+LOAD bin/vl53l1_register_funcs.o
+LOAD bin/vl53l1_wait.o
+LOAD bin/vl53l1_core_support.o
+LOAD bin/system.o
+LOAD bin/comm.o
+LOAD bin/console.o
+LOAD bin/pid.o
+LOAD bin/crtpservice.o
+LOAD bin/param.o
+LOAD bin/bootloader.o
+LOAD bin/log.o
+LOAD bin/worker.o
+LOAD bin/queuemonitor.o
+LOAD bin/msp.o
+LOAD bin/platformservice.o
+LOAD bin/sound_cf2.o
+LOAD bin/extrx.o
+LOAD bin/sysload.o
+LOAD bin/mem.o
+LOAD bin/range.o
+LOAD bin/app_handler.o
+LOAD bin/static_mem.o
+LOAD bin/app_channel.o
+LOAD bin/eventtrigger.o
+LOAD bin/supervisor.o
+LOAD bin/commander.o
+LOAD bin/crtp_commander.o
+LOAD bin/crtp_commander_rpyt.o
+LOAD bin/crtp_commander_generic.o
+LOAD bin/crtp_localization_service.o
+LOAD bin/peer_localization.o
+LOAD bin/attitude_pid_controller.o
+LOAD bin/sensfusion6.o
+LOAD bin/stabilizer.o
+LOAD bin/position_estimator_altitude.o
+LOAD bin/position_controller_pid.o
+LOAD bin/position_controller_indi.o
+LOAD bin/estimator.o
+LOAD bin/estimator_complementary.o
+LOAD bin/controller.o
+LOAD bin/controller_pid.o
+LOAD bin/controller_mellinger.o
+LOAD bin/controller_indi.o
+LOAD bin/student_attitude_controller.o
+LOAD bin/student_pid.o
+LOAD bin/controller_student.o
+LOAD bin/power_distribution_stock.o
+LOAD bin/collision_avoidance.o
+LOAD bin/health.o
+LOAD bin/estimator_kalman.o
+LOAD bin/kalman_core.o
+LOAD bin/kalman_supervisor.o
+LOAD bin/mm_distance.o
+LOAD bin/mm_absolute_height.o
+LOAD bin/mm_position.o
+LOAD bin/mm_pose.o
+LOAD bin/mm_tdoa.o
+LOAD bin/mm_flow.o
+LOAD bin/mm_tof.o
+LOAD bin/mm_yaw_error.o
+LOAD bin/mm_sweep_angles.o
+LOAD bin/mm_tdoa_robust.o
+LOAD bin/mm_distance_robust.o
+LOAD bin/crtp_commander_high_level.o
+LOAD bin/planner.o
+LOAD bin/pptraj.o
+LOAD bin/pptraj_compressed.o
+LOAD bin/deck.o
+LOAD bin/deck_info.o
+LOAD bin/deck_drivers.o
+LOAD bin/deck_test.o
+LOAD bin/deck_memory.o
+LOAD bin/deck_constants.o
+LOAD bin/deck_digital.o
+LOAD bin/deck_analog.o
+LOAD bin/deck_spi.o
+LOAD bin/deck_spi3.o
+LOAD bin/bigquad.o
+LOAD bin/ledring12.o
+LOAD bin/buzzdeck.o
+LOAD bin/gtgps.o
+LOAD bin/cppmdeck.o
+LOAD bin/usddeck.o
+LOAD bin/zranger.o
+LOAD bin/zranger2.o
+LOAD bin/locodeck.o
+LOAD bin/clockCorrectionEngine.o
+LOAD bin/lpsTwrTag.o
+LOAD bin/lpsTdoa2Tag.o
+LOAD bin/lpsTdoa3Tag.o
+LOAD bin/tdoaEngineInstance.o
+LOAD bin/tdoaEngine.o
+LOAD bin/tdoaStats.o
+LOAD bin/tdoaStorage.o
+LOAD bin/outlierFilter.o
+LOAD bin/flowdeck_v1v2.o
+LOAD bin/oa.o
+LOAD bin/multiranger.o
+LOAD bin/lighthouse.o
+LOAD bin/activeMarkerDeck.o
+LOAD bin/aideck.o
+LOAD bin/exptest.o
+LOAD bin/exptestRR.o
+LOAD bin/exptestBolt.o
+LOAD bin/filter.o
+LOAD bin/cpuid.o
+LOAD bin/cfassert.o
+LOAD bin/eprintf.o
+LOAD bin/crc32.o
+LOAD bin/num.o
+LOAD bin/debug.o
+LOAD bin/version.o
+LOAD bin/FreeRTOS-openocd.o
+LOAD bin/configblockeeprom.o
+LOAD bin/sleepus.o
+LOAD bin/statsCnt.o
+LOAD bin/rateSupervisor.o
+LOAD bin/lighthouse_core.o
+LOAD bin/pulse_processor.o
+LOAD bin/pulse_processor_v1.o
+LOAD bin/pulse_processor_v2.o
+LOAD bin/lighthouse_geometry.o
+LOAD bin/ootx_decoder.o
+LOAD bin/lighthouse_calibration.o
+LOAD bin/lighthouse_deck_flasher.o
+LOAD bin/lighthouse_position_est.o
+LOAD bin/lighthouse_storage.o
+LOAD bin/kve_storage.o
+LOAD bin/kve.o
+LOAD bin/libarm_math.a
+LOAD bin/startup_stm32f40xx.o
+LOAD bin/system_stm32f4xx.o
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a
+START GROUP
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a
+END GROUP
+START GROUP
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a
+END GROUP
+START GROUP
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a
+END GROUP
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtend.o
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtn.o
+ 0x0000000000000400 __Stack_Size = 0x400
+ [!provide] PROVIDE (_Stack_Size = __Stack_Size)
+ 0x000000002001fbff __Stack_Init = (_estack - __Stack_Size)
+ [!provide] PROVIDE (_Stack_Init = __Stack_Init)
+ 0x0000000000000100 _Minimum_Stack_Size = 0x100
+ [!provide] PROVIDE (Undefined_Handler = 0x0)
+ [!provide] PROVIDE (SWI_Handler = 0x0)
+ [!provide] PROVIDE (IRQ_Handler = 0x0)
+ [!provide] PROVIDE (Prefetch_Handler = 0x0)
+ [!provide] PROVIDE (Abort_Handler = 0x0)
+ [!provide] PROVIDE (FIQ_Handler = 0x0)
+ [!provide] PROVIDE (NMIException = 0x0)
+ [!provide] PROVIDE (NMI_Handler = 0x0)
+ [!provide] PROVIDE (HardFaultException = 0x0)
+ [!provide] PROVIDE (HardFault_Handler = 0x0)
+ [!provide] PROVIDE (MemManageException = 0x0)
+ [!provide] PROVIDE (MemManage_Handler = 0x0)
+ [!provide] PROVIDE (BusFaultException = 0x0)
+ [!provide] PROVIDE (BusFault_Handler = 0x0)
+ [!provide] PROVIDE (UsageFaultException = 0x0)
+ [!provide] PROVIDE (UsageFault_Handler = 0x0)
+ [!provide] PROVIDE (SVCHandler = 0x0)
+ [!provide] PROVIDE (SVC_Handler = 0x0)
+ [!provide] PROVIDE (DebugMonitor = 0x0)
+ [!provide] PROVIDE (DebugMon_Handler = 0x0)
+ [!provide] PROVIDE (PendSVC = 0x0)
+ [!provide] PROVIDE (PendSV_Handler = 0x0)
+ [!provide] PROVIDE (SysTickHandler = 0x0)
+ [!provide] PROVIDE (SysTick_Handler = 0x0)
+ [!provide] PROVIDE (WWDG_IRQHandler = 0x0)
+ [!provide] PROVIDE (PVD_IRQHandler = 0x0)
+ [!provide] PROVIDE (TAMPER_IRQHandler = 0x0)
+ [!provide] PROVIDE (RTC_IRQHandler = 0x0)
+ [!provide] PROVIDE (FLASH_IRQHandler = 0x0)
+ [!provide] PROVIDE (RCC_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI0_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI1_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI2_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI3_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI4_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel1_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel2_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel3_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel4_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel5_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel6_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMAChannel7_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel1_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel2_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel3_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel4_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel5_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel6_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA1_Channel7_IRQHandler = 0x0)
+ [!provide] PROVIDE (ADC_IRQHandler = 0x0)
+ [!provide] PROVIDE (ADC1_2_IRQHandler = 0x0)
+ [!provide] PROVIDE (USB_HP_CAN_TX_IRQHandler = 0x0)
+ [!provide] PROVIDE (USB_HP_CAN1_TX_IRQHandler = 0x0)
+ [!provide] PROVIDE (USB_LP_CAN_RX0_IRQHandler = 0x0)
+ [!provide] PROVIDE (USB_LP_CAN1_RX0_IRQHandler = 0x0)
+ [!provide] PROVIDE (CAN_RX1_IRQHandler = 0x0)
+ [!provide] PROVIDE (CAN1_RX1_IRQHandler = 0x0)
+ [!provide] PROVIDE (CAN_SCE_IRQHandler = 0x0)
+ [!provide] PROVIDE (CAN1_SCE_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI9_5_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM1_BRK_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM1_UP_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM1_TRG_COM_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM1_CC_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM2_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM3_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM4_IRQHandler = 0x0)
+ [!provide] PROVIDE (I2C1_EV_IRQHandler = 0x0)
+ [!provide] PROVIDE (I2C1_ER_IRQHandler = 0x0)
+ [!provide] PROVIDE (I2C2_EV_IRQHandler = 0x0)
+ [!provide] PROVIDE (I2C2_ER_IRQHandler = 0x0)
+ [!provide] PROVIDE (SPI1_IRQHandler = 0x0)
+ [!provide] PROVIDE (SPI2_IRQHandler = 0x0)
+ [!provide] PROVIDE (USART1_IRQHandler = 0x0)
+ [!provide] PROVIDE (USART2_IRQHandler = 0x0)
+ [!provide] PROVIDE (USART3_IRQHandler = 0x0)
+ [!provide] PROVIDE (EXTI15_10_IRQHandler = 0x0)
+ [!provide] PROVIDE (RTCAlarm_IRQHandler = 0x0)
+ [!provide] PROVIDE (USBWakeUp_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM8_BRK_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM8_UP_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM8_TRG_COM_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM8_CC_IRQHandler = 0x0)
+ [!provide] PROVIDE (ADC3_IRQHandler = 0x0)
+ [!provide] PROVIDE (FSMC_IRQHandler = 0x0)
+ [!provide] PROVIDE (SDIO_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM5_IRQHandler = 0x0)
+ [!provide] PROVIDE (SPI3_IRQHandler = 0x0)
+ [!provide] PROVIDE (UART4_IRQHandler = 0x0)
+ [!provide] PROVIDE (UART5_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM6_IRQHandler = 0x0)
+ [!provide] PROVIDE (TIM7_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA2_Channel1_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA2_Channel2_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA2_Channel3_IRQHandler = 0x0)
+ [!provide] PROVIDE (DMA2_Channel4_5_IRQHandler = 0x0)
+ 0x0000000042000000 PERIPH_BB_BASE = 0x42000000
+ 0x0000000022000000 SRAM_BB_BASE = 0x22000000
+ 0x0000000020000000 SRAM_BASE = 0x20000000
+ 0x0000000040000000 PERIPH_BASE = 0x40000000
+ [!provide] PROVIDE (FLASH_BASE = 0x40022000)
+ [!provide] PROVIDE (OB_BASE = 0x1ffff800)
+ 0x0000000040000000 APB1PERIPH_BASE = PERIPH_BASE
+ 0x0000000040010000 APB2PERIPH_BASE = (PERIPH_BASE + 0x10000)
+ 0x0000000040020000 AHBPERIPH_BASE = (PERIPH_BASE + 0x20000)
+ [!provide] PROVIDE (TIM2 = (APB1PERIPH_BASE + 0x0))
+ [!provide] PROVIDE (TIM3 = (APB1PERIPH_BASE + 0x400))
+ [!provide] PROVIDE (TIM4 = (APB1PERIPH_BASE + 0x800))
+ [!provide] PROVIDE (RTC = (APB1PERIPH_BASE + 0x2800))
+ [!provide] PROVIDE (WWDG = (APB1PERIPH_BASE + 0x2c00))
+ [!provide] PROVIDE (IWDG = (APB1PERIPH_BASE + 0x3000))
+ [!provide] PROVIDE (SPI2 = (APB1PERIPH_BASE + 0x3800))
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+ [!provide] PROVIDE (I2C2 = (APB1PERIPH_BASE + 0x5800))
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+ [!provide] PROVIDE (AFIO = (APB2PERIPH_BASE + 0x0))
+ [!provide] PROVIDE (EXTI = (APB2PERIPH_BASE + 0x400))
+ [!provide] PROVIDE (GPIOA = (APB2PERIPH_BASE + 0x800))
+ [!provide] PROVIDE (GPIOB = (APB2PERIPH_BASE + 0xc00))
+ [!provide] PROVIDE (GPIOC = (APB2PERIPH_BASE + 0x1000))
+ [!provide] PROVIDE (GPIOD = (APB2PERIPH_BASE + 0x1400))
+ [!provide] PROVIDE (GPIOE = (APB2PERIPH_BASE + 0x1800))
+ [!provide] PROVIDE (ADC1 = (APB2PERIPH_BASE + 0x2400))
+ [!provide] PROVIDE (ADC2 = (APB2PERIPH_BASE + 0x2800))
+ [!provide] PROVIDE (TIM1 = (APB2PERIPH_BASE + 0x2c00))
+ [!provide] PROVIDE (SPI1 = (APB2PERIPH_BASE + 0x3000))
+ [!provide] PROVIDE (USART1 = (APB2PERIPH_BASE + 0x3800))
+ [!provide] PROVIDE (DMA = (AHBPERIPH_BASE + 0x0))
+ [!provide] PROVIDE (DMA_Channel1 = (AHBPERIPH_BASE + 0x8))
+ [!provide] PROVIDE (DMA_Channel2 = (AHBPERIPH_BASE + 0x1c))
+ [!provide] PROVIDE (DMA_Channel3 = (AHBPERIPH_BASE + 0x30))
+ [!provide] PROVIDE (DMA_Channel4 = (AHBPERIPH_BASE + 0x44))
+ [!provide] PROVIDE (DMA_Channel5 = (AHBPERIPH_BASE + 0x58))
+ [!provide] PROVIDE (DMA_Channel6 = (AHBPERIPH_BASE + 0x6c))
+ [!provide] PROVIDE (DMA_Channel7 = (AHBPERIPH_BASE + 0x80))
+ [!provide] PROVIDE (RCC = (AHBPERIPH_BASE + 0x1000))
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+ [!provide] PROVIDE (NVIC = (SCS_BASE + 0x100))
+ [!provide] PROVIDE (SCB = (SCS_BASE + 0xd00))
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+
+.debug_macinfo
+ *(.debug_macinfo)
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+.debug_funcnames
+ *(.debug_funcnames)
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+.debug_typenames
+ *(.debug_typenames)
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+.debug_varnames
+ *(.debug_varnames)
+OUTPUT(cf2.elf elf32-littlearm)
+LOAD linker stubs
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a
+LOAD /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a
+
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+
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+ .debug_macro 0x0000000000039992 0x2e bin/lpsTdoa2Tag.o
+ .debug_macro 0x00000000000399c0 0x16 bin/lpsTdoa2Tag.o
+ .debug_macro 0x00000000000399d6 0x103 bin/lpsTdoa2Tag.o
+ .debug_macro 0x0000000000039ad9 0x379 bin/lpsTdoa2Tag.o
+ .debug_macro 0x0000000000039e52 0x2aa bin/tdoaEngineInstance.o
+ .debug_macro 0x000000000003a0fc 0x3a bin/tdoaEngineInstance.o
+ .debug_macro 0x000000000003a136 0x82 bin/tdoaEngineInstance.o
+ .debug_macro 0x000000000003a1b8 0x379 bin/tdoaEngineInstance.o
+ .debug_macro 0x000000000003a531 0x1a6 bin/outlierFilter.o
+ .debug_macro 0x000000000003a6d7 0x47f bin/flowdeck_v1v2.o
+ .debug_macro 0x000000000003ab56 0x48e bin/oa.o
+ .debug_macro 0x000000000003afe4 0x620 bin/multiranger.o
+ .debug_macro 0x000000000003b604 0x46d bin/lighthouse.o
+ .debug_macro 0x000000000003ba71 0x10 bin/lighthouse.o
+ .debug_macro 0x000000000003ba81 0x483 bin/activeMarkerDeck.o
+ .debug_macro 0x000000000003bf04 0x519 bin/aideck.o
+ .debug_macro 0x000000000003c41d 0x404 bin/exptest.o
+ .debug_macro 0x000000000003c821 0x3bc bin/exptestRR.o
+ .debug_macro 0x000000000003cbdd 0x464 bin/exptestBolt.o
+ .debug_macro 0x000000000003d041 0x129 bin/filter.o
+ .debug_macro 0x000000000003d16a 0x29b bin/cfassert.o
+ .debug_macro 0x000000000003d405 0xb8 bin/eprintf.o
+ .debug_macro 0x000000000003d4bd 0x119 bin/eprintf.o
+ .debug_macro 0x000000000003d5d6 0x1ea bin/crc32.o
+ .debug_macro 0x000000000003d7c0 0xe6 bin/num.o
+ .debug_macro 0x000000000003d8a6 0x83 bin/debug.o
+ .debug_macro 0x000000000003d929 0x60 bin/version.o
+ .debug_macro 0x000000000003d989 0x24b bin/FreeRTOS-openocd.o
+ .debug_macro 0x000000000003dbd4 0x477 bin/configblockeeprom.o
+ .debug_macro 0x000000000003e04b 0x10 bin/configblockeeprom.o
+ .debug_macro 0x000000000003e05b 0xcf bin/configblockeeprom.o
+ .debug_macro 0x000000000003e12a 0x20 bin/configblockeeprom.o
+ .debug_macro 0x000000000003e14a 0xbe bin/configblockeeprom.o
+ .debug_macro 0x000000000003e208 0x51a bin/configblockeeprom.o
+ .debug_macro 0x000000000003e722 0x9b bin/statsCnt.o
+ .debug_macro 0x000000000003e7bd 0x27 bin/rateSupervisor.o
+ .debug_macro 0x000000000003e7e4 0x484 bin/lighthouse_core.o
+ .debug_macro 0x000000000003ec68 0x34e bin/pulse_processor.o
+ .debug_macro 0x000000000003efb6 0x27b bin/pulse_processor_v1.o
+ .debug_macro 0x000000000003f231 0x230 bin/pulse_processor_v2.o
+ .debug_macro 0x000000000003f461 0x30f bin/lighthouse_geometry.o
+ .debug_macro 0x000000000003f770 0x2c bin/ootx_decoder.o
+ .debug_macro 0x000000000003f79c 0x2fb bin/lighthouse_calibration.o
+ .debug_macro 0x000000000003fa97 0x3ec bin/lighthouse_deck_flasher.o
+ .debug_macro 0x000000000003fe83 0x398 bin/lighthouse_position_est.o
+ .debug_macro 0x000000000004021b 0x3d0 bin/lighthouse_storage.o
+ .debug_macro 0x00000000000405eb 0x115 bin/kve_storage.o
+ .debug_macro 0x0000000000040700 0x16 bin/kve_storage.o
+ .debug_macro 0x0000000000040716 0x192 bin/kve.o
+ .debug_macro 0x00000000000408a8 0x1a1 bin/system_stm32f4xx.o
+
+Cross Reference Table
+
+Symbol File
+ADC_AnalogWatchdogCmd bin/stm32f4xx_adc.o
+ADC_AnalogWatchdogSingleChannelConfig bin/stm32f4xx_adc.o
+ADC_AnalogWatchdogThresholdsConfig bin/stm32f4xx_adc.o
+ADC_AutoInjectedConvCmd bin/stm32f4xx_adc.o
+ADC_ClearFlag bin/stm32f4xx_adc.o
+ADC_ClearITPendingBit bin/stm32f4xx_adc.o
+ADC_Cmd bin/stm32f4xx_adc.o
+ADC_CommonInit bin/stm32f4xx_adc.o
+ADC_CommonStructInit bin/stm32f4xx_adc.o
+ADC_ContinuousModeCmd bin/stm32f4xx_adc.o
+ADC_DMACmd bin/stm32f4xx_adc.o
+ADC_DMARequestAfterLastTransferCmd bin/stm32f4xx_adc.o
+ADC_DeInit bin/stm32f4xx_adc.o
+ADC_DiscModeChannelCountConfig bin/stm32f4xx_adc.o
+ADC_DiscModeCmd bin/stm32f4xx_adc.o
+ADC_EOCOnEachRegularChannelCmd bin/stm32f4xx_adc.o
+ADC_ExternalTrigInjectedConvConfig bin/stm32f4xx_adc.o
+ADC_ExternalTrigInjectedConvEdgeConfig bin/stm32f4xx_adc.o
+ADC_GetConversionValue bin/stm32f4xx_adc.o
+ bin/deck_analog.o
+ADC_GetFlagStatus bin/stm32f4xx_adc.o
+ADC_GetITStatus bin/stm32f4xx_adc.o
+ADC_GetInjectedConversionValue bin/stm32f4xx_adc.o
+ADC_GetMultiModeConversionValue bin/stm32f4xx_adc.o
+ADC_GetSoftwareStartConvStatus bin/stm32f4xx_adc.o
+ADC_GetSoftwareStartInjectedConvCmdStatus bin/stm32f4xx_adc.o
+ADC_IRQHandler bin/startup_stm32f40xx.o
+ADC_ITConfig bin/stm32f4xx_adc.o
+ADC_Init bin/stm32f4xx_adc.o
+ADC_InjectedChannelConfig bin/stm32f4xx_adc.o
+ADC_InjectedDiscModeCmd bin/stm32f4xx_adc.o
+ADC_InjectedSequencerLengthConfig bin/stm32f4xx_adc.o
+ADC_MultiModeDMARequestAfterLastTransferCmd bin/stm32f4xx_adc.o
+ADC_RegularChannelConfig bin/stm32f4xx_adc.o
+ADC_SetInjectedOffset bin/stm32f4xx_adc.o
+ADC_SoftwareStartConv bin/stm32f4xx_adc.o
+ADC_SoftwareStartInjectedConv bin/stm32f4xx_adc.o
+ADC_StructInit bin/stm32f4xx_adc.o
+ADC_TempSensorVrefintCmd bin/stm32f4xx_adc.o
+ADC_VBATCmd bin/stm32f4xx_adc.o
+AHBPrescTable bin/system_stm32f4xx.o
+AMG88xx_TEMP_CONVERSION bin/amg8833.o
+AMG88xx_THRM_CONVERSION bin/amg8833.o
+BusFault_Handler bin/nvic.o
+CAN1_RX0_IRQHandler bin/startup_stm32f40xx.o
+CAN1_RX1_IRQHandler bin/startup_stm32f40xx.o
+CAN1_SCE_IRQHandler bin/startup_stm32f40xx.o
+CAN1_TX_IRQHandler bin/startup_stm32f40xx.o
+CAN2_RX0_IRQHandler bin/startup_stm32f40xx.o
+CAN2_RX1_IRQHandler bin/startup_stm32f40xx.o
+CAN2_SCE_IRQHandler bin/startup_stm32f40xx.o
+CAN2_TX_IRQHandler bin/startup_stm32f40xx.o
+CRYP_IRQHandler bin/startup_stm32f40xx.o
+DBGMCU_APB1PeriphConfig bin/stm32f4xx_dbgmcu.o
+DBGMCU_APB2PeriphConfig bin/stm32f4xx_dbgmcu.o
+DBGMCU_Config bin/stm32f4xx_dbgmcu.o
+DBGMCU_GetDEVID bin/stm32f4xx_dbgmcu.o
+DBGMCU_GetREVID bin/stm32f4xx_dbgmcu.o
+DCD_DevConnect bin/usb_dcd.o
+DCD_DevDisconnect bin/usb_dcd.o
+DCD_EP_Close bin/usb_dcd.o
+ bin/usb.o
+DCD_EP_ClrStall bin/usb_dcd.o
+ bin/usbd_req.o
+DCD_EP_Flush bin/usb_dcd.o
+DCD_EP_Open bin/usb_dcd.o
+ bin/usb.o
+ bin/usbd_core.o
+DCD_EP_PrepareRx bin/usb_dcd.o
+ bin/usb.o
+ bin/usbd_ioreq.o
+DCD_EP_SetAddress bin/usb_dcd.o
+ bin/usbd_req.o
+DCD_EP_Stall bin/usb_dcd.o
+ bin/usbd_core.o
+ bin/usbd_req.o
+DCD_EP_Tx bin/usb_dcd.o
+ bin/usb.o
+ bin/usbd_ioreq.o
+DCD_GetEPStatus bin/usb_dcd.o
+DCD_Init bin/usb_dcd.o
+ bin/usbd_core.o
+DCD_SetEPStatus bin/usb_dcd.o
+DCMI_IRQHandler bin/startup_stm32f40xx.o
+DECK_GPIO_IO1 bin/deck_constants.o
+DECK_GPIO_IO2 bin/deck_constants.o
+DECK_GPIO_IO3 bin/deck_constants.o
+ bin/flowdeck_v1v2.o
+DECK_GPIO_IO4 bin/deck_constants.o
+ bin/aideck.o
+ bin/usddeck.o
+DECK_GPIO_MISO bin/deck_constants.o
+DECK_GPIO_MOSI bin/deck_constants.o
+DECK_GPIO_RX1 bin/deck_constants.o
+DECK_GPIO_RX2 bin/deck_constants.o
+DECK_GPIO_SCK bin/deck_constants.o
+DECK_GPIO_SCL bin/deck_constants.o
+DECK_GPIO_SDA bin/deck_constants.o
+DECK_GPIO_TX1 bin/deck_constants.o
+DECK_GPIO_TX2 bin/deck_constants.o
+DMA1_Stream0_IRQHandler bin/i2c_drv.o
+DMA1_Stream1_IRQHandler bin/startup_stm32f40xx.o
+DMA1_Stream2_IRQHandler bin/i2c_drv.o
+DMA1_Stream3_IRQHandler bin/sensors_bmi088_spi.o
+DMA1_Stream4_IRQHandler bin/sensors_bmi088_spi.o
+DMA1_Stream5_IRQHandler bin/ws2812_cf2.o
+DMA1_Stream6_IRQHandler bin/uart2.o
+DMA1_Stream7_IRQHandler bin/startup_stm32f40xx.o
+DMA2_Stream0_IRQHandler bin/deck_spi.o
+DMA2_Stream1_IRQHandler bin/startup_stm32f40xx.o
+DMA2_Stream2_IRQHandler bin/startup_stm32f40xx.o
+DMA2_Stream3_IRQHandler bin/startup_stm32f40xx.o
+DMA2_Stream4_IRQHandler bin/startup_stm32f40xx.o
+DMA2_Stream5_IRQHandler bin/deck_spi.o
+DMA2_Stream6_IRQHandler bin/startup_stm32f40xx.o
+DMA2_Stream7_IRQHandler bin/uart_syslink.o
+DMA_ClearFlag bin/stm32f4xx_dma.o
+ bin/sensors_bmi088_spi.o
+DMA_ClearITPendingBit bin/stm32f4xx_dma.o
+ bin/sensors_bmi088_spi.o
+DMA_Cmd bin/stm32f4xx_dma.o
+ bin/sensors_bmi088_spi.o
+DMA_DeInit bin/stm32f4xx_dma.o
+DMA_DoubleBufferModeCmd bin/stm32f4xx_dma.o
+DMA_DoubleBufferModeConfig bin/stm32f4xx_dma.o
+DMA_FlowControllerConfig bin/stm32f4xx_dma.o
+DMA_GetCmdStatus bin/stm32f4xx_dma.o
+DMA_GetCurrDataCounter bin/stm32f4xx_dma.o
+DMA_GetCurrentMemoryTarget bin/stm32f4xx_dma.o
+DMA_GetFIFOStatus bin/stm32f4xx_dma.o
+DMA_GetFlagStatus bin/stm32f4xx_dma.o
+DMA_GetITStatus bin/stm32f4xx_dma.o
+DMA_ITConfig bin/stm32f4xx_dma.o
+ bin/sensors_bmi088_spi.o
+DMA_Init bin/stm32f4xx_dma.o
+ bin/sensors_bmi088_spi.o
+DMA_MemoryTargetConfig bin/stm32f4xx_dma.o
+DMA_PeriphIncOffsetSizeConfig bin/stm32f4xx_dma.o
+DMA_SetCurrDataCounter bin/stm32f4xx_dma.o
+DMA_StructInit bin/stm32f4xx_dma.o
+DebugMon_Handler bin/nvic.o
+Default_Handler bin/startup_stm32f40xx.o
+ETH_IRQHandler bin/startup_stm32f40xx.o
+ETH_WKUP_IRQHandler bin/startup_stm32f40xx.o
+EXTI0_Callback bin/exti.o
+EXTI0_IRQHandler bin/exti.o
+EXTI10_Callback bin/exti.o
+EXTI11_Callback bin/exti.o
+EXTI12_Callback bin/exti.o
+EXTI13_Callback bin/sensors_mpu9250_lps25h.o
+EXTI14_Callback bin/sensors.o
+ bin/exti.o
+EXTI15_10_IRQHandler bin/exti.o
+EXTI15_Callback bin/exti.o
+EXTI1_Callback bin/exti.o
+EXTI1_IRQHandler bin/exti.o
+EXTI2_Callback bin/exti.o
+EXTI2_IRQHandler bin/exti.o
+EXTI3_Callback bin/exti.o
+EXTI3_IRQHandler bin/exti.o
+EXTI4_Callback bin/uart_syslink.o
+ bin/exti.o
+EXTI4_IRQHandler bin/exti.o
+EXTI5_Callback bin/exti.o
+EXTI6_Callback bin/exti.o
+EXTI7_Callback bin/exti.o
+EXTI8_Callback bin/exti.o
+EXTI9_5_IRQHandler bin/exti.o
+EXTI9_Callback bin/exti.o
+EXTI_ClearFlag bin/stm32f4xx_exti.o
+EXTI_ClearITPendingBit bin/stm32f4xx_exti.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+EXTI_DeInit bin/stm32f4xx_exti.o
+EXTI_GenerateSWInterrupt bin/stm32f4xx_exti.o
+EXTI_GetFlagStatus bin/stm32f4xx_exti.o
+EXTI_GetITStatus bin/stm32f4xx_exti.o
+EXTI_Init bin/stm32f4xx_exti.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+EXTI_StructInit bin/stm32f4xx_exti.o
+FLASH_ClearFlag bin/stm32f4xx_flash.o
+FLASH_DataCacheCmd bin/stm32f4xx_flash.o
+FLASH_DataCacheReset bin/stm32f4xx_flash.o
+FLASH_EraseAllBank1Sectors bin/stm32f4xx_flash.o
+FLASH_EraseAllBank2Sectors bin/stm32f4xx_flash.o
+FLASH_EraseAllSectors bin/stm32f4xx_flash.o
+FLASH_EraseSector bin/stm32f4xx_flash.o
+FLASH_GetFlagStatus bin/stm32f4xx_flash.o
+FLASH_GetStatus bin/stm32f4xx_flash.o
+FLASH_IRQHandler bin/startup_stm32f40xx.o
+FLASH_ITConfig bin/stm32f4xx_flash.o
+FLASH_InstructionCacheCmd bin/stm32f4xx_flash.o
+FLASH_InstructionCacheReset bin/stm32f4xx_flash.o
+FLASH_Lock bin/stm32f4xx_flash.o
+FLASH_OB_BORConfig bin/stm32f4xx_flash.o
+FLASH_OB_BootConfig bin/stm32f4xx_flash.o
+FLASH_OB_GetBOR bin/stm32f4xx_flash.o
+FLASH_OB_GetPCROP bin/stm32f4xx_flash.o
+FLASH_OB_GetPCROP1 bin/stm32f4xx_flash.o
+FLASH_OB_GetRDP bin/stm32f4xx_flash.o
+FLASH_OB_GetUser bin/stm32f4xx_flash.o
+FLASH_OB_GetWRP bin/stm32f4xx_flash.o
+FLASH_OB_GetWRP1 bin/stm32f4xx_flash.o
+FLASH_OB_Launch bin/stm32f4xx_flash.o
+FLASH_OB_Lock bin/stm32f4xx_flash.o
+FLASH_OB_PCROP1Config bin/stm32f4xx_flash.o
+FLASH_OB_PCROPConfig bin/stm32f4xx_flash.o
+FLASH_OB_PCROPSelectionConfig bin/stm32f4xx_flash.o
+FLASH_OB_RDPConfig bin/stm32f4xx_flash.o
+FLASH_OB_Unlock bin/stm32f4xx_flash.o
+FLASH_OB_UserConfig bin/stm32f4xx_flash.o
+FLASH_OB_WRP1Config bin/stm32f4xx_flash.o
+FLASH_OB_WRPConfig bin/stm32f4xx_flash.o
+FLASH_PrefetchBufferCmd bin/stm32f4xx_flash.o
+FLASH_ProgramByte bin/stm32f4xx_flash.o
+FLASH_ProgramDoubleWord bin/stm32f4xx_flash.o
+FLASH_ProgramHalfWord bin/stm32f4xx_flash.o
+FLASH_ProgramWord bin/stm32f4xx_flash.o
+FLASH_SetLatency bin/stm32f4xx_flash.o
+FLASH_Unlock bin/stm32f4xx_flash.o
+FLASH_WaitForLastOperation bin/stm32f4xx_flash.o
+FPU_IRQHandler bin/startup_stm32f40xx.o
+FSMC_IRQHandler bin/startup_stm32f40xx.o
+GPIO_DeInit bin/stm32f4xx_gpio.o
+GPIO_Init bin/stm32f4xx_gpio.o
+ bin/sensors_bmi088_spi.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+GPIO_PinAFConfig bin/stm32f4xx_gpio.o
+ bin/sensors_bmi088_spi.o
+GPIO_PinLockConfig bin/stm32f4xx_gpio.o
+GPIO_ReadInputData bin/stm32f4xx_gpio.o
+GPIO_ReadInputDataBit bin/stm32f4xx_gpio.o
+GPIO_ReadOutputData bin/stm32f4xx_gpio.o
+GPIO_ReadOutputDataBit bin/stm32f4xx_gpio.o
+GPIO_ResetBits bin/stm32f4xx_gpio.o
+ bin/sensors_bmi088_spi.o
+ bin/sensors_mpu9250_lps25h.o
+GPIO_SetBits bin/stm32f4xx_gpio.o
+ bin/sensors_bmi088_spi.o
+GPIO_StructInit bin/stm32f4xx_gpio.o
+GPIO_ToggleBits bin/stm32f4xx_gpio.o
+GPIO_Write bin/stm32f4xx_gpio.o
+GPIO_WriteBit bin/stm32f4xx_gpio.o
+HASH_RNG_IRQHandler bin/startup_stm32f40xx.o
+HardFault_Handler bin/nvic.o
+I2C1_ER_IRQHandler bin/i2c_drv.o
+I2C1_EV_IRQHandler bin/i2c_drv.o
+I2C2_ER_IRQHandler bin/startup_stm32f40xx.o
+I2C2_EV_IRQHandler bin/startup_stm32f40xx.o
+I2C3_ER_IRQHandler bin/i2c_drv.o
+I2C3_EV_IRQHandler bin/i2c_drv.o
+I2C_ARPCmd bin/stm32f4xx_i2c.o
+I2C_AcknowledgeConfig bin/stm32f4xx_i2c.o
+I2C_AnalogFilterCmd bin/stm32f4xx_i2c.o
+I2C_CalculatePEC bin/stm32f4xx_i2c.o
+I2C_CheckEvent bin/stm32f4xx_i2c.o
+I2C_ClearFlag bin/stm32f4xx_i2c.o
+I2C_ClearITPendingBit bin/stm32f4xx_i2c.o
+I2C_Cmd bin/stm32f4xx_i2c.o
+I2C_DMACmd bin/stm32f4xx_i2c.o
+I2C_DMALastTransferCmd bin/stm32f4xx_i2c.o
+I2C_DeInit bin/stm32f4xx_i2c.o
+I2C_DigitalFilterConfig bin/stm32f4xx_i2c.o
+I2C_DualAddressCmd bin/stm32f4xx_i2c.o
+I2C_FastModeDutyCycleConfig bin/stm32f4xx_i2c.o
+I2C_GeneralCallCmd bin/stm32f4xx_i2c.o
+I2C_GenerateSTART bin/stm32f4xx_i2c.o
+I2C_GenerateSTOP bin/stm32f4xx_i2c.o
+I2C_GetFlagStatus bin/stm32f4xx_i2c.o
+I2C_GetITStatus bin/stm32f4xx_i2c.o
+I2C_GetLastEvent bin/stm32f4xx_i2c.o
+I2C_GetPEC bin/stm32f4xx_i2c.o
+I2C_ITConfig bin/stm32f4xx_i2c.o
+I2C_Init bin/stm32f4xx_i2c.o
+I2C_NACKPositionConfig bin/stm32f4xx_i2c.o
+I2C_OwnAddress2Config bin/stm32f4xx_i2c.o
+I2C_PECPositionConfig bin/stm32f4xx_i2c.o
+I2C_ReadRegister bin/stm32f4xx_i2c.o
+I2C_ReceiveData bin/stm32f4xx_i2c.o
+I2C_SMBusAlertConfig bin/stm32f4xx_i2c.o
+I2C_Send7bitAddress bin/stm32f4xx_i2c.o
+I2C_SendData bin/stm32f4xx_i2c.o
+I2C_SoftwareResetCmd bin/stm32f4xx_i2c.o
+I2C_StretchClockCmd bin/stm32f4xx_i2c.o
+I2C_StructInit bin/stm32f4xx_i2c.o
+I2C_TransmitPEC bin/stm32f4xx_i2c.o
+I2S_Cmd bin/stm32f4xx_spi.o
+I2S_FullDuplexConfig bin/stm32f4xx_spi.o
+I2S_Init bin/stm32f4xx_spi.o
+I2S_StructInit bin/stm32f4xx_spi.o
+IWDG_Enable bin/stm32f4xx_iwdg.o
+IWDG_GetFlagStatus bin/stm32f4xx_iwdg.o
+IWDG_ReloadCounter bin/stm32f4xx_iwdg.o
+ bin/system.o
+IWDG_SetPrescaler bin/stm32f4xx_iwdg.o
+IWDG_SetReload bin/stm32f4xx_iwdg.o
+IWDG_WriteAccessCmd bin/stm32f4xx_iwdg.o
+K_dxi_x bin/position_controller_indi.o
+K_dxi_y bin/position_controller_indi.o
+K_dxi_z bin/position_controller_indi.o
+K_thr bin/position_controller_indi.o
+K_xi_x bin/position_controller_indi.o
+K_xi_y bin/position_controller_indi.o
+K_xi_z bin/position_controller_indi.o
+LED_NBYTES bin/pca9685.o
+MODE_LONGDATA_FAST_ACCURACY bin/libdw1000.o
+MODE_LONGDATA_FAST_LOWPOWER bin/libdw1000.o
+MODE_LONGDATA_MID_ACCURACY bin/libdw1000.o
+MODE_LONGDATA_RANGE_ACCURACY bin/libdw1000.o
+MODE_LONGDATA_RANGE_LOWPOWER bin/libdw1000.o
+MODE_SHORTDATA_FAST_ACCURACY bin/libdw1000.o
+MODE_SHORTDATA_FAST_LOWPOWER bin/libdw1000.o
+MODE_SHORTDATA_MID_ACCURACY bin/libdw1000.o
+MOTORS bin/motors.o
+MemManage_Handler bin/nvic.o
+NMI_Handler bin/nvic.o
+NVIC_Init bin/stm32f4xx_misc.o
+ bin/sensors_bmi088_spi.o
+NVIC_PriorityGroupConfig bin/stm32f4xx_misc.o
+NVIC_SetVectorTable bin/stm32f4xx_misc.o
+NVIC_SystemLPConfig bin/stm32f4xx_misc.o
+OTG_FS_IRQHandler bin/usb_dcd_int.o
+OTG_FS_WKUP_IRQHandler bin/startup_stm32f40xx.o
+OTG_HS_EP1_IN_IRQHandler bin/startup_stm32f40xx.o
+OTG_HS_EP1_OUT_IRQHandler bin/startup_stm32f40xx.o
+OTG_HS_IRQHandler bin/startup_stm32f40xx.o
+OTG_HS_WKUP_IRQHandler bin/startup_stm32f40xx.o
+PVD_IRQHandler bin/startup_stm32f40xx.o
+PendSV_Handler bin/port.o
+RCC_AHB1PeriphClockCmd bin/stm32f4xx_rcc.o
+ bin/sensors_bmi088_spi.o
+RCC_AHB1PeriphClockLPModeCmd bin/stm32f4xx_rcc.o
+RCC_AHB1PeriphResetCmd bin/stm32f4xx_rcc.o
+ bin/stm32f4xx_gpio.o
+RCC_AHB2PeriphClockCmd bin/stm32f4xx_rcc.o
+RCC_AHB2PeriphClockLPModeCmd bin/stm32f4xx_rcc.o
+RCC_AHB2PeriphResetCmd bin/stm32f4xx_rcc.o
+RCC_AHB3PeriphClockCmd bin/stm32f4xx_rcc.o
+RCC_AHB3PeriphClockLPModeCmd bin/stm32f4xx_rcc.o
+RCC_AHB3PeriphResetCmd bin/stm32f4xx_rcc.o
+RCC_APB1PeriphClockCmd bin/stm32f4xx_rcc.o
+ bin/sensors_bmi088_spi.o
+RCC_APB1PeriphClockLPModeCmd bin/stm32f4xx_rcc.o
+RCC_APB1PeriphResetCmd bin/stm32f4xx_rcc.o
+ bin/stm32f4xx_usart.o
+ bin/stm32f4xx_tim.o
+ bin/stm32f4xx_spi.o
+ bin/stm32f4xx_i2c.o
+RCC_APB2PeriphClockCmd bin/stm32f4xx_rcc.o
+RCC_APB2PeriphClockLPModeCmd bin/stm32f4xx_rcc.o
+RCC_APB2PeriphResetCmd bin/stm32f4xx_rcc.o
+ bin/stm32f4xx_syscfg.o
+ bin/stm32f4xx_usart.o
+ bin/stm32f4xx_tim.o
+ bin/stm32f4xx_spi.o
+ bin/stm32f4xx_adc.o
+RCC_AdjustHSICalibrationValue bin/stm32f4xx_rcc.o
+RCC_BackupResetCmd bin/stm32f4xx_rcc.o
+RCC_ClearFlag bin/stm32f4xx_rcc.o
+RCC_ClearITPendingBit bin/stm32f4xx_rcc.o
+RCC_ClockSecuritySystemCmd bin/stm32f4xx_rcc.o
+RCC_DeInit bin/stm32f4xx_rcc.o
+RCC_GetClocksFreq bin/stm32f4xx_rcc.o
+ bin/stm32f4xx_usart.o
+ bin/stm32f4xx_i2c.o
+RCC_GetFlagStatus bin/stm32f4xx_rcc.o
+RCC_GetITStatus bin/stm32f4xx_rcc.o
+RCC_GetSYSCLKSource bin/stm32f4xx_rcc.o
+RCC_HCLKConfig bin/stm32f4xx_rcc.o
+RCC_HSEConfig bin/stm32f4xx_rcc.o
+RCC_HSICmd bin/stm32f4xx_rcc.o
+RCC_I2SCLKConfig bin/stm32f4xx_rcc.o
+RCC_IRQHandler bin/startup_stm32f40xx.o
+RCC_ITConfig bin/stm32f4xx_rcc.o
+RCC_LSEConfig bin/stm32f4xx_rcc.o
+RCC_LSICmd bin/stm32f4xx_rcc.o
+RCC_LTDCCLKDivConfig bin/stm32f4xx_rcc.o
+RCC_MCO1Config bin/stm32f4xx_rcc.o
+RCC_MCO2Config bin/stm32f4xx_rcc.o
+RCC_PCLK1Config bin/stm32f4xx_rcc.o
+RCC_PCLK2Config bin/stm32f4xx_rcc.o
+RCC_PLLCmd bin/stm32f4xx_rcc.o
+RCC_PLLConfig bin/stm32f4xx_rcc.o
+RCC_PLLI2SCmd bin/stm32f4xx_rcc.o
+RCC_PLLI2SConfig bin/stm32f4xx_rcc.o
+RCC_PLLSAICmd bin/stm32f4xx_rcc.o
+RCC_PLLSAIConfig bin/stm32f4xx_rcc.o
+RCC_RTCCLKCmd bin/stm32f4xx_rcc.o
+RCC_RTCCLKConfig bin/stm32f4xx_rcc.o
+RCC_SAIBlockACLKConfig bin/stm32f4xx_rcc.o
+RCC_SAIBlockBCLKConfig bin/stm32f4xx_rcc.o
+RCC_SAIPLLI2SClkDivConfig bin/stm32f4xx_rcc.o
+RCC_SAIPLLSAIClkDivConfig bin/stm32f4xx_rcc.o
+RCC_SYSCLKConfig bin/stm32f4xx_rcc.o
+RCC_TIMCLKPresConfig bin/stm32f4xx_rcc.o
+RCC_WaitForHSEStartUp bin/stm32f4xx_rcc.o
+RTC_Alarm_IRQHandler bin/startup_stm32f40xx.o
+RTC_WKUP_IRQHandler bin/startup_stm32f40xx.o
+Reset_Handler bin/startup_stm32f40xx.o
+SDIO_IRQHandler bin/startup_stm32f40xx.o
+SD_disk_initialize bin/fatfs_sd.o
+ bin/usddeck.o
+SD_disk_ioctl bin/fatfs_sd.o
+ bin/usddeck.o
+SD_disk_read bin/fatfs_sd.o
+ bin/usddeck.o
+SD_disk_status bin/fatfs_sd.o
+ bin/usddeck.o
+SD_disk_timerproc bin/fatfs_sd.o
+SD_disk_write bin/fatfs_sd.o
+ bin/usddeck.o
+SET_TEST_MODE bin/usbd_core.o
+ bin/usbd_req.o
+SPI1_IRQHandler bin/startup_stm32f40xx.o
+SPI2_IRQHandler bin/startup_stm32f40xx.o
+SPI3_IRQHandler bin/startup_stm32f40xx.o
+SPI_BiDirectionalLineConfig bin/stm32f4xx_spi.o
+SPI_CalculateCRC bin/stm32f4xx_spi.o
+SPI_Cmd bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_DataSizeConfig bin/stm32f4xx_spi.o
+SPI_GetCRC bin/stm32f4xx_spi.o
+SPI_GetCRCPolynomial bin/stm32f4xx_spi.o
+SPI_I2S_ClearFlag bin/stm32f4xx_spi.o
+SPI_I2S_ClearITPendingBit bin/stm32f4xx_spi.o
+SPI_I2S_DMACmd bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_I2S_DeInit bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_I2S_GetFlagStatus bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_I2S_GetITStatus bin/stm32f4xx_spi.o
+SPI_I2S_ITConfig bin/stm32f4xx_spi.o
+SPI_I2S_ReceiveData bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_I2S_SendData bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_Init bin/stm32f4xx_spi.o
+ bin/sensors_bmi088_spi.o
+SPI_NSSInternalSoftwareConfig bin/stm32f4xx_spi.o
+SPI_SSOutputCmd bin/stm32f4xx_spi.o
+SPI_StructInit bin/stm32f4xx_spi.o
+SPI_TIModeCmd bin/stm32f4xx_spi.o
+SPI_TransmitCRC bin/stm32f4xx_spi.o
+SVC_Handler bin/port.o
+SYSCFG_CompensationCellCmd bin/stm32f4xx_syscfg.o
+SYSCFG_DeInit bin/stm32f4xx_syscfg.o
+SYSCFG_ETH_MediaInterfaceConfig bin/stm32f4xx_syscfg.o
+SYSCFG_EXTILineConfig bin/stm32f4xx_syscfg.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+SYSCFG_GetCompensationCellStatus bin/stm32f4xx_syscfg.o
+SYSCFG_MemoryRemapConfig bin/stm32f4xx_syscfg.o
+ bin/bootloader.o
+SYSCFG_MemorySwappingBank bin/stm32f4xx_syscfg.o
+SysTick_CLKSourceConfig bin/stm32f4xx_misc.o
+SysTick_Handler bin/nvic.o
+SystemCoreClock bin/system_stm32f4xx.o
+SystemCoreClockUpdate bin/system_stm32f4xx.o
+SystemInit bin/system_stm32f4xx.o
+ bin/startup_stm32f40xx.o
+TAMP_STAMP_IRQHandler bin/startup_stm32f40xx.o
+TIM1_BRK_TIM9_IRQHandler bin/startup_stm32f40xx.o
+TIM1_CC_IRQHandler bin/startup_stm32f40xx.o
+TIM1_TRG_COM_TIM11_IRQHandler bin/startup_stm32f40xx.o
+TIM1_UP_TIM10_IRQHandler bin/startup_stm32f40xx.o
+TIM2_IRQHandler bin/startup_stm32f40xx.o
+TIM3_IRQHandler bin/startup_stm32f40xx.o
+TIM4_IRQHandler bin/startup_stm32f40xx.o
+TIM5_IRQHandler bin/startup_stm32f40xx.o
+TIM6_DAC_IRQHandler bin/startup_stm32f40xx.o
+TIM7_IRQHandler bin/usec_time.o
+TIM8_BRK_TIM12_IRQHandler bin/startup_stm32f40xx.o
+TIM8_CC_IRQHandler bin/startup_stm32f40xx.o
+TIM8_TRG_COM_TIM14_IRQHandler bin/cppm.o
+TIM8_UP_TIM13_IRQHandler bin/startup_stm32f40xx.o
+TIM_ARRPreloadConfig bin/stm32f4xx_tim.o
+TIM_BDTRConfig bin/stm32f4xx_tim.o
+TIM_BDTRStructInit bin/stm32f4xx_tim.o
+TIM_CCPreloadControl bin/stm32f4xx_tim.o
+TIM_CCxCmd bin/stm32f4xx_tim.o
+TIM_CCxNCmd bin/stm32f4xx_tim.o
+TIM_ClearFlag bin/stm32f4xx_tim.o
+TIM_ClearITPendingBit bin/stm32f4xx_tim.o
+TIM_ClearOC1Ref bin/stm32f4xx_tim.o
+TIM_ClearOC2Ref bin/stm32f4xx_tim.o
+TIM_ClearOC3Ref bin/stm32f4xx_tim.o
+TIM_ClearOC4Ref bin/stm32f4xx_tim.o
+TIM_Cmd bin/stm32f4xx_tim.o
+TIM_CounterModeConfig bin/stm32f4xx_tim.o
+TIM_CtrlPWMOutputs bin/stm32f4xx_tim.o
+TIM_DMACmd bin/stm32f4xx_tim.o
+TIM_DMAConfig bin/stm32f4xx_tim.o
+TIM_DeInit bin/stm32f4xx_tim.o
+TIM_ETRClockMode1Config bin/stm32f4xx_tim.o
+TIM_ETRClockMode2Config bin/stm32f4xx_tim.o
+TIM_ETRConfig bin/stm32f4xx_tim.o
+TIM_EncoderInterfaceConfig bin/stm32f4xx_tim.o
+TIM_ForcedOC1Config bin/stm32f4xx_tim.o
+TIM_ForcedOC2Config bin/stm32f4xx_tim.o
+TIM_ForcedOC3Config bin/stm32f4xx_tim.o
+TIM_ForcedOC4Config bin/stm32f4xx_tim.o
+TIM_GenerateEvent bin/stm32f4xx_tim.o
+TIM_GetCapture1 bin/stm32f4xx_tim.o
+TIM_GetCapture2 bin/stm32f4xx_tim.o
+TIM_GetCapture3 bin/stm32f4xx_tim.o
+TIM_GetCapture4 bin/stm32f4xx_tim.o
+TIM_GetCounter bin/stm32f4xx_tim.o
+TIM_GetFlagStatus bin/stm32f4xx_tim.o
+TIM_GetITStatus bin/stm32f4xx_tim.o
+TIM_GetPrescaler bin/stm32f4xx_tim.o
+TIM_ICInit bin/stm32f4xx_tim.o
+TIM_ICStructInit bin/stm32f4xx_tim.o
+TIM_ITConfig bin/stm32f4xx_tim.o
+TIM_ITRxExternalClockConfig bin/stm32f4xx_tim.o
+TIM_InternalClockConfig bin/stm32f4xx_tim.o
+TIM_OC1FastConfig bin/stm32f4xx_tim.o
+TIM_OC1Init bin/stm32f4xx_tim.o
+TIM_OC1NPolarityConfig bin/stm32f4xx_tim.o
+TIM_OC1PolarityConfig bin/stm32f4xx_tim.o
+TIM_OC1PreloadConfig bin/stm32f4xx_tim.o
+TIM_OC2FastConfig bin/stm32f4xx_tim.o
+TIM_OC2Init bin/stm32f4xx_tim.o
+TIM_OC2NPolarityConfig bin/stm32f4xx_tim.o
+TIM_OC2PolarityConfig bin/stm32f4xx_tim.o
+TIM_OC2PreloadConfig bin/stm32f4xx_tim.o
+TIM_OC3FastConfig bin/stm32f4xx_tim.o
+TIM_OC3Init bin/stm32f4xx_tim.o
+TIM_OC3NPolarityConfig bin/stm32f4xx_tim.o
+TIM_OC3PolarityConfig bin/stm32f4xx_tim.o
+TIM_OC3PreloadConfig bin/stm32f4xx_tim.o
+TIM_OC4FastConfig bin/stm32f4xx_tim.o
+TIM_OC4Init bin/stm32f4xx_tim.o
+TIM_OC4PolarityConfig bin/stm32f4xx_tim.o
+TIM_OC4PreloadConfig bin/stm32f4xx_tim.o
+TIM_OCStructInit bin/stm32f4xx_tim.o
+TIM_PWMIConfig bin/stm32f4xx_tim.o
+TIM_PrescalerConfig bin/stm32f4xx_tim.o
+TIM_RemapConfig bin/stm32f4xx_tim.o
+TIM_SelectCCDMA bin/stm32f4xx_tim.o
+TIM_SelectCOM bin/stm32f4xx_tim.o
+TIM_SelectHallSensor bin/stm32f4xx_tim.o
+TIM_SelectInputTrigger bin/stm32f4xx_tim.o
+TIM_SelectMasterSlaveMode bin/stm32f4xx_tim.o
+TIM_SelectOCxM bin/stm32f4xx_tim.o
+TIM_SelectOnePulseMode bin/stm32f4xx_tim.o
+TIM_SelectOutputTrigger bin/stm32f4xx_tim.o
+TIM_SelectSlaveMode bin/stm32f4xx_tim.o
+TIM_SetAutoreload bin/stm32f4xx_tim.o
+TIM_SetClockDivision bin/stm32f4xx_tim.o
+TIM_SetCompare1 bin/stm32f4xx_tim.o
+TIM_SetCompare2 bin/stm32f4xx_tim.o
+TIM_SetCompare3 bin/stm32f4xx_tim.o
+TIM_SetCompare4 bin/stm32f4xx_tim.o
+TIM_SetCounter bin/stm32f4xx_tim.o
+TIM_SetIC1Prescaler bin/stm32f4xx_tim.o
+TIM_SetIC2Prescaler bin/stm32f4xx_tim.o
+TIM_SetIC3Prescaler bin/stm32f4xx_tim.o
+TIM_SetIC4Prescaler bin/stm32f4xx_tim.o
+TIM_TIxExternalClockConfig bin/stm32f4xx_tim.o
+TIM_TimeBaseInit bin/stm32f4xx_tim.o
+TIM_TimeBaseStructInit bin/stm32f4xx_tim.o
+TIM_UpdateDisableConfig bin/stm32f4xx_tim.o
+TIM_UpdateRequestConfig bin/stm32f4xx_tim.o
+UART4_IRQHandler bin/startup_stm32f40xx.o
+UART5_IRQHandler bin/startup_stm32f40xx.o
+USART1_IRQHandler bin/startup_stm32f40xx.o
+USART2_IRQHandler bin/uart2.o
+USART3_IRQHandler bin/uart1.o
+USART6_IRQHandler bin/uart_syslink.o
+USART_ClearFlag bin/stm32f4xx_usart.o
+USART_ClearITPendingBit bin/stm32f4xx_usart.o
+USART_ClockInit bin/stm32f4xx_usart.o
+USART_ClockStructInit bin/stm32f4xx_usart.o
+USART_Cmd bin/stm32f4xx_usart.o
+USART_DMACmd bin/stm32f4xx_usart.o
+USART_DeInit bin/stm32f4xx_usart.o
+USART_GetFlagStatus bin/stm32f4xx_usart.o
+USART_GetITStatus bin/stm32f4xx_usart.o
+USART_HalfDuplexCmd bin/stm32f4xx_usart.o
+USART_ITConfig bin/stm32f4xx_usart.o
+USART_Init bin/stm32f4xx_usart.o
+USART_IrDACmd bin/stm32f4xx_usart.o
+USART_IrDAConfig bin/stm32f4xx_usart.o
+USART_LINBreakDetectLengthConfig bin/stm32f4xx_usart.o
+USART_LINCmd bin/stm32f4xx_usart.o
+USART_OneBitMethodCmd bin/stm32f4xx_usart.o
+USART_OverSampling8Cmd bin/stm32f4xx_usart.o
+USART_ReceiveData bin/stm32f4xx_usart.o
+USART_ReceiverWakeUpCmd bin/stm32f4xx_usart.o
+USART_SendBreak bin/stm32f4xx_usart.o
+USART_SendData bin/stm32f4xx_usart.o
+USART_SetAddress bin/stm32f4xx_usart.o
+USART_SetGuardTime bin/stm32f4xx_usart.o
+USART_SetPrescaler bin/stm32f4xx_usart.o
+USART_SmartCardCmd bin/stm32f4xx_usart.o
+USART_SmartCardNACKCmd bin/stm32f4xx_usart.o
+USART_StructInit bin/stm32f4xx_usart.o
+USART_WakeUpConfig bin/stm32f4xx_usart.o
+USBD_ClrCfg bin/usbd_core.o
+ bin/usbd_req.o
+USBD_CtlContinueRx bin/usbd_ioreq.o
+ bin/usbd_core.o
+USBD_CtlContinueSendData bin/usbd_ioreq.o
+ bin/usbd_core.o
+USBD_CtlError bin/usbd_req.o
+USBD_CtlPrepareRx bin/usbd_ioreq.o
+USBD_CtlReceiveStatus bin/usbd_ioreq.o
+ bin/usbd_core.o
+USBD_CtlSendData bin/usbd_ioreq.o
+ bin/usbd_req.o
+USBD_CtlSendStatus bin/usbd_ioreq.o
+ bin/usbd_core.o
+ bin/usbd_req.o
+USBD_DCD_INT_cb bin/usbd_core.o
+USBD_DCD_INT_fops bin/usbd_core.o
+ bin/usb_dcd_int.o
+USBD_DeInit bin/usbd_core.o
+USBD_DeviceDesc bin/usbd_desc.o
+USBD_DeviceQualifierDesc bin/usbd_desc.o
+USBD_GetRxCount bin/usbd_ioreq.o
+USBD_GetString bin/usbd_req.o
+ bin/usbd_desc.o
+USBD_Init bin/usbd_core.o
+USBD_LangIDDesc bin/usbd_desc.o
+USBD_OTG_ISR_Handler bin/usb_dcd_int.o
+USBD_ParseSetupRequest bin/usbd_req.o
+ bin/usbd_core.o
+USBD_SetCfg bin/usbd_core.o
+ bin/usbd_req.o
+USBD_StdDevReq bin/usbd_req.o
+ bin/usbd_core.o
+USBD_StdEPReq bin/usbd_req.o
+ bin/usbd_core.o
+USBD_StdItfReq bin/usbd_req.o
+ bin/usbd_core.o
+USBD_StrDesc bin/usbd_req.o
+ bin/usbd_desc.o
+USBD_USR_ConfigStrDescriptor bin/usbd_desc.o
+USBD_USR_DeviceConfigured bin/usb.o
+USBD_USR_DeviceConnected bin/usb.o
+USBD_USR_DeviceDescriptor bin/usbd_desc.o
+USBD_USR_DeviceDisconnected bin/usb.o
+USBD_USR_DeviceReset bin/usb.o
+USBD_USR_DeviceResumed bin/usb.o
+USBD_USR_DeviceSuspended bin/usb.o
+USBD_USR_Init bin/usb.o
+USBD_USR_InterfaceStrDescriptor bin/usbd_desc.o
+USBD_USR_LangIDStrDescriptor bin/usbd_desc.o
+USBD_USR_ManufacturerStrDescriptor bin/usbd_desc.o
+USBD_USR_ProductStrDescriptor bin/usbd_desc.o
+USBD_USR_SerialStrDescriptor bin/usbd_desc.o
+USBD_cfg_status bin/usbd_req.o
+USBD_default_cfg bin/usbd_req.o
+USBD_ep_status bin/usbd_req.o
+USB_OTG_ActiveRemoteWakeup bin/usb_core.o
+USB_OTG_BSP_EnableInterrupt bin/usb_bsp.o
+ bin/usbd_core.o
+USB_OTG_BSP_Init bin/usb_bsp.o
+ bin/usbd_core.o
+USB_OTG_BSP_mDelay bin/usb_bsp.o
+ bin/usb_dcd.o
+ bin/usb_core.o
+USB_OTG_BSP_uDelay bin/usb_bsp.o
+ bin/usb_core.o
+USB_OTG_CoreInit bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_CoreInitDev bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_DisableGlobalInt bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EP0Activate bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_EP0StartXfer bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EP0_OutStart bin/usb_core.o
+ bin/usbd_req.o
+ bin/usbd_ioreq.o
+ bin/usb_dcd_int.o
+USB_OTG_EPActivate bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EPClearStall bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EPDeactivate bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EPSetStall bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EPStartXfer bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_EnableDevInt bin/usb_core.o
+USB_OTG_EnableGlobalInt bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_FlushRxFifo bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_FlushTxFifo bin/usb_core.o
+ bin/usb.o
+ bin/usb_dcd.o
+ bin/usb_dcd_int.o
+USB_OTG_GetDeviceSpeed bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_GetEPStatus bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_GetMode bin/usb_core.o
+USB_OTG_InitDevSpeed bin/usb_core.o
+USB_OTG_IsDeviceMode bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_IsHostMode bin/usb_core.o
+USB_OTG_ReadCoreItr bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_ReadDevAllInEPItr bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_ReadDevAllOutEp_itr bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_ReadDevOutEP_itr bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_ReadOtgItr bin/usb_core.o
+USB_OTG_ReadPacket bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_SelectCore bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_SetCurrentMode bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_SetEPStatus bin/usb_core.o
+ bin/usb_dcd.o
+USB_OTG_StopDevice bin/usb_core.o
+USB_OTG_UngateClock bin/usb_core.o
+USB_OTG_WritePacket bin/usb_core.o
+ bin/usb_dcd_int.o
+USB_OTG_dev bin/usb.o
+ bin/usb_dcd_int.o
+USR_cb bin/usb.o
+USR_desc bin/usbd_desc.o
+UsageFault_Handler bin/nvic.o
+VL53L1_ClearInterruptAndStartMeasurement bin/vl53l1_api.o
+VL53L1_DataInit bin/vl53l1_api.o
+VL53L1_GetCalibrationData bin/vl53l1_api.o
+VL53L1_GetDeviceInfo bin/vl53l1_api.o
+VL53L1_GetDistanceMode bin/vl53l1_api.o
+VL53L1_GetInterMeasurementPeriodMilliSeconds bin/vl53l1_api.o
+VL53L1_GetLimitCheckCurrent bin/vl53l1_api.o
+VL53L1_GetLimitCheckEnable bin/vl53l1_api.o
+VL53L1_GetLimitCheckInfo bin/vl53l1_api.o
+VL53L1_GetLimitCheckStatus bin/vl53l1_api.o
+VL53L1_GetLimitCheckValue bin/vl53l1_api.o
+VL53L1_GetMeasurementDataReady bin/vl53l1_api.o
+ bin/multiranger.o
+ bin/zranger2.o
+VL53L1_GetMeasurementTimingBudgetMicroSeconds bin/vl53l1_api.o
+VL53L1_GetNumberOfLimitCheck bin/vl53l1_api.o
+VL53L1_GetNumberOfSequenceSteps bin/vl53l1_api.o
+VL53L1_GetOpticalCenter bin/vl53l1_api.o
+VL53L1_GetPalErrorString bin/vl53l1_api.o
+VL53L1_GetPalState bin/vl53l1_api.o
+VL53L1_GetPalStateString bin/vl53l1_api.o
+VL53L1_GetPresetMode bin/vl53l1_api.o
+VL53L1_GetProductRevision bin/vl53l1_api.o
+VL53L1_GetRangeStatusString bin/vl53l1_api.o
+VL53L1_GetRangingMeasurementData bin/vl53l1_api.o
+ bin/multiranger.o
+ bin/zranger2.o
+VL53L1_GetSequenceStepEnable bin/vl53l1_api.o
+VL53L1_GetSequenceStepsInfo bin/vl53l1_api.o
+VL53L1_GetThresholdConfig bin/vl53l1_api.o
+VL53L1_GetTickCount bin/vl53l1x.o
+ bin/vl53l1_wait.o
+VL53L1_GetTuningParameter bin/vl53l1_api.o
+VL53L1_GetUserROI bin/vl53l1_api.o
+VL53L1_GetVersion bin/vl53l1_api.o
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+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_atan2.o)
+__ieee754_expf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_exp.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_exp.o)
+__ieee754_log10f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_log10.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_log10.o)
+__ieee754_logf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_log.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_log10.o)
+__ieee754_pow /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-e_pow.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-w_pow.o)
+__ieee754_powf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_pow.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_pow.o)
+__ieee754_rem_pio2f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_rem_pio2.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_tan.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_sin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_cos.o)
+__ieee754_sqrt /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-e_sqrt.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-e_pow.o)
+__ieee754_sqrtf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_sqrt.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_pow.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_asin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_acos.o)
+__init_array_end /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-init.o)
+__init_array_start /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-init.o)
+__kernel_cosf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_cos.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_sin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_cos.o)
+__kernel_rem_pio2f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_rem_pio2.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_rem_pio2.o)
+__kernel_sinf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_sin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_sin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_cos.o)
+__kernel_tanf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_tan.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_tan.o)
+__ledf2 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_cmpdf2.o)
+__libc_fini_array /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-fini.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+__libc_init_array /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-init.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+__ltdf2 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_cmpdf2.o)
+__muldf3 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_muldivdf3.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_muldf3.o)
+__nedf2 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_cmpdf2.o)
+__on_exit_args /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__atexit.o)
+__popcountsi2 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_popcountsi2.o)
+ bin/pulse_processor_v1.o
+__preinit_array_end /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-init.o)
+__preinit_array_start /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-init.o)
+__register_exitproc /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__atexit.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-atexit.o)
+__register_frame_info /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crtbegin.o
+__sf_fake_stderr /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-impure.o)
+__sf_fake_stdin /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-impure.o)
+__sf_fake_stdout /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-impure.o)
+__stack /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+__subdf3 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_addsubdf3.o)
+__subsf3 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_addsubsf3.o)
+__truncdfsf2 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_truncdfsf2.o)
+__udivmoddi4 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_udivmoddi4.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_aeabi_uldivmod.o)
+__unorddf2 /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/libgcc.a(_arm_unorddf2.o)
+_ctype_ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-ctype_.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strtol.o)
+ bin/eprintf.o
+ bin/usddeck.o
+_deckDriver_start bin/deck_drivers.o
+_deckDriver_stop bin/deck_drivers.o
+_ebss bin/startup_stm32f40xx.o
+_eccbss bin/startup_stm32f40xx.o
+_eccmbss bin/startup_stm32f40xx.o
+_eccmdata bin/startup_stm32f40xx.o
+_edata bin/startup_stm32f40xx.o
+_estack bin/startup_stm32f40xx.o
+_eventtrigger_start bin/eventtrigger.o
+_eventtrigger_stop bin/eventtrigger.o
+_exit /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libnosys.a(_exit.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-exit.o)
+_fini /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crti.o
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-fini.o)
+_global_atexit /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__call_atexit.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__atexit.o)
+_global_impure_ptr /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-impure.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-exit.o)
+_handleError bin/libdw1000.o
+_handleReceiveTimestampAvailable bin/libdw1000.o
+_impure_ptr /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-impure.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strtol.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-errno.o)
+_init /usr/lib/gcc/arm-none-eabi/9.2.1/thumb/v7e-m+fp/hard/crti.o
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-init.o)
+_log_start bin/log.o
+_log_stop bin/log.o
+_mainCRTStartup /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+_param_start bin/param.o
+_param_stop bin/param.o
+_sbss bin/startup_stm32f40xx.o
+_sccmbss bin/startup_stm32f40xx.o
+_sccmdata bin/startup_stm32f40xx.o
+_sdata bin/startup_stm32f40xx.o
+_siccmdata bin/startup_stm32f40xx.o
+_sidata bin/startup_stm32f40xx.o
+_stack_init /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+_start /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+_strtol_r /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strtol.o)
+acosf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_acos.o)
+ bin/lighthouse_geometry.o
+adcInit bin/deck_analog.o
+ bin/system.o
+ak8963DisableI2C bin/ak8963.o
+ak8963GetAdjustment bin/ak8963.o
+ak8963GetAdjustmentX bin/ak8963.o
+ak8963GetAdjustmentY bin/ak8963.o
+ak8963GetAdjustmentZ bin/ak8963.o
+ak8963GetDataError bin/ak8963.o
+ak8963GetDataReady bin/ak8963.o
+ak8963GetDeviceID bin/ak8963.o
+ak8963GetHeading bin/ak8963.o
+ak8963GetHeadingX bin/ak8963.o
+ak8963GetHeadingY bin/ak8963.o
+ak8963GetHeadingZ bin/ak8963.o
+ak8963GetInfo bin/ak8963.o
+ak8963GetMode bin/ak8963.o
+ak8963GetOverflowStatus bin/ak8963.o
+ak8963Init bin/ak8963.o
+ bin/sensors_mpu9250_lps25h.o
+ak8963Reset bin/ak8963.o
+ak8963SelfTest bin/ak8963.o
+ bin/sensors_mpu9250_lps25h.o
+ak8963SetAdjustment bin/ak8963.o
+ak8963SetAdjustmentX bin/ak8963.o
+ak8963SetAdjustmentY bin/ak8963.o
+ak8963SetAdjustmentZ bin/ak8963.o
+ak8963SetMode bin/ak8963.o
+ bin/sensors_mpu9250_lps25h.o
+ak8963SetSelfTest bin/ak8963.o
+ak8963TestConnection bin/ak8963.o
+ bin/sensors_mpu9250_lps25h.o
+algorithmsList bin/locodeck.o
+analogRead bin/deck_analog.o
+analogReadResolution bin/deck_analog.o
+analogReadVoltage bin/deck_analog.o
+ bin/pm_stm32f4.o
+analogReference bin/deck_analog.o
+anglesMask bin/pulse_processor_v1.o
+appInit bin/app_handler.o
+appMain bin/app_handler.o
+appchannelHasOverflowOccured bin/app_channel.o
+appchannelIncomingPacket bin/app_channel.o
+ bin/platformservice.o
+appchannelInit bin/app_channel.o
+ bin/platformservice.o
+appchannelReceivePacket bin/app_channel.o
+appchannelSendPacket bin/app_channel.o
+armBitRevIndexTable1024 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable128 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable16 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable2048 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable256 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable32 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable4096 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable512 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable64 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_1024 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_128 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_16 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_2048 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_256 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_32 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_4096 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_512 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTableF64_64 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_1024 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_128 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_16 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_2048 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_256 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_32 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_4096 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_512 bin/libarm_math.a(arm_common_tables.o)
+armBitRevIndexTable_fixed_64 bin/libarm_math.a(arm_common_tables.o)
+armBitRevTable bin/libarm_math.a(arm_common_tables.o)
+armRecipTableQ15 bin/libarm_math.a(arm_common_tables.o)
+armRecipTableQ31 bin/libarm_math.a(arm_common_tables.o)
+arm_add_f32 bin/libarm_math.a(arm_add_f32.o)
+ bin/lighthouse_geometry.o
+arm_cos_f32 bin/libarm_math.a(arm_cos_f32.o)
+ bin/kalman_core.o
+arm_dot_prod_f32 bin/libarm_math.a(arm_dot_prod_f32.o)
+ bin/lighthouse_geometry.o
+arm_scale_f32 bin/libarm_math.a(arm_scale_f32.o)
+ bin/lighthouse_geometry.o
+arm_sin_f32 bin/libarm_math.a(arm_sin_f32.o)
+ bin/kalman_core.o
+arm_sub_f32 bin/libarm_math.a(arm_sub_f32.o)
+ bin/lighthouse_geometry.o
+asinf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_asin.o)
+ bin/kalman_core.o
+ bin/sensfusion6.o
+assertFail bin/cfassert.o
+ bin/lighthouse_core.o
+ bin/usddeck.o
+ bin/crtp_localization_service.o
+ bin/crtp_commander_generic.o
+ bin/crtp_commander_rpyt.o
+ bin/crtp_commander.o
+ bin/commander.o
+ bin/mem.o
+ bin/sysload.o
+ bin/log.o
+ bin/param.o
+ bin/ow_syslink.o
+ bin/radiolink.o
+ bin/syslink.o
+ bin/crtp.o
+ bin/usblink.o
+ bin/cppm.o
+ bin/sensors_bmi088_spi.o
+ bin/port.o
+ bin/heap_4.o
+ bin/timers.o
+ bin/queue.o
+ bin/tasks.o
+atan2f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_atan2.o)
+ bin/pulse_processor_v2.o
+ bin/kalman_core.o
+ bin/controller_mellinger.o
+ bin/sensfusion6.o
+atanf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_atan.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_atan2.o)
+ bin/ledring12.o
+atexit /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-atexit.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+attitudeControllerCorrectAttitudePID bin/attitude_pid_controller.o
+ bin/controller_pid.o
+attitudeControllerCorrectRatePID bin/attitude_pid_controller.o
+ bin/controller_pid.o
+attitudeControllerGetActuatorOutput bin/attitude_pid_controller.o
+ bin/controller_pid.o
+attitudeControllerInit bin/attitude_pid_controller.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+attitudeControllerResetAllPID bin/attitude_pid_controller.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+attitudeControllerResetPitchAttitudePID bin/attitude_pid_controller.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+attitudeControllerResetRollAttitudePID bin/attitude_pid_controller.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+attitudeControllerTest bin/attitude_pid_controller.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+begin bin/amg8833.o
+betole bin/ootx_decoder.o
+bi bin/gtgps.o
+bmi055_accel_init bin/bmi055_accel.o
+bmi055_accel_soft_reset bin/bmi055_accel.o
+bmi055_get_accel_data bin/bmi055_accel.o
+bmi055_get_accel_int_status bin/bmi055_accel.o
+bmi055_get_accel_regs bin/bmi055_accel.o
+bmi055_get_gyro_data bin/bmi055_gyro.o
+bmi055_get_gyro_regs bin/bmi055_gyro.o
+bmi055_gyro_init bin/bmi055_gyro.o
+bmi055_gyro_soft_reset bin/bmi055_gyro.o
+bmi055_reset_accel_latch_int bin/bmi055_accel.o
+bmi055_set_accel_int_config bin/bmi055_accel.o
+bmi055_set_accel_power_mode bin/bmi055_accel.o
+bmi055_set_accel_regs bin/bmi055_accel.o
+bmi055_set_accel_sensor_config bin/bmi055_accel.o
+bmi055_set_gyro_power_mode bin/bmi055_gyro.o
+bmi055_set_gyro_regs bin/bmi055_gyro.o
+bmi055_set_gyro_sensor_config bin/bmi055_gyro.o
+bmi055_set_reset_accel_int bin/bmi055_accel.o
+bmi088_accel_init bin/bmi088_accel.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_accel_soft_reset bin/bmi088_accel.o
+bmi088_accel_switch_control bin/bmi088_accel.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_burst_read bin/sensors_bmi088_bmp388.o
+ bin/sensors_bmi088_i2c.o
+bmi088_burst_write bin/sensors_bmi088_bmp388.o
+ bin/sensors_bmi088_i2c.o
+bmi088_get_accel_data bin/bmi088_accel.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_get_accel_error_status bin/bmi088_accel.o
+bmi088_get_accel_regs bin/bmi088_accel.o
+bmi088_get_accel_status bin/bmi088_accel.o
+bmi088_get_gyro_data bin/bmi088_gyro.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_get_gyro_regs bin/bmi088_gyro.o
+bmi088_get_sensor_temperature bin/bmi088_accel.o
+bmi088_get_sensor_time bin/bmi088_accel.o
+bmi088_gyro_init bin/bmi088_gyro.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_gyro_soft_reset bin/bmi088_gyro.o
+bmi088_ms_delay bin/sensors_bmi088_bmp388.o
+ bin/sensors_bmi088_spi.o
+ bin/sensors_bmi088_i2c.o
+bmi088_perform_accel_selftest bin/bmi088_accel.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_perform_gyro_selftest bin/bmi088_gyro.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_set_accel_int_config bin/bmi088_accel.o
+bmi088_set_accel_meas_conf bin/bmi088_accel.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_set_accel_power_mode bin/bmi088_accel.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_set_accel_regs bin/bmi088_accel.o
+bmi088_set_accel_selftest bin/bmi088_accel.o
+bmi088_set_gyro_int_config bin/bmi088_gyro.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_set_gyro_meas_conf bin/bmi088_gyro.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_set_gyro_power_mode bin/bmi088_gyro.o
+ bin/sensors_bmi088_bmp388.o
+bmi088_set_gyro_regs bin/bmi088_gyro.o
+bmi088_set_gyro_selftest bin/bmi088_gyro.o
+bmi088_write_config_file bin/bmi088_accel.o
+bmi160_aux_init bin/bmi160.o
+bmi160_aux_read bin/bmi160.o
+bmi160_aux_write bin/bmi160.o
+bmi160_config_aux_mode bin/bmi160.o
+bmi160_extract_accel bin/bmi160.o
+bmi160_extract_gyro bin/bmi160.o
+bmi160_get_fifo_data bin/bmi160.o
+bmi160_get_regs bin/bmi160.o
+bmi160_get_sensor_data bin/bmi160.o
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+bmi160_read_aux_data_auto_mode bin/bmi160.o
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+bmi160_soft_reset bin/bmi160.o
+bmm150_get_interrupt_status bin/bmm150.o
+bmm150_get_op_mode bin/bmm150.o
+bmm150_get_regs bin/bmm150.o
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+bmm150_set_op_mode bin/bmm150.o
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+bmp280_compensate_pressure_float bin/bmp280.o
+bmp280_compensate_pressure_s32 bin/bmp280.o
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+bmp280_compensate_temperature_s32 bin/bmp280.o
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+bmp280_get_calib_param bin/bmp280.o
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+bmp280_get_forced_uncomp_pressure_temperature bin/bmp280.o
+bmp280_get_oversamp_pressure bin/bmp280.o
+bmp280_get_oversamp_temperature bin/bmp280.o
+bmp280_get_power_mode bin/bmp280.o
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+bmp280_get_standby_durn bin/bmp280.o
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+bmp280_read_register bin/bmp280.o
+bmp280_read_uncomp_pressure bin/bmp280.o
+bmp280_read_uncomp_pressure_temperature bin/bmp280.o
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+bmp280_set_power_mode bin/bmp280.o
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+bmp3_get_fifo_data bin/bmp3.o
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+bmp3_get_op_mode bin/bmp3.o
+bmp3_get_regs bin/bmp3.o
+bmp3_get_sensor_data bin/bmp3.o
+ bin/sensors_bmi088_bmp388.o
+bmp3_get_sensor_settings bin/bmp3.o
+bmp3_get_status bin/bmp3.o
+bmp3_init bin/bmp3.o
+ bin/sensors_bmi088_bmp388.o
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+bmp3_set_fifo_watermark bin/bmp3.o
+bmp3_set_op_mode bin/bmp3.o
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+bmp3_set_regs bin/bmp3.o
+bmp3_set_sensor_settings bin/bmp3.o
+ bin/sensors_bmi088_bmp388.o
+bmp3_soft_reset bin/bmp3.o
+body_rates bin/controller_indi.o
+bstdr_burst_read bin/bstdr_comm_support.o
+bstdr_burst_write bin/bstdr_comm_support.o
+bstdr_comm_init bin/bstdr_comm_support.o
+bstdr_ms_delay bin/bstdr_comm_support.o
+buff bin/gtgps.o
+buzzerInit bin/buzzer.o
+ bin/system.o
+buzzerOff bin/buzzer.o
+ bin/sound_cf2.o
+buzzerOn bin/buzzer.o
+ bin/sound_cf2.o
+buzzerSetControl bin/buzzer.o
+ bin/buzzdeck.o
+buzzerTest bin/buzzer.o
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+cfAssertNormalStartTest bin/cfassert.o
+ bin/system.o
+cf_usb_cb bin/usb.o
+check_enter_bootloader bin/bootloader.o
+ bin/main.o
+clearInterrupt bin/amg8833.o
+clockCorrectionEngineCalculate bin/clockCorrectionEngine.o
+ bin/tdoaEngine.o
+clockCorrectionEngineGet bin/clockCorrectionEngine.o
+ bin/tdoaStorage.o
+clockCorrectionEngineUpdate bin/clockCorrectionEngine.o
+ bin/tdoaEngine.o
+collisionAvoidanceInit bin/collision_avoidance.o
+ bin/stabilizer.o
+collisionAvoidanceTest bin/collision_avoidance.o
+ bin/stabilizer.o
+collisionAvoidanceUpdateSetpoint bin/collision_avoidance.o
+ bin/stabilizer.o
+collisionAvoidanceUpdateSetpointCore bin/collision_avoidance.o
+commInit bin/comm.o
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+commTest bin/comm.o
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+command bin/usb.o
+commanderGetActivePriority bin/commander.o
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+ bin/extrx.o
+commanderTest bin/commander.o
+ bin/system.o
+configblockGetCalibPitch bin/configblockeeprom.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+configblockGetCalibRoll bin/configblockeeprom.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+configblockGetRadioAddress bin/configblockeeprom.o
+ bin/crtp_localization_service.o
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+configblockGetRadioChannel bin/configblockeeprom.o
+ bin/radiolink.o
+configblockGetRadioSpeed bin/configblockeeprom.o
+ bin/radiolink.o
+configblockInit bin/configblockeeprom.o
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+ bin/system.o
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+ bin/lighthouse_core.o
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+ bin/multiranger.o
+ bin/oa.o
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+ bin/zranger2.o
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+ bin/gtgps.o
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+ bin/deck_info.o
+ bin/deck.o
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+ bin/health.o
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+ bin/storage.o
+ bin/ow_syslink.o
+ bin/syslink.o
+ bin/freeRTOSdebug.o
+ bin/eeprom.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+consolePutcharFromISR bin/console.o
+consolePuts bin/console.o
+consoleTest bin/console.o
+ bin/comm.o
+constrain bin/num.o
+ bin/student_pid.o
+ bin/position_controller_pid.o
+ bin/pid.o
+ bin/amg8833.o
+controller bin/controller.o
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+controllerGetName bin/controller.o
+controllerINDI bin/controller_indi.o
+ bin/controller.o
+controllerINDIInit bin/controller_indi.o
+ bin/controller.o
+controllerINDITest bin/controller_indi.o
+ bin/controller.o
+controllerInit bin/controller.o
+ bin/stabilizer.o
+controllerMellinger bin/controller_mellinger.o
+ bin/controller.o
+controllerMellingerInit bin/controller_mellinger.o
+ bin/controller.o
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+controllerMellingerTest bin/controller_mellinger.o
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+controllerPid bin/controller_pid.o
+ bin/controller.o
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+ bin/controller.o
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+ bin/controller.o
+controllerStudent bin/controller_student.o
+ bin/controller.o
+controllerStudentInit bin/controller_student.o
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+controllerStudentTest bin/controller_student.o
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+controllerTest bin/controller.o
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+cos_factorsQ15_128 bin/libarm_math.a(arm_common_tables.o)
+cos_factorsQ15_2048 bin/libarm_math.a(arm_common_tables.o)
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+cosf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_cos.o)
+ bin/pulse_processor_v2.o
+ bin/pptraj.o
+ bin/controller_mellinger.o
+ bin/position_controller_indi.o
+ bin/position_controller_pid.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+counter bin/swd.o
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+cppmConvert2Float bin/cppm.o
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+cppmConvert2uint16 bin/cppm.o
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+cppmGetTimestamp bin/cppm.o
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+cpuIdGetFlashSize bin/cpuid.o
+cpuidGetId bin/cpuid.o
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+crc32Out bin/crc32.o
+crc32Update bin/crc32.o
+crtpCommanderGenericDecodeSetpoint bin/crtp_commander_generic.o
+ bin/crtp_commander.o
+crtpCommanderHighLevelDefineTrajectory bin/crtp_commander_high_level.o
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+crtpCommanderHighLevelGoTo bin/crtp_commander_high_level.o
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+crtpCommanderHighLevelStartTrajectory bin/crtp_commander_high_level.o
+crtpCommanderHighLevelStop bin/crtp_commander_high_level.o
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+crtpCommanderHighLevelTellState bin/crtp_commander_high_level.o
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+crtpCommanderHighLevelWriteTrajectory bin/crtp_commander_high_level.o
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+ bin/crtp_commander.o
+crtpGetFreeTxQueuePackets bin/crtp.o
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+deadband bin/num.o
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+debugInit bin/debug.o
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+ bin/configblockeeprom.o
+ bin/activeMarkerDeck.o
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+digitalRead bin/deck_digital.o
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+dwGetTransmitTimestamp bin/libdw1000.o
+dwGetUserdata bin/libdw1000.o
+dwHandleInterrupt bin/libdw1000.o
+dwIdle bin/libdw1000.o
+dwInit bin/libdw1000.o
+dwInterruptOnAutomaticAcknowledgeTrigger bin/libdw1000.o
+dwInterruptOnReceiveFailed bin/libdw1000.o
+dwInterruptOnReceiveTimeout bin/libdw1000.o
+dwInterruptOnReceiveTimestampAvailable bin/libdw1000.o
+dwInterruptOnReceived bin/libdw1000.o
+dwInterruptOnSent bin/libdw1000.o
+dwIsClockProblem bin/libdw1000.o
+dwIsReceiveDone bin/libdw1000.o
+dwIsReceiveFailed bin/libdw1000.o
+dwIsReceiveTimeout bin/libdw1000.o
+dwIsReceiveTimestampAvailable bin/libdw1000.o
+dwIsTransmitDone bin/libdw1000.o
+dwManageLDE bin/libdw1000.o
+dwNewConfiguration bin/libdw1000.o
+dwNewReceive bin/libdw1000.o
+dwNewTransmit bin/libdw1000.o
+dwReadChannelControlRegister bin/libdw1000.o
+dwReadNetworkIdAndDeviceAddress bin/libdw1000.o
+dwReadSystemConfigurationRegister bin/libdw1000.o
+dwReadSystemEventMaskRegister bin/libdw1000.o
+dwReadSystemEventStatusRegister bin/libdw1000.o
+dwReadTransmitFrameControlRegister bin/libdw1000.o
+dwReceivePermanently bin/libdw1000.o
+dwRxSoftReset bin/libdw1000.o
+dwSetAntenaDelay bin/libdw1000.o
+dwSetChannel bin/libdw1000.o
+dwSetData bin/libdw1000.o
+dwSetDataRate bin/libdw1000.o
+dwSetDefaults bin/libdw1000.o
+dwSetDelay bin/libdw1000.o
+dwSetDoubleBuffering bin/libdw1000.o
+dwSetFrameFilter bin/libdw1000.o
+dwSetFrameFilterAllowAcknowledgement bin/libdw1000.o
+dwSetFrameFilterAllowBeacon bin/libdw1000.o
+dwSetFrameFilterAllowData bin/libdw1000.o
+dwSetFrameFilterAllowMAC bin/libdw1000.o
+dwSetFrameFilterAllowReserved bin/libdw1000.o
+dwSetFrameFilterBehaveCoordinator bin/libdw1000.o
+dwSetInterruptPolarity bin/libdw1000.o
+dwSetPreambleCode bin/libdw1000.o
+dwSetPreambleLength bin/libdw1000.o
+dwSetPulseFrequency bin/libdw1000.o
+dwSetReceiveWaitTimeout bin/libdw1000.o
+dwSetReceiverAutoReenable bin/libdw1000.o
+dwSetTxPower bin/libdw1000.o
+dwSetTxRxTime bin/libdw1000.o
+dwSetUserdata bin/libdw1000.o
+dwSoftReset bin/libdw1000.o
+dwSpiRead bin/libdw1000Spi.o
+ bin/libdw1000.o
+dwSpiRead16 bin/libdw1000Spi.o
+ bin/libdw1000.o
+dwSpiRead32 bin/libdw1000Spi.o
+ bin/libdw1000.o
+dwSpiWrite bin/libdw1000Spi.o
+ bin/libdw1000.o
+dwSpiWrite32 bin/libdw1000Spi.o
+ bin/libdw1000.o
+dwSpiWrite8 bin/libdw1000Spi.o
+ bin/libdw1000.o
+dwStartReceive bin/libdw1000.o
+dwStartTransmit bin/libdw1000.o
+dwStrError bin/libdw1000.o
+dwSuppressFrameCheck bin/libdw1000.o
+dwTune bin/libdw1000.o
+dwUseExtendedFrameLength bin/libdw1000.o
+dwUseSmartPower bin/libdw1000.o
+dwWaitForResponse bin/libdw1000.o
+dwWriteChannelControlRegister bin/libdw1000.o
+dwWriteNetworkIdAndDeviceAddress bin/libdw1000.o
+dwWriteSystemConfigurationRegister bin/libdw1000.o
+dwWriteSystemEventMaskRegister bin/libdw1000.o
+dwWriteTransmitFrameControlRegister bin/libdw1000.o
+eTaskGetState bin/tasks.o
+eepromInit bin/eeprom.o
+ bin/configblockeeprom.o
+eepromReadBuffer bin/eeprom.o
+ bin/configblockeeprom.o
+ bin/storage.o
+eepromTest bin/eeprom.o
+ bin/configblockeeprom.o
+eepromTestConnection bin/eeprom.o
+ bin/configblockeeprom.o
+eepromWriteBuffer bin/eeprom.o
+ bin/configblockeeprom.o
+ bin/storage.o
+eepromWritePage bin/eeprom.o
+effectsFct bin/ledring12.o
+enableInterrupt bin/amg8833.o
+enter_bootloader bin/bootloader.o
+ bin/usb.o
+eprintf bin/eprintf.o
+ bin/kve.o
+ bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+ bin/configblockeeprom.o
+ bin/cfassert.o
+ bin/activeMarkerDeck.o
+ bin/multiranger.o
+ bin/oa.o
+ bin/flowdeck_v1v2.o
+ bin/locodeck.o
+ bin/zranger2.o
+ bin/usddeck.o
+ bin/gtgps.o
+ bin/deck_test.o
+ bin/deck_info.o
+ bin/deck.o
+ bin/estimator_kalman.o
+ bin/health.o
+ bin/controller_student.o
+ bin/controller.o
+ bin/estimator.o
+ bin/stabilizer.o
+ bin/mem.o
+ bin/sysload.o
+ bin/msp.o
+ bin/log.o
+ bin/param.o
+ bin/system.o
+ bin/storage.o
+ bin/ow_syslink.o
+ bin/syslink.o
+ bin/freeRTOSdebug.o
+ bin/eeprom.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+estimatorComplementary bin/estimator_complementary.o
+ bin/estimator.o
+estimatorComplementaryInit bin/estimator_complementary.o
+ bin/estimator.o
+estimatorComplementaryTest bin/estimator_complementary.o
+ bin/estimator.o
+estimatorDequeue bin/estimator.o
+ bin/estimator_kalman.o
+ bin/estimator_complementary.o
+estimatorEnqueue bin/estimator.o
+ bin/lighthouse_position_est.o
+ bin/flowdeck_v1v2.o
+ bin/crtp_localization_service.o
+ bin/range.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+estimatorKalman bin/estimator_kalman.o
+ bin/estimator.o
+estimatorKalmanGetEstimatedPos bin/estimator_kalman.o
+estimatorKalmanGetEstimatedRot bin/estimator_kalman.o
+estimatorKalmanInit bin/estimator_kalman.o
+ bin/estimator.o
+estimatorKalmanTaskInit bin/estimator_kalman.o
+ bin/system.o
+estimatorKalmanTaskTest bin/estimator_kalman.o
+ bin/system.o
+estimatorKalmanTest bin/estimator_kalman.o
+ bin/estimator.o
+eventTrigger bin/eventtrigger.o
+ bin/activeMarkerDeck.o
+ bin/estimator.o
+eventtriggerGetById bin/eventtrigger.o
+eventtriggerGetByName bin/eventtrigger.o
+eventtriggerGetId bin/eventtrigger.o
+eventtriggerRegisterCallback bin/eventtrigger.o
+evprintf bin/eprintf.o
+exit /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-exit.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+expf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_exp.o)
+ bin/zranger2.o
+ bin/zranger.o
+extRxInit bin/extrx.o
+ bin/cppmdeck.o
+extiInit bin/exti.o
+extiTest bin/exti.o
+f_chdir bin/ff.o
+f_chdrive bin/ff.o
+f_close bin/ff.o
+ bin/usddeck.o
+f_closedir bin/ff.o
+f_findfirst bin/ff.o
+f_findnext bin/ff.o
+f_forward bin/ff.o
+f_getcwd bin/ff.o
+f_getfree bin/ff.o
+f_getlabel bin/ff.o
+f_gets bin/ff.o
+f_gets_without_comments bin/usddeck.o
+f_lseek bin/ff.o
+ bin/usddeck.o
+f_mkdir bin/ff.o
+f_mkfs bin/ff.o
+f_mount bin/ff.o
+ bin/usddeck.o
+f_open bin/ff.o
+ bin/usddeck.o
+f_opendir bin/ff.o
+f_printf bin/ff.o
+f_putc bin/ff.o
+f_puts bin/ff.o
+f_read bin/ff.o
+ bin/usddeck.o
+f_readdir bin/ff.o
+f_rename bin/ff.o
+f_setlabel bin/ff.o
+f_stat bin/ff.o
+f_sync bin/ff.o
+f_truncate bin/ff.o
+f_unlink bin/ff.o
+f_write bin/ff.o
+fabs /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-s_fabs.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-e_pow.o)
+fabsf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_fabs.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_tan.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_rem_pio2.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_pow.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_atan2.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_asin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_asin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_acos.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_atan.o)
+ff_oem2uni bin/ffunicode.o
+ bin/ff.o
+ff_uni2oem bin/ffunicode.o
+ bin/ff.o
+ff_wtoupper bin/ffunicode.o
+ bin/ff.o
+filterLevels bin/outlierFilter.o
+finite /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-s_finite.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-w_pow.o)
+finitef /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_finite.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_pow.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_exp.o)
+floorf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_floor.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_rem_pio2.o)
+fmaxf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_fmax.o)
+ bin/num.o
+ bin/collision_avoidance.o
+ bin/position_controller_pid.o
+fminf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_fmin.o)
+ bin/num.o
+ bin/collision_avoidance.o
+ bin/crtp_commander_rpyt.o
+g_pfnVectors bin/startup_stm32f40xx.o
+getControllerType bin/controller.o
+ bin/stabilizer.o
+getInterrupt bin/amg8833.o
+getStateEstimator bin/estimator.o
+ bin/stabilizer.o
+get_fattime bin/usddeck.o
+ bin/ff.o
+gtgpsTask bin/gtgps.o
+half2single bin/num.o
+handleAngles bin/pulse_processor_v2.o
+hardware_init_hook /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+header bin/swd.o
+healthRunTests bin/health.o
+ bin/stabilizer.o
+healthShallWeRunTest bin/health.o
+ bin/stabilizer.o
+i2cdevInit bin/i2cdev.o
+ bin/system.o
+i2cdevRead bin/i2cdev.o
+i2cdevReadBit bin/i2cdev.o
+i2cdevReadBits bin/i2cdev.o
+i2cdevReadByte bin/i2cdev.o
+ bin/pca9555.o
+ bin/pca95x4.o
+i2cdevReadReg16 bin/i2cdev.o
+ bin/eeprom.o
+i2cdevReadReg8 bin/i2cdev.o
+ bin/activeMarkerDeck.o
+ bin/amg8833.o
+ bin/bstdr_comm_support.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+i2cdevWrite bin/i2cdev.o
+ bin/eeprom.o
+i2cdevWriteBit bin/i2cdev.o
+ bin/mpu6500.o
+i2cdevWriteBits bin/i2cdev.o
+i2cdevWriteByte bin/i2cdev.o
+ bin/pca9555.o
+ bin/pca95x4.o
+ bin/vl53l0x.o
+ bin/pca9685.o
+i2cdevWriteReg16 bin/i2cdev.o
+ bin/amg8833.o
+ bin/eeprom.o
+i2cdevWriteReg8 bin/i2cdev.o
+ bin/activeMarkerDeck.o
+ bin/vl53l0x.o
+ bin/pca9685.o
+ bin/bstdr_comm_support.o
+ bin/sensors_bmi088_bmp388.o
+i2cdrvCreateMessage bin/i2c_drv.o
+i2cdrvCreateMessageIntAddr bin/i2c_drv.o
+i2cdrvInit bin/i2c_drv.o
+idx bin/swd.o
+iirLPFilterSingle bin/filter.o
+indi_init_filters bin/controller_indi.o
+initCrtpPacket bin/crtp_commander_high_level.o
+initUsecTimer bin/usec_time.o
+ bin/system.o
+ bin/tasks.o
+int12ToFloat bin/amg8833.o
+integralFBx bin/sensfusion6.o
+integralFBy bin/sensfusion6.o
+integralFBz bin/sensfusion6.o
+isInGroup bin/crtp_commander_high_level.o
+is_traj_eval_valid bin/pptraj.o
+ bin/crtp_commander_high_level.o
+kalmanCoreAddProcessNoise bin/kalman_core.o
+ bin/estimator_kalman.o
+kalmanCoreDecoupleXY bin/kalman_core.o
+kalmanCoreExternalizeState bin/kalman_core.o
+ bin/estimator_kalman.o
+kalmanCoreFinalize bin/kalman_core.o
+ bin/estimator_kalman.o
+kalmanCoreInit bin/kalman_core.o
+ bin/estimator_kalman.o
+kalmanCorePredict bin/kalman_core.o
+ bin/estimator_kalman.o
+kalmanCoreRobustUpdateWithDistance bin/mm_distance_robust.o
+ bin/estimator_kalman.o
+kalmanCoreRobustUpdateWithTDOA bin/mm_tdoa_robust.o
+ bin/estimator_kalman.o
+kalmanCoreScalarUpdate bin/kalman_core.o
+kalmanCoreUpdateWithAbsoluteHeight bin/mm_absolute_height.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithBaro bin/kalman_core.o
+kalmanCoreUpdateWithDistance bin/mm_distance.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithFlow bin/mm_flow.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithPKE bin/kalman_core.o
+kalmanCoreUpdateWithPose bin/mm_pose.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithPosition bin/mm_position.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithSweepAngles bin/mm_sweep_angles.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithTDOA bin/mm_tdoa.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithTof bin/mm_tof.o
+ bin/estimator_kalman.o
+kalmanCoreUpdateWithYawError bin/mm_yaw_error.o
+ bin/estimator_kalman.o
+kalmanSupervisorIsStateWithinBounds bin/kalman_supervisor.o
+ bin/estimator_kalman.o
+kveCheck bin/kve.o
+ bin/storage.o
+kveDefrag bin/kve.o
+kveDelete bin/kve.o
+ bin/storage.o
+kveFetch bin/kve.o
+ bin/storage.o
+kveFormat bin/kve.o
+ bin/storage.o
+kveStorageFindEnd bin/kve_storage.o
+ bin/kve.o
+kveStorageFindHole bin/kve_storage.o
+ bin/kve.o
+kveStorageFindItemByKey bin/kve_storage.o
+ bin/kve.o
+kveStorageFindNextItem bin/kve_storage.o
+ bin/kve.o
+kveStorageGetBuffer bin/kve_storage.o
+ bin/kve.o
+kveStorageGetBufferLength bin/kve_storage.o
+kveStorageGetItemInfo bin/kve_storage.o
+ bin/kve.o
+kveStorageGetKey bin/kve_storage.o
+kveStorageGetKeyLength bin/kve_storage.o
+kveStorageMoveMemory bin/kve_storage.o
+ bin/kve.o
+kveStorageWriteEnd bin/kve_storage.o
+ bin/kve.o
+kveStorageWriteHole bin/kve_storage.o
+ bin/kve.o
+kveStorageWriteItem bin/kve_storage.o
+ bin/kve.o
+kveStore bin/kve.o
+ bin/storage.o
+ledClearAll bin/led.o
+ bin/cfassert.o
+ledInit bin/led.o
+ bin/system.o
+ledSet bin/led.o
+ bin/cfassert.o
+ bin/system.o
+ bin/freeRTOSdebug.o
+ bin/ledseq.o
+ledSetAll bin/led.o
+ledTest bin/led.o
+ bin/ledseq.o
+ledring12Worker bin/ledring12.o
+ledseqEnable bin/ledseq.o
+ledseqInit bin/ledseq.o
+ bin/system.o
+ledseqRegisterSequence bin/ledseq.o
+ledseqRun bin/ledseq.o
+ bin/system.o
+ bin/radiolink.o
+ bin/usblink.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+ledseqRunBlocking bin/ledseq.o
+ledseqSetChargeLevel bin/ledseq.o
+ledseqStop bin/ledseq.o
+ledseqStopBlocking bin/ledseq.o
+ledseqTest bin/ledseq.o
+ bin/system.o
+lhblBootToFW bin/lh_bootloader.o
+lhblFlashEraseFirmware bin/lh_bootloader.o
+ bin/lighthouse_deck_flasher.o
+lhblFlashGetProtocolVersion bin/lh_bootloader.o
+lhblFlashRead bin/lh_bootloader.o
+ bin/lighthouse_deck_flasher.o
+lhblFlashWakeup bin/lh_bootloader.o
+lhblFlashWriteFW bin/lh_bootloader.o
+lhblFlashWritePage bin/lh_bootloader.o
+ bin/lighthouse_deck_flasher.o
+lhblGetVersion bin/lh_bootloader.o
+lhblInit bin/lh_bootloader.o
+lhblTest bin/lh_bootloader.o
+lighthouseCalibrationApplyNothing bin/lighthouse_calibration.o
+ bin/pulse_processor.o
+lighthouseCalibrationApplyV1 bin/lighthouse_calibration.o
+ bin/pulse_processor.o
+lighthouseCalibrationApplyV2 bin/lighthouse_calibration.o
+ bin/pulse_processor.o
+lighthouseCalibrationMeasurementModelLh1 bin/lighthouse_calibration.o
+ bin/lighthouse_position_est.o
+lighthouseCalibrationMeasurementModelLh2 bin/lighthouse_calibration.o
+ bin/lighthouse_position_est.o
+lighthouseCoreInit bin/lighthouse_core.o
+ bin/lighthouse.o
+lighthouseCoreLedTimer bin/lighthouse_core.o
+ bin/lighthouse.o
+lighthouseCoreSetCalibrationData bin/lighthouse_core.o
+ bin/lighthouse_storage.o
+lighthouseCoreSetLeds bin/lighthouse_core.o
+lighthouseCoreSetSystemType bin/lighthouse_core.o
+ bin/lighthouse_storage.o
+lighthouseCoreState bin/lighthouse_core.o
+ bin/lighthouse_storage.o
+ bin/lighthouse_position_est.o
+lighthouseCoreTask bin/lighthouse_core.o
+ bin/lighthouse.o
+lighthouseDeckFlasherCheckVersionAndBoot bin/lighthouse_deck_flasher.o
+ bin/lighthouse_core.o
+lighthouseDeckFlasherPropertiesQuery bin/lighthouse_deck_flasher.o
+ bin/lighthouse.o
+lighthouseDeckFlasherRead bin/lighthouse_deck_flasher.o
+ bin/lighthouse.o
+lighthouseDeckFlasherWrite bin/lighthouse_deck_flasher.o
+ bin/lighthouse.o
+lighthouseGeometryGetBaseStationPosition bin/lighthouse_geometry.o
+lighthouseGeometryGetPositionFromRayIntersection bin/lighthouse_geometry.o
+ bin/lighthouse_position_est.o
+lighthouseGeometryGetRay bin/lighthouse_geometry.o
+lighthouseGeometryIntersectionPlaneVector bin/lighthouse_geometry.o
+lighthouseGeometryYawDelta bin/lighthouse_geometry.o
+lighthousePositionCalibrationDataWritten bin/lighthouse_position_est.o
+ bin/lighthouse_core.o
+lighthousePositionEstInit bin/lighthouse_position_est.o
+ bin/lighthouse_core.o
+lighthousePositionEstimatePoseCrossingBeams bin/lighthouse_position_est.o
+ bin/lighthouse_core.o
+lighthousePositionEstimatePoseSweeps bin/lighthouse_position_est.o
+ bin/lighthouse_core.o
+lighthousePositionSetGeometryData bin/lighthouse_position_est.o
+ bin/lighthouse_storage.o
+lighthouseStorageInitializeCalibDataFromStorage bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+lighthouseStorageInitializeGeoDataFromStorage bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+lighthouseStorageInitializeSystemTypeFromStorage bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+lighthouseStoragePersistCalibDataBackground bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+lighthouseStoragePersistData bin/lighthouse_storage.o
+ bin/crtp_localization_service.o
+lighthouseStoragePersistSystemType bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+lighthouseStorageVerifySetStorageVersion bin/lighthouse_storage.o
+ bin/lighthouse_core.o
+limitUint16 bin/num.o
+ bin/power_distribution_stock.o
+locSrvInit bin/crtp_localization_service.o
+ bin/comm.o
+locSrvSendLighthouseAngle bin/crtp_localization_service.o
+ bin/lighthouse_core.o
+locSrvSendRangeFloat bin/crtp_localization_service.o
+locoDeckGetActiveAnchorIdList bin/locodeck.o
+locoDeckGetAnchorIdList bin/locodeck.o
+locoDeckGetAnchorPosition bin/locodeck.o
+locoDeckGetRangingState bin/locodeck.o
+locoDeckSetRangingState bin/locodeck.o
+log10f /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_log10.o)
+ bin/libdw1000.o
+logBlockTimed bin/log.o
+logGetAddress bin/log.o
+ bin/usddeck.o
+logGetFloat bin/log.o
+ bin/ledring12.o
+logGetGroupAndName bin/log.o
+logGetInt bin/log.o
+ bin/ledring12.o
+ bin/sound_cf2.o
+logGetType bin/log.o
+ bin/usddeck.o
+logGetUint bin/log.o
+ bin/ledring12.o
+logGetVarId bin/log.o
+ bin/ledring12.o
+ bin/sound_cf2.o
+logInit bin/log.o
+ bin/comm.o
+logRunBlock bin/log.o
+logTest bin/log.o
+logVarSize bin/log.o
+lpf2pApply bin/filter.o
+ bin/student_pid.o
+ bin/pid.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+lpf2pInit bin/filter.o
+ bin/student_pid.o
+ bin/pid.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+lpf2pReset bin/filter.o
+lpf2pSetCutoffFreq bin/filter.o
+lps25hEvaluateSelfTest bin/lps25h.o
+lps25hGetData bin/lps25h.o
+lps25hInit bin/lps25h.o
+ bin/sensors_mpu9250_lps25h.o
+lps25hPressureToAltitude bin/lps25h.o
+ bin/sensors_mpu9250_lps25h.o
+lps25hSelfTest bin/lps25h.o
+ bin/sensors_mpu9250_lps25h.o
+lps25hSetEnabled bin/lps25h.o
+ bin/sensors_mpu9250_lps25h.o
+lps25hTestConnection bin/lps25h.o
+ bin/sensors_mpu9250_lps25h.o
+lpsGetLppShort bin/locodeck.o
+lpsSendLppShort bin/locodeck.o
+ bin/crtp_localization_service.o
+lpsTdoa2TagSetOptions bin/lpsTdoa2Tag.o
+lpsTwrTagGetDistance bin/lpsTwrTag.o
+m_ob bin/position_controller_indi.o
+main bin/main.o
+ bin/startup_stm32f40xx.o
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+malloc /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-__atexit.o)
+maxPosition bin/kalman_supervisor.o
+maxSonarReadDistance bin/maxsonar.o
+maxVelocity bin/kalman_supervisor.o
+memInit bin/mem.o
+ bin/system.o
+memTest bin/mem.o
+ bin/system.o
+memcmp /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-memcmp.o)
+ bin/kve_storage.o
+memcpy /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-memcpy.o)
+ bin/lighthouse_position_est.o
+ bin/locodeck.o
+ bin/deck_memory.o
+ bin/pptraj.o
+ bin/crtp_commander_high_level.o
+ bin/estimator_kalman.o
+ bin/commander.o
+ bin/app_channel.o
+ bin/log.o
+ bin/param.o
+ bin/vl53l1_api_core.o
+ bin/ow_syslink.o
+ bin/radiolink.o
+ bin/syslink.o
+ bin/usb.o
+ bin/usblink.o
+ bin/bmp3.o
+ bin/sensors_bmi088_spi.o
+ bin/queue.o
+memoryRegisterHandler bin/mem.o
+ bin/lighthouse_position_est.o
+ bin/usddeck.o
+ bin/deck_memory.o
+ bin/crtp_commander_high_level.o
+ bin/eeprom.o
+memoryRegisterOwHandler bin/mem.o
+ bin/ow_common.o
+memset /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-memset.o)
+ bin/lighthouse_position_est.o
+ bin/pulse_processor_v1.o
+ bin/lighthouse_core.o
+ bin/activeMarkerDeck.o
+ bin/tdoaStorage.o
+ bin/tdoaStats.o
+ bin/tdoaEngine.o
+ bin/usddeck.o
+ bin/ledring12.o
+ bin/deck_memory.o
+ bin/pptraj_compressed.o
+ bin/pptraj.o
+ bin/kalman_core.o
+ bin/collision_avoidance.o
+ bin/position_controller_indi.o
+ bin/crtp_localization_service.o
+ bin/crtp_commander_generic.o
+ bin/crtpservice.o
+ bin/vl53l1_api.o
+ bin/proximity.o
+ bin/bmp3.o
+ bin/tasks.o
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+min bin/amg8833.o
+motorMap bin/motors.o
+motorMapBoltBrushless bin/platform_cf2.o
+motorMapDefaultBrushed bin/platform_cf2.o
+motor_ratios bin/motors.o
+motorsBeep bin/motors.o
+ bin/health.o
+motorsDeInit bin/motors.o
+motorsGetRatio bin/motors.o
+ bin/supervisor.o
+motorsInit bin/motors.o
+ bin/power_distribution_stock.o
+motorsPlayMelody bin/motors.o
+motorsPlayTone bin/motors.o
+motorsSetRatio bin/motors.o
+ bin/health.o
+ bin/power_distribution_stock.o
+motorsTest bin/motors.o
+ bin/power_distribution_stock.o
+mpu6500EvaluateSelfTest bin/mpu6500.o
+mpu6500GetAccelFIFOEnabled bin/mpu6500.o
+mpu6500GetAccelXSelfTest bin/mpu6500.o
+mpu6500GetAccelYSelfTest bin/mpu6500.o
+mpu6500GetAccelZSelfTest bin/mpu6500.o
+mpu6500GetAcceleration bin/mpu6500.o
+mpu6500GetAccelerationX bin/mpu6500.o
+mpu6500GetAccelerationY bin/mpu6500.o
+mpu6500GetAccelerationZ bin/mpu6500.o
+mpu6500GetAccelerometerPowerOnDelay bin/mpu6500.o
+mpu6500GetClockOutputEnabled bin/mpu6500.o
+mpu6500GetClockSource bin/mpu6500.o
+mpu6500GetDHPFMode bin/mpu6500.o
+mpu6500GetDLPFMode bin/mpu6500.o
+mpu6500GetDMPConfig1 bin/mpu6500.o
+mpu6500GetDMPConfig2 bin/mpu6500.o
+mpu6500GetDMPEnabled bin/mpu6500.o
+mpu6500GetDMPInt0Status bin/mpu6500.o
+mpu6500GetDMPInt1Status bin/mpu6500.o
+mpu6500GetDMPInt2Status bin/mpu6500.o
+mpu6500GetDMPInt3Status bin/mpu6500.o
+mpu6500GetDMPInt4Status bin/mpu6500.o
+mpu6500GetDMPInt5Status bin/mpu6500.o
+mpu6500GetDeviceID bin/mpu6500.o
+mpu6500GetExternalFrameSync bin/mpu6500.o
+mpu6500GetExternalSensorByte bin/mpu6500.o
+mpu6500GetExternalSensorDWord bin/mpu6500.o
+mpu6500GetExternalSensorWord bin/mpu6500.o
+mpu6500GetExternalShadowDelayEnabled bin/mpu6500.o
+mpu6500GetFIFOByte bin/mpu6500.o
+mpu6500GetFIFOBytes bin/mpu6500.o
+mpu6500GetFIFOCount bin/mpu6500.o
+mpu6500GetFIFOEnabled bin/mpu6500.o
+mpu6500GetFSyncInterruptEnabled bin/mpu6500.o
+mpu6500GetFSyncInterruptLevel bin/mpu6500.o
+mpu6500GetFreefallDetectionCounterDecrement bin/mpu6500.o
+mpu6500GetFullScaleAccelGPL bin/mpu6500.o
+mpu6500GetFullScaleAccelRangeId bin/mpu6500.o
+mpu6500GetFullScaleGyroDPL bin/mpu6500.o
+mpu6500GetFullScaleGyroRangeId bin/mpu6500.o
+mpu6500GetI2CBypassEnabled bin/mpu6500.o
+mpu6500GetI2CMasterModeEnabled bin/mpu6500.o
+mpu6500GetIntDMPEnabled bin/mpu6500.o
+mpu6500GetIntDMPStatus bin/mpu6500.o
+mpu6500GetIntDataReadyEnabled bin/mpu6500.o
+mpu6500GetIntDataReadyStatus bin/mpu6500.o
+mpu6500GetIntEnabled bin/mpu6500.o
+mpu6500GetIntFIFOBufferOverflowEnabled bin/mpu6500.o
+mpu6500GetIntFIFOBufferOverflowStatus bin/mpu6500.o
+mpu6500GetIntFreefallEnabled bin/mpu6500.o
+mpu6500GetIntFreefallStatus bin/mpu6500.o
+mpu6500GetIntI2CMasterEnabled bin/mpu6500.o
+mpu6500GetIntI2CMasterStatus bin/mpu6500.o
+mpu6500GetIntMotionEnabled bin/mpu6500.o
+mpu6500GetIntMotionStatus bin/mpu6500.o
+mpu6500GetIntPLLReadyEnabled bin/mpu6500.o
+mpu6500GetIntPLLReadyStatus bin/mpu6500.o
+mpu6500GetIntStatus bin/mpu6500.o
+mpu6500GetIntZeroMotionEnabled bin/mpu6500.o
+mpu6500GetIntZeroMotionStatus bin/mpu6500.o
+mpu6500GetInterruptDrive bin/mpu6500.o
+mpu6500GetInterruptLatch bin/mpu6500.o
+mpu6500GetInterruptLatchClear bin/mpu6500.o
+mpu6500GetInterruptMode bin/mpu6500.o
+mpu6500GetLostArbitration bin/mpu6500.o
+mpu6500GetMasterClockSpeed bin/mpu6500.o
+mpu6500GetMotion6 bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500GetMotion9 bin/mpu6500.o
+mpu6500GetMotionDetectionCounterDecrement bin/mpu6500.o
+mpu6500GetMultiMasterEnabled bin/mpu6500.o
+mpu6500GetPassthroughStatus bin/mpu6500.o
+mpu6500GetRate bin/mpu6500.o
+mpu6500GetRotation bin/mpu6500.o
+mpu6500GetRotationX bin/mpu6500.o
+mpu6500GetRotationY bin/mpu6500.o
+mpu6500GetRotationZ bin/mpu6500.o
+mpu6500GetSlate4InputByte bin/mpu6500.o
+mpu6500GetSlave0FIFOEnabled bin/mpu6500.o
+mpu6500GetSlave0Nack bin/mpu6500.o
+mpu6500GetSlave1FIFOEnabled bin/mpu6500.o
+mpu6500GetSlave1Nack bin/mpu6500.o
+mpu6500GetSlave2FIFOEnabled bin/mpu6500.o
+mpu6500GetSlave2Nack bin/mpu6500.o
+mpu6500GetSlave3FIFOEnabled bin/mpu6500.o
+mpu6500GetSlave3Nack bin/mpu6500.o
+mpu6500GetSlave4Address bin/mpu6500.o
+mpu6500GetSlave4Enabled bin/mpu6500.o
+mpu6500GetSlave4InterruptEnabled bin/mpu6500.o
+mpu6500GetSlave4IsDone bin/mpu6500.o
+mpu6500GetSlave4MasterDelay bin/mpu6500.o
+mpu6500GetSlave4Nack bin/mpu6500.o
+mpu6500GetSlave4Register bin/mpu6500.o
+mpu6500GetSlave4WriteMode bin/mpu6500.o
+mpu6500GetSlaveAddress bin/mpu6500.o
+mpu6500GetSlaveDataLength bin/mpu6500.o
+mpu6500GetSlaveDelayEnabled bin/mpu6500.o
+mpu6500GetSlaveEnabled bin/mpu6500.o
+mpu6500GetSlaveReadWriteTransitionEnabled bin/mpu6500.o
+mpu6500GetSlaveRegister bin/mpu6500.o
+mpu6500GetSlaveWordByteSwap bin/mpu6500.o
+mpu6500GetSlaveWordGroupOffset bin/mpu6500.o
+mpu6500GetSlaveWriteMode bin/mpu6500.o
+mpu6500GetSleepEnabled bin/mpu6500.o
+mpu6500GetStandbyXAccelEnabled bin/mpu6500.o
+mpu6500GetStandbyXGyroEnabled bin/mpu6500.o
+mpu6500GetStandbyYAccelEnabled bin/mpu6500.o
+mpu6500GetStandbyYGyroEnabled bin/mpu6500.o
+mpu6500GetStandbyZAccelEnabled bin/mpu6500.o
+mpu6500GetStandbyZGyroEnabled bin/mpu6500.o
+mpu6500GetTempFIFOEnabled bin/mpu6500.o
+mpu6500GetTempSensorEnabled bin/mpu6500.o
+mpu6500GetTemperature bin/mpu6500.o
+mpu6500GetWaitForExternalSensorEnabled bin/mpu6500.o
+mpu6500GetWakeCycleEnabled bin/mpu6500.o
+mpu6500GetWakeFrequency bin/mpu6500.o
+mpu6500GetXGyroFIFOEnabled bin/mpu6500.o
+mpu6500GetXNegMotionDetected bin/mpu6500.o
+mpu6500GetXPosMotionDetected bin/mpu6500.o
+mpu6500GetYGyroFIFOEnabled bin/mpu6500.o
+mpu6500GetYNegMotionDetected bin/mpu6500.o
+mpu6500GetYPosMotionDetected bin/mpu6500.o
+mpu6500GetZGyroFIFOEnabled bin/mpu6500.o
+mpu6500GetZNegMotionDetected bin/mpu6500.o
+mpu6500GetZPosMotionDetected bin/mpu6500.o
+mpu6500GetZeroMotionDetected bin/mpu6500.o
+mpu6500Init bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500ReadMemoryBlock bin/mpu6500.o
+mpu6500ReadMemoryByte bin/mpu6500.o
+mpu6500Reset bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500ResetAccelerometerPath bin/mpu6500.o
+mpu6500ResetDMP bin/mpu6500.o
+mpu6500ResetFIFO bin/mpu6500.o
+mpu6500ResetGyroscopePath bin/mpu6500.o
+mpu6500ResetI2CMaster bin/mpu6500.o
+mpu6500ResetSensors bin/mpu6500.o
+mpu6500ResetTemperaturePath bin/mpu6500.o
+mpu6500SelfTest bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetAccelDLPF bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetAccelFIFOEnabled bin/mpu6500.o
+mpu6500SetAccelXSelfTest bin/mpu6500.o
+mpu6500SetAccelYSelfTest bin/mpu6500.o
+mpu6500SetAccelZSelfTest bin/mpu6500.o
+mpu6500SetAccelerometerPowerOnDelay bin/mpu6500.o
+mpu6500SetClockOutputEnabled bin/mpu6500.o
+mpu6500SetClockSource bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetDHPFMode bin/mpu6500.o
+mpu6500SetDLPFMode bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetDMPConfig1 bin/mpu6500.o
+mpu6500SetDMPConfig2 bin/mpu6500.o
+mpu6500SetDMPEnabled bin/mpu6500.o
+mpu6500SetDeviceID bin/mpu6500.o
+mpu6500SetExternalFrameSync bin/mpu6500.o
+mpu6500SetExternalShadowDelayEnabled bin/mpu6500.o
+mpu6500SetFIFOByte bin/mpu6500.o
+mpu6500SetFIFOEnabled bin/mpu6500.o
+mpu6500SetFSyncInterruptEnabled bin/mpu6500.o
+mpu6500SetFSyncInterruptLevel bin/mpu6500.o
+mpu6500SetFreefallDetectionCounterDecrement bin/mpu6500.o
+mpu6500SetFullScaleAccelRange bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetFullScaleGyroRange bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetGyroXSelfTest bin/mpu6500.o
+mpu6500SetGyroYSelfTest bin/mpu6500.o
+mpu6500SetGyroZSelfTest bin/mpu6500.o
+mpu6500SetI2CBypassEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetI2CMasterModeEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetIntDMPEnabled bin/mpu6500.o
+mpu6500SetIntDataReadyEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetIntEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetIntFIFOBufferOverflowEnabled bin/mpu6500.o
+mpu6500SetIntFreefallEnabled bin/mpu6500.o
+mpu6500SetIntI2CMasterEnabled bin/mpu6500.o
+mpu6500SetIntMotionEnabled bin/mpu6500.o
+mpu6500SetIntPLLReadyEnabled bin/mpu6500.o
+mpu6500SetIntZeroMotionEnabled bin/mpu6500.o
+mpu6500SetInterruptDrive bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetInterruptLatch bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetInterruptLatchClear bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetInterruptMode bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetMasterClockSpeed bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetMemoryBank bin/mpu6500.o
+mpu6500SetMemoryStartAddress bin/mpu6500.o
+mpu6500SetMotionDetectionCounterDecrement bin/mpu6500.o
+mpu6500SetMultiMasterEnabled bin/mpu6500.o
+mpu6500SetRate bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlave0FIFOEnabled bin/mpu6500.o
+mpu6500SetSlave1FIFOEnabled bin/mpu6500.o
+mpu6500SetSlave2FIFOEnabled bin/mpu6500.o
+mpu6500SetSlave3FIFOEnabled bin/mpu6500.o
+mpu6500SetSlave4Address bin/mpu6500.o
+mpu6500SetSlave4Enabled bin/mpu6500.o
+mpu6500SetSlave4InterruptEnabled bin/mpu6500.o
+mpu6500SetSlave4MasterDelay bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlave4OutputByte bin/mpu6500.o
+mpu6500SetSlave4Register bin/mpu6500.o
+mpu6500SetSlave4WriteMode bin/mpu6500.o
+mpu6500SetSlaveAddress bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlaveDataLength bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlaveDelayEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlaveEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlaveOutputByte bin/mpu6500.o
+mpu6500SetSlaveReadWriteTransitionEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlaveRegister bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetSlaveWordByteSwap bin/mpu6500.o
+mpu6500SetSlaveWordGroupOffset bin/mpu6500.o
+mpu6500SetSlaveWriteMode bin/mpu6500.o
+mpu6500SetSleepEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetStandbyXAccelEnabled bin/mpu6500.o
+mpu6500SetStandbyXGyroEnabled bin/mpu6500.o
+mpu6500SetStandbyYAccelEnabled bin/mpu6500.o
+mpu6500SetStandbyYGyroEnabled bin/mpu6500.o
+mpu6500SetStandbyZAccelEnabled bin/mpu6500.o
+mpu6500SetStandbyZGyroEnabled bin/mpu6500.o
+mpu6500SetTempFIFOEnabled bin/mpu6500.o
+mpu6500SetTempSensorEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetWaitForExternalSensorEnabled bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500SetWakeCycleEnabled bin/mpu6500.o
+mpu6500SetWakeFrequency bin/mpu6500.o
+mpu6500SetXGyroFIFOEnabled bin/mpu6500.o
+mpu6500SetYGyroFIFOEnabled bin/mpu6500.o
+mpu6500SetZGyroFIFOEnabled bin/mpu6500.o
+mpu6500SwitchSPIEnabled bin/mpu6500.o
+mpu6500Test bin/mpu6500.o
+mpu6500TestConnection bin/mpu6500.o
+ bin/sensors_mpu9250_lps25h.o
+mpu6500WriteDMPConfigurationSet bin/mpu6500.o
+mpu6500WriteMemoryBlock bin/mpu6500.o
+mpu6500WriteMemoryByte bin/mpu6500.o
+mpu6500WriteProgDMPConfigurationSet bin/mpu6500.o
+mpu6500WriteProgMemoryBlock bin/mpu6500.o
+mspInit bin/msp.o
+mspProcessByte bin/msp.o
+nan /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-s_nan.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-e_pow.o)
+nanf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_nan.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_pow.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_log10.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_asin.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_acos.o)
+notifySetpointsStopDecoder bin/crtp_commander.o
+number_of_txd_bytes bin/swd.o
+nvicInit bin/nvic.o
+ootxDecoderProcessBit bin/ootx_decoder.o
+ bin/pulse_processor_v2.o
+ bin/pulse_processor_v1.o
+outlierFilterReset bin/outlierFilter.o
+ bin/estimator_kalman.o
+outlierFilterValidateLighthouseSweep bin/outlierFilter.o
+outlierFilterValidateTdoaSimple bin/outlierFilter.o
+outlierFilterValidateTdoaSteps bin/outlierFilter.o
+owCommonInit bin/ow_common.o
+ bin/ow_syslink.o
+owCommonTest bin/ow_common.o
+ bin/ow_syslink.o
+owGetinfo bin/ow_syslink.o
+ bin/ow_common.o
+owInit bin/ow_syslink.o
+owRead bin/ow_syslink.o
+ bin/ow_common.o
+owScan bin/ow_syslink.o
+ bin/ow_common.o
+owSyslinkRecieve bin/ow_syslink.o
+ bin/syslink.o
+owTest bin/ow_syslink.o
+owWrite bin/ow_syslink.o
+ bin/ow_common.o
+p2pRegisterCB bin/radiolink.o
+paramGetFloat bin/param.o
+paramGetGroupAndName bin/param.o
+paramGetInt bin/param.o
+paramGetType bin/param.o
+paramGetUint bin/param.o
+paramGetVarId bin/param.o
+ bin/estimator_kalman.o
+paramInit bin/param.o
+ bin/comm.o
+paramSetFloat bin/param.o
+paramSetInt bin/param.o
+ bin/estimator_kalman.o
+paramTOCProcess bin/param.o
+paramTest bin/param.o
+ bin/comm.o
+paramVarSize bin/param.o
+pcQueueGetName bin/queue.o
+pcTaskGetName bin/tasks.o
+pcTimerGetName bin/timers.o
+pca9555ClearOutputRegA bin/pca9555.o
+pca9555ClearOutputRegB bin/pca9555.o
+pca9555ConfigOutputRegA bin/pca9555.o
+pca9555ConfigOutputRegB bin/pca9555.o
+pca9555Init bin/pca9555.o
+pca9555SetOutputRegA bin/pca9555.o
+pca9555SetOutputRegB bin/pca9555.o
+pca9555Test bin/pca9555.o
+pca95x4ClearOutput bin/pca95x4.o
+ bin/multiranger.o
+ bin/oa.o
+pca95x4ConfigOutput bin/pca95x4.o
+ bin/multiranger.o
+ bin/oa.o
+pca95x4Init bin/pca95x4.o
+ bin/multiranger.o
+ bin/oa.o
+pca95x4SetOutput bin/pca95x4.o
+ bin/multiranger.o
+ bin/oa.o
+pca95x4Test bin/pca95x4.o
+pca9685init bin/pca9685.o
+pca9685setDurations bin/pca9685.o
+pca9685setDurationsAsync bin/pca9685.o
+pca9685setDuties bin/pca9685.o
+pca9685setDutiesAsync bin/pca9685.o
+pca9685startAsyncTask bin/pca9685.o
+peerLocalizationGetPositionByID bin/peer_localization.o
+peerLocalizationGetPositionByIdx bin/peer_localization.o
+ bin/collision_avoidance.o
+peerLocalizationInit bin/peer_localization.o
+ bin/system.o
+peerLocalizationIsIDActive bin/peer_localization.o
+peerLocalizationTellPosition bin/peer_localization.o
+ bin/crtp_localization_service.o
+peerLocalizationTest bin/peer_localization.o
+ bin/system.o
+pidGetDesired bin/pid.o
+pidInit bin/pid.o
+ bin/position_controller_pid.o
+ bin/attitude_pid_controller.o
+pidIsActive bin/pid.o
+pidPitch bin/student_attitude_controller.o
+ bin/attitude_pid_controller.o
+pidPitchRate bin/student_attitude_controller.o
+ bin/attitude_pid_controller.o
+pidReset bin/pid.o
+ bin/position_controller_pid.o
+ bin/attitude_pid_controller.o
+pidRoll bin/student_attitude_controller.o
+ bin/attitude_pid_controller.o
+pidRollRate bin/student_attitude_controller.o
+ bin/attitude_pid_controller.o
+pidSetDesired bin/pid.o
+ bin/position_controller_pid.o
+ bin/attitude_pid_controller.o
+pidSetDt bin/pid.o
+pidSetError bin/pid.o
+ bin/attitude_pid_controller.o
+pidSetIntegralLimit bin/pid.o
+ bin/attitude_pid_controller.o
+pidSetKd bin/pid.o
+pidSetKi bin/pid.o
+pidSetKp bin/pid.o
+pidUpdate bin/pid.o
+ bin/position_controller_pid.o
+ bin/attitude_pid_controller.o
+pidYaw bin/student_attitude_controller.o
+ bin/attitude_pid_controller.o
+pidYawRate bin/student_attitude_controller.o
+ bin/attitude_pid_controller.o
+piecewise_compressed_eval bin/pptraj_compressed.o
+ bin/planner.o
+ bin/crtp_commander_high_level.o
+piecewise_compressed_load bin/pptraj_compressed.o
+ bin/crtp_commander_high_level.o
+piecewise_eval bin/pptraj.o
+ bin/planner.o
+ bin/crtp_commander_high_level.o
+piecewise_eval_reversed bin/pptraj.o
+ bin/planner.o
+ bin/crtp_commander_high_level.o
+piecewise_plan_5th_order bin/pptraj.o
+piecewise_plan_7th_order_no_jerk bin/pptraj.o
+ bin/planner.o
+piezoInit bin/piezo.o
+ bin/buzzdeck.o
+piezoSetFreq bin/piezo.o
+ bin/buzzdeck.o
+piezoSetRatio bin/piezo.o
+ bin/buzzdeck.o
+piezoTest bin/piezo.o
+pinMode bin/deck_digital.o
+ bin/aideck.o
+ bin/usddeck.o
+plan_current_goal bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_go_to bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_go_to_from bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_init bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_is_finished bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_is_stopped bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_land bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_start_compressed_trajectory bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_start_trajectory bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_stop bin/planner.o
+ bin/crtp_commander_high_level.o
+plan_takeoff bin/planner.o
+ bin/crtp_commander_high_level.o
+platformConfigGetDeviceType bin/platform.o
+platformConfigGetDeviceTypeName bin/platform.o
+ bin/platformservice.o
+platformConfigGetMotorMapping bin/platform.o
+ bin/power_distribution_stock.o
+platformConfigGetPlatformName bin/platform_cf2.o
+platformConfigGetSensorImplementation bin/platform.o
+ bin/sensors.o
+platformConfigPhysicalLayoutAntennasAreClose bin/platform.o
+ bin/system.o
+platformGetDeviceTypeString bin/platform_stm32f4.o
+platformGetListOfConfigurations bin/platform_cf2.o
+platformInit bin/platform.o
+ bin/main.o
+platformInitConfiguration bin/platform.o
+platformInitHardware bin/platform_cf2.o
+platformParseDeviceTypeString bin/platform.o
+platformSetLowInterferenceRadioMode bin/platform_utils.o
+ bin/system.o
+platformserviceInit bin/platformservice.o
+ bin/comm.o
+platformserviceSendAppchannelPacket bin/platformservice.o
+ bin/app_channel.o
+platformserviceTest bin/platformservice.o
+ bin/comm.o
+pmEnableExtBatteryCurrMeasuring bin/pm_stm32f4.o
+pmEnableExtBatteryVoltMeasuring bin/pm_stm32f4.o
+pmGetBatteryVoltage bin/pm_stm32f4.o
+ bin/health.o
+pmGetBatteryVoltageMax bin/pm_stm32f4.o
+pmGetBatteryVoltageMin bin/pm_stm32f4.o
+pmInit bin/pm_stm32f4.o
+ bin/system.o
+pmIsBatteryLow bin/pm_stm32f4.o
+pmIsChargerConnected bin/pm_stm32f4.o
+ bin/supervisor.o
+pmIsCharging bin/pm_stm32f4.o
+pmIsDischarging bin/pm_stm32f4.o
+pmMeasureExtBatteryCurrent bin/pm_stm32f4.o
+pmMeasureExtBatteryVoltage bin/pm_stm32f4.o
+pmSetChargeState bin/pm_stm32f4.o
+pmSyslinkUpdate bin/pm_stm32f4.o
+ bin/syslink.o
+pmTask bin/pm_stm32f4.o
+pmTest bin/pm_stm32f4.o
+ bin/system.o
+pmUpdateState bin/pm_stm32f4.o
+pmw3901Init bin/pmw3901.o
+ bin/flowdeck_v1v2.o
+pmw3901ReadMotion bin/pmw3901.o
+ bin/flowdeck_v1v2.o
+poly4d_eval bin/pptraj.o
+ bin/pptraj_compressed.o
+poly4d_linear bin/pptraj.o
+poly4d_max_accel_approx bin/pptraj.o
+poly4d_scale bin/pptraj.o
+poly4d_shift bin/pptraj.o
+poly4d_stretchtime bin/pptraj.o
+poly4d_zero bin/pptraj.o
+poly5 bin/pptraj.o
+polybezier bin/pptraj.o
+ bin/pptraj_compressed.o
+polyder bin/pptraj.o
+polyder4d bin/pptraj.o
+polylinear bin/pptraj.o
+polyreflect bin/pptraj.o
+polyscale bin/pptraj.o
+polystretchtime bin/pptraj.o
+polyval bin/pptraj.o
+positionController bin/position_controller_pid.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+positionControllerINDI bin/position_controller_indi.o
+ bin/controller_indi.o
+positionControllerINDIInit bin/position_controller_indi.o
+ bin/controller_indi.o
+positionControllerInit bin/position_controller_pid.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+positionControllerResetAllPID bin/position_controller_pid.o
+ bin/controller_indi.o
+ bin/controller_pid.o
+positionEstimate bin/position_estimator_altitude.o
+ bin/estimator_complementary.o
+positionUpdateVelocity bin/position_estimator_altitude.o
+ bin/estimator_complementary.o
+position_indi_init_filters bin/position_controller_indi.o
+pow /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-w_pow.o)
+ bin/gtgps.o
+power bin/eprintf.o
+powerDistribution bin/power_distribution_stock.o
+ bin/stabilizer.o
+powerDistributionInit bin/power_distribution_stock.o
+ bin/stabilizer.o
+powerDistributionTest bin/power_distribution_stock.o
+ bin/stabilizer.o
+powerStop bin/power_distribution_stock.o
+ bin/cfassert.o
+ bin/stabilizer.o
+ bin/freeRTOSdebug.o
+powf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_pow.o)
+ bin/lps25h.o
+ bin/sensors_bmi088_bmp388.o
+pq_clamp bin/position_controller_indi.o
+printAssertSnapshotData bin/cfassert.o
+printDeckInfo bin/deck_info.o
+printHardFault bin/nvic.o
+processValidAngles bin/pulse_processor.o
+proximityGetAccuracy bin/proximity.o
+proximityGetDistance bin/proximity.o
+proximityGetDistanceAvg bin/proximity.o
+proximityGetDistanceMedian bin/proximity.o
+proximityInit bin/proximity.o
+pulseProcessorAllClear bin/pulse_processor.o
+ bin/pulse_processor_v1.o
+ bin/lighthouse_core.o
+pulseProcessorAnglesQuality bin/pulse_processor.o
+ bin/lighthouse_core.o
+ bin/ledring12.o
+pulseProcessorApplyCalibration bin/pulse_processor.o
+ bin/lighthouse_core.o
+pulseProcessorClear bin/pulse_processor.o
+ bin/pulse_processor_v2.o
+pulseProcessorClearOutdated bin/pulse_processor.o
+ bin/lighthouse_core.o
+pulseProcessorProcessed bin/pulse_processor.o
+ bin/lighthouse_core.o
+pulseProcessorV1AnglesQuality bin/pulse_processor_v1.o
+ bin/pulse_processor.o
+pulseProcessorV1ProcessPulse bin/pulse_processor_v1.o
+ bin/lighthouse_core.o
+pulseProcessorV1ProcessValidAngles bin/pulse_processor_v1.o
+ bin/pulse_processor.o
+pulseProcessorV2AnglesQuality bin/pulse_processor_v2.o
+ bin/pulse_processor.o
+pulseProcessorV2ConvertToV1Angles bin/pulse_processor_v2.o
+ bin/lighthouse_core.o
+pulseProcessorV2ProcessPulse bin/pulse_processor_v2.o
+ bin/lighthouse_core.o
+pvPortMalloc bin/heap_4.o
+ bin/timers.o
+ bin/queue.o
+ bin/tasks.o
+pvTaskIncrementMutexHeldCount bin/tasks.o
+ bin/queue.o
+pvTimerGetTimerID bin/timers.o
+ bin/log.o
+ bin/ledseq.o
+pxCurrentTCB bin/tasks.o
+ bin/port.o
+pxPortInitialiseStack bin/port.o
+ bin/tasks.o
+qw bin/sensfusion6.o
+qx bin/sensfusion6.o
+qy bin/sensfusion6.o
+qz bin/sensfusion6.o
+radiolinkGetLink bin/radiolink.o
+ bin/comm.o
+ bin/usb.o
+radiolinkInit bin/radiolink.o
+ bin/comm.o
+radiolinkSendP2PPacketBroadcast bin/radiolink.o
+radiolinkSetAddress bin/radiolink.o
+radiolinkSetChannel bin/radiolink.o
+radiolinkSetDatarate bin/radiolink.o
+radiolinkSetPowerDbm bin/radiolink.o
+radiolinkSyslinkDispatch bin/radiolink.o
+ bin/syslink.o
+radiolinkTest bin/radiolink.o
+ bin/comm.o
+rangeEnqueueDownRangeInEstimator bin/range.o
+ bin/zranger2.o
+ bin/zranger.o
+rangeGet bin/range.o
+rangeSet bin/range.o
+ bin/multiranger.o
+ bin/zranger2.o
+ bin/zranger.o
+rateSupervisorInit bin/rateSupervisor.o
+ bin/estimator_kalman.o
+ bin/stabilizer.o
+rateSupervisorLatestCount bin/rateSupervisor.o
+ bin/estimator_kalman.o
+ bin/stabilizer.o
+rateSupervisorValidate bin/rateSupervisor.o
+ bin/estimator_kalman.o
+ bin/stabilizer.o
+read bin/amg8833.o
+read8 bin/amg8833.o
+readPixels bin/amg8833.o
+readThermistor bin/amg8833.o
+realCoefA bin/libarm_math.a(arm_common_tables.o)
+realCoefAQ15 bin/libarm_math.a(arm_common_tables.o)
+realCoefAQ31 bin/libarm_math.a(arm_common_tables.o)
+realCoefB bin/libarm_math.a(arm_common_tables.o)
+realCoefBQ15 bin/libarm_math.a(arm_common_tables.o)
+realCoefBQ31 bin/libarm_math.a(arm_common_tables.o)
+ringBuffer_availableSpace bin/usddeck.o
+ringBuffer_init bin/usddeck.o
+ringBuffer_pop_done bin/usddeck.o
+ringBuffer_pop_start bin/usddeck.o
+ringBuffer_push bin/usddeck.o
+ringBuffer_reset bin/usddeck.o
+rint /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-s_rint.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-w_pow.o)
+rintf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_rint.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-wf_pow.o)
+rx_data bin/swd.o
+scalbn /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-s_scalbn.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-e_pow.o)
+scalbnf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_scalbn.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-kf_rem_pio2.o)
+ /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-ef_pow.o)
+sensfusion6GetAccZWithoutGravity bin/sensfusion6.o
+ bin/estimator_complementary.o
+sensfusion6GetEulerRPY bin/sensfusion6.o
+ bin/estimator_complementary.o
+ bin/msp.o
+sensfusion6GetInvThrustCompensationForTilt bin/sensfusion6.o
+ bin/controller_student.o
+ bin/controller_pid.o
+sensfusion6GetQuaternion bin/sensfusion6.o
+ bin/estimator_complementary.o
+sensfusion6Init bin/sensfusion6.o
+ bin/estimator_complementary.o
+sensfusion6Test bin/sensfusion6.o
+ bin/estimator_complementary.o
+sensfusion6UpdateQ bin/sensfusion6.o
+ bin/estimator_complementary.o
+sensorsAcquire bin/sensors.o
+ bin/stabilizer.o
+sensorsAreCalibrated bin/sensors.o
+ bin/stabilizer.o
+sensorsBmi088Bmp388Acquire bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388AreCalibrated bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388DataAvailableCallback bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388Init_I2C bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388Init_SPI bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388ManufacturingTest bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388ReadAcc bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388ReadBaro bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388ReadGyro bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388ReadMag bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388SetAccMode bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388Test bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088Bmp388WaitDataReady bin/sensors_bmi088_bmp388.o
+ bin/sensors.o
+sensorsBmi088_I2C_deviceInit bin/sensors_bmi088_i2c.o
+ bin/sensors_bmi088_bmp388.o
+sensorsBmi088_SPI_deviceInit bin/sensors_bmi088_spi.o
+ bin/sensors_bmi088_bmp388.o
+sensorsBus bin/i2c_drv.o
+ bin/system.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+sensorsInit bin/sensors.o
+ bin/stabilizer.o
+sensorsManufacturingTest bin/sensors.o
+sensorsMpu9250Lps25hAcquire bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hAreCalibrated bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hInit bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hManufacturingTest bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hReadAcc bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hReadBaro bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hReadGyro bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hReadMag bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hSetAccMode bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hTest bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsMpu9250Lps25hWaitDataReady bin/sensors_mpu9250_lps25h.o
+ bin/sensors.o
+sensorsReadAcc bin/sensors.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+sensorsReadBaro bin/sensors.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+sensorsReadGyro bin/sensors.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+sensorsReadMag bin/sensors.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+sensorsSetAccMode bin/sensors.o
+ bin/health.o
+sensorsTest bin/sensors.o
+ bin/stabilizer.o
+sensorsWaitDataReady bin/sensors.o
+ bin/stabilizer.o
+seq_alive bin/ledseq.o
+ bin/system.o
+seq_alive_def bin/ledseq.o
+seq_calibrated bin/ledseq.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+seq_calibrated_def bin/ledseq.o
+seq_charged bin/ledseq.o
+seq_charged_def bin/ledseq.o
+seq_charging bin/ledseq.o
+seq_charging_def bin/ledseq.o
+seq_linkDown bin/ledseq.o
+ bin/radiolink.o
+ bin/usblink.o
+seq_linkUp bin/ledseq.o
+ bin/radiolink.o
+ bin/usblink.o
+seq_linkup_def bin/ledseq.o
+seq_lowbat bin/ledseq.o
+seq_lowbat_def bin/ledseq.o
+seq_testFailed bin/ledseq.o
+ bin/system.o
+seq_testPassed bin/ledseq.o
+ bin/system.o
+seq_testPassed_def bin/ledseq.o
+sequences bin/ledseq.o
+setInterruptLevels_H bin/amg8833.o
+setInterruptLevels_N bin/amg8833.o
+setInterruptMode bin/amg8833.o
+setMovingAverageMode bin/amg8833.o
+signedMag12ToFloat bin/amg8833.o
+sinTable_f32 bin/libarm_math.a(arm_common_tables.o)
+ bin/libarm_math.a(arm_sin_f32.o)
+ bin/libarm_math.a(arm_cos_f32.o)
+sinTable_q15 bin/libarm_math.a(arm_common_tables.o)
+sinTable_q31 bin/libarm_math.a(arm_common_tables.o)
+sinf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_sin.o)
+ bin/pulse_processor_v2.o
+ bin/pptraj.o
+ bin/controller_mellinger.o
+ bin/position_controller_indi.o
+ bin/position_controller_pid.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+single2half bin/num.o
+ bin/crtp_localization_service.o
+ bin/log.o
+sleepus bin/sleepus.o
+snapshot bin/cfassert.o
+software_init_hook /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/crt0.o
+soundInit bin/sound_cf2.o
+ bin/system.o
+soundSetEffect bin/sound_cf2.o
+ bin/system.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+soundSetFreq bin/sound_cf2.o
+soundTest bin/sound_cf2.o
+ bin/system.o
+spi3Begin bin/deck_spi3.o
+spi3BeginTransaction bin/deck_spi3.o
+spi3EndTransaction bin/deck_spi3.o
+spi3Exchange bin/deck_spi3.o
+spi3Test bin/deck_spi3.o
+spiBegin bin/deck_spi.o
+ bin/usddeck.o
+spiBeginTransaction bin/deck_spi.o
+ bin/usddeck.o
+spiEndTransaction bin/deck_spi.o
+ bin/usddeck.o
+spiExchange bin/deck_spi.o
+ bin/usddeck.o
+spiTest bin/deck_spi.o
+stabilizerInit bin/stabilizer.o
+ bin/system.o
+stabilizerResetEmergencyStop bin/stabilizer.o
+stabilizerSetEmergencyStop bin/stabilizer.o
+ bin/crtp_localization_service.o
+ bin/supervisor.o
+stabilizerSetEmergencyStopTimeout bin/stabilizer.o
+ bin/crtp_localization_service.o
+stabilizerTest bin/stabilizer.o
+ bin/system.o
+stateEstimator bin/estimator.o
+ bin/stabilizer.o
+stateEstimatorGetName bin/estimator.o
+stateEstimatorInit bin/estimator.o
+ bin/stabilizer.o
+stateEstimatorSwitchTo bin/estimator.o
+ bin/stabilizer.o
+stateEstimatorTest bin/estimator.o
+ bin/stabilizer.o
+statsCntRateCounterInit bin/statsCnt.o
+statsCntRateCounterUpdate bin/statsCnt.o
+statsCntRateLogHandler bin/statsCnt.o
+ bin/lighthouse_position_est.o
+ bin/lighthouse_core.o
+ bin/locodeck.o
+ bin/usddeck.o
+ bin/estimator_kalman.o
+ bin/estimator.o
+ bin/stabilizer.o
+statsCntRateLoggerInit bin/statsCnt.o
+ bin/tdoaStats.o
+storageDelete bin/storage.o
+storageFetch bin/storage.o
+ bin/lighthouse_storage.o
+storageInit bin/storage.o
+ bin/system.o
+storageStore bin/storage.o
+ bin/lighthouse_storage.o
+storageTest bin/storage.o
+ bin/system.o
+storeAssertFileData bin/cfassert.o
+storeAssertHardfaultData bin/cfassert.o
+storeAssertTextData bin/cfassert.o
+ bin/freeRTOSdebug.o
+strcmp /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strcmp.o)
+ bin/activeMarkerDeck.o
+ bin/eventtrigger.o
+ bin/log.o
+ bin/param.o
+strcpy /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strcpy.o)
+ bin/crtpservice.o
+strlen /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strlen.o)
+ bin/kve.o
+ bin/kve_storage.o
+ bin/platformservice.o
+ bin/log.o
+ bin/param.o
+strncmp /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strncmp.o)
+ bin/gtgps.o
+strncpy /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strncpy.o)
+ bin/deck_memory.o
+ bin/platformservice.o
+ bin/vl53l1_error_strings.o
+ bin/vl53l1_api_strings.o
+ bin/vl53l1_api.o
+strtol /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strtol.o)
+ bin/gtgps.o
+strtol_l /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libc_nano.a(lib_a-strtol.o)
+studentAttitudeControllerCorrectAttitudePID bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerCorrectRatePID bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerInit bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerResetAllPID bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerResetPitchAttitudePID bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerResetRollAttitudePID bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerResetYawAttitudePID bin/student_attitude_controller.o
+ bin/controller_student.o
+studentAttitudeControllerTest bin/student_attitude_controller.o
+ bin/controller_student.o
+studentPidGetDesired bin/student_pid.o
+studentPidInit bin/student_pid.o
+ bin/student_attitude_controller.o
+studentPidIsActive bin/student_pid.o
+studentPidReset bin/student_pid.o
+ bin/student_attitude_controller.o
+studentPidSetDesired bin/student_pid.o
+ bin/student_attitude_controller.o
+studentPidSetDt bin/student_pid.o
+studentPidSetError bin/student_pid.o
+ bin/student_attitude_controller.o
+studentPidSetIntegralLimit bin/student_pid.o
+ bin/student_attitude_controller.o
+studentPidSetKd bin/student_pid.o
+studentPidSetKi bin/student_pid.o
+studentPidSetKp bin/student_pid.o
+studentPidUpdate bin/student_pid.o
+ bin/student_attitude_controller.o
+supervisorCanFly bin/supervisor.o
+supervisorIsFlying bin/supervisor.o
+ bin/estimator_kalman.o
+supervisorIsTumbled bin/supervisor.o
+supervisorUpdate bin/supervisor.o
+ bin/stabilizer.o
+swdInit bin/swd.o
+swdTest bin/swd.o
+sysLoadInit bin/sysload.o
+ bin/system.o
+syslinkInit bin/syslink.o
+ bin/ow_syslink.o
+ bin/radiolink.o
+syslinkSendPacket bin/syslink.o
+ bin/platformservice.o
+ bin/ow_syslink.o
+ bin/radiolink.o
+syslinkTest bin/syslink.o
+ bin/radiolink.o
+systemInit bin/system.o
+systemIsArmed bin/system.o
+ bin/stabilizer.o
+systemLaunch bin/system.o
+ bin/main.o
+systemSetArmed bin/system.o
+systemStart bin/system.o
+systemTest bin/system.o
+systemWaitStart bin/system.o
+ bin/lighthouse_core.o
+ bin/aideck.o
+ bin/activeMarkerDeck.o
+ bin/multiranger.o
+ bin/oa.o
+ bin/flowdeck_v1v2.o
+ bin/zranger2.o
+ bin/zranger.o
+ bin/estimator_kalman.o
+ bin/stabilizer.o
+ bin/app_handler.o
+ bin/mem.o
+ bin/extrx.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+tanf /usr/lib/gcc/arm-none-eabi/9.2.1/../../../arm-none-eabi/lib/thumb/v7e-m+fp/hard/libm.a(lib_a-sf_tan.o)
+ bin/filter.o
+ bin/controller_indi.o
+ bin/position_controller_indi.o
+ bin/sensors_mpu9250_lps25h.o
+tdoaEngineGetAnchorCtxForPacketProcessing bin/tdoaEngine.o
+tdoaEngineInit bin/tdoaEngine.o
+tdoaEngineProcessPacket bin/tdoaEngine.o
+tdoaEngineProcessPacketFiltered bin/tdoaEngine.o
+tdoaEngineState bin/tdoaEngineInstance.o
+tdoaStatsInit bin/tdoaStats.o
+ bin/tdoaEngine.o
+tdoaStatsUpdate bin/tdoaStats.o
+tdoaStorageGetAnchorCtx bin/tdoaStorage.o
+tdoaStorageGetAnchorPosition bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetClockCorrection bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetClockCorrectionStorage bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetCreateAnchorCtx bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetId bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetLastUpdateTime bin/tdoaStorage.o
+tdoaStorageGetListOfActiveAnchorIds bin/tdoaStorage.o
+tdoaStorageGetListOfAnchorIds bin/tdoaStorage.o
+tdoaStorageGetRemoteRxTime bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetRemoteRxTimeSeqNr bin/tdoaStorage.o
+tdoaStorageGetRemoteSeqNrList bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetRxTime bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetSeqNr bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetTimeOfFlight bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageGetTxTime bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageInitialize bin/tdoaStorage.o
+ bin/tdoaEngine.o
+tdoaStorageIsAnchorInStorage bin/tdoaStorage.o
+tdoaStorageSetAnchorPosition bin/tdoaStorage.o
+tdoaStorageSetRemoteRxTime bin/tdoaStorage.o
+tdoaStorageSetRxTxData bin/tdoaStorage.o
+tdoaStorageSetTimeOfFlight bin/tdoaStorage.o
+testsound bin/motors.o
+ bin/health.o
+tickFreeRTOS bin/port.o
+ bin/nvic.o
+traceTickCount bin/freeRTOSdebug.o
+traj_eval_invalid bin/pptraj.o
+ bin/planner.o
+traj_eval_zero bin/pptraj.o
+trajectories_memory bin/crtp_commander_high_level.o
+transfer_size bin/swd.o
+twiddleCoefF64_1024 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_128 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_16 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_2048 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_256 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_32 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_4096 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_512 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_64 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_1024 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_128 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_2048 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_256 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_32 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_4096 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_512 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoefF64_rfft_64 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_1024 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_1024_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_1024_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_128 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_128_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_128_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_16 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_16_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_16_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_2048 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_2048_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_2048_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_256 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_256_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_256_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_32 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_32_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_32_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_4096 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_4096_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_4096_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_512 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_512_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_512_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_64 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_64_q15 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_64_q31 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_1024 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_128 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_2048 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_256 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_32 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_4096 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_512 bin/libarm_math.a(arm_common_tables.o)
+twiddleCoef_rfft_64 bin/libarm_math.a(arm_common_tables.o)
+twoKi bin/sensfusion6.o
+twoKp bin/sensfusion6.o
+tx_data bin/swd.o
+uart1DidOverrun bin/uart1.o
+uart1GetDataWithDefaultTimeout bin/uart1.o
+ bin/aideck.o
+uart1GetDataWithTimeout bin/uart1.o
+uart1Getchar bin/uart1.o
+ bin/lighthouse_core.o
+ bin/gtgps.o
+uart1Init bin/uart1.o
+ bin/lighthouse_core.o
+ bin/aideck.o
+ bin/gtgps.o
+uart1InitWithParity bin/uart1.o
+uart1Putchar bin/uart1.o
+uart1SendData bin/uart1.o
+ bin/lighthouse_core.o
+ bin/gtgps.o
+uart1Test bin/uart1.o
+uart2DidOverrun bin/uart2.o
+uart2GetDataWithDefaultTimeout bin/uart2.o
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+uart2Getchar bin/uart2.o
+uart2Init bin/uart2.o
+uart2Putchar bin/uart2.o
+uart2SendData bin/uart2.o
+uart2SendDataDmaBlocking bin/uart2.o
+uart2Test bin/uart2.o
+uartslkDmaInit bin/uart_syslink.o
+uartslkDmaIsr bin/uart_syslink.o
+uartslkGetPacketBlocking bin/uart_syslink.o
+ bin/syslink.o
+uartslkInit bin/uart_syslink.o
+ bin/comm.o
+uartslkIsr bin/uart_syslink.o
+uartslkPutchar bin/uart_syslink.o
+uartslkSendData bin/uart_syslink.o
+uartslkSendDataDmaBlocking bin/uart_syslink.o
+ bin/syslink.o
+uartslkSendDataIsrBlocking bin/uart_syslink.o
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+usbGetDataBlocking bin/usb.o
+usbInit bin/usb.o
+ bin/usblink.o
+usbSendData bin/usb.o
+ bin/usblink.o
+usbTest bin/usb.o
+usbd_cf_CfgDesc bin/usb.o
+usblinkGetLink bin/usblink.o
+ bin/usb.o
+usblinkInit bin/usblink.o
+ bin/system.o
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+usddeckFileSize bin/usddeck.o
+usddeckFrequency bin/usddeck.o
+ bin/stabilizer.o
+usddeckLoggingEnabled bin/usddeck.o
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+usddeckRead bin/usddeck.o
+usddeckTriggerLogging bin/usddeck.o
+ bin/stabilizer.o
+usecTimestamp bin/usec_time.o
+ bin/pulse_processor_v2.o
+ bin/sleepus.o
+ bin/flowdeck_v1v2.o
+ bin/usddeck.o
+ bin/ledring12.o
+ bin/crtp_commander_high_level.o
+ bin/stabilizer.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
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+uwbTdoa2TagAlgorithm bin/locodeck.o
+uwbTdoa3TagAlgorithm bin/locodeck.o
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+uxQueueMessagesWaiting bin/queue.o
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+uxTaskGetStackHighWaterMark bin/tasks.o
+uxTaskGetSystemState bin/tasks.o
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+uxTimerGetTimerNumber bin/timers.o
+uxTopUsedPriority bin/FreeRTOS-openocd.o
+vApplicationGetIdleTaskMemory bin/static_mem.o
+ bin/tasks.o
+vApplicationGetTimerTaskMemory bin/static_mem.o
+ bin/timers.o
+vApplicationIdleHook bin/system.o
+ bin/tasks.o
+vApplicationMallocFailedHook bin/freeRTOSdebug.o
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+vListInitialise bin/list.o
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+vListInitialiseItem bin/list.o
+ bin/timers.o
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+ bin/aideck.o
+ bin/activeMarkerDeck.o
+ bin/multiranger.o
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+ bin/usddeck.o
+ bin/gtgps.o
+ bin/health.o
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+ bin/crtpservice.o
+ bin/system.o
+ bin/crtp.o
+ bin/amg8833.o
+ bin/bstdr_comm_support.o
+ bin/eeprom.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
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+ bin/oa.o
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+ bin/usblink.o
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+xQueueReceive bin/queue.o
+ bin/locodeck.o
+ bin/estimator.o
+ bin/app_channel.o
+ bin/worker.o
+ bin/radiolink.o
+ bin/crtp.o
+ bin/usb.o
+ bin/usblink.o
+ bin/cppm.o
+ bin/uart_syslink.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+ bin/timers.o
+xQueueReceiveFromISR bin/queue.o
+ bin/console.o
+ bin/usb.o
+xQueueRegistry bin/queue.o
+xQueueSemaphoreTake bin/queue.o
+ bin/locodeck.o
+ bin/usddeck.o
+ bin/deck_spi3.o
+ bin/deck_spi.o
+ bin/crtp_commander_high_level.o
+ bin/estimator_kalman.o
+ bin/app_channel.o
+ bin/log.o
+ bin/console.o
+ bin/system.o
+ bin/storage.o
+ bin/ow_syslink.o
+ bin/syslink.o
+ bin/ledseq.o
+ bin/sensors_bmi088_spi.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+xTaskCallApplicationTaskHook bin/tasks.o
+xTaskCatchUpTicks bin/tasks.o
+xTaskCheckForTimeOut bin/tasks.o
+ bin/queue.o
+xTaskCreate bin/tasks.o
+ bin/aideck.o
+ bin/activeMarkerDeck.o
+ bin/lighthouse.o
+ bin/multiranger.o
+ bin/oa.o
+ bin/flowdeck_v1v2.o
+ bin/zranger2.o
+ bin/zranger.o
+ bin/usddeck.o
+ bin/gtgps.o
+xTaskCreateStatic bin/tasks.o
+ bin/crtp_commander_high_level.o
+ bin/estimator_kalman.o
+ bin/stabilizer.o
+ bin/app_handler.o
+ bin/mem.o
+ bin/extrx.o
+ bin/platformservice.o
+ bin/log.o
+ bin/param.o
+ bin/crtpservice.o
+ bin/system.o
+ bin/syslink.o
+ bin/pm_stm32f4.o
+ bin/crtp.o
+ bin/usblink.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+ bin/timers.o
+xTaskGenericNotify bin/tasks.o
+xTaskGenericNotifyFromISR bin/tasks.o
+xTaskGenericNotifyStateClear bin/tasks.o
+xTaskGenericNotifyWait bin/tasks.o
+xTaskGetApplicationTaskTag bin/tasks.o
+xTaskGetApplicationTaskTagFromISR bin/tasks.o
+xTaskGetCurrentTaskHandle bin/tasks.o
+xTaskGetIdleTaskHandle bin/tasks.o
+xTaskGetSchedulerState bin/tasks.o
+ bin/timers.o
+ bin/queue.o
+xTaskGetTickCount bin/tasks.o
+ bin/lighthouse_core.o
+ bin/lighthouse.o
+ bin/multiranger.o
+ bin/oa.o
+ bin/zranger2.o
+ bin/zranger.o
+ bin/ledring12.o
+ bin/estimator_kalman.o
+ bin/collision_avoidance.o
+ bin/position_estimator_altitude.o
+ bin/stabilizer.o
+ bin/peer_localization.o
+ bin/crtp_localization_service.o
+ bin/commander.o
+ bin/sysload.o
+ bin/sound_cf2.o
+ bin/log.o
+ bin/system.o
+ bin/radiolink.o
+ bin/pm_stm32f4.o
+ bin/ledseq.o
+ bin/crtp.o
+ bin/sensors_bmi088_bmp388.o
+ bin/sensors_mpu9250_lps25h.o
+ bin/timers.o
+xTaskGetTickCountFromISR bin/tasks.o
+xTaskIncrementTick bin/tasks.o
+ bin/port.o
+xTaskPriorityDisinherit bin/tasks.o
+ bin/queue.o
+xTaskPriorityInherit bin/tasks.o
+ bin/queue.o
+xTaskRemoveFromEventList bin/tasks.o
+ bin/queue.o
+xTaskResumeAll bin/tasks.o
+ bin/heap_4.o
+ bin/timers.o
+ bin/queue.o
+xTaskResumeFromISR bin/tasks.o
+xTimerCreate bin/timers.o
+xTimerCreateStatic bin/timers.o
+ bin/lighthouse.o
+ bin/sysload.o
+ bin/sound_cf2.o
+ bin/log.o
+xTimerCreateTimerTask bin/timers.o
+ bin/tasks.o
+xTimerGenericCommand bin/timers.o
+ bin/lighthouse.o
+ bin/sysload.o
+ bin/sound_cf2.o
+ bin/log.o
+ bin/ledseq.o
+xTimerGetExpiryTime bin/timers.o
+xTimerGetPeriod bin/timers.o
+xTimerGetTimerDaemonTaskHandle bin/timers.o
+xTimerIsTimerActive bin/timers.o
+zRanger2Init bin/zranger2.o
+zRanger2Task bin/zranger2.o
+zRanger2Test bin/zranger2.o
+zRangerInit bin/zranger.o
+zRangerTask bin/zranger.o
+zRangerTest bin/zranger.o
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/_data/menu.yml b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/_data/menu.yml
new file mode 100644
index 0000000000000000000000000000000000000000..95a9ec0c96df86edee725f57b7d6a55b33cefb8b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/_data/menu.yml
@@ -0,0 +1,37 @@
+- page_id: home
+- title: Building and Flashing
+ subs:
+ - {page_id: build}
+- title: Userguides
+ subs:
+ - {page_id: deck}
+ - {page_id: decks-index}
+ - {page_id: logparam}
+ - {page_id: eventtrigger}
+ - {page_id: app_layer}
+- title: Functional areas
+ subs:
+ - {page_id: crtp_index}
+ - {page_id: memory_subsystem}
+ - {page_id: stabilizer_index}
+ - {page_id: deck_memory_format}
+ - {page_id: p2p_api}
+ - {page_id: trajectory_formats}
+ - {page_id: lh_overview}
+ - {page_id: loco_positioning}
+ - {page_id: persistent_storage}
+- title: Development Instructions
+ subs:
+ - {page_id: starting_development}
+ - {page_id: howto}
+ - {page_id: serial}
+ - {page_id: openocd_gdb_debugging}
+ - {page_id: unit_testing}
+ - {page_id: systemtask}
+ - {page_id: memory_management}
+ - {page_id: dfu}
+ - {page_id: oot}
+- title: Auto-generated API Documentation
+ subs:
+ - {page_id: logs}
+ - {page_id: params}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/building-and-flashing/build.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/building-and-flashing/build.md
new file mode 100644
index 0000000000000000000000000000000000000000..fc5be61508620b87e30c0eccd130543960f3e05b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/building-and-flashing/build.md
@@ -0,0 +1,234 @@
+---
+title: Building and Flashing
+page_id: build
+---
+
+## Dependencies
+
+You'll need to use either the [Crazyflie VM](https://wiki.bitcraze.io/projects:virtualmachine:index),
+[the toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) or
+install some ARM toolchain.
+
+### Install a toolchain
+
+#### OS X
+```bash
+brew tap PX4/homebrew-px4
+brew install gcc-arm-none-eabi
+```
+
+#### Debian/Ubuntu
+
+Tested on Ubuntu 14.04 64b/16.04 64b/18.04 64b/20.04 64b/20.10 64b:
+
+For Ubuntu 14.04 :
+
+```bash
+sudo add-apt-repository ppa:terry.guo/gcc-arm-embedded
+sudo apt-get update
+sudo apt-get install libnewlib-arm-none-eabi
+```
+
+For Ubuntu 16.04 and 18.04:
+
+```bash
+sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+sudo apt-get update
+sudo apt install gcc-arm-embedded
+```
+
+For Ubuntu 20.04 and 20.10:
+
+```bash
+sudo apt-get install make gcc-arm-none-eabi
+```
+
+#### Arch Linux
+
+```bash
+sudo pacman -S community/arm-none-eabi-gcc community/arm-none-eabi-gdb community/arm-none-eabi-newlib
+```
+
+#### Windows
+
+The GCC ARM Embedded toolchain for Windows is available at [launchpad.net](https://launchpad.net/gcc-arm-embedded/+download). Download the zip archive rather than the executable installer. There are a few different systems for running UNIX-style shells and build systems on Windows; the instructions below are for [Cygwin](https://www.cygwin.com/).
+
+Install Cygwin with [setup-x86_64.exe](https://www.cygwin.com/setup-x86_64.exe). Use the standard `C:\cygwin64` installation directory and install at least the `make` and `git` packages.
+
+Download the latest `gcc-arm-none-eabi-*-win32.zip` archive from [launchpad.net](https://launchpad.net/gcc-arm-embedded/+download). Create the directory `C:\cygwin64\opt\gcc-arm-none-eabi` and extract the contents of the zip file to it.
+
+Launch a Cygwin terminal and run the following to append to your `~/.bashrc` file:
+```bash
+echo '[[ $PATH == */opt/gcc-arm-none-eabi/bin* ]] || export PATH=/opt/gcc-arm-none-eabi/bin:$PATH' >>~/.bashrc
+source ~/.bashrc
+```
+
+Verify the toolchain installation with `arm-none-eabi-gcc --version`
+
+### Cloning
+
+This repository uses git submodules. Clone with the `--recursive` flag
+
+```bash
+git clone --recursive https://github.com/bitcraze/crazyflie-firmware.git
+```
+
+If you already have cloned the repo without the `--recursive` option, you need to
+get the submodules manually
+
+```bash
+cd crazyflie-firmware
+git submodule init
+git submodule update
+```
+
+
+## Compiling
+
+### Crazyflie 2.X
+
+This is the default build so just running ```make``` is enough or:
+```bash
+make PLATFORM=cf2
+```
+
+or with the toolbelt
+
+```bash
+tb make PLATFORM=cf2
+```
+
+### Roadrunner
+
+Use the ```tag``` platform
+
+```bash
+make PLATFORM=tag
+```
+
+or with the toolbelt
+
+```bash
+tb make PLATFORM=tag
+```
+
+
+### config.mk
+To create custom build options create a file called `config.mk` in the `tools/make/`
+folder and fill it with options. E.g.
+```
+PLATFORM=CF2
+DEBUG=1
+```
+More information can be found on the
+[Bitcraze documentation](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/)
+
+
+# Make targets:
+
+```
+all : Shortcut for build
+compile : Compile cflie.hex. WARNING: Do NOT update version.c
+build : Update version.c and compile cflie.elf/hex
+clean_o : Clean only the Objects files, keep the executables (ie .elf, .hex)
+clean : Clean every compiled files
+mrproper : Clean every compiled files and the classical editors backup files
+
+cload : If the crazyflie-clients-python is placed on the same directory level and
+ the Crazyradio/Crazyradio PA is inserted it will try to flash the firmware
+ using the wireless bootloader.
+flash : Flash .elf using OpenOCD
+halt : Halt the target using OpenOCD
+reset : Reset the target using OpenOCD
+openocd : Launch OpenOCD
+rtt : Start RTT server. Compile the firmware with "DEBUG_PRINT_ON_SEGGER_RTT=1"
+ and the console is visible over TCP on port 2000 "telnet localhost 2000".
+```
+
+# Flashing
+Writing a new binary to the Crazyflie is called flashing (writing it to the flash memory). This page describes how to flash from the command line and there are a few different ways to do it.
+
+## Using Crazyradio
+
+The most common way to flash is probably to use the Crazyradio.
+
+### Prerequisites
+* A Crazyradio with drivers installed
+* [crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python) placed on the same directory level in the file tree
+* The firmware has been built
+* The current working directory is the root of the crazyflie-firmware project
+
+### Manually entering bootloader mode
+
+* Turn the Crazyflie off
+* Start the Crazyflie in bootloader mode by pressing the power button for 3 seconds. Both the blue LEDs will blink.
+* In your terminal, run `make cload`
+
+It will try to find a Crazyflie in bootloader mode and flash the binary to it.
+
+Warning: if multiple Crazyflies within range are in bootloader mode the result is unpredictable. This method is not suitable in classroom situation where it is likely that several students are flashing at the same time. Also remember that the Crazyradio PA often reaches into the next room.
+
+### Automatically enter bootloader mode
+
+* Add the address of the crazyflie to the [`config.mk`](#configmk) file, for instance `CLOAD_CMDS = -w radio://0/80/2M`
+* Make sure the Crazyflie is on
+* In your terminal, run `make cload`
+
+It will connect to the Crazyflie with the specified address, put it in bootloader mode and flash the binary. This method is suitable for classroom situations.
+
+Note: this method does not work if the Crazyflie does not start, for instance if the current flashed binary is corrupt. You will have to fall back to manually entering bootloader mode.
+
+## Using a debug adapter
+
+You need:
+
+* An ST Link V2 or V3 Debugger
+* open ocd installed ([installation intructions](/docs/development/openocd_gdb_debugging.md))
+* The firmware has been built
+* The current working directory is the root of the crazyflie-firmware project
+
+In your terminal, run
+
+`make flash`
+
+# Unit testing
+
+## Running all unit tests
+
+With the environment set up locally
+
+ make unit
+
+with the docker builder image and the toolbelt
+
+ tb make unit
+
+## Running one unit test
+
+When working with one specific file it is often convenient to run only one unit test
+
+ make unit FILES=test/utils/src/test_num.c
+
+or with the toolbelt
+
+ tb make unit FILES=test/utils/src/test_num.c
+
+## Running unit tests with specific build settings
+
+Defines are managed by make and are passed on to the unit test code. Use the
+normal ways of configuring make when running tests. For instance to run test
+for Crazyflie 1
+
+ make unit LPS_TDOA_ENABLE=1
+
+## Dependencies
+
+Frameworks for unit testing and mocking are pulled in as git submodules.
+
+The testing framework uses ruby and rake to generate and run code.
+
+To minimize the need for installations and configuration, use the docker builder
+image (bitcraze/builder) that contains all tools needed. All scripts in the
+tools/build directory are intended to be run in the image. The
+[toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
+easy to run the tool scripts.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/dfu.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/dfu.md
new file mode 100644
index 0000000000000000000000000000000000000000..418aab094f5da0df32508c8261d9161f5942d9c2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/dfu.md
@@ -0,0 +1,93 @@
+---
+title: DFU update of the STM32F405
+page_id: dfu
+redirects:
+ - /docs/building-and-flashing/dfu/
+---
+
+
+This page explains how to flash bin files over the micro usb connection.
+
+__The DFU update mode should mainly be considered as a recovery mode in
+which you can load new firmware to the STM32F405 MCU. Do not use it if you do not know what it is__
+
+The OTA (Over The
+Air) update mode is much more convenient and save and it can also update the
+nRF51 MCU at the same time.
+
+
+## Linux (Ubuntu)
+
+Install the dfu-util if you don\'t already have it with apt-get
+
+ apt-get install dfu-util
+
+Now it is time to boot the STM32F405 in the DFU update mode
+
+ 1. Connect a micro-USB cable to you computer but not yet to the Crazyflie 2.0
+ 2. Disconnect the Crazyflie 2.0 battery if it is connected
+ 3. Now hold down the push button (on/off) while inserting the USB cable in the Crazyflie 2.0
+ 4. Hold down the button for about 5 seconds until you reach the second blink rate (1Hz). Then you can release the button.
+ 5. The STM32F405 is now in DFU mode
+
+
+With the STM32F405 in DFU mode you should be able to find it with lsusb
+
+ lsusb
+ ...
+ Bus XXX Device XXX: ID 0483:df11 STMicroelectronics STM Device in DFU Mode
+ ...
+
+### BIN firmware file DFU flashing
+
+Now the STM32F405 can be updated. Currently we only build binary files
+.bin and not .dfu files so we need to specify more things to dfu-util.
+If the Crazyflie 2.X firmware was compiled with CLOAD=1 (default option)
+the binary should be flashed _after the bootloader_ at address 0x08004000.
+
+ sudo dfu-util -d 0483:df11 -a 0 -s 0x08004000 -D cflie.bin
+
+### BIN bootloader recovery
+
+If for some reason, the dfu-utils overflashed the bootloader by flashing the firmware on the wrong address, you can recover the bootloader by getting the [latest release bootloader bin file](https://github.com/bitcraze/crazyflie2-stm-bootloader/releases). The bootloader can then be correctly flashed by typing this in the terminal.
+
+ sudo dfu-util -d 0483:df11 -a 0 -s 0x08000000 -D cf2loader-1.0.bin
+
+### DFU file
+
+To flash with a .dfu file
+
+ sudo dfu-util -d 0483:df11 -a 0 -D file.dfu
+
+### Output
+
+It takes a couple of seconds and the output should look something like
+this
+
+ cf@bitcraze:~/projects/crazyflie-firmware$ sudo dfu-util -a 0 -s 0x08004000 -D cflie.bin
+ dfu-util 0.5
+
+ (C) 2005-2008 by Weston Schmidt, Harald Welte and OpenMoko Inc.
+ (C) 2010-2011 Tormod Volden (DfuSe support)
+ This program is Free Software and has ABSOLUTELY NO WARRANTY
+
+ dfu-util does currently only support DFU version 1.0
+
+ Opening DFU USB device... ID 0483:df11
+ Run-time device DFU version 011a
+ Found DFU: [0483:df11] devnum=0, cfg=1, intf=0, alt=0, name="@Internal Flash /0x08000000/04*016Kg,01*064Kg,07*128Kg"
+ Claiming USB DFU Interface...
+ Setting Alternate Setting #0 ...
+ Determining device status: state = dfuERROR, status = 10
+ dfuERROR, clearing status
+ Determining device status: state = dfuIDLE, status = 0
+ dfuIDLE, continuing
+ DFU mode device DFU version 011a
+ Device returned transfer size 2048
+ No valid DFU suffix signature
+ Warning: File has no DFU suffix
+ DfuSe interface name: "Internal Flash "
+
+Now you can disconnect the USB, connect the battery, and you are ready
+to go. (Actually the only way to reset it is to disconnect the power, if
+e.g. the battery wasn\'t disconnected while entering DFU mode)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/howto.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/howto.md
new file mode 100644
index 0000000000000000000000000000000000000000..0aa32c514439b1ee887db39e0f382a3afd69d65c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/howto.md
@@ -0,0 +1,136 @@
+---
+title: Making your first Deck driver
+page_id: howto
+---
+
+This howto is going to describe step-by-step how to make and flash your
+first Crazyflie 2.X deck driver. See the deck [api documentation
+page](/docs/userguides/decks/) for more information about the
+code.
+
+Development environment
+-----------------------
+
+You should have the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware) and
+[crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python)
+cloned in the same folder. If you are using the [Bitcraze
+VM](https://github.com/bitcraze/bitcraze-vm) this is already the case.
+
+The Crazyflie firmware should be on Master branch.
+
+For the rest of the howto you will work in the crazyflie-firmware
+project.
+
+Writing the driver
+------------------
+
+Deck drivers are in the src/deck/drivers/src folder. Create this file named
+hello.c in the src/deck/drivers/src folder:
+
+``` {.c}
+#define DEBUG_MODULE "HelloDeck"
+#include "debug.h"
+
+#include "deck.h"
+
+
+static void helloInit()
+{
+ DEBUG_PRINT("Hello Crazyflie 2.0 deck world!\n");
+}
+
+static bool helloTest()
+{
+ DEBUG_PRINT("Hello test passed!\n");
+ return true;
+}
+
+static const DeckDriver helloDriver = {
+ .name = "myHello",
+ .init = helloInit,
+ .test = helloTest,
+};
+
+DECK_DRIVER(helloDriver);
+```
+
+Adding the driver to the build
+------------------------------
+
+Add this to the Makefile, after the line \'\# Decks\':
+
+``` {.make}
+PROJ_OBJ += hello.o
+```
+
+Enabling the driver
+-------------------
+
+Decks can have a memory that contains its name. In our case the hello
+driver would be initialised only when a deck identified as \"myHello\"
+is installed on the Crazyflie. For development purpose it is possible to
+force enabling a deck driver with a compile flag. To do so create the
+file tools/make/config.mk with the content:
+
+``` {.make}
+CFLAGS += -DDECK_FORCE=myHello
+
+DEBUG=1
+```
+
+DEBUG=1 allows to get more information from the Crazyflie console when
+it starts. Debug should not be enabled if you intend to fly the
+Crazyflie out of the lab (it disables the watchdog).
+
+**Note** Each time you modify config.mk you
+should recompile the full firmware by cleaning up the build folder with
+\'make clean\'
+
+Compile, flash and run!
+-----------------------
+
+Now the last step is to compile and flash your new firmware. Launch the
+following commands in a shell:
+
+``` {.bash}
+crazyflie-firmware$ make clean && make
+crazyflie-firmware$ make cload
+```
+
+The output will be similar to the following:
+
+``` {.bash}
+crazyflie-firmware$ make
+(...)
+ CC hello.o
+(...)
+Build for the CF2 platform!
+Build 22:f8243162f727 (2020.04 +22) MODIFIED
+Version extracted from git
+Crazyloader build!
+Flash | 218132/1032192 (21%), 814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM | 71564/131072 (55%), 59508 free | bss: 66456, data: 5108
+CCM | 43528/65536 (66%), 22008 free | ccmbss: 43528, ccmdata: 0
+crazyflie-firmware$ make cload
+../crazyflie-clients-python/bin/cfloader flash cf2.bin stm32-fw
+Restart the Crazyflie you want to bootload in the next
+ 10 seconds ...
+ done!
+Connected to bootloader on Crazyflie 2.0 (version=0x10)
+Target info: nrf51 (0xFE)
+Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
+144 KBytes of flash available for firmware image.
+Target info: stm32 (0xFF)
+Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
+1008 KBytes of flash available for firmware image.
+
+Flashing 1 of 1 to stm32 (fw): 161867 bytes (159 pages) ..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10.........9
+Reset in firmware mode ...
+$
+```
+
+Now you can connect your Crazyflie with the client and see your driver
+in the console!
+
+{:align-center}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/memory_management.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/memory_management.md
new file mode 100644
index 0000000000000000000000000000000000000000..c2c51f1d0b47c681a41407c1ccc396db7ac7fe2f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/memory_management.md
@@ -0,0 +1,79 @@
+---
+title: Memory management
+page_id: memory_management
+---
+
+The RAM is a limiting resource and has to be managed to be used as efficiently as possible.
+
+## Static VS dynamic allocation
+
+TBD
+
+## Static allocation
+
+Static allocation of RAM memory happens when a variable is declared on a global scope (variables
+declared in a function will end up on the stack). The actual allocation is done by the linker by
+reserving space in the memory map in the appropriate location.
+
+```
+int myStaticallyAllocatedVariable;
+static int myOtherStaticallyAllocatedVariable;
+
+void aFunction() {
+ int myVariableOnTheStack; // This ends up on the stack
+ ...
+}
+```
+
+Variables that are declared without an assignment will be set to zero at start up,
+while variables with an assignment will be initialized to that value. The
+values to use for initialized variables are stored in flash together with the
+code and is copied to RAM at start up.
+
+```
+int zeroInitialized;
+int initializedWithAValue = 17;
+```
+
+### RAM types
+
+The MCU in the Crazyflie has two types of RAM, "normal" RAM and CCM (Core Coupled Memory).
+The CCM and normal ram are attached to different buses internally which gives them
+different properties. The most significant difference is that the CCM can not be
+used for DMA transfers, since the DMA unit does not have access to the bus used by CCM. The
+normal RAM can be used for all types of tasks and should be used for normal development,
+further more this is also the memory that will be used when writing "normal" code.
+
+There is a fair amount of CCM in the system, and we want to use it to free up normal
+RAM. The over all strategy is to use CCM for system related memory chunks that we
+know will not be used for DMA, so that most users don't have to care about the
+properties of CCM.
+
+### Using the CCM
+
+*Warning:* Some drivers use DMA to communicate with sensors, it will not work
+to pass a pointer to CCM memory to such a driver.
+
+There is a set of macros in [static_mem.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/static_mem.h)
+that should be used to tell the compiler/linker to use the CCM. Note that only
+zero initialization is supported for CCM.
+
+```
+int variableInNormalRam; // Initialized to 0
+int alsoVariableInNormalRam = 17; // Initialize to 17
+NO_DMA_CCM_SAFE_ZERO_INIT int variableInCcm; // Initialized ot 0
+NO_DMA_CCM_SAFE_ZERO_INIT int dontDoThisInCcm = 17; // WARNING! Will not work, will be initialized to 0! Will be silently accepted without warning.
+````
+
+Queues allocated with the `STATIC_MEM_QUEUE_ALLOC` macro will be allocated in the
+CCM, all access to queue memory is done by copy and is safe.
+
+Tasks allocated using the `STATIC_MEM_TASK_ALLOC` macro will allocate the
+system buffers in CCM but the task stack in normal RAM. If no pointers
+to stack memory will be used for DMA transfers, it is possible to
+also allocate the stack in CCM by using the `STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE()`
+macro instead.
+
+Code that uses DMA through a public API should verify verify that pointers
+passed in through the API do not point to CCM. Use `ASSERT_DMA_SAFE` for this
+pupose to fail fast and indicate what the reason for the failued is.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/oot.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/oot.md
new file mode 100644
index 0000000000000000000000000000000000000000..fb9c40d8c305ab0cdd81a2afb6585e11d047eca5
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/oot.md
@@ -0,0 +1,33 @@
+---
+title: Out of tree build
+page_id: oot
+---
+
+It is possible to have an out-of-tree build of parts of the crazyflie firmware. This enables developers to work on elements without worrrying about merging it with the full code base.
+
+# App layer.
+Technically the app layer is an example of an out of tree build. Follow the [app layer intructions](/docs/userguides/app_layer.md) for this.
+
+# OOT extimators
+In a seperate folder make a Makefile which contain the following content:
+
+```
+CFLAGS += -DOOT_ESTIMATOR
+
+VPATH += src/
+PROJ_OBJ += estimator_out_of_tree.o
+
+CRAZYFLIE_BASE=[LOCATION OF THE CRAZYFLIE FIRMWARE]
+include $(CRAZYFLIE_BASE)/Makefile
+```
+
+in [your_estimator_out_of_tree].c in the src folder you will just need to make sure that the following functions are filled:
+
+* ```init = estimatorOutOfTreeInit```
+* ```test = estimatorOutOfTreeTest```
+* ```update = estimatorOutOfTree```
+* ```name = "OOT```
+
+# OOT Controllers
+
+Not yet implemented. Please request this feature in the [crazyflie-firmware issue list](https://github.com/bitcraze/crazyflie-firmware/issues)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/openocd_gdb_debugging.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/openocd_gdb_debugging.md
new file mode 100644
index 0000000000000000000000000000000000000000..dbeadeb6b9a6305624e81145a266c566139cfeec
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/openocd_gdb_debugging.md
@@ -0,0 +1,233 @@
+---
+title: On-chip debugging
+page_id: openocd_gdb_debugging
+---
+
+One of the key components of getting really serious about developing on
+the crazyflie, is to dive into the C-based firmware. If you really want
+to do some major changes to the intrinsic of the code, it is essential
+to have proper tools to be able to debug the code (place breakpoints,
+read real-time values ect\...). On this page, we will put a few examples
+how to do this with IDE\'s and different environments.
+
+> **_NOTE:_**
+> This page requires our debug adapter and ST Link V2 Debugger! See
+> this page: [Debug adapter](https://wiki.bitcraze.io/projects:crazyflie2:debugadapter:index)
+
+## Debugging using VS Code
+
+Thanks to the [Cortex-Debug](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug) extension, it is now easily possible to debug ARM executables straight inside of VS Code!
+
+### Mac OS and Ubuntu
+
+#### Prerequisites
+
+First ensure that you have the ARM GCC toolchain and OpenOCD installed and in your path. To check, run:
+
+ which openocd
+ which arm-none-eabi-gcc
+
+The path to your OpenOCD binary and ARM GCC binary should output. If not, try installing them again.
+
+##### Ubuntu
+
+These steps have been tested on Ubuntu 20.04. The link to gdb-multiarch is required because Ubuntu does not ship arm-none-eabi-gdb anymore, but the new gdb-multiarch that supports all architecture.
+
+ sudo apt-get install openocd
+ sudo apt-get install gcc-arm-none-eabi gdb-multiarch
+ sudo ln -s /usr/bin/gdb-multiarch /usr/local/bin/arm-none-eabi-gdb
+
+If you do not have vscode yet, the easiest way to install it on Ubuntu is via snap using 'Ubuntu Software' of by typing:
+
+ sudo snap install --classic code
+
+
+##### Mac OS
+
+ brew install open-ocd
+ brew tap PX4/homebrew-px
+ brew install arm-none-eabi-gcc
+
+### The Cortex Debug Extension
+
+Install the [extension](https://marketplace.visualstudio.com/items?itemName=marus25.cortex-debug) either by clicking "Install" on the web page, or by searching "Cortex Debug" in the Extensions tab of VS Code.
+
+Click on "Run", then "Add Configuration", then "Cortex Debug".
+
+
+
+This should automatically create the needed "launch.json" file.
+
+### Configuring Cortex Debug
+
+Inside of the file, replace everything with the following:
+
+ {
+ // Use IntelliSense to learn about possible attributes.
+ // Hover to view descriptions of existing attributes.
+ // For more information, visit: https://go.microsoft.com/fwlink/?linkid=830387
+ "version": "0.2.0",
+ "configurations": [
+ {
+ "name": "Cortex Debug",
+ "cwd": "${workspaceRoot}",
+ "executable": "./cf2.elf",
+ "request": "launch",
+ "type": "cortex-debug",
+ "device": "STM32F405",
+ "svdFile": "STM32F405.svd",
+ "servertype": "openocd",
+ "configFiles": ["interface/stlink-v2.cfg", "target/stm32f4x.cfg"],
+ "runToMain": true,
+ "preLaunchCommands": [
+ "set mem inaccessible-by-default off",
+ "enable breakpoint",
+ "monitor reset"
+ ]
+ }
+ ]
+ }
+
+### Explaining the Cortex Debug configuration
+
+- "svdFile" refers to the necessary file for peripheral registers to show up nicely in the debug pane, all named and structured; we'll add it in the next step
+- "configFiles" refers to the files you need so that OpenOCD knows what device and interface you're using; it should already come with them
+- "runToMain" tells the GDB debug server to jump to main by default
+- "preLaunchCommands" specifies the commands for the GDB server to send before giving away control to you; the commands here mimic the options that the above tutorial for Eclipse specifies
+
+### Installing the SVD file
+
+Now for the SVD file: just download it from [here](https://raw.githubusercontent.com/posborne/cmsis-svd/master/data/STMicro/STM32F405.svd) and into your root directory. Make sure it has the exact name of "STM32F405.svd"!
+
+### Debugging!
+
+After all this, go to the Debug tab of VS Code (on the left sidebar, the icon with the little bug next to the play button), and hit that play button next to "Run"!
+
+If you followed everything, it should start running nicely and look a little something like this:
+
+
+
+Notice the nice peripherals pane at the bottom, along with the variables pane at the top. Awesome, now you can code _and_ debug all within VS Code!
+
+---
+
+## Debugging using eclipse
+
+### Ubuntu
+
+> **_Versions:_**
+>
+> - Ubuntu 18.04.2 LTS (64 bit)
+> - Eclipse 2019-03 (Eclipse IDE for C/C++ Developers)
+
+#### Installing prerequisites
+
+First install GDB and openOCD:
+
+ sudo apt-get update
+ sudo apt-get install gdb
+ sudo apt-get install openocd
+
+Then install java:
+
+ sudo apt install default-jre
+
+Then install eclipse itself: Go to their download page: [eclipse
+20](https://www.eclipse.org/downloads/download.php?file=/technology/epp/downloads/release/2019-03/R/eclipse-cpp-2019-03-R-linux-gtk-x86_64.tar.gz)
+and then go into you download folder and unzip the file.
+
+ tar -zxvf "your-downloaded-file".tar.gz
+
+and start up eclipse:
+
+ "YOUR-UNZIPPED-FOLDER"/.eclipse
+
+#### Installing required Eclipse Plugins
+
+Install the C++ development tools and GNU MCU plugin by following the
+instructions [here](https://gnu-mcu-eclipse.github.io/plugins/install/).
+
+- C++ Development - Follow the instructions under the header \'CDT\'.
+- GNU MCU plugin - Follow the instructions under the header \'Plug-ins
+ install/update -\> The Eclipse Marketplace way\'
+
+#### Import Crazyflie Firmware
+
+First import the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware)
+into eclipse:
+
+- File > import...
+- C/C++ > Existing Code as Makefile Project -> Next
+- Give it a name
+- Existing Code Location > Browse... > //Look for the firmware folder//
+- //Toolchain for Indexer Settings// can be ignored.
+- Finish
+
+#### Setting up Eclipse Debugging environment
+
+- Go to: Run \> Debug Configurations\...
+- Double click \'GDB OpenOCD Debugging\'
+
+Now input the following settings in the debug configurations:
+
+##### Main
+
+
+
+Insert the filepath to the cf2.elf file to _C/C++ Application_.
+
+##### Debugger
+
+
+
+check the following settings: OpenOCD setup -\> Config options: \<code\>
+-f interface/stlink-v2.cfg -f target/stm32f4x.cfg -c init -c targets
+\</code\> GDB Client Setup:
+
+- Executable name: Filepath to gdb toolchain
+- Commands: \<code\> set mem inaccessible-by-default off \</code\>
+
+##### Startup
+
+
+
+##### Hit Debug!
+
+If you don\'t see any errors, eclipse should go to an dedicated
+debugging environment automatically and it automatically halts the
+crazyflie\'s firmware before it goes into the main function of
+src/init/main.c. Press F8 or Run \> Resume to let it continue and place
+a breakpoints anywhere in the code (double clicking just in front of the
+line in the gray area or press Shift+Ctrl+B). Now you should be able to
+read out the values of the defined variables at that very position.
+
+---
+
+Make sure that your cf2.elf is the
+same as the one you uploaded to the crazyflie!
+
+---
+
+### Mac OS
+
+Install gdb and openocd
+
+ brew install gdb
+ brew install open-ocd
+
+Install java JDK [java
+download](https://www.oracle.com/technetwork/java/javase/downloads/index.html)
+
+Download eclipse [eclipse
+download](https://www.eclipse.org/downloads/download.php?file=/oomph/epp/2019-06/R/eclipse-inst-mac64.dmg)
+
+Choose destination folders - Install
+
+Run eclipse and choose work folder
+
+##### Installing required eclipse Plugins
+
+The rest is the same as for Linux. Make sure that the arm-none-eabi-gcc
+is properly installed and its path is configured in the _debug
+configurations_.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/serial.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/serial.md
new file mode 100644
index 0000000000000000000000000000000000000000..323f06bf3ef5e3aaa021e084fa36420e89f40746
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/serial.md
@@ -0,0 +1,45 @@
+---
+title: Getting the serial number of the Crazyflie 2.X
+page_id: serial
+---
+
+The Crazyflie 2.X ID is a character string of 24 characters. It is
+unique to each Crazyflie 2.X.
+
+Windows
+-------
+
+- Open the \"Device manager\" and find the Crazyflie 2.0/2.1.
+- Right click on Crazyflie 2.0/2.1, go in \"Properties\" then in the
+ tab \"Details\".
+- In the drop-box select \"Device instance path\".
+
+The serial number is located just after \"5740\\\", in the following
+screen it starts by 41:
+
+{:width=500x}
+
+By right-clicking on the string you can copy it.
+
+Linux
+-----
+
+Open a terminal and type (ie. cop-paste) the following command:
+
+ sudo lsusb -v -d 0483:5740 | grep iSerial
+
+The Crazyflie serial is then displayed (here it starts by 41):
+
+
+
+Mac OS X
+--------
+
+From the \"About this mac\" menu, click on \"System reports\...\"
+
+{:width=400px}
+
+Then click on \"USB\", locate the Crazyflie 2 and the serial number can
+be copied from there
+
+{:width=500px}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/starting_development.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/starting_development.md
new file mode 100644
index 0000000000000000000000000000000000000000..acdee99efbeb5db592211b08cffafd61e2d16ce1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/starting_development.md
@@ -0,0 +1,54 @@
+---
+title: Development for STM32
+page_id: starting_development
+---
+
+This page aims at documenting how to start developing with Crazyflie.
+This document should work for the Crazyflie 2.X.
+
+
+### STM32
+
+Clone the crazyflie-firmware project, or update it using the virtual
+machine \"Update all projects\" script. For Crazyflie 2.X make sure the current branch is \"**master**.\"
+
+ ~$ cd projects/crazyflie-firmware/
+ crazyflie-firmware$ git checkout master
+
+And make sure the `submodules` are up-to-date.
+
+```
+crazyflie-firmware$ git submodule init
+crazyflie-firmware$ git submodule update
+```
+
+Then make the firmware.
+
+For **Crazyflie 2.X**:
+
+```
+crazyflie-firmware$ make PLATFORM=cf2
+(...)
+ DFUse cf2.dfu
+Build for the CF2 platform!
+Build 00:00000000 (20XX.XX.X-XX) CLEAN
+Version extracted from git
+Crazyloader build!
+Flash | 218132/1032192 (21%), 814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM | 71564/131072 (55%), 59508 free | bss: 66456, data: 5108
+CCM | 43528/65536 (66%), 22008 free | ccmbss: 43528, ccmdata: 0
+```
+
+To program using the radio bootloader, first install the cflib and cfclient, and put the CF2.X in bootloader mode:
+
+
+For **Crazyflie 2.X**:
+```
+ crazyflie-firmware$ make cload
+```
+
+From command line the flash make target flashed the firmware using
+programming cable
+```
+ crazyflie-firmware$ make flash
+```
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/systemtask.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/systemtask.md
new file mode 100644
index 0000000000000000000000000000000000000000..790d06e2bd2b90ddacc815dc7fd2fbdcd33acfb1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/systemtask.md
@@ -0,0 +1,301 @@
+---
+title: Adding a new system task
+page_id: systemtask
+---
+
+**First check out if you can use the [new app layer](/docs/userguides/app_layer.md), which might be enough for your purpose already**
+
+
+This howto describes how to create a new system task.
+A FreeRTOS task is similar to a thread on a standard operating system.
+It has its own function call stack, and can be preempted by the RTOS scheduler.
+Typical hazards and techniques of shared-memory multithreaded programming apply.
+
+A new task is most often needed when adding a fundamentally new subsystem
+to the Crazyflie firmware.
+
+If the new subsystem needs to do
+significant computation in response to inputs such as CRTP radio messages, it
+should receive those inputs on a queue and perform the computation within
+its own task instead of blocking the radio task.
+In this example, we will set up the skeleton for such a new subsystem.
+
+
+
+Development environment
+-----------------------
+
+You should have the
+[crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware) and
+[crazyflie-clients-python](https://github.com/bitcraze/crazyflie-clients-python)
+cloned in the same folder. If you are using the [Bitcraze
+VM](https://github.com/bitcraze/bitcraze-vm) this is already the case.
+
+The Crazyflie firmware should be on Master branch.
+
+For the rest of the howto you will work in the crazyflie-firmware
+project.
+
+
+Setting the task constants
+--------------------------
+
+Each task has a few constants that are stored globally in `src/config/config.h`.
+
+First, set the task priority. The FreeRTOS scheduler always prefers to run
+a higher-priority task. High priorities should be reserved for very
+time-sensitive tasks like the main stabilizer loop.
+
+In `config.h`, after the existing task priorities, add the line
+
+``` {.c}
+#define EXAMPLE_TASK_PRI 1
+```
+
+Next, each task has a name.
+In `config.h`, after the existing task names, add the line
+
+``` {.c}
+#define EXAMPLE_TASK_NAME "EXAMPLE"
+```
+
+Finally, we must select a fixed size for the task's function call stack.
+`configMINIMAL_STACK_SIZE` gives a fairly small stack.
+Tasks that do lots of computation will almost certainly need larger stacks.
+
+In `config.h`, after the existing task stack sizes, add the line
+
+``` {.c}
+#define EXAMPLE_TASK_STACKSIZE configMINIMAL_STACK_SIZE
+```
+
+
+Implementing the task
+---------------------
+
+High level tasks (those that do not directly talk to hardware) usually go in
+the `modules` directory. We will walk through the sections needed in a
+new file `src/modules/src/example.c`.
+
+
+First, include the necessary system header files:
+
+``` {.c}
+#include "config.h"
+#include "debug.h"
+#include "FreeRTOS.h"
+#include "queue.h"
+#include "static_mem.h"
+#include "task.h"
+```
+
+### File-static variables
+
+Next, we statically allocate the queue to hold inputs from
+other parts of the system such as the radio.
+Here we just hold integers in the queue. Often it will be a struct instead.
+A queue of length 1 is appropriate if new inputs supersede old ones.
+For example, if the input controls the current LED color,
+we do not care which other colors were requested in the past.
+
+Note that the `STATIC_MEM_*_ALLOC` family of macros expand to static
+variable declarations, and can be used outside of any function scope.
+
+``` {.c}
+static xQueueHandle inputQueue;
+STATIC_MEM_QUEUE_ALLOC(inputQueue, 1, sizeof(int));
+```
+
+
+Next, we allocate the task call stack and other necessary memory for OS
+bookkeeping.
+The FreeRTOS task API requires that task functions take a `void *` argument.
+
+``` {.c}
+static void exampleTask(void*);
+STATIC_MEM_TASK_ALLOC(exampleTask, EXAMPLE_TASK_STACKSIZE);
+```
+
+### Functions
+
+Next, we implement the `Init()` function.
+This should contain all of the FreeRTOS allocations and initializations
+that need to last as long as the firmware is running.
+Note the use of the constants we defined in `config.h`.
+Later in this howto, we will need to edit another file to call the `Init()`.
+
+``` {.c}
+static bool isInit = false;
+
+void exampleTaskInit() {
+ inputQueue = STATIC_MEM_QUEUE_CREATE(inputQueue);
+ // TODO
+ STATIC_MEM_TASK_CREATE(exampleTask, exampleTask, EXAMPLE_TASK_NAME, NULL, EXAMPLE_TASK_PRI);
+ isInit = true;
+}
+```
+
+Next, we implement the `Test()` function.
+Usually this does not do much, besides verify that `Init()` has been called.
+Later in this howto, we will need to edit another file to call the `Test()`.
+
+``` {.c}
+bool exampleTaskTest() {
+ return isInit;
+}
+```
+
+
+Now we come to the main task function.
+It is usually an infinite loop that waits on inputs from something.
+In our case, we wait on inputs from the queue.
+Our `xQueueReceive` uses the special timeout value `portMAX_DELAY`, which means
+that the `xQueueReceive` call will (potentially) block forever and only return
+when the queue is not empty.
+Other tasks will use integer or zero timeout values
+if they have some work to do regardless of whether or not inputs are received.
+
+``` {.c}
+static void exampleTask(void* parameters) {
+ DEBUG_PRINT("Example task main function is running!");
+ while (true) {
+ int input;
+ if (pdTRUE == xQueueReceive(inputQueue, &input, portMAX_DELAY)) {
+ // Respond to input here!
+ }
+ }
+}
+```
+
+
+Finally, we implement the public function that is called by other parts of the
+system to pass inputs to our new subsystem.
+
+`xQueueOverwrite` specifies that, if the queue is full, we overwrite the
+existing contents instead of blocking on the queue's consumer to remove
+an item from the other end of the queue.
+In subsystems where we do not want to throw away inputs from the queue,
+use the `xQueueSend*` family instead.
+
+Subsystems should not expose their queues directly.
+It should always be wrapped in a function, like this.
+
+``` {.c}
+void exampleTaskEnqueueInput(int value) {
+ xQueueOverwrite(inputQueue, &value);
+}
+```
+
+See [the FreeRTOS docs](https://freertos.org/Embedded-RTOS-Queues.html)
+for more details on the many `xQueue` API functions available.
+
+> **Design Note:** For complex subsystems, consider implementing the
+> algorithmic core as a library that does not depend on FreeRTOS- and
+> ARM-related headers, and calling this library from your task.
+> This makes it easier to write unit tests for your algorithmic core
+> that can be compiled, run, and debugged on a PC.
+
+
+Writing the public interface
+----------------------------
+
+Subsystems should expose a public interface to other parts of the firmware
+that hide implementation details as much as is practical.
+We create the new file in `src/modules/interface/example.h`:
+
+``` {.c}
+#pragma once
+
+#include <stdbool.h>
+
+void exampleTaskInit();
+bool exampleTaskTest();
+
+void exampleTaskEnqueueInput(int value);
+```
+
+In a real task, make sure to comment the public API thoroughly.
+
+
+Initializing the task
+---------------------
+
+In `src/modules/src/system.c`, make the following changes.
+
+Include the header for our new task:
+
+``` {.c}
+#include "example.h"
+```
+
+
+In `systemTask()`, after the lines where the other `Init()` functions
+are called, add the line
+
+``` {.c}
+exampleTaskInit();
+```
+
+
+In `systemTask()`, after the lines where the other `pass &= ...Test()` lines,
+add the line
+``` {.c}
+pass &= exampleTaskTest();
+```
+
+
+Adding the task to the build
+----------------------------
+
+Add this to the Makefile, after the end of the `Modules` block:
+
+``` {.make}
+PROJ_OBJ += example.o
+```
+
+
+Compile, flash and run!
+-----------------------
+
+Now the last step is to compile and flash your new firmware. Launch the
+following commands in a shell:
+
+``` {.bash}
+crazyflie-firmware$ make
+crazyflie-firmware$ make cload
+```
+
+The output will be similar to the following:
+
+``` {.bash}
+crazyflie-firmware$ make
+(...)
+ CC hello.o
+(...)
+Build for the CF2 platform!
+Build 22:f8243162f727 (2020.04 +22) MODIFIED
+Version extracted from git
+Crazyloader build!
+Flash | 218132/1032192 (21%), 814060 free | text: 213024, data: 5108, ccmdata: 0
+RAM | 71564/131072 (55%), 59508 free | bss: 66456, data: 5108
+CCM | 43528/65536 (66%), 22008 free | ccmbss: 43528, ccmdata: 0
+crazyflie-firmware$ make cload
+../crazyflie-clients-python/bin/cfloader flash cf2.bin stm32-fw
+Restart the Crazyflie you want to bootload in the next
+ 10 seconds ...
+ done!
+Connected to bootloader on Crazyflie 2.0 (version=0x10)
+Target info: nrf51 (0xFE)
+Flash pages: 232 | Page size: 1024 | Buffer pages: 1 | Start page: 88
+144 KBytes of flash available for firmware image.
+Target info: stm32 (0xFF)
+Flash pages: 1024 | Page size: 1024 | Buffer pages: 10 | Start page: 16
+1008 KBytes of flash available for firmware image.
+
+Flashing 1 of 1 to stm32 (fw): 161867 bytes (159 pages) ..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10..........10.........9
+Reset in firmware mode ...
+$
+```
+
+Now you can connect your Crazyflie with the client and see the
+"Example task main function is running!" in the debug console.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/unit_testing.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/unit_testing.md
new file mode 100644
index 0000000000000000000000000000000000000000..a1af90748b285b5d3e2b8fc049955092d2212d34
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/development/unit_testing.md
@@ -0,0 +1,46 @@
+---
+title: Unit testing
+page_id: unit_testing
+---
+
+## Dependencies
+
+Frameworks for unit testing and mocking are pulled in as git submodules.
+
+The testing framework uses ruby and `rake` as well as `libasan` (AddressSanitizer) to generate and run code.
+If you run the tests on your own machine you will have to install them.
+
+To minimize the need for installations and configuration, use the docker builder
+image (bitcraze/builder) that contains all tools needed. All scripts in the
+tools/build directory are intended to be run in the image. The
+[toolbelt](https://wiki.bitcraze.io/projects:dockerbuilderimage:index) makes it
+easy to run the tool scripts.
+
+
+## Running all unit tests
+
+With the environment set up locally
+
+ make unit
+
+with the docker builder image and the toolbelt
+
+ tb make unit
+
+## Running one unit test
+
+When working with one specific file it is often convenient to run only one unit test
+
+ make unit FILES=test/utils/src/test_num.c
+
+or with the toolbelt
+
+ tb make unit FILES=test/utils/src/test_num.c
+
+## Running unit tests with specific build settings
+
+Defines are managed by make and are passed on to the unit test code. Use the
+normal ways of configuring make when running tests. For instance to run test
+for Crazyflie 1
+
+ make unit LPS_TDOA_ENABLE=1
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_commander.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_commander.md
new file mode 100644
index 0000000000000000000000000000000000000000..7879cd652408e2a5f2f57dd9c73fdc74985c2c70
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_commander.md
@@ -0,0 +1,24 @@
+---
+title: Commander
+page_id: crtp_commander
+---
+
+The commander port is used to send control set-points for the
+roll/pitch/yaw/thrust regulators from the host to the Crazyflie. As soon
+as the communication link has been established these packets can be sent
+and the values are valid until the next packet is received.
+
+Communication protocol
+--------------------
+
+ +-------+-------+-------+-------+
+ | ROLL | PITCH | YAW |THRUST |
+ +-------+-------+-------+-------+
+ Length 4 4 4 2 bytes
+
+| Name | Byte | Size | Type | Comment|
+| --------| -------| ------| -----------| ----------------------|
+| ROLL | 0-3 | 4 | float | The pitch set-point|
+| PITCH | 4-7 | 4 | float | The roll set-point|
+| YAW | 8-11 | 4 | float | The yaw set-point|
+| THRUST | 12-13 | 2 | uint16\_t | The thrust set-point|
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_console.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_console.md
new file mode 100644
index 0000000000000000000000000000000000000000..f61ccb58294dab8f394681e1ae210633dd831fc3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_console.md
@@ -0,0 +1,23 @@
+---
+title: Console
+page_id: crtp_console
+---
+
+This port is used as a one-way text console for printing text from the
+Crazyflie to a host using the consoleprintf function.
+
+Communication protocol
+======================
+
+ Answer (Crazyflie to host):
+ +---------//-----------+
+ | PRINTED CONSOLE TEXT |
+ +---------//-----------+
+ Length 0-31
+
+The contents of the buffer on the copter side is sent if any of the
+following is fulfilled:
+
+- The output buffer (of 31 bytes) is full
+- A \"newline\" character has to be send (\\n and/or \\r)
+- A flush command as been issued
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_generic_setpoint.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_generic_setpoint.md
new file mode 100644
index 0000000000000000000000000000000000000000..be7189b62e4860614c7613dc66be57e6efa443bf
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_generic_setpoint.md
@@ -0,0 +1,179 @@
+---
+title: Generic Setpoint CRTP Port
+page_id: crtp_generic_setpoint
+---
+
+
+This port allows to send setpoints to the platform. The philosophy is to
+be able to define setpoint packet format for each different use-case. As
+such this is a generic port that has one channel and one main packet
+format:
+
+| Port | Channel | Name|
+| ------| ---------| --------------------------------------------------|
+| 7 | 0 | [Generic setpoint](#generic-setpoint)|
+
+Generic setpoint
+----------------
+
+Generic setpoint packet format:
+
+| Byte | Value | Note|
+| ------| ---------| ---------------------------|
+| 0 |ID | ID of the setpoint packet|
+| 1.. | Payload | Format defined per ID|
+
+Defined IDs:
+
+ | ID | Type|
+ | ----| -----------------------------------------------------------------------|
+ | 0 | [stop](#stop)|
+ | 1 | [Velocity World](#velocity-world)|
+ |2 | [Z Distance](#z-distance)|
+ | 3 | [CPPM Emulation](#cppm-emulation)|
+ | 4 | [Altitude Hold](#altitude-hold)|
+ | 5 | [Hover](#hover)|
+ | 6 | [Full State](#full-state)|
+ | 7 | [Position](#position)|
+
+### Stop
+
+This is a setpoint with no payload that stops the motors and disables
+the control loops. Should be sent when the Crazyflie is landed.
+
+### Velocity World
+
+Velocity setpoint in the world coordinate together with a YAW rotation
+speed. Useful for a teleop mode in a local positioning system.
+
+Payload format:
+
+``` {.c}
+struct velocityPacket_s {
+ float vx; // m in the world frame of reference
+ float vy; // ...
+ float vz; // ...
+ float yawrate; // deg/s
+} __attribute__((packed));
+```
+
+### Z Distance
+
+Set the Crazyflie absolute height and roll/pitch angles. Used for
+Z-ranger.
+
+Payload format:
+
+``` {.c}
+struct zDistancePacket_s {
+ float roll; // deg
+ float pitch; // ...
+ float yawrate; // deg/s
+ float zDistance; // m in the world frame of reference
+} __attribute__((packed));
+```
+
+### CPPM Emulation
+
+CRTP packet containing an emulation of CPPM channels Channels have a
+range of 1000-2000 with a midpoint of 1500 Supports the ordinary RPYT
+channels plus up to MAX\_AUX\_RC\_CHANNELS auxiliary channels. Auxiliary
+channels are optional and transmitters do not have to transmit all the
+data unless a given channel is actually in use (numAuxChannels must be
+set accordingly)
+
+Current aux channel assignments:
+
+- AuxChannel0: set high to enable self-leveling, low to disable
+
+Payload format:
+
+``` {.c}
+#define MAX_AUX_RC_CHANNELS 10
+
+static float s_CppmEmuRollMaxRateDps = 720.0f; // For rate mode
+static float s_CppmEmuPitchMaxRateDps = 720.0f; // For rate mode
+static float s_CppmEmuRollMaxAngleDeg = 50.0f; // For level mode
+static float s_CppmEmuPitchMaxAngleDeg = 50.0f; // For level mode
+static float s_CppmEmuYawMaxRateDps = 400.0f; // Used regardless of flight mode
+
+struct cppmEmuPacket_s {
+ struct {
+ uint8_t numAuxChannels : 4; // Set to 0 through MAX_AUX_RC_CHANNELS
+ uint8_t reserved : 4;
+ } hdr;
+ uint16_t channelRoll;
+ uint16_t channelPitch;
+ uint16_t channelYaw;
+ uint16_t channelThrust;
+ uint16_t channelAux[MAX_AUX_RC_CHANNELS];
+} __attribute__((packed));
+```
+
+### Altitude Hold
+
+Set the Crazyflie vertical velocity and roll/pitch angle.
+
+Payload format:
+
+``` {.c}
+struct altHoldPacket_s {
+ float roll; // rad
+ float pitch; // ...
+ float yawrate; // deg/s
+ float zVelocity; // m/s in the world frame of reference
+} __attribute__((packed));
+```
+
+### Hover
+
+Set the Crazyflie absolute height and velocity in the body coordinate
+system.
+
+Payload format:
+
+``` {.c}
+struct hoverPacket_s {
+ float vx; // m/s in the body frame of reference
+ float vy; // ...
+ float yawrate; // deg/s
+ float zDistance; // m in the world frame of reference
+} __attribute__((packed));
+```
+
+### Full State
+
+Set the full state.
+
+Payload format:
+
+``` {.c}
+struct fullStatePacket_s {
+ int16_t x; // position - mm
+ int16_t y;
+ int16_t z;
+ int16_t vx; // velocity - mm / sec
+ int16_t vy;
+ int16_t vz;
+ int16_t ax; // acceleration - mm / sec^2
+ int16_t ay;
+ int16_t az;
+ int32_t quat; // compressed quaternion, see quatcompress.h
+ int16_t rateRoll; // angular velocity - milliradians / sec
+ int16_t ratePitch; // (NOTE: limits to about 5 full circles per sec.
+ int16_t rateYaw; // may not be enough for extremely aggressive flight.)
+} __attribute__((packed));
+```
+
+#### Position
+
+Set the absolute postition and orientation.
+
+``` {.c}
+ struct positionPacket_s {
+ float x; // Position in m
+ float y;
+ float z;
+ float yaw; // Orientation in degree
+ } __attribute__((packed));
+```
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_localization.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_localization.md
new file mode 100644
index 0000000000000000000000000000000000000000..ae93e3c3b97da0617f023c8b7869730e65dee545
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_localization.md
@@ -0,0 +1,74 @@
+---
+title: Localization CRTP port
+page_id: crtp_localizaton
+---
+
+
+This port groups various packets related to localization. It exposes two
+channels:
+
+ | Port | Channel | Name|
+ | ------| ---------| ----------------------|
+ | 6 | 0 | External Position|
+ | 6 | 1 | Generic localization|
+
+External Position
+-----------------
+
+This packet is used to send the Crazyflie position as acquired by an
+external system. The main use it to send the position acquired by a
+motion capture system to push it in the Extended Kalman Filter to allow
+the Crazyflie to calculate an estimate and control its state.
+
+The packet format is:
+
+``` {.c}
+struct CrtpExtPosition
+{
+ float x; // in m
+ float y; // in m
+ float z; // in m
+} __attribute__((packed));
+```
+
+Generic Localization
+--------------------
+
+This channel intends to host packets useful for the localization
+subsystem. It has been created to serve the Loco Positioning System
+packets but can be used for more general things like GPS NMEA or binary
+streams. The format of the packet is:
+
+| Byte | Value | Note|
+| ------| ---------| ---------------------------------------|
+| 0 | ID | ID of the packet|
+ | 1.. | Payload | Packet payload. Format defined per ID|
+
+| ID | Packet |
+| ----| ------------------------------|
+| 2 | LPP Short packet tunnel|
+| 3 | Enable emergency stop|
+| 4 | Reset emergency stop timeout|
+
+### LPP Short packet tunnel
+
+Packet used to send LPP short packet to the loco positioning system. The
+payload is sent to the sytem as an [LPP Short
+Packet](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/protocols/lpp/).
+
+### Emergency stop
+
+When received, the stabilizer loop is set in emergency stop mode which
+stops all the motors. The loop stays in emergency stop mode until the
+situation is reset.
+
+### Reset emergency stop timeout
+
+At startup the emergency stop timeout is disabled.
+
+The first time this packet is receive, the emergency stop timeout is
+enabled with a timeout of 1 second.
+
+This packet should then be sent, and received by the Crazyflie, at least
+once every 1 second otherwise the stabilizer loop will be set in
+emergency stop and all motors will stop.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_log.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_log.md
new file mode 100644
index 0000000000000000000000000000000000000000..7a1945e8e0ce0ae4cdefedf78904b435c9b10347
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_log.md
@@ -0,0 +1,152 @@
+---
+title: Logging
+page_id: crtp_log
+---
+
+For more information on how to use this and how this is implemented have
+a look [here](/docs/userguides/logparam.md).
+
+State machines
+==============
+
+Downloading the Table Of Contents
+---------------------------------
+
+
+
+Communication protocol
+======================
+
+The log port is separated in 3 channels:
+
+ | **Port** | **Channel** | **Function**|
+ | ----------| -------------| ------------------
+| 5 | 0 | Table of content access: Used for reading out the TOC|
+| 5 | 1 | Log control: Used for adding/removing/starting/pausing log blocks|
+| 5 | 2 | Log data: Used to send log data from the Crazyflie to the client|
+
+Table of content access
+-----------------------
+
+This channel is used to download the Table Of Contents that contains all
+the variables that are available for logging and what types they are.
+
+The first byte of each messages correspond a command. All communication
+on this port are initated by the client and all answer from the copter
+will contain the same command byte.
+
+| TOC command byte |Command | Operation|
+| ------------------ |----------- |-----------------------------|
+| 0 |GET\_ITEM | Get an item from the TOC|
+| 1 |GET\_INFO | Get information about the TOC and the LOG subsystem| implementation
+
+### Get TOC item
+
+The GET\_ITEM TOC command permits to retrieved the log variables name,
+group and types from the copter. This command is intended to be
+requested from all the ID from 0 to LOG\_LEN (see GET\_INFO).
+
+ Request (PC to Copter):
+ +--------------+----+
+ | GET_ITEM (0) | ID |
+ +--------------+----+
+ Length 1 1
+
+ Answer (Copter to PC):
+ +--------------+----+
+ | GET_ITEM (0) | ID | If index out of range
+ +--------------+----+------+------------+--------------+
+ | GET_ITEM (0) | ID | Type | Group | Name | If returning Item
+ +--------------+----+------+------------+--------------+
+ Length 1 1 1 < Null terminated strings >
+
+ | Byte |Request fields | Content|
+ | ------| ---------------- |------------------------|
+ | 0 | GET\_ITEM | At 0 for GET\_ITEM operation|
+ | 1 | ID | ID of the item to be retrieved. The variables are numbered from 0 to LOG\_LEN (see GET\_INFO command)|
+
+| Byte | Answer fields | Content|
+| ------| ---------------| -------------------------------------------------------|
+| 0 | GET\_ITEM | 0 for GET\_ITEM operation|
+| 1 | ID | ID of the item returned|
+| 2 | Type | Variable type of the element. See variable types list|
+| 3.. | Group | Null-terminated string containing variable group|
+| .. | Name | Null-terminated string containing the variable name|
+
+Type, group and name are not sent if the required ID is higher than
+TOC\_LEN-1.
+
+### Get Info
+
+The get info command is intended to be requested first when connecting
+to the copter. This permits to know the number of variable, the
+limitations of the log implementation and the fingerprint of the log
+variables.
+
+ Request (PC to Copter):
+ +--------------+
+ | GET_INFO (1) |
+ +--------------+
+ Length 1
+
+ Answer (Copter to PC):
+ +--------------+---------+---------+-----------------+-------------+
+ | GET_INFO (1) | LOG_LEN | LOG_CRC | LOG_MAX_PACKET | LOG_MAX_OPS |
+ +--------------+---------+---------+-----------------+-------------+
+ Length 1 1 4 1 1
+
+ | Byte |Request fields | Content|
+ | ------ |----------------| ------------------------------|
+ | 0 |GET\_INFO | At 1 for GET\_INFO operation|
+
+| Byte | Answer fields | Content|
+| ------| ------------------| ----------------------------------------------------------|
+| 0 | GET\_INFO | 1 for GET\_INFO operation|
+| 1 | LOG\_LEN | Number of log items contained in the log table of content|
+| 2 | LOG\_CRC | CRC values of the log TOC memory content. This is a fingerprint of the copter build that can be used to cache the TOC|
+| 6 | LOG\_MAX\_PACKET | Maximum number of log packets that can be programmed in the copter|
+ | 7 | LOG\_MAX\_OPS | Maximum number of operation programmable in the copter. An operation is one log variable retrieval programming|
+
+Log control
+-----------
+
+The log control channel permits to setup, activate, deactivate and
+remove log packets. Like the TOC access channel the first data byte
+represents a command.
+
+| Control command byte | Command | Operation|
+| ----------------------| ---------------| ---------------------------------------|
+| 0 | CREATE\_BLOCK | Create a new log block|
+| 1 | APPEND\_BLOCK | Append variables to an existing block|
+| 2 | DELETE\_BLOCK | Delete log block|
+| 3 | START\_BLOCK | Enable log block transmission|
+| 4 | STOP\_BLOCK | Disable log block transmission|
+| 5 | RESET | Delete all log blocks|
+
+### Create block
+
+### Append variable to block
+
+### Delete block
+
+### Start block
+
+### Stop block
+
+Log data
+--------
+
+The log data channel is used by the copter to send the log blocks at the
+programmed rate. The packet format is
+
+ Answer (Copter to PC):
+ +----------+------------+---------//----------+
+ | BLOCK_ID | TIME_STAMP | LOG VARIABLE VALUES |
+ +----------+------------+---------//----------+
+ Length 1 3 0 to 26
+
+ | Byte | Answer fields | Content|
+ | ------| --------------------- --------------------------------|
+| 0 | BLOCK\_ID |ID of the block|
+| 1 |ID |Timestamp in ms from the copter startup as a little-endian 3 bytes integer|
+| 4.. |Log variable values | Packed log values in little endian format|
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_mem.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_mem.md
new file mode 100644
index 0000000000000000000000000000000000000000..feb9ca843d22d6c14467c84c74c9b51fbad90e55
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_mem.md
@@ -0,0 +1,223 @@
+---
+title: Memory access
+page_id: crtp_mem
+---
+
+
+Memory access is not used for the [Crazyflie Nano
+Quadcopter](https://wiki.bitcraze.io/projects:crazyflie:index), it\'s currently only implemented
+in the Crazyflie 2.0. Using the memory access gives the possibility to:
+
+- Get information about which memories are available
+- Read/write/erase memories
+
+Currently the following memories are supported:
+
+- Crazyflie 2.0 onboard EEPROM
+- Crazyflie 2.0 expansion board 1-wire memories
+
+There\'s more information available for how the EEPROM is structured and
+how the 1-wire memories work and are structured.
+
+Logical flow
+============
+
+Getting information and reading/writing the memories is optional for the
+clients, but the -Crazyflie Python Client- always downloads information
+about the memories on connect.
+
+
+
+Communication protocol
+======================
+
+The memory port uses 3 different channels:
+
+ **Port** **Channel** **Function**
+ ---------- ------------- ---------------------------------------------------------------------
+ 4 0 Get information about amount and types of memory as well as erasing
+ 4 1 Read memories
+ 4 2 Write memories
+
+Channel 0: Info/settings
+------------------------
+
+This channel is used to get the number of memories present, information
+about the memories and the possibility to mass erase memories. The first
+byte of every packet is a command byte:
+
+| Command byte |Command |Operation|
+| -------------- |-------------------- |--------------------------------|
+| 1 | GET\_NBR\_OF\_MEMS | Get the number of memories|
+| 2 | GET\_MEM\_INFO | Get information about a memory|
+| 3 | SET\_MEM\_ERASE | Mass erase a memory|
+
+### GET\_NBR\_OF\_MEMS
+
+This command is used to get the number of memories present.
+
+The request from host to Crazyflie:
+
+| Byte |Field |Value |Length |Comment|
+| ------ |-----------------------| ------- |-------- |------------------|
+| 0 |GET\_NUMBER\_OF\_MEMS | 0x01 |1 |The command byte|
+
+Reply from Crazyflie to host:
+
+| Byte | Field | Value | Length | Comment|
+| ------| -----------------------| -------| --------| ---------------------------|
+| 0 | GET\_NUMBER\_OF\_MEMS | 0x01 | 1 | The command byte|
+| 1 | Number of memories | | 1 | The number of memories preset (all types)|
+
+Example where there are 3 memories present on the Crazyflie:
+
+ Host-to-Crazyflie: <port/chan> 0x01
+ Crazyflie-to-Host: <port/chan> 0x01 0x03
+
+### GET\_MEM\_INFO
+
+This command is used to get information about a memory give it\'s id.
+The id of memories is sequential and is from 0 to one less than the
+returned number of memories from GET\_NUMBER\_OF\_MEMS.
+
+The request from host to Crazyflie:
+
+| Byte | Field | Value | Length | Comment|
+| ------| ----------------| -------| --------| --------------------------------------------|
+| 0 | GET\_MEM\_INFO | 0x02 | 1 | The command byte|
+| 1 | MEM\_ID | | 1 | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+
+Reply from Crazyflie to host if the id is valid:
+
+ | Byte | Field | Value | Length | Comment|
+ | ------| ----------------| -------| --------| -------------------|
+| 0 | GET\_MEM\_INFO | 0x02 | 1 | The command byte|
+| 1 | MEM\_ID | | 1 | The memory id|
+| 2 | MEM\_TYPE | | 1 | The memory type (see below)|
+| 3 | MEM\_SIZE | | 4 | The size in bytes of the memory|
+| 7 | MEM\_ADDR | | 8 | The address of the memory (only valid for 1-wire memories)|
+
+Where the MEM\_TYPE field is:
+
+| MEM\_TYPE | Memory type |Comment |
+| -----------| ------------- |---------|
+| 0 | I2C | |
+| 1 | 1-wire ||
+
+Reply from Crazyflie to host if the id is not valid:
+
+ | Byte | Field | Value | Length | Comment
+ | ------| ----------------| -------| --------| ------------------
+ | 0 | GET\_MEM\_INFO | 0x02 | 1 | The command byte
+ | 1 | MEM\_ID | | 1 | The memory id
+
+Example of requesting the information for a 1-wire memory with
+MEM\_ID=1, MEM\_SIZE=112bytes, MEM\_ADDR=0x1234567890ABCDEF
+
+ Host-to-Crazyflie: <port/chan> 0x02 0x01
+ Crazyflie-to-Host: <port/chan> 0x02 0x01 0x01 0x70 0x00 0x00 0x00 0xEF 0xCD 0xAB 0x90 0x78 0x56 0x34 0x12
+
+Example of requesting the information for a memory index that is not
+valid
+
+ Host-to-Crazyflie: <port/chan> 0x01 0x10
+ Crazyflie-to-Host: <port/chan> 0x01 0x10
+
+### SET\_MEM\_ERASE
+
+This command is used to mass erase a memory with a given id. The id of
+memories is sequential and is from 0 to one less than the returned
+number of memories from GET\_NUMBER\_OF\_MEMS.
+
+The request from host to Crazyflie:
+
+| Byte | Field | Value | Length | Comment|
+| ------| ------------------|-------|--------|--------------|
+| 0 | SET\_MEM\_ERASE | 0x03 | 1 | The command byte|
+| 1 | MEM\_ID | | 1 | A memory id that is 0 \<= id \<| NBR\_OF\_MEMS
+
+Reply from Crazyflie to host:
+
+ | Byte | Field | Value | Length | Comment|
+ | ------| -----------------| -------| --------| ---------------------------------------|
+ | 0 | SET\_MEM\_ERASE | 0x03 | 1 | The command byte|
+ | 1 | MEM\_ID | | 1 | The memory id|
+ | 2 | STATUS | | 1 | The status of the command (see below)|
+
+Example of requesting a mass erase for a memory with MEM\_ID=2
+
+ Host-to-Crazyflie: <port/chan>
+ Crazyflie-to-Host: <port/chan>
+
+Example of
+
+ Host-to-Crazyflie: <port/chan>
+ Crazyflie-to-Host: <port/chan>
+
+Channel 1: Memory read
+----------------------
+
+This channel is only used to read memories and therefore the messages do
+not contain any command byte.
+
+The request from host to Crazyflie:
+
+| Byte | Field | Value |Length |Comment|
+| ------| -----------| ------- -------- |-------------------------------------------------|
+| 0 | MEM\_ID | | 1 |A memory id that is 0 \<= id \< NBR\_OF\_MEMS |
+| 1 | MEM\_ADDR | |4 |The address where the first byte should be read |
+| 5 | LEN | |1 |The number of bytes to be read |
+
+Reply from Crazyflie to host if memory id is valid and the address and
+length to be read is valid:
+
+| Byte | Field | Value |Length | Comment|
+| -----| -----------| ------- |-------- |--------------|
+| 0 | MEM\_ID | | 1 | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+| 1 | MEM\_ADDR | | 4 | The address where the first byte should be read|
+| 5 | STATUS | | 1 | The status of the request (see below)|
+| 6 | DATA | | 1..24? |The data that was read (only if MEM\_ID/MEM\_ADDR/LEN is valid)|
+
+Where the STATUS field is:
+
+ STATUS Comment
+ -------- ---------
+ 0 \...
+ 1 \....
+
+Example of reading LEN=0x0F bytes from MEM\_ID=0x01 MEM\_ADDR=0x0A
+
+ Host-to-Crazyflie: <port/chan> 0x01 0x0A 0x00 0x00 0x00 0x0F
+ Crazyflie-to-Host: <port/chan> 0x01 0x0A 0x00 0x00 0x00 0x00 0x01 0x09 0x62 0x63 0x4C 0x65 0x64 0x52 0x69 0x6E 0x67 0x02 0x01 0x62 0x55
+
+Channel 2: Memory write
+-----------------------
+
+This channel is only used to write memories and therefore the messages
+do not contain any command byte.
+
+The request from host to Crazyflie:
+
+ | Byte | Field | Value | Length | Comment|
+| ------| ----------- |------- |--------| -------------------------------------------------|
+ | 0 | MEM\_ID | |1 | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+ | 1 | MEM\_ADDR | | 4 | The address where the first byte should be read|
+ | 5 | DATA | | 1..24? | The data to be written|
+
+Reply from Crazyflie to host if memory id is valid and the address and
+length to be written is valid:
+
+ | Byte | Field | Value | Length | Comment|
+ | ------| -----------| -------| --------| -------------------------------------------------|
+ | 0 |MEM\_ID | | 1 | A memory id that is 0 \<= id \< NBR\_OF\_MEMS|
+ | 1 | MEM\_ADDR | | 4 | The address where the first byte should be read|
+ | 4 |STATUS | | 1 | The status of the request (see below)|
+
+Where the STATUS field is:
+
+ | STATUS | Comment|
+ | --------| ---------|
+ | 0 | \...|
+ | 1 | \....|
+
+Example
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_parameters.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_parameters.md
new file mode 100644
index 0000000000000000000000000000000000000000..a873fab68f08e817984ce6a05ab3cb67862675dd
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/crtp_parameters.md
@@ -0,0 +1,167 @@
+---
+title: Parameters
+page_id: crtp_parameters
+---
+
+The parameters system makes all the gettable and settable parameters of
+the copter accessible. The copter holds a table of parameters which can
+be retrieved. In this table every parameter name is associated with an
+ID and a group name. Three IDs are used to acces the TOC and the
+parameters:
+
+| Port | Channel | Function |
+| ------| ---------| --------------------------------------------------------------|
+| 2 | 0 | [TOC access](#toc-access)|
+| 2 | 1 | [Parameter read](#parameter-read)|
+| 2 | 2 | [Parameter write](#parameter-write)|
+| 2 | 3 | [Misc. commands](#misc-commands)|
+
+TOC access
+----------
+
+These messages permit to access the parameters table of content. The
+first byte of the message is a message ID, three messages ID are
+defined:
+
+ | Message ID | Meaning in upstream packets | Meaning in downstream packets |
+ | ------------| -----------------------------| -------------------------------------|
+ |0 | Reset TOC pointer | Last TOC element|
+ | 1 | Get next TOC element | TOC element (ID, type, group, name)|
+ | 3 | Get TOC CRC32 | Number of parameters, TOC CRC32|
+
+The upstream ID are commands and are sent alone. The downstream has the
+following formats:
+
+ Bytes 1 1 1 Null terminated strings
+ +---+------------+------+----------+--------------+
+ | 0 | | | | |
+ +---+ Param ID | Type | Group | Name |
+ | 1 | | | | |
+ +---+------------+------+---+------+--------------+
+ | 3 | Num. Param | CRC32 |
+ +---+------------+----------+
+ Bytes 1 1 4
+
+The parameters are sequentially requested by the PC until the end. When
+the last parameter is reached it has the ID 0 \'Last TOC element\'. The
+reset command permits to reset the TOC pointers so that the next sent
+TOC element will be the first one. The \"Get TOC CRC\" command also
+returns the number of parameters.
+
+The CRC32 is a hash of the copter TOC. This is aimed at implementing
+caching of the TOC in the PC Utils to avoid fetching the full TOC each
+time the copter is connected.
+
+The type is one byte describing the parameter type:
+
+| Type code | C type | Python unpack |
+| -----------| -----------| ---------------|
+| 0x08 | uint8\_t | \'<B \'|
+| 0x09 | uint16\_t | \'<H\' |
+| 0x0A | uint32\_t | \'<L\' |
+| 0x0B | uint64\_t | \'<Q\' |
+| 0x00 | int8\_t | \'<b\' |
+| 0x01 | int16\_t | \'<h\' |
+| 0x02 | int32\_t | \'<i\' |
+| 0x03 | int64\_t | \'<q\' |
+| 0x05 | FP16 | \'\' |
+| 0x06 | float | \'<f\' |
+| 0x07 | double | \'<d\' |
+
+Parameter read
+--------------
+
+
+
+ | Byte | Request fields | Content
+| ------| ----------------| ---------------------------------------
+| 0 | ID | ID of the parameter to read (see TOC)
+
+
+
+| Byte | Answer fields |Content|
+| ------| ---------------| -----------------------------------------------------------------|
+| 0 | ID | ID of the parameter |
+| 1-.. | value | Value of the parameter. Size and format is described in the TOC |
+
+
+
+The read request is a simple packet on channel 1. Crazyflie answers with
+the value.
+
+Parameter write
+---------------
+
+
+
+ | Byte | Request fields |Content|
+ | --------| ---------------- |---------------------------------------------------------|
+ | 0 | ID |ID of the parameter to write|
+ | 1-\... | value | Value to write. Size and format is described in the TOC|
+
+
+
+ | Byte |Answer fields |Content|
+| -------- |--------------- |-----------------------------------------------------------------|
+| 0 |ID |ID of the parameter|
+| 1-\... |value |Value of the parameter. Size and format is described in the TOC|
+
+
+
+The write request is a simple packet on channel 2. Crazyflie sends back
+the parameter value as an acknowledgement.
+
+Misc. commands
+--------------
+
+The following misc commands are implemented:
+
+| Code | Command|
+| ------| ------------------------------------------------------|
+| 0x00 | [Set by name](#set-by-name)|
+| 0x01 | [Value updated](#value-updated)
+
+### Set by name
+
+| Byte | Request fields | Content|
+| -----------------| ----------------| ---------------------------------------------|
+| 0 | SET\_BY\_NAME | 0x00 |
+| 1-n | group | Name of the group |
+| n-(n+1) | NULL | 0 |
+| (n+1)-(n+m+1) | name | Name of the parameter |
+| (n+m+1)-(n+m+2) | NULL | 0 |
+| (n+m+2)-(n+m+3) | TYPE | Parameter type |
+| (n+m+3)-\... | value | Value. Size and format is described by type |
+
+
+
+| Byte | Answer fields | Content|
+| ---------------| ---------------| ---------------------------------------------------|
+| 0 | SET\_BY\_NAME | 0x00|
+| 1-n | group | Name of the group|
+| n-(n+1) | NULL | 0|
+| (n+1)-(n+m+1) | name | Name of the parameter|
+| (n+m+2) | NULL | 0|
+| (n+m+3) | ERROR | 0 if the parameter has been successfully written. Other code are taken from [errno C codes](http://www.virtsync.com/c-error-codes-include-errno). |
+
+
+*Group* and *name* are ascii strings of size respectively *n* and *m*.
+The type corresponds to the TOC type of the parameter. It is checked for
+consistency.
+
+This command is useful to set a parameter without having to fetch the
+full TOC. It is enough to know the group, name and type of the parameter
+to write it.
+
+### Value updated
+
+There is no request packet for this message, it is only sent by the Crazyflie.
+
+| Byte | Answer fields | Content|
+| ---------------| ----------------| ---------------------------------------------------|
+| 0 | VALUE\_UPDATED | 0x01 |
+| 1-2 | ID | ID of the parameter |
+| 3-\... |value |Value of the parameter. Size and format is described in the TOC|
+
+This packet is send by the Crazyflie when a parameters has been modified in the firmware.
+This can for example happen when an app is controlling the Crazyflie autonomously.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..26098c9b646f46aeba0d96fcd52cc1fb668ec7c0
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/crtp/index.md
@@ -0,0 +1,72 @@
+---
+title: CRTP - Communication with the Crazyflie
+page_id: crtp_index
+---
+
+For communicating with the Crazyflie we have implemented our own
+high-level protocol named CRTP (Crazy RealTime Protocol). It\'s a fairly
+simple protocol using a number of target ports where data can be sent
+and received in either direction, but in most cases the communication is
+driven from the host. The protocol can be implemented on a number of
+mediums, currently we have USB and Crazyradio support.
+
+CRTP
+====
+
+Physical carriers
+-----------------
+
+Currently CRTP is supported over Crazyradio and USB (currently only for
+Crazyflie 2.0).
+
+ | Carrier | Supports|
+ | -----------------| -------------------|
+ | Crazyradio (PA) | Crazyflie 1.0/2.0|
+ | USB | Crazyflie 2.0|
+
+Header
+------
+
+Each packet has a 1 byte header and can carry up to 31 bytes data
+payload. The header field has the following layout:
+
+ 7 6 5 4 3 2 1 0
+ +----+----+----+----+----+----+----+----+
+ | Port | Link | Chan. |
+ +----+----+----+----+----+----+----+----+
+
+Where:
+
+- **Port**: Used to identify the functionality or task that is
+ associated with this message
+- **Link**: Reserved for future use
+- **Channel**: Used to identify the sub-task/functionality
+
+Port allocation
+---------------
+
+Current port allocation:
+
+| **Port** | **Target** | **Used for**|
+| ---------| ---------------------------------------------| ----------------------------------------------------------------|
+| 0 | [Console](crtp_console.md) | Read console text that is printed to the console on the Crazyflie using consoleprintf|
+| 2 | [Parameters](crtp_parameters.md) | Get/set parameters from the Crazyflie. Parameters are defined using a [macro in the Crazyflie source-code](/docs/userguides/logparam.md)|
+| 3 | [Commander](crtp_commander.md) | Sending control set-points for the roll/pitch/yaw/thrust regulators|
+| 4 | [Memory access](crtp_mem.md) | Accessing non-volatile memories like 1-wire and I2C (only supported for Crazyflie 2.0)|
+| 5 | [Data logging](crtp_log.md) | Set up log blocks with variables that will be sent back to the Crazyflie at a specified period. Log variables are defined using a [macro in the Crazyflie source-code](/docs/userguides/logparam.md)
+| 6 | [Localization](crtp_localization.md) | Packets related to localization|
+| 7 | [Generic Setpoint](crtp_generic_setpoint.md) | Allows to send setpoint and control modes|
+| 13 | Platform | Used for misc platform control, like debugging and power off|
+| 14 | Client-side debugging | Debugging the UI and exists only in the Crazyflie Python API and not in the Crazyflie itself.|
+| 15 | Link layer | Used to control and query the communication link|
+
+Connection procedure
+--------------------
+
+CRTP is designed to be state-less, so there\'s no handshaking procedure
+that is needed. Any command can be sent at any time, but for some
+logging/param/mem commands the TOC (table of contents) needs to be
+downloaded in order for the host to be able to send the correct
+information. The implementation of the Pyton API will download the
+param/log/mem TOC at connect in order to be able to use all the
+functionality.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/deck_memory_format.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/deck_memory_format.md
new file mode 100644
index 0000000000000000000000000000000000000000..b885575969d45a636c87cf030c5a12b932b5ea9c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/deck_memory_format.md
@@ -0,0 +1,129 @@
+---
+title: Deck memory format
+page_id: deck_memory_format
+---
+
+The OneWire (OW) memory contained in all Crazyflie 2.0 decks is used to
+detect the boards connected in order to:
+
+- Decide if it is safe to start the system.
+- When the system is started, initialize the required drivers for the
+ deck installed.
+
+The memory format has CRC to guarantee data integrity. It is separated
+in two part:
+
+- The header is 7 bytes long and contains the identity of the board
+ encoded in VID/PID (Vendor ID and Product ID) as well as a bitfield
+ describing the pins the deck is driving (to avoid conflict).
+- The key/value area is extendable and contains more information like
+ the deck name, board revision and driver-specific information (ie.
+ for configuration or calibration for example).
+
+Content
+-------
+
+ 1. Header 1 Byte 0xEB
+ 2. UsedPins 4 Bytes
+ 3. VID 1 Byte
+ 4. PID 1 Byte
+ 5. crc 1 Byte CRC32[0] (LSB byte) from 1 to 4.
+ 6. Version 1Byte, 0 for now
+ 7. DataLength 1 Byte (255 max data length…)
+ 8. key/value data <DataLength> bytes
+ 9. crc 1 Byte CRC32[0] (LSB byte) from 6 to 8
+
+- The header area is from 1 to 5.
+- The key/value area is from 6 do 9
+
+Header
+------
+
+The header allows to detect the deck installed and to verify that the
+deck stack is compatible.
+
+The *UsedPins* value indicates which pins the **deck is driving** on the
+expansion port. For example a UART TX pin is driving both high and low
+when an i2c port is only driving low. For every GPIO on the expantion
+port one bit indicate if the GPIO can be driven high and one bit if it
+can be driven low:
+
+| Drive | PC11 | PC10 | PB7 | PB6 | PB8 | PB5 | PB4 | PC12 | PA2 | PA3 | PA5 | PA6 | PA7 | P0.11 | P0.12 | P0.08 |
+| ---------- |------| ------| -----| -----| -----| -----| -----| ------| -----| -----| -----| ----- |-----| -------| -------| -------|
+| **Low** | 0 |1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15|
+| **High** | 16 |17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | 27 | 28 | 29 | 31 | 31|
+
+For example is a deck has a GPS that has its UART TX on PC11 (push-pull,
+drives high and low), the *UsedPins* value will be (1\<\<0) \| (1\<\<16)
+= 0x00010001. As another example is a deck has an I2C sensor on PB6,PB7
+(Open collector, only drives low), the *UsedPins* value is then:
+(1\<\<2) \| (1\<\<3) = 0x0000000C
+
+The *VID* is the vendor ID (or Maker ID :). Currently only 0xBC is
+reserved for Bitcraze and 0x00 is reserved for test/development. Contact
+Bitcraze if you plan to distribute decks and want a *VID*.
+
+A deck with *VID/PID* = 0/0 must have its name in the key/value area
+(the driver will then be chosen by name instead of pid/vid).
+
+Key/value area
+--------------
+
+The *version* is 0. The key/value data contains a succession of
+elements. Elements id and types are predefined. Unknown elements are
+ignored.
+
+Elements have this format:
+
+
+ | **Id** | 1Byte|
+ | **length** | 1Byte|
+ | **data** |\<length\> Bytes|
+
+
+The following elements are defined:
+
+| Element | Element\_id | Data type | Note|
+| ------------| -------------| -----------| -------------------------------------------|
+| boardName | 1 | string | Short. Starts by "bc" for Bitcraze boards|
+| revision | 2 | string | |
+| customData | 3 | binary | Data understood by the deck driver|
+
+Example
+-------
+
+This is an example of OW memory content for the led ring deck.
+
+ 0000000: eb 00 00 00 00 bc 01 44 00 0e 01 09 62 63 4c 65 .......D....bcLe
+ 0000010: 64 52 69 6e 67 02 01 62 55 dRing..bU
+
+Content:
+
+ {
+ "header": {
+ "usedPin": 0,
+ "vid": 188,
+ "pid": 1
+ },
+ "data": {
+ "boardName": "bcLedRing",
+ "revision": "b"
+ }
+ }
+
+Element IDs and types (DTD):
+
+ {
+ "boardName": {
+ "type": "string",
+ "id": 1
+ },
+ "revision": {
+ "type": "string",
+ "id": 2
+ },
+ "customData": {
+ "type": "binary",
+ "id": 3
+ }
+ }
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/angle_conversion.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/angle_conversion.md
new file mode 100644
index 0000000000000000000000000000000000000000..d378950ba7dea579e83f7b01f3b8d789ae0cec92
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/angle_conversion.md
@@ -0,0 +1,123 @@
+---
+title: Lighthouse angle conversion
+page_id: lh_angle_conversion
+---
+
+One way to get started with lighthouse 2 is to create a conversion from lighthouse 2 angles to lighthouse 1 angles,
+and use the functionality that has already been implemented for lighthouse 1. Even though it is an easy way to get started, the main drawback is that we need both sweeps for the conversion. Lighthouse 1 angles are also easier to
+understand and can be a useful debugging tool.
+
+## Lighthouse 1 to lighthouse 2
+
+Start from the [measurement model for the kalman filter](./kalman_measurement_model.md).
+
+For a point $$(x, y, z)$$, the sweep angles are
+
+$$
+\begin{cases}
+\alpha^{lh2}_1 = \tan^{-1}(\frac{y}{x}) + \sin^{-1}(\frac{z\tan(-t)}{\sqrt{x^2 + y^2}})\\
+\alpha^{lh2}_2 = \tan^{-1}(\frac{y}{x}) + \sin^{-1}(\frac{z\tan(t)}{\sqrt{x^2 + y^2}})
+\end{cases}
+$$
+
+where $$t = \frac{\pi}{6}$$
+
+$$x$$, $$y$$ and $$z$$ are given by the lighthouse 1 sweep angles
+
+
+$$
+\begin{cases}
+x = 1 \\
+y = \tan(\alpha^{lh1}_1) \\
+z = \tan(\alpha^{lh1}_2)
+\end{cases}
+$$
+
+this leads to
+
+$$
+\begin{cases}
+\alpha^{lh2}_1 = \alpha^{lh1}_1 + \sin^{-1}(\frac{\tan(\alpha^{lh1}_2)\tan(-t)}{\sqrt{1 + \tan^2(\alpha^{lh1}_1)}})\\
+\alpha^{lh2}_2 = \alpha^{lh1}_1 + \sin^{-1}(\frac{\tan(\alpha^{lh1}_2)\tan(t)}{\sqrt{1 + \tan^2(\alpha^{lh1}_1)}})\\
+\end{cases}
+$$
+
+or
+
+$$
+\begin{cases}
+\alpha^{lh2}_1 = \alpha^{lh1}_1 + \sin^{-1}(q\tan(-t))\\
+\alpha^{lh2}_2 = \alpha^{lh1}_1 + \sin^{-1}(q\tan(t))\\
+\end{cases}
+$$
+
+where
+
+$$q = \frac{\tan(\alpha^{lh1}_2)}{\sqrt{1 + \tan^2(\alpha^{lh1}_1)}}$$
+
+
+
+## Lighthouse 2 to lighthouse 1
+
+The strategy when creating an equation to convert from lighthouse 2 sweep angles to lighthouse 1, is to find the intersection line between the two light planes. From the intersection line we can easily calculate the lighthouse 1 sweep angles.
+
+The following calculations are all in the base station reference frame.
+
+Assume we know the normals for the two light planes, $$\vec{n_1}$$Â and $$\vec{n_2}$$. The cross product of the normals $$\vec{v} = \vec{n_1} \times \vec{n_2}$$
+gives us the direction of the intersection line. We also know it is passing through the origin as we are using the base station
+reference frame.
+
+### Normals of the light planes
+
+Start by figuring out the normals when $$\alpha=0$$, and then rotate them around the Z-axis using a rotation matrix.
+
+The rotation matrix is
+
+$$R_{z} = \left[\begin{array}{ccc}
+cos{\alpha} & -sin{\alpha} & 0 \\
+sin{\alpha} & cos{\alpha} & 0 \\
+0 & 0 & 1
+\end{array}\right]$$
+
+and the resulting normals
+
+$$
+\begin{cases}
+\vec{n1}=R_z \cdot \begin{bmatrix}0 & -cos{(t)} & sin{(t)}\end{bmatrix} = \begin{bmatrix}cos{(t)}sin{(\alpha^{lh2}_1)} & -cos{(t)}cos{(\alpha^{lh2}_1)} & sin{(t)}\end{bmatrix} \\
+\vec{n2}=R_z \cdot \begin{bmatrix}0 & -cos{(t)} & -sin{(t)}\end{bmatrix} = \begin{bmatrix}cos{(t)}sin{(\alpha^{lh2}_2)} & -cos{(t)}cos{(\alpha^{lh2}_2)} & -sin{(t)}\end{bmatrix}
+\end{cases}
+$$
+
+where $$t=\pi/6$$ is the tilt angle of the light planes.
+
+
+### The intersection vector
+
+$$\vec{v} = \vec{n_1} \times \vec{n_2} = \begin{bmatrix}-\sin{(t)}\cos{(t)}(\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)}) & -\sin{(t)}\cos{(t)}(\sin{(\alpha^{lh2}_1)} + \sin{(\alpha^{lh2}_2)}) & \cos^2{(t)}(\sin{(\alpha^{lh2}_1)}\cos{(\alpha^{lh2}_2)}-\cos{(\alpha^{lh2}_1)}\sin{(\alpha^{lh2}_2)})\end{bmatrix}$$
+
+### Lighthouse 1 angles
+
+Finally we can calculate the lighthouse 1 angles
+
+$$
+\begin{cases}
+\alpha^{lh1}_1 = \tan^{-1}(\frac{v_2}{v_1})\\
+\alpha^{lh1}_2 = \tan^{-1}(\frac{v_3}{v_1})
+\end{cases}
+$$
+
+$$
+\begin{cases}
+\alpha^{lh1}_1 = \tan^{-1}(\frac{-\sin{(t)}\cos{(t)}(\sin{(\alpha^{lh2}_1)} + \sin{(\alpha^{lh2}_2)})}{-\sin{(t)}\cos{(t)}(\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)})})\\
+
+\alpha^{lh1}_2 =
+\tan^{-1}(\frac{\cos^2{(t)}(\sin{(\alpha^{lh2}_1)}\cos{(\alpha^{lh2}_2)}-\cos{(\alpha^{lh2}_1)}\sin{(\alpha^{lh2}_2)})}{-\sin{(t)}\cos{(t)}(\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)})})
+\end{cases}
+$$
+
+$$
+\begin{cases}
+\alpha^{lh1}_1 = \frac{\alpha^{lh2}_1 + \alpha^{lh2}_2}{2}\\
+
+\alpha^{lh1}_2 = \tan^{-1}(\frac{\sin{(\alpha^{lh2}_2 - \alpha^{lh2}_1)}}{\tan{(t)} (\cos{(\alpha^{lh2}_1)} + \cos{(\alpha^{lh2}_2)})})\end{cases}
+$$
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..60e92552e5221d3369c0fd6c8b088e752fcfa7f4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/index.md
@@ -0,0 +1,19 @@
+---
+title: The Lighthouse positioning system
+page_id: lh_overview
+redirects:
+ - /docs/functional-areas/lighthouse_overview/
+---
+
+The Lighthouse positioning system uses the HTC Vive base stations (aka Lighthouse) togeather with the Lighthouse
+deck to achieve high precision positioning.
+
+The basics:
+ * [System overview](/docs/functional-areas/lighthouse/system_overview.md)
+ * [Limitations](/docs/functional-areas/lighthouse/limitations.md)
+ * [Positioning methods](/docs/functional-areas/lighthouse/positioning_methods.md)
+
+Development related pages
+ * [Terminology and definitions](/docs/functional-areas/lighthouse/terminology_definitions.md)
+ * [Kalman estimator measurement model](/docs/functional-areas/lighthouse/kalman_measurement_model.md)
+ * [Converting between LH1 and LH2 angles](/docs/functional-areas/lighthouse/angle_conversion.md)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/kalman_measurement_model.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/kalman_measurement_model.md
new file mode 100644
index 0000000000000000000000000000000000000000..5f4a63dd0c0c7bcdd7efefd6ea534995e08505be
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/kalman_measurement_model.md
@@ -0,0 +1,111 @@
+---
+title: Lighthouse kalman measurment model
+page_id: lh_measurement_model
+---
+
+This page describes the generalized measurement model used for the lighthouse in the kalman state estimator.
+
+In the measurement model we want to get from a sensor position $$\vec{s}$$ to rotation angle $$\alpha$$.
+The first step is to calculate the sensor position in the rotor reference frame.
+
+Use a rotation matrix $$R_r$$ to go from the base station reference frame to the rotor reference frame.
+For LH2 and the horizontal rotor in LH1 this is the unit matrix, while the vertical drum in LH1 gets
+$$R_{vert} = \left[\begin{array}{ccc}
+1 & 0 & 0 \\
+0 & 0 & 1 \\
+0 & -1 & 0
+\end{array}\right]$$
+
+The sensor has position $$\vec{s_{cf}}$$ in the CF reference frame and
+$$\vec{s} = \vec{p_{cf}} + R_{cf} \cdot \vec{s_{cf}}$$ in the global reference frame. The sensor position
+in the base station reference frame is $$s_{bs} = R_{bs}^{-1} \cdot (\vec{s} - \vec{p_{bs}}) =
+R_{bs}^{-1} \cdot (\vec{p_{cf}} - \vec{p_{bs}} + R_{cf} \cdot \vec{s_{cf}})$$
+
+Finally, the sensor position in the rotor reference frame is $$\vec{s_r} =
+R_r \cdot R_{bs}^{-1} \cdot (\vec{p_{cf}} - \vec{p_{bs}} + R_{cf} \cdot \vec{s_{cf}})$$
+
+## Measurement
+
+The measurement is the rotation angle $$\alpha$$ when the sensor is hit by the light plane.
+
+## Prediction
+
+To calculate the predicted rotation angle $$\alpha_p$$ we have to go from the sensor position
+($$s_r = (x, y, z)$$ in the rotor reference frame) to rotation angle, where the rotation angle is from
+the X-axis to the line where the light plane intersects the XY-plane. The rotation angle to the sensor
+$$\alpha_s$$ is the sum of the predicted rotation angle $$\alpha_p$$ and the rotation angle from the
+intersection line to the sensor $$\alpha_t$$, caused by the tilt of the light plane,
+$$\alpha_s = \alpha_p + \alpha_t$$
+
+
+
+The rotation angle to the sensor $$\alpha_s$$ is defined by
+
+$$\tan \alpha_s = \frac{y}{x}$$
+
+$$\alpha_s = \tan^{-1}(\frac{y}{x})$$
+
+To calculate $$\alpha_t$$ we first have to look at the sensor position projected on the XY-plane
+$$(x, y, 0)$$. The radius to this point is $$r = \sqrt{x^2 + y^2}$$
+
+We also need the distance $$d$$ from the intersection line to the sensor, perpendicular to the
+intersection line, $$d=r\sin \alpha_t$$.
+
+$$d$$ can also be calculated using the tilt and z, $$d=z\tan -t$$. If we combine these
+
+$$r\sin \alpha_t = z\tan -t$$
+
+$$\sin \alpha_t = \frac{z\tan -t}{r} = -\frac{z\tan t}{\sqrt{x^2 + y^2}}$$
+
+$$\alpha_t = \sin^{-1}(-\frac{z\tan t}{\sqrt{x^2 + y^2}}) = -\sin^{-1}(\frac{z\tan t}{\sqrt{x^2 + y^2}})$$
+
+Finally we can calculate the predicted rotation angle
+
+$$\alpha_p = \alpha_s - \alpha_t = \tan^{-1}(\frac{y}{x}) + \sin^{-1}(\frac{z\tan t}{\sqrt{x^2 + y^2}})$$
+
+## H vector
+
+Calculate the position elements of the H vector in the rotor reference frame
+
+$$\vec{g_r} = \begin{pmatrix}
+\frac{d\alpha_p}{dx} & \frac{d\alpha_p}{dy} & \frac{d\alpha_p}{dz}
+\end{pmatrix}$$
+
+$$\vec{g_r} = \begin{bmatrix}
+\frac{-y}{x^2 + y^2} - \frac{xz\tan t}{(x^2+y^2)^{\frac{3}{2}} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}} } &
+\frac{x}{x^2 + y^2} - \frac{yz\tan t}{(x^2+y^2)^{\frac{3}{2}} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}} } &
+\frac{\tan t}{\sqrt{x^2+y^2} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}} }
+\end{bmatrix}$$
+
+Let $$r=\sqrt{x^2+y^2}$$ and $$Q=\frac{\tan t}{\sqrt{x^2+y^2} \sqrt{1-\frac{(z\tan t)^2}{x^2+y^2}}} =
+\frac{\tan t}{r \sqrt{1-\frac{(z\tan t)^2}{r^2}}} = \frac{\tan t}{\sqrt{r^2-(z\tan t)^2}} $$
+
+Which leads to
+
+$$\vec{g_r} = \begin{bmatrix}
+\frac{-y-xzQ}{x^2 + y^2} &
+\frac{x-yzQ}{x^2 + y^2} &
+Q
+\end{bmatrix}$$
+
+$$\vec{g_r} = \begin{bmatrix}
+\frac{-y-xzQ}{r^2} &
+\frac{x-yzQ}{r^2} &
+Q
+\end{bmatrix}$$
+
+Rotate the position elements to the global reference frame to be used in the kalman filter
+
+$$\vec{g}=(R_r \cdot R_{bs}^{-1})^{-1} \cdot \vec{g_r} = R_{bs} \cdot R_r^{-1} \cdot \vec{g_r}$$
+
+Finally we have the H vector
+
+$$H=(g_x, g_y, g_z, 0, 0, 0...)$$
+
+## Optimizations
+
+For rotation matrices the following is true
+
+$$R^{-1} = R^T$$
+
+$$R_1 \cdot (R_2 \cdot \vec{v}) = (R_1 \cdot R_2) \cdot \vec{v}$$
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/limitations.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/limitations.md
new file mode 100644
index 0000000000000000000000000000000000000000..ce5c0546cf1df24aca6ff399597fc40122cb6b9f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/limitations.md
@@ -0,0 +1,14 @@
+---
+title: Lighthouse limitations
+page_id: lh_limitations
+---
+
+One limitation of the lighthouse deck is that since the deck only has horizontal sensors, the angle at which the base-stations are seen cannot be too shallow. This means that you should fly at least 40cm bellow the base-stations and that the base-stations should be placed above the flight space.
+
+## State of the base station V2 support
+
+The lighthouse V2 support is currently at a Minimum Viable Product state.
+This means that is it well supported but still has some limitation that can be lifted in future development.
+
+* 1 and 2 base stations are supported
+* The base stations must be configured to use channel 1 and 2
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/positioning_methods.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/positioning_methods.md
new file mode 100644
index 0000000000000000000000000000000000000000..19253d2265548c3cc3c6fece2db447bb0fa2a596
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/positioning_methods.md
@@ -0,0 +1,37 @@
+---
+title: Lighthouse positioning methods
+page_id: lh_positioning_methods
+---
+
+There are two basic methods for estimating the position of the Lighthouse deck, they are outlined here.
+
+## Crossing beams
+
+This was the first method to be implemented and is simple and roubust, but requires two base stations to be visible.
+
+The idea is to calculate the vectors from two basestation to a sensor on the Lighthouse deck. This vector is defined by the
+intersection line between the two lightplanes of the base station and is sometimes referred to as a "beam", hence the name.
+
+In theory the beams should cross in the point where the sensor is located, in real life there are errors and the
+beams will not exactly meet. To handle this the algorithm calculates the point that is closest to both beams instead, and uses
+this as the estimated position.
+
+The distance from the estimated position to the beam is called the delta and is available as a log in the Crazyflie. It provides
+a measurement of the error in system.
+
+The calculated position is fed into the kalman estimator to be used together with other sensor data.
+
+## Raw sweeps
+
+It is preferable to use senstor data that has been processed as lite as possible in a kalman filter, and that is
+what we try to do in this method. The base station geometry and angle of one sweep is passed directly into
+the kalman estimator to be used to improve the estimate. The measurement model is based on the fact that the
+sensor must be located in the plane that is defined by the base station geometry and sweep angle.
+
+One base station is enough to estimate the position using this method, but more base stations adds precission and redundancy.
+
+
+## Ground truth
+
+To use the lighthouse positioning as a ground truth measurement for your research, you should put ```CFLAGS += -DLIGHTHOUSE_AS_GROUNDTRUTH``` in your config.mk.
+ This will default the position estimator for lighthouse to be crossing beam (which you should not change), and you will be able to get the X, Y, Z position from the logs ```lighthouse.x/.y/.z```
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/system_overview.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/system_overview.md
new file mode 100644
index 0000000000000000000000000000000000000000..06a493c221613071b3b9918e1f2345d47bc73d93
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/system_overview.md
@@ -0,0 +1,44 @@
+---
+title: Lighthouse system overview
+page_id: lh_system_overview
+---
+
+The lighthouse deck allows to use the HTC-Vive/SteamVR lighthouse tracking system to fly Crazyflies autonomously. The system works with one or two Lighthouse base stations (two recommended), both V1 and V2 are supported. It is not possible to mix V1 and V2 base stations in the same system.
+
+After everything is setup, the computer is not required anymore: the Crazyflie will autonomously estimate its position from the lighthouse signals.
+
+## The basics
+
+The information obtained from a lighthouse system is essentially two angles describing the direction from the base station to each light sensor on the lighthouse deck. All measurements and position calculations are performed in the Crazyflie.
+
+The Crayzflie needs two pieces of system information to be able to estimate its position. The first is calibration data for all base stations in the system, the second is geometry data.
+
+The calibration data describes slight imperfections in the the manufacturing of the base stations. The calibration data is measured in the factory and is stored in each base station. The calibration data is required to calculate the angles with a high level of accuracy.
+
+The geometry data describes the position and orientation of the base stations and is needed to understand how the measured angles relate to the global reference frame.
+The geometry data is calculated by the client using raw angles corrected by calibration data.
+
+Calibration and geometry data is stored in the Crazyflie to make it possible to take off and use the lighthouse system imediate after reboot.
+
+The Crazyflie must know if the system is using V1 or V2 type base stations, this is set manually from the client.
+
+## The number of base stations and frame synchronization
+The lighthouse deck works with one or two basestations but the estimated position will be better and more stable with two basestations. When using two basestations, one of them may be occluded temporarily, and the Crazyflie will use the other one for positioning.
+
+The protocol for the lighthouse V1 is composed of frames starting with sync pulses from the basestations. The sync pulses are used to identify which basestation the frame is originating from and this information is essential for correct positioning. When one basestation is occluded, only sync pulses from the visible basestation will be available to the system, which is fine as long as the the system can keep track of the frames. If we loose track of the frames, for instance if both basestations are occluded, the system has to re-synch again to function, but this is a quick process when the basestations are visible. Due to the design of the lighthouse protocol, visibility to both basestations is always required for synchronization or re-synchronization in a two basestation system.
+
+The protocol in lighthouse 2 does not use the same frame concept and there is no need for frame sync.
+
+The lighthouse V2 protocol supports more than 2 base stations and most of the Crazyflie firmware is designed for this as well but the tools currently only support two base stations.
+The ```PULSE_PROCESSOR_N_BASE_STATIONS``` (in pulse_processor.h) determines the number of base stations that are handled by the system and can be increased by brave users. This feature is very much untested and there is currently no support to estimate the geometry of a 2+ system.
+
+## Position estimation methods
+There are currently two ways of calculating the position using the lighthouse.
+
+The first method that was implemented calculates two vectors (or beams) from the basestations, based on the sweep angles measured by the sensors on the Crazyflie. The intersection point between the beams is the position of the Crazyflie, and this point is pushed into the estimator. We call this method the “crossing beam†method. A more recent implementation pushes the sweep angles from the base stations into the estimator and lets the kalman filter calculate the position based on this information. This method is called the “sweep angle†method and also works if only one basestation is available. It is possible to change positioning method “on the fly†by setting the lighthouse.method parameter. The sweep angle method is the default.
+
+## V1 vs. V2
+
+Crazyflie support two generation of lighthouse basestation called V1 and V2.
+
+The main difference between the two versions is that lighthouse V1 is designed to work with 2 basestion sychonized either optically or via a cable, and V2 is design to work with any number of independent basestations setup on different channels.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/terminology_definitions.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/terminology_definitions.md
new file mode 100644
index 0000000000000000000000000000000000000000..f3ceea213d1fd3b7e25755d2e08e269ca9ddabf7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/lighthouse/terminology_definitions.md
@@ -0,0 +1,85 @@
+---
+title: Lighthouse terminology and definitions
+page_id: lh_terminology
+---
+
+This page contains terminology and definitions for the lighthouse system to make it easier to
+understand and discuss algorithms and code. Our definitions probably do not match the ones used
+by other software packages, but we find these suitable for our setup.
+
+## Reference frames
+
+There are a number of different reference frames (or coordinate systems) used.
+
+### Global reference frame
+
+The global coordinate system is fixed in the room and shared by all parts of the system. This system
+is used for absolute position references in set points and the kalman estimator.
+
+### Crazyflie reference frame
+
+The Crazyflie reference frame is defined with the X-axis pointing forward, the Y-axis pointing left when seen from behind
+and the Z-axis pointing upwards.
+
+### Base station reference frame
+
+The base station coordinate system is defined as
+ * X-axis pointing forward through the glass
+ * Y-axis pointing right, when the base station is seen from the front.
+ * Z-axis pointing up (away from the screw mount)
+
+
+
+### Rotor reference frame
+
+There is one (LH2) or two rotors (LH1) in a base station. Each rotor is rotating around an axis of rotation, $$\vec{r}$$.
+We define a coordinate system for the rotor where the Z-axis points along $$\vec{r}$$ and the X-axis is the same as the X-axis
+of the base station.
+
+
+
+The axis of rotation is defined such that when $$\vec{r}$$ is pointing towards you, the drum is spinning counterclockwise.
+
+
+## Geometry data
+
+The geometry data (position $$\vec{p_{bs}}$$ and rotation matrix $$R_{bs}$$) describes the pose of a base station in the global coordinate system
+such that a point $$\vec{q_{bs}}$$ in the base station reference frame is transformed to the global reference frame by $$\vec{q} = \vec{p_{bs}} + R_{bs} \cdot \vec{q_{bs}}$$.
+
+## Rotors
+
+In relation to the base station reference frame we have
+
+| System type | rotor | $$\vec{r}$$ |
+| ----------- | ---------------------------------------------------- | -------------- |
+| LH 1 |Â horizontal sweep (left to right seen from the front) | $$(0, 0, 1)$$ |
+| LH 1 | vertical sweep (down to up seen from the front) | $$(0, -1, 0)$$ |
+| LH 2 |Â horizontal sweep (left to right seen from the front) | $$(0, 0, 1)$$ |
+
+The coordinate systems for the horizontal LH1 rotor and the LH2 rotor are identical to the base station reference frame.
+
+### Rotation angle
+
+Rotation angle $$\alpha=0$$ is forward, along the X axis in the rotor (and base station) reference frame.
+
+
+
+**Note:** In LH2 the two light planes are offset from each other on the rotor by 120 degrees, but this offset is compensated for in the decoding
+part of the firmware. For a sensor placed along the X-axis, the measured $$\alpha = 0$$ for both light planes.
+
+### Light plane tilt
+
+There is a lens on the rotor spreading light in the form of a plane, rotating with the rotor. In LH1 the plane is oriented along the axis of rotation,
+sweeping the room when the rotor spins, while LH2 has two light planes that are tilted by an angle $$\pm t$$. $$t$$Â is defined such that the plane is
+rotated counterclockwise with increasing $$t$$, seen from the front of the base station ($$\alpha = 0$$).
+
+
+
+In the general form we have no tilt for the rotors of LH1, in LH2 the planes are tilted 30 degrees.
+
+| System type | rotor / light plane | $$t$$ |
+| ----------- | --------------------------------------------------------- | ------------------ |
+| LH 1 |Â horizontal sweep (left to right seen from the front) | 0 |
+| LH 1 | vertical sweep (down to up seen from the front) | 0 |
+| LH 2 |Â horizontal sweep, first light plane | $$-\frac{\pi}{6}$$ |
+| LH 2 |Â horizontal sweep, second light plane | $$\frac{\pi}{6}$$ |
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/loco-positioning-system/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/loco-positioning-system/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..f96440566bdd06cd6f91f8a8bd7fc3af1d926694
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/loco-positioning-system/index.md
@@ -0,0 +1,79 @@
+---
+title: The Loco Positioning System
+page_id: loco_positioning
+---
+
+The Loco Positioning System is an absolute positioning system based on Ultra Wide Band (UWB) radios.
+
+Most of the documentation for the Loco Positioning System can be found in the [lps-node-firmware repository documentation](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/), this is where protocols, principles and modes are described.
+
+This section contains details specific to the implementation in the Crazyflie, mainly estimator related information.
+
+## Position estimation
+
+When using the Loco Positioning System the [Kalman estimator](/docs/functional-areas/sensor-to-control/state_estimators.md#extended-kalman-filter) is used for position estimation. The two main ranging schemes used for UWB localization are (i) two-way ranging (TWR) and (ii) time-difference-of-arrival (TDoA). In this page, we elaborate the measurement model, Kalman filter update and robust estimation for both TWR and TDoA.
+
+### Two-way ranging (TWR)
+
+In TWR, the UWB tag mounted on the Crazyflie communicates with fixed UWB anchors and acquires range measurements through two-way communication. The measurement model is as follows:
+
+$$d_i = \sqrt{(x-x_i)^2 +(y-y_i)^2 + (z-z_i)^2}$$,
+
+where $$(x, y, z)$$ is the position of the Crazyflie and $$(x_i, y_i, z_i)$$ is the position of the fixed anchor i. For the conventional extended Kalman filter, we have
+
+$$g_x = (x-x_i) / d_i$$
+
+$$g_y = (y-y_i) / d_i$$
+
+$$g_z = (z-z_i) / d_i$$.
+
+The H vector is
+
+$$H = (g_x, g_y, g_z, 0, 0, 0, 0, 0, 0)$$.
+
+Then, we call the function `kalmanCoreScalarUpdate()` in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/kalman_core.c) to update the states and covariance matrix.
+
+### Time-difference-of-arrival (TDoA)
+In TDoA, UWB tags receive signals from anchors passively and compute the difference in distance beween two anchors as TDoA measurements. Since in TDoA scheme, UWB tags only listen to the messages from anchors, a TDoA-based localization system allows a theoretically unlimited number of robots to localize themselves with a small number of fixed anchors. However, TDoA measurements are more noisy than TWR measurements, leading to a less accurate localization performance. Two types of TDoA protocols ([TDoA2](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/protocols/tdoa2_protocol/) and [TDoA3](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/protocols/tdoa3_protocol/)) are implemented in LPS system. The main difference between the two TDoA protocols is that TDoA3 protocol achieves the scalability at the cost of localization accuracy. The readers are refer to [TDoA2 VS TDoA3](https://www.bitcraze.io/documentation/repository/lps-node-firmware/master/functional-areas/tdoa2-vs-tdoa3/) for detailed information.
+
+The TDoA measurement model is as follows:
+
+$$d_{ij} = d_j - d_i = \sqrt{(x-x_j)^2 +(y-y_j)^2 + (z-z_j)^2} - \sqrt{(x-x_i)^2 +(y-y_i)^2 + (z-z_i)^2}$$,
+
+where $$(x, y, z)$$ is the position of the Crazyflie and $$(x_i, y_i, z_i)$$ and $$(x_j, y_j, z_j)$$ are the positions of fixed anchor i and j, respectively. For the conventional extended Kalman filter, we have
+
+$$g_x = (x-x_j) / d_j - (x-x_i) / d_i$$
+
+$$g_y = (y-y_j) / d_j - (y-y_i) / d_i$$
+
+$$g_z = (z-z_j) / d_j - (z-z_i) / d_i$$.
+
+The H vector is
+
+$$H = (g_x, g_y, g_z, 0, 0, 0, 0, 0, 0)$$.
+
+Then, we call the function `kalmanCoreScalarUpdate()` in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/kalman_core.c) to update the states and covariance matrix.
+
+### M-estimation based robust Kalman filter
+UWB radio signal suffers from outlier measurements caused by radio multi-path reflection and non-line-of-sight propagation. The large erroneous measurements often deteriorate the accuracy of UWB localization. The conventional Kalman filter is sensitive to measurement outliers due to its intrinsic minimum mean-square-error (MMSE) criterion. Here, we provide a robust estiamtion approach based on M-estimation robust cost function. We will explain the general idea of the robust Kalman filter and readers are encouraged to look into the firmware [mm_distance_robust](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/mm_distance_robust.c) and [mm_tdoa_robust](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/mm_tdoa_robust.c). The implementation is based on paper [1] and please read the paper for implementation details.
+
+From the Bayesian maximum a posteriori perspective, the Kalman filter state estimation framework can be derived by solving the following minimization problem:
+
+
+
+Therein, $$x_k$$ and $$y_k$$ are the system state and measurements at timestep k, $$P_k$$ and $$R_k$$ denote the prior covariance and measurement covariance, respectively. Through Cholesky factorization of $$P_k$$ and $$R_k$ $, the original optimization problem is equivalent to:
+
+
+
+where $$e_{x,k,i}$$ and $$e_{y,k,i}$$ are the elements of $$e_{x,k}$$ and $$e_{y,k}$$. To reduce the influence of outliers, we incorporate a robust cost function into the Kalman filter framework as follows:
+
+
+
+where $$\rho()$$ could be any robust function (e.g., G-M, SC-DCS, Huber, Cauchy, etc.)
+
+By introducing a weight function for the process and measurement uncertainties---with e as input---we can translate the optimization problem into an Iterative Reweight Least-Square (IRLS) problem. Then, the optimal posterior estimate can be computed through iteratively solving the least-square problem using the robust weights computed from the previous solution. In our implementation, we use the G-M robust cost function and the maximum iteration is set to be two for computational frugality. Then, we call the function `kalmanCoreUpdateWithPKE()` in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core/kalman_core.c) with the weighted covariance matrix $P_w_m$, kalman gain Km, and innovation error to update the states and covariance matrix.
+
+This functionality can be turned on through setting a parameter (robustTwr or robustTdoa) in [estimator_kalman.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_kalman.c).
+
+## References
+[1] Zhao, Wenda, Jacopo Panerati, and Angela P. Schoellig. "Learning-based Bias Correction for Time Difference of Arrival Ultra-wideband Localization of Resource-constrained Mobile Robots." IEEE Robotics and Automation Letters 6, no. 2 (2021): 3639-3646.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_APP.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_APP.md
new file mode 100644
index 0000000000000000000000000000000000000000..3a16b6ea14912c81aee5669bcafd691efd1da5fc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_APP.md
@@ -0,0 +1,7 @@
+---
+title: Generic application memory - MEM_TYPE_APP
+page_id: mem_type_app
+---
+
+This memory can be used by applications and the memory
+layout is application specific.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_DECK_MEM.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_DECK_MEM.md
new file mode 100644
index 0000000000000000000000000000000000000000..dc0e0c239628cb6dbfbb7027f4ad1bbeb1a67919
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_DECK_MEM.md
@@ -0,0 +1,75 @@
+---
+title: Deck memory - MEM_TYPE_DECK_MEM
+page_id: mem_type_deck_mem
+---
+
+This memory is used to access memory on decks when available. Decks that have firmware may also
+support firmware updates through write operations to the memory.
+
+The information section contains information that allows a client to enumerate installed decks,
+identify decks with firmware that needs to be updated and the address to write new firmware to.
+
+The information in a `Deck memory info` record is only valid if the `Is valid` bit is set to 1. The `Is Valid` bit
+is always valid, also when set to 0.
+
+Some decks may take a while to boot, the `Is started` bit indicates if the deck has started and is ready.
+Data in the `Deck memory info` record should only be used if both the `Is Valid` and the `Is started`
+bits are set.
+
+The firmware that is required by a deck is uniquely identified through the tuple `(required hash, required length, name)`.
+
+A deck driver may implement read and/or write operations to data on a deck, a camera deck could for
+instance proved image data through a memory read operation. The deck driver can freely choose the addresses
+where data is mapped. From a client point of view the address will be relative to the base address of the deck,
+the base address is aquired by a client from the information section.
+
+If a deck has firmware upgrade capabilities, the write address for firmware upgrades must allways be at 0 (relative
+to the base address). A deck is ready to receive FW if the `Bootloader active` flag is set.
+
+## Memory layout
+
+| Address | Type |Â Description |
+|-------------------|--------------|----------------------------------------------------------|
+| 0x0000 | Info section |Â Information on installed decks and the mapping to memory |
+| deck 1 base addr | raw memory |Â Mapped to the memory on deck 1 |
+| deck 2 base addr | raw memory |Â Mapped to the memory on deck 2 |
+| deck 3 base addr | raw memory |Â Mapped to the memory on deck 3 |
+| deck 4 base addr | raw memory |Â Mapped to the memory on deck 4 |
+
+
+### Info section memory layout
+
+| Address | Type |Â Description |
+|---------|------------------|------------------------|
+| 0x0000 | uint8 | Version, currently 1 |
+| 0x0001 | Deck memory info |Â Information for deck 1 |
+| 0x0021 | Deck memory info |Â Information for deck 2 |
+| 0x0041 | Deck memory info |Â Information for deck 3 |
+| 0x0061 | Deck memory info |Â Information for deck 4 |
+
+
+### Deck memory info memory layout
+
+Addresses relative to the deck memory info base address
+
+| Address | Type |Â Description |
+|---------|-------------|--------------------------------------------------------------------|
+| 0x0000 | uint8 | A bitfield describing the properties of the deck memory, see below |
+| 0x0001 | uint32 | required hash - the hash for the reuired firmware |
+| 0x0005 |Â uint32 | required length - the length of the required firmware |
+| 0x0009 |Â uint32 | base address - the start address of the deck memory |
+| 0x000D |Â uint8\[19\] | name - zero terminated string, max 19 bytes in total. |
+
+
+### Deck memory info bit field
+
+|Â Bit |Â Property |Â 0 | 1 |
+|-----|-------------------|------------------------------------------------------------|-----------------------------------------------------|
+| 0 | Is valid | no deck is installed or does not support memory operations | a deck is installed and the data is valid |
+| 1 | Is started | the deck is in start up mode, data is not reliable yet | deck has started, data is reliable |
+| 3 | Supports write | write not supported | memory is writeable |
+| 2 | Supports read | read not supported | memory is readable |
+| 4 | Supports upgrade | no upgradable firmware | firmware upgrades possible |
+| 5 | Upgrade required | the firmware is up to date | the firmware needs to be upgraded |
+| 6 | Bootloader active | the deck is running FW | the deck is in bootloader mode, ready to receive FW |
+| 7 | Reserved | | |
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_EEPROM.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_EEPROM.md
new file mode 100644
index 0000000000000000000000000000000000000000..ea67e188ee321346136a93628a73add179dd0c1d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_EEPROM.md
@@ -0,0 +1,6 @@
+---
+title: EEPROM - MEM_TYPE_EEPROM
+page_id: mem_type_eeprom
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LED12.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LED12.md
new file mode 100644
index 0000000000000000000000000000000000000000..0bcc6c25aadce6a04c435a79b79e42347f32e366
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LED12.md
@@ -0,0 +1,6 @@
+---
+title: LED ring - MEM_TYPE_LED12
+page_id: mem_type_led12
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LEDMEM.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LEDMEM.md
new file mode 100644
index 0000000000000000000000000000000000000000..ba3d89d87c4a843c2a1adbb8fb3a7eb36da82003
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LEDMEM.md
@@ -0,0 +1,6 @@
+---
+title: LED ring timing - MEM_TYPE_LEDMEM
+page_id: mem_type_ledmem
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LH.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LH.md
new file mode 100644
index 0000000000000000000000000000000000000000..9a7a66f5fd05c11d63e72bba97df1e16c5947a70
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LH.md
@@ -0,0 +1,50 @@
+---
+title: Lighthouse - MEM_TYPE_LH
+page_id: mem_type_lh
+---
+
+The lighthouse memory mapping is used to communicate geometry and
+calibration data. The implementation supports both read and write
+operations.
+
+## Memory layout
+
+| Address | Type |Â Description |
+|---------|------------------|-------------------------------------------------|
+| 0x0000 | Geometry data |Â Geometry data for base station on channel 1 |
+| 0x0100 | Geometry data |Â Geometry data for base station on channel 2 |
+| ... | Geometry data |Â |
+| 0x0f00 | Geometry data |Â Geometry data for base station on channel 16 |
+| 0x1000 | Calibration data | Calibration data for base station on channel 1 |
+| 0x1100 | Calibration data | Calibration data for base station on channel 2 |
+| ... | Calibration data | |
+| 0x1f00 | Calibration data | Calibration data for base station on channel 16 |
+
+### Geometry data memory layout
+
+| Address | Type | Description |
+|---------|---------------------|------------------------------------------------------------------|
+| 0x0X00 | float (4 bytes) x 3 | Base station position, 3 element vector of floats (4 bytes) |
+| 0x0X0C | float (4 bytes) x 9 | Base station attitude, 3 x 3 rotation matrix of floats (4 bytes) |
+| 0x0X18 | uint8 | Is valid : 0 = the data is not valid, 1 = data is valid |
+
+### Calibration data memory layout
+
+| Address | Type | Description |
+|---------|------------------------|---------------------------------------------------------|
+| 0x0X00 | Calibration sweep data | Calibration data for first sweep |
+| 0x0X1C | Calibration sweep data | Calibration data for second sweep |
+| 0x0X38 | uint32 |Â Base station UID |
+| 0x0X3C | uint8 | Is valid : 0 = the data is not valid, 1 = data is valid |
+
+#### Calibration sweep data memory layout
+
+| Address | Type |Â Description |
+|---------|------------------------------------------------|
+| 0x0X00 | float (4 bytes) |Â phase |
+| 0x0X04 | float (4 bytes) |Â tilt |
+| 0x0X08 | float (4 bytes) |Â curve |
+| 0x0X0C | float (4 bytes) |Â gibmag |
+| 0x0X10 | float (4 bytes) |Â gibphase |
+| 0x0X14 | float (4 bytes) |Â ogeemag (only used in LH2) |
+| 0x0X18 | float (4 bytes) |Â ogeephase (only used in LH2) |
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO.md
new file mode 100644
index 0000000000000000000000000000000000000000..5e748ae0d7d147ae3b2428c2756de5d0818a2e87
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO.md
@@ -0,0 +1,6 @@
+---
+title: Loco Positioning System 1 - MEM_TYPE_LOCO
+page_id: mem_type_loco
+---
+
+This implementation is obsolete and remains for backwards compatibility.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO2.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO2.md
new file mode 100644
index 0000000000000000000000000000000000000000..0c48fdd8276b13117f489f0a6f6b06bcf29c9897
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_LOCO2.md
@@ -0,0 +1,35 @@
+---
+title: Loco Positioning System 2 - MEM_TYPE_LOCO2
+page_id: mem_type_loco2
+---
+
+The Loco Positioning System memory implementation provides means to read information about the
+Loco Positioning System. There is no write functionality.
+
+## Memory layout
+
+| Address | Type |Â Description |
+|----------------------|-------------|----------------------------------------------------------------------------|
+| 0x0000 | uint8 | number of anchors in the system (n) |
+| 0x0001 - 0x0000 + n | uint8 | unordered list of anchor ids in the system |
+| | | |
+| 0x1000 | uint8 | number of active anchors in the system (na) |
+| 0x1001 - 0x1000 + na | uint8 | unordered list of anchor ids for the anchors in the system that are active |
+| | | |
+| 0x2000 | Anchor data | Data for anchor id 0 (if available) |
+| 0x2100 | Anchor data | Data for anchor id 1 (if available) |
+| ... | Anchor data | |
+| 0x2000 + 0x100 * i | Anchor data | Data for anchor id i (if available) |
+| ... | Anchor data | |
+| 0x11F00 | Anchor data | Data for anchor id 255 (if available) |
+
+### Anchor data memory layout
+
+Address relative to start address for the anchor data
+
+| Address | Type |Â Description |
+|---------|-----------------|---------------------------------------------------------|
+| 0x0000 | float (4 bytes) |Â x coordinate of the anchor position |
+| 0x0004 | float (4 bytes) |Â y coordinate of the anchor position |
+| 0x0008 | float (4 bytes) |Â z coordinate of the anchor position |
+| 0x000C | uint8 |Â Is valid : 0 = the data is not valid, 1 = data is valid |
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_OW.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_OW.md
new file mode 100644
index 0000000000000000000000000000000000000000..d17ed34b62aed292febcac067ea71134f208fa7d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_OW.md
@@ -0,0 +1,6 @@
+---
+title: One wire memory - MEM_TYPE_OW
+page_id: mem_type_ow
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_TESTER.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_TESTER.md
new file mode 100644
index 0000000000000000000000000000000000000000..52e858c17bf36f871933d69afe708ac1b01fdc41
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_TESTER.md
@@ -0,0 +1,6 @@
+---
+title: Test - MEM_TYPE_TESTER
+page_id: mem_type_tester
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_TRAJ.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_TRAJ.md
new file mode 100644
index 0000000000000000000000000000000000000000..f372dfb396f4fa44fb9ee73bba98c31a7dbaafa2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_TRAJ.md
@@ -0,0 +1,6 @@
+---
+title: Trajectory - MEM_TYPE_TRAJ
+page_id: mem_type_traj
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_USD.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_USD.md
new file mode 100644
index 0000000000000000000000000000000000000000..1af849292db328aab4a63726a3293fde33f5ef5d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/MEM_TYPE_USD.md
@@ -0,0 +1,6 @@
+---
+title: uSD card - MEM_TYPE_USD
+page_id: mem_type_usd
+---
+
+TBD
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..946aa80c933ec2b89061318306d42e3abbe0d9c3
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/memory-subsystem/index.md
@@ -0,0 +1,36 @@
+---
+title: The memory subsystem
+page_id: memory_subsystem
+---
+
+The memory subsystem is intended to be used for transfering larger chunks of data
+between a Crazyflie and a client where real time characteristics are not important.
+
+The memory subsystem uses the ```CRTP_PORT_MEM``` port for communication and supports basic read and write functionality of raw binary data. One packet on the CRTP level contains data for one read or write operation with information on address, size and type. A larger read or write is split up in multiple operations, where each sub-operation fits into one
+CRTP packet. The sub-operations should be done in order (from lower address to higher) and
+some read handlers may rely on this to update caches or similar when receiving the last part of a block.
+
+The type can be seen as the highest level of abstraction and indicates which memory
+the read/write operation will act on. There are a number of memory types (defined in ```MemoryType_t```) which each implements a read and/or write paradigm of selected parts of a virtual memory space, for a functional area of the system. A read/write
+implementation may be mapped directly to a block of RAM in the Crazyflie, but it can
+also be connected to other data structures through function calls where the
+virtual memory map is simply a means of organaizing data for transfer.
+
+A module in the Crazyflie firmware registeres handlers for read and/or write operations
+and the framwork calls the handlers with appropriate values when memory operations are
+initiated from a client.
+
+## Memory types and mappings
+
+* [EEPROM - MEM_TYPE_EEPROM](./MEM_TYPE_EEPROM.md)
+* [One wire memory - MEM_TYPE_OW](MEM_TYPE_OW.md)
+* [LED ring - MEM_TYPE_LED12](MEM_TYPE_LED12.md)
+* [Loco Positioning System 1 - MEM_TYPE_LOCO](MEM_TYPE_LOCO.md)
+* [Trajectory - MEM_TYPE_TRAJ](MEM_TYPE_TRAJ.md)
+* [Loco Positioning System 2 - MEM_TYPE_LOCO2](MEM_TYPE_LOCO2.md)
+* [Lighthouse - MEM_TYPE_LH](MEM_TYPE_LH.md)
+* [Test - MEM_TYPE_TESTER](MEM_TYPE_TESTER.md)
+* [uSD card - MEM_TYPE_USD](MEM_TYPE_USD.md)
+* [LED ring timing - MEM_TYPE_LEDMEM](MEM_TYPE_LEDMEM.md)
+* [Generic application memory - MEM_TYPE_APP](MEM_TYPE_APP.md)
+* [Deck memory - MEM_TYPE_DECK_MEM](MEM_TYPE_DECK_MEM.md)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/p2p_api.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/p2p_api.md
new file mode 100644
index 0000000000000000000000000000000000000000..41c2cc8e915d5f25c2e1386e679c59fd66ca5e95
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/p2p_api.md
@@ -0,0 +1,57 @@
+---
+title: Peer to Peer API
+page_id: p2p_api
+---
+
+## Introduction
+Currently peer to peer communication on the crazyflie is **in development**. Now an API is made available to send P2P
+messages in broadcast mode, and we are going to extend this to unicast.
+
+P2P packets are sent and received on the same channel as the currently configured CRTP radio link. P2P packets are sent and received independently to regular CRTP packets. In order to allow for multiple appilication to use P2P communication at the same time a port number has been added to each packet, the intend being that independent service will use different P2P port. For the time being this port is not used by the API and keeping it to 0 unless otherwise needed is advised.
+
+Furthermore, P2P packets are only sent and received from the 2.4GHz internal Crazyflie radio independently of where the CRTP link is connect (ex. the CRTP link can be connecte over USB).
+
+The maximum data payload contained in a P2P packet is ```P2P_MAX_DATA_SIZE```. It is currently set to 60Bytes.
+
+## Using the P2P API
+Functions and structures are defined in the header file [src/hal/interface/radiolink.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/hal/interface/radiolink.h). There is also an [app layer example](https://github.com/bitcraze/crazyflie-firmware/tree/master/examples/app_peer_to_peer) available in the example folder of the repository.
+
+## Peer to Peer broadcast
+
+#### Sending P2P broadcast
+
+From the STM, a packet can be sent using the ```radiolinkSendP2PPacketBroadcast``` function. For example:
+
+```c
+static P2PPacket pk;
+pk.port = 0;
+pk.size = 11;
+memcpy(pk.data, "Hello World", 11);
+radiolinkSendP2PPacketBroadcast(&pk);
+```
+
+This function will trigger a single P2P packet to be transmitted by the radio.
+
+#### Receiving P2P broadcast
+
+If you want to receive packet in your function, you can register a callback with:
+
+```c
+p2pRegisterCB(p2pcallbackHandler);
+```
+
+with a function of the form of:
+```c
+void p2pcallbackHandler(P2PPacket *p)
+{
+ // p->port: P2P Port
+ // p->size: Payload size
+ // p->data: Payload data
+ // p->rssi: RSSI of the packet. 40 means -40dBm.
+}
+```
+
+The callback will be called by the task handling radio communication, it should then execute quickly (for example pushing data in a queue).
+
+
+
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/persistent_storage.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/persistent_storage.md
new file mode 100644
index 0000000000000000000000000000000000000000..bc11716e93c2840728319ee8c934505eaeb31cbc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/persistent_storage.md
@@ -0,0 +1,48 @@
+---
+title: Persistent storage
+page_id: persistent_storage
+---
+
+# Persistent storage
+
+The crazyflie has a persistent storage subsystem that is intended to be used for configuration and other rarely written data.
+The 7kB of the internal EEPROM is used for storage.
+Fetching data should be fairly fast, storing data can be very slow if the storage space needs to be defragmented/garbage collected.
+
+The API is documented in the [storage.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/hal/interface/storage.h).
+It currently only implements basic store/fetch/delete functions.
+The data stored are buffers and are stored and fetched using a key string.
+Care must be taken to not use generic keys in order to avoid collision.
+
+
+## Embedded KV format
+
+This is low level information about the format used to store data in the EEPROM.
+These information are not needed to use the storage api but can be useful if one want to modify or port the memory storage.
+
+The stored binary format is based on TLV (Type Length Value) but modified for the need of a dynamic storage.
+
+The format assumes it is working on a EEPROM since it does not implement a proper wear leveling.
+However, it can be noted that the format is already prepared to be used in flash allowing to append and discard entries without erasing the page: entries can be added and holes created by only writing zeros to a all-one memory. So, if modification are implemented using copy-on-write, this is effectively becoming a log-format and would fit a flash.
+
+### Basic format
+
+Each KV couple is written as:
+
+ - **Length** uint16_t: Length of the item, includes length, keylength, key and value.
+ - **KeyLength** uint8_t: Length of the key
+ - **Key** char*: Key
+ - **Value** void*: Data buffer
+
+KV couples are writen one after each other. If one KV is at memory position *n*, the next one will be at memory position *n + length*.
+
+If the key has a length of 0, it indicates a hole and the length indicates
+the offset to the next entry.
+
+A lenght of 0xffff means the end of the table.
+
+Holes are created when an entry is deleted or modified entries.
+
+New entries can be added either at the end of the table or in a hole that can fit the new buffer.
+
+When there is no more space for new entries, the memory should be defragmented by moving all items into the holes, packing all the items at the begining of the table.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/commanders_setpoints.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/commanders_setpoints.md
new file mode 100644
index 0000000000000000000000000000000000000000..29e88a3a5d93804591e9fed8f280bef4b3e3641b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/commanders_setpoints.md
@@ -0,0 +1,65 @@
+---
+title: The Commander Framework
+page_id: commanders_setpoints
+---
+
+
+This section will go into the commander framework, which handles the setpoint of the desired states, which the controllers will try to steer the estimated state to.
+
+ * [The Commander Module](#the-commander-module)
+ * [Setpoint Structure](#setpoint-structure)
+ * [High Level Commander](#high-level-commander)
+
+
+## The Commander Module
+
+{:width="700"}
+
+The commander module handles the incoming setpoints from several sources (src/modules/src/commander.c in the [firmware](https://github.com/bitcraze/crazyflie-firmware)). A setpoint can be set directly, either through a python script using the [cflib](https://github.com/bitcraze/crazyflie-lib-python)/ [cfclient](https://github.com/bitcraze/crazyflie-clients-python) or [the app layer](/docs/userguides/app_layer.md) (blue pathways in the figure), or by the high-level commander module (purple pathway). The High-level commander in turn, can be controlled remotely from the python library or from inside the Crazyflie.
+
+It is important to realize that the commander module also checks how long ago a setpoint has been received. If it has been a little while (defined by threshold `COMMANDER_WDT_TIMEOUT_STABILIZE` in commander.c), it will set the attitude angles to 0 on order to keep the Crazyflie stabilized. If this takes longer than `COMMANDER_WDT_TIMEOUT_SHUTDOWN`, a null setpoint will be given which will result in the Crazyflie shutting down its motors and fall from the sky. This won’t happen if you are using the high level commander.
+
+[go back to top](#)
+
+## Setpoint Structure
+
+
+In order to understand the commander module, you must be able to comprehend the setpoint structure. The specific implementation can be found in src/modules/interface/stabilizer_types.h as setpoint_t in the Crazyflie firmware.
+
+There are 2 levels to control, which is:
+
+ Position (X, Y, Z)
+ Attitude (pitch, roll, yaw or in quaternions)
+
+These can be controlled in different modes, namely:
+
+ Absolute mode (modeAbs)
+ Velocity mode (modeVelocity)
+ Disabled (modeDisable)
+
+{:width="700"}
+
+
+So if absolute position control is desired (go to point (1,0,1) in x,y,z), the controller will obey values given setpoint.position.xyz if setpoint.mode.xyz is set to modeAbs. If you rather want to control velocity (go 0.5 m/s in the x-direction), the controller will listen to the values given in setpoint.velocity.xyz if setpoint.mode.xyz is set to modeVel. All the attitude setpoint modes will be set then to disabled (modeDisabled). If only the attitude should be controlled, then all the position modes are set to modeDisabled. This happens for instance when you are controlling the crazyflie with a controller through the cfclient in attitude mode.
+
+[go back to top](#)
+
+
+## High Level Commander
+
+{:width="700"}
+
+As already explained before: The high level commander handles the setpoints from within the firmware based on a predefined trajectory. This was merged as part of the [Crazyswarm](https://crazyswarm.readthedocs.io/en/latest/) project of the [USC ACT lab](https://act.usc.edu/). The high-level commander uses a planner to generate smooth trajectories based on actions like ‘take off’, ‘go to’ or ‘land’ with 7th order polynomials. The planner generates a group of setpoints, which will be handled by the High level commander and send one by one to the commander framework.
+
+[go back to top](#)
+
+## Support in the python lib (CFLib)
+
+There are four main ways to interact with the commander framework from the [python library](https://github.com/bitcraze/crazyflie-lib-python)/.
+
+* **autonomousSequence.py**: Send setpoints directly using the Commander class from the Crazyflie object.
+* **motion_commander_demo.py**: The MotionCommander class exposes a simplified API and sends velocity setpoints continuously based on the methods called.
+* **autonomous_sequence_high_level.py**: Use the high level commander directly using the HighLevelCommander class on the Crazyflie object.
+* **position_commander_demo.py**: Use the PositionHlCommander class for a simplified API to send commands to the high level commander.
+
+[go back to top](#)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/configure_estimator_controller.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/configure_estimator_controller.md
new file mode 100644
index 0000000000000000000000000000000000000000..7db2a33db630a5acc99958d95bff0fd2cfb9c519
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/configure_estimator_controller.md
@@ -0,0 +1,52 @@
+---
+title: Configure estimator and controller
+page_id: config_est_ctrl
+---
+
+All the estimators and controllers are part of the standard firmware build and the active estimator and controller can be configured in runtime or compile time.
+
+## Estimators
+
+The available estimators are defined in the `StateEstimatorType` enum in `src/modules/interface/estimator.h`.
+
+### Setting in runtime
+
+To activate a specific estimator, set the `stabilizer.estimator` parameter to the appropriate value based on the `StateEstimatorType`.
+
+The parameter can be set from the python client, the python lib or from an app in the Crazyflie.
+
+### Default estimator
+
+The complementary estimator is the default estimator.
+
+Some decks require the kalman estimator and it is automatically activated when one of these decks are detected. The activated estimator is based on the .requiredEstimator member of the DeckDriver API.
+
+### Setting default estimator at compile time
+
+It is possible to force the use of a specific estimator at compile time by setting `ESTIMATOR`, see [Configure the build](/docs/building-and-flashing/build.md/#configmk).
+
+Example:
+
+`ESTIMATOR=kalman`
+
+## Controller
+
+The available controllers are defined in the `ControllerType` enum in `src/modules/interface/controller.h`.
+
+### Setting in runtime
+
+To activate a specific controller, set the `stabilizer.controller` parameter to the appropriate value based on the `ControllerType`.
+
+The parameter can be set from the python client, the python lib or from an app in the Crazyflie.
+
+### Default controller
+
+The PID controller is the default controller.
+
+### Setting at compile time
+
+It is possible to force the use of a specific controller at compile time by setting `CONTROLLER`, see [Configure the build](/docs/building-and-flashing/build.md/#configmk).
+
+Example:
+
+`CONTROLLER=Mellinger`
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/controllers.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/controllers.md
new file mode 100644
index 0000000000000000000000000000000000000000..cf6f297777f05517e1a8ce436610f56e5f567674
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/controllers.md
@@ -0,0 +1,60 @@
+---
+title: Controllers in the Crazyflie
+page_id: controllers
+---
+
+
+Once the [state estimator](/docs/functional-areas/sensor-to-control/state_estimators.md) have outputed the current (estimated) situation of the crazyflie in position velocity and attitude, it is time for the controllers to keep it that way or to move the crazyflie into a new position based on a setpoint. This is an important part of the stabilization system in the crazyflie.
+
+ * [Overview of Control](#overview-of-control)
+ * [Cascaded PID controller](#cascaded-pid-controller)
+ * Mellinger Controller (TO DO)
+ * INDI Controller (TO DO)
+
+## Overview of control
+There are three levels to control in the crazyflie:
+* Attitude rate
+* Attitude absoluut
+* Position or velocity
+
+
+Here is an overview of the types of controllers there are per level:
+
+{:width="500"}
+
+We will now explain per controller how exactly they are being implemented in the [crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware/).
+
+[go back to top](#)
+
+
+## Cascaded PID controller
+
+
+So the default settings in the Crazyflie firmware is the [proportional integral derivative (PID)](https://en.wikipedia.org/wiki/PID_controller) control for all desired state aspects. So the High Level Commander (HLC) or position will send desired position set-points to the PID position controller. These result in desired pitch and roll angles, which are sent directly to the attitude PID controller. These determine the desired angle rates which is send to the angle rate controller. This is also called Cascaded PID controller. That results in the desired thrusts for the roll pitch yaw and height that will be handled by the power distribution by the motors.
+
+
+Here is a block schematics of how the PID controllers are implemented.
+
+{:width="700"}
+
+Here are the different loops of the cascaded PID explained in more detail.
+
+### Attitude Rate PID controller
+
+The attitude rate PID controller is the one that directly controls the attitude rate. It resieves almost directly the gyroscope rates (through a bit of filtering first) takes the error between the desired attitude rate as input. This output the commands that is send directly to the power distribution ([power_distribution_stock.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/power_distribution_stock.c)). The control loop runs at 500 Hz.
+
+Check the implementation details in [attitude_pid_controller.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/attitude_pid_controller.c) in `attitudeControllerCorrectRatePID()`.
+
+### Attitude PID controller
+
+The absolute attitude PID controller is the outerloop of the attitude controller. This takes in the estimated attitude of the [state estimator](/docs/functional-areas/sensor-to-control/state_estimators.md), and takes the error of the desired attitude setpoint to control the attitude of the Crazyflie. The output is desired attitude rate which is send to the attitude rate controller. The control loop runs at 500 Hz.
+
+Check the implementation details in [attitude_pid_controller.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/attitude_pid_controller.c) in `attitudeControllerCorrectAttitudePID()`.
+
+### Position and Velocity Controller
+
+The most outerloop of the cascaded PID controller is the position and velocity controller. It receives position or velcoityinput from a commander which are handled, since it is possible to set in the variable `setpoint_t` which stabilization mode to use `stab_mode_t` (either position: `modeAbs` or `modeVelocity`). These can be found in [stabilizer_types.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/stabilizer_types.h). The control loop runs at 100 Hz.
+
+Check the implementation details in Check the implementation details in [position_controller_pid.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/position_controller_pid.c) in `positionController()` and `velocityController()`.
+
+[go back to top](#)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/index.md
new file mode 100644
index 0000000000000000000000000000000000000000..522ed8f4a9e73f8e6576010c1ecc35c6699c2bde
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/index.md
@@ -0,0 +1,102 @@
+---
+title: Stabilizer Module
+page_id: stabilizer_index
+---
+
+This page is meant as an introduction and overview of the path from
+sensor acquisition to motor control,also called the stabilizer module. It will not go into detail but it mostly give a general outline of how the sensor measurements go to the
+state estimators to the controllers and finally distributed to the motors
+by power distribution. Ofcourse, the motors have an affect on how the
+crazyflie flies and that inderectly has an effect on what the sensors
+detect in the next time step.
+
+ * [Sensors](#sensors)
+ * [State Estimation](#state-estimation)
+ * [State Controller](#state-controller)
+ * [Configure estimators and control](#configuring-controllers-and-estimators)
+ * [Commander Framework](#commander-framework)
+ * [Power Distribution](#power-distribution)
+
+
+
+### Overview
+
+{:width="700"}
+
+## Modules
+
+
+### Sensors
+
+Sensors are essential for the flight of a crazyflie. Here is selection of the sensors
+ listed that the crazyflie eventually uses for state estimation:
+
+
+* [On-board Sensors](https://store.bitcraze.io/products/crazyflie-2-1)
+ * Accelerometer: acceleration in body fixed coordinates in m/s2
+ * Gyroscope: angle rate in roll pitch and yaw (rad/s)
+ * Pressure Sensor: Airpressure in mBar
+* [Flowdeck v2](https://store.bitcraze.io/products/flow-deck-v2)
+ * ToF sensor*: Distance to a surface in milimeters
+ * Optical flow sensor: The detection movement of pixels in px per timesample
+* [Loco positioning deck](https://store.bitcraze.io//products/loco-positioning-deck):
+ * Ultra Wide band module: The distance between two UWB modules or TDOA*** in meters.
+* [Lighthouse deck](https://store.bitcraze.io/products/lighthouse-positioning-deck):
+ * IR receivers: Sweep angle of htc vive basestations in radians.
+
+<sub><sup>_*Time-of-Flight_</sup></sub>
+
+<sub><sup>_**[Zranger v2](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2) also contains a laser-ranger_</sup></sub>
+
+<sub><sup>_***Time-difference of Arrival_</sup></sub>
+
+[go back to top](#)
+
+### State Estimation
+
+There are 2 state estimators in the crazyflie:
+* Complementary Filter
+* Extended Kalman Filter
+
+ Go to the [state estimation page](state_estimators.md) for more indepth information about how the state estimation is implemented in the crazyflie firmware.
+
+[go back to top](#)
+
+
+### State Controller
+There are 3 controllers in the crazyflie
+* PID controller
+* INDI controller
+* Mellinger controller
+
+Go to the [controllers page](controllers.md), for more indepth information about how the controllers are implemented in the crazyflie firmware.
+
+[go back to top](#)
+
+
+### Configuring Controllers and Estimators
+Go to this [configuration page](configure_estimator_controller.md), if you would like to configure different controllers and estmators,
+
+[go back to top](#)
+
+
+### Commander Framework
+An desired state can be handled by the setpoint structure in position or atitude, which can be set by the cflib or the highlevel commander.
+
+Go to the [commander page](commanders_setpoints.md), for more indepth information about how the commander framework are implemented in the crazyflie firmware, please go
+
+[go back to top](#)
+
+### Power Distribution
+
+After the state controller has send out its commands, this is not the end of the line yet.
+The controllers send out their commands relating to their yaw, roll and pitch angles.
+How the motors should respond in order to adhere these attitude based commands depends on a few factors:
+ * Quadrotor configuration (found in: [power_distribution_stock.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/power_distribution_stock.c)):
+ * x-configuration: The body fixed coordinate system's x-axis is pointed in between two propellors (Default)
+ * +-configuration: The body fixed coordinate system's x-axis is pointed in one propellor
+ * Motors:
+ * **Explaination about this will come soon**
+
+
+[go back to top](#)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/state_estimators.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/state_estimators.md
new file mode 100644
index 0000000000000000000000000000000000000000..3b416a37c781bd8fc7af2175a085369657528ca9
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/sensor-to-control/state_estimators.md
@@ -0,0 +1,71 @@
+---
+title: State estimation
+page_id: state_estimators
+---
+
+
+
+A state estimator turns sensor signals into an estimate of the state that the crazyflie is in. This is an essential part of crazyflie's stabilizing system, as explained in the [overview page](/docs/functional-areas/sensor-to-control/index.md). State estimation is really important in quadrotors (and robotics in general). The Crazyflie needs to first of all know in which angles it is at (roll, pitch, yaw). If it would be flying at a few degrees slanted in roll, the crazyflie would accelerate into that direction. Therefore the controller need to know an good estimate of current angles’ state and compensate for it. For a step higher in autonomy, a good position estimate becomes important too, since you would like it to move reliably from A to B.
+
+* [Complementary filter](#complementary-filter)
+* [Extended Kalman filter](#extended-kalman-filter)
+* [References](#references)
+
+## Complementary filter
+
+{:width="500"}
+
+The complementary filter is consider a very lightweight and efficient filter which in general only uses the IMU input of the gyroscope (angle rate) and the accelerator. The estimator has been extended to also include input of the ToF distance measurement of the [Zranger deck](https://store.bitcraze.io/collections/decks/products/z-ranger-deck-v2). The estimated output is the Crazyflie’s attitude (roll, pitch, yaw) and its altitude (in the z direction). These values can be used by the controller and are meant to be used for manual control.
+
+To checkout the implementation details, please checkout the firmware in [estimator_complementary.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_complementary.c) and [sensfusion6.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/sensfusion6.c). The complementary filter is set as the default state estimator on the Crazyflie firmware, unless a deck is mounted that requires the kalman filter.
+
+[go back to top](#)
+
+## Extended Kalman filter
+
+{:width="500"}
+
+The (extended) Kalman filter (EKF) is an step up in complexity compared to the complementary filter, as it accepts more sensor inputs of both internal and external sensors. It is an recursive filter that estimates the current state of the Crazyflie based on incoming measurements (in combination with a predicted standard deviation of the noise), the measurement model and the model of the system itself.
+
+We will not go into detail on this but we encourage people to learn more about EKFs by reading up some material like [this](https://idsc.ethz.ch/education/lectures/recursive-estimation.html).
+
+Because of more state estimation possibilities, we prefer the EKF for certain decks that can provide information for **full pose estimation** (position/velocity + attitude). These are the:
+
+ * [Flowdeck v2](https://store.bitcraze.io/collections/decks/products/flow-deck-v2)
+ * [Loco positioning deck](https://store.bitcraze.io/collections/positioning/products/loco-positioning-deck)
+ * [Lighthouse deck](https://store.bitcraze.io/products/lighthouse-positioning-deck).
+ * Mocap deck [passive](https://store.bitcraze.io/products/motion-capture-marker-deck) or [active](https://store.bitcraze.io/products/active-marker-deck)
+
+ When the `DeckDriver` is initialized in the [crazyflie-firmware](https://github.com/bitcraze/crazyflie-firmware/), for these decks the variable `.requiredEstimator` is set to `kalmanEstimator`. This says that the firmware should not use the default complementary filter but the EKF instead.
+
+Here we will explain a couple of important elements that are essential to the implementation, however we do encourage people to also look into the code [estimator_kalman.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/estimator_kalman.c) and [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core.c). Also read the papers of [1] and [2] for implementation details.
+
+### Kalman supervisor
+
+The Kalman filter has an supervisor that resets the state estimation if the values get out of bounds. This can be found here in [kalman_supervisor.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_supervisor.c).
+
+### Measurement Models
+
+This section will explain how the signals of the sensors are transformed to state estimates. These equations are the base of the measurement models of the EKF.
+
+* [Flowdeck Measurement Model](#flowdeck-measurement-model)
+* Locodeck Measurement Model (TODO)
+* [Lighthouse Measurement Model](/docs/functional-areas/lighthouse/kalman_measurement_model.md)
+
+
+#### Flowdeck Measurement Model
+
+This illustration explains how the height from the VL53L1x sensor and flow from the PMW3901 sensor are combined to calculate velocity. This has been implemented by the work of [3] and can be found in [kalman_core.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/kalman_core.c) in the function `kalmanCoreUpdateWithFlow()`.
+
+{:width="500"}
+
+
+[go back to top](#)
+
+
+## References
+[1] Mueller, Mark W., Michael Hamer, and Raffaello D'Andrea. "Fusing ultra-wideband range measurements with accelerometers and rate gyroscopes for quadrocopter state estimation." 2015 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2015.
+
+[2] Mueller, Mark W., Markus Hehn, and Raffaello D’Andrea. "Covariance correction step for kalman filtering with an attitude." Journal of Guidance, Control, and Dynamics 40.9 (2017): 2301-2306.
+
+[3] M. Greiff, Modelling and Control of the Crazyflie Quadrotor for Aggressive and Autonomous Flight by Optical Flow Driven State Estimation, Master’s thesis, Lund University, 2017
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/trajectory_formats.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/functional-areas/trajectory_formats.md
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@@ -0,0 +1,132 @@
+---
+title: Trajectory formats
+page_id: trajectory_formats
+---
+
+This document describes how the Crazyflie high-level commander stores
+trajectories in the internal trajectory memory.
+
+Trajectories for the high-level commander may be stored in one of two formats.
+either as a sequence of raw 7th degree polynomials, or as a more space-efficient
+representation using the same polynomials in Bernstein form. In both cases, a
+single segment stores a duration and one polynomial for each of the X, Y, Z and
+yaw coordinates of the trajectory.
+
+Raw representation
+------------------
+
+The raw representation stores the coefficients of the polynomial describing
+the X coordinate of the trajectory first, starting with the constant term and
+ending with the 7th degree term, followed by the terms of the polynomials
+describing the Y, Z and yaw coordinates, and the duration of the segment itself
+in seconds. Each term and the duration is encoded as standard IEEE
+single-precision floats, meaning that a single segment requires 132 bytes:
+8x4 floats for the X, Y, Z and yaw components per trajectory segment, plus one
+additional float per segment to store its duration. Given that the default
+size of the trajectory memory is 4 Kbytes, you can only store 31 segments.
+
+Compressed representation
+-------------------------
+
+The compressed representation was designed to be more space-efficient than the
+raw representation while still trying to maintain almost the same degree of
+accuracy as the raw representation.
+
+The general guidelines of this representation are as follows:
+
+* Durations are represented as milliseconds and are stored as signed 2-byte
+ integers.
+
+* Spatial coordinates (X, Y and Z) are represented as millimeters and are stored
+ as signed 2-byte integers, meaning that the maximum spatial volume that this
+ representation can cover is roughly 64m x 64m x 64m, assuming that the origin
+ is at the center.
+
+* Angles (for the yaw coordinate) are represented as 1/10th of degrees and are
+ stored as signed 2-byte integers.
+
+* Trajectory segments are described with varying degrees of Bézier curves,
+ ranging from degree 0 (constant) to degree 7 (full 7D polynomial, as in the
+ raw representation).
+
+The compressed representation starts with the description of the starting point
+of the trajectory:
+
+```
++--------------+--------------+--------------+--------------+
+| X coordinate | Y coordinate | Z coordinate | Initial yaw |
++--------------+--------------+--------------+--------------+
+```
+
+This is then followed by data blocks describing the individual segments - one
+data block per segment:
+
+```
++------------------+----------------+------------------+----------------+-----+
+| Segment 1 header | Segment 1 body | Segment 2 header | Segment 2 body | ... |
++------------------+----------------+------------------+----------------+-----+
+```
+
+The header of a segment is three bytes long. The first byte describes how the
+X, Y, Z and yaw coordinates will be encoded in the body of the data block. The
+remaining two bytes contain the duration of the segment:
+
+```
+ Bits 6-7 Bits 4-5 Bits 2-3 Bits 0-1 Byte 2 Byte 3
++------------+----------+----------+----------+ +--------------+--------------+
+| Yaw format | Z format | Y format | X format | | Duration LSB | Duration MSB |
++------------+----------+----------+----------+ +--------------+--------------+
+```
+
+For each of the X, Y, Z and yaw coordiates, there are two bits in the first byte
+of the header. `00` means that the coordinate is constant throughout the
+section (i.e. it is a zero-order Bézier curve). `01` means that the coordinate
+changes linearly (it is a Bézier curve of order 1). `10` means that the
+coordinate changes according to a cubic Bézier curve. `11` means that the
+coordinate changes according to a full 7th degree polynomial, expressed again
+as a 7th degree Bézier curve.
+
+For instance, a header containing `0x0a 0xd0 0x07` means that the segment is
+2000 milliseconds long (because `0x07d0` = 2000), and it will have a constant
+yaw and Z coordinate. Cubic Bézier curves will be used to describe the X and
+Y coordinates of the segment. (This is because `0x0a` = `00 00 10 10` in
+binary).
+
+Note that the choice of Bézier curves means that we need to store not the raw
+coefficients of the corresponding polynomials (which may be anywhere in the full
+4-byte float range), but the coordinates of the _control points_ of the Bézier
+curves, whose range is much more predictable and easier to represent with a
+fixed millimeter-scale quantization.
+
+The body of the segment is then simply a concatenation of the control points
+for the X, Y, Z and yaw coordinates, _omitting the first control point_
+because it is always the same as the last control point of the previous
+segment. (That's why we needed to store the starting point of the trajectory
+separately).
+
+```
++----------------------+----------------------+----------------------+------------------------+
+| Control points for X | Control points for Y | Control points for Z | Control points for yaw |
++----------------------+----------------------+----------------------+------------------------+
+```
+
+Obviously, when the header specifies that a coordinate is constant, it means
+that we do not need to store the control points for that coordinate at all
+(there would be only a single control point, but we already know that it is
+the same as the last control point of the previous segment). For linear
+segments, we only need to store the end of the segment. For cubic Bézier
+segments, we need to store the first and second control point and the end
+of the segment. This can result in significant space savings if the trajectory
+consists mostly of linear segments and cubic Bézier curves, especially if the
+yaw does not change, or if the movement mostly occurs in the X-Y, X-Z or Y-Z
+plane. Note that cubic Bézier curves are enough to ensure C0, C1 and C2
+continuity (inposition, velocity and acceleration) for the trajectories.
+
+Internally, whenever the high-level commander starts processing a trajectory
+segment that is encoded using the compressed representation, it converts the
+Bézier curve back into its raw polynomial representation. It means that most of
+the codebase only needs to work with raw 7th degree polynomials.
+
+A downside of the compressed representation is that it is hard to play the
+trajectory backwards. The current implementation does not support reverse
+traversal at all.
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/index.md
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@@ -0,0 +1,21 @@
+---
+title: Home
+page_id: home
+---
+
+This project contains the documentation of the source code for the firmware used in the Crazyflie range of platforms.
+
+## The Crazyflie 2.X family
+
+This firmware suports the Crazyflie 2.X range of platforms, currently including:
+
+* The Crazyflie 2.0
+* The Crazyflie 2.1
+* The Crazyflie Bolt
+* The Roadrunner
+
+### Crazyflie 1.0
+
+The Crazyflie 1.0 is no longer supported, the 2017.06 release was the last release with Crazyflie 1.0 support. If you want
+to play with the Crazyflie 1.0 and modify the code, please clone this repo and
+branch off from the 2017.06 tag.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/app_layer.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/app_layer.md
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@@ -0,0 +1,43 @@
+---
+title: App layer
+page_id: app_layer
+---
+
+## Introduction
+
+The app-layer is a set of functionality and APIs to allow user to add custom code to the Crazyflie.
+This is still an experimental functionalities but the intention is to eventually provide documentation and APIs to easily extend the Crazyflie and implement autonomous capabilities.
+
+## App entry-point
+
+When compiling the Crazyflie with ```APP=1``` writen either in the Makefile or in ```tools/make/config.mk``` the firmware will call a function ```void appMain()``` from a task after the startup sequence has completed.
+This function should not return.
+
+If you want more control, you can define a function ```void appInit()```. ```appInit()``` will be called by the firmware during initialisation, no task will be created and so ```appMain()``` will not be automaticall called.
+This function must return to allow the Crazyflie initialization sequence to continue.
+
+The folowing Makefile variables can be used for configuration:
+
+ - **APP**: Set to '1' to enable the app entry-point
+ - **APP_STACKSIZE**: Set the task stack size in 32bit word (4 Bytes). The default is 300 (1.2KBytes)
+ - **APP_PRIORITY**: Set the task priority between 0 and 5. Default is 0 (same as IDLE).
+
+## Internal log and param system
+
+For the app-layer, it would be good to have access to log and/or parameter values and to set parameter values. This way, your app will be able to read out sensor data or to switch controller/estimator on air. To check out these functions, look at src/modules/interface/log.h or .../param.h for the internal access functions. There is also an example to be found in /examples/app_internal_param_log/.
+
+## LED sequences
+
+It is possible to run LED sequences from the app layer to control the four LEDs on the Crazyflie and provide runtime information to the user. See the src/hal/interface/ledseq.h file for more information.
+
+## App channel: packet based communication between the Crazyflie and the Python lib
+
+The Appchannel API allows to communicate using radio packets with an app.
+The packets can contain anything of a size up to 31 bytes, the protocol is defined by the app.
+
+For more information about the API see the header file src/modules/interface/app_channel.h.
+An example of how to use the app channel is in examples/app_appchannel_test/
+
+## Examples
+
+In the [example folder](https://github.com/bitcraze/crazyflie-firmware/tree/master/examples) of the crazyflie-firmware repository, there are several examples showing how to use the app layer, including a simple hello world example.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/deck.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/deck.md
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+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/deck.md
@@ -0,0 +1,112 @@
+---
+title: Deck API
+page_id: deck
+---
+
+The Deck API allows to easily communicates with decks installed on the
+Crazyflie. The deck API is still in development, it will:
+
+- Enumerates installed Deck and initialize drivers (*pretty much
+ done*)
+- Provides easy to use arduino-like API to access (*started*)
+- Optionally provides a task to run in (arduino-like setup and loop)
+ (*not started yet*)
+
+If you want to get started you can follow the
+[howto](/docs/development/howto.md) to get your code
+running.
+
+Deck drivers
+------------
+
+Decks are enumerated automatically using a One Wire (OW) memory soldered
+on the deck PCB. The Deck driver API is using a declarative syntax to
+register deck drivers and initialize them when the proper deck is
+installed.
+
+### Minimal driver
+
+This is a minimal deck driver, myled.c:
+
+``` {.c}
+#include "deck.h"
+
+void myledInit(DeckInfo *info)
+{
+ pinMode(DECK_GPIO_IO1, OUTPUT); // Set my Led pin to output
+ digitalWrite(DECK_GPIO_IO1, HIGH); // Light it up
+}
+
+bool myledTest()
+{
+ return true;
+}
+
+const DeckDriver myled_driver = {
+ .vid = 0,
+ .pid = 0,
+ .name = "meMyled",
+
+
+ .usedGpio = DECK_USING_IO_1,
+
+ .init = myledInit,
+ .test = myledTest,
+};
+
+DECK_DRIVER(myled_driver);
+```
+
+- At startup the decks are enumerated and if a deck has the name
+ \"meMyled\", it will be initialized.
+- Init is called on all initialized driver and then test is called.
+- The init and test functions are both optional (we have some board
+ with only init and event some with only test). If absent just remove
+ the *.init* or *.test* initialisation.
+- In this mode no task are created so to run some code at regular
+ intervale the code needs to deal with freeRtos or with the other
+ parts of the Crazyflie code.
+
+To compile the driver, place it in deck/drivers/src/ and add it to the
+Makefile:
+
+``` {.make}
+PROJ_OBJ += myled.o
+```
+
+### Forcing initialization of a driver
+
+The deck driver will be initialized only if a deck is connected with the
+right OW memory content. During development it is possible to force the
+initialisation of a deck by adding a define in
+\`\`\`tools/make/config.mk\`\`\`:
+
+``` {.make}
+CFLAGS += -DDECK_FORCE=meMyled
+```
+
+### Driver declaration API
+
+*DECK\_DRIVER(const struct DeckDriver)*
+
+To register a deck driver the DECK\_DRIVER() macro should be called with
+a deck structure as argument.
+
+#### DeckDriver structure
+
+``` {.c}
+typedef struct deck_driver {
+ /* Identification of the deck (written in the board) */
+ uint8_t vid;
+ uint8_t pid;
+ char *name;
+
+ /* Periphreal and Gpio used _dirrectly_ by the driver */
+ uint32_t usedPeriph;
+ uint32_t usedGpio;
+
+ /* Init and test functions */
+ void (*init)(struct deckInfo_s *);
+ bool (*test)(void);
+} DeckDriver;
+```
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/active-marker-deck.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/active-marker-deck.md
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+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/active-marker-deck.md
@@ -0,0 +1,46 @@
+---
+title: Active marker deck
+page_id: active-marker-deck
+---
+
+The Active Marker deck is mainly designed for [Qualisys mocap systems](https://www.qualisys.com/) and supports Qualisys Active markers, but it can also be used with other systems in a simplified mode. The deck has 4 arms with one IR LED on the tip of each arm and a light sensor in the center of the deck.
+
+The deck is configured using the [parameter sub system](/docs/userguides/logparam.md), for details on which parameter to use, see below.
+
+## Modes
+
+The deck mode is set with the ```activeMarker.mode``` parameter.
+
+| Mode | value | comment |
+| --------- | ----------- | ---------------------------- |
+| OFF | 0 | Always off |
+| PWM | 1 | Always on, PWM modulated |
+| MODULATED | 2 | Switching |
+| QUALISYS | 3 (default) | Qualisys Active Marker mode |
+
+### Off mode
+
+All marker LEDs are turned off.
+
+### PWM mode
+
+The marker LEDs are turned on and PWM modulated. The brightness of each LED is controlled by the [marker parameters](#marker-parameters) below, in the range 0 - 255.
+
+### Modulated mode
+
+The LEDs are switched on and off at around 42 kHz (24 micro seconds cycle). The brightness of the LEDs during the "on" part of the cycle is controlled by the [marker parameters](#marker-parameters) below, in the range 0 - 255.
+
+### Qualisys mode
+
+In this mode the LEDs act as Active markers with IDs that are identified by the Qualisys system and used for better 6-dof identification and tracking. The IDs are controlled by the [marker parameters](#marker-parameters) below. The Qualisys systems and the deck currently supports IDs in the range [0 - 170]
+
+## Marker parameters
+
+Each marker is associated with a parameters that is used to set brightness or id.
+
+| Marker position | parameter |Â default value | type |
+| --------------- | ------------------------ | ------------- | ----------------- |
+| Front | ```activeMarker.front``` | 1 | ```PARAM_UINT8``` |
+| Right | ```activeMarker.right``` | 2 | ```PARAM_UINT8``` |
+| Back | ```activeMarker.back``` | 3 | ```PARAM_UINT8``` |
+| Left | ```activeMarker.left``` | 4 | ```PARAM_UINT8``` |
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/buzzer-deck.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/buzzer-deck.md
new file mode 100644
index 0000000000000000000000000000000000000000..8dbe6395378d01e967c12816b5bd12aa71341dbd
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/buzzer-deck.md
@@ -0,0 +1,26 @@
+---
+title: Buzzer Deck
+page_id: buzzer-deck
+---
+
+## Changing the sounds
+
+
+
+Changing the sounds requires modifications to the firmware. The code for the sounds is located in [sound_cf.c](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/src/sound_cf2.c).
+
+A sequences is defined in the .notes member of the Melody struct. The notes are defined as tuples of a note (pitch) and duration. A sequence must be ended with the end marker.
+
+The effects are defined in the effects array. Each entry takes a function to call and related parameters.
+To add a new melody, use the melodyplayer function for the .call member and assign your Melody struct to the .melody member.
+
+## Parameters
+
+
+
+|Name|Type|Access|Value (default)|Description|
+|---|----|---|---|---
+|sound.effect|uint8_t|RW|0|Sound effect (0=Off, 1=Factory test, 2=USB connected, 3=USB disconnected, 4=Charging done, 5=Low battery, 6=Startup, 7=Calibrated, 8=Range slow, 9=Range fast, 10=Star Wars Imperial March, 11=Bypass (change sound with sound.freg), 12=Siren, 13=Tilt (tilt the Crazyflie to play the sound))|
+|sound.freq|uint16_t|RW|4000| |
+|sound.neffect|uint32_t|RO|13|Number of available sound effects|
+|sound.ratio|uint8_t|RW|0| |
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/index.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/index.md
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--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/index.md
@@ -0,0 +1,11 @@
+---
+title: Decks
+page_id: decks-index
+---
+
+Crazyflie expansion decks add new sensors and functionality to the Crazyflie. The firmware part of each deck is implemented as a [deck driver](/docs/development/howto.md) and adds functionality spcific to the deck. Read more about the functionality and implementation of each deck in the list below.
+
+* [Active Marker deck](/docs/userguides/decks/active-marker-deck.md)
+* [Micro-SD card deck](/docs/userguides/decks/micro-sd-card-deck.md)
+* [Buzzer deck](/docs/userguides/decks/buzzer-deck.md)
+
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/micro-sd-card-deck.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/micro-sd-card-deck.md
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+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/decks/micro-sd-card-deck.md
@@ -0,0 +1,91 @@
+---
+title: Micro-SD card deck
+page_id: micro-sd-card-deck
+---
+
+The microSD card deck allows to attach a micro SD card to the Crazyflie for reading and writing files. The default firmware additionally supports to use the uSD card for high-speed logging of [logging variables](/docs/userguides/logparam.md) at rates up to 1 kHz.
+
+## Hardware
+
+The specification of the deck can be found in the [wiki](https://wiki.bitcraze.io/projects:crazyflie2:expansionboards:microsd).
+
+## File system
+
+The SD-card used in the deck must be formatted as a FAT32 file system (exFAT does not work).
+
+We use [FatFS](http://elm-chan.org/fsw/ff/00index_e.html) as the file system handler. Have a look at the API and examples on the FatFS site fore usage information.
+
+The FatFS module will be initialized by the micro-SD deck driver when the deck is detected. After that the API calls can be used such as `f_mount`, `f_open`, `f_read`, `f_close` etc.
+
+## Data Logging
+
+Without any changes to `usddeck.c` there's a data logging functionality implemented. It can be enabled and configured by placing a config file on the µSD-Card. The file is a simple text file and an example is available [config.txt](https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/usdlog/config.txt). The file format is as follows:
+
+```
+1 # version
+512 # buffer size in bytes
+log # file name
+0 # enable on startup (0/1)
+on:fixedFrequency
+100 # frequency in Hz
+1 # mode (0: disabled, 1: synchronous stabilizer, 2: asynchronous)
+log entry 1
+log entry 2
+log entry 3
+...
+on:myEvent1
+log entry 4
+log entry 5
+...
+on:myEvent2
+...
+```
+
+The config file supports logging of [log variables](/docs/userguides/logparam.md) as well as [event triggers](/docs/userguides/eventtrigger.md).
+For the fixed frequency logging, the frequency is an integer value in Hertz, for example 250 means that a data block is written every 4ms. The buffer size is used to decouple the writing to the card and the data logging. Higher frequencies require a larger buffer, otherwise some data might be lost. The Crazyflie console will show how many events had to be discarded due to insufficient buffer size:
+```
+uSD: Wrote 161378 B to: log00 (2237 of 2237 events)
+```
+In general, logging 10 variables with 1kHz works well with a buffer of 512 Bytes. But you may have to try around a bit to get feeling on what is possible.
+
+The file name should be 10 characters or less and a running number is appended automatically (e.g., if the file name is log, there will be files log00, log01, log02 etc.). The log entries are the names of logging variables in the firmware.
+
+The `config.txt` file will be read only once on startup, therefore make sure that the µSD-Card is inserted before power up. If everything seems to be fine a µSD-task will be created and buffer space will be allocated. If malloc fails the Crazyflie will be stuck with LED M1 and M4 glowing. Data logging starts automatically after sensor calibration if `enable on startup` in `config.txt` was set to 1. Otherwise, logging can be started by setting the `usd.logging` parameter to 1. The logfiles will be enumerated in ascending order from 00-99 to allow multiple logs without the need of creating new config files. Just reset the Crazyflie to start a new file. Logging needs to be explicitly stopped by setting the `usd.logging` parameter to 0, which protects the logfile data with a CRC32.
+
+## Data Analysis
+
+For performance reasons the logfile is a binary file, using the following format (version 2):
+
+```
+uint8_t 0xBC header
+uint16_t version
+uint16_t num_event_types
+for each event type:
+ uint16_t event_id
+ eventName<null>
+ uint16_t num_variables
+ varname1(vartype1)<null>varname2(vartype2)<null>...<null>varnameN(vartypeN)<null>
+for each event:
+ uint16_t event_id
+ uint64_t timestamp (in microseconds)
+ data (length defined by TOC event type)
+```
+
+Here, the vartype is a singe character and we support a subset of the ones defined [here](https://docs.python.org/3/library/struct.html#format-characters).
+
+We provide a [helper script](https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/usdlog/cfusdlog.py) to decode the data:
+
+```
+import cfusdlog
+logData = cfusdlog.decode(fileName)
+```
+
+where fileName is a file from the µSD-Card. For convenience there is also an [example.py](https://github.com/bitcraze/crazyflie-firmware/blob/master/tools/usdlog/example.py) which shows how to access and plot the data.
+
+## Alternate Pins
+
+The SD-Card is using the SPI bus on the deck port to communicate. In some cases, it might be beneficial to use another SPI bus. One option is to use a "hidden" SPI on the deck port that is multiplexed with TX1, RX1 and IO_4. This SPI port is called SPI3 in the STM32F405 and there is a possibility to switch to this SPI bus.
+
+ - First thing the SD-card deck needs to be patched, CS->RX2(PA3), SCLK->TX1(PC10), MISO->RX1(PC11), MOSI->IO_4(PC12) and this is a quite hard to cut the small lines and solder small patch wires. Easier is to use a sd-card breakout deck such as [this](https://www.sparkfun.com/products/544) and solder wires to e.g. the battery holder board.
+ - Compile the firmware with `CFLAGS += -DUSDDECK_USE_ALT_PINS_AND_SPI` in your config.mk file.
+ - If you want to use the Loco-deck at the same time, the alternative pins for this must be used. This means cutting GS1 and GS2 underneath the loco-deck and soldering the bridged GS3 and GS4. Then add `CFLAGS += -DLOCODECK_USE_ALT_PINS` to you config.mk as well.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/eventtrigger.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/eventtrigger.md
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--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/eventtrigger.md
@@ -0,0 +1,43 @@
+---
+title: Event Trigger framework
+page_id: eventtrigger
+---
+
+The aim of the event trigger framework is to be able to log events and their payloads
+synchronously. Thus, event triggers are closely related to the [Logging Framework](/docs/userguides/logparam.md), which
+logs data asynchronously. One key use-case of the event trigger framework is to analyze different state estimators.
+For each measurement that is pushed into the current state estimator, an event with the appropriate payload containing
+the measurement can be stored for later analysis.
+
+## Add Event Triggers in the Firmware
+
+In order to add a new event trigger named `myEvent` with a payload of two variables, you have to add the following near the top of your *.c file:
+
+``` {.c}
+#include "eventtrigger.h"
+
+// declares eventTrigger_myEvent and eventTrigger_myEvent_payload
+EVENTTRIGGER(myEvent, uint8, var1, float, var2)
+```
+
+The EVENTTRIGGER macro is variadic, i.e. it can take a varying number of arguments. It is also valid to have a event trigger without any payload.
+Internally, the macro generates code that declares several static variables. Details can be found in [eventtrigger.h](https://github.com/bitcraze/crazyflie-firmware/blob/master/src/modules/interface/eventtrigger.h).
+
+Once the event trigger is defined, it can be triggered anywhere in the source code of the same *.c file:
+
+``` {.c}
+// set the payload
+eventTrigger_myEvent_payload.var1 = some_value_related_to_the_event;
+eventTrigger_myEvent_payload.var2 = another_value_related_to_the_event;
+// trigger the event
+eventTrigger(&eventTrigger_myEvent);
+```
+
+Users can configure to log additional regular logging variables for each event, so the payload should be limited to mandatory data that identifies the event.
+For example, if a new measurement is enqueued in the state estimator, the actual measurement should be included as payload, while the (constant) standard deviation
+should not be part of it.
+
+## Using Event Triggers
+
+Currently, the only backend for event triggers is the uSD-card deck. You can find a description of how to configure
+and analyze the events in its [documentation](/docs/userguides/decks/micro-sd-card-deck.md).
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/logparam.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/logparam.md
new file mode 100644
index 0000000000000000000000000000000000000000..2eb3473140f3f8a42a939fa353b58726e26895cc
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/docs/userguides/logparam.md
@@ -0,0 +1,212 @@
+---
+title: Logging and parameter frameworks
+page_id: logparam
+---
+
+The aim of the logging and parameter framework is to easily be able to
+log data from the Crazyflie and to set variables during runtime.
+
+## Table of content (TOC)
+
+The variables that are available for the logging/parameter framework is
+decided on compile-time for the Crazyflie firmware. Using C macros
+variables can be made available to the framework below are two examples,
+one for parameters and one for logging.
+
+A parameter or logging variable that is created with `PARAM_ADD_CORE` or `LOG_ADD_CORE` is considered stable API and will with a very high likelihood be available a cross firmware versions. All core parameters and logging variables must have documentation associated with it. See below for examples of the documentation syntax.
+
+This will make the parameters used to control the [LED-ring
+expansion](https://www.bitcraze.io/products/led-ring-deck/) available as
+parameters. Note that they have different types and that *neffect* is
+read-only.
+
+``` {.c}
+/**
+ * [Documenation for the ring group ...]
+ */
+PARAM_GROUP_START(ring)
+
+/**
+ * @brief [Documentation for the parameter below ...]
+ */
+PARAM_ADD_CORE(PARAM_UINT8, effect, &effect)
+
+/**
+ * @brief [Documentation for the parameter effect ...]
+ */
+PARAM_ADD_CORE(PARAM_UINT32 | PARAM_RONLY, neffect, &neffect)
+
+/**
+ * @brief [Documentation for the parameter effect ...]
+ */
+PARAM_ADD_CORE(PARAM_UINT8, solidRed, &solidRed)
+
+[...]
+
+PARAM_ADD(PARAM_FLOAT, emptyCharge, &emptyCharge)
+PARAM_ADD(PARAM_FLOAT, fullCharge, &fullCharge)
+PARAM_GROUP_STOP(ring)
+```
+
+This will make the variables for roll/pitch/yaw/thrust available for the
+logging framework. These are the variables used to fill in the data in
+the [Python cfclient FlightTab](https://www.bitcraze.io/documentation/repository/crazyflie-clients-python/master/userguides/userguide_client/).
+
+ /**
+ * [Documentation for the stabilizer group ...]
+ */
+ LOG_GROUP_START(stabilizer)
+
+ /**
+ * @brief [Documentation for variable below ...]
+ */
+ LOG_ADD_CORE(LOG_FLOAT, roll, &eulerRollActual)
+
+ /**
+ * @brief [Documentation for variable below ...]
+ */
+ LOG_ADD_CORE(LOG_FLOAT, pitch, &eulerPitchActual)
+
+ /**
+ * @brief [Documentation for variable below ...]
+ */
+ LOG_ADD_CORE(LOG_FLOAT, yaw, &eulerYawActual)
+
+ /**
+ * @brief [Documentation for variable below ...]
+ */
+ LOG_ADD_CORE(LOG_UINT16, thrust, &actuatorThrust)
+
+ LOG_GROUP_STOP(stabilizer)
+
+During the compilation a table of content (TOC) is created that holds
+all the available variables together with the type and access
+restrictions. There\'s one TOC for each framework, one for logging and
+one for parameters. When the client connects it will download the TOC to
+know which variables can be used. It\'s then easy to use the [Python
+API](https://github.com/bitcraze/crazyflie-lib-python) ([or another
+API](https://wiki.bitcraze.io/doc:crazyflie:api:community) for accessing them.
+
+All the variables have a name and belong to a group. So in the examples
+above there\'s two groups defined: *ring* and *stabilizer*. To refer to
+a variable use the naming convention *group.name*. If you would like to
+log the *roll* variable in the *stabilizer* group it\'s access by
+*stabilizer.roll*. And if you would like to set the *effect* variable in
+the ring group it\'s accessed using *ring.effect*.
+
+## Parameters
+
+Using the parameter framework it\'s possible to both read and write
+variables in run-time, but note the following:
+
+- There\'s no thread protection on reading/writing. Since the
+ architecture is 32bit and the largest parameter you can have is
+ 32bit it\'s safe to write one variable. But if you write a group of
+ variables that should be used together (like PID parameters) you
+ might end up in trouble.
+- Only use the parameter framework to read variables that are set
+ during start-up. If variables change during runtime then use the
+ logging framework.
+- The reading or writing of a parameter can be done at any time once
+ you are connected to the Crazyflie.
+
+## Logging
+
+The logging framework is used to log variables from the Crazyflie at a
+specific interval. Instead of triggering a reading of the variables at
+certain intervals, the framework is used to set up a logging
+configuration to that will push data from the Crazyflie to the host.
+After the host has connected to a Crazyflie and downloaded the TOC it
+will be possible to setup one of these configurations. Once the
+configuration is set up and started the Crazyflie will start pushing
+data to the host. A configuration can be stopped and re-started again.
+Since there\'s a finite amount of memory a configuration can be deleted
+to make room for new ones.
+
+Note the following for the logging framework:
+
+- Once a Crazyflie is connected you can set up new logging
+ configurations. It\'s only possible to create/start/stop/remove
+ configurations that\'s already created.
+- The interval for a logging configuration is specified in 10th of
+ milliseconds.
+
+Note that variables can be logged as different types from what they have
+been declared as in the firmware. I.e if a variable is declared as a
+uint32\_t you can log it as a uint8\_t (this is being done for the
+motors in the UI).
+
+### Logging using a function
+
+It is possible to use a function to acquire log values instead of
+reading from a memory location. The idea is to support more complex use cases
+where, for instance computations are required to produce the log value.
+
+The macro
+
+```LOG_ADD_BY_FUNCTION(TYPE, NAME, ADDRESS)```
+
+is used to add a log to a group. ```TYPE``` and ```NAME``` works the same way as for variable logging, but
+```ADDRESS``` should point at a logByFunction_t struct instead of a variable. The struct contains
+a function pointer to the function to call when acquiring data, as well as
+a void pointer with user data passed that is passed on in the function call.
+
+Example:
+
+ float myLogValueFunction(uint32_t timestamp, void* data) {
+ // Return the log value
+ return 47.11;
+ }
+
+ logByFunction_t myLogger = {.aquireFloat = myLogValueFunction, .data = 0};
+
+ LOG_GROUP_START(myGroup)
+ LOG_ADD_BY_FUNCTION(LOG_FLOAT, myLog, &myLogger)
+ LOG_GROUP_STOP(myGroup)
+
+Note: The logging function is only called if the log is part of an active log configuration. It
+will be called (approximately) at the interval that is setup in the log configuration.
+
+### Logging rates
+
+A common usecase is to log rates (events / s) and there are a set of macros to simplify this task.
+
+The rate logger uses a struct to store data, it is called ```statsCntRateCounter_t``` and
+is initialize using the ```STATS_CNT_RATE_INIT```macro. The struct contains a counter, time
+information and the latest calculated rate. The initialization macro takes a parameter
+that specifies the update interval (in ms) and defines how often the rate (delta count / delta time)
+is calculated. The update interval should match the expected event rate to give meaningful results.
+
+With the ```STATS_CNT_RATE_DEFINE``` macro, the struct can be defined and initialized in one line.
+
+To register an event, that is to increase the counter, use the ```STATS_CNT_RATE_EVENT```macro.
+
+Register the rate counter in a log group witht the ```STATS_CNT_RATE_LOG_ADD``` macro.
+
+Example:
+
+ static const uint32_t one_second = 1000;
+ static statsCntRateLogger_t myCounter;
+ static STATS_CNT_RATE_DEFINE(myOtherCounter, one_second);
+
+ void myInit() {
+ STATS_CNT_RATE_INIT(&myCounter, one_second);
+ }
+
+ void theFcnThatIWantTheCallRateFor() {
+ ...
+ STATS_CNT_RATE_EVENT(&myCounter);
+ ...
+ STATS_CNT_RATE_EVENT(&myOtherCounter);
+ }
+
+ LOG_GROUP_START(myGroup)
+ // The logging type is implicitly LOG_FLOAT
+ STATS_CNT_RATE_LOG_ADD(rtCall, &myCounter)
+ STATS_CNT_RATE_LOG_ADD(rtCall2, &myOtherCounter)
+ LOG_GROUP_STOP(myGroup)
+
+Note: The rate computation function is called from the logging framework with the interval
+specifed in the logging configuration. The rate, on the other hand, is calculated if the time since
+last computation exceeds the configured update time of the rate logger, and if the logging intervall
+is longer than the update intervall, updates will be done for each logging call.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/.gitignore b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..26c8d9890a2abfcfc0667cb06ce98541b6b377af
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += appchannel_test.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/README.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..5288aaa43680b58326ca830eeb6d65fae4ffa6a2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/README.md
@@ -0,0 +1,10 @@
+# Appchannel test app for Crazyflie 2.x
+
+This application demonstrates how to use the appchannel API to send and receive
+radio packets between a Crazyflie app and the python lib.
+
+This demo defines a protocol where the Crazyflie waits for 3 floas (x, y, z) and sends back the sum as one float.
+
+To run this example, compile and flash the app with ```make && make cload```.
+
+When the Crazyflie is flashed and started, you can run the python example with ```python3 tools/appchannelTest.py```.
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/src/appchannel_test.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/src/appchannel_test.c
new file mode 100644
index 0000000000000000000000000000000000000000..f9c6209cb4eff64247e52fc1bafbaabaf1869159
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/src/appchannel_test.c
@@ -0,0 +1,64 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * appchanel_test.c: Demonstrate the appchanel functionality
+ */
+
+#include "app.h"
+#include "app_channel.h"
+
+#include "debug.h"
+
+#define DEBUG_MODULE "HELLOWORLD"
+
+struct testPacketRX {
+ float x;
+ float y;
+ float z;
+} __attribute__((packed));
+
+struct testPacketTX {
+ float sum;
+} __attribute__((packed));
+
+void appMain()
+{
+ DEBUG_PRINT("Waiting for activation ...\n");
+
+ struct testPacketRX rxPacket;
+ struct testPacketTX txPacket;
+
+ while(1) {
+ if (appchannelReceivePacket(&rxPacket, sizeof(rxPacket), APPCHANNEL_WAIT_FOREVER)) {
+
+ DEBUG_PRINT("App channel received x: %f, y: %f, z: %f\n", (double)rxPacket.x, (double)rxPacket.y, (double)rxPacket.z);
+
+ txPacket.sum = rxPacket.x;
+ txPacket.sum += rxPacket.y;
+ txPacket.sum += rxPacket.z;
+
+ appchannelSendPacket(&txPacket, sizeof(txPacket));
+ }
+ }
+}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/tools/appchannelTest.py b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/tools/appchannelTest.py
new file mode 100644
index 0000000000000000000000000000000000000000..86f170e8ba7afbff7fb8c5eb47e2616996d2a3e7
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_appchannel_test/tools/appchannelTest.py
@@ -0,0 +1,117 @@
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2014 Bitcraze AB
+#
+# Crazyflie Nano Quadcopter Client
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+# MA 02110-1301, USA.
+"""
+Simple example that connects to the first Crazyflie found, Sends and
+receive appchannel packets
+
+The protocol is:
+ - 3 floats are send, x, y and z
+ - The Crazyflie sends back the sum as one float
+"""
+import logging
+import time
+from threading import Thread
+
+import struct
+
+import cflib
+from cflib.crazyflie import Crazyflie
+
+logging.basicConfig(level=logging.ERROR)
+
+
+class AppchannelTest:
+ """Example that connects to a Crazyflie and ramps the motors up/down and
+ the disconnects"""
+
+ def __init__(self, link_uri):
+ """ Initialize and run the example with the specified link_uri """
+
+ self._cf = Crazyflie()
+
+ self._cf.connected.add_callback(self._connected)
+ self._cf.disconnected.add_callback(self._disconnected)
+ self._cf.connection_failed.add_callback(self._connection_failed)
+ self._cf.connection_lost.add_callback(self._connection_lost)
+
+ self._cf.appchannel.packet_received.add_callback(self._app_packet_received)
+
+ self._cf.open_link(link_uri)
+
+ print('Connecting to %s' % link_uri)
+
+ def _connected(self, link_uri):
+ """ This callback is called form the Crazyflie API when a Crazyflie
+ has been connected and the TOCs have been downloaded."""
+
+ # Start a separate thread to do the motor test.
+ # Do not hijack the calling thread!
+ Thread(target=self._test_appchannel).start()
+
+ def _connection_failed(self, link_uri, msg):
+ """Callback when connection initial connection fails (i.e no Crazyflie
+ at the specified address)"""
+ print('Connection to %s failed: %s' % (link_uri, msg))
+
+ def _connection_lost(self, link_uri, msg):
+ """Callback when disconnected after a connection has been made (i.e
+ Crazyflie moves out of range)"""
+ print('Connection to %s lost: %s' % (link_uri, msg))
+
+ def _disconnected(self, link_uri):
+ """Callback when the Crazyflie is disconnected (called in all cases)"""
+ print('Disconnected from %s' % link_uri)
+
+ def _app_packet_received(self, data):
+ (sum, ) = struct.unpack("<f", data)
+ print(f"Received sum: {sum}")
+
+ def _test_appchannel(self):
+ for i in range(10):
+ (x, y, z) = (i, i+1, i+2)
+ data = struct.pack("<fff", x, y, z)
+ self._cf.appchannel.send_packet(data)
+ print(f"Sent x: {x}, y: {y}, z: {z}")
+
+ time.sleep(1)
+
+ self._cf.close_link()
+
+
+if __name__ == '__main__':
+ # Initialize the low-level drivers (don't list the debug drivers)
+ cflib.crtp.init_drivers(enable_debug_driver=False)
+ # Scan for Crazyflies and use the first one found
+ print('Scanning interfaces for Crazyflies...')
+ available = cflib.crtp.scan_interfaces()
+ print('Crazyflies found:')
+ for i in available:
+ print(i[0])
+
+ if len(available) > 0:
+ le = AppchannelTest(available[0][0])
+ else:
+ print('No Crazyflies found, cannot run example')
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/.gitignore b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..b885fb3786efad9b4b5dedac70d88a7805e7ea50
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += hello_world.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/README.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..c9d8f1188730a754eb0c0bda3a13b01f113eaa1f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/README.md
@@ -0,0 +1,17 @@
+# Hello world App for Crazyflie 2.X
+
+This folder contains the app layer application for the Crazyflie to print a hello world debug message, which can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python).
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Build
+
+Make sure that you are in the app_hello_world folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/src/hello_world.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/src/hello_world.c
new file mode 100644
index 0000000000000000000000000000000000000000..c2deca0a3d6881fc343821851bae65add729d652
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_hello_world/src/hello_world.c
@@ -0,0 +1,51 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * hello_world.c - App layer application of a simple hello world debug print every
+ * 2 seconds.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#define DEBUG_MODULE "HELLOWORLD"
+
+void appMain()
+{
+ DEBUG_PRINT("Waiting for activation ...\n");
+
+ while(1) {
+ vTaskDelay(M2T(2000));
+ DEBUG_PRINT("Hello World!\n");
+ }
+}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..3c6e0372a4584fae7389bbee38d32cc61dcf6563
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += internal_log_param_api.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/README.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..243508e056e35e6449424b96c984f23c6bcc9a2f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/README.md
@@ -0,0 +1,17 @@
+# Internal parameters and loggin api App example for Crazyflie 2.X
+
+This folder contains the app layer application for the Crazyflie to use the internal logging and parameter API, which can be monitord in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python).
+
+See App layer API guide [here](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Build
+
+Make sure that you are in the app_hello_world folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/src/internal_log_param_api.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/src/internal_log_param_api.c
new file mode 100644
index 0000000000000000000000000000000000000000..3f2fef7345246d5c5b5dd99713e46bf00867ed17
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_internal_param_log/src/internal_log_param_api.c
@@ -0,0 +1,72 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * internal_log_param_api.c - App layer application of the internal log
+ * and param api
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "log.h"
+#include "param.h"
+
+#define DEBUG_MODULE "INTERNLOGPARAM"
+
+void appMain()
+{
+ DEBUG_PRINT("This is the App layer example of the internal log param api...\n");
+ logVarId_t idYaw = logGetVarId("stateEstimate", "yaw");
+ float yaw = 0.0f;
+
+ paramVarId_t idEstimator = paramGetVarId("stabilizer", "estimator");
+ uint8_t estimator_type = 0;
+
+ while(1) {
+ vTaskDelay(M2T(2000));
+
+ // Get the logging data
+ yaw = logGetFloat(idYaw);
+ DEBUG_PRINT("Yaw is now: %f deg\n", (double)yaw);
+
+ // Get parameter value
+ estimator_type = paramGetInt(idEstimator);
+ DEBUG_PRINT("Estimator type is now: %d deg\n", estimator_type);
+
+ // Set a parameter value
+ // Note, this will influence the flight quality if you change estimator
+ uint8_t new_value = 2;
+ paramSetInt(idEstimator, new_value);
+
+ }
+}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/.gitignore b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..9db884ec24a53b54a55af87cd0e358a92ba6090b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/Makefile
@@ -0,0 +1,10 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += peer_to_peer.o
+
+CRAZYFLIE_BASE=../..
+include $(CRAZYFLIE_BASE)/Makefile
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/README.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..623b5a3e2654ab2a2a7163e0be7183acb6b0d45c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/README.md
@@ -0,0 +1,23 @@
+# Peer to Peer App for Crazyflie 2.X
+
+This folder contains the app layer application for the Crazyflie to send and receive peer to peer messages. The debug messages of the received messages can be read in the console tab of the [cfclient](https://github.com/bitcraze/crazyflie-clients-python). Two Crazyflies need to be flashed with this program in order to work. Make sure that they are both on the same channel, and that they have different IDs.
+
+This example is going to blink the M4 LED when packets are sent and received, if you run 2 Crazyflies with this example you should see M4 blinking red and green in sequence indicating bidirectional P2P communication.
+
+You can find on Bitcraze's website the [API documentation for P2P](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/functional-areas/p2p_api/) as well as the [App layer API guide](https://www.bitcraze.io/documentation/repository/crazyflie-firmware/master/userguides/app_layer/)
+
+## Limitations
+
+Since P2P communication happens asynchronously on the radio, this example does not work well when connecting a PC to the Crazyflies via the Radio. You should connect the Crazyflies using the USB port. This is a fundamental limitation of the current P2P implementation.
+
+## Build
+
+Make sure that you are in the app_peer_to_peer folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+make cload
+```
+
+If you want to compile the application elsewhere in your machine, make sure to update ```CRAZYFLIE_BASE``` in the **Makefile**.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/src/peer_to_peer.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/src/peer_to_peer.c
new file mode 100644
index 0000000000000000000000000000000000000000..3c85a97e8ef261333f89b961600b49eed32e0e8a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/app_peer_to_peer/src/peer_to_peer.c
@@ -0,0 +1,97 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * peer_to_peer.c - App layer application of simple demonstartion peer to peer
+ * communication. Two crazyflies need this program in order to send and receive.
+ */
+
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdio.h>
+
+#include "app.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "radiolink.h"
+#include "configblock.h"
+
+#define DEBUG_MODULE "P2P"
+#include "debug.h"
+
+#define MESSAGE "hello world"
+#define MESSAGE_LENGHT 11
+
+
+void p2pcallbackHandler(P2PPacket *p)
+{
+ // Parse the data from the other crazyflie and print it
+ uint8_t other_id = p->data[0];
+ static char msg[MESSAGE_LENGHT + 1];
+ memcpy(&msg, &p->data[1], sizeof(char)*MESSAGE_LENGHT);
+ msg[MESSAGE_LENGHT] = 0;
+ uint8_t rssi = p->rssi;
+
+ DEBUG_PRINT("[RSSI: -%d dBm] Message from CF nr. %d, %s\n", rssi, other_id, msg);
+}
+
+void appMain()
+{
+ DEBUG_PRINT("Waiting for activation ...\n");
+
+ // Initialize the p2p packet
+ static P2PPacket p_reply;
+ p_reply.port=0x00;
+
+ // Get the current address of the crazyflie and obtain
+ // the last two digits and send it as the first byte
+ // of the payload
+ uint64_t address = configblockGetRadioAddress();
+ uint8_t my_id =(uint8_t)((address) & 0x00000000ff);
+ p_reply.data[0]=my_id;
+
+ //Put a string in the payload
+ char *str="Hello World";
+ memcpy(&p_reply.data[1], str, sizeof(char)*MESSAGE_LENGHT);
+
+ // Set the size, which is the amount of bytes the payload with ID and the string
+ p_reply.size=sizeof(char)*MESSAGE_LENGHT+1;
+
+ // Register the callback function so that the CF can receive packets as well.
+ p2pRegisterCB(p2pcallbackHandler);
+
+ while(1) {
+ // Send a message every 2 seconds
+ // Note: if they are sending at the exact same time, there will be message collisions,
+ // however since they are sending every 2 seconds, and they are not started up at the same
+ // time and their internal clocks are different, there is not really something to worry about
+
+ vTaskDelay(M2T(2000));
+ radiolinkSendP2PPacketBroadcast(&p_reply);
+ }
+}
+
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/.gitignore b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..91edf5c329fcd44f2d00c384ec1b61310e4131f1
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/Makefile
@@ -0,0 +1,9 @@
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += push.o
+
+CRAZYFLIE_BASE=../../..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/readme.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/readme.md
new file mode 100644
index 0000000000000000000000000000000000000000..bc1d2a2f975747b6ab994327fea83d2c46b04e11
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/readme.md
@@ -0,0 +1,32 @@
+# Push demo for Crazyflie 2.x
+
+This repos contains the push demo for Cazyflie 2.x.
+It uses out-of-tree build functionality of the Crazyflie firmware and is implemented using the app entry-point.
+
+This demo works with a Crazyflie 2.x with Flow deck version 2.0 and Multiranger deck attached. If you want to use the Flow deck 1.0 or any other positioning deck, you will need to change the following line to look at the parameter for the wanted deck:
+```
+ uint16_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
+
+```
+
+When running, the crazyflie will wait for an object to get close to the top ranging sensor.
+When an oject (ie. an hand) has passed close to the top sensor, the Crazyflie takes off and hover.
+If anything is detected on side sensors, the Crazyflie moves in the oposite direction.
+So, it is possible to push the Crazyflie around.
+
+## Build
+
+You must have the required tools to build the [Crazyflie firmware](https://github.com/bitcraze/crazyflie-firmware).
+
+Clone the repos with ```--recursive```. If you did not do so, pull submodules with:
+```
+git submodule update --init --recursive
+```
+
+Then build and bootload:
+```
+make -j$(nproc)
+make cload
+```
+
+
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/src/push.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/src/push.c
new file mode 100644
index 0000000000000000000000000000000000000000..afa4c4c835ff17fa23ccd84cdc98d53c4c5887fa
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_push_demo/src/push.c
@@ -0,0 +1,176 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * push.c - App layer application of the onboard push demo. The crazyflie
+ * has to have the multiranger and the flowdeck version 2.
+ */
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "commander.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "log.h"
+#include "param.h"
+
+#define DEBUG_MODULE "PUSH"
+
+static void setHoverSetpoint(setpoint_t *setpoint, float vx, float vy, float z, float yawrate)
+{
+ setpoint->mode.z = modeAbs;
+ setpoint->position.z = z;
+
+
+ setpoint->mode.yaw = modeVelocity;
+ setpoint->attitudeRate.yaw = yawrate;
+
+
+ setpoint->mode.x = modeVelocity;
+ setpoint->mode.y = modeVelocity;
+ setpoint->velocity.x = vx;
+ setpoint->velocity.y = vy;
+
+ setpoint->velocity_body = true;
+}
+
+typedef enum {
+ idle,
+ lowUnlock,
+ unlocked,
+ stopping
+} State;
+
+static State state = idle;
+
+static const uint16_t unlockThLow = 100;
+static const uint16_t unlockThHigh = 300;
+static const uint16_t stoppedTh = 500;
+
+static const float velMax = 1.0f;
+static const uint16_t radius = 300;
+
+static const float height_sp = 0.2f;
+
+#define MAX(a,b) ((a>b)?a:b)
+#define MIN(a,b) ((a<b)?a:b)
+
+void appMain()
+{
+ static setpoint_t setpoint;
+
+ vTaskDelay(M2T(3000));
+
+ logVarId_t idUp = logGetVarId("range", "up");
+ logVarId_t idLeft = logGetVarId("range", "left");
+ logVarId_t idRight = logGetVarId("range", "right");
+ logVarId_t idFront = logGetVarId("range", "front");
+ logVarId_t idBack = logGetVarId("range", "back");
+
+ paramVarId_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
+ paramVarId_t idMultiranger = paramGetVarId("deck", "bcMultiranger");
+
+
+ float factor = velMax/radius;
+
+ //DEBUG_PRINT("%i", idUp);
+
+ DEBUG_PRINT("Waiting for activation ...\n");
+
+ while(1) {
+ vTaskDelay(M2T(10));
+ //DEBUG_PRINT(".");
+
+ uint8_t positioningInit = paramGetUint(idPositioningDeck);
+ uint8_t multirangerInit = paramGetUint(idMultiranger);
+
+ uint16_t up = logGetUint(idUp);
+
+ if (state == unlocked) {
+ uint16_t left = logGetUint(idLeft);
+ uint16_t right = logGetUint(idRight);
+ uint16_t front = logGetUint(idFront);
+ uint16_t back = logGetUint(idBack);
+
+ uint16_t left_o = radius - MIN(left, radius);
+ uint16_t right_o = radius - MIN(right, radius);
+ float l_comp = (-1) * left_o * factor;
+ float r_comp = right_o * factor;
+ float velSide = r_comp + l_comp;
+
+ uint16_t front_o = radius - MIN(front, radius);
+ uint16_t back_o = radius - MIN(back, radius);
+ float f_comp = (-1) * front_o * factor;
+ float b_comp = back_o * factor;
+ float velFront = b_comp + f_comp;
+
+ uint16_t up_o = radius - MIN(up, radius);
+ float height = height_sp - up_o/1000.0f;
+
+ /*DEBUG_PRINT("l=%i, r=%i, lo=%f, ro=%f, vel=%f\n", left_o, right_o, l_comp, r_comp, velSide);
+ DEBUG_PRINT("f=%i, b=%i, fo=%f, bo=%f, vel=%f\n", front_o, back_o, f_comp, b_comp, velFront);
+ DEBUG_PRINT("u=%i, d=%i, height=%f\n", up_o, height);*/
+
+ if (1) {
+ setHoverSetpoint(&setpoint, velFront, velSide, height, 0);
+ commanderSetSetpoint(&setpoint, 3);
+ }
+
+ if (height < 0.1f) {
+ state = stopping;
+ DEBUG_PRINT("X\n");
+ }
+
+ } else {
+
+ if (state == stopping && up > stoppedTh) {
+ DEBUG_PRINT("%i", up);
+ state = idle;
+ DEBUG_PRINT("S\n");
+ }
+
+ if (up < unlockThLow && state == idle && up > 0.001f) {
+ DEBUG_PRINT("Waiting for hand to be removed!\n");
+ state = lowUnlock;
+ }
+
+ if (up > unlockThHigh && state == lowUnlock && positioningInit && multirangerInit) {
+ DEBUG_PRINT("Unlocked!\n");
+ state = unlocked;
+ }
+
+ if (state == idle || state == stopping) {
+ memset(&setpoint, 0, sizeof(setpoint_t));
+ commanderSetSetpoint(&setpoint, 3);
+ }
+ }
+ }
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..0758d56cb9657cfcd3ca42d0a32e8c9df0cf60d2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/Makefile
@@ -0,0 +1,10 @@
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+VPATH += src/
+PROJ_OBJ += wall_following.o
+PROJ_OBJ += wallfollowing_multiranger_onboard.o
+
+CRAZYFLIE_BASE=../../..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wall_following.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wall_following.c
new file mode 100644
index 0000000000000000000000000000000000000000..a05681d17c4a84825106701b9d3873f3a58634b8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wall_following.c
@@ -0,0 +1,257 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2021 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * wall_follower.c - App layer application of the wall following demo. The crazyflie
+ * has to have the multiranger and the flowdeck version 2.
+ *
+ * The same wallfollowing strategy was used in the following paper:
+
+ @article{mcguire2019minimal,
+ title={Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment},
+ author={McGuire, KN and De Wagter, Christophe and Tuyls, Karl and Kappen, HJ and de Croon, Guido CHE},
+ journal={Science Robotics},
+ volume={4},
+ number={35},
+ year={2019},
+ publisher={Science Robotics}
+}
+
+ */
+
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "app.h"
+
+#include "commander.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+
+#include "debug.h"
+
+#include "log.h"
+#include "param.h"
+#include <math.h>
+#include "usec_time.h"
+
+#include "wallfollowing_multiranger_onboard.h"
+
+#define DEBUG_MODULE "WALLFOLLOWING"
+
+static void setVelocitySetpoint(setpoint_t *setpoint, float vx, float vy, float z, float yawrate)
+{
+ setpoint->mode.z = modeAbs;
+ setpoint->position.z = z;
+ setpoint->mode.yaw = modeVelocity;
+ setpoint->attitudeRate.yaw = yawrate;
+ setpoint->mode.x = modeVelocity;
+ setpoint->mode.y = modeVelocity;
+ setpoint->velocity.x = vx;
+ setpoint->velocity.y = vy;
+
+ setpoint->velocity_body = true;
+}
+
+// States
+typedef enum
+{
+ idle,
+ lowUnlock,
+ unlocked,
+ stopping
+} StateOuterLoop;
+
+StateOuterLoop stateOuterLoop = idle;
+StateWF stateInnerLoop = forward;
+
+// Thresholds for the unlocking procedure of the top sensor of the multiranger
+static const uint16_t unlockThLow = 100;
+static const uint16_t unlockThHigh = 300;
+static const uint16_t stoppedTh = 500;
+
+// Handling the height setpoint
+static const float spHeight = 0.5f;
+static const uint16_t radius = 300;
+
+// Some wallfollowing parameters and logging
+bool goLeft = false;
+float distanceToWall = 0.5f;
+float maxForwardSpeed = 0.5f;
+
+float cmdVelX = 0.0f;
+float cmdVelY = 0.0f;
+float cmdAngWRad = 0.0f;
+float cmdAngWDeg = 0.0f;
+
+#define MAX(a, b) ((a > b) ? a : b)
+#define MIN(a, b) ((a < b) ? a : b)
+
+void appMain()
+{
+ vTaskDelay(M2T(3000));
+ // Getting Logging IDs of the multiranger
+ logVarId_t idUp = logGetVarId("range", "up");
+ logVarId_t idLeft = logGetVarId("range", "left");
+ logVarId_t idRight = logGetVarId("range", "right");
+ logVarId_t idFront = logGetVarId("range", "front");
+
+ // Getting the Logging IDs of the state estimates
+ logVarId_t idStabilizerYaw = logGetVarId("stabilizer", "yaw");
+ logVarId_t idHeightEstimate = logGetVarId("stateEstimate", "z");
+
+ // Getting Param IDs of the deck driver initialization
+ paramVarId_t idPositioningDeck = paramGetVarId("deck", "bcFlow2");
+ paramVarId_t idMultiranger = paramGetVarId("deck", "bcMultiranger");
+
+ // Initialize the wall follower state machine
+ wallFollowerInit(distanceToWall, maxForwardSpeed, stateInnerLoop);
+
+ // Intialize the setpoint structure
+ setpoint_t setpoint;
+
+ DEBUG_PRINT("Waiting for activation ...\n");
+
+ while (1)
+ {
+ vTaskDelay(M2T(10));
+
+ // Check if decks are properly mounted
+ uint8_t positioningInit = paramGetUint(idPositioningDeck);
+ uint8_t multirangerInit = paramGetUint(idMultiranger);
+
+ // Get the upper range sensor value (used for startup and stopping)
+ uint16_t up = logGetUint(idUp);
+
+ // Get Height estimate
+ float heightEstimate = logGetFloat(idHeightEstimate);
+
+ // If the crazyflie is unlocked by the hand, continue with state machine
+ if (stateOuterLoop == unlocked)
+ {
+
+ // Get all multiranger values
+ float frontRange = (float)logGetUint(idFront) / 1000.0f;
+ float sideRange;
+ if (goLeft)
+ {
+ sideRange = (float)logGetUint(idRight) / 1000.0f;
+ }
+ else
+ {
+ sideRange = (float)logGetUint(idLeft) / 1000.0f;
+ }
+
+ // Get the heading and convert it to rad
+ float estYawDeg = logGetFloat(idStabilizerYaw);
+ float estYawRad = estYawDeg * (float)M_PI / 180.0f;
+
+ //Adjust height based on up ranger input
+ uint16_t up_o = radius - MIN(up, radius);
+ float cmdHeight = spHeight - up_o / 1000.0f;
+
+ cmdVelX = 0.0f;
+ cmdVelY = 0.0f;
+ cmdAngWRad = 0.0f;
+ cmdAngWDeg = 0.0f;
+
+ // Only go to the state machine if the crazyflie has reached a certain height
+ if (heightEstimate > spHeight - 0.1f)
+ {
+ // Set the wall following direction
+ int direction;
+ if (goLeft)
+ {
+ direction = 1;
+ }
+ else
+ {
+ direction = -1;
+ }
+
+ // The wall-following state machine which outputs velocity commands
+ float timeNow = usecTimestamp() / 1e6;
+ stateInnerLoop = wallFollower(&cmdVelX, &cmdVelY, &cmdAngWRad, frontRange, sideRange, estYawRad, direction, timeNow);
+ cmdAngWDeg = cmdAngWRad * 180.0f / (float)M_PI;
+ }
+ // Turn velocity commands into setpoints and send it to the commander
+ setVelocitySetpoint(&setpoint, cmdVelX, cmdVelY, cmdHeight, cmdAngWDeg);
+ commanderSetSetpoint(&setpoint, 3);
+
+ // Handling stopping with hand above the crazyflie
+ if (cmdHeight < spHeight - 0.2f)
+ {
+ stateOuterLoop = stopping;
+ DEBUG_PRINT("X\n");
+ }
+ }
+ else
+ {
+
+ // Handeling locking and unlocking
+ if (stateOuterLoop == stopping && up > stoppedTh)
+ {
+ DEBUG_PRINT("%i", up);
+ stateOuterLoop = idle;
+ DEBUG_PRINT("S\n");
+ }
+
+ // If the up multiranger is activated for the first time, prepare to be unlocked
+ if (up < unlockThLow && stateOuterLoop == idle && up > 0.001f)
+ {
+ DEBUG_PRINT("Waiting for hand to be removed!\n");
+ stateOuterLoop = lowUnlock;
+ }
+
+ // Unlock CF if hand above is removed, and if the positioningdeckand multiranger deck is initalized.
+ if (up > unlockThHigh && stateOuterLoop == lowUnlock && positioningInit && multirangerInit)
+ {
+ DEBUG_PRINT("Unlocked!\n");
+ stateOuterLoop = unlocked;
+ }
+
+ // Stop the crazyflie with idle or stopping state
+ if (stateOuterLoop == idle || stateOuterLoop == stopping)
+ {
+ memset(&setpoint, 0, sizeof(setpoint_t));
+ commanderSetSetpoint(&setpoint, 3);
+ }
+ }
+ }
+}
+
+PARAM_GROUP_START(app)
+PARAM_ADD(PARAM_UINT8, goLeft, &goLeft)
+PARAM_ADD(PARAM_FLOAT, distanceWall, &distanceToWall)
+PARAM_ADD(PARAM_FLOAT, maxSpeed, &maxForwardSpeed)
+PARAM_GROUP_STOP(app)
+
+LOG_GROUP_START(app)
+LOG_ADD(LOG_FLOAT, cmdVelX, &cmdVelX)
+LOG_ADD(LOG_FLOAT, cmdVelY, &cmdVelY)
+LOG_ADD(LOG_FLOAT, cmdAngWRad, &cmdAngWRad)
+LOG_ADD(LOG_UINT8, stateInnerLoop, &stateInnerLoop)
+LOG_ADD(LOG_UINT8, stateOuterLoop, &stateOuterLoop)
+LOG_GROUP_STOP(app)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.c
new file mode 100644
index 0000000000000000000000000000000000000000..c28ed1e8e40fc51a0985859d6a72aaac84ea0e49
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.c
@@ -0,0 +1,368 @@
+/*
+ * wall_follower_multi_ranger_onboard.c
+ *
+ * Created on: Aug 7, 2018
+ * Author: knmcguire
+
+The same wallfollowing strategy was used in the following paper:
+
+ @article{mcguire2019minimal,
+ title={Minimal navigation solution for a swarm of tiny flying robots to explore an unknown environment},
+ author={McGuire, KN and De Wagter, Christophe and Tuyls, Karl and Kappen, HJ and de Croon, Guido CHE},
+ journal={Science Robotics},
+ volume={4},
+ number={35},
+ year={2019},
+ publisher={Science Robotics}
+
+ */
+
+#include "wallfollowing_multiranger_onboard.h"
+#include <math.h>
+
+// variables
+static float refDistanceFromWall = 0.0f;
+static float maxForwardSpeed = 0.2f;
+static float maxTurnRate = 0.5f;
+static float direction = 1.0f;
+static float firstRun = false;
+static float prevHeading = 0.0f;
+static float wallAngle = 0.0f;
+static bool aroundCornerBackTrack = false;
+static float stateStartTime;
+static float rangerValueBuffer = 0.2f;
+static float angleValueBuffer = 0.1f;
+static float rangerThresholdLost = 0.3f;
+static const float inCornerAngle = 0.8f;
+static const float waitForMeasurementSeconds = 1.0f;
+
+static StateWF stateWF = forward;
+float timeNow = 0.0f;
+
+void wallFollowerInit(float refDistanceFromWallNew, float maxForwardSpeed_ref, StateWF initState)
+{
+ refDistanceFromWall = refDistanceFromWallNew;
+ maxForwardSpeed = maxForwardSpeed_ref;
+ firstRun = true;
+ stateWF = initState;
+}
+
+// Static helper functions
+static bool logicIsCloseTo(float real_value, float checked_value, float margin)
+{
+ if (real_value > checked_value - margin && real_value < checked_value + margin)
+ {
+ return true;
+ }
+ else
+ {
+ return false;
+ }
+}
+
+static float wraptopi(float number)
+{
+ if (number > (float)M_PI)
+ {
+ return (number - (float)(2 * M_PI));
+ }
+ else if (number < (float)(-1 * M_PI))
+ {
+ return (number + (float)(2 * M_PI));
+ }
+ else
+ {
+ return (number);
+ }
+}
+
+// Static command functions
+static void commandTurn(float *cmdVelX, float *cmdAngW, float ref_rate)
+{
+ *cmdVelX = 0.0f;
+ *cmdAngW = direction * ref_rate;
+}
+
+static void commandAlignCorner(float *cmdVelY, float *cmdAngW, float ref_rate, float range,
+ float wanted_distance_from_corner)
+{
+
+ if (range > wanted_distance_from_corner + 0.3f)
+ {
+ *cmdAngW = direction * ref_rate;
+ *cmdVelY = 0;
+ }
+ else
+ {
+ if (range > wanted_distance_from_corner)
+ {
+ *cmdVelY = direction * (-1.0f * maxForwardSpeed / 3.0f);
+ }
+ else
+ {
+ *cmdVelY = direction * (maxForwardSpeed / 3.0f);
+ }
+ *cmdAngW = 0;
+ }
+}
+
+static void commandHover(float *cmdVelX, float *cmdVelY, float *cmdAngW)
+{
+ *cmdVelX = 0.0f;
+ *cmdVelY = 0.0f;
+ *cmdAngW = 0.0f;
+}
+
+static void commandForwardAlongWall(float *cmdVelX, float *cmdVelY, float range)
+{
+ *cmdVelX = maxForwardSpeed;
+ bool check_distance_wall = logicIsCloseTo(refDistanceFromWall, range, 0.1f);
+ *cmdVelY = 0;
+ if (!check_distance_wall)
+ {
+ if (range > refDistanceFromWall)
+ {
+ *cmdVelY = direction * (-1.0f * maxForwardSpeed / 2.0f);
+ }
+ else
+ {
+ *cmdVelY = direction * (maxForwardSpeed / 2.0f);
+ }
+ }
+}
+
+static void commandTurnAroundCornerAndAdjust(float *cmdVelX, float *cmdVelY, float *cmdAngW, float radius, float range)
+{
+ *cmdVelX = maxForwardSpeed;
+ *cmdAngW = direction * (-1 * (*cmdVelX) / radius);
+ bool check_distance_to_wall = logicIsCloseTo(refDistanceFromWall, range, 0.1f);
+ if (!check_distance_to_wall)
+ {
+ if (range > refDistanceFromWall)
+ {
+ *cmdVelY = direction * (-1.0f * maxForwardSpeed / 3.0f);
+ }
+ else
+ {
+ *cmdVelY = direction * (maxForwardSpeed / 3.0f);
+ }
+ }
+}
+
+static void commandTurnAndAdjust(float *cmdVelY, float *cmdAngW, float rate, float range)
+{
+ *cmdAngW = direction * rate;
+ *cmdVelY = 0.0f;
+}
+
+static StateWF transition(StateWF newState)
+{
+ stateStartTime = timeNow;
+ return newState;
+}
+
+void adjustDistanceWall(float distanceWallNew)
+{
+ refDistanceFromWall = distanceWallNew;
+}
+
+StateWF wallFollower(float *cmdVelX, float *cmdVelY, float *cmdAngW, float frontRange, float sideRange, float currentHeading,
+ int directionTurn, float timeOuter)
+{
+
+ direction = directionTurn;
+
+ timeNow = timeOuter;
+
+ if (firstRun)
+ {
+ prevHeading = currentHeading;
+ aroundCornerBackTrack = false;
+ firstRun = false;
+ }
+
+ /***********************************************************
+ * Handle state transitions
+ ***********************************************************/
+ switch (stateWF)
+ {
+
+ case forward:
+ if (frontRange < refDistanceFromWall + rangerValueBuffer)
+ {
+ stateWF = transition(turnToFindWall);
+ }
+ break;
+
+ case hover:
+ break;
+
+ case turnToFindWall:;
+ // check if wall is found
+ bool sideRangeCheck = sideRange < (refDistanceFromWall / (float)cos(0.78f) + rangerValueBuffer);
+ bool frontRangeCheck = frontRange < (refDistanceFromWall / (float)cos(0.78f) + rangerValueBuffer);
+
+ if (sideRangeCheck && frontRangeCheck)
+ {
+ prevHeading = currentHeading;
+ wallAngle = direction * (1.57f - (float)atan(frontRange / sideRange) + angleValueBuffer);
+ stateWF = transition(turnToAlignToWall);
+ }
+ // If went too far in heading
+ if (sideRange < refDistanceFromWall + rangerValueBuffer && frontRange > refDistanceFromWall + rangerThresholdLost)
+ {
+ aroundCornerBackTrack = false;
+ prevHeading = currentHeading;
+ stateWF = transition(findCorner);
+ }
+ break;
+
+ case turnToAlignToWall:;
+ bool alignWallCheck = logicIsCloseTo(wraptopi(currentHeading - prevHeading), wallAngle, angleValueBuffer);
+ if (alignWallCheck)
+ {
+ stateWF = transition(forwardAlongWall);
+ }
+ break;
+
+ case forwardAlongWall:
+ // If side range is out of reach,
+ // end of the wall is reached
+ if (sideRange > refDistanceFromWall + rangerThresholdLost)
+ {
+ stateWF = transition(findCorner);
+ }
+ // If front range is small
+ // then corner is reached
+ if (frontRange < refDistanceFromWall + rangerValueBuffer)
+ {
+ prevHeading = currentHeading;
+ stateWF = transition(rotateInCorner);
+ }
+ break;
+
+ case rotateAroundWall:
+ if (frontRange < refDistanceFromWall + rangerValueBuffer)
+ {
+ stateWF = transition(turnToFindWall);
+ }
+ break;
+
+ case rotateInCorner:;
+ // Check if heading goes over 0.8 rad
+ bool checkHeadingCorner = logicIsCloseTo(fabs(wraptopi(currentHeading - prevHeading)), inCornerAngle, angleValueBuffer);
+ if (checkHeadingCorner)
+ {
+ stateWF = transition(turnToFindWall);
+ }
+ break;
+
+ case findCorner:
+ if (sideRange <= refDistanceFromWall)
+ {
+ stateWF = transition(rotateAroundWall);
+ }
+ break;
+
+ default:
+ stateWF = transition(hover);
+ }
+
+ /***********************************************************
+ * Handle state actions
+ ***********************************************************/
+
+ float cmdVelXTemp = 0.0f;
+ float cmdVelYTemp = 0.0f;
+ float cmdAngWTemp = 0.0f;
+
+ switch (stateWF)
+ {
+ case forward:
+ cmdVelXTemp = maxForwardSpeed;
+ cmdVelYTemp = 0.0f;
+ cmdAngWTemp = 0.0f;
+ break;
+
+ case hover:
+ commandHover(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp);
+ break;
+
+ case turnToFindWall:
+ commandTurn(&cmdVelXTemp, &cmdAngWTemp, maxTurnRate);
+ cmdVelYTemp = 0.0f;
+ break;
+
+ case turnToAlignToWall:
+ if (timeNow - stateStartTime < waitForMeasurementSeconds)
+ {
+ commandHover(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp);
+ }
+ else
+ { // then turn again
+ commandTurn(&cmdVelXTemp, &cmdAngWTemp, maxTurnRate);
+ cmdVelYTemp = 0.0f;
+ }
+ break;
+
+ case forwardAlongWall:
+ commandForwardAlongWall(&cmdVelXTemp, &cmdVelYTemp, sideRange);
+ cmdAngWTemp = 0.0f;
+ break;
+
+ case rotateAroundWall:
+ // If first time around corner
+ //first try to find the corner again
+
+ // if side range is larger than prefered distance from wall
+ if (sideRange > refDistanceFromWall + rangerThresholdLost)
+ {
+
+ // check if scanning has already occured
+ if (wraptopi(fabs(currentHeading - prevHeading)) > inCornerAngle)
+ {
+ aroundCornerBackTrack = true;
+ }
+ // turn and adjust distnace to corner from that point
+ if (aroundCornerBackTrack)
+ {
+ // go back if it already went into one direction
+ commandTurnAndAdjust(&cmdVelYTemp, &cmdAngWTemp, -1 * maxTurnRate, sideRange);
+ cmdVelXTemp = 0.0f;
+ }
+ else
+ {
+ commandTurnAndAdjust(&cmdVelYTemp, &cmdAngWTemp, maxTurnRate, sideRange);
+ cmdVelXTemp = 0.0f;
+ }
+ }
+ else
+ {
+ // continue to turn around corner
+ prevHeading = currentHeading;
+ aroundCornerBackTrack = false;
+ commandTurnAroundCornerAndAdjust(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp, refDistanceFromWall, sideRange);
+ }
+ break;
+
+ case rotateInCorner:
+ commandTurn(&cmdVelXTemp, &cmdAngWTemp, maxTurnRate);
+ cmdVelYTemp = 0.0f;
+ break;
+
+ case findCorner:
+ commandAlignCorner(&cmdVelYTemp, &cmdAngWTemp, -1 * maxTurnRate, sideRange, refDistanceFromWall);
+ cmdVelXTemp = 0.0f;
+ break;
+
+ default:
+ //State does not exist so hover!!
+ commandHover(&cmdVelXTemp, &cmdVelYTemp, &cmdAngWTemp);
+ }
+
+ *cmdVelX = cmdVelXTemp;
+ *cmdVelY = cmdVelYTemp;
+ *cmdAngW = cmdAngWTemp;
+
+ return stateWF;
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.h
new file mode 100644
index 0000000000000000000000000000000000000000..1b42a7c3502bd793f82fd4652e4bf86ba0d2d829
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/app_wall_following_demo/src/wallfollowing_multiranger_onboard.h
@@ -0,0 +1,31 @@
+/*
+ * wallfollowing_multirange_onboard.h
+ *
+ * Created on: Aug 7, 2018
+ * Author: knmcguire
+ */
+
+#ifndef SRC_WALLFOLLOWING_MULTIRANGER_ONBOARD_H_
+#define SRC_WALLFOLLOWING_MULTIRANGER_ONBOARD_H_
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef enum
+{
+ forward,
+ hover,
+ turnToFindWall,
+ turnToAlignToWall,
+ forwardAlongWall,
+ rotateAroundWall,
+ rotateInCorner,
+ findCorner
+} StateWF;
+
+StateWF wallFollower(float *cmdVelX, float *cmdVelY, float *cmdAngW, float frontRange, float sideRange, float currentHeading,
+ int directionTurn, float timeOuter);
+
+void adjustDistanceWall(float distanceWallNew);
+
+void wallFollowerInit(float refDistanceFromWallNew, float maxForwardSpeed_ref, StateWF initState);
+#endif /* SRC_WALLFOLLOWING_MULTIRANGER_ONBOARD_H_ */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/.gitignore b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..a743f37a768f2317aff15c3a6954eca076897c1a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/.gitignore
@@ -0,0 +1,2 @@
+bin/*
+cf2.*
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/Makefile
new file mode 100644
index 0000000000000000000000000000000000000000..34770999973d6ce68ad4c98a6b92571e0ba17dee
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/Makefile
@@ -0,0 +1,20 @@
+
+# enable app support
+APP=1
+APP_STACKSIZE=300
+
+## Weight of the Crazyflie + Qi + Lighthouse deck
+CFLAGS += -DCF_MASS=0.036f
+
+## Force lighthouse 2
+CFLAGS += -DLIGHTHOUSE_FORCE_TYPE=2
+
+# CLOAD_CMDS = -w radio://0/30/2M
+# DEBUG=1
+
+
+VPATH += src/
+PROJ_OBJ += app.o
+
+CRAZYFLIE_BASE=../../..
+include $(CRAZYFLIE_BASE)/Makefile
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/README.md b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..2fe220034ef96c632e260942955ab594e8136e3c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/README.md
@@ -0,0 +1,17 @@
+# Demo application
+
+This folder contains an app layer application for the Crazyflie that is used as a demo.
+
+## Build
+
+Make sure that you are in the demo folder (not the main folder of the crazyflie firmware). Then type the following to build and flash it while the crazyflie is put into bootloader mode:
+
+```
+make clean
+make
+make cload
+```
+
+## Running the demo
+
+The demo is started by running the control_tower.py script
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/app.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/app.c
new file mode 100644
index 0000000000000000000000000000000000000000..1994c13a07965f3ab653d619eaa1d5feb38a0f6e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/app.c
@@ -0,0 +1,507 @@
+#include <float.h>
+#include <math.h>
+
+#include "FreeRTOS.h"
+#include "timers.h"
+#include "deck_digital.h"
+#include "deck_constants.h"
+#include "sensors.h"
+#include "estimator_kalman.h"
+#include "crtp_commander_high_level.h"
+#include "commander.h"
+#include "pm.h"
+#include "stabilizer.h"
+#include "ledseq.h"
+#include "log.h"
+#include "param.h"
+#include "sitaw.h"
+#include "controller.h"
+#include "ledseq.h"
+#include "pptraj.h"
+#include "lighthouse_position_est.h"
+#include "lighthouse_core.h"
+
+#define DEBUG_MODULE "APP"
+#include "debug.h"
+
+
+static xTimerHandle timer;
+static bool isInit = false;
+
+static void appTimer(xTimerHandle timer);
+
+#define LED_LOCK LED_GREEN_R
+#define LOCK_LENGTH 50
+#define LOCK_THRESHOLD 0.001f
+#define MAX_PAD_ERR 0.005
+#define TAKE_OFF_HEIGHT 0.2f
+#define LANDING_HEIGHT 0.12f
+#define SEQUENCE_SPEED 1.0f
+#define DURATION_TO_INITIAL_POSITION 2.0
+
+static uint32_t lockWriteIndex;
+static float lockData[LOCK_LENGTH][3];
+static void resetLockData();
+static bool hasLock();
+
+static bool takeOffWhenReady = false;
+static float goToInitialPositionWhenReady = -1.0f;
+static bool terminateTrajectoryAndLand = false;
+
+static float padX = 0.0;
+static float padY = 0.0;
+static float padZ = 0.0;
+
+static uint32_t landingTimeCheckCharge = 0;
+
+static float stabilizeEndTime;
+
+#define NO_PROGRESS -2000.0f
+static float currentProgressInTrajectory = NO_PROGRESS;
+static uint32_t trajectoryStartTime = 0;
+static uint32_t timeWhenToGoToInitialPosition = 0;
+static float trajectoryDurationMs = 0.0f;
+
+static float trajecory_center_offset_x = 0.0f;
+static float trajecory_center_offset_y = 0.0f;
+static float trajecory_center_offset_z = 0.0f;
+
+static uint32_t now = 0;
+static uint32_t flightTime = 0;
+
+// The nr of trajectories to fly
+static uint8_t trajectoryCount = 255;
+static uint8_t remainingTrajectories = 0;
+
+// Log and param ids
+static logVarId_t logIdStateEstimateX;
+static logVarId_t logIdStateEstimateY;
+static logVarId_t logIdStateEstimateZ;
+static logVarId_t logIdKalmanVarPX;
+static logVarId_t logIdKalmanVarPY;
+static logVarId_t logIdKalmanVarPZ;
+static logVarId_t logIdPmState;
+static logVarId_t logIdlighthouseEstBs0Rt;
+static logVarId_t logIdlighthouseEstBs1Rt;
+
+static paramVarId_t paramIdStabilizerController;
+static paramVarId_t paramIdCommanderEnHighLevel;
+static paramVarId_t paramIdLighthouseMethod;
+
+//#define USE_MELLINGER
+
+#define TRAJ_Y_OFFSET 0.35
+
+enum State {
+ // Initialization
+ STATE_IDLE = 0,
+ STATE_WAIT_FOR_POSITION_LOCK,
+
+ STATE_WAIT_FOR_TAKE_OFF, // Charging
+ STATE_TAKING_OFF,
+ STATE_HOVERING,
+ STATE_WAITING_TO_GO_TO_INITIAL_POSITION,
+ STATE_GOING_TO_INITIAL_POSITION,
+ STATE_RUNNING_TRAJECTORY,
+ STATE_GOING_TO_PAD,
+ STATE_WAITING_AT_PAD,
+ STATE_LANDING,
+ STATE_CHECK_CHARGING,
+ STATE_REPOSITION_ON_PAD,
+ STATE_CRASHED,
+};
+
+static enum State state = STATE_IDLE;
+
+ledseqStep_t seq_lock_def[] = {
+ { true, LEDSEQ_WAITMS(1000)},
+ { 0, LEDSEQ_LOOP},
+};
+
+ledseqContext_t seq_lock = {
+ .sequence = seq_lock_def,
+ .led = LED_LOCK,
+};
+
+const uint8_t trajectoryId = 1;
+
+// duration, x0-x7, y0-y7, z0-z7, yaw0-yaw7
+static struct poly4d sequence[] = {
+ {.duration = 0.55, .p = {{3.850187562676742e-11,-6.126680001583386e-07,0.034011535082562466,-0.0003930116221214229,-0.13617012073728407,-0.013475566231476182,0.13052917793131502,-0.04578980321072286}, {5.13033102278894e-11,-6.894694832263486e-07,2.7736466486255528e-05,0.09665022145136354,0.003058298046984803,-0.14597702960520773,0.025898651835890598,0.031816204956814045}, {0.6948075950058442,0.2683789944542717,0.023245728473115564,-0.010134659315685406,-0.00043890670824819824,0.00011480619184472054,3.331435279368211e-06,-6.413660347948354e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{-6.914788682055622e-11,-0.029193709157554027,-0.10559495462082236,-0.05347086572904071,0.1429864490023195,0.13154711964776383,-0.10576667456482508,-0.004894549656606144}, {0.010222252124903127,0.03695902744452226,-0.0088512292032624,-0.1522994840241329,-0.10473818933895811,0.101347754562758,0.10503082012800732,-0.06287119477122378}, {0.8477274186362265,0.2845134091691316,0.005921828500929774,-0.01074393477303553,-0.00011181155704426794,0.00012171542649083367,8.448121214720302e-07,-6.586027744088609e-0}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{-0.04019237884462183,-0.07140003156906653,0.1344931065364669,0.2937887095214804,0.009789196771361027,-0.21053548856185011,-0.05387360520003008,0.07164061868443176}, {-7.889581297779964e-11,-0.11478801738672623,-0.20396423865607044,0.07270282032653184,0.2794859692648988,0.07498870791184684,-0.17675426223153057,0.027076140218982695}, {1.0042095323020248,0.28125870522972984,-0.011805634296686286,-0.010621028836870822,0.00022290339530923512,0.00012032988892924413,-1.6993066948952098e-06,-6.309899868949724e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{7.988284484732011e-11,0.250949124563498,0.2884318844281135,-0.2732723085219975,-0.3971380460135978,0.019843843315547182,0.23402372804388663,-0.06191711498753417}, {-0.08786796558968513,-0.1009753021910108,0.33435181061014774,0.4152184312151822,-0.14220624001585802,-0.30664667217939623,0.019456187255464174,0.07150045317180133}, {1.153589938555835,0.25883668533089255,-0.028728562626473653,-0.009774317339295326,0.0005424278565983879,0.00011074405151188298,-4.127597844930454e-06,-5.60388917887036e-07}, {-8.314418855166948e-17,2.855993321445286,-4.4522405463652314e-13,3.6027429443266216e-12,-1.4127312536830109e-11,2.8100825191264194e-11,-2.6527583249725554e-11,8.815269909223687e-12,}}},
+ {.duration = 0.55, .p = {{0.1499999999110494,0.1236693334929018,-0.5948073010234445,-0.5083134142475911,0.34088988320791197,0.38313148703735755,-0.10996125300699039,-0.06246025031151826}, {7.204165642107989e-11,0.42839787625064485,0.3532415614668606,-0.5345691196919508,-0.48792488465828615,0.14648785242312232,0.27367225249021054,-0.09725401975942494}, {1.285688609574253,0.21877537307462952,-0.043693686890084134,-0.008261502261561984,0.0008249867228197418,9.361128232250471e-05,-6.274729564937099e-06,-4.5152734395454723e-07}, {1.570796326794896,2.855993321445219,1.1415585581287713e-12,-1.1944049757036972e-11,6.431141607525981e-11,-1.8343792153223745e-10,2.6289169140858755e-10,-1.4907548089075316e-10,}}},
+ {.duration = 0.55, .p = {{-5.590663147591574e-11,-0.6350414332686105,-0.39397659738539126,0.8387863079720367,0.5456595121538056,-0.29631273940020514,-0.29299785427839664,0.130678702950142}, {0.2223542863477553,0.13793556474518312,-0.8981099665280236,-0.5667293893693737,0.5727217708530097,0.43477761941329673,-0.21147382139585272,-0.04513608499171106}, {1.3915032392307496,0.1638048806867086,-0.05568115859886775,-0.006185679463293696,0.001051324141053692,7.009895638961352e-05,-7.994094322078248e-06,-3.1198566063354317e-07}, {-3.1415926535897913,2.855993321445259,2.5087977390525737e-13,-1.1471253057481462e-12,-3.6097331487140355e-12,3.293016202670872e-11,-7.167566690499768e-11,5.132340432324304e-11,}}},
+ {.duration = 0.55, .p = {{-0.2999999998502529,-0.14280177586409412,1.2235902317016245,0.5864854044065786,-0.821902942890023,-0.4580654708546404,0.3170759788277885,0.020708570338654426}, {-3.2577411606298086e-11,-0.8567973787012538,-0.40786096680320616,1.16519197471624,0.5664074090974773,-0.4591081859649081,-0.29068352530931285,0.1599133274637631}, {1.4638227353811781,0.09767135638036385,-0.06387405136662831,-0.0036883128327376896,0.0012060155635279994,4.180948131089076e-05,-9.168649106299251e-06,-1.5119295149245228e-07}, {-1.570796326794896,2.855993321445285,-4.225442457827085e-13,4.4049449702295166e-12,-2.3950348360899724e-11,6.851557251898727e-11,-9.803060051919491e-11,5.52677029888256e-11,}}},
+ {.duration = 0.55, .p = {{3.643713234144152e-12,1.0785534113363267,0.3939484728911548,-1.4915421131692534,-0.5487546404587444,0.6237799510123201,0.266886983994221,-0.18296560239343668}, {-0.3776457133589556,-0.1379363426036038,1.5490671543520358,0.5662351196076164,-1.0714521143729914,-0.4514080123736052,0.41957111221051374,-0.00915759855778746}, {1.497718643876504,0.02488169054632043,-0.06771403309317417,-0.0009395937484483393,0.0012785188596592392,1.0671200625251397e-05,-9.718988081428503e-06,2.0238909278164195e-08}, {-8.314418855166948e-17,2.855993321445286,-4.4522405463652314e-13,3.6027429443266216e-12,-1.4127312536830109e-11,2.8100825191264194e-11,-2.6527583249725554e-11,8.815269909223687e-12,}}},
+ {.duration = 0.55, .p = {{0.44999999981385364,0.12367083619999372,-1.8523600200796242,-0.5073585583818294,1.3043629214703734,0.41525893933383995,-0.5119743484215598,0.04242709212774574}, {-2.89226389768401e-11,1.285197224018999,0.35318722911504113,-1.7955965006790715,-0.4939042134616532,0.7791059265493233,0.223229924284725,-0.19826455269120852}, {1.4908810145684093,-0.049603621379605944,-0.06693941536376884,0.001873157056002599,0.0012638934376494498,-2.1194960501981645e-05,-9.606060589372755e-06,1.8976712320425972e-07}, {1.570796326794896,2.855993321445219,1.1415585581287713e-12,-1.1944049757036972e-11,6.431141607525981e-11,-1.8343792153223745e-10,2.6289169140858755e-10,-1.4907548089075316e-10,}}},
+ {.duration = 0.55, .p = {{6.290210506218638e-11,-1.4626463824098959,-0.28835504688017033,2.056634333247623,0.40559409384743944,-0.914500903393737,-0.16268750359645887,0.20476758072452098}, {0.5121320341641584,0.10097742733972069,-2.11279992129731,-0.41386806111463986,1.504762877791794,0.35208175069725167,-0.5879885586908895,0.07683264882809585}, {1.443775820594523,-0.12070852848241553,-0.06160298710010411,0.004558255313738797,0.0011631356744089595,-5.161639604707585e-05,-8.839022757646207e-06,3.4668809927088064e-07}, {-3.1415926535897913,2.855993321445259,2.5087977390525737e-13,-1.1471253057481462e-12,-3.6097331487140355e-12,3.293016202670872e-11,-7.167566690499768e-11,5.132340432324304e-11,}}},
+ {.duration = 0.55, .p = {{-0.5598076209469373,-0.07140263433406184,2.3126383091368354,0.29213485066461087,-1.6589950573170387,-0.26618186797986115,0.6424335009665487,-0.1100295872652435}, {9.597957855088104e-11,-1.5988080196133752,-0.20387013226277426,2.256866313938279,0.28984247051151446,-1.0207379381606654,-0.08938558706550837,0.20203151543026565}, {1.3596132030791528,-0.18358734884936753,-0.05206841706985553,0.006932716003333422,0.0009831121712365765,-7.852040976178658e-05,-7.4693513883816284e-06,4.798093435152236e-07}, {-1.570796326794896,2.855993321445285,-4.225442457827085e-13,4.4049449702295166e-12,-2.3950348360899724e-11,6.851557251898727e-11,-9.803060051919491e-11,5.52677029888256e-11,}}},
+ {.duration = 0.55, .p = {{-1.2590019835852742e-10,1.6844029450716946,0.10548999257784991,-2.3826469641845596,-0.1545376251943579,1.09057715220263,0.00831957959381703,-0.19024281538328217}, {-0.5897777477105767,-0.0369619304516384,2.4382565277141275,0.1504548441642516,-1.7565487919657432,-0.16341322602586436,0.6715988421120441,-0.13975559077778596}, {1.244128705320668,-0.2339549947846461,-0.038985470464346035,0.008834723564599386,0.0007360911420512199,-0.00010007323169172001,-5.590868353790516e-06,5.803448593771976e-07}, {-8.314418855166948e-17,2.855993321445286,-4.4522405463652314e-13,3.6027429443266216e-12,-1.4127312536830109e-11,2.8100825191264194e-11,-2.6527583249725554e-11,8.815269909223687e-12,}}},
+ {.duration = 0.55, .p = {{0.5999999998441106,2.392746148312848e-06,-2.4810939030286048,0.001516700094742569,1.7907759558714795,0.05077933811777355,-0.6734970125477634,0.1639848814705509}, {-1.506250987376076e-10,1.7135980060672011,-8.092823644568708e-05,-2.4254045405309936,-0.00890035951518397,1.1192591185216,-0.07498600440013853,-0.17020486100199314}, {1.105192404994155,-0.2683789944542932,-0.023245728472413945,0.01013465930675449,0.00043890675937640944,-0.00011480633720814209,-3.331233868784164e-06,6.412574240165199e-07}, {1.570796326794896,2.855993321445219,1.1415585581287713e-12,-1.1944049757036972e-11,6.431141607525981e-11,-1.8343792153223745e-10,2.6289169140858755e-10,-1.4907548089075316e-10,}}},
+ {.duration = 0.55, .p = {{1.684697291033214e-10,-1.6844036074401618,0.10564814639079924,2.382225184807529,-0.1371443875231521,-1.1048292086075555,0.1548540272068101,0.14328320564974964}, {0.5897777477577096,-0.036957247366396044,-2.4382311387421707,0.1534231724906406,1.7593440245030696,-0.06404398275378732,-0.6479986546427713,0.18106627297730243}, {0.9522725813637728,-0.2845134091691431,-0.005921828500469207,0.01074393476605049,0.00011181160327455771,-0.00012171557551975708,-8.445807090820611e-07,6.584637616417346e-07}, {-3.1415926535897913,2.855993321445259,2.5087977390525737e-13,-1.1471253057481462e-12,-3.6097331487140355e-12,3.293016202670872e-11,-7.167566690499768e-11,5.132340432324304e-11,}}},
+ {.duration = 0.55, .p = {{-0.5598076210379905,0.07139825149092185,2.312589261409516,-0.2949123979936194,-1.664395031908084,0.17323171668372522,0.5968414398024987,-0.18983569693480895}, {1.7821782545551847e-10,-1.5988092992110026,0.20401743042640863,2.25605149874844,-0.2736439077696821,-1.0482707969090843,0.22584161491618038,0.11131251575573874}, {0.7957904676979738,-0.28125870522974444,0.011805634297233001,0.010621028829982298,-0.00022290335524226357,-0.00012033000419331912,1.699466435538814e-06,6.309046379744497e-07}, {-1.570796326794896,2.855993321445285,-4.225442457827085e-13,4.4049449702295166e-12,-2.3950348360899724e-11,6.851557251898727e-11,-9.803060051919491e-11,5.52677029888256e-11,}}},
+ {.duration = 0.55, .p = {{-1.7920484419930034e-10,1.462648192034213,-0.2884850761977632,-2.055482010561792,0.39129598457085574,0.9534382455215172,-0.2831110804852299,-0.07647154113270976}, {-0.5121320342929275,0.10097352211288317,2.11273055733514,-0.41634211967852053,-1.5123995951714493,0.2693429004489931,0.5235116471329888,-0.1896955312999179}, {0.6464100614441641,-0.2588366853309645,0.028728562628598252,0.009774317314729044,-0.0005424277188845949,-0.00011074445057684398,4.128172898051939e-06,5.600631449541777e-07}, {-8.314418855166948e-17,2.855993321445286,-4.4522405463652314e-13,3.6027429443266216e-12,-1.4127312536830109e-11,2.8100825191264194e-11,-2.6527583249725554e-11,8.815269909223687e-12,}}},
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+ {.duration = 0.55, .p = {{-0.30000000003235977,0.14279999578597702,1.2234921362438944,-0.587609092875647,-0.8327028922566038,0.4207616989920525,0.2258918557649712,-0.13890364858850515}, {1.3189926344258986e-10,-0.8567999378964555,0.407914158573091,1.1635623443630034,-0.5605653476226719,-0.5141739029796313,0.3397708779238144,-0.021524671451362908}, {0.3361772646188215,-0.09767135638040796,0.06387405136797168,0.0036883128165148063,-0.001206015469879388,-4.180975783766554e-05,9.169052818128353e-06,1.5096177044506199e-07}, {-1.570796326794896,2.855993321445285,-4.225442457827085e-13,4.4049449702295166e-12,-2.3950348360899724e-11,6.851557251898727e-11,-9.803060051919491e-11,5.52677029888256e-11,}}},
+ {.duration = 0.55, .p = {{-1.029656785148531e-10,0.6350439052614014,-0.39400166466153436,-0.8372122059040767,0.5429125789487638,0.3495021380409436,-0.3159743367761405,0.04457694648242842}, {-0.2223542865236572,0.13793456252546576,0.8980152135936907,-0.5673588080774555,-0.5831537207722597,0.4141042405096757,0.12339672238346343,-0.10903747969310579}, {0.3022813561234955,-0.024881690546276862,0.06771403309177028,0.0009395937627441363,-0.0012785189282877262,-1.0671027269943336e-05,9.71876468535445e-06,-2.0123140548204047e-08}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{0.1500000000687584,-0.12366905612177849,-0.594722347868441,0.5084822468775191,0.35024291353796916,-0.3779551670922615,-0.030993486696122376,0.07576798641159813}, {-7.039928298561939e-11,0.42840009257875555,-0.3532404208862144,-0.533157818385911,0.48806215190950436,0.19417616261494053,-0.2723172772132073,0.059875896856828974}, {0.30911898543159044,0.04960362137961011,0.06693941536418026,-0.0018731570659139287,-0.0012638933619877498,2.1194700149092597e-05,9.60648002352551e-06,-1.9002499360993986e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{3.6419711080421585e-11,-0.2509509341878004,0.28840823864950105,0.2721199858390575,-0.3997520324183086,-0.05878118540823653,0.21177485599121348,-0.0663789245795264}, {0.08786796571845405,-0.10097564726160337,-0.3342824466477831,0.41499174957660356,0.14984295740004752,-0.3147779789736173,0.045020724305445986,0.04136242930126668}, {0.35622417940547646,0.12070852848236742,0.061602987101403175,-0.004558255327930595,-0.0011631355987503336,5.1616188097919715e-05,8.839307227640228e-06,-3.46842188288027e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{-0.040192378935675475,0.07140085425594436,0.13444405880828958,-0.29325853912678074,0.004389222125442104,0.2288780962570675,-0.09946566658297257,-0.008165490863377235}, {3.342506343117202e-12,-0.11478929698434916,0.2039233240328519,0.07188800514013687,-0.28400040903603785,0.047455849220319694,0.1384729396693574,-0.06364285941067112}, {0.4403867969208466,0.1835873488493235,0.05206841707153454,-0.006932716025413217,-0.0009831120388661323,7.85200125196987e-05,7.469934672375333e-06,-4.801436347075494e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+ {.duration = 0.55, .p = {{2.657819140362752e-11,0.029194371526024346,-0.10554318434787024,0.05389264510610344,0.14869556371716416,-0.11729506325396347,-0.057406932212603616,0.05185415937314559}, {-0.01022225217203592,0.036960150373509054,0.00882584023135473,-0.15157853263098095,0.10194295680128089,0.12610945422193115,-0.12863100760957105,0.021560512581067035}, {0.5558712946793309,0.23395499478462367,0.03898547046555688,-0.008834723582265662,-0.0007360910302886222,0.00010007288325451688,5.591396797932501e-06,-5.806568866668146e-07}, {0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,}}},
+};
+
+static float sequenceTime(struct poly4d sequence[], int count) {
+ float totalDuration = 0.0f;
+
+ for (int i = 0; i < count; i++) {
+ totalDuration += sequence[i].duration;
+ }
+
+ return totalDuration;
+}
+
+static float getX() { return logGetFloat(logIdStateEstimateX); }
+static float getY() { return logGetFloat(logIdStateEstimateY); }
+static float getZ() { return logGetFloat(logIdStateEstimateZ); }
+static float getVarPX() { return logGetFloat(logIdKalmanVarPX); }
+static float getVarPY() { return logGetFloat(logIdKalmanVarPY); }
+static float getVarPZ() { return logGetFloat(logIdKalmanVarPZ); }
+static bool isBatLow() { return logGetInt(logIdPmState) == lowPower; }
+static bool isCharging() { return logGetInt(logIdPmState) == charging; }
+static bool isLighthouseAvailable() { return logGetFloat(logIdlighthouseEstBs0Rt) >= 0.0f || logGetFloat(logIdlighthouseEstBs1Rt) >= 0.0f; }
+
+const baseStationGeometry_t lighthouseGeoData[PULSE_PROCESSOR_N_BASE_STATIONS] = {
+ {.valid = true, .origin = {-2.057947, 0.398319, 3.109704, }, .mat = {{0.807210, 0.002766, 0.590258, }, {0.067095, 0.993078, -0.096409, }, {-0.586439, 0.117426, 0.801437, }, }},
+ {.valid = true, .origin = {0.866244, -2.566829, 3.132632, }, .mat = {{-0.043296, -0.997675, -0.052627, }, {0.766284, -0.066962, 0.639003, }, {-0.641042, -0.012661, 0.767401, }, }},
+};
+
+lighthouseCalibration_t lighthouseCalibrationData[PULSE_PROCESSOR_N_BASE_STATIONS] = {
+ { // Base station 0
+ .sweep = {
+ {.tilt = -0.047353, .phase = 0.000000, .curve = 0.478887, .gibphase = 1.023093, .gibmag = 0.005071, .ogeephase = 1.136886, .ogeemag = -0.520102, },
+ {.tilt = 0.049104, .phase = -0.006642, .curve = 0.675827, .gibphase = 2.367835, .gibmag = 0.004907, .ogeephase = 1.900456, .ogeemag = -0.457289, },
+ },
+ .uid = 0x3C65D22F,
+ .valid = true,
+ },
+ { // Base station 1
+ .sweep = {
+ {.tilt = -0.048959, .phase = 0.000000, .curve = 0.144913, .gibphase = 1.288635, .gibmag = -0.005397, .ogeephase = 2.004001, .ogeemag = 0.033096, },
+ {.tilt = 0.047509, .phase = -0.004676, .curve = 0.374379, .gibphase = 1.727613, .gibmag = -0.005642, .ogeephase = 2.586835, .ogeemag = 0.117884, },
+ },
+ .uid = 0x34C2AD7E,
+ .valid = true,
+ },
+};
+
+#ifdef USE_MELLINGER
+static void enableMellingerController() { paramSetInt(paramIdStabilizerController, ControllerTypeMellinger); }
+#endif
+static void enableHighlevelCommander() { paramSetInt(paramIdCommanderEnHighLevel, 1); }
+static void useCrossingBeamPositioningMethod() { paramSetInt(paramIdLighthouseMethod, 0); }
+
+static void setupLighthouse() {
+ lighthousePositionSetGeometryData(0, &lighthouseGeoData[0]);
+ lighthousePositionSetGeometryData(1, &lighthouseGeoData[1]);
+
+ lighthouseCoreSetCalibrationData(0, &lighthouseCalibrationData[0]);
+ lighthouseCoreSetCalibrationData(1, &lighthouseCalibrationData[1]);
+
+ useCrossingBeamPositioningMethod();
+}
+
+static void defineTrajectory() {
+ const uint32_t polyCount = sizeof(sequence) / sizeof(struct poly4d);
+ trajectoryDurationMs = 1000 * sequenceTime(sequence, polyCount);
+ crtpCommanderHighLevelWriteTrajectory(0, sizeof(sequence), (uint8_t*)sequence);
+ crtpCommanderHighLevelDefineTrajectory(trajectoryId, CRTP_CHL_TRAJECTORY_TYPE_POLY4D, 0, polyCount);
+}
+
+static void defineLedSequence() {
+ ledseqRegisterSequence(&seq_lock);
+}
+
+void appMain() {
+ if (isInit) {
+ return;
+ }
+
+ DEBUG_PRINT("This is a demo app\n");
+
+ // Get log and param ids
+ logIdStateEstimateX = logGetVarId("stateEstimate", "x");
+ logIdStateEstimateY = logGetVarId("stateEstimate", "y");
+ logIdStateEstimateZ = logGetVarId("stateEstimate", "z");
+ logIdKalmanVarPX = logGetVarId("kalman", "varPX");
+ logIdKalmanVarPY = logGetVarId("kalman", "varPY");
+ logIdKalmanVarPZ = logGetVarId("kalman", "varPZ");
+ logIdPmState = logGetVarId("pm", "state");
+ logIdlighthouseEstBs0Rt = logGetVarId("lighthouse", "estBs0Rt");
+ logIdlighthouseEstBs1Rt = logGetVarId("lighthouse", "estBs1Rt");
+
+ paramIdStabilizerController = paramGetVarId("stabilizer", "controller");
+ paramIdCommanderEnHighLevel = paramGetVarId("commander", "enHighLevel");
+ paramIdLighthouseMethod = paramGetVarId("lighthouse", "method");
+
+
+ timer = xTimerCreate("AppTimer", M2T(20), pdTRUE, NULL, appTimer);
+ xTimerStart(timer, 20);
+
+ pinMode(DECK_GPIO_IO3, INPUT_PULLUP);
+
+ #ifdef USE_MELLINGER
+ enableMellingerController();
+ #endif
+
+ setupLighthouse();
+ enableHighlevelCommander();
+ defineTrajectory();
+ defineLedSequence();
+ resetLockData();
+
+ isInit = true;
+}
+
+static void appTimer(xTimerHandle timer) {
+ uint32_t previous = now;
+ now = xTaskGetTickCount();
+ uint32_t delta = now - previous;
+
+ if(sitAwTuDetected()) {
+ state = STATE_CRASHED;
+ }
+
+ if (isBatLow()) {
+ terminateTrajectoryAndLand = true;
+ }
+
+ switch(state) {
+ case STATE_IDLE:
+ DEBUG_PRINT("Let's go! Waiting for position lock...\n");
+ state = STATE_WAIT_FOR_POSITION_LOCK;
+ break;
+ case STATE_WAIT_FOR_POSITION_LOCK:
+ if (hasLock()) {
+ DEBUG_PRINT("Position lock acquired, ready for take off..\n");
+ ledseqRun(&seq_lock);
+ state = STATE_WAIT_FOR_TAKE_OFF;
+ }
+ break;
+ case STATE_WAIT_FOR_TAKE_OFF:
+ trajectoryStartTime = 0;
+ if (takeOffWhenReady) {
+ takeOffWhenReady = false;
+ DEBUG_PRINT("Taking off!\n");
+
+ padX = getX();
+ padY = getY();
+ padZ = getZ();
+ DEBUG_PRINT("Base position: (%f, %f, %f)\n", (double)padX, (double)padY, (double)padZ);
+
+ terminateTrajectoryAndLand = false;
+ crtpCommanderHighLevelTakeoff(padZ + TAKE_OFF_HEIGHT, 1.0);
+ state = STATE_TAKING_OFF;
+ }
+ break;
+ case STATE_TAKING_OFF:
+ if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+ DEBUG_PRINT("Hovering, waiting for command to start\n");
+ ledseqStop(&seq_lock);
+ state = STATE_HOVERING;
+
+ }
+ flightTime += delta;
+ break;
+ case STATE_HOVERING:
+ if (terminateTrajectoryAndLand) {
+ terminateTrajectoryAndLand = false;
+ DEBUG_PRINT("Terminating hovering\n");
+ state = STATE_GOING_TO_PAD;
+ } else {
+ if (goToInitialPositionWhenReady >= 0.0f) {
+ float delayMs = goToInitialPositionWhenReady * trajectoryDurationMs;
+ timeWhenToGoToInitialPosition = now + delayMs;
+ trajectoryStartTime = now + delayMs;
+ goToInitialPositionWhenReady = -1.0f;
+ DEBUG_PRINT("Waiting to go to initial position for %d ms\n", (int)delayMs);
+ state = STATE_WAITING_TO_GO_TO_INITIAL_POSITION;
+ }
+ }
+ flightTime += delta;
+ break;
+ case STATE_WAITING_TO_GO_TO_INITIAL_POSITION:
+ if (now >= timeWhenToGoToInitialPosition) {
+ DEBUG_PRINT("Going to initial position\n");
+ crtpCommanderHighLevelGoTo(sequence[0].p[0][0] + trajecory_center_offset_x, sequence[0].p[1][0] + trajecory_center_offset_y, sequence[0].p[2][0] + trajecory_center_offset_z, sequence[0].p[3][0], DURATION_TO_INITIAL_POSITION, false);
+ state = STATE_GOING_TO_INITIAL_POSITION;
+ }
+ flightTime += delta;
+ break;
+ case STATE_GOING_TO_INITIAL_POSITION:
+ currentProgressInTrajectory = (now - trajectoryStartTime) / trajectoryDurationMs;
+
+ if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+ DEBUG_PRINT("At initial position, starting trajectory...\n");
+ crtpCommanderHighLevelStartTrajectory(trajectoryId, SEQUENCE_SPEED, true, false);
+ remainingTrajectories = trajectoryCount - 1;
+ state = STATE_RUNNING_TRAJECTORY;
+ }
+ flightTime += delta;
+ break;
+ case STATE_RUNNING_TRAJECTORY:
+ currentProgressInTrajectory = (now - trajectoryStartTime) / trajectoryDurationMs;
+
+ if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+ if (terminateTrajectoryAndLand || (remainingTrajectories == 0)) {
+ terminateTrajectoryAndLand = false;
+ DEBUG_PRINT("Terminating trajectory, going to pad...\n");
+ float timeToPadPosition = 2.0;
+ crtpCommanderHighLevelGoTo(padX, padY, padZ + LANDING_HEIGHT, 0.0, timeToPadPosition, false);
+ currentProgressInTrajectory = NO_PROGRESS;
+ state = STATE_GOING_TO_PAD;
+ } else {
+ if (remainingTrajectories > 0) {
+ DEBUG_PRINT("Trajectory finished, restarting...\n");
+ crtpCommanderHighLevelStartTrajectory(trajectoryId, SEQUENCE_SPEED, true, false);
+ }
+ remainingTrajectories--;
+ }
+ }
+ flightTime += delta;
+ break;
+ case STATE_GOING_TO_PAD:
+ if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+ DEBUG_PRINT("Over pad, stabalizing position\n");
+ stabilizeEndTime = now + 5000;
+ state = STATE_WAITING_AT_PAD;
+ }
+ flightTime += delta;
+ break;
+ case STATE_WAITING_AT_PAD:
+ if (now > stabilizeEndTime || ((fabs(padX - getX()) < MAX_PAD_ERR) && (fabs(padY - getY()) < MAX_PAD_ERR))) {
+ if (now > stabilizeEndTime) {
+ DEBUG_PRINT("Warning: timeout!\n");
+ }
+
+ DEBUG_PRINT("Landing...\n");
+ crtpCommanderHighLevelLand(padZ, 1.0);
+ state = STATE_LANDING;
+ }
+ flightTime += delta;
+ break;
+ case STATE_LANDING:
+ if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+ DEBUG_PRINT("Landed. Feed me!\n");
+ crtpCommanderHighLevelStop();
+ landingTimeCheckCharge = now + 3000;
+ state = STATE_CHECK_CHARGING;
+ }
+ flightTime += delta;
+ break;
+ case STATE_CHECK_CHARGING:
+ if (now > landingTimeCheckCharge) {
+ DEBUG_PRINT("isCharging: %d\n", isCharging());
+ if (isCharging()) {
+ ledseqRun(&seq_lock);
+ state = STATE_WAIT_FOR_TAKE_OFF;
+ } else {
+ DEBUG_PRINT("Not charging. Try to reposition on pad.\n");
+ crtpCommanderHighLevelTakeoff(padZ + LANDING_HEIGHT, 1.0);
+ state = STATE_REPOSITION_ON_PAD;
+ }
+ }
+ break;
+ case STATE_REPOSITION_ON_PAD:
+ if (crtpCommanderHighLevelIsTrajectoryFinished()) {
+ DEBUG_PRINT("Over pad, stabalizing position\n");
+ crtpCommanderHighLevelGoTo(padX, padY, padZ + LANDING_HEIGHT, 0.0, 1.5, false);
+ state = STATE_GOING_TO_PAD;
+ }
+ flightTime += delta;
+ break;
+ case STATE_CRASHED:
+ crtpCommanderHighLevelStop();
+ break;
+ default:
+ break;
+ }
+}
+
+
+static bool hasLock() {
+ bool result = false;
+
+ // Store current state
+ lockData[lockWriteIndex][0] = getVarPX();
+ lockData[lockWriteIndex][1] = getVarPY();
+ lockData[lockWriteIndex][2] = getVarPZ();
+
+ lockWriteIndex++;
+ if (lockWriteIndex >= LOCK_LENGTH) {
+ lockWriteIndex = 0;
+ }
+
+ // Check if we have a lock
+ int count = 0;
+
+ float lXMax = FLT_MIN;
+ float lYMax = FLT_MIN;
+ float lZMax = FLT_MIN;
+
+ float lXMin = FLT_MAX;
+ float lYMin = FLT_MAX;
+ float lZMin = FLT_MAX;
+
+ for (int i = 0; i < LOCK_LENGTH; i++) {
+ if (lockData[i][0] != FLT_MAX) {
+ count++;
+
+ lXMax = fmaxf(lXMax, lockData[i][0]);
+ lYMax = fmaxf(lYMax, lockData[i][1]);
+ lZMax = fmaxf(lZMax, lockData[i][2]);
+
+ lXMin = fminf(lXMax, lockData[i][0]);
+ lYMin = fminf(lYMin, lockData[i][1]);
+ lZMin = fminf(lZMin, lockData[i][2]);
+ }
+ }
+
+ result =
+ (count >= LOCK_LENGTH) &&
+ ((lXMax - lXMin) < LOCK_THRESHOLD) &&
+ ((lYMax - lYMin) < LOCK_THRESHOLD) &&
+ ((lZMax - lZMin) < LOCK_THRESHOLD &&
+ isLighthouseAvailable() && // Make sure we have a deck and the Lighthouses are powered
+ sensorsAreCalibrated());
+
+ return result;
+}
+
+static void resetLockData() {
+ lockWriteIndex = 0;
+ for (uint32_t i = 0; i < LOCK_LENGTH; i++) {
+ lockData[i][0] = FLT_MAX;
+ lockData[i][1] = FLT_MAX;
+ lockData[i][2] = FLT_MAX;
+ }
+}
+
+PARAM_GROUP_START(app)
+ PARAM_ADD(PARAM_UINT8, takeoff, &takeOffWhenReady)
+ PARAM_ADD(PARAM_FLOAT, start, &goToInitialPositionWhenReady)
+ PARAM_ADD(PARAM_UINT8, stop, &terminateTrajectoryAndLand)
+ PARAM_ADD(PARAM_FLOAT, offsx, &trajecory_center_offset_x)
+ PARAM_ADD(PARAM_FLOAT, offsy, &trajecory_center_offset_y)
+ PARAM_ADD(PARAM_FLOAT, offsz, &trajecory_center_offset_z)
+ PARAM_ADD(PARAM_UINT8, trajcount, &trajectoryCount)
+PARAM_GROUP_STOP(app)
+
+LOG_GROUP_START(app)
+ LOG_ADD(LOG_UINT8, state, &state)
+ LOG_ADD(LOG_FLOAT, prgr, ¤tProgressInTrajectory)
+ LOG_ADD(LOG_UINT32, uptime, &now)
+ LOG_ADD(LOG_UINT32, flighttime, &flightTime)
+LOG_GROUP_STOP(app)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/cload-all.sh b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/cload-all.sh
new file mode 100755
index 0000000000000000000000000000000000000000..35b4efb5dc6416eaf121ff172ad295dc631ea71f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/cload-all.sh
@@ -0,0 +1,20 @@
+#!/usr/bin/env bash
+echo "Flasing 1"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E701
+echo "Flasing 2"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E702
+echo "Flasing 3"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E703
+echo "Flasing 4"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E704
+echo "Flasing 5"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E705
+echo "Flasing 6"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E706
+echo "Flasing 7"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E707
+echo "Flasing 8"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E708
+echo "Flasing 9"
+python3 -m cfloader flash cf2.bin stm32-fw -w radio://0/10/2M/E7E7E7E709
+
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/control_tower/control_tower.py b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/control_tower/control_tower.py
new file mode 100755
index 0000000000000000000000000000000000000000..b63a2cd579784f2d866da9d04433425d6c95611a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/control_tower/control_tower.py
@@ -0,0 +1,620 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# || ____ _ __
+# +------+ / __ )(_) /_______________ _____ ___
+# | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+# +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+# || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+#
+# Copyright (C) 2019 Bitcraze AB
+#
+# This program is free software; you can redistribute it and/or
+# modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; either version 2
+# of the License, or (at your option) any later version.
+#
+# This program is distributed in the hope that it will be useful,
+# but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+# You should have received a copy of the GNU General Public License
+# along with this program; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston,
+# MA 02110-1301, USA.
+
+import time
+import cflib.crtp # noqa
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+import statistics
+import sys
+import threading
+import math
+
+import zmq
+
+class TrafficController:
+ CS_DISCONNECTED = 0
+ CS_CONNECTING = 1
+ CS_CONNECTED = 2
+
+ STATE_UNKNOWN = -1
+ STATE_IDLE = 0
+ STATE_WAIT_FOR_POSITION_LOCK = 1
+ STATE_WAIT_FOR_TAKE_OFF = 2 # Charging
+ STATE_TAKING_OFF = 3
+ STATE_HOVERING = 4
+ STATE_WAITING_TO_GO_TO_INITIAL_POSITION = 5
+ STATE_GOING_TO_INITIAL_POSITION = 6
+ STATE_RUNNING_TRAJECTORY = 7
+ STATE_GOING_TO_PAD = 8
+ STATE_WAITING_AT_PAD = 9
+ STATE_LANDING = 10
+ STATE_CHECK_CHARGING = 11
+ STATE_REPOSITION_ON_PAD = 12
+ STATE_CRASHED = 13
+
+ NO_PROGRESS = -1000.0
+
+ PRE_STATE_TIMEOUT = 3
+
+ def __init__(self, uri):
+ self.uri = uri
+ self.stay_alive = True
+ self.reset_internal()
+ self.connection_thread = threading.Thread(target=self.process)
+ self.connection_thread.start()
+
+ def reset_internal(self):
+ self.connection_state = self.CS_DISCONNECTED
+ self._cf = None
+ self._log_conf = None
+ self.copter_state = self.STATE_UNKNOWN
+ self.vbat = -1.0
+ self._time_for_next_connection_attempt = 0
+ self.traj_cycles = None
+ self.est_x = 0.0
+ self.est_y = 0.0
+ self.est_z = 0.0
+ self.up_time_ms = 0
+ self.flight_time_ms = 0
+
+ # Pre states are used to prevent multiple calls to a copter
+ # when waiting for the remote state to change
+ self._pre_state_taking_off_end_time = 0
+ self._pre_state_going_to_initial_position_end_time = 0
+
+ def _pre_state_taking_off(self):
+ return self._pre_state_taking_off_end_time > time.time()
+
+ def _pre_state_going_to_initial_position(self):
+ return self._pre_state_going_to_initial_position_end_time > time.time()
+
+ def is_connected(self):
+ return self.connection_state == self.CS_CONNECTED
+
+ def has_found_position(self):
+ return self.copter_state > self.STATE_WAIT_FOR_POSITION_LOCK
+
+ def is_taking_off(self):
+ return self.copter_state == self.STATE_TAKING_OFF or self._pre_state_taking_off()
+
+ def is_ready_for_flight(self):
+ return self.copter_state == self.STATE_HOVERING and not self._pre_state_going_to_initial_position()
+
+ def is_flying(self):
+ return self.copter_state == self.STATE_RUNNING_TRAJECTORY or \
+ self.copter_state == self.STATE_WAITING_TO_GO_TO_INITIAL_POSITION or \
+ self.copter_state == self.STATE_GOING_TO_INITIAL_POSITION or \
+ self._pre_state_going_to_initial_position()
+
+ def is_landing(self):
+ return self.copter_state == self.STATE_GOING_TO_PAD or \
+ self.copter_state == self.STATE_WAITING_AT_PAD or \
+ self.copter_state == self.STATE_LANDING or \
+ self.copter_state == self.STATE_CHECK_CHARGING or \
+ self.copter_state == self.STATE_REPOSITION_ON_PAD
+
+ def is_charging(self):
+ return self.copter_state == self.STATE_WAIT_FOR_TAKE_OFF and not self._pre_state_taking_off()
+
+ def is_crashed(self):
+ return self.copter_state == self.STATE_CRASHED
+
+ def take_off(self):
+ if self.is_charging():
+ if self._cf:
+ self._pre_state_taking_off_end_time = time.time() + self.PRE_STATE_TIMEOUT
+ self._cf.param.set_value('app.takeoff', 1)
+
+ def start_trajectory(self, trajectory_delay, offset_x=0.0, offset_y=0.0, offset_z=0.0):
+ if self.is_ready_for_flight():
+ if self._cf:
+ self._cf.param.set_value('app.offsx', offset_x)
+ self._cf.param.set_value('app.offsy', offset_y)
+ self._cf.param.set_value('app.offsz', offset_z)
+
+ self._pre_state_going_to_initial_position_end_time = time.time() + self.PRE_STATE_TIMEOUT
+ self._cf.param.set_value('app.start', trajectory_delay)
+
+ def force_land(self):
+ if self.connection_state == self.CS_CONNECTED:
+ self._cf.param.set_value('app.stop', 1)
+
+ def set_trajectory_count(self, count):
+ if self.connection_state == self.CS_CONNECTED:
+ self._cf.param.set_value('app.trajcount', count)
+
+ def get_charge_level(self):
+ return self.vbat
+
+ def is_charged_for_flight(self):
+ return self.vbat > 4.10
+
+ def get_traj_cycles(self):
+ return self.traj_cycles
+
+ def process(self):
+ while self.stay_alive:
+ if self.connection_state == self.CS_DISCONNECTED:
+ if time.time() > self._time_for_next_connection_attempt:
+ self._connect()
+
+ time.sleep(1)
+ self._cf.close_link()
+
+ def _connected(self, link_uri):
+ self.connection_state = self.CS_CONNECTED
+ print('Connected to %s' % link_uri)
+
+ self.set_trajectory_count(2)
+ self._setup_logging()
+
+ def _connection_failed(self, link_uri, msg):
+ print('Connection to %s failed: %s' % (link_uri, msg))
+ self._set_disconnected(5)
+
+ def _connection_lost(self, link_uri, msg):
+ print('Connection to %s lost: %s' % (link_uri, msg))
+
+ def _disconnected(self, link_uri):
+ print('Disconnected from %s' % link_uri)
+ self._set_disconnected()
+
+ def _set_disconnected(self, hold_back_time=5):
+ self.reset_internal()
+ self._time_for_next_connection_attempt = time.time() + hold_back_time
+
+ def _connect(self):
+ if self.connection_state != self.CS_DISCONNECTED:
+ print("Can only connect when disconnected")
+ return
+
+ self.connection_state = self.CS_CONNECTING
+
+ self._cf = Crazyflie(rw_cache='./cache')
+
+ self._cf.connected.add_callback(self._connected)
+ self._cf.disconnected.add_callback(self._disconnected)
+ self._cf.connection_failed.add_callback(self._connection_failed)
+ self._cf.connection_lost.add_callback(self._connection_lost)
+
+ print("Connecting to " + self.uri)
+ self._cf.open_link(self.uri)
+
+ def _setup_logging(self):
+ # print("Setting up logging")
+ self._log_conf = LogConfig(name='Tower', period_in_ms=100)
+ self._log_conf.add_variable('app.state', 'uint8_t')
+ self._log_conf.add_variable('app.prgr', 'float')
+ self._log_conf.add_variable('app.uptime', 'uint32_t')
+ self._log_conf.add_variable('app.flighttime', 'uint32_t')
+ self._log_conf.add_variable('pm.vbat', 'float')
+ self._log_conf.add_variable('stateEstimate.x', 'float')
+ self._log_conf.add_variable('stateEstimate.y', 'float')
+
+ self._cf.log.add_config(self._log_conf)
+ self._log_conf.data_received_cb.add_callback(self._log_data)
+ self._log_conf.start()
+
+ def _log_data(self, timestamp, data, logconf):
+ self.copter_state = data['app.state']
+
+ if self.copter_state != self.STATE_WAIT_FOR_TAKE_OFF:
+ self._pre_state_taking_off_end_time = 0
+
+ if self.copter_state != self.STATE_HOVERING:
+ self._pre_state_going_to_initial_position_end_time = 0
+
+ self.vbat = data['pm.vbat']
+
+ self.up_time_ms = data['app.uptime']
+ self.flight_time_ms = data['app.flighttime']
+
+ self.traj_cycles = data['app.prgr']
+ if self.traj_cycles <= self.NO_PROGRESS:
+ self.traj_cycles = None
+
+ self.est_x = data['stateEstimate.x']
+ self.est_y = data['stateEstimate.y']
+
+ def dump(self):
+ print("***", self.uri)
+ print(" Connection state:", self.connection_state)
+ print(" Copter state:", self.copter_state)
+ print(" Bat:", self.vbat)
+ print(" Up time:", self.up_time_ms / 1000)
+ print(" Flight time:", self.flight_time_ms / 1000)
+ print(" _pre_state_taking_off:", self._pre_state_taking_off())
+ print(" _pre_state_going_to_initial_position:", self._pre_state_going_to_initial_position())
+
+ def terminate(self):
+ self.stay_alive = False
+
+
+class TowerBase:
+ def __init__(self, uris, report_socket=None):
+ self.controllers = []
+ self._uris = uris
+ for uri in uris:
+ self.controllers.append(TrafficController(uri))
+ self.report_socket = report_socket
+
+ def connected_count(self):
+ count = 0
+ for controller in self.controllers:
+ if controller.is_connected():
+ count += 1
+ return count
+
+ def flying_count(self):
+ count = 0
+ for controller in self.controllers:
+ if controller.is_flying():
+ count += 1
+ return count
+
+ def find_best_controllers(self):
+ too_low_battery = []
+
+ charging_controllers = []
+ for controller in self.controllers:
+ if controller.is_charging():
+ charge = controller.get_charge_level()
+ if controller.is_charged_for_flight():
+ charging_controllers.append((controller, charge))
+ else:
+ too_low_battery.append(
+ "{} ({:.2f}V)".format(controller.uri, charge))
+
+ if len(too_low_battery) > 0:
+ print("Ready but must charge:", too_low_battery)
+
+ charging_controllers.sort(key=lambda d: d[1], reverse=True)
+
+ return list(map(lambda d: d[0], charging_controllers))
+
+ def land_all(self):
+ for controller in self.controllers:
+ controller.force_land()
+
+ def dump_state(self):
+ print('Waiting for connections...')
+ end_time = time.time() + 40
+ while time.time() < end_time and self.connected_count() < len(
+ self._uris):
+ time.sleep(1)
+
+ print("Dumping state")
+ print()
+ for controller in self.controllers:
+ controller.dump()
+ controller.terminate()
+
+ def send_report(self):
+ if self.report_socket is None:
+ return
+
+ for i, controller in enumerate(self.controllers):
+ state = "idle"
+ if not controller.is_connected():
+ state = "disconnected"
+ elif controller.is_crashed():
+ state = "crashed"
+ elif controller.is_flying():
+ state = "flying"
+ elif controller.is_taking_off():
+ state = "hovering"
+ elif controller.is_landing():
+ state = "landing"
+ elif controller.is_charged_for_flight():
+ state = "ready"
+ elif controller.is_charging():
+ state = "charging"
+
+ try:
+ report = {
+ 'id': i,
+ 'state': state,
+ 'battery': controller.get_charge_level(),
+ 'uptime': controller.up_time_ms,
+ 'flighttime': controller.flight_time_ms,
+ }
+ self.report_socket.send_json(report, zmq.NOBLOCK)
+ except Exception:
+ pass
+
+
+class Tower(TowerBase):
+ def __init__(self, uris, report_socket=None):
+ TowerBase.__init__(self, uris, report_socket)
+
+ def fly(self, wanted):
+ # Wait for all CF to connect (to avoid race)
+ time.sleep(10)
+
+ while True:
+ # print()
+ if wanted:
+ currently_flying = self.flying_count()
+ missing = wanted - currently_flying
+ if missing > 0:
+ print("Want", missing, "more copters")
+ self.prepare_copters(missing)
+ self.start_copters(missing, wanted)
+ else:
+ self.land_all()
+
+ self.send_report()
+
+ time.sleep(0.2)
+
+ def prepare_copters(self, count):
+ prepared_count = 0
+ for controller in self.controllers:
+ if controller.is_taking_off() or controller.is_ready_for_flight():
+ prepared_count += 1
+
+ missing = count - prepared_count
+ new_prepared_count = 0
+ if missing > 0:
+ print("Trying to prepare", missing, "copter(s)")
+ best_controllers = self.find_best_controllers()
+ for best_controller in best_controllers[:missing]:
+ if best_controller:
+ print("Preparing " + best_controller.uri)
+ new_prepared_count += 1
+ best_controller.take_off()
+ print("Prepared", new_prepared_count, "copter(s)")
+
+ def start_copters(self, count, total):
+ unused_slot_times = self.find_unused_slot_times(total)
+ # print("Unused slot times:", unused_slot_times)
+
+ slot_index = 0
+ for controller in self.controllers:
+ if controller.is_ready_for_flight():
+ if slot_index < count and slot_index < len(unused_slot_times):
+ trajectory_delay = 1.0 - unused_slot_times[slot_index]
+ if trajectory_delay == 1.0:
+ trajectory_delay = 0.0
+ print("Starting prepared copter", controller.uri,
+ 'with a delay of', trajectory_delay)
+ controller.start_trajectory(trajectory_delay, offset_z=0.25)
+ slot_index += 1
+ else:
+ return
+
+ def find_unused_slot_times(self, total_slots):
+ # Times are measured in trajectory cycles
+ start_times = []
+ for controller in self.controllers:
+ if controller.is_flying():
+ start_time = controller.get_traj_cycles()
+
+ # If a is flying but has not updated the start time yes we do
+ # not have enough information to calculate empty slots.
+ # Return no unused slots for now
+ if start_time is None:
+ # print("Start time is unknown, hold back")
+ return []
+
+ start_times.append(start_time)
+
+ # print("Used start times", start_times)
+ return self.crunch_slot_times(start_times, total_slots)
+
+ def crunch_slot_times(self, start_times, total_slots):
+ # Start times may be multiple cycles ago, remove integer parts
+ start_time_fractions = list(map(lambda t: t % 1.0, start_times))
+
+ # Find the average offset
+ offsets = list(
+ map(lambda t: (t * total_slots) % 1.0, start_time_fractions))
+ offset = 0.0
+ if len(start_times) > 0:
+ offset = statistics.mean(offsets) / total_slots
+
+ adjusted_start_times = list(
+ map(lambda t: t - offset, start_time_fractions))
+
+ closest_slots = list(
+ map(lambda t: round(t * total_slots), adjusted_start_times))
+ unused_slots = list(
+ filter(lambda s: s not in closest_slots, range(total_slots)))
+
+ unsued_slot_times = list(
+ map(lambda s: offset + s / total_slots, unused_slots))
+ return unsued_slot_times
+
+
+class SyncTower(TowerBase):
+ def __init__(self, uris, report_socket=None):
+ TowerBase.__init__(self, uris, report_socket)
+ self.spacing = 0.40
+ self.line_orientation = math.radians(40)
+
+ master_offset = [0, 0]
+ self._start_position = [
+ [ 0 + master_offset[0], 0 + master_offset[1], 0],
+ [ 0 + master_offset[0], 0.5 + master_offset[1], 0],
+ [ 0 + master_offset[0], -0.5 + master_offset[1], 0],
+ [ 0.5 + master_offset[0], 0 + master_offset[1], 0],
+ [-0.5 + master_offset[0], 0 + master_offset[1], 0],
+ [ 0.5 + master_offset[0], 0.5 + master_offset[1], 0],
+ [-0.5 + master_offset[0], -0.5 + master_offset[1], 0],
+ [-0.5 + master_offset[0], 0.5 + master_offset[1], 0],
+ [ 0.5 + master_offset[0], -0.5 + master_offset[1], 0]
+ ]
+
+
+ def fly(self, wanted):
+ while True:
+ if wanted:
+ best = self.find_best_controllers()
+ ready = list(
+ filter(lambda ctrlr: ctrlr.has_found_position(), best))
+ found_count = len(ready)
+
+ if found_count >= wanted:
+ self.start_line(wanted, ready)
+ print("Started, I'm done")
+ sys.exit(0)
+ else:
+ print('Can only find ', found_count,
+ 'copter(s) that are charged and ready')
+ else:
+ self.land_all()
+
+ self.send_report()
+
+ time.sleep(0.2)
+
+ def start_line(self, wanted, best):
+ self.prepare_copters(wanted, best)
+
+ while not self.start_copters(wanted, best):
+ time.sleep(1)
+
+ def prepare_copters(self, count, best_controllers):
+ prepared_count = 0
+ for controller in self.controllers:
+ if controller.is_taking_off() or controller.is_ready_for_flight():
+ prepared_count += 1
+
+ missing = count - prepared_count
+ new_prepared_count = 0
+ if missing > 0:
+ print("Trying to prepare", missing, "copter(s)")
+ for best_controller in best_controllers[:missing]:
+ if best_controller:
+ print("Preparing " + best_controller.uri)
+ new_prepared_count += 1
+ best_controller.take_off()
+ print("Prepared", new_prepared_count, "copter(s)")
+
+ def start_copters(self, wanted, best):
+ ready = []
+ for controller in best:
+ if controller.is_ready_for_flight():
+ ready.append(controller)
+
+ if len(ready) >= wanted:
+ ready_positions = []
+ for controller in ready:
+ ready_positions.append([controller.est_x, controller.est_y, controller.est_z])
+
+ offsets = self.get_start_offsets(ready_positions, self._start_position[:wanted])
+
+ index = 0
+ for controller in ready:
+ offset_x = offsets[index][0]
+ offset_y = offsets[index][1]
+ offset_z = offsets[index][2]
+ controller.start_trajectory(0.0, offset_x=offset_x,
+ offset_y=offset_y,
+ offset_z=offset_z)
+ index += 1
+
+ return True
+ else:
+ return False
+
+ def calculate_distance(self, p1, p2):
+ diff = [0,0,0]
+ diff[0] = p1[0]-p2[0]
+ diff[1] = p1[1]-p2[1]
+ diff[2] = p1[2]-p2[2]
+ return math.sqrt( (diff[0]*diff[0]) + (diff[1]*diff[1]) + (diff[2]*diff[2]) )
+
+ def find_closest_target(self, start_position, targets_position):
+ min_distance = None
+ closest_index = 0
+ for index, target in enumerate(targets_position):
+ dist = self.calculate_distance(start_position, target)
+ if min_distance is None or dist < min_distance:
+ min_distance = dist
+ closest_index = index
+
+ return targets_position[closest_index]
+
+ def get_start_offsets(self, start_positions, targets_positions):
+ offsets = []
+ target_used = [False,] * len(targets_positions)
+ for start in start_positions:
+ candidate_targets = []
+ for i in range(len(targets_positions)):
+ if not target_used[i]:
+ candidate_targets.append(targets_positions[i])
+
+ closest_target = self.find_closest_target(start, candidate_targets)
+ target_used[targets_positions.index(closest_target)] = True
+ offsets.append(closest_target)
+
+ return offsets
+
+
+uris = [
+ 'radio://0/10/2M/E7E7E7E701',
+ 'radio://0/10/2M/E7E7E7E702',
+ 'radio://0/10/2M/E7E7E7E703',
+ 'radio://0/10/2M/E7E7E7E704',
+ 'radio://0/10/2M/E7E7E7E705',
+ 'radio://0/10/2M/E7E7E7E706',
+ 'radio://0/10/2M/E7E7E7E707',
+ 'radio://0/10/2M/E7E7E7E708',
+ 'radio://0/10/2M/E7E7E7E709'
+]
+
+count = 1
+mode = 'normal'
+
+if len(sys.argv) > 1:
+ if sys.argv[1] == 'd':
+ mode = 'dump'
+ else:
+ count = int(sys.argv[1])
+
+if len(sys.argv) > 2:
+ if sys.argv[2] == 's':
+ mode = 'synch'
+
+context = zmq.Context()
+socket = context.socket(zmq.PUSH)
+socket.bind("tcp://*:5555")
+
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+print('Starting tower with', count, 'Crazyflie(s)')
+if mode == 'synch':
+ print('Flying with synchronized trajectories')
+ tower = SyncTower(uris, socket)
+else:
+ print('Flying with interleaved trajectories')
+ tower = Tower(uris, socket)
+
+if not mode == 'dump':
+ tower.fly(count)
+else:
+ tower.dump_state()
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/control_tower/towergui.py b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/control_tower/towergui.py
new file mode 100755
index 0000000000000000000000000000000000000000..9b737c76790608ac4d71a63a573a4a23536c9fcb
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/control_tower/towergui.py
@@ -0,0 +1,158 @@
+#!/usr/bin/env python3
+import tkinter
+from tkinter import *
+import tkinter.ttk as ttk
+import zmq
+import threading
+import time
+
+
+class Crazyflie(ttk.Frame):
+ def __init__(self, parent, ident):
+ ttk.Frame.__init__(self, parent)
+
+ self['padding'] = 10
+
+ self._name = Label(self, text="Crazyflie #{}".format(ident+1))
+ self._name.grid(row=0, column=0)
+
+ self._status = Label(self, text="IDLE", fg='grey', font=("ubuntu", 33), width=10)
+ self._status.grid(row=1, column=0)
+
+ self._battery_label = Label(self, text="Battery:")
+ self._battery_label.grid(row=2, column=0)
+
+ self._battery_frame = ttk.Frame(self)
+ self._battery_frame.grid(row=3, column=0, sticky="ew")
+ self._battery_frame.columnconfigure(1, weight=2)
+
+ self._battery_voltage = ttk.Label(self._battery_frame, text="3.0V", padding=(0,0,10,0))
+ self._battery_voltage.grid(row=0, column=0)
+
+ self._battery_bar = ttk.Progressbar(self._battery_frame, orient=HORIZONTAL)
+ self._battery_bar['value'] = 50
+ self._battery_bar.grid(row=0, column=1, sticky="ew")
+
+ self._time_frame = ttk.Frame(self)
+ self._time_frame.grid(row=4, column=0)
+
+ up_time = Label(self._time_frame, text="Up time: ", fg="grey", font=("ubuntu", 20))
+ up_time.grid(row=0, column=0)
+
+ self._up_time_label = Label(self._time_frame, text="0:00:00", font=("ubuntu", 20))
+ self._up_time_label.grid(row=0, column=1)
+
+ flight_time = Label(self._time_frame, text="Flight time: ", fg="grey", font=("ubuntu", 20))
+ flight_time.grid(row=1, column=0)
+
+ self._flight_time_label = Label(self._time_frame, text="0:00:00", font=("ubuntu", 20))
+ self._flight_time_label.grid(row=1, column=1)
+
+
+
+ def set_state(self, state):
+ if state == "idle":
+ self._status.config(text="IDLE", fg="grey")
+ elif state == "disconnected":
+ self._status.config(text="Offline", fg="grey")
+ elif state == "crashed":
+ self._status.config(text="Crashed", fg="purple")
+ elif state == "charging":
+ self._status.config(text="Charging", fg="red")
+ elif state == "ready":
+ self._status.config(text="Ready", fg="orange")
+ elif state == "flying":
+ self._status.config(text="Flying", fg="green")
+ elif state == "hovering":
+ self._status.config(text="Take off", fg="green")
+ elif state == "landing":
+ self._status.config(text="Landing", fg="green")
+ else:
+ self._status.config(text="ERROR", fg="purple")
+ print("Error, state", state, "not handled")
+
+ def set_battery(self, voltage):
+ self._battery_voltage['text'] = "{:.2f}V".format(voltage)
+
+ percent = (voltage - 3.0)*100.0/1.1
+
+ self._battery_bar['value'] = percent
+
+ def set_uptime(self, ms):
+ seconds = int(ms/1000) % 60
+ minutes = int((ms/1000)/60) % 60
+ hours = int((ms/1000)/3600)
+ self._up_time_label['text'] = "{}:{:02}:{:02}".format(hours, minutes, seconds)
+ if ms == 0:
+ self._up_time_label['fg'] = "grey"
+ else:
+ self._up_time_label['fg'] = "black"
+
+ def set_flighttime(self, ms):
+ seconds = int(ms/1000) % 60
+ minutes = int((ms/1000)/60) % 60
+ hours = int((ms/1000)/3600)
+ self._flight_time_label['text'] = "{}:{:02}:{:02}".format(hours, minutes, seconds)
+ if ms == 0:
+ self._flight_time_label['fg'] = "grey"
+ else:
+ self._flight_time_label['fg'] = "black"
+
+
+root = tkinter.Tk()
+root.title("ICRA2019 Bitcraze Control Tower")
+
+content = ttk.Frame(root)
+content.grid(column=0, row=0)
+root.columnconfigure(0, weight=1)
+root.rowconfigure(0, weight=1)
+
+cfs = []
+
+for i in range(9):
+ r = int(i/3)
+ c = int(i%3)
+ cf = Crazyflie(content, i)
+ cf.grid(column=c, row=r)
+ cfs.append(cf)
+
+ cf.set_state("error")
+ cf.set_battery(3.0+(i/10.0))
+
+context = zmq.Context()
+
+socket = context.socket(zmq.PULL)
+# socket.connect("tcp://bitcrazeDemo:5555")
+socket.connect("tcp://127.0.0.1:5555")
+socket.setsockopt(zmq.RCVTIMEO, 1000)
+
+
+def receive_thread():
+ last_updated = [0]*len(cfs)
+ while True:
+ try:
+ report = socket.recv_json()
+ print(report)
+
+ cfs[report['id']].set_battery(report['battery'])
+ cfs[report['id']].set_state(report['state'])
+ cfs[report['id']].set_uptime(report['uptime'])
+ cfs[report['id']].set_flighttime(report['flighttime'])
+ last_updated[report['id']] = time.time()
+ except zmq.error.Again:
+ pass
+
+ for i in range(len(cfs)):
+ if last_updated[i] < (time.time()-1):
+ cfs[i].set_state("idle")
+ cfs[i].set_battery(0)
+ cfs[i].set_uptime(0)
+ cfs[i].set_flighttime(0)
+
+
+cfs[0].set_uptime(300000)
+cfs[0].set_flighttime(140000)
+
+threading.Thread(target=receive_thread, daemon=True).start()
+
+root.mainloop()
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/visualization-live.py b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/visualization-live.py
new file mode 100644
index 0000000000000000000000000000000000000000..751f672ca82d587326a6b813c33d266cdcfe6c66
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/examples/demos/swarm_demo/visualization-live.py
@@ -0,0 +1,173 @@
+from vispy import scene
+from vispy.scene import XYZAxis, LinePlot, Node, Mesh, TurntableCamera, Markers
+import numpy as np
+from vispy.visuals.transforms import MatrixTransform
+import math
+import threading
+import time
+import logging
+import cflib.crtp
+from cflib.crazyflie import Crazyflie
+from cflib.crazyflie.log import LogConfig
+from cflib.crazyflie.syncCrazyflie import SyncCrazyflie
+from cflib.crazyflie.syncLogger import SyncLogger
+from cflib.crazyflie.mem import MemoryElement
+
+logging.basicConfig(level=logging.ERROR)
+
+
+class AnimCanvas(scene.SceneCanvas):
+ def __init__(self):
+ scene.SceneCanvas.__init__(self, keys='interactive', size=(800, 600),
+ show=True)
+
+
+class Visulizer:
+ def __init__(self):
+ self.terminate = False
+
+ self.canvas = AnimCanvas()
+
+ self.view = self.canvas.central_widget.add_view()
+ self.view.bgcolor = '#ffffff'
+ self.view.camera = TurntableCamera(fov=10.0, distance=40.0, up='+z',
+ center=(0.0, 1.0, 0.0))
+
+ self.scene = self.view.scene
+
+ XYZAxis(parent=self.scene)
+
+ self.base_stations = [
+ {
+ 'origin': [-1.9584829807281494, 0.5422989726066589, 3.152726888656616],
+ 'mat': [
+ [0.7972149848937988, -0.004273999948054552, 0.6036810278892517],
+ [0.0, 0.9999750256538391, 0.007079999893903732],
+ [-0.6036959886550903, -0.005644999910145998, 0.7971950173377991]]
+ },
+ {
+ 'origin': [1.0623979568481445, -2.563488006591797, 3.1123669147491455],
+ 'mat': [
+ [0.018067000433802605, -0.9993360042572021, 0.03164700046181679],
+ [0.7612509727478027, 0.034269001334905624, 0.6475520133972168],
+ [-0.6482059955596924, 0.012392000295221806, 0.7613639831542969]]
+ },
+ ]
+
+ self.angles = [
+ [0.19170784950256348, 0.01734159141778946],
+ [-0.12198804318904877, -0.3505938947200775],
+ ]
+
+ self.objs = [{}, {}]
+ self.generate_scene()
+
+ def generate_scene(self):
+ p = [0, 0, 0]
+
+ for i in range(2):
+ objs = self.objs[i]
+
+ if i == 0:
+ objs['bs'] = self.marker(p, color='green')
+ else:
+ objs['bs'] = self.marker(p, color='red')
+
+ objs['tripod'] = self.line(p, p, color='blue')
+ objs['center_line'] = self.line(p, p, color="green")
+ objs['beam'] = self.line(p, p, color="red")
+
+ def update_scene(self):
+ normal = [1, 0, 0]
+ for i in range(2):
+ objs = self.objs[i]
+
+ bs = self.base_stations[i]
+ origin = bs['origin']
+ self.update_marker(objs['bs'], origin)
+ self.update_line(objs['tripod'], [origin[0], origin[1], 0], origin)
+
+ rot_bs = np.array(bs['mat'])
+ center_line = np.dot(rot_bs, normal)
+ self.update_line(objs['center_line'], origin,
+ np.add(center_line, origin))
+
+ ################
+
+ a = self.angles[i]
+
+ a_x = a[0]
+ a_y = a[1]
+
+ beam_direction = np.array([1, math.tan(a_x), math.tan(a_y)])
+ beam_line_local = 4 * beam_direction / np.linalg.norm(beam_direction)
+ beam_line = np.dot(rot_bs, beam_line_local)
+
+ self.update_line(objs['beam'], origin, np.add(beam_line, origin))
+
+ def marker(self, pos, color='black'):
+ return Markers(pos=np.array(pos, ndmin=2), face_color=color,
+ parent=self.scene)
+
+ def update_marker(self, marker, pos):
+ marker.set_data(np.array(pos, ndmin=2))
+
+ def line(self, p1, p2, color='black'):
+ return LinePlot([p1, p2], color=color, parent=self.scene,
+ marker_size=0)
+
+ def update_line(self, line, p1, p2):
+ line.set_data(data=[p1, p2], marker_size=0)
+
+ def run(self):
+ print('starting CF thread')
+ self.t = threading.Thread(target=self.cf_handler)
+ self.t.start()
+
+ self.canvas.app.run()
+ self.terminate = True
+
+ def cf_handler(self):
+ uri = "radio://0/30"
+
+ lg_block = LogConfig(name='LH', period_in_ms=50)
+ lg_block.add_variable('lighthouse.angle0x', 'float')
+ lg_block.add_variable('lighthouse.angle0y', 'float')
+ lg_block.add_variable('lighthouse.angle1x', 'float')
+ lg_block.add_variable('lighthouse.angle1y', 'float')
+
+ cf = Crazyflie(rw_cache='./cache')
+ with SyncCrazyflie(uri, cf=cf) as scf:
+ print("Getting LH geometry")
+ mems = scf.cf.mem.get_mems(MemoryElement.TYPE_LH)
+ mems[0].update(self._update_geometry)
+
+ with SyncLogger(scf, lg_block) as logger:
+ for log_entry in logger:
+ data = log_entry[1]
+
+ self.angles[0][0] = data['lighthouse.angle0x']
+ self.angles[0][1] = data['lighthouse.angle0y']
+ self.angles[1][0] = data['lighthouse.angle1x']
+ self.angles[1][1] = data['lighthouse.angle1y']
+
+ if self.terminate:
+ break
+
+ self.update_scene()
+
+ def _update_geometry(self, mem):
+ print("Received LH geometry")
+ for i in range(2):
+ self.base_stations[i]['origin'] = mem.geometry_data[i].origin
+ self.base_stations[i]['mat'] = mem.geometry_data[i].rotation_matrix
+ print(self.base_stations[i])
+
+ self.update_scene()
+
+
+# Initialize the low-level drivers (don't list the debug drivers)
+cflib.crtp.init_drivers(enable_debug_driver=False)
+
+viz = Visulizer()
+viz.run()
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/generated/test/build/.gitkeep b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/generated/test/build/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/generated/test/mocks/.gitkeep b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/generated/test/mocks/.gitkeep
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/module.json b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/module.json
new file mode 100644
index 0000000000000000000000000000000000000000..a49897f452f73d8d2ceb606916daaaf3f5058dc6
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/module.json
@@ -0,0 +1,29 @@
+{
+ "version": "2.0",
+ "environmentReqs": {
+ "build": ["arm-none-eabi"],
+ "build-docs": ["doxygen"]
+ },
+ "artifacts": {
+ "file": [
+ {
+ "source": "*.bin",
+ "insertTag": true,
+ "destination": "currDir"
+ },
+ {
+ "source": "*.dfu",
+ "insertTag": true,
+ "destination": "currDir"
+ }
+ ]
+ },
+ "targets": {
+ "cf2": [
+ "PLATFORM=cf2"
+ ],
+ "tag": [
+ "PLATFORM=tag"
+ ]
+ }
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/api/deck_analog.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/api/deck_analog.c
index e0a6dabc598f415366943c03bf66f76b14c424ae..6296ff178a10349455c67c0b717ced046c285867 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/api/deck_analog.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/api/deck_analog.c
@@ -27,8 +27,6 @@
#include "deck.h"
#include "stm32fxxx.h"
-#include "stm32f4xx_conf.h"
-#include "stm32f4xx_adc.h"
static uint32_t stregResolution;
static uint32_t adcRange;
@@ -80,7 +78,7 @@ static uint16_t analogReadChannel(uint8_t channel)
// while(ADC_GetFlagStatus(ADC2, ADC_FLAG_EOC) == RESET);
/* Get the conversion value */
- return 0;//ADC_GetConversionValue(ADC2);
+ return ADC_GetConversionValue(ADC2);
}
uint16_t analogRead(const deckPin_t pin)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck.c
index 70576aab99f010bdaf0f8237a9f24ed1ecdb4572..b0d8ca974d479e9cee6ea2ce43651e29956b006e 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck.c
@@ -27,7 +27,7 @@
#define DEBUG_MODULE "DECK_CORE"
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include "deck.h"
#include "deck_memory.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_drivers.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_drivers.c
index afc5ea72be13e1a8847228a5a46cddfa3cc245a5..77fd37a8caa6dd8a951c70c2ada39ba7339d3fa9 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_drivers.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_drivers.c
@@ -49,25 +49,24 @@ static int driversLen;
// Init the toc access variables. Lazy initialisation: it is going to be done
// the first time any api function is called.
static void deckdriversInit() {
- //COMMENTED FIRMWARE
- // static bool init = false;
- // if (!init) {
- // int i;
-
- // drivers = &_deckDriver_start;
- // driversLen = &_deckDriver_stop - &_deckDriver_start;
- // init = true;
-
- // DECK_DRV_DBG_PRINT("Found %d drivers\n", driversLen);
- // for (i=0; i<driversLen; i++) {
- // if (drivers[i]->name) {
- // DECK_DRV_DBG_PRINT("VID:PID %02x:%02x (%s)\n", drivers[i]->vid, drivers[i]->pid, drivers[i]->name);
- // } else {
- // DECK_DRV_DBG_PRINT("VID:PID %02x:%02x\n", drivers[i]->vid, drivers[i]->pid);
- // }
+ static bool init = false;
+ if (!init) {
+ int i;
+
+ drivers = &_deckDriver_start;
+ driversLen = &_deckDriver_stop - &_deckDriver_start;
+ init = true;
+
+ DECK_DRV_DBG_PRINT("Found %d drivers\n", driversLen);
+ for (i=0; i<driversLen; i++) {
+ if (drivers[i]->name) {
+ DECK_DRV_DBG_PRINT("VID:PID %02x:%02x (%s)\n", drivers[i]->vid, drivers[i]->pid, drivers[i]->name);
+ } else {
+ DECK_DRV_DBG_PRINT("VID:PID %02x:%02x\n", drivers[i]->vid, drivers[i]->pid);
+ }
- // }
- // }
+ }
+ }
}
int deckDriverCount() {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_info.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_info.c
index b765b16b46ddb295ec2bd102af8d87751585d9c3..8d3045693541d8500ad8c9d93620ee96017b0d54 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_info.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_info.c
@@ -27,7 +27,7 @@
#include <stdlib.h>
#include <stdbool.h>
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#define DEBUG_MODULE "DECK_INFO"
@@ -326,7 +326,7 @@ int deckTlvGetString(TlvArea *tlv, int type, char *string, int length) {
// }
// memcpy(string, &tlv->data[pos+2], strlength);
- // string[gth] = '\0';
+ // string[strlength] = '\0';
// return strlength;
// } else {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_memory.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_memory.c
index 818c4532b12e70e9f0ea63828ec6ada3e2a2ea0b..0532654db15933b6ccea49b6b6f170676529de50 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_memory.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_memory.c
@@ -29,7 +29,7 @@
*/
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include "deck_memory.h"
#include "deck_core.h"
#include "mem.h"
@@ -111,8 +111,7 @@ static void populateDeckMemoryInfo(uint8_t buffer[], const uint8_t deckNr) {
memcpy(&buffer[OFFS_REQ_HASH], &deckMemDef->requiredHash, 4);
memcpy(&buffer[OFFS_REQ_LEN], &deckMemDef->requiredSize, 4);
memcpy(&buffer[OFFS_BASE_ADDR], &baseAddress, 4);
- //COMMENTED FIRMWARE
- // strncpy((char*)&buffer[OFFS_NAME], info->driver->name, NAME_LEN_EX_ZERO_TREM);
+ strncpy((char*)&buffer[OFFS_NAME], info->driver->name, NAME_LEN_EX_ZERO_TREM);
}
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_test.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_test.c
index 31608a04d73bef17bd570ecfc0bcbe236ba0cd58..3630b3c99a699137ff6a29b66213b6414bddd413 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_test.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/core/deck_test.c
@@ -24,7 +24,7 @@
* deck_test.c - Test utility functions for testing decks.
*/
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include "stm32fxxx.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/interface/locodeck.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/interface/locodeck.h
index 9cc36b84eea4779a7a1bdacb3a7a7b3b0c55fcaa..ad869a62a36bd8f38979b96aae3965c855e5e33f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/interface/locodeck.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/interface/locodeck.h
@@ -37,7 +37,6 @@
#include <stdint.h>
#include "FreeRTOS.h"
-#include "FreeRTOSConfig.h"
//COMMENTED FIRMWARE
//#include "libdw1000.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/activeMarkerDeck.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/activeMarkerDeck.c
index 4eda70ff5af80d192d2d6697d800d44155a2f540..b5d1ecf58c6b2501285fb1caa1eacb1a7ce9ebcf 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/activeMarkerDeck.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/activeMarkerDeck.c
@@ -118,22 +118,21 @@ static bool activeMarkerDeckTest() {
return false;
}
-//COMMENTED FIRMWARE
-// #ifndef ACTIVE_MARKER_DECK_TEST
-// if (0 == strcmp("Qualisys0.A", versionString)) {
-// deckFwVersion = version_0_A;
-// } else if (0 == strcmp("Qualisys1.0", versionString)) {
-// deckFwVersion = version_1_0;
-// }
-
-// isVerified = (versionUndefined != deckFwVersion);
-// if (! isVerified) {
-// DEBUG_PRINT("Incompatible deck FW\n");
-// }
-// #else
-// isVerified = true;
-// deckFwVersion = version_1_0;
-// #endif
+#ifndef ACTIVE_MARKER_DECK_TEST
+ if (0 == strcmp("Qualisys0.A", versionString)) {
+ deckFwVersion = version_0_A;
+ } else if (0 == strcmp("Qualisys1.0", versionString)) {
+ deckFwVersion = version_1_0;
+ }
+
+ isVerified = (versionUndefined != deckFwVersion);
+ if (! isVerified) {
+ DEBUG_PRINT("Incompatible deck FW\n");
+ }
+#else
+ isVerified = true;
+ deckFwVersion = version_1_0;
+#endif
return isVerified;
}
@@ -198,9 +197,7 @@ static void task(void *param) {
delay = POLL_UPDATE_PERIOD_MS;
}
- //COMMENTED FIRMWARE
- //vTaskDelay(M2T(delay));
- vTaskDelay(delay);
+ vTaskDelay(M2T(delay));
}
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/aideck.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/aideck.c
index aaf59483271f17d37e7439c129c545b32857f3f0..775925d2fd888b0f63451e3c75a888342cbf583e 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/aideck.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/aideck.c
@@ -27,7 +27,7 @@
#include <stdint.h>
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include <stdio.h>
#include "stm32fxxx.h"
@@ -37,11 +37,10 @@
#include "debug.h"
#include "deck.h"
#include "FreeRTOS.h"
-#include "FreeRTOSConfig.h"
#include "task.h"
#include "queue.h"
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include <stdlib.h>
#include <math.h>
#include "log.h"
@@ -86,9 +85,7 @@ static void NinaTask(void *param)
static void Gap8Task(void *param)
{
systemWaitStart();
- //COMMENTED FIRMWARE
- // vTaskDelay(M2T(1000));
- vTaskDelay(1000);
+ vTaskDelay(M2T(1000));
// Pull the reset button to get a clean read out of the data
pinMode(DECK_GPIO_IO4, OUTPUT);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/bigquad.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/bigquad.c
index ad6eed88cde2024af6a15c7dc38ed9acf11a9f74..a6d6da352242e264401c54b9e418e940beced9bb 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/bigquad.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/bigquad.c
@@ -27,7 +27,7 @@
#include <stdint.h>
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include "stm32fxxx.h"
#include "config.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/cppmdeck.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/cppmdeck.c
index adb140e1e29c9279ce57ce8e04cfd5e8c3e4e3f7..c2c9a0bc30c3c63063550e09fda78b4211db554a 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/cppmdeck.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/cppmdeck.c
@@ -27,7 +27,7 @@
#include <stdint.h>
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include "stm32fxxx.h"
#include "config.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/flowdeck_v1v2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/flowdeck_v1v2.c
index 191593fa32f313640586242684bd893841611c2c..b44fc7100b2612df70d844a338eb4405b817aef6 100755
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/flowdeck_v1v2.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/flowdeck_v1v2.c
@@ -83,83 +83,82 @@ static float flowStdFixed = 2.0f;
static void flowdeckTask(void *param)
{
- //COMMENTED FIRMWARE
-// systemWaitStart();
-
-// uint64_t lastTime = usecTimestamp();
-// while(1) {
-// vTaskDelay(10);
-
-// pmw3901ReadMotion(NCS_PIN, ¤tMotion);
-
-// // Flip motion information to comply with sensor mounting
-// // (might need to be changed if mounted differently)
-// int16_t accpx = -currentMotion.deltaY;
-// int16_t accpy = -currentMotion.deltaX;
-
-// // Outlier removal
-// if (abs(accpx) < OULIER_LIMIT && abs(accpy) < OULIER_LIMIT) {
-
-// if (useAdaptiveStd)
-// {
-// // The standard deviation is fitted by measurements flying over low and high texture
-// // and looking at the shutter time
-// float shutter_f = (float)currentMotion.shutter;
-// stdFlow=0.0007984f *shutter_f + 0.4335f;
-
-
-// // The formula with the amount of features instead
-// /*float squal_f = (float)currentMotion.squal;
-// stdFlow = -0.01257f * squal_f + 4.406f; */
-// if (stdFlow < 0.1f) stdFlow=0.1f;
-// } else {
-// stdFlow = flowStdFixed;
-// }
-
-
-// // Form flow measurement struct and push into the EKF
-// flowMeasurement_t flowData;
-// flowData.stdDevX = stdFlow;
-// flowData.stdDevY = stdFlow;
-// flowData.dt = 0.01;
-
-// #if defined(USE_MA_SMOOTHING)
-// // Use MA Smoothing
-// pixelAverages.averageX[pixelAverages.ptr] = (float32_t)accpx;
-// pixelAverages.averageY[pixelAverages.ptr] = (float32_t)accpy;
-
-// float32_t meanX;
-// float32_t meanY;
-
-// arm_mean_f32(pixelAverages.averageX, AVERAGE_HISTORY_LENGTH, &meanX);
-// arm_mean_f32(pixelAverages.averageY, AVERAGE_HISTORY_LENGTH, &meanY);
-
-// pixelAverages.ptr = (pixelAverages.ptr + 1) % AVERAGE_HISTORY_LENGTH;
-
-// flowData.dpixelx = (float)meanX; // [pixels]
-// flowData.dpixely = (float)meanY; // [pixels]
-// #elif defined(USE_LP_FILTER)
-// // Use LP filter measurements
-// flowData.dpixelx = LP_CONSTANT * dpixelx_previous + (1.0f - LP_CONSTANT) * (float)accpx;
-// flowData.dpixely = LP_CONSTANT * dpixely_previous + (1.0f - LP_CONSTANT) * (float)accpy;
-// dpixelx_previous = flowData.dpixelx;
-// dpixely_previous = flowData.dpixely;
-// #else
-// // Use raw measurements
-// flowData.dpixelx = (float)accpx;
-// flowData.dpixely = (float)accpy;
-// #endif
-// // Push measurements into the estimator if flow is not disabled
-// // and the PMW flow sensor indicates motion detection
-// if (!useFlowDisabled && currentMotion.motion == 0xB0) {
-// flowData.dt = (float)(usecTimestamp()-lastTime)/1000000.0f;
-// lastTime = usecTimestamp();
-// estimatorEnqueueFlow(&flowData);
-// }
-// } else {
-// outlierCount++;
-// }
-// }
+ systemWaitStart();
+
+ uint64_t lastTime = usecTimestamp();
+ while(1) {
+ vTaskDelay(10);
+
+ pmw3901ReadMotion(NCS_PIN, ¤tMotion);
+
+ // Flip motion information to comply with sensor mounting
+ // (might need to be changed if mounted differently)
+ int16_t accpx = -currentMotion.deltaY;
+ int16_t accpy = -currentMotion.deltaX;
+
+ // Outlier removal
+ if (abs(accpx) < OULIER_LIMIT && abs(accpy) < OULIER_LIMIT) {
+
+ if (useAdaptiveStd)
+ {
+ // The standard deviation is fitted by measurements flying over low and high texture
+ // and looking at the shutter time
+ float shutter_f = (float)currentMotion.shutter;
+ stdFlow=0.0007984f *shutter_f + 0.4335f;
+
+
+ // The formula with the amount of features instead
+ /*float squal_f = (float)currentMotion.squal;
+ stdFlow = -0.01257f * squal_f + 4.406f; */
+ if (stdFlow < 0.1f) stdFlow=0.1f;
+ } else {
+ stdFlow = flowStdFixed;
+ }
+
+
+ // Form flow measurement struct and push into the EKF
+ flowMeasurement_t flowData;
+ flowData.stdDevX = stdFlow;
+ flowData.stdDevY = stdFlow;
+ flowData.dt = 0.01;
+
+#if defined(USE_MA_SMOOTHING)
+ // Use MA Smoothing
+ pixelAverages.averageX[pixelAverages.ptr] = (float32_t)accpx;
+ pixelAverages.averageY[pixelAverages.ptr] = (float32_t)accpy;
+
+ float32_t meanX;
+ float32_t meanY;
+
+ arm_mean_f32(pixelAverages.averageX, AVERAGE_HISTORY_LENGTH, &meanX);
+ arm_mean_f32(pixelAverages.averageY, AVERAGE_HISTORY_LENGTH, &meanY);
+
+ pixelAverages.ptr = (pixelAverages.ptr + 1) % AVERAGE_HISTORY_LENGTH;
+
+ flowData.dpixelx = (float)meanX; // [pixels]
+ flowData.dpixely = (float)meanY; // [pixels]
+#elif defined(USE_LP_FILTER)
+ // Use LP filter measurements
+ flowData.dpixelx = LP_CONSTANT * dpixelx_previous + (1.0f - LP_CONSTANT) * (float)accpx;
+ flowData.dpixely = LP_CONSTANT * dpixely_previous + (1.0f - LP_CONSTANT) * (float)accpy;
+ dpixelx_previous = flowData.dpixelx;
+ dpixely_previous = flowData.dpixely;
+#else
+ // Use raw measurements
+ flowData.dpixelx = (float)accpx;
+ flowData.dpixely = (float)accpy;
+#endif
+ // Push measurements into the estimator if flow is not disabled
+ // and the PMW flow sensor indicates motion detection
+ if (!useFlowDisabled && currentMotion.motion == 0xB0) {
+ flowData.dt = (float)(usecTimestamp()-lastTime)/1000000.0f;
+ lastTime = usecTimestamp();
+ estimatorEnqueueFlow(&flowData);
+ }
+ } else {
+ outlierCount++;
+ }
+ }
}
static void flowdeck1Init()
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/gtgps.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/gtgps.c
index 505caf7688d24d73919658bf479b9f00f3fbb00d..92e0202e39a680c189f14466b22f7f88fe1b9162 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/gtgps.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/gtgps.c
@@ -27,7 +27,7 @@
#include <stdint.h>
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include <stdio.h>
#include "stm32fxxx.h"
@@ -40,7 +40,7 @@
#include "task.h"
#include "queue.h"
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include <stdlib.h>
#include <math.h>
#include "log.h"
@@ -121,15 +121,14 @@ static int32_t parse_coordinate(char ** sp) {
// a large number * 10 M
// 32 18.0489 N = 32 degrees + 18.0489 / 60 = 32.300815 N
- //COMMENTED FIRMWARE
- // dm = strtol(*sp, &i, 10);
- // degree = (dm / 100) * 10000000;
- // minute = ((dm % 100) * 10000000) / 60;
- // second = (strtol(i+1, &j, 10) * 1000) / 60;
- // ret = degree + minute + second;
- // skip_to_next(sp, ',');
- // if (**sp == 'S' || **sp == 'W')
- // ret *= -1;
+ dm = strtol(*sp, &i, 10);
+ degree = (dm / 100) * 10000000;
+ minute = ((dm % 100) * 10000000) / 60;
+ second = (strtol(i+1, &j, 10) * 1000) / 60;
+ ret = degree + minute + second;
+ skip_to_next(sp, ',');
+ if (**sp == 'S' || **sp == 'W')
+ ret *= -1;
return ret;
}
@@ -141,14 +140,12 @@ static float parse_float(char * sp) {
char * i;
char * j;
- //COMMENTED FIRMWARE
- //major = strtol(sp, &i, 10);
+ major = strtol(sp, &i, 10);
// Do decimals
- //COMMENTED FIRMWARE
- // if (strncmp(i, ".", 1) == 0) {
- // minor = strtol(i+1, &j, 10);
- // deci_nbr = j - i - 1;
- // }
+ if (strncmp(i, ".", 1) == 0) {
+ minor = strtol(i+1, &j, 10);
+ deci_nbr = j - i - 1;
+ }
ret = (major * pow(10, deci_nbr) + minor) / pow(10, deci_nbr);
//printf("%i.%i == %f (%i) (%c)\n", major, minor, ret, deci_nbr, (int) *i);
return ret;
@@ -159,8 +156,7 @@ static void parse_next(char ** sp, FieldType t, void * value) {
//DEBUG_PRINT("[%s]\n", (*sp));
switch (t) {
case FIELD_INT:
- //COMMENTED FIRMWARE
- // *((uint32_t*) value) = strtol(*sp, 0, 10);
+ *((uint32_t*) value) = strtol(*sp, 0, 10);
break;
case FIELD_FLOAT:
*((float*) value) = parse_float(*sp);
@@ -222,8 +218,7 @@ static bool verifyChecksum(const char * buff) {
while (buff[i] != '*' && i < MAX_LEN_SENTANCE-3) {
test_chksum ^= buff[i++];
}
- //COMMENTED FIRMWARE
- // ref_chksum = strtol(&buff[i+1], 0, 16);
+ ref_chksum = strtol(&buff[i+1], 0, 16);
return (test_chksum == ref_chksum);
}
@@ -269,10 +264,9 @@ void gtgpsTask(void *param)
if (verifyChecksum(buff)) {
//DEBUG_PRINT("O");
for (j = 0; j < sizeof(parsers)/sizeof(parsers[0]); j++) {
- //COMMENTED FIRMWARE
- // if (strncmp(parsers[j].token, buff, LEN_TOKEN) == 0) {
- // parsers[j].parser(&buff[LEN_TOKEN]);
- // }
+ if (strncmp(parsers[j].token, buff, LEN_TOKEN) == 0) {
+ parsers[j].parser(&buff[LEN_TOKEN]);
+ }
}
}
} else if (bi < MAX_LEN_SENTANCE) {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/ledring12.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/ledring12.c
index 23806a773e197a2cdce8e5f7f1700b68bf8e4143..05f7addf5bf3b2f5da54f446a89f1ea1a7386f71 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/ledring12.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/ledring12.c
@@ -27,7 +27,7 @@
#include <stdint.h>
#include <math.h>
//COMMENTED FIRMWARE
-//#include <string.h>
+#include <string.h>
#include "stm32fxxx.h"
@@ -465,31 +465,29 @@ static void gravityLightRender(uint8_t buffer[][3], float led_index, int intensi
static void gravityLight(uint8_t buffer[][3], bool reset)
{
- //COMMENTED FIRMWARE
- // static int pitchid, rollid;
- // static bool isInitialized = false;
+ static int pitchid, rollid;
+ static bool isInitialized = false;
- // if (!isInitialized) {
- // pitchid = logGetVarId("stabilizer", "pitch");
- // rollid = logGetVarId("stabilizer", "roll");
- // isInitialized = true;
- // }
+ if (!isInitialized) {
+ pitchid = logGetVarId("stabilizer", "pitch");
+ rollid = logGetVarId("stabilizer", "roll");
+ isInitialized = true;
+ }
- // float pitch = logGetFloat(pitchid); // -180 to 180
- // float roll = logGetFloat(rollid); // -180 to 180
+ float pitch = logGetFloat(pitchid); // -180 to 180
+ float roll = logGetFloat(rollid); // -180 to 180
- // float angle = gravityLightCalculateAngle(pitch, roll);
- // float led_index = NBR_LEDS * angle / (2 * (float) M_PI);
- // int intensity = LIMIT(sqrtf(pitch * pitch + roll * roll));
- // gravityLightRender(buffer, led_index, intensity);
+ float angle = gravityLightCalculateAngle(pitch, roll);
+ float led_index = NBR_LEDS * angle / (2 * (float) M_PI);
+ int intensity = LIMIT(sqrtf(pitch * pitch + roll * roll));
+ gravityLightRender(buffer, led_index, intensity);
}
static float gravityLightCalculateAngle(float pitch, float roll) {
float angle = 0.0;
if (roll != 0) {
- //COMMENTED FIRMWARE
- // angle = atanf(pitch / roll) + (float) M_PI_2;
+ angle = atanf(pitch / roll) + (float) M_PI_2;
if (roll < 0.0f) {
angle += (float) M_PI;
@@ -500,20 +498,19 @@ static float gravityLightCalculateAngle(float pitch, float roll) {
}
static void gravityLightRender(uint8_t buffer[][3], float led_index, int intensity) {
- //COMMENTED FIRMWARE
- // float width = 5;
- // float height = intensity;
-
- // int i;
- // for (i = 0; i < NBR_LEDS; i++) {
- // float distance = fabsf(led_index - i);
- // if (distance > NBR_LEDS / 2) {
- // distance = NBR_LEDS - distance;
- // }
-
- // int col = height - distance * (height / (width / 2));
- // SET_WHITE(buffer[i], LIMIT(col));
- // }
+ float width = 5;
+ float height = intensity;
+
+ int i;
+ for (i = 0; i < NBR_LEDS; i++) {
+ float distance = fabsf(led_index - i);
+ if (distance > NBR_LEDS / 2) {
+ distance = NBR_LEDS - distance;
+ }
+
+ int col = height - distance * (height / (width / 2));
+ SET_WHITE(buffer[i], LIMIT(col));
+ }
}
@@ -993,24 +990,23 @@ static void checkLightSignalTrigger(void)
static void overrideWithLightSignal(uint8_t buffer[][3])
{
- //COMMENTED FIRMWARE
- // uint8_t color;
- // uint32_t diffMsec;
-
- // if (lightSignal.active) {
- // diffMsec = T2M(xTaskGetTickCount() - lightSignal.triggeredAt);
-
- // if (diffMsec >= 1500) {
- // lightSignal.active = 0;
- // lightSignal.triggeredAt = 0;
- // color = 0;
- // } else {
- // diffMsec = diffMsec % 300;
- // color = (diffMsec <= 100) ? 255 : 0;
- // }
-
- // memset(buffer, color, NBR_LEDS * 3);
- // }
+ uint8_t color;
+ uint32_t diffMsec;
+
+ if (lightSignal.active) {
+ diffMsec = T2M(xTaskGetTickCount() - lightSignal.triggeredAt);
+
+ if (diffMsec >= 1500) {
+ lightSignal.active = 0;
+ lightSignal.triggeredAt = 0;
+ color = 0;
+ } else {
+ diffMsec = diffMsec % 300;
+ color = (diffMsec <= 100) ? 255 : 0;
+ }
+
+ memset(buffer, color, NBR_LEDS * 3);
+ }
}
/********** Ring init and switching **********/
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lhtesterdeck.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lhtesterdeck.c
index 26e06b7377d605bd08e6a28e57c4af15b8520bd0..ece3f90d30cae62b36f63de7bbeae07cd8f069f0 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lhtesterdeck.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lhtesterdeck.c
@@ -81,9 +81,7 @@ static void timerFcn(xTimerHandle xTimer)
}
static void startSwTimer() {
- //COMMENTED FIRMWARE
- //xTimerHandle timer = xTimerCreate("lhTesterTimer", M2T(1), pdTRUE, 0, timerFcn);
- xTimerHandle timer = xTimerCreate("lhTesterTimer", 1, pdTRUE, 0, timerFcn);
+ xTimerHandle timer = xTimerCreate("lhTesterTimer", M2T(1), pdTRUE, 0, timerFcn);
xTimerStart(timer, 0);
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lighthouse.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lighthouse.c
index 00d2b1b839ea3602e860e7ab93122e8587dead8e..a15a4b4593b5383993f083e0df952da19f84c39d 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lighthouse.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lighthouse.c
@@ -63,10 +63,9 @@ static void lighthouseInit(DeckInfo *info)
2*configMINIMAL_STACK_SIZE, NULL, LIGHTHOUSE_TASK_PRI, NULL);
xTimerHandle timer;
- //COMMENTED FIRMWARE
- // timer = xTimerCreateStatic("ledTimer", M2T(FIFTH_SECOND), pdTRUE,
- // NULL, ledTimerHandle, &timerBuffer);
- // xTimerStart(timer, M2T(0));
+ timer = xTimerCreateStatic("ledTimer", M2T(FIFTH_SECOND), pdTRUE,
+ NULL, ledTimerHandle, &timerBuffer);
+ xTimerStart(timer, M2T(0));
isInit = true;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa2Tag.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa2Tag.c
index 4a4d07074dec29f42e6415924aadfc863b7e1782..8239867dd60b1930f5273ee8abc25ab09f3b205d 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa2Tag.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa2Tag.c
@@ -318,15 +318,14 @@ static bool isRangingOk()
}
static bool getAnchorPosition(const uint8_t anchorId, point_t* position) {
- //COMMENTED FIRMWARE
- // tdoaAnchorContext_t anchorCtx;
- // uint32_t now_ms = T2M(xTaskGetTickCount());
+ tdoaAnchorContext_t anchorCtx;
+ uint32_t now_ms = T2M(xTaskGetTickCount());
- // bool contextFound = tdoaStorageGetAnchorCtx(tdoaEngineState.anchorInfoArray, anchorId, now_ms, &anchorCtx);
- // if (contextFound) {
- // tdoaStorageGetAnchorPosition(&anchorCtx, position);
- // return true;
- // }
+ bool contextFound = tdoaStorageGetAnchorCtx(tdoaEngineState.anchorInfoArray, anchorId, now_ms, &anchorCtx);
+ if (contextFound) {
+ tdoaStorageGetAnchorPosition(&anchorCtx, position);
+ return true;
+ }
return false;
}
@@ -336,8 +335,7 @@ static uint8_t getAnchorIdList(uint8_t unorderedAnchorList[], const int maxListS
}
static uint8_t getActiveAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize) {
- //COMMENTED FIRMWARE
- uint32_t now_ms = 0;//T2M(xTaskGetTickCount());
+ uint32_t now_ms = T2M(xTaskGetTickCount());
return tdoaStorageGetListOfActiveAnchorIds(tdoaEngineState.anchorInfoArray, unorderedAnchorList, maxListSize, now_ms);
}
@@ -354,15 +352,14 @@ static void lpsHandleLppShortPacket(const uint8_t srcId, const uint8_t *data, td
}
}
-//COMMENTED FIRMWARE
-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_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa3Tag.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa3Tag.c
index ec0bf0731628882354bef6bfce82e8347092acec..0b32ecbf7748b58b6806b465aed6c1fe46ac896d 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa3Tag.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTdoa3Tag.c
@@ -273,15 +273,14 @@ static void sendTdoaToEstimatorCallback(tdoaMeasurement_t* tdoaMeasurement) {
}
static bool getAnchorPosition(const uint8_t anchorId, point_t* position) {
- //COMMENTED FIRMWARE
- // tdoaAnchorContext_t anchorCtx;
- // uint32_t now_ms = T2M(xTaskGetTickCount());
+ tdoaAnchorContext_t anchorCtx;
+ uint32_t now_ms = T2M(xTaskGetTickCount());
- // bool contextFound = tdoaStorageGetAnchorCtx(tdoaEngineState.anchorInfoArray, anchorId, now_ms, &anchorCtx);
- // if (contextFound) {
- // tdoaStorageGetAnchorPosition(&anchorCtx, position);
- // return true;
- // }
+ bool contextFound = tdoaStorageGetAnchorCtx(tdoaEngineState.anchorInfoArray, anchorId, now_ms, &anchorCtx);
+ if (contextFound) {
+ tdoaStorageGetAnchorPosition(&anchorCtx, position);
+ return true;
+ }
return false;
}
@@ -291,8 +290,7 @@ static uint8_t getAnchorIdList(uint8_t unorderedAnchorList[], const int maxListS
}
static uint8_t getActiveAnchorIdList(uint8_t unorderedAnchorList[], const int maxListSize) {
- //COMMENTED FIRMWARE
- uint32_t now_ms = 0;//T2M(xTaskGetTickCount());
+ uint32_t now_ms = T2M(xTaskGetTickCount());
return tdoaStorageGetListOfActiveAnchorIds(tdoaEngineState.anchorInfoArray, unorderedAnchorList, maxListSize, now_ms);
}
@@ -318,11 +316,11 @@ static bool isRangingOk()
}
//COMMENTED FIRMWARE
-uwbAlgorithm_t uwbTdoa3TagAlgorithm = {
- // .init = Initialize,
- // .onEvent = onEvent,
- // .isRangingOk = isRangingOk,
- // .getAnchorPosition = getAnchorPosition,
- // .getAnchorIdList = getAnchorIdList,
- // .getActiveAnchorIdList = getActiveAnchorIdList,
-};
+// uwbAlgorithm_t uwbTdoa3TagAlgorithm = {
+// .init = Initialize,
+// .onEvent = onEvent,
+// .isRangingOk = isRangingOk,
+// .getAnchorPosition = getAnchorPosition,
+// .getAnchorIdList = getAnchorIdList,
+// .getActiveAnchorIdList = getActiveAnchorIdList,
+// };
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTwrTag.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTwrTag.c
index c4371d6402caae9b9810fdadc98390a884de35e9..bed043dd815dc6b657632978fe2f06c96ab92b5d 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTwrTag.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/lpsTwrTag.c
@@ -550,14 +550,14 @@ static uint8_t getActiveAnchorIdList(uint8_t unorderedAnchorList[], const int ma
}
//COMMENTED FIRMWARE
-uwbAlgorithm_t uwbTwrTagAlgorithm = {
- // .init = twrTagInit,
- // .onEvent = twrTagOnEvent,
- // .isRangingOk = isRangingOk,
- // .getAnchorPosition = getAnchorPosition,
- // .getAnchorIdList = getAnchorIdList,
- // .getActiveAnchorIdList = getActiveAnchorIdList,
-};
+// 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_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/multiranger.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/multiranger.c
index 7cdcf52dd48ba5e4f5d3778f794e6e666fb65ccc..cb4ef4fee95d66a329fc41d5968c1a5510757a00 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/multiranger.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/multiranger.c
@@ -66,9 +66,7 @@ static bool mrInitSensor(VL53L1_Dev_t *pdev, uint32_t pca95pin, char *name)
// Bring up VL53 by releasing XSHUT
pca95x4SetOutput(pca95pin);
// Let VL53 boot
- //COMMENTED FIRMWARE
- //vTaskDelay(M2T(2));
- vTaskDelay(2);
+ vTaskDelay(M2T(2));
// Init VL53
if (vl53l1xInit(pdev, I2C1_DEV))
{
@@ -94,9 +92,7 @@ static uint16_t mrGetMeasurementAndRestart(VL53L1_Dev_t *dev)
while (dataReady == 0)
{
status = VL53L1_GetMeasurementDataReady(dev, &dataReady);
- //COMMENTED FIRMWARE
- //vTaskDelay(M2T(1));
- vTaskDelay(1);
+ vTaskDelay(M2T(1));
}
status = VL53L1_GetRangingMeasurementData(dev, &rangingData);
@@ -132,8 +128,7 @@ static void mrTask(void *param)
while (1)
{
- //COMMENTED FIRMWARE
- //vTaskDelayUntil(&lastWakeTime, M2T(100));
+ vTaskDelayUntil(&lastWakeTime, M2T(100));
rangeSet(rangeFront, mrGetMeasurementAndRestart(&devFront)/1000.0f);
rangeSet(rangeBack, mrGetMeasurementAndRestart(&devBack)/1000.0f);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/oa.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/oa.c
index 30b1e3e601f373bdf556c4bd7ebe586f36e7c169..bf80e5b0409dc64ce3c0f9d3a7ef0c5851092843 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/oa.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/oa.c
@@ -75,8 +75,7 @@ static void oaTask(void *param)
TickType_t lastWakeTime = xTaskGetTickCount();
while(1) {
- //COMMENTED FIRMWARE
- //vTaskDelayUntil(&lastWakeTime, M2T(50));
+ vTaskDelayUntil(&lastWakeTime, M2T(50));
rangeFront = vl53l0xReadRangeContinuousMillimeters(&devFront);
rangeBack = vl53l0xReadRangeContinuousMillimeters(&devBack);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/usddeck.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/usddeck.c
index ee72fb57b0f76dd8a9e671e7e0121860bde095fe..707555a7d012cfa4b417655674598706bf357a5c 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/usddeck.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/usddeck.c
@@ -344,9 +344,7 @@ static void csLow(void)
static void delayMs(UINT ms)
{
- //COMMENTED FIRMWARE
- //vTaskDelay(M2T(ms));
- vTaskDelay(ms);
+ vTaskDelay(M2T(ms));
}
/* FatFS Disk Interface */
@@ -414,10 +412,9 @@ TCHAR* f_gets_without_comments (
if (c == '\n') {
break; /* Break on EOL */
}
- //COMMENTED FIRWMARE
- // if (isspace((int)c)) {
- // continue; /* Strip whitespace */
- // }
+ if (isspace((int)c)) {
+ continue; /* Strip whitespace */
+ }
if (c == '#') {
isComment = true; /* keep reading until end of line */
}
@@ -438,25 +435,24 @@ static bool initSuccess = false;
static void usdInit(DeckInfo *info)
{
- //COMMENTED FIRMWARE
- // if (!isInit) {
- // memoryRegisterHandler(&memDef);
-
- // logFileMutex = xSemaphoreCreateMutex();
- // logBufferMutex = xSemaphoreCreateMutex();
- // /* try to mount drives before creating the tasks */
- // if (f_mount(&FatFs, "", 1) == FR_OK) {
- // DEBUG_PRINT("mount SD-Card [OK].\n");
-
- // /* create usd-log task */
- // xTaskCreate(usdLogTask, USDLOG_TASK_NAME,
- // USDLOG_TASK_STACKSIZE, NULL,
- // USDLOG_TASK_PRI, NULL);
- // } else {
- // DEBUG_PRINT("mount SD-Card [FAIL].\n");
- // }
- // }
- // isInit = true;
+ if (!isInit) {
+ memoryRegisterHandler(&memDef);
+
+ logFileMutex = xSemaphoreCreateMutex();
+ logBufferMutex = xSemaphoreCreateMutex();
+ /* try to mount drives before creating the tasks */
+ if (f_mount(&FatFs, "", 1) == FR_OK) {
+ DEBUG_PRINT("mount SD-Card [OK].\n");
+
+ /* create usd-log task */
+ xTaskCreate(usdLogTask, USDLOG_TASK_NAME,
+ USDLOG_TASK_STACKSIZE, NULL,
+ USDLOG_TASK_PRI, NULL);
+ } else {
+ DEBUG_PRINT("mount SD-Card [FAIL].\n");
+ }
+ }
+ isInit = true;
}
static void usddeckWriteEventData(const usdLogEventConfig_t* cfg, const uint8_t* payload, uint8_t payloadSize)
@@ -786,226 +782,225 @@ static void usdWriteData(const void *data, size_t size)
static void usdWriteTask(void* prm)
{
- //COMMENTED FIRMWARE
- // /* create and start timer for card control timing */
- // timer = xTimerCreate("usdTimer", M2T(SD_DISK_TIMER_PERIOD_MS),
- // pdTRUE, NULL, usdTimer);
- // xTimerStart(timer, 0);
-
- // vTaskDelay(M2T(50));
-
- // while (true) {
- // vTaskSuspend(NULL);
- // if (enableLogging) {
- // // reset stats
- // usdLogStats.eventsRequested = 0;
- // usdLogStats.eventsWritten = 0;
-
- // // reset the buffer
- // xSemaphoreTake(logBufferMutex, portMAX_DELAY);
- // ringBuffer_reset(&logBuffer);
- // xSemaphoreGive(logBufferMutex);
-
- // xSemaphoreTake(logFileMutex, portMAX_DELAY);
- // lastFileSize = 0;
-
- // /* look for existing files and use first not existent combination
- // * of two chars */
- // {
- // FILINFO fno;
- // uint8_t NUL = 0;
- // while(usdLogConfig.filename[NUL] != '\0') {
- // NUL++;
- // }
- // while (f_stat(usdLogConfig.filename, &fno) == FR_OK) {
- // /* increase file */
- // switch(usdLogConfig.filename[NUL-1]) {
- // case '9':
- // usdLogConfig.filename[NUL-1] = '0';
- // usdLogConfig.filename[NUL-2]++;
- // break;
- // default:
- // usdLogConfig.filename[NUL-1]++;
- // }
- // }
- // }
-
- // /* try to create file */
- // if (f_open(&logFile, usdLogConfig.filename, FA_CREATE_ALWAYS | FA_WRITE)
- // == FR_OK) {
-
- // DEBUG_PRINT("Logging to: %s\n", usdLogConfig.filename);
-
- // // iniatialize crc
- // crc32ContextInit(&crcContext);
-
- // // write header
- // uint8_t magic = 0xBC;
- // usdWriteData(&magic, sizeof(magic));
-
- // uint16_t version = 2;
- // usdWriteData(&version, sizeof(version));
-
- // uint16_t numEventTypes = usdLogConfig.numEventConfigs;
- // usdWriteData(&numEventTypes, sizeof(numEventTypes));
-
- // for (int i = 0; i < numEventTypes; ++i) {
- // usdLogEventConfig_t* cfg = &usdLogConfig.eventConfigs[i];
- // const eventtrigger *et = eventtriggerGetById(cfg->eventId);
- // uint16_t numVariables = cfg->numVars;
-
- // usdWriteData(&cfg->eventId, sizeof(cfg->eventId));
-
- // if (cfg->eventId == FIXED_FREQUENCY_EVENT_ID) {
- // usdWriteData(FIXED_FREQUENCY_EVENT_NAME, strlen(FIXED_FREQUENCY_EVENT_NAME) + 1);
- // } else {
- // usdWriteData(et->name, strlen(et->name) + 1);
- // numVariables += et->numPayloadVariables;
- // }
- // usdWriteData(&numVariables, sizeof(numVariables));
- // if (et) {
- // for (int j = 0; j < et->numPayloadVariables; ++j) {
- // usdWriteData(et->payloadDesc[j].name, strlen(et->payloadDesc[j].name));
- // usdWriteData("(", 1);
- // char typeChar;
- // switch (et->payloadDesc[j].type)
- // {
- // case eventtriggerType_uint8:
- // typeChar = 'B';
- // break;
- // case eventtriggerType_int8:
- // typeChar = 'b';
- // break;
- // case eventtriggerType_uint16:
- // typeChar = 'H';
- // break;
- // case eventtriggerType_int16:
- // typeChar = 'h';
- // break;
- // case eventtriggerType_uint32:
- // typeChar = 'I';
- // break;
- // case eventtriggerType_int32:
- // typeChar = 'i';
- // break;
- // case eventtriggerType_float:
- // typeChar = 'f';
- // break;
- // case eventtrigerType_fp16:
- // typeChar = 'e';
- // break;
- // default:
- // ASSERT(false);
- // }
- // usdWriteData(&typeChar, 1);
- // usdWriteData(")", 2);
- // }
- // }
- // for (int j = 0; j < cfg->numVars; ++j) {
- // char *group;
- // char *name;
- // logVarId_t varid = cfg->varIds[j];
- // logGetGroupAndName(varid, &group, &name);
- // usdWriteData(group, strlen(group));
- // usdWriteData(".", 1);
- // usdWriteData(name, strlen(name));
- // usdWriteData("(", 1);
- // char typeChar;
- // switch (logGetType(varid)) {
- // case LOG_UINT8:
- // typeChar = 'B';
- // break;
- // case LOG_INT8:
- // typeChar = 'b';
- // break;
- // case LOG_UINT16:
- // typeChar = 'H';
- // break;
- // case LOG_INT16:
- // typeChar = 'h';
- // break;
- // case LOG_UINT32:
- // typeChar = 'I';
- // break;
- // case LOG_INT32:
- // typeChar = 'i';
- // break;
- // case LOG_FLOAT:
- // typeChar = 'f';
- // break;
- // default:
- // ASSERT(false);
- // }
- // usdWriteData(&typeChar, 1);
- // usdWriteData(")", 2);
- // }
- // }
-
- // while (enableLogging) {
- // /* sleep */
- // vTaskSuspend(NULL);
+ /* create and start timer for card control timing */
+ timer = xTimerCreate("usdTimer", M2T(SD_DISK_TIMER_PERIOD_MS),
+ pdTRUE, NULL, usdTimer);
+ xTimerStart(timer, 0);
+
+ vTaskDelay(M2T(50));
+
+ while (true) {
+ vTaskSuspend(NULL);
+ if (enableLogging) {
+ // reset stats
+ usdLogStats.eventsRequested = 0;
+ usdLogStats.eventsWritten = 0;
+
+ // reset the buffer
+ xSemaphoreTake(logBufferMutex, portMAX_DELAY);
+ ringBuffer_reset(&logBuffer);
+ xSemaphoreGive(logBufferMutex);
+
+ xSemaphoreTake(logFileMutex, portMAX_DELAY);
+ lastFileSize = 0;
+
+ /* look for existing files and use first not existent combination
+ * of two chars */
+ {
+ FILINFO fno;
+ uint8_t NUL = 0;
+ while(usdLogConfig.filename[NUL] != '\0') {
+ NUL++;
+ }
+ while (f_stat(usdLogConfig.filename, &fno) == FR_OK) {
+ /* increase file */
+ switch(usdLogConfig.filename[NUL-1]) {
+ case '9':
+ usdLogConfig.filename[NUL-1] = '0';
+ usdLogConfig.filename[NUL-2]++;
+ break;
+ default:
+ usdLogConfig.filename[NUL-1]++;
+ }
+ }
+ }
- // // check if we have anything to write
- // xSemaphoreTake(logBufferMutex, portMAX_DELAY);
- // const uint8_t* buf;
- // uint16_t size;
- // bool hasData = ringBuffer_pop_start(&logBuffer, &buf, &size);
- // xSemaphoreGive(logBufferMutex);
+ /* try to create file */
+ if (f_open(&logFile, usdLogConfig.filename, FA_CREATE_ALWAYS | FA_WRITE)
+ == FR_OK) {
+
+ DEBUG_PRINT("Logging to: %s\n", usdLogConfig.filename);
+
+ // iniatialize crc
+ crc32ContextInit(&crcContext);
+
+ // write header
+ uint8_t magic = 0xBC;
+ usdWriteData(&magic, sizeof(magic));
+
+ uint16_t version = 2;
+ usdWriteData(&version, sizeof(version));
+
+ uint16_t numEventTypes = usdLogConfig.numEventConfigs;
+ usdWriteData(&numEventTypes, sizeof(numEventTypes));
+
+ for (int i = 0; i < numEventTypes; ++i) {
+ usdLogEventConfig_t* cfg = &usdLogConfig.eventConfigs[i];
+ const eventtrigger *et = eventtriggerGetById(cfg->eventId);
+ uint16_t numVariables = cfg->numVars;
+
+ usdWriteData(&cfg->eventId, sizeof(cfg->eventId));
+
+ if (cfg->eventId == FIXED_FREQUENCY_EVENT_ID) {
+ usdWriteData(FIXED_FREQUENCY_EVENT_NAME, strlen(FIXED_FREQUENCY_EVENT_NAME) + 1);
+ } else {
+ usdWriteData(et->name, strlen(et->name) + 1);
+ numVariables += et->numPayloadVariables;
+ }
+ usdWriteData(&numVariables, sizeof(numVariables));
+ if (et) {
+ for (int j = 0; j < et->numPayloadVariables; ++j) {
+ usdWriteData(et->payloadDesc[j].name, strlen(et->payloadDesc[j].name));
+ usdWriteData("(", 1);
+ char typeChar;
+ switch (et->payloadDesc[j].type)
+ {
+ case eventtriggerType_uint8:
+ typeChar = 'B';
+ break;
+ case eventtriggerType_int8:
+ typeChar = 'b';
+ break;
+ case eventtriggerType_uint16:
+ typeChar = 'H';
+ break;
+ case eventtriggerType_int16:
+ typeChar = 'h';
+ break;
+ case eventtriggerType_uint32:
+ typeChar = 'I';
+ break;
+ case eventtriggerType_int32:
+ typeChar = 'i';
+ break;
+ case eventtriggerType_float:
+ typeChar = 'f';
+ break;
+ case eventtrigerType_fp16:
+ typeChar = 'e';
+ break;
+ default:
+ ASSERT(false);
+ }
+ usdWriteData(&typeChar, 1);
+ usdWriteData(")", 2);
+ }
+ }
+ for (int j = 0; j < cfg->numVars; ++j) {
+ char *group;
+ char *name;
+ logVarId_t varid = cfg->varIds[j];
+ logGetGroupAndName(varid, &group, &name);
+ usdWriteData(group, strlen(group));
+ usdWriteData(".", 1);
+ usdWriteData(name, strlen(name));
+ usdWriteData("(", 1);
+ char typeChar;
+ switch (logGetType(varid)) {
+ case LOG_UINT8:
+ typeChar = 'B';
+ break;
+ case LOG_INT8:
+ typeChar = 'b';
+ break;
+ case LOG_UINT16:
+ typeChar = 'H';
+ break;
+ case LOG_INT16:
+ typeChar = 'h';
+ break;
+ case LOG_UINT32:
+ typeChar = 'I';
+ break;
+ case LOG_INT32:
+ typeChar = 'i';
+ break;
+ case LOG_FLOAT:
+ typeChar = 'f';
+ break;
+ default:
+ ASSERT(false);
+ }
+ usdWriteData(&typeChar, 1);
+ usdWriteData(")", 2);
+ }
+ }
- // // execute the actual write operation
- // if (hasData) {
- // usdWriteData(buf, size);
+ while (enableLogging) {
+ /* sleep */
+ vTaskSuspend(NULL);
+
+ // check if we have anything to write
+ xSemaphoreTake(logBufferMutex, portMAX_DELAY);
+ const uint8_t* buf;
+ uint16_t size;
+ bool hasData = ringBuffer_pop_start(&logBuffer, &buf, &size);
+ xSemaphoreGive(logBufferMutex);
+
+ // execute the actual write operation
+ if (hasData) {
+ usdWriteData(buf, size);
+
+ xSemaphoreTake(logBufferMutex, portMAX_DELAY);
+ ringBuffer_pop_done(&logBuffer);
+ xSemaphoreGive(logBufferMutex);
+ }
+ }
+ // write everything that's still in the buffer
+ xSemaphoreTake(logBufferMutex, portMAX_DELAY);
+ while (true) {
+ const uint8_t *buf;
+ uint16_t size;
+ bool hasData = ringBuffer_pop_start(&logBuffer, &buf, &size);
+ if (hasData) {
+ usdWriteData(buf, size);
+ ringBuffer_pop_done(&logBuffer);
+ } else {
+ break;
+ }
+ }
+ xSemaphoreGive(logBufferMutex);
- // xSemaphoreTake(logBufferMutex, portMAX_DELAY);
- // ringBuffer_pop_done(&logBuffer);
- // xSemaphoreGive(logBufferMutex);
- // }
- // }
- // // write everything that's still in the buffer
- // xSemaphoreTake(logBufferMutex, portMAX_DELAY);
- // while (true) {
- // const uint8_t *buf;
- // uint16_t size;
- // bool hasData = ringBuffer_pop_start(&logBuffer, &buf, &size);
- // if (hasData) {
- // usdWriteData(buf, size);
- // ringBuffer_pop_done(&logBuffer);
- // } else {
- // break;
- // }
- // }
- // xSemaphoreGive(logBufferMutex);
+ // write CRC
+ uint32_t crcValue = crc32Out(&crcContext);
+ usdWriteData(&crcValue, sizeof(crcValue));
- // // write CRC
- // uint32_t crcValue = crc32Out(&crcContext);
- // usdWriteData(&crcValue, sizeof(crcValue));
+ // close file
+ f_close(&logFile);
- // // close file
- // f_close(&logFile);
+ // Update file size for fast query
+ FILINFO info;
+ if (f_stat(usdLogConfig.filename, &info) == FR_OK) {
+ lastFileSize = info.fsize;
+ }
- // // Update file size for fast query
- // FILINFO info;
- // if (f_stat(usdLogConfig.filename, &info) == FR_OK) {
- // lastFileSize = info.fsize;
- // }
+ DEBUG_PRINT("Wrote %ld B to: %s (%ld of %ld events)\n",
+ lastFileSize,
+ usdLogConfig.filename,
+ usdLogStats.eventsWritten,
+ usdLogStats.eventsRequested);
- // DEBUG_PRINT("Wrote %ld B to: %s (%ld of %ld events)\n",
- // lastFileSize,
- // usdLogConfig.filename,
- // usdLogStats.eventsWritten,
- // usdLogStats.eventsRequested);
-
- // xSemaphoreGive(logFileMutex);
- // } else {
- // f_mount(NULL, "", 0);
- // DEBUG_PRINT("Failed to open file: %s\n", usdLogConfig.filename);
- // break;
- // }
- // }
- // }
- // /* something went wrong */
- // xHandleWriteTask = 0;
- // vTaskDelete(NULL);
+ xSemaphoreGive(logFileMutex);
+ } else {
+ f_mount(NULL, "", 0);
+ DEBUG_PRINT("Failed to open file: %s\n", usdLogConfig.filename);
+ break;
+ }
+ }
+ }
+ /* something went wrong */
+ xHandleWriteTask = 0;
+ vTaskDelete(NULL);
}
static bool usdTest()
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger.c
index 13138475c60defeecd5172ba9426ae3aaf968936..095e755d19458ba14b33f11b4792e4182e083e7d 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger.c
@@ -68,8 +68,7 @@ void zRangerInit(DeckInfo* info)
xTaskCreate(zRangerTask, ZRANGER_TASK_NAME, ZRANGER_TASK_STACKSIZE, NULL, ZRANGER_TASK_PRI, NULL);
// pre-compute constant in the measurement noise model for kalman
- //COMMENTED FIRMWARE
- //expCoeff = logf(expStdB / expStdA) / (expPointB - expPointA);
+ expCoeff = logf(expStdB / expStdA) / (expPointB - expPointA);
isInit = true;
}
@@ -88,32 +87,30 @@ bool zRangerTest(void)
void zRangerTask(void* arg)
{
- //COMMENTED FIRMWARE
- // systemWaitStart();
- // TickType_t xLastWakeTime;
-
- // vl53l0xSetVcselPulsePeriod(&dev, VcselPeriodPreRange, 18);
- // vl53l0xSetVcselPulsePeriod(&dev, VcselPeriodFinalRange, 14);
- // vl53l0xStartContinuous(&dev, 0);
-
- // xLastWakeTime = xTaskGetTickCount();
-
- // while (1) {
- // //COMMENTED FIRMWARE
- // //vTaskDelayUntil(&xLastWakeTime, M2T(dev.measurement_timing_budget_ms));
-
- // range_last = vl53l0xReadRangeContinuousMillimeters(&dev);
- // rangeSet(rangeDown, range_last / 1000.0f);
-
- // // check if range is feasible and push into the estimator
- // // the sensor should not be able to measure >3 [m], and outliers typically
- // // occur as >8 [m] measurements
- // if (range_last < RANGE_OUTLIER_LIMIT) {
- // float distance = (float)range_last * 0.001f; // Scale from [mm] to [m]
- // float stdDev = expStdA * (1.0f + expf( expCoeff * (distance - expPointA)));
- // rangeEnqueueDownRangeInEstimator(distance, stdDev, xTaskGetTickCount());
- // }
- // }
+ systemWaitStart();
+ TickType_t xLastWakeTime;
+
+ vl53l0xSetVcselPulsePeriod(&dev, VcselPeriodPreRange, 18);
+ vl53l0xSetVcselPulsePeriod(&dev, VcselPeriodFinalRange, 14);
+ vl53l0xStartContinuous(&dev, 0);
+
+ xLastWakeTime = xTaskGetTickCount();
+
+ while (1) {
+ vTaskDelayUntil(&xLastWakeTime, M2T(dev.measurement_timing_budget_ms));
+
+ range_last = vl53l0xReadRangeContinuousMillimeters(&dev);
+ rangeSet(rangeDown, range_last / 1000.0f);
+
+ // check if range is feasible and push into the estimator
+ // the sensor should not be able to measure >3 [m], and outliers typically
+ // occur as >8 [m] measurements
+ if (range_last < RANGE_OUTLIER_LIMIT) {
+ float distance = (float)range_last * 0.001f; // Scale from [mm] to [m]
+ float stdDev = expStdA * (1.0f + expf( expCoeff * (distance - expPointA)));
+ rangeEnqueueDownRangeInEstimator(distance, stdDev, xTaskGetTickCount());
+ }
+ }
}
static const DeckDriver zranger_deck = {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger2.c
index 014ba745bafd816540ca3149300ee28aad47ba5e..d517511c0e167f3bc03a9deb537ae3163dac4ccd 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger2.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/deck/drivers/src/zranger2.c
@@ -100,8 +100,7 @@ void zRanger2Init(DeckInfo* info)
xTaskCreate(zRanger2Task, ZRANGER2_TASK_NAME, ZRANGER2_TASK_STACKSIZE, NULL, ZRANGER2_TASK_PRI, NULL);
// pre-compute constant in the measurement noise model for kalman
- //COMMENTED FIRMWARE
- // expCoeff = logf(expStdB / expStdA) / (expPointB - expPointA);
+ expCoeff = logf(expStdB / expStdA) / (expPointB - expPointA);
isInit = true;
}
@@ -116,36 +115,34 @@ bool zRanger2Test(void)
void zRanger2Task(void* arg)
{
- //COMMENTED FIRMWARE
- // TickType_t lastWakeTime;
+ TickType_t lastWakeTime;
- // systemWaitStart();
+ systemWaitStart();
- // // Restart sensor
- // VL53L1_StopMeasurement(&dev);
- // VL53L1_SetDistanceMode(&dev, VL53L1_DISTANCEMODE_MEDIUM);
- // VL53L1_SetMeasurementTimingBudgetMicroSeconds(&dev, 25000);
+ // Restart sensor
+ VL53L1_StopMeasurement(&dev);
+ VL53L1_SetDistanceMode(&dev, VL53L1_DISTANCEMODE_MEDIUM);
+ VL53L1_SetMeasurementTimingBudgetMicroSeconds(&dev, 25000);
- // VL53L1_StartMeasurement(&dev);
+ VL53L1_StartMeasurement(&dev);
- // lastWakeTime = xTaskGetTickCount();
+ lastWakeTime = xTaskGetTickCount();
- // while (1) {
- // //COMMENTED FIRMWARE
- // //vTaskDelayUntil(&lastWakeTime, M2T(25));
+ while (1) {
+ vTaskDelayUntil(&lastWakeTime, M2T(25));
- // range_last = zRanger2GetMeasurementAndRestart(&dev);
- // rangeSet(rangeDown, range_last / 1000.0f);
+ range_last = zRanger2GetMeasurementAndRestart(&dev);
+ rangeSet(rangeDown, range_last / 1000.0f);
- // // check if range is feasible and push into the estimator
- // // the sensor should not be able to measure >5 [m], and outliers typically
- // // occur as >8 [m] measurements
- // if (range_last < RANGE_OUTLIER_LIMIT) {
- // float distance = (float)range_last * 0.001f; // Scale from [mm] to [m]
- // float stdDev = expStdA * (1.0f + expf( expCoeff * (distance - expPointA)));
- // rangeEnqueueDownRangeInEstimator(distance, stdDev, xTaskGetTickCount());
- // }
- // }
+ // check if range is feasible and push into the estimator
+ // the sensor should not be able to measure >5 [m], and outliers typically
+ // occur as >8 [m] measurements
+ if (range_last < RANGE_OUTLIER_LIMIT) {
+ float distance = (float)range_last * 0.001f; // Scale from [mm] to [m]
+ float stdDev = expStdA * (1.0f + expf( expCoeff * (distance - expPointA)));
+ rangeEnqueueDownRangeInEstimator(distance, stdDev, xTaskGetTickCount());
+ }
+ }
}
static const DeckDriver zranger2_deck = {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/cppm.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/cppm.c
index a3cf95cee3c3af5153fc0be789121bee13c5c9ca..4e24b1d316c9add25b8d9b2860ed7e7327550620 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/cppm.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/cppm.c
@@ -104,6 +104,7 @@ void cppmInit(void)
// TIM_Cmd(CPPM_TIMER, ENABLE);
}
+
bool cppmIsAvailible(void)
{
return isAvailible;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/fatfs_sd.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/fatfs_sd.c
index ae84f367740c7000bc860cc0c9f612acf5a69a7a..1fe8a06ee0c639fe729819c2acde94c289160b81 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/fatfs_sd.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/fatfs_sd.c
@@ -244,7 +244,7 @@ static BYTE sendCommand(sdSpiContext_t *context, BYTE cmd, DWORD arg) {
// Receive command resp
{
// BYTE maxTries = 10;
- BYTE res;
+ // BYTE res;
// do {
// res = context->xchgSpi(0xFF);
// } while ((res & 0x80) && --maxTries);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/i2cdev.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/i2cdev.c
index dfb5bddbb56dc36a7f504c3e58e073c9d5127ade..f47987192e3f1f951654e5390ecbb4c368d1e3ff 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/i2cdev.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/i2cdev.c
@@ -56,19 +56,21 @@ bool i2cdevReadByte(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
bool i2cdevReadBit(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
uint8_t bitNum, uint8_t *data)
{
- uint8_t byte;
- bool status;
//COMMENTED FIRMWARE
- // status = i2cdevReadReg8(dev, devAddress, memAddress, 1, &byte);
- // *data = byte & (1 << bitNum);
+ // uint8_t byte;
+ // bool status;
+
+ // // status = i2cdevReadReg8(dev, devAddress, memAddress, 1, &byte);
+ // // *data = byte & (1 << bitNum);
- return status;
+ // return status;
+ return true;
}
bool i2cdevReadBits(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
uint8_t bitStart, uint8_t length, uint8_t *data)
{
- bool status;
+ bool status = false;
//COMMENTED FIRMWARE
// uint8_t byte;
@@ -84,7 +86,7 @@ bool i2cdevReadBits(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
bool i2cdevRead(I2C_Dev *dev, uint8_t devAddress, uint16_t len, uint8_t *data)
{
- I2cMessage message;
+ // I2cMessage message;
//COMMENTED FIRMWARE
//i2cdrvCreateMessage(&message, devAddress, i2cRead, len, data);
@@ -95,7 +97,7 @@ bool i2cdevRead(I2C_Dev *dev, uint8_t devAddress, uint16_t len, uint8_t *data)
bool i2cdevReadReg8(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
uint16_t len, uint8_t *data)
{
- I2cMessage message;
+ // I2cMessage message;
//COMMENTED FIRMWARE
// i2cdrvCreateMessageIntAddr(&message, devAddress, false, memAddress,
// i2cRead, len, data);
@@ -107,7 +109,7 @@ bool i2cdevReadReg16(I2C_Dev *dev, uint8_t devAddress, uint16_t memAddress,
uint16_t len, uint8_t *data)
{
//COMMENTED FIRMWARE
- I2cMessage message;
+ // I2cMessage message;
// i2cdrvCreateMessageIntAddr(&message, devAddress, true, memAddress,
// i2cRead, len, data);
@@ -124,7 +126,7 @@ bool i2cdevWriteByte(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
bool i2cdevWriteBit(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
uint8_t bitNum, uint8_t data)
{
- uint8_t byte;
+ uint8_t byte = 0;
//COMMENTED FIRMWARE
// i2cdevReadByte(dev, devAddress, memAddress, &byte);
// byte = (data != 0) ? (byte | (1 << bitNum)) : (byte & ~(1 << bitNum));
@@ -134,7 +136,7 @@ bool i2cdevWriteBit(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
bool i2cdevWriteBits(I2C_Dev *dev, uint8_t devAddress, uint8_t memAddress,
uint8_t bitStart, uint8_t length, uint8_t data)
{
- bool status;
+ bool status = false;
//COMMENTED FIRMWARE
// uint8_t byte;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/led.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/led.c
index c538e7aab83c87f36d13864891328573cc838f89..457942bba404a7c5a4f9e0acc45f330195eb2fba 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/led.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/led.c
@@ -33,30 +33,30 @@
#include "led.h"
-static GPIO_TypeDef* led_port[] =
-{
- [LED_BLUE_L] = LED_GPIO_PORT_BLUE,
- [LED_GREEN_L] = LED_GPIO_PORT,
- [LED_RED_L] = LED_GPIO_PORT,
- [LED_GREEN_R] = LED_GPIO_PORT,
- [LED_RED_R] = LED_GPIO_PORT,
-};
-static unsigned int led_pin[] =
-{
- [LED_BLUE_L] = LED_GPIO_BLUE_L,
- [LED_GREEN_L] = LED_GPIO_GREEN_L,
- [LED_RED_L] = LED_GPIO_RED_L,
- [LED_GREEN_R] = LED_GPIO_GREEN_R,
- [LED_RED_R] = LED_GPIO_RED_R,
-};
-static int led_polarity[] =
-{
- [LED_BLUE_L] = LED_POL_BLUE_L,
- [LED_GREEN_L] = LED_POL_GREEN_L,
- [LED_RED_L] = LED_POL_RED_L,
- [LED_GREEN_R] = LED_POL_GREEN_R,
- [LED_RED_R] = LED_POL_RED_R,
-};
+// static GPIO_TypeDef* led_port[] =
+// {
+// [LED_BLUE_L] = LED_GPIO_PORT_BLUE,
+// [LED_GREEN_L] = LED_GPIO_PORT,
+// [LED_RED_L] = LED_GPIO_PORT,
+// [LED_GREEN_R] = LED_GPIO_PORT,
+// [LED_RED_R] = LED_GPIO_PORT,
+// };
+// static unsigned int led_pin[] =
+// {
+// [LED_BLUE_L] = LED_GPIO_BLUE_L,
+// [LED_GREEN_L] = LED_GPIO_GREEN_L,
+// [LED_RED_L] = LED_GPIO_RED_L,
+// [LED_GREEN_R] = LED_GPIO_GREEN_R,
+// [LED_RED_R] = LED_GPIO_RED_R,
+// };
+// static int led_polarity[] =
+// {
+// [LED_BLUE_L] = LED_POL_BLUE_L,
+// [LED_GREEN_L] = LED_POL_GREEN_L,
+// [LED_RED_L] = LED_POL_RED_L,
+// [LED_GREEN_R] = LED_POL_GREEN_R,
+// [LED_RED_R] = LED_POL_RED_R,
+// };
static bool isInit = false;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/lps25h.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/lps25h.c
index 83653ca5b7234f0d02832dde4935bd6277f1f51c..4cb77a181f16f5cd821f50129f30ae0d25d22407 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/lps25h.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/lps25h.c
@@ -174,15 +174,14 @@ bool lps25hGetData(float* pressure, float* temperature, float* asl)
*/
float lps25hPressureToAltitude(float* pressure/*, float* ground_pressure, float* ground_temp*/)
{
- //COMMENTED FIRMWARE
- // if (*pressure > 0)
- // {
- // //return (1.f - pow(*pressure / CONST_SEA_PRESSURE, CONST_PF)) * CONST_PF2;
- // //return ((pow((1015.7 / *pressure), CONST_PF) - 1.0) * (25. + 273.15)) / 0.0065;
- // return ((powf((1015.7f / *pressure), CONST_PF) - 1.0f) * (FIX_TEMP + 273.15f)) / 0.0065f;
- // }
- // else
- // {
+ if (*pressure > 0)
+ {
+ //return (1.f - pow(*pressure / CONST_SEA_PRESSURE, CONST_PF)) * CONST_PF2;
+ //return ((pow((1015.7 / *pressure), CONST_PF) - 1.0) * (25. + 273.15)) / 0.0065;
+ return ((powf((1015.7f / *pressure), CONST_PF) - 1.0f) * (FIX_TEMP + 273.15f)) / 0.0065f;
+ }
+ else
+ {
return 0;
- //}
+ }
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors.c
index ea2712d948022198930dd865fd868ee27260a055..898baf80223a9f97d5b15c442a78126660cd566c 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors.c
@@ -42,10 +42,10 @@
//Logging includes
#include "log.h"
-static uint16_t motorsBLConvBitsTo16(uint16_t bits);
-static uint16_t motorsBLConv16ToBits(uint16_t bits);
-static uint16_t motorsConvBitsTo16(uint16_t bits);
-static uint16_t motorsConv16ToBits(uint16_t bits);
+// static uint16_t motorsBLConvBitsTo16(uint16_t bits);
+// static uint16_t motorsBLConv16ToBits(uint16_t bits);
+// static uint16_t motorsConvBitsTo16(uint16_t bits);
+// static uint16_t motorsConv16ToBits(uint16_t bits);
uint32_t motor_ratios[] = {0, 0, 0, 0};
@@ -65,25 +65,25 @@ static bool isInit = false;
/* Private functions */
-static uint16_t motorsBLConvBitsTo16(uint16_t bits)
-{
- // return (0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
-}
+// static uint16_t motorsBLConvBitsTo16(uint16_t bits)
+// {
+// // return (0xFFFF * (bits - MOTORS_BL_PWM_CNT_FOR_HIGH) / MOTORS_BL_PWM_CNT_FOR_HIGH);
+// }
-static uint16_t motorsBLConv16ToBits(uint16_t bits)
-{
- // return (MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
-}
+// static uint16_t motorsBLConv16ToBits(uint16_t bits)
+// {
+// // return (MOTORS_BL_PWM_CNT_FOR_HIGH + ((bits * MOTORS_BL_PWM_CNT_FOR_HIGH) / 0xFFFF));
+// }
-static uint16_t motorsConvBitsTo16(uint16_t bits)
-{
- // return ((bits) << (16 - MOTORS_PWM_BITS));
-}
+// static uint16_t motorsConvBitsTo16(uint16_t bits)
+// {
+// // return ((bits) << (16 - MOTORS_PWM_BITS));
+// }
-static uint16_t motorsConv16ToBits(uint16_t bits)
-{
- // return ((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
-}
+// static uint16_t motorsConv16ToBits(uint16_t bits)
+// {
+// // return ((bits) >> (16 - MOTORS_PWM_BITS) & ((1 << MOTORS_PWM_BITS) - 1));
+// }
// We have data that maps PWM to thrust at different supply voltage levels.
// However, it is not the PWM that drives the motors but the voltage and
@@ -128,15 +128,15 @@ static uint16_t motorsConv16ToBits(uint16_t bits)
//
// And to get the PWM as a percentage we would need to divide the
// Voltage needed with the Supply voltage.
-static uint16_t motorsCompensateBatteryVoltage(uint16_t ithrust)
-{
- // float thrust = ((float) ithrust / 65536.0f) * 60;
- // float volts = -0.0006239f * thrust * thrust + 0.088f * thrust;
- // float supply_voltage = pmGetBatteryVoltage();
- // float percentage = volts / supply_voltage;
- // percentage = percentage > 1.0f ? 1.0f : percentage;
- // return percentage * UINT16_MAX;
-}
+// static uint16_t motorsCompensateBatteryVoltage(uint16_t ithrust)
+// {
+// // float thrust = ((float) ithrust / 65536.0f) * 60;
+// // float volts = -0.0006239f * thrust * thrust + 0.088f * thrust;
+// // float supply_voltage = pmGetBatteryVoltage();
+// // float percentage = volts / supply_voltage;
+// // percentage = percentage > 1.0f ? 1.0f : percentage;
+// // return percentage * UINT16_MAX;
+// }
/* Public functions */
@@ -270,7 +270,8 @@ bool motorsTest(void)
// }
// }
-// return isInit;
+ return isInit;
+
}
// Ithrust is thrust mapped for 65536 <==> 60 grams
@@ -319,6 +320,7 @@ int motorsGetRatio(uint32_t id)
// }
// return ratio;
+ return 0;
}
void motorsBeep(int id, bool enable, uint16_t frequency, uint16_t ratio)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors_def_cf2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors_def_cf2.c
index bb91988ce6c8233379e71d9e2d754fe81e7bbf83..d6b215bc5c3d2e552c598f8854a7db2962b8e366 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors_def_cf2.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/motors_def_cf2.c
@@ -25,115 +25,114 @@
*
* This code mainly interfacing the PWM peripheral lib of ST.
*/
-// Connector M1, PA1, TIM2_CH2
-//COMMENTED FIRMWARE
+// // Connector M1, PA1, TIM2_CH2
// static const MotorPerifDef CONN_M1 =
// {
-// // .drvType = BRUSHED,
-// // .gpioPerif = RCC_AHB1Periph_GPIOA,
-// // .gpioPort = GPIOA,
-// // .gpioPin = GPIO_Pin_1,
-// // .gpioPinSource = GPIO_PinSource1,
-// // .gpioOType = GPIO_OType_PP,
-// // .gpioAF = GPIO_AF_TIM2,
-// // .timPerif = RCC_APB1Periph_TIM2,
-// // .tim = TIM2,
-// // .timPolarity = TIM_OCPolarity_High,
-// // .timDbgStop = DBGMCU_TIM2_STOP,
-// // .timPeriod = MOTORS_PWM_PERIOD,
-// // .timPrescaler = MOTORS_PWM_PRESCALE,
-// // .setCompare = TIM_SetCompare2,
-// // .getCompare = TIM_GetCapture2,
-// // .ocInit = TIM_OC2Init,
-// // .preloadConfig = TIM_OC2PreloadConfig,
+// .drvType = BRUSHED,
+// .gpioPerif = RCC_AHB1Periph_GPIOA,
+// .gpioPort = GPIOA,
+// .gpioPin = GPIO_Pin_1,
+// .gpioPinSource = GPIO_PinSource1,
+// .gpioOType = GPIO_OType_PP,
+// .gpioAF = GPIO_AF_TIM2,
+// .timPerif = RCC_APB1Periph_TIM2,
+// .tim = TIM2,
+// .timPolarity = TIM_OCPolarity_High,
+// .timDbgStop = DBGMCU_TIM2_STOP,
+// .timPeriod = MOTORS_PWM_PERIOD,
+// .timPrescaler = MOTORS_PWM_PRESCALE,
+// .setCompare = TIM_SetCompare2,
+// .getCompare = TIM_GetCapture2,
+// .ocInit = TIM_OC2Init,
+// .preloadConfig = TIM_OC2PreloadConfig,
// };
// // Connector M2, PB11, TIM2_CH4
// static const MotorPerifDef CONN_M2 =
// {
-// // .drvType = BRUSHED,
-// // .gpioPerif = RCC_AHB1Periph_GPIOB,
-// // .gpioPort = GPIOB,
-// // .gpioPin = GPIO_Pin_11,
-// // .gpioPinSource = GPIO_PinSource11,
-// // .gpioOType = GPIO_OType_PP,
-// // .gpioAF = GPIO_AF_TIM2,
-// // .timPerif = RCC_APB1Periph_TIM2,
-// // .tim = TIM2,
-// // .timPolarity = TIM_OCPolarity_High,
-// // .timDbgStop = DBGMCU_TIM2_STOP,
-// // .timPeriod = MOTORS_PWM_PERIOD,
-// // .timPrescaler = MOTORS_PWM_PRESCALE,
-// // .setCompare = TIM_SetCompare4,
-// // .getCompare = TIM_GetCapture4,
-// // .ocInit = TIM_OC4Init,
-// // .preloadConfig = TIM_OC4PreloadConfig,
+// .drvType = BRUSHED,
+// .gpioPerif = RCC_AHB1Periph_GPIOB,
+// .gpioPort = GPIOB,
+// .gpioPin = GPIO_Pin_11,
+// .gpioPinSource = GPIO_PinSource11,
+// .gpioOType = GPIO_OType_PP,
+// .gpioAF = GPIO_AF_TIM2,
+// .timPerif = RCC_APB1Periph_TIM2,
+// .tim = TIM2,
+// .timPolarity = TIM_OCPolarity_High,
+// .timDbgStop = DBGMCU_TIM2_STOP,
+// .timPeriod = MOTORS_PWM_PERIOD,
+// .timPrescaler = MOTORS_PWM_PRESCALE,
+// .setCompare = TIM_SetCompare4,
+// .getCompare = TIM_GetCapture4,
+// .ocInit = TIM_OC4Init,
+// .preloadConfig = TIM_OC4PreloadConfig,
// };
// // Connector M3, PA15, TIM2_CH1
// static const MotorPerifDef CONN_M3 =
// {
-// // .drvType = BRUSHED,
-// // .gpioPerif = RCC_AHB1Periph_GPIOA,
-// // .gpioPort = GPIOA,
-// // .gpioPin = GPIO_Pin_15,
-// // .gpioPinSource = GPIO_PinSource15,
-// // .gpioOType = GPIO_OType_PP,
-// // .gpioAF = GPIO_AF_TIM2,
-// // .timPerif = RCC_APB1Periph_TIM2,
-// // .tim = TIM2,
-// // .timPolarity = TIM_OCPolarity_High,
-// // .timDbgStop = DBGMCU_TIM2_STOP,
-// // .timPeriod = MOTORS_PWM_PERIOD,
-// // .timPrescaler = MOTORS_PWM_PRESCALE,
-// // .setCompare = TIM_SetCompare1,
-// // .getCompare = TIM_GetCapture1,
-// // .ocInit = TIM_OC1Init,
-// // .preloadConfig = TIM_OC1PreloadConfig,
+// .drvType = BRUSHED,
+// .gpioPerif = RCC_AHB1Periph_GPIOA,
+// .gpioPort = GPIOA,
+// .gpioPin = GPIO_Pin_15,
+// .gpioPinSource = GPIO_PinSource15,
+// .gpioOType = GPIO_OType_PP,
+// .gpioAF = GPIO_AF_TIM2,
+// .timPerif = RCC_APB1Periph_TIM2,
+// .tim = TIM2,
+// .timPolarity = TIM_OCPolarity_High,
+// .timDbgStop = DBGMCU_TIM2_STOP,
+// .timPeriod = MOTORS_PWM_PERIOD,
+// .timPrescaler = MOTORS_PWM_PRESCALE,
+// .setCompare = TIM_SetCompare1,
+// .getCompare = TIM_GetCapture1,
+// .ocInit = TIM_OC1Init,
+// .preloadConfig = TIM_OC1PreloadConfig,
// };
// // Connector M4, PB9, TIM4_CH4
// static const MotorPerifDef CONN_M4 =
// {
-// // .drvType = BRUSHED,
-// // .gpioPerif = RCC_AHB1Periph_GPIOB,
-// // .gpioPort = GPIOB,
-// // .gpioPin = GPIO_Pin_9,
-// // .gpioPinSource = GPIO_PinSource9,
-// // .gpioOType = GPIO_OType_PP,
-// // .gpioAF = GPIO_AF_TIM4,
-// // .timPerif = RCC_APB1Periph_TIM4,
-// // .tim = TIM4,
-// // .timPolarity = TIM_OCPolarity_High,
-// // .timDbgStop = DBGMCU_TIM4_STOP,
-// // .timPeriod = MOTORS_PWM_PERIOD,
-// // .timPrescaler = MOTORS_PWM_PRESCALE,
-// // .setCompare = TIM_SetCompare4,
-// // .getCompare = TIM_GetCapture4,
-// // .ocInit = TIM_OC4Init,
-// // .preloadConfig = TIM_OC4PreloadConfig,
+// .drvType = BRUSHED,
+// .gpioPerif = RCC_AHB1Periph_GPIOB,
+// .gpioPort = GPIOB,
+// .gpioPin = GPIO_Pin_9,
+// .gpioPinSource = GPIO_PinSource9,
+// .gpioOType = GPIO_OType_PP,
+// .gpioAF = GPIO_AF_TIM4,
+// .timPerif = RCC_APB1Periph_TIM4,
+// .tim = TIM4,
+// .timPolarity = TIM_OCPolarity_High,
+// .timDbgStop = DBGMCU_TIM4_STOP,
+// .timPeriod = MOTORS_PWM_PERIOD,
+// .timPrescaler = MOTORS_PWM_PRESCALE,
+// .setCompare = TIM_SetCompare4,
+// .getCompare = TIM_GetCapture4,
+// .ocInit = TIM_OC4Init,
+// .preloadConfig = TIM_OC4PreloadConfig,
// };
// // Connector M1, PA1, TIM2_CH2, Brushless config, inversed
// static const MotorPerifDef CONN_M1_BL_INV =
// {
-// // .drvType = BRUSHLESS,
-// // .gpioPerif = RCC_AHB1Periph_GPIOA,
-// // .gpioPort = GPIOA,
-// // .gpioPin = GPIO_Pin_1,
-// // .gpioPinSource = GPIO_PinSource1,
-// // .gpioOType = GPIO_OType_PP,
-// // .gpioAF = GPIO_AF_TIM2,
-// // .timPerif = RCC_APB1Periph_TIM2,
-// // .tim = TIM2,
-// // .timPolarity = TIM_OCPolarity_Low,
-// // .timDbgStop = DBGMCU_TIM2_STOP,
-// // .timPeriod = MOTORS_BL_PWM_PERIOD,
-// // .timPrescaler = MOTORS_BL_PWM_PRESCALE,
-// // .setCompare = TIM_SetCompare2,
-// // .getCompare = TIM_GetCapture2,
-// // .ocInit = TIM_OC2Init,
-// // .preloadConfig = TIM_OC2PreloadConfig,
+// .drvType = BRUSHLESS,
+// .gpioPerif = RCC_AHB1Periph_GPIOA,
+// .gpioPort = GPIOA,
+// .gpioPin = GPIO_Pin_1,
+// .gpioPinSource = GPIO_PinSource1,
+// .gpioOType = GPIO_OType_PP,
+// .gpioAF = GPIO_AF_TIM2,
+// .timPerif = RCC_APB1Periph_TIM2,
+// .tim = TIM2,
+// .timPolarity = TIM_OCPolarity_Low,
+// .timDbgStop = DBGMCU_TIM2_STOP,
+// .timPeriod = MOTORS_BL_PWM_PERIOD,
+// .timPrescaler = MOTORS_BL_PWM_PRESCALE,
+// .setCompare = TIM_SetCompare2,
+// .getCompare = TIM_GetCapture2,
+// .ocInit = TIM_OC2Init,
+// .preloadConfig = TIM_OC2PreloadConfig,
// };
// // Connector M2, PB11, TIM2_CH4, Brushless config, inversed
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/mpu6500.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/mpu6500.c
index 9a29f793058d1f5e0bd07f289bdc43b2d6c5bbfe..2704155fea10f4e8c29d7b3e755d550b55f1ec51 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/mpu6500.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/drivers/src/mpu6500.c
@@ -46,40 +46,40 @@ static I2C_Dev *I2Cx;
static uint8_t buffer[14];
static bool isInit;
-static const unsigned short mpu6500StTb[256] = {
- 2620,2646,2672,2699,2726,2753,2781,2808, //7
- 2837,2865,2894,2923,2952,2981,3011,3041, //15
- 3072,3102,3133,3165,3196,3228,3261,3293, //23
- 3326,3359,3393,3427,3461,3496,3531,3566, //31
- 3602,3638,3674,3711,3748,3786,3823,3862, //39
- 3900,3939,3979,4019,4059,4099,4140,4182, //47
- 4224,4266,4308,4352,4395,4439,4483,4528, //55
- 4574,4619,4665,4712,4759,4807,4855,4903, //63
- 4953,5002,5052,5103,5154,5205,5257,5310, //71
- 5363,5417,5471,5525,5581,5636,5693,5750, //79
- 5807,5865,5924,5983,6043,6104,6165,6226, //87
- 6289,6351,6415,6479,6544,6609,6675,6742, //95
- 6810,6878,6946,7016,7086,7157,7229,7301, //103
- 7374,7448,7522,7597,7673,7750,7828,7906, //111
- 7985,8065,8145,8227,8309,8392,8476,8561, //119
- 8647,8733,8820,8909,8998,9088,9178,9270,
- 9363,9457,9551,9647,9743,9841,9939,10038,
- 10139,10240,10343,10446,10550,10656,10763,10870,
- 10979,11089,11200,11312,11425,11539,11654,11771,
- 11889,12008,12128,12249,12371,12495,12620,12746,
- 12874,13002,13132,13264,13396,13530,13666,13802,
- 13940,14080,14221,14363,14506,14652,14798,14946,
- 15096,15247,15399,15553,15709,15866,16024,16184,
- 16346,16510,16675,16842,17010,17180,17352,17526,
- 17701,17878,18057,18237,18420,18604,18790,18978,
- 19167,19359,19553,19748,19946,20145,20347,20550,
- 20756,20963,21173,21385,21598,21814,22033,22253,
- 22475,22700,22927,23156,23388,23622,23858,24097,
- 24338,24581,24827,25075,25326,25579,25835,26093,
- 26354,26618,26884,27153,27424,27699,27976,28255,
- 28538,28823,29112,29403,29697,29994,30294,30597,
- 30903,31212,31524,31839,32157,32479,32804,33132
-};
+// static const unsigned short mpu6500StTb[256] = {
+// 2620,2646,2672,2699,2726,2753,2781,2808, //7
+// 2837,2865,2894,2923,2952,2981,3011,3041, //15
+// 3072,3102,3133,3165,3196,3228,3261,3293, //23
+// 3326,3359,3393,3427,3461,3496,3531,3566, //31
+// 3602,3638,3674,3711,3748,3786,3823,3862, //39
+// 3900,3939,3979,4019,4059,4099,4140,4182, //47
+// 4224,4266,4308,4352,4395,4439,4483,4528, //55
+// 4574,4619,4665,4712,4759,4807,4855,4903, //63
+// 4953,5002,5052,5103,5154,5205,5257,5310, //71
+// 5363,5417,5471,5525,5581,5636,5693,5750, //79
+// 5807,5865,5924,5983,6043,6104,6165,6226, //87
+// 6289,6351,6415,6479,6544,6609,6675,6742, //95
+// 6810,6878,6946,7016,7086,7157,7229,7301, //103
+// 7374,7448,7522,7597,7673,7750,7828,7906, //111
+// 7985,8065,8145,8227,8309,8392,8476,8561, //119
+// 8647,8733,8820,8909,8998,9088,9178,9270,
+// 9363,9457,9551,9647,9743,9841,9939,10038,
+// 10139,10240,10343,10446,10550,10656,10763,10870,
+// 10979,11089,11200,11312,11425,11539,11654,11771,
+// 11889,12008,12128,12249,12371,12495,12620,12746,
+// 12874,13002,13132,13264,13396,13530,13666,13802,
+// 13940,14080,14221,14363,14506,14652,14798,14946,
+// 15096,15247,15399,15553,15709,15866,16024,16184,
+// 16346,16510,16675,16842,17010,17180,17352,17526,
+// 17701,17878,18057,18237,18420,18604,18790,18978,
+// 19167,19359,19553,19748,19946,20145,20347,20550,
+// 20756,20963,21173,21385,21598,21814,22033,22253,
+// 22475,22700,22927,23156,23388,23622,23858,24097,
+// 24338,24581,24827,25075,25326,25579,25835,26093,
+// 26354,26618,26884,27153,27424,27699,27976,28255,
+// 28538,28823,29112,29403,29697,29994,30294,30597,
+// 30903,31212,31524,31839,32157,32479,32804,33132
+// };
/** Default constructor, uses default I2C address.
* @see MPU6500_DEFAULT_ADDRESS
@@ -433,8 +433,8 @@ uint8_t mpu6500GetFullScaleGyroRangeId()
*/
float mpu6500GetFullScaleGyroDPL()
{
- int32_t rangeId;
- float range;
+ // int32_t rangeId;
+ float range= 0.0;
// rangeId = mpu6500GetFullScaleGyroRangeId();
// switch (rangeId)
@@ -575,8 +575,8 @@ uint8_t mpu6500GetFullScaleAccelRangeId()
*/
float mpu6500GetFullScaleAccelGPL()
{
- int32_t rangeId;
- float range;
+ // int32_t rangeId;
+ float range = 0.0;
// rangeId = mpu6500GetFullScaleAccelRangeId();
// switch (rangeId)
@@ -3151,10 +3151,10 @@ void mpu6500WriteMemoryByte(uint8_t data)
}
void mpu6500ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address)
{
- mpu6500SetMemoryBank(bank, true, true);
- mpu6500SetMemoryStartAddress(address);
- uint8_t chunkSize;
- uint16_t i;
+ // mpu6500SetMemoryBank(bank, true, true);
+ // mpu6500SetMemoryStartAddress(address);
+ // uint8_t chunkSize;
+ // uint16_t i;
// for (i = 0; i < dataSize;)
// {
@@ -3191,10 +3191,10 @@ void mpu6500ReadMemoryBlock(uint8_t *data, uint16_t dataSize, uint8_t bank, uint
bool mpu6500WriteMemoryBlock(const uint8_t *data, uint16_t dataSize, uint8_t bank, uint8_t address,
bool verify)
{
- static uint8_t verifyBuffer[MPU6500_DMP_MEMORY_CHUNK_SIZE];
- uint8_t chunkSize;
- uint8_t *progBuffer;
- uint16_t i;
+ // static uint8_t verifyBuffer[MPU6500_DMP_MEMORY_CHUNK_SIZE];
+ // uint8_t chunkSize;
+ // uint8_t *progBuffer;
+ // uint16_t i;
// mpu6500SetMemoryBank(bank, true, true);
// mpu6500SetMemoryStartAddress(address);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/interface/pm.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/interface/pm.h
index 61b90519c7a8e5c57d2bd9566fdd76bf9d0827e4..707af90ca9e0008dac258ecf1f8e8e6e259d38a3 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/interface/pm.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/interface/pm.h
@@ -48,15 +48,13 @@
#define PM_BAT_LOW_VOLTAGE LOW_VOLTAGE
#endif
#ifndef LOW_TIMEOUT
-//COMMENTED FIRMWARE
- #define PM_BAT_LOW_TIMEOUT 1000 * 5//M2T(1000 * 5) // 5 sec default
+ #define PM_BAT_LOW_TIMEOUT M2T(1000 * 5) // 5 sec default
#else
#define PM_BAT_LOW_TIMEOUT LOW_TIMEOUT
#endif
#ifndef SYSTEM_SHUTDOWN_TIMEOUT
-//COMMENTED FIRMWARE
- #define PM_SYSTEM_SHUTDOWN_TIMEOUT 1000 * 60 * 5//M2T(1000 * 60 * 5) // 5 min default
+ #define PM_SYSTEM_SHUTDOWN_TIMEOUT M2T(1000 * 60 * 5) // 5 min default
#else
#define PM_SYSTEM_SHUTDOWN_TIMEOUT M2T(1000 * 60 * SYSTEM_SHUTDOWN_TIMEOUT)
#endif
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/ow_syslink.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/ow_syslink.c
index b858b5f9af3310933dd13f2798fbe6a6c2533ef9..2d3b89a96a9bb34b514f1d62a3705ac4f9ce4b88 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/ow_syslink.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/ow_syslink.c
@@ -55,8 +55,7 @@ void owInit()
{
syslinkInit();
vSemaphoreCreateBinary(waitForReply);
- //COMMENTED FIRMWARE
- //lockCmdBuf = xSemaphoreCreateMutexStatic(&lockCmdBufBuffer);
+ lockCmdBuf = xSemaphoreCreateMutexStatic(&lockCmdBufBuffer);
// Put reply semaphore in right state.
xSemaphoreTake(waitForReply, portMAX_DELAY);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/pm_stm32f4.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/pm_stm32f4.c
index 0808c45bf48eeb7d29bc28070df2c28db57d8468..d522e268d29a14bdec7bbc8ade3d4817e56e6995 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/pm_stm32f4.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/pm_stm32f4.c
@@ -113,8 +113,7 @@ void pmInit(void)
return;
}
- //COMMENTED FIRMWARE
- //STATIC_MEM_TASK_CREATE(pmTask, pmTask, PM_TASK_NAME, NULL, PM_TASK_PRI);
+ STATIC_MEM_TASK_CREATE(pmTask, pmTask, PM_TASK_NAME, NULL, PM_TASK_PRI);
isInit = true;
//COMMENTED FIRMWARE
@@ -217,29 +216,28 @@ void pmSetChargeState(PMChargeStates chgState)
PMStates pmUpdateState()
{
PMStates state;
- //COMMENTED FIRMWARE
- // bool isCharging = pmSyslinkInfo.chg;
- // bool isPgood = pmSyslinkInfo.pgood;
- // uint32_t batteryLowTime;
+ bool isCharging = pmSyslinkInfo.chg;
+ bool isPgood = pmSyslinkInfo.pgood;
+ uint32_t batteryLowTime;
- // batteryLowTime = xTaskGetTickCount() - batteryLowTimeStamp;
+ batteryLowTime = xTaskGetTickCount() - batteryLowTimeStamp;
- // if (isPgood && !isCharging)
- // {
- // state = charged;
- // }
- // else if (isPgood && isCharging)
- // {
- // state = charging;
- // }
- // else if (!isPgood && !isCharging && (batteryLowTime > PM_BAT_LOW_TIMEOUT))
- // {
- // state = lowPower;
- // }
- // else
- // {
- // state = battery;
- // }
+ if (isPgood && !isCharging)
+ {
+ state = charged;
+ }
+ else if (isPgood && isCharging)
+ {
+ state = charging;
+ }
+ else if (!isPgood && !isCharging && (batteryLowTime > PM_BAT_LOW_TIMEOUT))
+ {
+ state = lowPower;
+ }
+ else
+ {
+ state = battery;
+ }
return state;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bmi088_bmp388.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bmi088_bmp388.c
index 0ecc3fd33ac2a888350b43214f2ad72362cd3247..9f1d3a30c3600da32e471671d47e0724be1230e0 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bmi088_bmp388.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bmi088_bmp388.c
@@ -27,7 +27,6 @@
#define DEBUG_MODULE "IMU"
#include <math.h>
-#include "empty_math.h"
#include "sensors_bmi088_bmp388.h"
#include "stm32fxxx.h"
@@ -235,11 +234,10 @@ static void sensorsAccelGet(Axis3i16* dataOut)
static void sensorsScaleBaro(baro_t* baroScaled, float pressure,
float temperature)
{
- //COMMENTED FIRMWARE
- // baroScaled->pressure = pressure*0.01f;
- // baroScaled->temperature = temperature;
- // baroScaled->asl = ((powf((1015.7f / baroScaled->pressure), 0.1902630958f)
- // - 1.0f) * (25.0f + 273.15f)) / 0.0065f;
+ baroScaled->pressure = pressure*0.01f;
+ baroScaled->temperature = temperature;
+ baroScaled->asl = ((powf((1015.7f / baroScaled->pressure), 0.1902630958f)
+ - 1.0f) * (25.0f + 273.15f)) / 0.0065f;
}
bool sensorsBmi088Bmp388ReadGyro(Axis3f *gyro)
@@ -514,7 +512,6 @@ static void sensorsDeviceInit(void)
lpf2pInit(&accLpf[i], 1000, ACCEL_LPF_CUTOFF_FREQ);
}
- //COMMENTED FIRMWARE
cosPitch = cosf(configblockGetCalibPitch() * (float) M_PI / 180);
sinPitch = sinf(configblockGetCalibPitch() * (float) M_PI / 180);
cosRoll = cosf(configblockGetCalibRoll() * (float) M_PI / 180);
@@ -647,18 +644,17 @@ bool sensorsBmi088Bmp388Test(void)
*/
static bool processAccScale(int16_t ax, int16_t ay, int16_t az)
{
- //COMMENTED FIRMWARE
- // if (!accScaleFound)
- // {
- // accScaleSum += sqrtf(powf(ax * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(az * SENSORS_BMI088_G_PER_LSB_CFG, 2));
- // accScaleSumCount++;
-
- // if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
- // {
- // accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
- // accScaleFound = true;
- // }
- // }
+ if (!accScaleFound)
+ {
+ accScaleSum += sqrtf(powf(ax * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_BMI088_G_PER_LSB_CFG, 2) + powf(az * SENSORS_BMI088_G_PER_LSB_CFG, 2));
+ accScaleSumCount++;
+
+ if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
+ {
+ accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
+ accScaleFound = true;
+ }
+ }
return accScaleFound;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bosch.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bosch.c
index 85adbf7bec3cf97aba3faa4d905b41e0e3701644..c01eb7d9f81dd18480b29569ba35efbe80026bbd 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bosch.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_bosch.c
@@ -34,7 +34,6 @@
#include "sensors_bosch.h"
#include <math.h>
-#include "empty_math.h"
#include "stm32fxxx.h"
@@ -765,25 +764,24 @@ static void calcMean(BiasObj* bias, Axis3f* mean) {
*/
static void calcVarianceAndMean(BiasObj* bias, Axis3f* variance, Axis3f* mean)
{
- //COMMENTED FIRMWARE
- // Axis3i16* elem;
- // int64_t sumSquared[GYRO_NBR_OF_AXES] = {0};
-
- // for (elem = bias->bufStart;
- // elem != (bias->bufStart+SENSORS_NBR_OF_BIAS_SAMPLES); elem++)
- // {
- // sumSquared[0] += elem->x * elem->x;
- // sumSquared[1] += elem->y * elem->y;
- // sumSquared[2] += elem->z * elem->z;
- // }
- // calcMean(bias, mean);
-
- // variance->x = fabs(sumSquared[0] / SENSORS_NBR_OF_BIAS_SAMPLES
- // - mean->x * mean->x);
- // variance->y = fabs(sumSquared[1] / SENSORS_NBR_OF_BIAS_SAMPLES
- // - mean->y * mean->y);
- // variance->z = fabs(sumSquared[2] / SENSORS_NBR_OF_BIAS_SAMPLES
- // - mean->z * mean->z);
+ Axis3i16* elem;
+ int64_t sumSquared[GYRO_NBR_OF_AXES] = {0};
+
+ for (elem = bias->bufStart;
+ elem != (bias->bufStart+SENSORS_NBR_OF_BIAS_SAMPLES); elem++)
+ {
+ sumSquared[0] += elem->x * elem->x;
+ sumSquared[1] += elem->y * elem->y;
+ sumSquared[2] += elem->z * elem->z;
+ }
+ calcMean(bias, mean);
+
+ variance->x = fabs(sumSquared[0] / SENSORS_NBR_OF_BIAS_SAMPLES
+ - mean->x * mean->x);
+ variance->y = fabs(sumSquared[1] / SENSORS_NBR_OF_BIAS_SAMPLES
+ - mean->y * mean->y);
+ variance->z = fabs(sumSquared[2] / SENSORS_NBR_OF_BIAS_SAMPLES
+ - mean->z * mean->z);
}
/**
@@ -831,11 +829,10 @@ static void sensorsApplyBiasAndScale(Axis3f* scaled, Axis3i16* aligned,
static void sensorsScaleBaro(baro_t* baroScaled, float pressure,
float temperature) {
- //COMMENTED FIRMWARE
- // baroScaled->pressure = pressure*0.01f;
- // baroScaled->temperature = temperature;
- // baroScaled->asl = ((powf((1015.7f / baroScaled->pressure), 0.1902630958f)
- // - 1.0f) * (25.0f + 273.15f)) / 0.0065f;
+ baroScaled->pressure = pressure*0.01f;
+ baroScaled->temperature = temperature;
+ baroScaled->asl = ((powf((1015.7f / baroScaled->pressure), 0.1902630958f)
+ - 1.0f) * (25.0f + 273.15f)) / 0.0065f;
}
bool sensorsBoschReadGyro(Axis3f *gyro)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_mpu9250_lps25h.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_mpu9250_lps25h.c
index 3b441215d8e8830df4f9313dea4e950c5e75cd52..7c3959e0934fb8e8b9bccb0d03adac8d0191c293 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_mpu9250_lps25h.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/hal/src/sensors_mpu9250_lps25h.c
@@ -29,7 +29,6 @@
#include "sensors_mpu9250_lps25h.h"
#include <math.h>
-#include "empty_math.h"
#include <stm32f4xx.h>
#include "lps25h.h"
@@ -610,20 +609,19 @@ bool sensorsMpu9250Lps25hTest(void)
static bool processAccScale(int16_t ax, int16_t ay, int16_t az)
{
static bool accBiasFound = false;
- //COMMENTED FIRMWARE
- // static uint32_t accScaleSumCount = 0;
+ static uint32_t accScaleSumCount = 0;
- // if (!accBiasFound)
- // {
- // accScaleSum += sqrtf(powf(ax * SENSORS_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_G_PER_LSB_CFG, 2) + powf(az * SENSORS_G_PER_LSB_CFG, 2));
- // accScaleSumCount++;
+ if (!accBiasFound)
+ {
+ accScaleSum += sqrtf(powf(ax * SENSORS_G_PER_LSB_CFG, 2) + powf(ay * SENSORS_G_PER_LSB_CFG, 2) + powf(az * SENSORS_G_PER_LSB_CFG, 2));
+ accScaleSumCount++;
- // if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
- // {
- // accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
- // accBiasFound = true;
- // }
- // }
+ if (accScaleSumCount == SENSORS_ACC_SCALE_SAMPLES)
+ {
+ accScale = accScaleSum / SENSORS_ACC_SCALE_SAMPLES;
+ accBiasFound = true;
+ }
+ }
return accBiasFound;
}
@@ -805,57 +803,56 @@ static bool sensorsFindBiasValue(BiasObj* bias)
bool sensorsMpu9250Lps25hManufacturingTest(void)
{
bool testStatus = false;
- //COMMENTED FIRMWARE
- // Axis3i16 g;
- // Axis3i16 a;
- // Axis3f acc; // Accelerometer axis data in mG
- // float pitch, roll;
- // uint32_t startTick = xTaskGetTickCount();
-
- // testStatus = mpu6500SelfTest();
-
- // if (testStatus)
- // {
- // sensorsBiasObjInit(&gyroBiasRunning);
- // while (xTaskGetTickCount() - startTick < SENSORS_VARIANCE_MAN_TEST_TIMEOUT)
- // {
- // mpu6500GetMotion6(&a.y, &a.x, &a.z, &g.y, &g.x, &g.z);
-
- // if (processGyroBias(g.x, g.y, g.z, &gyroBias))
- // {
- // gyroBiasFound = true;
- // DEBUG_PRINT("Gyro variance test [OK]\n");
- // break;
- // }
- // }
-
- // if (gyroBiasFound)
- // {
- // acc.x = -(a.x) * SENSORS_G_PER_LSB_CFG;
- // acc.y = (a.y) * SENSORS_G_PER_LSB_CFG;
- // acc.z = (a.z) * SENSORS_G_PER_LSB_CFG;
-
- // // Calculate pitch and roll based on accelerometer. Board must be level
- // pitch = tanf(-acc.x/(sqrtf(acc.y*acc.y + acc.z*acc.z))) * 180/(float) M_PI;
- // roll = tanf(acc.y/acc.z) * 180/(float) M_PI;
-
- // if ((fabsf(roll) < SENSORS_MAN_TEST_LEVEL_MAX) && (fabsf(pitch) < SENSORS_MAN_TEST_LEVEL_MAX))
- // {
- // DEBUG_PRINT("Acc level test [OK]\n");
- // testStatus = true;
- // }
- // else
- // {
- // DEBUG_PRINT("Acc level test Roll:%0.2f, Pitch:%0.2f [FAIL]\n", (double)roll, (double)pitch);
- // testStatus = false;
- // }
- // }
- // else
- // {
- // DEBUG_PRINT("Gyro variance test [FAIL]\n");
- // testStatus = false;
- // }
- // }
+ Axis3i16 g;
+ Axis3i16 a;
+ Axis3f acc; // Accelerometer axis data in mG
+ float pitch, roll;
+ uint32_t startTick = xTaskGetTickCount();
+
+ testStatus = mpu6500SelfTest();
+
+ if (testStatus)
+ {
+ sensorsBiasObjInit(&gyroBiasRunning);
+ while (xTaskGetTickCount() - startTick < SENSORS_VARIANCE_MAN_TEST_TIMEOUT)
+ {
+ mpu6500GetMotion6(&a.y, &a.x, &a.z, &g.y, &g.x, &g.z);
+
+ if (processGyroBias(g.x, g.y, g.z, &gyroBias))
+ {
+ gyroBiasFound = true;
+ DEBUG_PRINT("Gyro variance test [OK]\n");
+ break;
+ }
+ }
+
+ if (gyroBiasFound)
+ {
+ acc.x = -(a.x) * SENSORS_G_PER_LSB_CFG;
+ acc.y = (a.y) * SENSORS_G_PER_LSB_CFG;
+ acc.z = (a.z) * SENSORS_G_PER_LSB_CFG;
+
+ // Calculate pitch and roll based on accelerometer. Board must be level
+ pitch = tanf(-acc.x/(sqrtf(acc.y*acc.y + acc.z*acc.z))) * 180/(float) M_PI;
+ roll = tanf(acc.y/acc.z) * 180/(float) M_PI;
+
+ if ((fabsf(roll) < SENSORS_MAN_TEST_LEVEL_MAX) && (fabsf(pitch) < SENSORS_MAN_TEST_LEVEL_MAX))
+ {
+ DEBUG_PRINT("Acc level test [OK]\n");
+ testStatus = true;
+ }
+ else
+ {
+ DEBUG_PRINT("Acc level test Roll:%0.2f, Pitch:%0.2f [FAIL]\n", (double)roll, (double)pitch);
+ testStatus = false;
+ }
+ }
+ else
+ {
+ DEBUG_PRINT("Gyro variance test [FAIL]\n");
+ testStatus = false;
+ }
+ }
return testStatus;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h
index bdcd2984adc90a05e3d8dcb69fe8e804ce556238..f47a9fe7c89676a340ece8acdf024807d74b7b6b 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/CMSIS/STM32F4xx/Include/stm32f4xx.h
@@ -89,9 +89,9 @@
#endif /* STM32F40XX */
/* Old STM32F427X definition, maintained for legacy purpose */
-//#ifdef STM32F427X
+#ifdef STM32F427X
#define STM32F427_437xx
-//#endif /* STM32F427X */
+#endif /* STM32F427X */
/* Tip: To avoid modifying this file each time you need to switch between these
devices, you can define the device in your toolchain compiler preprocessor.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/FatFS/ff.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/FatFS/ff.h
index 7bdf765d1a6d3b1f7b830706b7c012b98790d4b6..ec9c91ed65523d904e8456abc5343f346a8c478b 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/FatFS/ff.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/FatFS/ff.h
@@ -357,12 +357,11 @@ DWORD get_fattime (void);
#endif
/* LFN support functions */
-
-//#if FF_USE_LFN >= 1 /* Code conversion (defined in unicode.c) */
+#if FF_USE_LFN >= 1 /* Code conversion (defined in unicode.c) */
WCHAR ff_oem2uni (WCHAR oem, WORD cp); /* OEM code to Unicode conversion */
WCHAR ff_uni2oem (DWORD uni, WORD cp); /* Unicode to OEM code conversion */
DWORD ff_wtoupper (DWORD uni); /* Unicode upper-case conversion */
-//#endif
+#endif
#if FF_USE_LFN == 3 /* Dynamic memory allocation */
void* ff_memalloc (UINT msize); /* Allocate memory block */
void ff_memfree (void* mblock); /* Free memory block */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/Segger_RTT/RTT/SEGGER_RTT.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/Segger_RTT/RTT/SEGGER_RTT.c
index 261d36e4c12764e9fbfc6139552cce5d4ef2947d..f793d6d21c9a8ce48ef1d112c79915ca2885ad44 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/Segger_RTT/RTT/SEGGER_RTT.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/Segger_RTT/RTT/SEGGER_RTT.c
@@ -132,9 +132,8 @@ Additional information:
#define SEGGER_RTT_UNLOCK()
#endif
-//COMMENTED FIRMWARE
#ifndef STRLEN
- #define STRLEN(a) a//strlen((a))
+ #define STRLEN(a) strlen((a))
#endif
#ifndef SEGGER_RTT_MEMCPY_USE_BYTELOOP
@@ -938,8 +937,8 @@ unsigned SEGGER_RTT_Write(unsigned BufferIndex, const void* pBuffer, unsigned Nu
*/
unsigned SEGGER_RTT_WriteString(unsigned BufferIndex, const char* s) {
unsigned Len;
- //COMMENTED FIRMWARE
- // Len = STRLEN(s);
+
+ Len = STRLEN(s);
return SEGGER_RTT_Write(BufferIndex, s, Len);
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/vl53l1/core/src/vl53l1_api.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/vl53l1/core/src/vl53l1_api.c
index d075731f193524ab2b039bb0c3616bbfd2c0e2b7..2ccbe6e83b87ec277d07762a03e83370f347c39c 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/vl53l1/core/src/vl53l1_api.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/lib/vl53l1/core/src/vl53l1_api.c
@@ -670,9 +670,9 @@ VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev,
LOG_FUNCTION_START("");
pLLData = VL53L1DevStructGetLLDriverHandle(Dev);
- //COMMENTED FIRMWARE
- // strncpy(pVL53L1_DeviceInfo->ProductId, "",
- // VL53L1_DEVINFO_STRLEN-1);
+
+ strncpy(pVL53L1_DeviceInfo->ProductId, "",
+ VL53L1_DEVINFO_STRLEN-1);
pVL53L1_DeviceInfo->ProductType =
pLLData->nvm_copy_data.identification__module_type;
@@ -681,18 +681,17 @@ VL53L1_Error VL53L1_GetDeviceInfo(VL53L1_DEV Dev,
pVL53L1_DeviceInfo->ProductRevisionMinor = (revision_id & 0xF0) >> 4;
#ifndef VL53L1_USE_EMPTY_STRING
-//COMMENTED FIRMWARE
- // if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0)
- // strncpy(pVL53L1_DeviceInfo->Name,
- // VL53L1_STRING_DEVICE_INFO_NAME0,
- // VL53L1_DEVINFO_STRLEN-1);
- // else
- // strncpy(pVL53L1_DeviceInfo->Name,
- // VL53L1_STRING_DEVICE_INFO_NAME1,
- // VL53L1_DEVINFO_STRLEN-1);
- // strncpy(pVL53L1_DeviceInfo->Type,
- // VL53L1_STRING_DEVICE_INFO_TYPE,
- // VL53L1_DEVINFO_STRLEN-1);
+ if (pVL53L1_DeviceInfo->ProductRevisionMinor == 0)
+ strncpy(pVL53L1_DeviceInfo->Name,
+ VL53L1_STRING_DEVICE_INFO_NAME0,
+ VL53L1_DEVINFO_STRLEN-1);
+ else
+ strncpy(pVL53L1_DeviceInfo->Name,
+ VL53L1_STRING_DEVICE_INFO_NAME1,
+ VL53L1_DEVINFO_STRLEN-1);
+ strncpy(pVL53L1_DeviceInfo->Type,
+ VL53L1_STRING_DEVICE_INFO_TYPE,
+ VL53L1_DEVINFO_STRLEN-1);
#else
pVL53L1_DeviceInfo->Name[0] = 0;
pVL53L1_DeviceInfo->Type[0] = 0;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/commander.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/commander.h
index 2d69130178d3bd5d1049a961b40951a62dfa1348..a6a4de61e7a62eb00d78f01048d690b773c4188b 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/commander.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/commander.h
@@ -32,10 +32,8 @@
#define DEFAULT_YAW_MODE XMODE
-
-//COMMENTED FIRMWARE
-#define COMMANDER_WDT_TIMEOUT_STABILIZE 500//M2T(500)
-#define COMMANDER_WDT_TIMEOUT_SHUTDOWN 2000//M2T(2000)
+#define COMMANDER_WDT_TIMEOUT_STABILIZE M2T(500)
+#define COMMANDER_WDT_TIMEOUT_SHUTDOWN M2T(2000)
#define COMMANDER_PRIORITY_DISABLE 0
#define COMMANDER_PRIORITY_CRTP 1
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/math3d.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/math3d.h
index c3adb7681b6dfeb0caf6464c1735424336300793..673d5d6124d6eb784604f08ae8ec27da9fff524f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/math3d.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/math3d.h
@@ -26,7 +26,6 @@ SOFTWARE.
*/
#include <math.h>
-#include "empty_math.h"
#include <stdbool.h>
#include <stddef.h>
@@ -56,18 +55,16 @@ static inline float clamp(float value, float min, float max) {
// steps to allow. this does not work well for numbers near zero.
// See https://randomascii.wordpress.com/2012/02/25/comparing-floating-point-numbers-2012-edition/
static inline bool fcloseulps(float a, float b, int ulps) {
- //COMMENTED FIRMWARE
- // if ((a < 0.0f) != (b < 0.0f)) {
- // // Handle negative zero.
- // if (a == b) {
- // return true;
- // }
- // return false;
- // }
- // int ia = *((int *)&a);
- // int ib = *((int *)&b);
- // return fabsf(ia - ib) <= ulps;
- return false;
+ if ((a < 0.0f) != (b < 0.0f)) {
+ // Handle negative zero.
+ if (a == b) {
+ return true;
+ }
+ return false;
+ }
+ int ia = *((int *)&a);
+ int ib = *((int *)&b);
+ return fabsf(ia - ib) <= ulps;
}
@@ -149,8 +146,7 @@ static inline float vmag2(struct vec v) {
}
// vector magnitude.
static inline float vmag(struct vec v) {
- //COMMENTED FIRMWARE
- return 0;//sqrtf(vmag2(v));
+ return sqrtf(vmag2(v));
}
// vector Euclidean distance squared.
static inline float vdist2(struct vec a, struct vec b) {
@@ -158,8 +154,7 @@ static inline float vdist2(struct vec a, struct vec b) {
}
// vector Euclidean distance.
static inline float vdist(struct vec a, struct vec b) {
- //COMMENTED FIRMWARE
- return 0;//sqrtf(vdist2(a, b));
+ return sqrtf(vdist2(a, b));
}
// normalize a vector (make a unit vector).
static inline struct vec vnormalize(struct vec v) {
@@ -584,25 +579,23 @@ static inline struct quat qnormalize(struct quat q);
// assumes a and b are unit vectors.
// does not handle degenerate case where a = -b. returns all-zero quat
static inline struct quat qvectovec(struct vec a, struct vec b) {
- //COMMENTED FIRMWARE
- // struct vec const cross = vcross(a, b);
- // float const sinangle = vmag(cross);
- // float const cosangle = vdot(a, b);
- // // avoid taking sqrt of negative number due to floating point error.
- // // TODO: find tighter exact bound
- // float const EPS_ANGLE = 1e-6;
- // if (sinangle < EPS_ANGLE) {
- // if (cosangle > 0.0f) return qeye();
- // else return mkquat(0.0f, 0.0f, 0.0f, 0.0f); // degenerate
- // }
- // float const halfcos = 0.5f * cosangle;
- // // since angle is < 180deg, the positive sqrt is always correct
- // float const sinhalfangle = sqrtf(fmax(0.5f - halfcos, 0.0f));
- // float const coshalfangle = sqrtf(fmax(0.5f + halfcos, 0.0f));
- // struct vec const qimag = vscl(sinhalfangle / sinangle, cross);
- // float const qreal = coshalfangle;
- // return quatvw(qimag, qreal);
- return quatvw(a, 0);
+ struct vec const cross = vcross(a, b);
+ float const sinangle = vmag(cross);
+ float const cosangle = vdot(a, b);
+ // avoid taking sqrt of negative number due to floating point error.
+ // TODO: find tighter exact bound
+ float const EPS_ANGLE = 1e-6;
+ if (sinangle < EPS_ANGLE) {
+ if (cosangle > 0.0f) return qeye();
+ else return mkquat(0.0f, 0.0f, 0.0f, 0.0f); // degenerate
+ }
+ float const halfcos = 0.5f * cosangle;
+ // since angle is < 180deg, the positive sqrt is always correct
+ float const sinhalfangle = sqrtf(fmax(0.5f - halfcos, 0.0f));
+ float const coshalfangle = sqrtf(fmax(0.5f + halfcos, 0.0f));
+ struct vec const qimag = vscl(sinhalfangle / sinangle, cross);
+ float const qreal = coshalfangle;
+ return quatvw(qimag, qreal);
}
// construct from (roll, pitch, yaw) Euler angles using Tait-Bryan convention
// (yaw, then pitch about new pitch axis, then roll about new roll axis)
@@ -629,29 +622,25 @@ static inline struct quat rpy2quat(struct vec rpy) {
static inline struct quat rpy2quat_small(struct vec rpy) {
// TODO: cite source, but can be derived from rpy2quat under first-order approximation:
// sin(epsilon) = epsilon, cos(epsilon) = 1, epsilon^2 = 0
- //COMMENTED FIRMWARE
- // float q2 = vmag2(rpy) / 4.0f;
- // if (q2 < 1) {
- //return quatvw(vdiv(rpy, 2), sqrtf(1.0f - q2));
- // }
- // else {
- // float w = 1.0f / sqrtf(1.0f + q2);
- // return quatvw(vscl(w/2, rpy), w);
- // }
- return quatvw(rpy, 0);
+ float q2 = vmag2(rpy) / 4.0f;
+ if (q2 < 1) {
+ return quatvw(vdiv(rpy, 2), sqrtf(1.0f - q2));
+ }
+ else {
+ float w = 1.0f / sqrtf(1.0f + q2);
+ return quatvw(vscl(w/2, rpy), w);
+ }
}
// construct quaternion from orthonormal matrix.
static inline struct quat mat2quat(struct mat33 m) {
- //COMMENTED FIRMWARE
- // float w = sqrtf(fmax(0.0f, 1.0f + m.m[0][0] + m.m[1][1] + m.m[2][2])) / 2.0f;
- // float x = sqrtf(fmax(0.0f, 1.0f + m.m[0][0] - m.m[1][1] - m.m[2][2])) / 2.0f;
- // float y = sqrtf(fmax(0.0f, 1.0f - m.m[0][0] + m.m[1][1] - m.m[2][2])) / 2.0f;
- // float z = sqrtf(fmax(0.0f, 1.0f - m.m[0][0] - m.m[1][1] + m.m[2][2])) / 2.0f;
- // x = copysign(x, m.m[2][1] - m.m[1][2]);
- // y = copysign(y, m.m[0][2] - m.m[2][0]);
- // z = copysign(z, m.m[1][0] - m.m[0][1]);
- //return mkquat(x, y, z, w);
- return mkquat(0, 0, 0, 0);
+ float w = sqrtf(fmax(0.0f, 1.0f + m.m[0][0] + m.m[1][1] + m.m[2][2])) / 2.0f;
+ float x = sqrtf(fmax(0.0f, 1.0f + m.m[0][0] - m.m[1][1] - m.m[2][2])) / 2.0f;
+ float y = sqrtf(fmax(0.0f, 1.0f - m.m[0][0] + m.m[1][1] - m.m[2][2])) / 2.0f;
+ float z = sqrtf(fmax(0.0f, 1.0f - m.m[0][0] - m.m[1][1] + m.m[2][2])) / 2.0f;
+ x = copysign(x, m.m[2][1] - m.m[1][2]);
+ y = copysign(y, m.m[0][2] - m.m[2][0]);
+ z = copysign(z, m.m[1][0] - m.m[0][1]);
+ return mkquat(x, y, z, w);
}
//
@@ -663,19 +652,16 @@ static inline struct quat mat2quat(struct mat33 m) {
static inline struct vec quat2rpy(struct quat q) {
// from https://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles
struct vec v;
- //COMMENTED FIRMWARE
- // v.x = atan2f(2.0f * (q.w * q.x + q.y * q.z), 1 - 2 * (fsqr(q.x) + fsqr(q.y))); // roll
- // v.y = asinf(2.0f * (q.w * q.y - q.x * q.z)); // pitch
- // v.z = atan2f(2.0f * (q.w * q.z + q.x * q.y), 1 - 2 * (fsqr(q.y) + fsqr(q.z))); // yaw
+ v.x = atan2f(2.0f * (q.w * q.x + q.y * q.z), 1 - 2 * (fsqr(q.x) + fsqr(q.y))); // roll
+ v.y = asinf(2.0f * (q.w * q.y - q.x * q.z)); // pitch
+ v.z = atan2f(2.0f * (q.w * q.z + q.x * q.y), 1 - 2 * (fsqr(q.y) + fsqr(q.z))); // yaw
return v;
}
// compute the axis of a quaternion's axis-angle decomposition.
static inline struct vec quat2axis(struct quat q) {
// TODO this is not numerically stable for tiny rotations
- //COMMENTED FIRMWARE
- //float s = 1.0f / sqrtf(1.0f - q.w * q.w);
- //return vscl(s, mkvec(q.x, q.y, q.z));
- return vscl(0, mkvec(q.x, q.y, q.z));
+ float s = 1.0f / sqrtf(1.0f - q.w * q.w);
+ return vscl(s, mkvec(q.x, q.y, q.z));
}
// compute the angle of a quaternion's axis-angle decomposition.
// result lies in domain (-pi, pi].
@@ -767,10 +753,8 @@ static inline bool qeq(struct quat a, struct quat b) {
// normalize a quaternion.
// typically used to mitigate precision errors.
static inline struct quat qnormalize(struct quat q) {
- //COMMENTED FIRMWARE
- // float s = 1.0f / sqrtf(qdot(q, q));
- // return mkquat(s*q.x, s*q.y, s*q.z, s*q.w);
- return mkquat(0, 0, 0, 0);
+ float s = 1.0f / sqrtf(qdot(q, q));
+ return mkquat(s*q.x, s*q.y, s*q.z, s*q.w);
}
// update an attitude estimate quaternion with a reading from a gyroscope
// over the timespan dt. Gyroscope is assumed (roll, pitch, yaw)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/quatcompress.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/quatcompress.h
index 5ab87d78e9036f28102f8689b61e06070a0a7f6f..6242343a87ec872068a953203163569fe6bc1535 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/quatcompress.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/quatcompress.h
@@ -35,12 +35,11 @@ static inline uint32_t quatcompress(float const q[4])
{
// we send the values of the quaternion's smallest 3 elements.
unsigned i_largest = 0;
- //COMMENTED FIRMWARE
- // for (unsigned i = 1; i < 4; ++i) {
- // if (fabsf(q[i]) > fabsf(q[i_largest])) {
- // i_largest = i;
- // }
- // }
+ for (unsigned i = 1; i < 4; ++i) {
+ if (fabsf(q[i]) > fabsf(q[i_largest])) {
+ i_largest = i;
+ }
+ }
// since -q represents the same rotation as q,
// transform the quaternion so the largest element is positive.
@@ -52,14 +51,13 @@ static inline uint32_t quatcompress(float const q[4])
// do compression using sign bit and 9-bit precision per element.
uint32_t comp = i_largest;
- //COMMENTED FIRMWARE
- // for (unsigned i = 0; i < 4; ++i) {
- // if (i != i_largest) {
- // unsigned negbit = (q[i] < 0) ^ negate;
- // unsigned mag = ((1 << 9) - 1) * (fabsf(q[i]) / (float)M_SQRT1_2) + 0.5f;
- // comp = (comp << 10) | (negbit << 9) | mag;
- // }
- // }
+ for (unsigned i = 0; i < 4; ++i) {
+ if (i != i_largest) {
+ unsigned negbit = (q[i] < 0) ^ negate;
+ unsigned mag = ((1 << 9) - 1) * (fabsf(q[i]) / (float)M_SQRT1_2) + 0.5f;
+ comp = (comp << 10) | (negbit << 9) | mag;
+ }
+ }
return comp;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/static_mem.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/static_mem.h
index c2c5224af5599d8db6a4ab5d2df686b9550b3bca..f371a5dd33caa9ac6acc6206a18204a242917df1 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/static_mem.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/interface/static_mem.h
@@ -136,7 +136,6 @@
*
* @param NAME - the name of the queue handle
*/
-//COMMENTED FIRMWARE
#define STATIC_MEM_QUEUE_CREATE(NAME) xQueueCreateStatic(osSys_ ## NAME ## Length, osSys_ ## NAME ## ItemSize, osSys_ ## NAME ## Storage, &osSys_ ## NAME ## Mgm)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_channel.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_channel.c
index 9f1c1d02bb568d95f886484d16ea195c02a33183..6ac90a2a19e5acc8ed6683f543685730927d85b6 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_channel.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_channel.c
@@ -63,8 +63,7 @@ size_t appchannelReceivePacket(void* buffer, size_t max_length, int timeout_ms)
if (timeout_ms < 0) {
tickToWait = portMAX_DELAY;
} else {
- //COMMENTED FIRMWARE
- tickToWait = timeout_ms;//M2T(timeout_ms);
+ tickToWait = M2T(timeout_ms);
}
int result = xQueueReceive(rxQueue, &packet, tickToWait);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_handler.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_handler.c
index 389402ecf584c0d21a8195cf8ef121b0c89f67df..69d1c457195dc23a6e9c730ecc691271b250ac2c 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_handler.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/app_handler.c
@@ -33,7 +33,6 @@
#include "static_mem.h"
#include "app.h"
-#include "empty_math.h"
#ifndef APP_STACKSIZE
#define APP_STACKSIZE 300
@@ -69,9 +68,3 @@ static void appTask(void *param)
vTaskDelay(portMAX_DELAY);
}
}
-
-//ADDED FIRMWARE
-void appMain()
-{
- return;
-}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/collision_avoidance.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/collision_avoidance.c
index d618e519804bc52c31d2cf6cb1d394e33bc4b5d3..60c40aa7d9014e140e99d9f77c796685885b61ef 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/collision_avoidance.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/collision_avoidance.c
@@ -102,156 +102,154 @@ void collisionAvoidanceUpdateSetpointCore(
float *workspace,
setpoint_t *setpoint, sensorData_t const *sensorData, state_t const *state)
{
- //COMMENTED FIRMWARE
- // //
- // // Part 1: Construct the polytope inequalities in A, b.
- // //
-
- // int const nRows = nOthers + 6;
- // float *A = workspace;
- // float *B = workspace + 3 * nRows;
- // float *projectionWorkspace = workspace + 4 * nRows;
-
- // // Compute the cell in a stretched coordinate system for downwash awareness.
- // // See header for details.
- // struct vec const radiiInv = veltrecip(params->ellipsoidRadii);
- // struct vec const ourPos = vec2svec(state->position);
-
- // // We could do some optimizations here to reduce the number of rows, like
- // // leave out very far away neighbors. It would help the average case
- // // complexity, but not the worst case - so we skip it for now.
- // for (int i = 0; i < nOthers; ++i) {
- // struct vec peerPos = vloadf(otherPositions + 3 * i);
- // struct vec const toPeerStretched = veltmul(vsub(peerPos, ourPos), radiiInv);
- // float const dist = vmag(toPeerStretched);
- // struct vec const a = vdiv(veltmul(toPeerStretched, radiiInv), dist);
- // float const b = dist / 2.0f - 1.0f;
- // float scale = 1.0f / vmag(a);
- // vstoref(vscl(scale, a), A + 3 * i);
- // B[i] = scale * b;
- // }
-
- // // Add the bounding box polytope faces. We also use the box faces to enforce
- // // max speed in the infinity-norm.
- // float const maxDist = params->horizonSecs * params->maxSpeed;
-
- // memset(A + 3 * nOthers, 0, 18 * sizeof(float));
-
- // //COMMENTED FIRMWARE
- // // for (int dim = 0; dim < 3; ++dim) {
- // // float boxMax = vindex(params->bboxMax, dim) - vindex(ourPos, dim);
- // // A[3 * (nOthers + dim) + dim] = 1.0f;
- // // B[nOthers + dim] = fminf(maxDist, boxMax);
-
- // // float boxMin = vindex(params->bboxMin, dim) - vindex(ourPos, dim);
- // // A[3 * (nOthers + dim + 3) + dim] = -1.0f;
- // // B[nOthers + dim + 3] = -fmaxf(-maxDist, boxMin);
- // // }
-
- // //
- // // Part 2: Use the constructed polytope to modify the setpoint.
- // //
-
- // float const inPolytopeTolerance = 10.0f * params->voronoiProjectionTolerance;
-
- // struct vec setPos = vec2svec(setpoint->position);
- // struct vec setVel = vec2svec(setpoint->velocity);
-
- // if (setpoint->mode.x == modeVelocity) {
- // // Interpret the setpoint to mean "fly with this velocity".
-
- // if (vinpolytope(vzero(), A, B, nRows, inPolytopeTolerance)) {
- // // Typical case - our current position is within our cell.
- // struct vec pseudoGoal = vscl(params->horizonSecs, setVel);
- // pseudoGoal = sidestepGoal(params, pseudoGoal, true, A, B, projectionWorkspace, nRows);
- // if (vinpolytope(pseudoGoal, A, B, nRows, inPolytopeTolerance)) {
- // setVel = vdiv(pseudoGoal, params->horizonSecs);
- // }
- // else {
- // // Projection failed to converge. Best we can do is stay still.
- // setVel = vzero();
- // }
- // }
- // else {
- // // Atypical case - our current position is not within our cell. Forget
- // // about the original goal velocity and try to move towards our cell.
- // struct vec nearestInCell = vprojectpolytope(
- // vzero(),
- // A, B, projectionWorkspace, nRows,
- // params->voronoiProjectionTolerance,
- // params->voronoiProjectionMaxIters
- // );
- // if (vinpolytope(nearestInCell, A, B, nRows, inPolytopeTolerance)) {
- // setVel = vclampnorm(nearestInCell, params->maxSpeed);
- // }
- // else {
- // // Projection failed to converge. Best we can do is stay still.
- // setVel = vzero();
- // }
- // }
- // collisionState->lastFeasibleSetPosition = ourPos;
- // }
- // else if (setpoint->mode.x == modeAbs) {
-
- // struct vec const setPosRelative = vsub(setPos, ourPos);
- // struct vec const setPosRelativeNew = sidestepGoal(
- // params, setPosRelative, false, A, B, projectionWorkspace, nRows);
-
- // if (!vinpolytope(setPosRelativeNew, A, B, nRows, inPolytopeTolerance)) {
- // // If the projection algorithm failed to converge, then either
- // // 1) The problem is infeasible, or
- // // 2) The problem is somehow badly conditioned.
- // // Case 2) is still effectively infeasible -- we're in a real-time system
- // // with a fixed computation time budget, and we've already spent it.
- // //
- // // There's not a lot we can do if our buffered cell is empty. It means
- // // someone failed to stay within their cell in the past. We choose to stay
- // // a fixed position for as long as the cell is empty.
- // setVel = vzero();
- // if (!visnan(collisionState->lastFeasibleSetPosition)) {
- // setPos = collisionState->lastFeasibleSetPosition;
- // }
- // else {
- // // This case should never happen as long as collision avoidance is
- // // initialized in a collision-free state, but we do something reasonable
- // // just in case.
- // setPos = ourPos;
- // collisionState->lastFeasibleSetPosition = ourPos;
- // }
- // }
- // else if (veq(setVel, vzero())) {
- // // Position, but no velocity. Interpret as waypoint, not trajectory
- // // tracking. "Go to this position and stop".
- // setPos = vadd(ourPos, setPosRelativeNew);
- // }
- // else {
- // // Position with nonzero velocity. Interpret as trajectory tracking.
- // if (vneq(setPosRelative, setPosRelativeNew)) {
- // // Set position is not within our cell. The situation has likely diverged
- // // from the original plan, and the nonzero velocity is probably pointing
- // // further away from our cell. Therefore, degrade to the v == 0 behavior.
- // setPos = vadd(ourPos, setPosRelativeNew);
- // setVel = vzero();
- // }
- // else {
- // // Set position is within our cell. In case velocity would take us
- // // outside the cell within the planning horizon, scale it appropriately.
- // // See github issue #567 for more detailed discussion of this behavior.
- // float const scale = rayintersectpolytope(setPosRelative, setVel, A, B, nRows, NULL);
- // if (scale < 1.0f) {
- // setVel = vscl(scale, setVel);
- // }
- // // leave setPos unchanged.
- // }
- // }
- // collisionState->lastFeasibleSetPosition = setPos;
- // }
- // else {
- // // Unsupported control mode, do nothing.
- // }
-
- // setpoint->position = svec2vec(setPos);
- // setpoint->velocity = svec2vec(setVel);
+ //
+ // Part 1: Construct the polytope inequalities in A, b.
+ //
+
+ int const nRows = nOthers + 6;
+ float *A = workspace;
+ float *B = workspace + 3 * nRows;
+ float *projectionWorkspace = workspace + 4 * nRows;
+
+ // Compute the cell in a stretched coordinate system for downwash awareness.
+ // See header for details.
+ struct vec const radiiInv = veltrecip(params->ellipsoidRadii);
+ struct vec const ourPos = vec2svec(state->position);
+
+ // We could do some optimizations here to reduce the number of rows, like
+ // leave out very far away neighbors. It would help the average case
+ // complexity, but not the worst case - so we skip it for now.
+ for (int i = 0; i < nOthers; ++i) {
+ struct vec peerPos = vloadf(otherPositions + 3 * i);
+ struct vec const toPeerStretched = veltmul(vsub(peerPos, ourPos), radiiInv);
+ float const dist = vmag(toPeerStretched);
+ struct vec const a = vdiv(veltmul(toPeerStretched, radiiInv), dist);
+ float const b = dist / 2.0f - 1.0f;
+ float scale = 1.0f / vmag(a);
+ vstoref(vscl(scale, a), A + 3 * i);
+ B[i] = scale * b;
+ }
+
+ // Add the bounding box polytope faces. We also use the box faces to enforce
+ // max speed in the infinity-norm.
+ float const maxDist = params->horizonSecs * params->maxSpeed;
+
+ memset(A + 3 * nOthers, 0, 18 * sizeof(float));
+
+ for (int dim = 0; dim < 3; ++dim) {
+ float boxMax = vindex(params->bboxMax, dim) - vindex(ourPos, dim);
+ A[3 * (nOthers + dim) + dim] = 1.0f;
+ B[nOthers + dim] = fminf(maxDist, boxMax);
+
+ float boxMin = vindex(params->bboxMin, dim) - vindex(ourPos, dim);
+ A[3 * (nOthers + dim + 3) + dim] = -1.0f;
+ B[nOthers + dim + 3] = -fmaxf(-maxDist, boxMin);
+ }
+
+ //
+ // Part 2: Use the constructed polytope to modify the setpoint.
+ //
+
+ float const inPolytopeTolerance = 10.0f * params->voronoiProjectionTolerance;
+
+ struct vec setPos = vec2svec(setpoint->position);
+ struct vec setVel = vec2svec(setpoint->velocity);
+
+ if (setpoint->mode.x == modeVelocity) {
+ // Interpret the setpoint to mean "fly with this velocity".
+
+ if (vinpolytope(vzero(), A, B, nRows, inPolytopeTolerance)) {
+ // Typical case - our current position is within our cell.
+ struct vec pseudoGoal = vscl(params->horizonSecs, setVel);
+ pseudoGoal = sidestepGoal(params, pseudoGoal, true, A, B, projectionWorkspace, nRows);
+ if (vinpolytope(pseudoGoal, A, B, nRows, inPolytopeTolerance)) {
+ setVel = vdiv(pseudoGoal, params->horizonSecs);
+ }
+ else {
+ // Projection failed to converge. Best we can do is stay still.
+ setVel = vzero();
+ }
+ }
+ else {
+ // Atypical case - our current position is not within our cell. Forget
+ // about the original goal velocity and try to move towards our cell.
+ struct vec nearestInCell = vprojectpolytope(
+ vzero(),
+ A, B, projectionWorkspace, nRows,
+ params->voronoiProjectionTolerance,
+ params->voronoiProjectionMaxIters
+ );
+ if (vinpolytope(nearestInCell, A, B, nRows, inPolytopeTolerance)) {
+ setVel = vclampnorm(nearestInCell, params->maxSpeed);
+ }
+ else {
+ // Projection failed to converge. Best we can do is stay still.
+ setVel = vzero();
+ }
+ }
+ collisionState->lastFeasibleSetPosition = ourPos;
+ }
+ else if (setpoint->mode.x == modeAbs) {
+
+ struct vec const setPosRelative = vsub(setPos, ourPos);
+ struct vec const setPosRelativeNew = sidestepGoal(
+ params, setPosRelative, false, A, B, projectionWorkspace, nRows);
+
+ if (!vinpolytope(setPosRelativeNew, A, B, nRows, inPolytopeTolerance)) {
+ // If the projection algorithm failed to converge, then either
+ // 1) The problem is infeasible, or
+ // 2) The problem is somehow badly conditioned.
+ // Case 2) is still effectively infeasible -- we're in a real-time system
+ // with a fixed computation time budget, and we've already spent it.
+ //
+ // There's not a lot we can do if our buffered cell is empty. It means
+ // someone failed to stay within their cell in the past. We choose to stay
+ // a fixed position for as long as the cell is empty.
+ setVel = vzero();
+ if (!visnan(collisionState->lastFeasibleSetPosition)) {
+ setPos = collisionState->lastFeasibleSetPosition;
+ }
+ else {
+ // This case should never happen as long as collision avoidance is
+ // initialized in a collision-free state, but we do something reasonable
+ // just in case.
+ setPos = ourPos;
+ collisionState->lastFeasibleSetPosition = ourPos;
+ }
+ }
+ else if (veq(setVel, vzero())) {
+ // Position, but no velocity. Interpret as waypoint, not trajectory
+ // tracking. "Go to this position and stop".
+ setPos = vadd(ourPos, setPosRelativeNew);
+ }
+ else {
+ // Position with nonzero velocity. Interpret as trajectory tracking.
+ if (vneq(setPosRelative, setPosRelativeNew)) {
+ // Set position is not within our cell. The situation has likely diverged
+ // from the original plan, and the nonzero velocity is probably pointing
+ // further away from our cell. Therefore, degrade to the v == 0 behavior.
+ setPos = vadd(ourPos, setPosRelativeNew);
+ setVel = vzero();
+ }
+ else {
+ // Set position is within our cell. In case velocity would take us
+ // outside the cell within the planning horizon, scale it appropriately.
+ // See github issue #567 for more detailed discussion of this behavior.
+ float const scale = rayintersectpolytope(setPosRelative, setVel, A, B, nRows, NULL);
+ if (scale < 1.0f) {
+ setVel = vscl(scale, setVel);
+ }
+ // leave setPos unchanged.
+ }
+ }
+ collisionState->lastFeasibleSetPosition = setPos;
+ }
+ else {
+ // Unsupported control mode, do nothing.
+ }
+
+ setpoint->position = svec2vec(setPos);
+ setpoint->velocity = svec2vec(setVel);
}
@@ -260,7 +258,7 @@ void collisionAvoidanceUpdateSetpointCore(
// with the standard Makefile. Everything depending on FreeRTOS, ARM, params,
// etc. must go here.
//
-//#ifdef CRAZYFLIE_FW
+#ifdef CRAZYFLIE_FW
#include "FreeRTOS.h"
#include "task.h"
@@ -429,4 +427,4 @@ PARAM_GROUP_START(colAv)
PARAM_ADD(PARAM_INT32, vorIters, ¶ms.voronoiProjectionMaxIters)
PARAM_GROUP_STOP(colAv)
-//#endif // CRAZYFLIE_FW
+#endif // CRAZYFLIE_FW
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/commander.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/commander.c
index 49fb2dcb6cd7144e58dcee3bc433d5af5fab4b5e..7e532ead1572a1694c20d0e3e528b4fc4ed289b9 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/commander.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/commander.c
@@ -32,7 +32,6 @@
#include "commander.h"
#include "crtp_commander.h"
#include "crtp_commander_high_level.h"
-#include "FreeRTOSConfig.h"
#include "cf_math.h"
#include "param.h"
@@ -91,13 +90,8 @@ void commanderSetSetpoint(setpoint_t *setpoint, int priority)
void commanderNotifySetpointsStop(int remainValidMillisecs)
{
uint32_t currentTime = xTaskGetTickCount();
- //COMMENTED FIRMWARE
- // int timeSetback = MIN(
- // COMMANDER_WDT_TIMEOUT_SHUTDOWN - M2T(remainValidMillisecs),
- // currentTime
- // );
int timeSetback = MIN(
- COMMANDER_WDT_TIMEOUT_SHUTDOWN - remainValidMillisecs,
+ COMMANDER_WDT_TIMEOUT_SHUTDOWN - M2T(remainValidMillisecs),
currentTime
);
xQueuePeek(setpointQueue, &tempSetpoint, 0);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_indi.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_indi.c
index f496cc59302f102d6d0a11d720f4ab54d63eefcc..7483edaf845760b8abe8e33b8ee628d082203078 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_indi.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_indi.c
@@ -60,17 +60,16 @@ static inline void float_rates_zero(struct FloatRates *fr) {
void indi_init_filters(void)
{
- //COMMENTED FIRMWARE
- // // tau = 1/(2*pi*Fc)
- // float tau = 1.0f / (2.0f * M_PI_F * indi.filt_cutoff);
- // float tau_r = 1.0f / (2.0f * M_PI_F * indi.filt_cutoff_r);
- // float tau_axis[3] = {tau, tau, tau_r};
- // float sample_time = 1.0f / ATTITUDE_RATE;
- // // Filtering of gyroscope and actuators
- // for (int8_t i = 0; i < 3; i++) {
- // init_butterworth_2_low_pass(&indi.u[i], tau_axis[i], sample_time, 0.0f);
- // init_butterworth_2_low_pass(&indi.rate[i], tau_axis[i], sample_time, 0.0f);
- // }
+ // tau = 1/(2*pi*Fc)
+ float tau = 1.0f / (2.0f * M_PI_F * indi.filt_cutoff);
+ float tau_r = 1.0f / (2.0f * M_PI_F * indi.filt_cutoff_r);
+ float tau_axis[3] = {tau, tau, tau_r};
+ float sample_time = 1.0f / ATTITUDE_RATE;
+ // Filtering of gyroscope and actuators
+ for (int8_t i = 0; i < 3; i++) {
+ init_butterworth_2_low_pass(&indi.u[i], tau_axis[i], sample_time, 0.0f);
+ init_butterworth_2_low_pass(&indi.rate[i], tau_axis[i], sample_time, 0.0f);
+ }
}
/**
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_mellinger.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_mellinger.c
index 95bb7cd5922340168c7c2a63ab273ea29375a08d..4a2dd25252cfe6aba49584315e7f17ad7a4b0b8f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_mellinger.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/controller_mellinger.c
@@ -126,200 +126,199 @@ void controllerMellinger(control_t *control, setpoint_t *setpoint,
const state_t *state,
const uint32_t tick)
{
- //COMMENTED FIRMWARE
- // struct vec r_error;
- // struct vec v_error;
- // struct vec target_thrust;
- // struct vec z_axis;
- // float current_thrust;
- // struct vec x_axis_desired;
- // struct vec y_axis_desired;
- // struct vec x_c_des;
- // struct vec eR, ew, M;
- // float dt;
- // float desiredYaw = 0; //deg
-
- // if (!RATE_DO_EXECUTE(ATTITUDE_RATE, tick)) {
- // return;
- // }
-
- // dt = (float)(1.0f/ATTITUDE_RATE);
- // struct vec setpointPos = mkvec(setpoint->position.x, setpoint->position.y, setpoint->position.z);
- // struct vec setpointVel = mkvec(setpoint->velocity.x, setpoint->velocity.y, setpoint->velocity.z);
- // struct vec statePos = mkvec(state->position.x, state->position.y, state->position.z);
- // struct vec stateVel = mkvec(state->velocity.x, state->velocity.y, state->velocity.z);
-
- // // Position Error (ep)
- // r_error = vsub(setpointPos, statePos);
-
- // // Velocity Error (ev)
- // v_error = vsub(setpointVel, stateVel);
-
- // // Integral Error
- // i_error_z += r_error.z * dt;
- // i_error_z = clamp(i_error_z, -i_range_z, i_range_z);
-
- // i_error_x += r_error.x * dt;
- // i_error_x = clamp(i_error_x, -i_range_xy, i_range_xy);
-
- // i_error_y += r_error.y * dt;
- // i_error_y = clamp(i_error_y, -i_range_xy, i_range_xy);
-
- // // Desired thrust [F_des]
- // if (setpoint->mode.x == modeAbs) {
- // target_thrust.x = g_vehicleMass * setpoint->acceleration.x + kp_xy * r_error.x + kd_xy * v_error.x + ki_xy * i_error_x;
- // target_thrust.y = g_vehicleMass * setpoint->acceleration.y + kp_xy * r_error.y + kd_xy * v_error.y + ki_xy * i_error_y;
- // target_thrust.z = g_vehicleMass * (setpoint->acceleration.z + GRAVITY_MAGNITUDE) + kp_z * r_error.z + kd_z * v_error.z + ki_z * i_error_z;
- // } else {
- // target_thrust.x = -sinf(radians(setpoint->attitude.pitch));
- // target_thrust.y = -sinf(radians(setpoint->attitude.roll));
- // // In case of a timeout, the commander tries to level, ie. x/y are disabled, but z will use the previous setting
- // // In that case we ignore the last feedforward term for acceleration
- // if (setpoint->mode.z == modeAbs) {
- // target_thrust.z = g_vehicleMass * GRAVITY_MAGNITUDE + kp_z * r_error.z + kd_z * v_error.z + ki_z * i_error_z;
- // } else {
- // target_thrust.z = 1;
- // }
- // }
-
- // // Rate-controlled YAW is moving YAW angle setpoint
- // if (setpoint->mode.yaw == modeVelocity) {
- // desiredYaw = state->attitude.yaw + setpoint->attitudeRate.yaw * dt;
- // } else if (setpoint->mode.yaw == modeAbs) {
- // desiredYaw = setpoint->attitude.yaw;
- // } else if (setpoint->mode.quat == modeAbs) {
- // struct quat setpoint_quat = mkquat(setpoint->attitudeQuaternion.x, setpoint->attitudeQuaternion.y, setpoint->attitudeQuaternion.z, setpoint->attitudeQuaternion.w);
- // struct vec rpy = quat2rpy(setpoint_quat);
- // desiredYaw = degrees(rpy.z);
- // }
-
- // // Z-Axis [zB]
- // struct quat q = mkquat(state->attitudeQuaternion.x, state->attitudeQuaternion.y, state->attitudeQuaternion.z, state->attitudeQuaternion.w);
- // struct mat33 R = quat2rotmat(q);
- // z_axis = mcolumn(R, 2);
-
- // // yaw correction (only if position control is not used)
- // if (setpoint->mode.x != modeAbs) {
- // struct vec x_yaw = mcolumn(R, 0);
- // x_yaw.z = 0;
- // x_yaw = vnormalize(x_yaw);
- // struct vec y_yaw = vcross(mkvec(0, 0, 1), x_yaw);
- // struct mat33 R_yaw_only = mcolumns(x_yaw, y_yaw, mkvec(0, 0, 1));
- // target_thrust = mvmul(R_yaw_only, target_thrust);
- // }
-
- // // Current thrust [F]
- // current_thrust = vdot(target_thrust, z_axis);
-
- // // Calculate axis [zB_des]
- // z_axis_desired = vnormalize(target_thrust);
-
- // // [xC_des]
- // // x_axis_desired = z_axis_desired x [sin(yaw), cos(yaw), 0]^T
- // x_c_des.x = cosf(radians(desiredYaw));
- // x_c_des.y = sinf(radians(desiredYaw));
- // x_c_des.z = 0;
- // // [yB_des]
- // y_axis_desired = vnormalize(vcross(z_axis_desired, x_c_des));
- // // [xB_des]
- // x_axis_desired = vcross(y_axis_desired, z_axis_desired);
-
- // // [eR]
- // // Slow version
- // // struct mat33 Rdes = mcolumns(
- // // mkvec(x_axis_desired.x, x_axis_desired.y, x_axis_desired.z),
- // // mkvec(y_axis_desired.x, y_axis_desired.y, y_axis_desired.z),
- // // mkvec(z_axis_desired.x, z_axis_desired.y, z_axis_desired.z));
-
- // // struct mat33 R_transpose = mtranspose(R);
- // // struct mat33 Rdes_transpose = mtranspose(Rdes);
-
- // // struct mat33 eRM = msub(mmult(Rdes_transpose, R), mmult(R_transpose, Rdes));
-
- // // eR.x = eRM.m[2][1];
- // // eR.y = -eRM.m[0][2];
- // // eR.z = eRM.m[1][0];
-
- // // Fast version (generated using Mathematica)
- // float x = q.x;
- // float y = q.y;
- // float z = q.z;
- // float w = q.w;
- // eR.x = (-1 + 2*fsqr(x) + 2*fsqr(y))*y_axis_desired.z + z_axis_desired.y - 2*(x*y_axis_desired.x*z + y*y_axis_desired.y*z - x*y*z_axis_desired.x + fsqr(x)*z_axis_desired.y + fsqr(z)*z_axis_desired.y - y*z*z_axis_desired.z) + 2*w*(-(y*y_axis_desired.x) - z*z_axis_desired.x + x*(y_axis_desired.y + z_axis_desired.z));
- // eR.y = x_axis_desired.z - z_axis_desired.x - 2*(fsqr(x)*x_axis_desired.z + y*(x_axis_desired.z*y - x_axis_desired.y*z) - (fsqr(y) + fsqr(z))*z_axis_desired.x + x*(-(x_axis_desired.x*z) + y*z_axis_desired.y + z*z_axis_desired.z) + w*(x*x_axis_desired.y + z*z_axis_desired.y - y*(x_axis_desired.x + z_axis_desired.z)));
- // eR.z = y_axis_desired.x - 2*(y*(x*x_axis_desired.x + y*y_axis_desired.x - x*y_axis_desired.y) + w*(x*x_axis_desired.z + y*y_axis_desired.z)) + 2*(-(x_axis_desired.z*y) + w*(x_axis_desired.x + y_axis_desired.y) + x*y_axis_desired.z)*z - 2*y_axis_desired.x*fsqr(z) + x_axis_desired.y*(-1 + 2*fsqr(x) + 2*fsqr(z));
-
- // // Account for Crazyflie coordinate system
- // eR.y = -eR.y;
-
- // // [ew]
- // float err_d_roll = 0;
- // float err_d_pitch = 0;
-
- // float stateAttitudeRateRoll = radians(sensors->gyro.x);
- // float stateAttitudeRatePitch = -radians(sensors->gyro.y);
- // float stateAttitudeRateYaw = radians(sensors->gyro.z);
-
- // ew.x = radians(setpoint->attitudeRate.roll) - stateAttitudeRateRoll;
- // ew.y = -radians(setpoint->attitudeRate.pitch) - stateAttitudeRatePitch;
- // ew.z = radians(setpoint->attitudeRate.yaw) - stateAttitudeRateYaw;
- // if (prev_omega_roll == prev_omega_roll) { /*d part initialized*/
- // err_d_roll = ((radians(setpoint->attitudeRate.roll) - prev_setpoint_omega_roll) - (stateAttitudeRateRoll - prev_omega_roll)) / dt;
- // err_d_pitch = (-(radians(setpoint->attitudeRate.pitch) - prev_setpoint_omega_pitch) - (stateAttitudeRatePitch - prev_omega_pitch)) / dt;
- // }
- // prev_omega_roll = stateAttitudeRateRoll;
- // prev_omega_pitch = stateAttitudeRatePitch;
- // prev_setpoint_omega_roll = radians(setpoint->attitudeRate.roll);
- // prev_setpoint_omega_pitch = radians(setpoint->attitudeRate.pitch);
-
- // // Integral Error
- // i_error_m_x += (-eR.x) * dt;
- // i_error_m_x = clamp(i_error_m_x, -i_range_m_xy, i_range_m_xy);
-
- // i_error_m_y += (-eR.y) * dt;
- // i_error_m_y = clamp(i_error_m_y, -i_range_m_xy, i_range_m_xy);
-
- // i_error_m_z += (-eR.z) * dt;
- // i_error_m_z = clamp(i_error_m_z, -i_range_m_z, i_range_m_z);
-
- // // Moment:
- // M.x = -kR_xy * eR.x + kw_xy * ew.x + ki_m_xy * i_error_m_x + kd_omega_rp * err_d_roll;
- // M.y = -kR_xy * eR.y + kw_xy * ew.y + ki_m_xy * i_error_m_y + kd_omega_rp * err_d_pitch;
- // M.z = -kR_z * eR.z + kw_z * ew.z + ki_m_z * i_error_m_z;
-
- // // Output
- // if (setpoint->mode.z == modeDisable) {
- // control->thrust = setpoint->thrust;
- // } else {
- // control->thrust = massThrust * current_thrust;
- // }
-
- // cmd_thrust = control->thrust;
- // r_roll = radians(sensors->gyro.x);
- // r_pitch = -radians(sensors->gyro.y);
- // r_yaw = radians(sensors->gyro.z);
- // accelz = sensors->acc.z;
-
- // if (control->thrust > 0) {
- // control->roll = clamp(M.x, -32000, 32000);
- // control->pitch = clamp(M.y, -32000, 32000);
- // control->yaw = clamp(-M.z, -32000, 32000);
-
- // cmd_roll = control->roll;
- // cmd_pitch = control->pitch;
- // cmd_yaw = control->yaw;
-
- // } else {
- // control->roll = 0;
- // control->pitch = 0;
- // control->yaw = 0;
-
- // cmd_roll = control->roll;
- // cmd_pitch = control->pitch;
- // cmd_yaw = control->yaw;
-
- // controllerMellingerReset();
- // }
+ struct vec r_error;
+ struct vec v_error;
+ struct vec target_thrust;
+ struct vec z_axis;
+ float current_thrust;
+ struct vec x_axis_desired;
+ struct vec y_axis_desired;
+ struct vec x_c_des;
+ struct vec eR, ew, M;
+ float dt;
+ float desiredYaw = 0; //deg
+
+ if (!RATE_DO_EXECUTE(ATTITUDE_RATE, tick)) {
+ return;
+ }
+
+ dt = (float)(1.0f/ATTITUDE_RATE);
+ struct vec setpointPos = mkvec(setpoint->position.x, setpoint->position.y, setpoint->position.z);
+ struct vec setpointVel = mkvec(setpoint->velocity.x, setpoint->velocity.y, setpoint->velocity.z);
+ struct vec statePos = mkvec(state->position.x, state->position.y, state->position.z);
+ struct vec stateVel = mkvec(state->velocity.x, state->velocity.y, state->velocity.z);
+
+ // Position Error (ep)
+ r_error = vsub(setpointPos, statePos);
+
+ // Velocity Error (ev)
+ v_error = vsub(setpointVel, stateVel);
+
+ // Integral Error
+ i_error_z += r_error.z * dt;
+ i_error_z = clamp(i_error_z, -i_range_z, i_range_z);
+
+ i_error_x += r_error.x * dt;
+ i_error_x = clamp(i_error_x, -i_range_xy, i_range_xy);
+
+ i_error_y += r_error.y * dt;
+ i_error_y = clamp(i_error_y, -i_range_xy, i_range_xy);
+
+ // Desired thrust [F_des]
+ if (setpoint->mode.x == modeAbs) {
+ target_thrust.x = g_vehicleMass * setpoint->acceleration.x + kp_xy * r_error.x + kd_xy * v_error.x + ki_xy * i_error_x;
+ target_thrust.y = g_vehicleMass * setpoint->acceleration.y + kp_xy * r_error.y + kd_xy * v_error.y + ki_xy * i_error_y;
+ target_thrust.z = g_vehicleMass * (setpoint->acceleration.z + GRAVITY_MAGNITUDE) + kp_z * r_error.z + kd_z * v_error.z + ki_z * i_error_z;
+ } else {
+ target_thrust.x = -sinf(radians(setpoint->attitude.pitch));
+ target_thrust.y = -sinf(radians(setpoint->attitude.roll));
+ // In case of a timeout, the commander tries to level, ie. x/y are disabled, but z will use the previous setting
+ // In that case we ignore the last feedforward term for acceleration
+ if (setpoint->mode.z == modeAbs) {
+ target_thrust.z = g_vehicleMass * GRAVITY_MAGNITUDE + kp_z * r_error.z + kd_z * v_error.z + ki_z * i_error_z;
+ } else {
+ target_thrust.z = 1;
+ }
+ }
+
+ // Rate-controlled YAW is moving YAW angle setpoint
+ if (setpoint->mode.yaw == modeVelocity) {
+ desiredYaw = state->attitude.yaw + setpoint->attitudeRate.yaw * dt;
+ } else if (setpoint->mode.yaw == modeAbs) {
+ desiredYaw = setpoint->attitude.yaw;
+ } else if (setpoint->mode.quat == modeAbs) {
+ struct quat setpoint_quat = mkquat(setpoint->attitudeQuaternion.x, setpoint->attitudeQuaternion.y, setpoint->attitudeQuaternion.z, setpoint->attitudeQuaternion.w);
+ struct vec rpy = quat2rpy(setpoint_quat);
+ desiredYaw = degrees(rpy.z);
+ }
+
+ // Z-Axis [zB]
+ struct quat q = mkquat(state->attitudeQuaternion.x, state->attitudeQuaternion.y, state->attitudeQuaternion.z, state->attitudeQuaternion.w);
+ struct mat33 R = quat2rotmat(q);
+ z_axis = mcolumn(R, 2);
+
+ // yaw correction (only if position control is not used)
+ if (setpoint->mode.x != modeAbs) {
+ struct vec x_yaw = mcolumn(R, 0);
+ x_yaw.z = 0;
+ x_yaw = vnormalize(x_yaw);
+ struct vec y_yaw = vcross(mkvec(0, 0, 1), x_yaw);
+ struct mat33 R_yaw_only = mcolumns(x_yaw, y_yaw, mkvec(0, 0, 1));
+ target_thrust = mvmul(R_yaw_only, target_thrust);
+ }
+
+ // Current thrust [F]
+ current_thrust = vdot(target_thrust, z_axis);
+
+ // Calculate axis [zB_des]
+ z_axis_desired = vnormalize(target_thrust);
+
+ // [xC_des]
+ // x_axis_desired = z_axis_desired x [sin(yaw), cos(yaw), 0]^T
+ x_c_des.x = cosf(radians(desiredYaw));
+ x_c_des.y = sinf(radians(desiredYaw));
+ x_c_des.z = 0;
+ // [yB_des]
+ y_axis_desired = vnormalize(vcross(z_axis_desired, x_c_des));
+ // [xB_des]
+ x_axis_desired = vcross(y_axis_desired, z_axis_desired);
+
+ // [eR]
+ // Slow version
+ // struct mat33 Rdes = mcolumns(
+ // mkvec(x_axis_desired.x, x_axis_desired.y, x_axis_desired.z),
+ // mkvec(y_axis_desired.x, y_axis_desired.y, y_axis_desired.z),
+ // mkvec(z_axis_desired.x, z_axis_desired.y, z_axis_desired.z));
+
+ // struct mat33 R_transpose = mtranspose(R);
+ // struct mat33 Rdes_transpose = mtranspose(Rdes);
+
+ // struct mat33 eRM = msub(mmult(Rdes_transpose, R), mmult(R_transpose, Rdes));
+
+ // eR.x = eRM.m[2][1];
+ // eR.y = -eRM.m[0][2];
+ // eR.z = eRM.m[1][0];
+
+ // Fast version (generated using Mathematica)
+ float x = q.x;
+ float y = q.y;
+ float z = q.z;
+ float w = q.w;
+ eR.x = (-1 + 2*fsqr(x) + 2*fsqr(y))*y_axis_desired.z + z_axis_desired.y - 2*(x*y_axis_desired.x*z + y*y_axis_desired.y*z - x*y*z_axis_desired.x + fsqr(x)*z_axis_desired.y + fsqr(z)*z_axis_desired.y - y*z*z_axis_desired.z) + 2*w*(-(y*y_axis_desired.x) - z*z_axis_desired.x + x*(y_axis_desired.y + z_axis_desired.z));
+ eR.y = x_axis_desired.z - z_axis_desired.x - 2*(fsqr(x)*x_axis_desired.z + y*(x_axis_desired.z*y - x_axis_desired.y*z) - (fsqr(y) + fsqr(z))*z_axis_desired.x + x*(-(x_axis_desired.x*z) + y*z_axis_desired.y + z*z_axis_desired.z) + w*(x*x_axis_desired.y + z*z_axis_desired.y - y*(x_axis_desired.x + z_axis_desired.z)));
+ eR.z = y_axis_desired.x - 2*(y*(x*x_axis_desired.x + y*y_axis_desired.x - x*y_axis_desired.y) + w*(x*x_axis_desired.z + y*y_axis_desired.z)) + 2*(-(x_axis_desired.z*y) + w*(x_axis_desired.x + y_axis_desired.y) + x*y_axis_desired.z)*z - 2*y_axis_desired.x*fsqr(z) + x_axis_desired.y*(-1 + 2*fsqr(x) + 2*fsqr(z));
+
+ // Account for Crazyflie coordinate system
+ eR.y = -eR.y;
+
+ // [ew]
+ float err_d_roll = 0;
+ float err_d_pitch = 0;
+
+ float stateAttitudeRateRoll = radians(sensors->gyro.x);
+ float stateAttitudeRatePitch = -radians(sensors->gyro.y);
+ float stateAttitudeRateYaw = radians(sensors->gyro.z);
+
+ ew.x = radians(setpoint->attitudeRate.roll) - stateAttitudeRateRoll;
+ ew.y = -radians(setpoint->attitudeRate.pitch) - stateAttitudeRatePitch;
+ ew.z = radians(setpoint->attitudeRate.yaw) - stateAttitudeRateYaw;
+ if (prev_omega_roll == prev_omega_roll) { /*d part initialized*/
+ err_d_roll = ((radians(setpoint->attitudeRate.roll) - prev_setpoint_omega_roll) - (stateAttitudeRateRoll - prev_omega_roll)) / dt;
+ err_d_pitch = (-(radians(setpoint->attitudeRate.pitch) - prev_setpoint_omega_pitch) - (stateAttitudeRatePitch - prev_omega_pitch)) / dt;
+ }
+ prev_omega_roll = stateAttitudeRateRoll;
+ prev_omega_pitch = stateAttitudeRatePitch;
+ prev_setpoint_omega_roll = radians(setpoint->attitudeRate.roll);
+ prev_setpoint_omega_pitch = radians(setpoint->attitudeRate.pitch);
+
+ // Integral Error
+ i_error_m_x += (-eR.x) * dt;
+ i_error_m_x = clamp(i_error_m_x, -i_range_m_xy, i_range_m_xy);
+
+ i_error_m_y += (-eR.y) * dt;
+ i_error_m_y = clamp(i_error_m_y, -i_range_m_xy, i_range_m_xy);
+
+ i_error_m_z += (-eR.z) * dt;
+ i_error_m_z = clamp(i_error_m_z, -i_range_m_z, i_range_m_z);
+
+ // Moment:
+ M.x = -kR_xy * eR.x + kw_xy * ew.x + ki_m_xy * i_error_m_x + kd_omega_rp * err_d_roll;
+ M.y = -kR_xy * eR.y + kw_xy * ew.y + ki_m_xy * i_error_m_y + kd_omega_rp * err_d_pitch;
+ M.z = -kR_z * eR.z + kw_z * ew.z + ki_m_z * i_error_m_z;
+
+ // Output
+ if (setpoint->mode.z == modeDisable) {
+ control->thrust = setpoint->thrust;
+ } else {
+ control->thrust = massThrust * current_thrust;
+ }
+
+ cmd_thrust = control->thrust;
+ r_roll = radians(sensors->gyro.x);
+ r_pitch = -radians(sensors->gyro.y);
+ r_yaw = radians(sensors->gyro.z);
+ accelz = sensors->acc.z;
+
+ if (control->thrust > 0) {
+ control->roll = clamp(M.x, -32000, 32000);
+ control->pitch = clamp(M.y, -32000, 32000);
+ control->yaw = clamp(-M.z, -32000, 32000);
+
+ cmd_roll = control->roll;
+ cmd_pitch = control->pitch;
+ cmd_yaw = control->yaw;
+
+ } else {
+ control->roll = 0;
+ control->pitch = 0;
+ control->yaw = 0;
+
+ cmd_roll = control->roll;
+ cmd_pitch = control->pitch;
+ cmd_yaw = control->yaw;
+
+ controllerMellingerReset();
+ }
}
PARAM_GROUP_START(ctrlMel)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp.c
index 04ac7a3ef8ca4ce3f4e4698f9e4399ecc99e4ef8..401915f7c13c9a639325d0e835c0fb99cc8a0470 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp.c
@@ -40,7 +40,6 @@
#include "cfassert.h"
#include "queuemonitor.h"
#include "static_mem.h"
-#include "cfassert.h"
#include "log.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander.c
index 5855bd83966103cb53733fe1b17f95dfeb4ce212..3069a3c227d9b60f3c3480ce71969164c6724838 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander.c
@@ -31,7 +31,6 @@
#include "cfassert.h"
#include "commander.h"
#include "crtp.h"
-#include "cfassert.h"
static bool isInit;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_generic.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_generic.c
index 664955592d4207aa30a03ec27081c12edf9440f0..f690d24e267310340ea0524f2e2dd54d2bf647d3 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_generic.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_generic.c
@@ -35,7 +35,6 @@
#include "num.h"
#include "quatcompress.h"
#include "FreeRTOS.h"
-#include "cfassert.h"
/* The generic commander format contains a packet type and data that has to be
* decoded into a setpoint_t structure. The aim is to make it future-proof
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_high_level.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_high_level.c
index 273db2e7f10e028309a0cc72048b75da7849b24b..7d309ccc629a31931b96af6a5996672fd103d019 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_high_level.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_high_level.c
@@ -56,7 +56,6 @@ such as: take-off, landing, polynomial trajectories.
#include "static_mem.h"
#include "mem.h"
#include "config.h"
-#include "FreeRTOSConfig.h"
// Local types
enum TrajectoryLocation_e {
@@ -263,11 +262,9 @@ void crtpCommanderHighLevelInit(void)
plan_init(&planner);
//Start the trajectory task
- //COMMENTED FIRMWARE
- //STATIC_MEM_TASK_CREATE(crtpCommanderHighLevelTask, crtpCommanderHighLevelTask, CMD_HIGH_LEVEL_TASK_NAME, NULL, CMD_HIGH_LEVEL_TASK_PRI);
+ STATIC_MEM_TASK_CREATE(crtpCommanderHighLevelTask, crtpCommanderHighLevelTask, CMD_HIGH_LEVEL_TASK_NAME, NULL, CMD_HIGH_LEVEL_TASK_PRI);
- //COMMENTED FIRMWARE
- //lockTraj = xSemaphoreCreateMutexStatic(&lockTrajBuffer);
+ lockTraj = xSemaphoreCreateMutexStatic(&lockTrajBuffer);
pos = vzero();
vel = vzero();
@@ -456,8 +453,7 @@ int takeoff_with_velocity(const struct data_takeoff_with_velocity* data)
}
float velocity = data->velocity > 0 ? data->velocity : defaultTakeoffVelocity;
- //COMMENTED FIRMWARE
- float duration = 1;//fabsf(height - pos.z) / velocity;
+ float duration = fabsf(height - pos.z) / velocity;
result = plan_takeoff(&planner, pos, yaw, height, hover_yaw, duration, t);
xSemaphoreGive(lockTraj);
}
@@ -512,8 +508,7 @@ int land_with_velocity(const struct data_land_with_velocity* data)
}
float velocity = data->velocity > 0 ? data->velocity : defaultLandingVelocity;
- //COMMENTED FIRMWARE
- float duration = 1;//fabsf(height - pos.z) / velocity;
+ float duration = fabsf(height - pos.z) / velocity;
result = plan_land(&planner, pos, yaw, height, hover_yaw, duration, t);
xSemaphoreGive(lockTraj);
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_rpyt.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_rpyt.c
index 26c543f9c3d039e7fd87d7a2f5969e2af36c4bbd..962121d4a3431f4137e6a54ad223d12537a1f426 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_rpyt.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_commander_rpyt.c
@@ -24,7 +24,6 @@
*
*/
#include <math.h>
-#include "empty_math.h"
#include <stdbool.h>
#include "crtp_commander.h"
@@ -34,7 +33,6 @@
#include "param.h"
#include "FreeRTOS.h"
#include "num.h"
-#include "cfassert.h"
#define MIN_THRUST 1000
#define MAX_THRUST 60000
@@ -134,8 +132,7 @@ void crtpCommanderRpytDecodeSetpoint(setpoint_t *setpoint, CRTPPacket *pk)
if (thrustLocked || (rawThrust < MIN_THRUST)) {
setpoint->thrust = 0;
} else {
- //COMMENTED FIRMWARE
- setpoint->thrust = rawThrust;//fminf(rawThrust, MAX_THRUST);
+ setpoint->thrust = fminf(rawThrust, MAX_THRUST);
}
if (altHoldMode) {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_localization_service.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_localization_service.c
index b44449844a7dd0b4c8a65f6ca0e7ded159a23554..1468992ca4177578906315b04032f22bc33214b8 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_localization_service.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtp_localization_service.c
@@ -25,7 +25,6 @@
*/
#include <string.h>
#include <stdint.h>
-#include "empty_math.h"
#include "FreeRTOS.h"
#include "task.h"
@@ -34,7 +33,6 @@
#include "crtp_localization_service.h"
#include "log.h"
#include "param.h"
-#include "cfassert.h"
#include "stabilizer_types.h"
#include "stabilizer.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtpservice.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtpservice.c
index a3b9a481233ab6c2130d739df75c968130171689..720d7de7e990939fc7f60cb2d4731a3e8821e59c 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtpservice.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/crtpservice.c
@@ -86,9 +86,8 @@ static void crtpSrvTask(void* prm)
break;
case linkSource:
p.size = CRTP_MAX_DATA_SIZE;
- //COMMENTED FIRMWARE
- //bzero(p.data, CRTP_MAX_DATA_SIZE);
- //strcpy((char*)p.data, "Bitcraze Crazyflie");
+ bzero(p.data, CRTP_MAX_DATA_SIZE);
+ strcpy((char*)p.data, "Bitcraze Crazyflie");
crtpSendPacketBlock(&p);
break;
case linkSink:
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator.c
index ecf18fdfbf3bfa537b0d8365055f90cad3ffb592..fb2df521db9ff58e81ad1d6594316399da618b93 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator.c
@@ -88,8 +88,7 @@ static EstimatorFcns estimatorFunctions[] = {
};
void stateEstimatorInit(StateEstimatorType estimator) {
- //COMMENTED FIRMWARE
- //measurementsQueue = STATIC_MEM_QUEUE_CREATE(measurementsQueue);
+ measurementsQueue = STATIC_MEM_QUEUE_CREATE(measurementsQueue);
stateEstimatorSwitchTo(estimator);
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator_kalman.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator_kalman.c
index 3ac426322d72e114c302e9275079d707b1c512e1..f9f6c25f9cc830d416e56ddbafe8f292389b3904 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator_kalman.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/estimator_kalman.c
@@ -181,12 +181,11 @@ STATIC_MEM_TASK_ALLOC_STACK_NO_DMA_CCM_SAFE(kalmanTask, 3 * configMINIMAL_STACK_
// Called one time during system startup
void estimatorKalmanTaskInit() {
- //COMMENTED FIRMWARE
- // vSemaphoreCreateBinary(runTaskSemaphore);
+ vSemaphoreCreateBinary(runTaskSemaphore);
- // dataMutex = xSemaphoreCreateMutexStatic(&dataMutexBuffer);
+ dataMutex = xSemaphoreCreateMutexStatic(&dataMutexBuffer);
- // STATIC_MEM_TASK_CREATE(kalmanTask, kalmanTask, KALMAN_TASK_NAME, NULL, KALMAN_TASK_PRI);
+ STATIC_MEM_TASK_CREATE(kalmanTask, kalmanTask, KALMAN_TASK_NAME, NULL, KALMAN_TASK_PRI);
isInit = true;
}
@@ -233,10 +232,9 @@ static void kalmanTask(void* parameters) {
nextPrediction = osTick + S2T(1.0f / PREDICT_RATE);
- //COMMENTED FIRMWARE
- // if (!rateSupervisorValidate(&rateSupervisorContext, T2M(osTick))) {
- // DEBUG_PRINT("WARNING: Kalman prediction rate low (%lu)\n", rateSupervisorLatestCount(&rateSupervisorContext));
- // }
+ if (!rateSupervisorValidate(&rateSupervisorContext, T2M(osTick))) {
+ DEBUG_PRINT("WARNING: Kalman prediction rate low (%lu)\n", rateSupervisorLatestCount(&rateSupervisorContext));
+ }
}
/**
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/eventtrigger.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/eventtrigger.c
index 1468d4b9fb88a2145c9208447e4611b6d4ca3f78..29ef92812380ea6a989f34af847111a7267416c2 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/eventtrigger.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/eventtrigger.c
@@ -38,33 +38,29 @@ extern eventtrigger _eventtrigger_stop;
uint16_t eventtriggerGetId(const eventtrigger *event)
{
// const eventtrigger* start = &_eventtrigger_start;
- //COMMENTED FIRMWARE
- // return event - &_eventtrigger_start;
+ return event - &_eventtrigger_start;
return 0;
}
const eventtrigger *eventtriggerGetById(uint16_t id)
{
- //COMMENTED FIRMWARE
- // const eventtrigger *result = &_eventtrigger_start;
- // int numEventtriggers = &_eventtrigger_stop - &_eventtrigger_start;
- // if (id < numEventtriggers) {
- // return &result[id];
- // }
+ const eventtrigger *result = &_eventtrigger_start;
+ int numEventtriggers = &_eventtrigger_stop - &_eventtrigger_start;
+ if (id < numEventtriggers) {
+ return &result[id];
+ }
return 0;
}
const eventtrigger* eventtriggerGetByName(const char *name)
{
- //COMMENTED FIRMWARE
- // const eventtrigger* result = &_eventtrigger_start;
-
- // int numEventtriggers = &_eventtrigger_stop - &_eventtrigger_start;
- // for (int i = 0; i < numEventtriggers; ++i) {
- // if (strcmp(result[i].name, name) == 0) {
- // return &result[i];
- // }
- // }
+ const eventtrigger* result = &_eventtrigger_start;
+ int numEventtriggers = &_eventtrigger_stop - &_eventtrigger_start;
+ for (int i = 0; i < numEventtriggers; ++i) {
+ if (strcmp(result[i].name, name) == 0) {
+ return &result[i];
+ }
+ }
return 0;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/health.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/health.c
index a2c512e665da46f68aeea2d05066e5dd5c501afb..ec778f18bf331d56ac59ddf058bdeabae320da4f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/health.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/health.c
@@ -284,10 +284,9 @@ void healthRunTests(sensorData_t *sensors)
for (int j = 0; j < 3; j++)
{
motorsBeep(m, true, testsound[m], (uint16_t)(MOTORS_TIM_BEEP_CLK_FREQ / A4)/ 20);
- //COMMENTED FIRMWARE
- vTaskDelay(MOTORS_TEST_ON_TIME_MS);//M2T(MOTORS_TEST_ON_TIME_MS));
+ vTaskDelay(M2T(MOTORS_TEST_ON_TIME_MS));
motorsBeep(m, false, 0, 0);
- vTaskDelay(100);//M2T(100));
+ vTaskDelay(M2T(100));
}
}
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/info.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/info.c
index 91c2c8dc05068d0643ce5cd7f2ddc9bab8986b50..fb98ee30317edf2a49f1ad13669f4fb2e42af75b 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/info.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/info.c
@@ -74,104 +74,103 @@ void infoInit()
void infoTask(void *param)
{
- //COMMENTED FIRMWARE
- // CRTPPacket p;
- // int i;
- // static int ctr=0;
-
- // while (TRUE)
- // {
- // if (crtpReceivePacketWait(crtpInfo, &p, 1000) == pdTRUE)
- // {
- // InfoNbr infoNbr = CRTP_GET_NBR(p.port);
-
- // switch (infoNbr)
- // {
- // case infoCopterNr:
- // if (p.data[0] == infoName)
- // {
- // p.data[1] = 0x90;
- // p.data[2] = 0x00; //Version 0.9.0 (Crazyflie)
- // strcpy((char*)&p.data[3], "CrazyFlie");
-
- // p.size = 3+strlen("CrazyFlie");
- // crtpSendPacketBlock(&p);
- // } else if (p.data[0] == infoVersion) {
- // i=1;
-
- // strncpy((char*)&p.data[i], V_SLOCAL_REVISION, 31-i);
- // i += strlen(V_SLOCAL_REVISION);
-
- // if (i<31) p.data[i++] = ',';
-
- // strncpy((char*)&p.data[i], V_SREVISION, 31-i);
- // i += strlen(V_SREVISION);
-
- // if (i<31) p.data[i++] = ',';
-
- // strncpy((char*)&p.data[i], V_STAG, 31-i);
- // i += strlen(V_STAG);
-
- // if (i<31) p.data[i++] = ',';
- // if (i<31) p.data[i++] = V_MODIFIED?'M':'C';
-
- // p.size = (i<31)?i:31;
- // crtpSendPacketBlock(&p);
- // } else if (p.data[0] == infoCpuId) {
- // memcpy((char*)&p.data[1], (char*)CpuId, 12);
-
- // p.size = 13;
- // crtpSendPacketBlock(&p);
- // }
-
- // break;
- // case infoBatteryNr:
- // if (p.data[0] == batteryVoltage)
- // {
- // float value = pmGetBatteryVoltage();
-
- // memcpy(&p.data[1], (char*)&value, 4);
-
- // p.size = 5;
- // crtpSendPacketBlock(&p);
- // } else if (p.data[0] == batteryMax) {
- // float value = pmGetBatteryVoltageMax();
-
- // memcpy(&p.data[1], (char*)&value, 4);
-
- // p.size = 5;
- // crtpSendPacketBlock(&p);
- // } else if (p.data[0] == batteryMin) {
- // float value = pmGetBatteryVoltageMin();
-
- // memcpy(&p.data[1], (char*)&value, 4);
-
- // p.size = 5;
- // crtpSendPacketBlock(&p);
- // }
- // break;
- // default:
- // break;
- // }
- // }
-
- // // Send a warning message if the battery voltage drops under 3.3V
- // // This is sent every 5 info transaction or every 5 seconds
- // if (ctr++>5) {
- // ctr=0;
-
- // if (pmGetBatteryVoltageMin() < INFO_BAT_WARNING)
- // {
- // float value = pmGetBatteryVoltage();
-
- // p.port = CRTP_PORT(0,8,3);
- // p.data[0] = 0;
- // memcpy(&p.data[1], (char*)&value, 4);
-
- // p.size = 5;
- // crtpSendPacketBlock(&p);
- // }
- // }
-
- // }
+ CRTPPacket p;
+ int i;
+ static int ctr=0;
+
+ while (TRUE)
+ {
+ if (crtpReceivePacketWait(crtpInfo, &p, 1000) == pdTRUE)
+ {
+ InfoNbr infoNbr = CRTP_GET_NBR(p.port);
+
+ switch (infoNbr)
+ {
+ case infoCopterNr:
+ if (p.data[0] == infoName)
+ {
+ p.data[1] = 0x90;
+ p.data[2] = 0x00; //Version 0.9.0 (Crazyflie)
+ strcpy((char*)&p.data[3], "CrazyFlie");
+
+ p.size = 3+strlen("CrazyFlie");
+ crtpSendPacketBlock(&p);
+ } else if (p.data[0] == infoVersion) {
+ i=1;
+
+ strncpy((char*)&p.data[i], V_SLOCAL_REVISION, 31-i);
+ i += strlen(V_SLOCAL_REVISION);
+
+ if (i<31) p.data[i++] = ',';
+
+ strncpy((char*)&p.data[i], V_SREVISION, 31-i);
+ i += strlen(V_SREVISION);
+
+ if (i<31) p.data[i++] = ',';
+
+ strncpy((char*)&p.data[i], V_STAG, 31-i);
+ i += strlen(V_STAG);
+
+ if (i<31) p.data[i++] = ',';
+ if (i<31) p.data[i++] = V_MODIFIED?'M':'C';
+
+ p.size = (i<31)?i:31;
+ crtpSendPacketBlock(&p);
+ } else if (p.data[0] == infoCpuId) {
+ memcpy((char*)&p.data[1], (char*)CpuId, 12);
+
+ p.size = 13;
+ crtpSendPacketBlock(&p);
+ }
+
+ break;
+ case infoBatteryNr:
+ if (p.data[0] == batteryVoltage)
+ {
+ float value = pmGetBatteryVoltage();
+
+ memcpy(&p.data[1], (char*)&value, 4);
+
+ p.size = 5;
+ crtpSendPacketBlock(&p);
+ } else if (p.data[0] == batteryMax) {
+ float value = pmGetBatteryVoltageMax();
+
+ memcpy(&p.data[1], (char*)&value, 4);
+
+ p.size = 5;
+ crtpSendPacketBlock(&p);
+ } else if (p.data[0] == batteryMin) {
+ float value = pmGetBatteryVoltageMin();
+
+ memcpy(&p.data[1], (char*)&value, 4);
+
+ p.size = 5;
+ crtpSendPacketBlock(&p);
+ }
+ break;
+ default:
+ break;
+ }
+ }
+
+ // Send a warning message if the battery voltage drops under 3.3V
+ // This is sent every 5 info transaction or every 5 seconds
+ if (ctr++>5) {
+ ctr=0;
+
+ if (pmGetBatteryVoltageMin() < INFO_BAT_WARNING)
+ {
+ float value = pmGetBatteryVoltage();
+
+ p.port = CRTP_PORT(0,8,3);
+ p.data[0] = 0;
+ memcpy(&p.data[1], (char*)&value, 4);
+
+ p.size = 5;
+ crtpSendPacketBlock(&p);
+ }
+ }
+
+ }
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/kalman_core.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/kalman_core.c
index c9575ec72acbefc651d7a1a2cea1cb1314dd1ad0..a46208df7b76bece0191a5ce92665a6f739c6cec 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/kalman_core.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/kalman_core.c
@@ -167,11 +167,10 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
// this->S[KC_STATE_D2] = 0;
// reset the attitude quaternion
- //COMMENTED FIRMWARE
- // initialQuaternion[0] = arm_cos_f32(initialYaw / 2);
- // initialQuaternion[1] = 0.0;
- // initialQuaternion[2] = 0.0;
- // initialQuaternion[3] = arm_sin_f32(initialYaw / 2);
+ initialQuaternion[0] = arm_cos_f32(initialYaw / 2);
+ initialQuaternion[1] = 0.0;
+ initialQuaternion[2] = 0.0;
+ initialQuaternion[3] = arm_sin_f32(initialYaw / 2);
for (int i = 0; i < 4; i++) { this->q[i] = initialQuaternion[i]; }
// then set the initial rotation matrix to the identity. This only affects
@@ -186,18 +185,17 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
}
// initialize state variances
- //COMMENTED FIRMWARE
- // this->P[KC_STATE_X][KC_STATE_X] = powf(stdDevInitialPosition_xy, 2);
- // this->P[KC_STATE_Y][KC_STATE_Y] = powf(stdDevInitialPosition_xy, 2);
- // this->P[KC_STATE_Z][KC_STATE_Z] = powf(stdDevInitialPosition_z, 2);
+ this->P[KC_STATE_X][KC_STATE_X] = powf(stdDevInitialPosition_xy, 2);
+ this->P[KC_STATE_Y][KC_STATE_Y] = powf(stdDevInitialPosition_xy, 2);
+ this->P[KC_STATE_Z][KC_STATE_Z] = powf(stdDevInitialPosition_z, 2);
- // this->P[KC_STATE_PX][KC_STATE_PX] = powf(stdDevInitialVelocity, 2);
- // this->P[KC_STATE_PY][KC_STATE_PY] = powf(stdDevInitialVelocity, 2);
- // this->P[KC_STATE_PZ][KC_STATE_PZ] = powf(stdDevInitialVelocity, 2);
+ this->P[KC_STATE_PX][KC_STATE_PX] = powf(stdDevInitialVelocity, 2);
+ this->P[KC_STATE_PY][KC_STATE_PY] = powf(stdDevInitialVelocity, 2);
+ this->P[KC_STATE_PZ][KC_STATE_PZ] = powf(stdDevInitialVelocity, 2);
- // this->P[KC_STATE_D0][KC_STATE_D0] = powf(stdDevInitialAttitude_rollpitch, 2);
- // 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->P[KC_STATE_D0][KC_STATE_D0] = powf(stdDevInitialAttitude_rollpitch, 2);
+ this->P[KC_STATE_D1][KC_STATE_D1] = powf(stdDevInitialAttitude_rollpitch, 2);
+ this->P[KC_STATE_D2][KC_STATE_D2] = powf(stdDevInitialAttitude_yaw, 2);
//COMMENTED FIRMWARE
// this->Pm.numRows = KC_STATE_DIM;
@@ -208,8 +206,8 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
}
//COMMENTED FIRMWARE
-// void kalmanCoreScalarUpdate(kalmanCoreData_t* this, arm_matrix_instance_f32 *Hm, float error, float stdMeasNoise)
-// {
+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};
@@ -276,11 +274,11 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
// }
// 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)
-// {
+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];
@@ -313,11 +311,10 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
// }
// assertStateNotNaN(this);
-// }
+}
-//COMMENTED FIRMWARE
-// void kalmanCoreUpdateWithBaro(kalmanCoreData_t* this, float baroAsl, bool quadIsFlying)
-// {
+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};
@@ -330,11 +327,10 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
// 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)
-// {
+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.
// *
@@ -567,25 +563,24 @@ void kalmanCoreInit(kalmanCoreData_t* this) {
// 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)
{
if (dt>0)
{
- //COMMENTED FIRMWARE
- // this->P[KC_STATE_X][KC_STATE_X] += powf(procNoiseAcc_xy*dt*dt + procNoiseVel*dt + procNoisePos, 2); // add process noise on position
- // this->P[KC_STATE_Y][KC_STATE_Y] += powf(procNoiseAcc_xy*dt*dt + procNoiseVel*dt + procNoisePos, 2); // add process noise on position
- // this->P[KC_STATE_Z][KC_STATE_Z] += powf(procNoiseAcc_z*dt*dt + procNoiseVel*dt + procNoisePos, 2); // add process noise on position
-
- // this->P[KC_STATE_PX][KC_STATE_PX] += powf(procNoiseAcc_xy*dt + procNoiseVel, 2); // add process noise on velocity
- // this->P[KC_STATE_PY][KC_STATE_PY] += powf(procNoiseAcc_xy*dt + procNoiseVel, 2); // add process noise on velocity
- // this->P[KC_STATE_PZ][KC_STATE_PZ] += powf(procNoiseAcc_z*dt + procNoiseVel, 2); // add process noise on velocity
-
- // this->P[KC_STATE_D0][KC_STATE_D0] += powf(measNoiseGyro_rollpitch * dt + procNoiseAtt, 2);
- // this->P[KC_STATE_D1][KC_STATE_D1] += powf(measNoiseGyro_rollpitch * dt + procNoiseAtt, 2);
- // this->P[KC_STATE_D2][KC_STATE_D2] += powf(measNoiseGyro_yaw * dt + procNoiseAtt, 2);
+ this->P[KC_STATE_X][KC_STATE_X] += powf(procNoiseAcc_xy*dt*dt + procNoiseVel*dt + procNoisePos, 2); // add process noise on position
+ this->P[KC_STATE_Y][KC_STATE_Y] += powf(procNoiseAcc_xy*dt*dt + procNoiseVel*dt + procNoisePos, 2); // add process noise on position
+ this->P[KC_STATE_Z][KC_STATE_Z] += powf(procNoiseAcc_z*dt*dt + procNoiseVel*dt + procNoisePos, 2); // add process noise on position
+
+ this->P[KC_STATE_PX][KC_STATE_PX] += powf(procNoiseAcc_xy*dt + procNoiseVel, 2); // add process noise on velocity
+ this->P[KC_STATE_PY][KC_STATE_PY] += powf(procNoiseAcc_xy*dt + procNoiseVel, 2); // add process noise on velocity
+ this->P[KC_STATE_PZ][KC_STATE_PZ] += powf(procNoiseAcc_z*dt + procNoiseVel, 2); // add process noise on velocity
+
+ this->P[KC_STATE_D0][KC_STATE_D0] += powf(measNoiseGyro_rollpitch * dt + procNoiseAtt, 2);
+ this->P[KC_STATE_D1][KC_STATE_D1] += powf(measNoiseGyro_rollpitch * dt + procNoiseAtt, 2);
+ this->P[KC_STATE_D2][KC_STATE_D2] += powf(measNoiseGyro_yaw * dt + procNoiseAtt, 2);
}
for (int i=0; i<KC_STATE_DIM; i++) {
@@ -606,8 +601,8 @@ void kalmanCoreAddProcessNoise(kalmanCoreData_t* this, float dt)
//COMMENTED FIRMWARE
-// void kalmanCoreFinalize(kalmanCoreData_t* this, uint32_t tick)
-// {
+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};
@@ -718,7 +713,7 @@ void kalmanCoreAddProcessNoise(kalmanCoreData_t* this, float dt)
// }
// assertStateNotNaN(this);
-// }
+}
void kalmanCoreExternalizeState(const kalmanCoreData_t* this, state_t *state, const Axis3f *acc, uint32_t tick)
{
@@ -749,18 +744,17 @@ void kalmanCoreExternalizeState(const kalmanCoreData_t* this, state_t *state, co
};
// convert the new attitude into Euler YPR
- //COMMENTED FIRMWARE
- // float yaw = atan2f(2*(this->q[1]*this->q[2]+this->q[0]*this->q[3]) , this->q[0]*this->q[0] + this->q[1]*this->q[1] - this->q[2]*this->q[2] - this->q[3]*this->q[3]);
- // float pitch = asinf(-2*(this->q[1]*this->q[3] - this->q[0]*this->q[2]));
- // float roll = atan2f(2*(this->q[2]*this->q[3]+this->q[0]*this->q[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]);
-
- // // Save attitude, adjusted for the legacy CF2 body coordinate system
- // state->attitude = (attitude_t){
- // .timestamp = tick,
- // .roll = roll*RAD_TO_DEG,
- // .pitch = -pitch*RAD_TO_DEG,
- // .yaw = yaw*RAD_TO_DEG
- // };
+ float yaw = atan2f(2*(this->q[1]*this->q[2]+this->q[0]*this->q[3]) , this->q[0]*this->q[0] + this->q[1]*this->q[1] - this->q[2]*this->q[2] - this->q[3]*this->q[3]);
+ float pitch = asinf(-2*(this->q[1]*this->q[3] - this->q[0]*this->q[2]));
+ float roll = atan2f(2*(this->q[2]*this->q[3]+this->q[0]*this->q[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]);
+
+ // Save attitude, adjusted for the legacy CF2 body coordinate system
+ state->attitude = (attitude_t){
+ .timestamp = tick,
+ .roll = roll*RAD_TO_DEG,
+ .pitch = -pitch*RAD_TO_DEG,
+ .yaw = yaw*RAD_TO_DEG
+ };
// Save quaternion, hopefully one day this could be used in a better controller.
// Note that this is not adjusted for the legacy coordinate system
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/mm_distance_robust.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/mm_distance_robust.c
index d0d12024bd780a9bba80d2a81eff8a9416edbb07..e0662bd38ae0ea387bdac871a5036dad85de0825 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/mm_distance_robust.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/kalman_core/mm_distance_robust.c
@@ -25,22 +25,21 @@
// Reference: https://www.geeksforgeeks.org/cholesky-decomposition-matrix-decomposition/
static void Cholesky_Decomposition(int n, float matrix[n][n], float lower[n][n]){
// Decomposing a matrix into Lower Triangular
- //COMMENTED FIRMWARE
- // for (int i = 0; i < n; i++) {
- // for (int j = 0; j <= i; j++) {
- // float sum = 0.0;
- // if (j == i) // summation for diagnols
- // {
- // for (int k = 0; k < j; k++)
- // sum += powf(lower[j][k], 2);
- // lower[j][j] = sqrtf(matrix[j][j] - sum);
- // } else {
- // for (int k = 0; k < j; k++)
- // sum += (lower[i][k] * lower[j][k]);
- // lower[i][j] = (matrix[i][j] - sum) / lower[j][j];
- // }
- // }
- // }
+ for (int i = 0; i < n; i++) {
+ for (int j = 0; j <= i; j++) {
+ float sum = 0.0;
+ if (j == i) // summation for diagnols
+ {
+ for (int k = 0; k < j; k++)
+ sum += powf(lower[j][k], 2);
+ lower[j][j] = sqrtf(matrix[j][j] - sum);
+ } else {
+ for (int k = 0; k < j; k++)
+ sum += (lower[i][k] * lower[j][k]);
+ lower[i][j] = (matrix[i][j] - sum) / lower[j][j];
+ }
+ }
+ }
}
/* Weight function for GM Robust cost function
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_core.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_core.c
index e6021077255bcdbdbb944bb8cc881b2f25e1e380..1d16fc48300cd0ea91e7c8b4022dba5ec18b08a9 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_core.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_core.c
@@ -360,7 +360,8 @@ static void useCalibrationData(pulseProcessor_t *appState) {
for (int baseStation = 0; baseStation < PULSE_PROCESSOR_N_BASE_STATIONS; baseStation++) {
if (appState->ootxDecoder[baseStation].isFullyDecoded) {
lighthouseCalibration_t newData;
- lighthouseCalibrationInitFromFrame(&newData, &appState->ootxDecoder[baseStation].frame);
+ //COMMENTED FIRMWARE
+ //lighthouseCalibrationInitFromFrame(&newData, &appState->ootxDecoder[baseStation].frame);
modifyBit(&baseStationCalibConfirmedMap, baseStation, true);
@@ -368,7 +369,8 @@ static void useCalibrationData(pulseProcessor_t *appState) {
const bool currentCalibDataValid = currentCalibData->valid;
const bool isDataDifferent = ((newData.uid != currentCalibData->uid) || (newData.valid != currentCalibDataValid));
if (isDataDifferent) {
- DEBUG_PRINT("Got calibration from %08X on channel %d\n", (unsigned int)appState->ootxDecoder[baseStation].frame.id, baseStation + 1);
+ //COMMENTED FIRMWARE
+ // DEBUG_PRINT("Got calibration from %08X on channel %d\n", (unsigned int)appState->ootxDecoder[baseStation].frame.id, baseStation + 1);
lighthouseCoreSetCalibrationData(baseStation, &newData);
lighthouseStoragePersistCalibDataBackground(baseStation);
@@ -443,61 +445,60 @@ static void updateSystemStatus(const uint32_t now_ms) {
}
void lighthouseCoreTask(void *param) {
- //COMMENTED FIRMWARE
- // bool isUartFrameValid = false;
+ bool isUartFrameValid = false;
- // uart1Init(230400);
- // systemWaitStart();
+ uart1Init(230400);
+ systemWaitStart();
- // lighthouseStorageVerifySetStorageVersion();
- // lighthouseStorageInitializeGeoDataFromStorage();
- // lighthouseStorageInitializeCalibDataFromStorage();
-
- // if (lighthouseDeckFlasherCheckVersionAndBoot() == false) {
- // DEBUG_PRINT("FPGA not booted. Lighthouse disabled!\n");
- // while(1) {
- // vTaskDelay(portMAX_DELAY);
- // }
- // }
- // deckIsFlashed = true;
+ lighthouseStorageVerifySetStorageVersion();
+ lighthouseStorageInitializeGeoDataFromStorage();
+ lighthouseStorageInitializeCalibDataFromStorage();
+ if (lighthouseDeckFlasherCheckVersionAndBoot() == false) {
+ DEBUG_PRINT("FPGA not booted. Lighthouse disabled!\n");
+ while(1) {
+ vTaskDelay(portMAX_DELAY);
+ }
+ }
+ deckIsFlashed = true;
- // vTaskDelay(M2T(100));
- // memset(&bsIdentificationData, 0, sizeof(bsIdentificationData));
+ vTaskDelay(M2T(100));
- // while(1) {
- // memset(pulseWidth, 0, sizeof(pulseWidth[0]) * PULSE_PROCESSOR_N_SENSORS);
- // waitForUartSynchFrame();
- // uartSynchronized = true;
+ memset(&bsIdentificationData, 0, sizeof(bsIdentificationData));
- // bool previousWasSyncFrame = false;
+ while(1) {
+ memset(pulseWidth, 0, sizeof(pulseWidth[0]) * PULSE_PROCESSOR_N_SENSORS);
+ waitForUartSynchFrame();
+ uartSynchronized = true;
- // while((isUartFrameValid = getUartFrameRaw(&frame))) {
- // const uint32_t now_ms = T2M(xTaskGetTickCount());
+ bool previousWasSyncFrame = false;
- // // If a sync frame is getting through, we are only receiving sync frames. So nothing else. Reset state
- // if(frame.isSyncFrame && previousWasSyncFrame) {
- // pulseProcessorAllClear(&angles);
- // }
- // // Now we are receiving items
- // else if(!frame.isSyncFrame) {
- // STATS_CNT_RATE_EVENT(&frameRate);
+ while((isUartFrameValid = getUartFrameRaw(&frame))) {
+ const uint32_t now_ms = T2M(xTaskGetTickCount());
- // deckHealthCheck(&lighthouseCoreState, &frame, now_ms);
- // lighthouseUpdateSystemType();
- // if (pulseProcessorProcessPulse) {
- // processFrame(&lighthouseCoreState, &angles, &frame);
- // }
- // }
+ // If a sync frame is getting through, we are only receiving sync frames. So nothing else. Reset state
+ if(frame.isSyncFrame && previousWasSyncFrame) {
+ pulseProcessorAllClear(&angles);
+ }
+ // Now we are receiving items
+ else if(!frame.isSyncFrame) {
+ STATS_CNT_RATE_EVENT(&frameRate);
+
+ deckHealthCheck(&lighthouseCoreState, &frame, now_ms);
+ lighthouseUpdateSystemType();
+ if (pulseProcessorProcessPulse) {
+ processFrame(&lighthouseCoreState, &angles, &frame);
+ }
+ }
- // previousWasSyncFrame = frame.isSyncFrame;
+ previousWasSyncFrame = frame.isSyncFrame;
- // updateSystemStatus(now_ms);
- // }
+ updateSystemStatus(now_ms);
+ }
- // uartSynchronized = false;
- // }
+ uartSynchronized = false;
+ }
}
void lighthouseCoreSetCalibrationData(const uint8_t baseStation, const lighthouseCalibration_t* calibration) {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_storage.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_storage.c
index c33a849dc6102b6f0e2da1658be4b9bae1a7172b..12b6f371813f22c90817daa0901e662c4e2fee92 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_storage.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/lighthouse/lighthouse_storage.c
@@ -101,7 +101,6 @@ void lighthouseStoragePersistSystemType(lighthouseBaseStationType_t type) {
void lighthouseStorageVerifySetStorageVersion() {
//COMMENTED FIRMWARE
-//#include <string.h>
// const int bufLen = 5;
// char buffer[bufLen];
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/log.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/log.c
index ee8535d068267e0def18fe10593e7acea304cf25..f56da9236c5e31ee1f4fbde38003f51e141dea9a 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/log.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/log.c
@@ -49,7 +49,6 @@
#include "cfassert.h"
#include "debug.h"
#include "static_mem.h"
-#include "empty_math.h"
#if 0
#define LOG_DEBUG(fmt, ...) DEBUG_PRINT("D/log " fmt, ## __VA_ARGS__)
@@ -855,7 +854,7 @@ void logRunBlock(void * arg)
ops = ops->next;
}
-
+
xSemaphoreGive(logLock);
// Check if the connection is still up, oherwise disable
@@ -978,18 +977,17 @@ logVarId_t logGetVarId(char* group, char* name)
logVarId_t varId = invalidVarId;
char * currgroup = "";
- //COMMENTED FIRMWARE
- // for(i=0; i<logsLen; i++)
- // {
- // if (logs[i].type & LOG_GROUP) {
- // if (logs[i].type & LOG_START) {
- // currgroup = logs[i].name;
- // }
- // } else if ((!strcmp(group, currgroup)) && (!strcmp(name, logs[i].name))) {
- // varId = (logVarId_t)i;
- // return varId;
- // }
- // }
+ for(i=0; i<logsLen; i++)
+ {
+ if (logs[i].type & LOG_GROUP) {
+ if (logs[i].type & LOG_START) {
+ currgroup = logs[i].name;
+ }
+ } else if ((!strcmp(group, currgroup)) && (!strcmp(name, logs[i].name))) {
+ varId = (logVarId_t)i;
+ return varId;
+ }
+ }
return invalidVarId;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/mem.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/mem.c
index 219e25397e7eba11ff17af758e54526f8890d0bd..9d143d034faaee0dda508141fe68d1970f277d80 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/mem.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/mem.c
@@ -45,7 +45,6 @@
#include "log.h"
#include "param.h"
#include "static_mem.h"
-#include "cfassert.h"
#if 0
#define MEM_DEBUG(fmt, ...) DEBUG_PRINT("D/log " fmt, ## __VA_ARGS__)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/outlierFilter.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/outlierFilter.c
index c3d453ea993d861afc4c8fc026f7f66367dbd686..a6fab9f948f36559fec1de4aa5754eb54da5ecf7 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/outlierFilter.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/outlierFilter.c
@@ -71,34 +71,33 @@ bool outlierFilterValidateTdoaSimple(const tdoaMeasurement_t* tdoa) {
bool outlierFilterValidateTdoaSteps(const tdoaMeasurement_t* tdoa, const float error, const vector_t* jacobian, const point_t* estPos) {
bool sampleIsGood = false;
- //COMMENTED FIRMWARE
- // if (isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa)) {
- // float errorBaseDistance = sqrtf(powf(jacobian->x, 2) + powf(jacobian->y, 2) + powf(jacobian->z, 2));
- // errorDistance = fabsf(error / errorBaseDistance);
-
- // int filterIndex = updateBuckets(errorDistance);
-
- // if (filterIndex > previousFilterIndex) {
- // filterCloseDelayCounter = FILTER_CLOSE_DELAY_COUNT;
- // } else if (filterIndex < previousFilterIndex) {
- // if (filterCloseDelayCounter > 0) {
- // filterCloseDelayCounter--;
- // filterIndex = previousFilterIndex;
- // }
- // }
- // previousFilterIndex = filterIndex;
-
- // if (filterIndex == FILTER_NONE) {
- // // Lost tracking, open up to let the kalman filter converge
- // acceptanceLevel = 100.0;
- // sampleIsGood = true;
- // } else {
- // acceptanceLevel = filterLevels[filterIndex].acceptanceLevel;
- // if (errorDistance < acceptanceLevel) {
- // sampleIsGood = true;
- // }
- // }
- // }
+ if (isDistanceDiffSmallerThanDistanceBetweenAnchors(tdoa)) {
+ float errorBaseDistance = sqrtf(powf(jacobian->x, 2) + powf(jacobian->y, 2) + powf(jacobian->z, 2));
+ errorDistance = fabsf(error / errorBaseDistance);
+
+ int filterIndex = updateBuckets(errorDistance);
+
+ if (filterIndex > previousFilterIndex) {
+ filterCloseDelayCounter = FILTER_CLOSE_DELAY_COUNT;
+ } else if (filterIndex < previousFilterIndex) {
+ if (filterCloseDelayCounter > 0) {
+ filterCloseDelayCounter--;
+ filterIndex = previousFilterIndex;
+ }
+ }
+ previousFilterIndex = filterIndex;
+
+ if (filterIndex == FILTER_NONE) {
+ // Lost tracking, open up to let the kalman filter converge
+ acceptanceLevel = 100.0;
+ sampleIsGood = true;
+ } else {
+ acceptanceLevel = filterLevels[filterIndex].acceptanceLevel;
+ if (errorDistance < acceptanceLevel) {
+ sampleIsGood = true;
+ }
+ }
+ }
return sampleIsGood;
}
@@ -120,30 +119,28 @@ void outlierFilterReset(OutlierFilterLhState_t* this, const uint32_t now) {
bool outlierFilterValidateLighthouseSweep(OutlierFilterLhState_t* this, const float distanceToBs, const float angleError, const uint32_t now) {
// float error = distanceToBs * tan(angleError);
// We use an approximattion
- //COMMENTED FIRMWARE
- // float error = distanceToBs * angleError;
-
- // bool isGoodSample = (fabsf(error) < lhMaxError);
- // if (isGoodSample) {
- // this->openingWindow += lhGoodSampleWindowChange;
- // if (this->openingWindow > lhMaxWindowTime) {
- // this->openingWindow = lhMaxWindowTime;
- // }
- // } else {
- // this->openingWindow += lhBadSampleWindowChange;
- // if (this->openingWindow < lhMinWindowTime) {
- // this->openingWindow = lhMinWindowTime;
- // }
- // }
+ float error = distanceToBs * angleError;
+
+ bool isGoodSample = (fabsf(error) < lhMaxError);
+ if (isGoodSample) {
+ this->openingWindow += lhGoodSampleWindowChange;
+ if (this->openingWindow > lhMaxWindowTime) {
+ this->openingWindow = lhMaxWindowTime;
+ }
+ } else {
+ this->openingWindow += lhBadSampleWindowChange;
+ if (this->openingWindow < lhMinWindowTime) {
+ this->openingWindow = lhMinWindowTime;
+ }
+ }
bool result = true;
- //COMMENTED FIRMWARE
- // bool isFilterClosed = (now < this->openingTime);
- // if (isFilterClosed) {
- // result = isGoodSample;
- // }
+ bool isFilterClosed = (now < this->openingTime);
+ if (isFilterClosed) {
+ result = isGoodSample;
+ }
- // this->openingTime = now + this->openingWindow;
+ this->openingTime = now + this->openingWindow;
return result;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/param.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/param.c
index 51616ce956c3a6cbe486e79038e2c4d6090000f6..35f375fb310bdf3c91fb571fac67ce864445e2c0 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/param.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/param.c
@@ -37,7 +37,6 @@
#include "console.h"
#include "debug.h"
#include "static_mem.h"
-#include "cfassert.h"
#if 0
#define PARAM_DEBUG(fmt, ...) DEBUG_PRINT("D/param " fmt, ## __VA_ARGS__)
@@ -414,9 +413,8 @@ static char paramWriteByNameProcess(char* group, char* name, int type, void *val
}
else //Ptr points a variable
{
- //COMMENTED FIRMWARE
- // if (!strcmp(params[ptr].name, name) && !strcmp(pgroup, group))
- // break;
+ if (!strcmp(params[ptr].name, name) && !strcmp(pgroup, group))
+ break;
}
}
@@ -566,12 +564,12 @@ paramVarId_t paramGetVarId(char* group, char* name)
} else {
id += 1;
}
- //COMMENTED FIRMWARE
- // if ((!strcmp(group, currgroup)) && (!strcmp(name, params[ptr].name))) {
- // varId.ptr = ptr;
- // varId.id = id - 1;
- // return varId;
- // }
+
+ if ((!strcmp(group, currgroup)) && (!strcmp(name, params[ptr].name))) {
+ varId.ptr = ptr;
+ varId.id = id - 1;
+ return varId;
+ }
}
return invalidVarId;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/platformservice.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/platformservice.c
index b80addb9225ac5e222343340573691f906e7c1dd..2dfcee6415ff2e1495e411ca9c51418e992ea35f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/platformservice.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/platformservice.c
@@ -134,27 +134,26 @@ void platformserviceSendAppchannelPacket(CRTPPacket *p)
static void versionCommandProcess(CRTPPacket *p)
{
- //COMMENTED FIRMWARE
- // switch (p->data[0]) {
- // case getProtocolVersion:
- // *(int*)&p->data[1] = PROTOCOL_VERSION;
- // p->size = 5;
- // crtpSendPacketBlock(p);
- // break;
- // case getFirmwareVersion:
- // strncpy((char*)&p->data[1], V_STAG, CRTP_MAX_DATA_SIZE-1);
- // p->size = (strlen(V_STAG)>CRTP_MAX_DATA_SIZE-1)?CRTP_MAX_DATA_SIZE:strlen(V_STAG)+1;
- // crtpSendPacketBlock(p);
- // break;
- // case getDeviceTypeName:
- // {
- // const char* name = platformConfigGetDeviceTypeName();
- // strncpy((char*)&p->data[1], name, CRTP_MAX_DATA_SIZE-1);
- // p->size = (strlen(name)>CRTP_MAX_DATA_SIZE-1)?CRTP_MAX_DATA_SIZE:strlen(name)+1;
- // crtpSendPacketBlock(p);
- // }
- // break;
- // default:
- // break;
- // }
+ switch (p->data[0]) {
+ case getProtocolVersion:
+ *(int*)&p->data[1] = PROTOCOL_VERSION;
+ p->size = 5;
+ crtpSendPacketBlock(p);
+ break;
+ case getFirmwareVersion:
+ strncpy((char*)&p->data[1], V_STAG, CRTP_MAX_DATA_SIZE-1);
+ p->size = (strlen(V_STAG)>CRTP_MAX_DATA_SIZE-1)?CRTP_MAX_DATA_SIZE:strlen(V_STAG)+1;
+ crtpSendPacketBlock(p);
+ break;
+ case getDeviceTypeName:
+ {
+ const char* name = platformConfigGetDeviceTypeName();
+ strncpy((char*)&p->data[1], name, CRTP_MAX_DATA_SIZE-1);
+ p->size = (strlen(name)>CRTP_MAX_DATA_SIZE-1)?CRTP_MAX_DATA_SIZE:strlen(name)+1;
+ crtpSendPacketBlock(p);
+ }
+ break;
+ default:
+ break;
+ }
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_indi.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_indi.c
index 989c224c7d933dab8f027633889818aea00a202c..20fdd50cdddfeaca916d33a647c8876f30d9791a 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_indi.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_indi.c
@@ -26,8 +26,7 @@
#include "position_controller_indi.h"
-//#include "math3d.h"
-#include "empty_math.h"
+#include "math3d.h"
// Position controller gains
float K_xi_x = 1.0f;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_pid.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_pid.c
index 2fa55dd5c7db915c29b0d6e7b13999876e6fd60e..5cdff44724a70b19835286166e006b808308a12f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_pid.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_controller_pid.c
@@ -24,8 +24,7 @@
* position_estimator_pid.c: PID-based implementation of the position controller
*/
-//#include <math.h>
-#include "empty_math.h"
+#include <math.h>
#include "num.h"
#include "commander.h"
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_estimator_altitude.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_estimator_altitude.c
index 79d716199dd95f09fa781b393084e8162c2b65ad..461aa7681de314d60154d3e020d42efcc5d52d0f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_estimator_altitude.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/position_estimator_altitude.c
@@ -74,8 +74,7 @@ static void positionEstimateInternal(state_t* estimate, const baro_t* baro, cons
static float prev_estimatedZ = 0;
static bool surfaceFollowingMode = false;
- //COMMENTED FIRMWARE
- const uint32_t MAX_SAMPLE_AGE = 50;//M2T(50);
+ const uint32_t MAX_SAMPLE_AGE = M2T(50);
uint32_t now = xTaskGetTickCount();
bool isSampleUseful = ((now - tofMeasurement->timestamp) <= MAX_SAMPLE_AGE);
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj.c
index 26cd702e6b0026055b5f47ce5f526594b9f59ed5..d24dc2f93c013623e88cb64fc73cd90dd89e94f5 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj.c
@@ -256,13 +256,12 @@ float poly4d_max_accel_approx(struct poly4d const *p)
float step = p->duration / (steps - 1);
float t = 0;
float amax = 0;
- //COMMENTED FIRMWARE
- // for (int i = 0; i < steps; ++i) {
- // struct vec ddx = polyval_xyz(acc, t);
- // float ddx_minkowski = vnorm1(ddx);
- // if (ddx_minkowski > amax) amax = ddx_minkowski;
- // t += step;
- // }
+ for (int i = 0; i < steps; ++i) {
+ struct vec ddx = polyval_xyz(acc, t);
+ float ddx_minkowski = vnorm1(ddx);
+ if (ddx_minkowski > amax) amax = ddx_minkowski;
+ t += step;
+ }
return amax;
}
@@ -294,39 +293,38 @@ struct traj_eval poly4d_eval(struct poly4d const *p, float t)
{
// flat variables
struct traj_eval out;
- //COMMENTED FIRMWARE
- // out.pos = polyval_xyz(p, t);
- // out.yaw = polyval_yaw(p, t);
-
- // // 1st derivative
- // struct poly4d* deriv = &poly4d_tmp;
- // *deriv = *p;
- // polyder4d(deriv);
- // out.vel = polyval_xyz(deriv, t);
- // float dyaw = polyval_yaw(deriv, t);
-
- // // 2nd derivative
- // polyder4d(deriv);
- // out.acc = polyval_xyz(deriv, t);
-
- // // 3rd derivative
- // polyder4d(deriv);
- // struct vec jerk = polyval_xyz(deriv, t);
-
- // struct vec thrust = vadd(out.acc, mkvec(0, 0, GRAV));
- // // float thrust_mag = mass * vmag(thrust);
-
- // struct vec z_body = vnormalize(thrust);
- // struct vec x_world = mkvec(cosf(out.yaw), sinf(out.yaw), 0);
- // struct vec y_body = vnormalize(vcross(z_body, x_world));
- // struct vec x_body = vcross(y_body, z_body);
-
- // struct vec jerk_orth_zbody = vorthunit(jerk, z_body);
- // struct vec h_w = vscl(1.0f / vmag(thrust), jerk_orth_zbody);
-
- // out.omega.x = -vdot(h_w, y_body);
- // out.omega.y = vdot(h_w, x_body);
- // out.omega.z = z_body.z * dyaw;
+ out.pos = polyval_xyz(p, t);
+ out.yaw = polyval_yaw(p, t);
+
+ // 1st derivative
+ struct poly4d* deriv = &poly4d_tmp;
+ *deriv = *p;
+ polyder4d(deriv);
+ out.vel = polyval_xyz(deriv, t);
+ float dyaw = polyval_yaw(deriv, t);
+
+ // 2nd derivative
+ polyder4d(deriv);
+ out.acc = polyval_xyz(deriv, t);
+
+ // 3rd derivative
+ polyder4d(deriv);
+ struct vec jerk = polyval_xyz(deriv, t);
+
+ struct vec thrust = vadd(out.acc, mkvec(0, 0, GRAV));
+ // float thrust_mag = mass * vmag(thrust);
+
+ struct vec z_body = vnormalize(thrust);
+ struct vec x_world = mkvec(cosf(out.yaw), sinf(out.yaw), 0);
+ struct vec y_body = vnormalize(vcross(z_body, x_world));
+ struct vec x_body = vcross(y_body, z_body);
+
+ struct vec jerk_orth_zbody = vorthunit(jerk, z_body);
+ struct vec h_w = vscl(1.0f / vmag(thrust), jerk_orth_zbody);
+
+ out.omega.x = -vdot(h_w, y_body);
+ out.omega.y = vdot(h_w, x_body);
+ out.omega.z = z_body.z * dyaw;
return out;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj_compressed.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj_compressed.c
index 20510fdcaf0757c6209fae8ef32f4cbb2d67d323..899d8d5e41f87d3ef011124635c9717a7c7139d8 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj_compressed.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/pptraj_compressed.c
@@ -242,50 +242,48 @@ void piecewise_compressed_load(struct piecewise_traj_compressed *traj, const voi
static void piecewise_compressed_rewind(struct piecewise_traj_compressed *traj)
{
- //COMMENTED FIRMWARE
- // struct traj_eval stopped;
- // compressed_piece_coordinate value;
- // compressed_piece_ptr ptr;
-
- // /* Parse header that stores the start coordinates */
- // bzero(&stopped, sizeof(stopped));
- // ptr = traj->data;
- // ptr = next_coordinate(ptr, &value); stopped.pos.x = value / STORED_DISTANCE_SCALE;
- // ptr = next_coordinate(ptr, &value); stopped.pos.y = value / STORED_DISTANCE_SCALE;
- // ptr = next_coordinate(ptr, &value); stopped.pos.z = value / STORED_DISTANCE_SCALE;
- // ptr = next_coordinate(ptr, &value); stopped.yaw = value / STORED_ANGLE_SCALE;
- // traj->current_piece.t_begin_relative = 0;
- // traj->current_piece.data = ptr;
-
- // piecewise_compressed_update_current_poly4d(traj, &stopped);
+ struct traj_eval stopped;
+ compressed_piece_coordinate value;
+ compressed_piece_ptr ptr;
+
+ /* Parse header that stores the start coordinates */
+ bzero(&stopped, sizeof(stopped));
+ ptr = traj->data;
+ ptr = next_coordinate(ptr, &value); stopped.pos.x = value / STORED_DISTANCE_SCALE;
+ ptr = next_coordinate(ptr, &value); stopped.pos.y = value / STORED_DISTANCE_SCALE;
+ ptr = next_coordinate(ptr, &value); stopped.pos.z = value / STORED_DISTANCE_SCALE;
+ ptr = next_coordinate(ptr, &value); stopped.yaw = value / STORED_ANGLE_SCALE;
+ traj->current_piece.t_begin_relative = 0;
+ traj->current_piece.data = ptr;
+
+ piecewise_compressed_update_current_poly4d(traj, &stopped);
}
static void piecewise_compressed_update_current_poly4d(
struct piecewise_traj_compressed *traj, const struct traj_eval *prev_end)
{
- //COMMENTED FIRMWARE
- // struct poly4d* poly4d = &traj->current_piece.poly4d;
- // compressed_piece_ptr ptr;
- // struct compressed_piece_parsed_header header;
-
- // /* First, clear everything in the poly4d */
- // bzero(poly4d, sizeof(*poly4d));
-
- // /* Parse the header of the current piece, extract the storage types and the duration */
- // ptr = traj->current_piece.data;
- // parse_header_of_current_piece(&header, ptr);
- // poly4d->duration = header.duration_in_msec / STORED_DURATION_SCALE;
-
- // /* Process the body */
- // ptr = header.body;
- // ptr = calculate_polynomial_coefficients(
- // poly4d->p[0], ptr, header.x_type, prev_end->pos.x, poly4d->duration, STORED_DISTANCE_SCALE);
- // ptr = calculate_polynomial_coefficients(
- // poly4d->p[1], ptr, header.y_type, prev_end->pos.y, poly4d->duration, STORED_DISTANCE_SCALE);
- // ptr = calculate_polynomial_coefficients(
- // poly4d->p[2], ptr, header.z_type, prev_end->pos.z, poly4d->duration, STORED_DISTANCE_SCALE);
- // calculate_polynomial_coefficients(
- // poly4d->p[3], ptr, header.yaw_type, prev_end->yaw, poly4d->duration, STORED_ANGLE_SCALE);
+ struct poly4d* poly4d = &traj->current_piece.poly4d;
+ compressed_piece_ptr ptr;
+ struct compressed_piece_parsed_header header;
+
+ /* First, clear everything in the poly4d */
+ bzero(poly4d, sizeof(*poly4d));
+
+ /* Parse the header of the current piece, extract the storage types and the duration */
+ ptr = traj->current_piece.data;
+ parse_header_of_current_piece(&header, ptr);
+ poly4d->duration = header.duration_in_msec / STORED_DURATION_SCALE;
+
+ /* Process the body */
+ ptr = header.body;
+ ptr = calculate_polynomial_coefficients(
+ poly4d->p[0], ptr, header.x_type, prev_end->pos.x, poly4d->duration, STORED_DISTANCE_SCALE);
+ ptr = calculate_polynomial_coefficients(
+ poly4d->p[1], ptr, header.y_type, prev_end->pos.y, poly4d->duration, STORED_DISTANCE_SCALE);
+ ptr = calculate_polynomial_coefficients(
+ poly4d->p[2], ptr, header.z_type, prev_end->pos.z, poly4d->duration, STORED_DISTANCE_SCALE);
+ calculate_polynomial_coefficients(
+ poly4d->p[3], ptr, header.yaw_type, prev_end->yaw, poly4d->duration, STORED_ANGLE_SCALE);
}
static void piecewise_compressed_advance_playhead(struct piecewise_traj_compressed *traj)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sensfusion6.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sensfusion6.c
index 8bfc796bdf440ba834141ca33e152a195514dd7e..633e4c9d1285f9f012601a74522683c20ee16acb 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sensfusion6.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sensfusion6.c
@@ -262,17 +262,16 @@ void sensfusion6GetQuaternion(float* q_x, float* q_y, float* q_z, float* q_w)
void sensfusion6GetEulerRPY(float* roll, float* pitch, float* yaw)
{
- // float gx = gravX;
- // float gy = gravY;
- // float gz = gravZ;
+ float gx = gravX;
+ float gy = gravY;
+ float gz = gravZ;
- // if (gx>1) gx=1;
- // if (gx<-1) gx=-1;
+ if (gx>1) gx=1;
+ if (gx<-1) gx=-1;
- // *yaw = atan2f(2*(qw*qz + qx*qy), qw*qw + qx*qx - qy*qy - qz*qz) * 180 / M_PI_F;
- // *pitch = asinf(gx) * 180 / M_PI_F; //Pitch seems to be inverted
- // *roll = atan2f(gy, gz) * 180 / M_PI_F;
- //COMMENTED FIRMWARE
+ *yaw = atan2f(2*(qw*qz + qx*qy), qw*qw + qx*qx - qy*qy - qz*qz) * 180 / M_PI_F;
+ *pitch = asinf(gx) * 180 / M_PI_F; //Pitch seems to be inverted
+ *roll = atan2f(gy, gz) * 180 / M_PI_F;
}
float sensfusion6GetAccZWithoutGravity(const float ax, const float ay, const float az)
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sound_cf2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sound_cf2.c
index fe4fa1ca7dd0c45abb83b27462fd462a1d62a30a..5fb238491aff4a9c8426c6f2550f0546f3341d92 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sound_cf2.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sound_cf2.c
@@ -276,20 +276,19 @@ static int tilt_freq;
static int tilt_ratio;
static void tilt(uint32_t counter, uint32_t * mi, Melody * melody)
{
- //COMMENTED FIRMWARE
- // pitchid = logGetVarId("stabilizer", "pitch");
- // rollid = logGetVarId("stabilizer", "roll");
+ pitchid = logGetVarId("stabilizer", "pitch");
+ rollid = logGetVarId("stabilizer", "roll");
- // pitch = logGetInt(pitchid);
- // roll = logGetInt(rollid);
- // tilt_freq = 0;
- // tilt_ratio = 127;
+ pitch = logGetInt(pitchid);
+ roll = logGetInt(rollid);
+ tilt_freq = 0;
+ tilt_ratio = 127;
- // if (abs(pitch) > 5) {
- // tilt_freq = 3000 - 50 * pitch;
- // }
+ if (abs(pitch) > 5) {
+ tilt_freq = 3000 - 50 * pitch;
+ }
- // buzzerOn(tilt_freq);
+ buzzerOn(tilt_freq);
}
typedef struct {
@@ -344,7 +343,7 @@ void soundInit(void)
neffect = sizeof(effects) / sizeof(effects[0]) - 1;
- timer = xTimerCreateStatic("SoundTimer", (unsigned int)(10), pdTRUE, NULL, soundTimer, &timerBuffer);
+ timer = xTimerCreateStatic("SoundTimer", M2T(10), pdTRUE, NULL, soundTimer, &timerBuffer);
xTimerStart(timer, 100);
isInit = true;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/stabilizer.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/stabilizer.c
index d3ed129de910400a400885b3dbaddcd1fa84c870..158edb2cbc98e61fe411bfb25d74d78792cddc82 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/stabilizer.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/stabilizer.c
@@ -175,8 +175,7 @@ void stabilizerInit(StateEstimatorType estimator)
estimatorType = getStateEstimator();
controllerType = getControllerType();
- //COMMENTED FIRMWARE
- //STATIC_MEM_TASK_CREATE(stabilizerTask, stabilizerTask, STABILIZER_TASK_NAME, NULL, STABILIZER_TASK_PRI);
+ STATIC_MEM_TASK_CREATE(stabilizerTask, stabilizerTask, STABILIZER_TASK_NAME, NULL, STABILIZER_TASK_PRI);
isInit = true;
}
@@ -226,8 +225,7 @@ static void stabilizerTask(void* param)
// Wait for sensors to be calibrated
lastWakeTime = xTaskGetTickCount();
while(!sensorsAreCalibrated()) {
- //COMMENTED FIRMWARE
- //vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP));
+ vTaskDelayUntil(&lastWakeTime, F2T(RATE_MAIN_LOOP));
}
// Initialize tick to something else then 0
tick = 1;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sysload.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sysload.c
index 125eb38e988ebc19e5b6ff346d43b7fbabfa215d..5213e503eb4066fb22c85e980986ea784d100e98 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sysload.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/sysload.c
@@ -33,12 +33,10 @@
#include "cfassert.h"
#include "param.h"
#include "static_mem.h"
-#include "task.h"
#include "sysload.h"
-//COMMENTED FIRMWARE
-#define TIMER_PERIOD 1000//M2T(1000)
+#define TIMER_PERIOD M2T(1000)
static void timerHandler(xTimerHandle timer);
@@ -86,38 +84,37 @@ static taskData_t* getPreviousTaskData(uint32_t xTaskNumber) {
}
static void timerHandler(xTimerHandle timer) {
- //COMMENTED FIRMWARE
- // if (triggerDump != 0) {
- // uint32_t totalRunTime;
+ if (triggerDump != 0) {
+ uint32_t totalRunTime;
- // TaskStatus_t taskStats[TASK_MAX_COUNT];
- // uint32_t taskCount = uxTaskGetSystemState(taskStats, TASK_MAX_COUNT, &totalRunTime);
- // ASSERT(taskCount < TASK_MAX_COUNT);
+ TaskStatus_t taskStats[TASK_MAX_COUNT];
+ uint32_t taskCount = uxTaskGetSystemState(taskStats, TASK_MAX_COUNT, &totalRunTime);
+ ASSERT(taskCount < TASK_MAX_COUNT);
- // uint32_t totalDelta = totalRunTime - previousTotalRunTime;
- // float f = 100.0 / totalDelta;
+ uint32_t totalDelta = totalRunTime - previousTotalRunTime;
+ float f = 100.0 / totalDelta;
- // // Dumps the the CPU load and stack usage for all tasks
- // // CPU usage is since last dump in % compared to total time spent in tasks. Note that time spent in interrupts will be included in measured time.
- // // Stack usage is displayed as nr of unused bytes at peak stack usage.
+ // Dumps the the CPU load and stack usage for all tasks
+ // CPU usage is since last dump in % compared to total time spent in tasks. Note that time spent in interrupts will be included in measured time.
+ // Stack usage is displayed as nr of unused bytes at peak stack usage.
- // DEBUG_PRINT("Task dump\n");
- // DEBUG_PRINT("Load\tStack left\tName\n");
- // for (uint32_t i = 0; i < taskCount; i++) {
- // TaskStatus_t* stats = &taskStats[i];
- // taskData_t* previousTaskData = getPreviousTaskData(stats->xTaskNumber);
+ DEBUG_PRINT("Task dump\n");
+ DEBUG_PRINT("Load\tStack left\tName\n");
+ for (uint32_t i = 0; i < taskCount; i++) {
+ TaskStatus_t* stats = &taskStats[i];
+ taskData_t* previousTaskData = getPreviousTaskData(stats->xTaskNumber);
- // uint32_t taskRunTime = stats->ulRunTimeCounter;
- // float load = f * (taskRunTime - previousTaskData->ulRunTimeCounter);
- // DEBUG_PRINT("%.2f \t%u \t%s\n", (double)load, stats->usStackHighWaterMark, stats->pcTaskName);
+ uint32_t taskRunTime = stats->ulRunTimeCounter;
+ float load = f * (taskRunTime - previousTaskData->ulRunTimeCounter);
+ DEBUG_PRINT("%.2f \t%u \t%s\n", (double)load, stats->usStackHighWaterMark, stats->pcTaskName);
- // previousTaskData->ulRunTimeCounter = taskRunTime;
- // }
+ previousTaskData->ulRunTimeCounter = taskRunTime;
+ }
- // previousTotalRunTime = totalRunTime;
+ previousTotalRunTime = totalRunTime;
- // triggerDump = 0;
- // }
+ triggerDump = 0;
+ }
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/system.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/system.c
index e273155b096c6c2659b4e0aafe8e17d34ddf2f47..6531dc825630484f3bd430e87f73f68ca7af5c66 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/system.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/modules/src/system.c
@@ -104,9 +104,8 @@ void systemInit(void)
if(isInit)
return;
- //COMMENTED FIRMWARE
- // canStartMutex = xSemaphoreCreateMutexStatic(&canStartMutexBuffer);
- // xSemaphoreTake(canStartMutex, portMAX_DELAY);
+ canStartMutex = xSemaphoreCreateMutexStatic(&canStartMutexBuffer);
+ xSemaphoreTake(canStartMutex, portMAX_DELAY);
usblinkInit();
sysLoadInit();
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/platform/platform.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/platform/platform.c
index cc8f668b4b0947c2866566157085578c36fbf99e..197822b10f76b867076f0e88c0b610881d1e3568 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/platform/platform.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/platform/platform.c
@@ -98,27 +98,22 @@ int platformInitConfiguration(const platformConfig_t* configs, const int nrOfCon
}
const char* platformConfigGetDeviceType() {
- //COMMENTED FIRMWARE
- // return active_config->deviceType;
+ return active_config->deviceType;
}
const char* platformConfigGetDeviceTypeName() {
- //COMMENTED FIRMWARE
- // return active_config->deviceTypeName;
+ return active_config->deviceTypeName;
}
SensorImplementation_t platformConfigGetSensorImplementation() {
- //COMMENTED FIRMWARE
- // return active_config->sensorImplementation;
+ return active_config->sensorImplementation;
}
bool platformConfigPhysicalLayoutAntennasAreClose() {
- //COMMENTED FIRMWARE
- // return active_config->physicalLayoutAntennasAreClose;
+ return active_config->physicalLayoutAntennasAreClose;
}
const MotorPerifDef** platformConfigGetMotorMapping() {
- //COMMENTED FIRMWARE
- // return active_config->motorMap;
+ return active_config->motorMap;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/Makefile b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/Makefile
index c9a80896027901fc24b6b4672bb5d20c692f1152..92cbb4ff523009f75a580ac2d2e3363838cb677f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/Makefile
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/Makefile
@@ -107,7 +107,7 @@ OBJS += build/platform.o
OBJS += build/platform_utils.o build/platform_$(PLATFORM).o #build/platform_$(CPU).o
# Drivers
-OBJS += build/exti.o build/nvic.o build/motors.o
+PRO += build/exti.o build/nvic.o build/motors.o
OBJS += build/led.o build/mpu6500.o build/i2c_drv.o build/i2cdev.o build/ws2812_cf2.o build/lps25h.o
OBJS += build/ak8963.o build/eeprom.o build/maxsonar.o build/piezo.o
OBJS += build/uart_syslink.o build/swd.o build/uart1.o build/uart2.o build/watchdog.o
@@ -248,8 +248,6 @@ endif
# Libs
#OBJS += libarm_math.a
-OBJS += build/ff.o build/ffsystem.o build//ffunicode.o
-OBJS += build/fatfs_sd.o build/pm_stm32f4.o
BUILDDIR =./build
@@ -346,9 +344,6 @@ build/%.o : ../lib/vl53l1/core/src/%.c
build/%.o : ../utils/src/%.c
$(CROSS)gcc $(CFLAGS) -c -o $@ $<
-build/%.o : ../lib/FatFS/%.c
- $(CROSS)gcc $(CFLAGS) -c -o $@ $<
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/activeMarkerDeck.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/activeMarkerDeck.o
index 1802f3b085328cd93a776a8c0387eea5015086f0..d4ace454eaec7eb40fc3a525cacf43c0640a66db 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/activeMarkerDeck.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/activeMarkerDeck.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/aideck.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/aideck.o
index 16aec57e1a8e76fe1f4c17c7729328873ab21abd..ff893923351f447170dde49533864db9a1273c0a 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/aideck.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/aideck.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_channel.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_channel.o
index 3e5324de231d2a24cbfff32280c595b158fd1c0f..405bdb39a048848bfff405a9952f31fc3d161772 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_channel.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_channel.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_handler.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_handler.o
index ab5084c1a5bf06a62af738d0aaf2625d60c89fd2..6dd74f2cc5b9b2a13d70422255f66645a2332b82 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_handler.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/app_handler.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/collision_avoidance.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/collision_avoidance.o
index 3a299ee8411e64bc8bec07efde6d88af79097880..a566ddd75eb3b4a7f0d77ff9ac4c02a64c3d386e 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/collision_avoidance.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/collision_avoidance.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/commander.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/commander.o
index e7f89ade1cd3e271ce9d84cbe7e5b842d33dcf58..fcfcc0c2687c77996ab01665b090d3c00496806c 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/commander.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/commander.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_indi.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_indi.o
index 904ef29c1e2075314f86453dafbd4ab999a1adbf..45007e75af7d080d7eea64703c972389d7abaf65 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_indi.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_indi.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_mellinger.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_mellinger.o
index 7cddb54cef65b19595c6fab9d87ddaab90c01b1e..9b587cebd896dbef3aa99f2487fe2d2c0b535ff6 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_mellinger.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/controller_mellinger.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/cppm.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/cppm.o
index ecaf31d79ccd134806e2f19f7518f2fea079f706..660cda5598b08082a899bb3bd0fe1806e89b8c04 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/cppm.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/cppm.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp.o
index 6578f168aa5e570fa95f161cdf92806e3fbc829a..4993fb1040dc206603cc6b0af1cd2a9ff3d1e014 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander.o
index 78bf4f6d567e55f58d4a4d372b60431ba2cce8fc..b62efcb83b66330ee918671cbbdae74a54a52777 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander_generic.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander_generic.o
index 5e017757305f2c63857e8e6b2b2dae543109d07c..64268e7ff64de06d1cebf2998abca032d7557da1 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander_high_level.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander_high_level.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander_rpyt.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_commander_rpyt.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_localization_service.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtp_localization_service.o
index a03ebd7e6f00533fc3ca159d6f1349aea03052b7..ad22cf9e6e73c1d4e86cda8d690d983190a6204a 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtpservice.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/crtpservice.o
index ff3d3d66f7facbba26f69c7a37d1d2f45fa8a889..9da089ea35df32248f3823fc3f38b06cba29927b 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_analog.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_analog.o
index 91cc548217ed6fadf42e9c7d258886d14a4e47a7..6d50f893dbeb54baf37ce7cdd3f6dfd36210bc21 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_drivers.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_drivers.o
index 30c0c881b5b4540bfe4ce3566fc9b446bba9e401..ae25d4fe7cfbf40430df08c0f3293189d21c012e 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_memory.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_memory.o
index 7cfb235b728e034da496ff631cf8fa7f07740d15..0afaa076b2ddd3bd7c09c5f11478090a4a40899b 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_spi3.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/deck_spi3.o
index f285bfd6d8f32f42e0f7303547139a3f3de51337..6cef5099a5e88d6f18fad4cb8483cbfa6cc418e0 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/eprintf.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/eprintf.o
index ec0193939c4e549c940a0154190ee4856dc6f8e4..24a9c03ad96d39fcce2611de37ecdb5e63db38af 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/estimator.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/estimator.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/position_controller_pid.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/position_controller_pid.o
index 537a71ec57cf7a626a10a95faf651f54b2c29fb8..123e9a3fedd8f76f3176e589a24aa02fe0c26775 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/position_estimator_altitude.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/position_estimator_altitude.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pptraj.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pptraj.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pptraj_compressed.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pptraj_compressed.o
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pulse_processor_v1.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pulse_processor_v1.o
index 148b8a1f8f30a89ae8443c2814c013b519b010d8..08f84dcffeea7de3463a27b785e2ed1386208004 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pulse_processor_v2.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/pulse_processor_v2.o
index 56e35f2d43605b767069d408215d7646449c4c09..45338a2da47f3d15e423a4282b708fec56a7756d 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sensfusion6.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sensfusion6.o
index 50ca6a6655fd911341f2ef9bf002f884f11c6dd2..51584dcf1f92e6ed6a2cf0e47c15ebd691c1148c 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sensfusion6.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sensfusion6.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sound_cf2.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sound_cf2.o
index c850b04efea4962896d570f5b812ac4afa5ce108..7adbba040211ff555d568e44530e7eb26f887fe3 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/stabilizer.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/stabilizer.o
index a8ffbc684256fd5fd961b599349a2c64d590f739..b801696e1ce13bd23385ee7ab54a8f47aaa8d113 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sysload.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/sysload.o
index 2fcf432a8ef4a77f845bfdd4223111c92e218018..cd099f07c8b671523ec20b7701304ad5a30fe7b8 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/system.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/system.o
index 407d40b2d5c67f9aaa162e963369f4be6155618f..280cc8eaad2b005f8d86bbf4c36a267b6e39d8d2 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/usddeck.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/usddeck.o
index d61346ea057789eeede12a04299f619e26d2fc3f..6b50c3cd43edd195c03648adf2a56c0401c2ff2c 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/vl53l1_api.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/vl53l1_api.o
index e334a4d7d5067376b3434ecd4e5a3ad99c0c7af5..3f910fdffa068840202ec4bfc562458c8970d8cd 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/zranger.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/zranger.o
index 526da1c9f94964adea3a848358d3c9cdb5783396..bd24ca0092ba73c6c374841bc6ae4214b3bb302b 100644
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diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/zranger2.o b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/zranger2.o
index f0d6f5bd68a43db2c0b148e8af634a1d5bb18866..78fad7ca3378b8c09a6d1e575e66c2ec07ea5443 100644
Binary files a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/zranger2.o and b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/uart/build/zranger2.o differ
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cf_math.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cf_math.h
new file mode 100644
index 0000000000000000000000000000000000000000..72a5a9c091499404cfd51155e5320a3f59ccac77
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cf_math.h
@@ -0,0 +1,121 @@
+/**
+ * || ____ _ __
+ * +------+ / __ )(_) /_______________ _____ ___
+ * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2018 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ */
+
+#pragma once
+
+// Include "arm_math.h". This header generates some warnings, especially in
+// unit tests. We hide them to avoid noise.
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wpedantic"
+#pragma GCC diagnostic ignored "-Wpointer-to-int-cast"
+#pragma GCC diagnostic ignored "-Wint-to-pointer-cast"
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+#include "arm_math.h"
+#pragma GCC diagnostic pop
+
+#include "cfassert.h"
+
+
+#define DEG_TO_RAD (PI/180.0f)
+#define RAD_TO_DEG (180.0f/PI)
+
+#define MIN(a, b) ((b) < (a) ? (b) : (a))
+#define MAX(a, b) ((b) > (a) ? (b) : (a))
+
+// Matrix data must be aligned on 4 byte bundaries
+static inline void assert_aligned_4_bytes(const arm_matrix_instance_f32* matrix) {
+ const uint32_t address = (uint32_t)matrix->pData;
+ ASSERT((address & 0x3) == 0);
+}
+
+static inline void mat_trans(const arm_matrix_instance_f32 * pSrc, arm_matrix_instance_f32 * pDst) {
+ assert_aligned_4_bytes(pSrc);
+ assert_aligned_4_bytes(pDst);
+
+ ASSERT(ARM_MATH_SUCCESS == arm_mat_trans_f32(pSrc, pDst));
+}
+
+static inline void mat_inv(const arm_matrix_instance_f32 * pSrc, arm_matrix_instance_f32 * pDst) {
+ assert_aligned_4_bytes(pSrc);
+ assert_aligned_4_bytes(pDst);
+
+ ASSERT(ARM_MATH_SUCCESS == arm_mat_inverse_f32(pSrc, pDst));
+}
+
+static inline void mat_mult(const arm_matrix_instance_f32 * pSrcA, const arm_matrix_instance_f32 * pSrcB, arm_matrix_instance_f32 * pDst) {
+ assert_aligned_4_bytes(pSrcA);
+ assert_aligned_4_bytes(pSrcB);
+ assert_aligned_4_bytes(pDst);
+
+ ASSERT(ARM_MATH_SUCCESS == arm_mat_mult_f32(pSrcA, pSrcB, pDst));
+}
+
+static inline float arm_sqrt(float32_t in) {
+ float pOut = 0;
+ arm_status result = arm_sqrt_f32(in, &pOut);
+ ASSERT(ARM_MATH_SUCCESS == result);
+ return pOut;
+}
+
+static inline float limPos(float in) {
+ if (in < 0.0f) {
+ return 0.0f;
+ }
+
+ return in;
+}
+
+static inline float clip1(float a) {
+ if (a < -1.0f) {
+ return -1.0f;
+ }
+
+ if (a > 1.0f) {
+ return 1.0f;
+ }
+
+ return a;
+}
+
+static inline void mat_scale(const arm_matrix_instance_f32 * pSrcA, float32_t scale, arm_matrix_instance_f32 * pDst)
+{ ASSERT(ARM_MATH_SUCCESS == arm_mat_scale_f32(pSrcA, scale, pDst)); }
+
+// copy float matrix
+static inline void matrixcopy(int ROW, int COLUMN, float destmat[ROW][COLUMN], float srcmat[ROW][COLUMN]){
+ //TODO: check the dimension of the matrices
+ for (int i=0; i<ROW; i++){
+ for(int j=0; j<COLUMN; j++){
+ destmat[i][j] = srcmat[i][j];
+ }
+ }
+}
+
+// copy float vector
+static inline void vectorcopy(int DIM, float destVec[DIM], float srcVec[DIM]){
+ //TODO: check the dimension of the vector
+ for (int i=0; i<DIM; i++){
+ destVec[i] = srcVec[i];
+ }
+}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cfassert.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cfassert.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cfassert.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cfassert.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/clockCorrectionEngine.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/clockCorrectionEngine.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/clockCorrectionEngine.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/clockCorrectionEngine.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/configblock.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/configblock.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/configblock.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/configblock.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cpuid.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cpuid.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cpuid.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/cpuid.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/crc32.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/crc32.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/crc32.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/crc32.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/debug.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/debug.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/debug.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/debug.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/eprintf.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/eprintf.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/eprintf.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/eprintf.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/filter.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/filter.h
similarity index 94%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/filter.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/filter.h
index 2e811c160931f0167157f9d3c81535f09a7fe5e7..fcb53b6e113643badad0c30b61d248a46ab39962 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/filter.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/filter.h
@@ -101,14 +101,13 @@ struct SecondOrderLowPass {
static inline void init_second_order_low_pass(struct SecondOrderLowPass *filter, float tau, float Q, float sample_time,
float value)
{
- //COMMENTED FIRMWARE
- // float K = tanf(sample_time / (2.0f * tau));
- // float poly = K * K + K / Q + 1.0f;
- // filter->a[0] = 2.0f * (K * K - 1.0f) / poly;
- // filter->a[1] = (K * K - K / Q + 1.0f) / poly;
- // filter->b[0] = K * K / poly;
- // filter->b[1] = 2.0f * filter->b[0];
- // filter->i[0] = filter->i[1] = filter->o[0] = filter->o[1] = value;
+ float K = tanf(sample_time / (2.0f * tau));
+ float poly = K * K + K / Q + 1.0f;
+ filter->a[0] = 2.0f * (K * K - 1.0f) / poly;
+ filter->a[1] = (K * K - K / Q + 1.0f) / poly;
+ filter->b[0] = K * K / poly;
+ filter->b[1] = 2.0f * filter->b[0];
+ filter->i[0] = filter->i[1] = filter->o[0] = filter->o[1] = value;
}
/** Update second order low pass filter state with a new value.
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/kve/kve.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/kve/kve.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/kve/kve.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/kve/kve.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/kve/kve_common.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/kve/kve_common.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/kve/kve_common.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/kve/kve_common.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/kve/kve_storage.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/kve/kve_storage.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/kve/kve_storage.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/kve/kve_storage.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/lighthouse_calibration.h
similarity index 96%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/lighthouse_calibration.h
index 895d0dcaf844f6dda18e07fa7dbe85d815e2afc1..2c087e251ce975f2ac4160d548768e142e5bb82d 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/lighthouse_calibration.h
@@ -25,7 +25,7 @@ typedef struct {
* @param calib Calibration object to initialize, calib->valid will be set to true
* @param frame ootx frame received from the basestation
*/
-void lighthouseCalibrationInitFromFrame(lighthouseCalibration_t *calib, struct ootxDataFrame_s *frame);
+// void lighthouseCalibrationInitFromFrame(lighthouseCalibration_t *calib, struct ootxDataFrame_s *frame);
/**
* @brief Apply basestation calibration to the two received angles for LH 1
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/lighthouse_geometry.h
similarity index 95%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/lighthouse_geometry.h
index f4bca0b5fdb39542fa973eee4b5db35e422ec6ae..277a9cfad89a3d3919583654e401af2830a8d137 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/lighthouse_geometry.h
@@ -1,7 +1,7 @@
#pragma once
#include <stdbool.h>
-//#include "arm_math.h"
+#include "arm_math.h"
#include "stabilizer_types.h"
typedef struct {
@@ -68,8 +68,7 @@ bool lighthouseGeometryIntersectionPlaneVector(const vec3d linePoint, const vec3
* @param sensorPosition - the sensor position relative to the center of the Crazyflie
* @param pos - (output) the position of the sensor
*/
-//COMMENTED FIRMWARE
-//void lighthouseGeometryGetSensorPosition(const vec3d cfPos, const arm_matrix_instance_f32 *R, vec3d sensorPosition, vec3d pos);
+void lighthouseGeometryGetSensorPosition(const vec3d cfPos, const arm_matrix_instance_f32 *R, vec3d sensorPosition, vec3d pos);
/**
* @brief Calculate the angle between two vectors. The vectors are assumed to be in a plane defined by
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/ootx_decoder.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/ootx_decoder.h
similarity index 95%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/ootx_decoder.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/ootx_decoder.h
index 9a775d49bff0223ee3caae0cf930d7079597320b..e58004a7dda94d15dd20f67a53741f8cee8b6fb3 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/ootx_decoder.h
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/ootx_decoder.h
@@ -26,7 +26,8 @@
*
*/
-#pragma once
+#ifndef OOTX_DECODER_H
+#define OOTX_DECODER_H
#include <stdbool.h>
#include <stdint.h>
@@ -81,7 +82,8 @@ typedef struct ootxDecoderState_s {
union {
uint16_t data[(OOTX_MAX_FRAME_LENGTH+1) / 2];
- struct ootxDataFrame_s frame;
+ //COMMENTED FIRMWARE
+ //struct ootxDataFrame_s frame;
};
} ootxDecoderState_t;
@@ -99,3 +101,5 @@ typedef struct ootxDecoderState_s {
* @return false If no frame has been decoded yet
*/
bool ootxDecoderProcessBit(ootxDecoderState_t * state, int data);
+
+#endif
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/pulse_processor.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/pulse_processor.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v1.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/pulse_processor_v1.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v1.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/pulse_processor_v1.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v2.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/pulse_processor_v2.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v2.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/lighthouse/pulse_processor_v2.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/num.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/num.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/num.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/num.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/physicalConstants.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/physicalConstants.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/physicalConstants.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/physicalConstants.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/rateSupervisor.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/rateSupervisor.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/rateSupervisor.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/rateSupervisor.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/sleepus.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/sleepus.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/sleepus.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/sleepus.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/statsCnt.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/statsCnt.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/statsCnt.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/statsCnt.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaEngine.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaEngine.h
new file mode 100644
index 0000000000000000000000000000000000000000..84062788184a4091e0f88ce52a725364183105b2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaEngine.h
@@ -0,0 +1,44 @@
+#ifndef __TDOA_ENGINE_H__
+#define __TDOA_ENGINE_H__
+
+#include "tdoaStorage.h"
+#include "tdoaStats.h"
+
+typedef void (*tdoaEngineSendTdoaToEstimator)(tdoaMeasurement_t* tdoaMeasurement);
+
+typedef enum {
+ TdoaEngineMatchingAlgorithmNone = 0,
+ TdoaEngineMatchingAlgorithmRandom,
+ TdoaEngineMatchingAlgorithmYoungest,
+} tdoaEngineMatchingAlgorithm_t;
+
+typedef struct {
+ // State
+ tdaoAnchorInfoArray_t anchorInfoArray;
+ tdoaStats_t stats;
+
+ // Configuration
+ tdoaEngineSendTdoaToEstimator sendTdoaToEstimator;
+ double locodeckTsFreq;
+ tdoaEngineMatchingAlgorithm_t matchingAlgorithm;
+
+ // Matching algorithm data
+ struct {
+ uint8_t seqNr[REMOTE_ANCHOR_DATA_COUNT];
+ uint8_t id[REMOTE_ANCHOR_DATA_COUNT];
+ uint8_t offset;
+ } matching;
+} tdoaEngineState_t;
+
+void tdoaEngineInit(tdoaEngineState_t* state, const uint32_t now_ms, tdoaEngineSendTdoaToEstimator sendTdoaToEstimator, const double locodeckTsFreq, const tdoaEngineMatchingAlgorithm_t matchingAlgorithm);
+
+void tdoaEngineGetAnchorCtxForPacketProcessing(tdoaEngineState_t* engineState, const uint8_t anchorId, const uint32_t currentTime_ms, tdoaAnchorContext_t* anchorCtx);
+void tdoaEngineProcessPacket(tdoaEngineState_t* engineState, tdoaAnchorContext_t* anchorCtx, const int64_t txAn_in_cl_An, const int64_t rxAn_by_T_in_cl_T);
+void tdoaEngineProcessPacketFiltered(tdoaEngineState_t* engineState, tdoaAnchorContext_t* anchorCtx, const int64_t txAn_in_cl_An, const int64_t rxAn_by_T_in_cl_T, const bool doExcludeId, const uint8_t excludedId);
+
+#define TDOA_ENGINE_TRUNCATE_TO_ANCHOR_TS_BITMAP 0x00FFFFFFFF
+static inline uint64_t tdoaEngineTruncateToAnchorTimeStamp(uint64_t fullTimeStamp) {
+ return fullTimeStamp & TDOA_ENGINE_TRUNCATE_TO_ANCHOR_TS_BITMAP;
+}
+
+#endif // __TDOA_ENGINE_H__
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaStats.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaStats.h
new file mode 100644
index 0000000000000000000000000000000000000000..b3c9fb5af068da7996672807f0c0fa7e5cf9ff3c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaStats.h
@@ -0,0 +1,39 @@
+#ifndef __LPS_TDOA_STATS_H__
+#define __LPS_TDOA_STATS_H__
+
+#include <inttypes.h>
+#include "statsCnt.h"
+
+typedef struct {
+ statsCntRateLogger_t packetsReceived;
+ statsCntRateLogger_t packetsToEstimator;
+ statsCntRateLogger_t contextHitCount;
+ statsCntRateLogger_t contextMissCount;
+ statsCntRateLogger_t timeIsGood;
+ statsCntRateLogger_t suitableDataFound;
+
+ // Anchor ids to use for stats
+ uint8_t anchorId; // The id of the anchor to log
+ uint8_t remoteAnchorId; // The id of the remote anchor to log
+
+ // Clock correction for the anchor identified by anchorId
+ float clockCorrection;
+ statsCntRateLogger_t clockCorrectionCount;
+
+ // TOF data from remoteAnchorId to anchorId, measured by anchorId
+ uint16_t tof;
+
+ // TDoA (in meters) between anchorId and remoteAnchorId
+ float tdoa;
+
+ uint32_t nextStatisticsTime;
+ uint32_t previousStatisticsTime;
+
+ uint8_t newAnchorId; // Used to change anchor to log, set as param
+ uint8_t newRemoteAnchorId; // Used to change remote anchor to log, set as param
+} tdoaStats_t;
+
+void tdoaStatsInit(tdoaStats_t* tdoaStats, uint32_t now_ms);
+void tdoaStatsUpdate(tdoaStats_t* tdoaStats, uint32_t now_ms);
+
+#endif // __LPS_TDOA_STATS_H__
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaStorage.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaStorage.h
new file mode 100644
index 0000000000000000000000000000000000000000..5f5f0c26fc96e0a8d6292d14e5ad2acd96a9776e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/tdoa/tdoaStorage.h
@@ -0,0 +1,81 @@
+#ifndef __TDOA_STORAGE_H__
+#define __TDOA_STORAGE_H__
+
+#include "stabilizer_types.h"
+#include "clockCorrectionEngine.h"
+
+#define ANCHOR_STORAGE_COUNT 16
+#define REMOTE_ANCHOR_DATA_COUNT 16
+#define TOF_PER_ANCHOR_COUNT 16
+
+
+typedef struct {
+ uint8_t id; // Id of remote remote anchor
+ uint8_t seqNr; // Sequence number of the packet received in the remote anchor (7 bits)
+ int64_t rxTime; // Receive time of packet from anchor id in the remote anchor, in remote DWM clock
+ uint32_t endOfLife;
+} tdoaRemoteAnchorData_t;
+
+typedef struct {
+ uint8_t id;
+ int64_t tof;
+ uint32_t endOfLife; // Time stamp when the tof data is outdated, local system time in ms
+} tdoaTimeOfFlight_t;
+
+typedef struct {
+ bool isInitialized;
+ uint32_t lastUpdateTime; // The time when this anchor was updated the last time
+ uint8_t id; // Anchor id
+
+ int64_t txTime; // Transmit time of last packet, in remote DWM clock
+ int64_t rxTime; // Receive time of last packet, in local DWM clock
+ uint8_t seqNr; // Sequence nr of last packet (7 bits)
+
+ clockCorrectionStorage_t clockCorrectionStorage;
+
+ point_t position; // The coordinates of the anchor
+
+ tdoaTimeOfFlight_t tof[TOF_PER_ANCHOR_COUNT];
+ tdoaRemoteAnchorData_t remoteAnchorData[REMOTE_ANCHOR_DATA_COUNT];
+} tdoaAnchorInfo_t;
+
+typedef tdoaAnchorInfo_t tdaoAnchorInfoArray_t[ANCHOR_STORAGE_COUNT];
+
+
+// The anchor context is used to pass information about an anchor as well as
+// the current time to functions.
+// The context should not be stored.
+typedef struct {
+ tdoaAnchorInfo_t* anchorInfo;
+ uint32_t currentTime_ms;
+} tdoaAnchorContext_t;
+
+
+void tdoaStorageInitialize(tdoaAnchorInfo_t anchorStorage[]);
+
+bool tdoaStorageGetCreateAnchorCtx(tdoaAnchorInfo_t anchorStorage[], const uint8_t anchor, const uint32_t currentTime_ms, tdoaAnchorContext_t* anchorCtx);
+bool tdoaStorageGetAnchorCtx(tdoaAnchorInfo_t anchorStorage[], const uint8_t anchor, const uint32_t currentTime_ms, tdoaAnchorContext_t* anchorCtx);
+uint8_t tdoaStorageGetListOfAnchorIds(tdoaAnchorInfo_t anchorStorage[], uint8_t unorderedAnchorList[], const int maxListSize);
+uint8_t tdoaStorageGetListOfActiveAnchorIds(tdoaAnchorInfo_t anchorStorage[], uint8_t unorderedAnchorList[], const int maxListSize, const uint32_t currentTime_ms);
+
+uint8_t tdoaStorageGetId(const tdoaAnchorContext_t* anchorCtx);
+int64_t tdoaStorageGetRxTime(const tdoaAnchorContext_t* anchorCtx);
+int64_t tdoaStorageGetTxTime(const tdoaAnchorContext_t* anchorCtx);
+uint8_t tdoaStorageGetSeqNr(const tdoaAnchorContext_t* anchorCtx);
+uint32_t tdoaStorageGetLastUpdateTime(const tdoaAnchorContext_t* anchorCtx);
+clockCorrectionStorage_t* tdoaStorageGetClockCorrectionStorage(const tdoaAnchorContext_t* anchorCtx);
+bool tdoaStorageGetAnchorPosition(const tdoaAnchorContext_t* anchorCtx, point_t* position);
+void tdoaStorageSetAnchorPosition(tdoaAnchorContext_t* anchorCtx, const float x, const float y, const float z);
+void tdoaStorageSetRxTxData(tdoaAnchorContext_t* anchorCtx, int64_t rxTime, int64_t txTime, uint8_t seqNr);
+double tdoaStorageGetClockCorrection(const tdoaAnchorContext_t* anchorCtx);
+int64_t tdoaStorageGetRemoteRxTime(const tdoaAnchorContext_t* anchorCtx, const uint8_t remoteAnchor);
+bool tdoaStorageGetRemoteRxTimeSeqNr(const tdoaAnchorContext_t* anchorCtx, const uint8_t remoteAnchor, int64_t* rxTime, uint8_t* seqNr);
+void tdoaStorageSetRemoteRxTime(tdoaAnchorContext_t* anchorCtx, const uint8_t remoteAnchor, const int64_t remoteRxTime, const uint8_t remoteSeqNr);
+void tdoaStorageGetRemoteSeqNrList(const tdoaAnchorContext_t* anchorCtx, int* remoteCount, uint8_t seqNr[], uint8_t id[]);
+int64_t tdoaStorageGetTimeOfFlight(const tdoaAnchorContext_t* anchorCtx, const uint8_t otherAnchor);
+void tdoaStorageSetTimeOfFlight(tdoaAnchorContext_t* anchorCtx, const uint8_t remoteAnchor, const int64_t tof);
+
+// Mainly for test
+bool tdoaStorageIsAnchorInStorage(tdoaAnchorInfo_t anchorStorage[], const uint8_t anchor);
+
+#endif // __TDOA_STORAGE_H__
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/test_support.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/test_support.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/test_support.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/test_support.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/version.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/version.h
similarity index 100%
rename from uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/version.h
rename to uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/interface/version.h
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cf_math.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cf_math.h
deleted file mode 100644
index b99fe11bf297dddc41fc63922c22194d1c524750..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/cf_math.h
+++ /dev/null
@@ -1,121 +0,0 @@
-/**
- * || ____ _ __
- * +------+ / __ )(_) /_______________ _____ ___
- * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
- * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
- * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
- *
- * Crazyflie control firmware
- *
- * Copyright (C) 2018 Bitcraze AB
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, in version 3.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- *
- */
-
-#pragma once
-
-// Include "arm_math.h". This header generates some warnings, especially in
-// unit tests. We hide them to avoid noise.
-#pragma GCC diagnostic push
-#pragma GCC diagnostic ignored "-Wpedantic"
-#pragma GCC diagnostic ignored "-Wpointer-to-int-cast"
-#pragma GCC diagnostic ignored "-Wint-to-pointer-cast"
-#pragma GCC diagnostic ignored "-Wunused-parameter"
-//#include "arm_math.h"
-#pragma GCC diagnostic pop
-
-#include "cfassert.h"
-//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))
-
-//COMMENTED FIRMWARE
-// // Matrix data must be aligned on 4 byte bundaries
-// static inline void assert_aligned_4_bytes(const arm_matrix_instance_f32* matrix) {
-// const uint32_t address = (uint32_t)matrix->pData;
-// ASSERT((address & 0x3) == 0);
-// }
-
-// static inline void mat_trans(const arm_matrix_instance_f32 * pSrc, arm_matrix_instance_f32 * pDst) {
-// assert_aligned_4_bytes(pSrc);
-// assert_aligned_4_bytes(pDst);
-
-// ASSERT(ARM_MATH_SUCCESS == arm_mat_trans_f32(pSrc, pDst));
-// }
-
-// static inline void mat_inv(const arm_matrix_instance_f32 * pSrc, arm_matrix_instance_f32 * pDst) {
-// assert_aligned_4_bytes(pSrc);
-// assert_aligned_4_bytes(pDst);
-
-// ASSERT(ARM_MATH_SUCCESS == arm_mat_inverse_f32(pSrc, pDst));
-// }
-
-// static inline void mat_mult(const arm_matrix_instance_f32 * pSrcA, const arm_matrix_instance_f32 * pSrcB, arm_matrix_instance_f32 * pDst) {
-// assert_aligned_4_bytes(pSrcA);
-// assert_aligned_4_bytes(pSrcB);
-// assert_aligned_4_bytes(pDst);
-
-// ASSERT(ARM_MATH_SUCCESS == arm_mat_mult_f32(pSrcA, pSrcB, pDst));
-// }
-
-// static inline float arm_sqrt(float32_t in) {
-// float pOut = 0;
-// arm_status result = arm_sqrt_f32(in, &pOut);
-// ASSERT(ARM_MATH_SUCCESS == result);
-// return pOut;
-// }
-
-// static inline float limPos(float in) {
-// if (in < 0.0f) {
-// return 0.0f;
-// }
-
-// return in;
-// }
-
-// static inline float clip1(float a) {
-// if (a < -1.0f) {
-// return -1.0f;
-// }
-
-// if (a > 1.0f) {
-// return 1.0f;
-// }
-
-// return a;
-// }
-
-// static inline void mat_scale(const arm_matrix_instance_f32 * pSrcA, float32_t scale, arm_matrix_instance_f32 * pDst)
-// { ASSERT(ARM_MATH_SUCCESS == arm_mat_scale_f32(pSrcA, scale, pDst)); }
-
-// // copy float matrix
-// static inline void matrixcopy(int ROW, int COLUMN, float destmat[ROW][COLUMN], float srcmat[ROW][COLUMN]){
-// //TODO: check the dimension of the matrices
-// for (int i=0; i<ROW; i++){
-// for(int j=0; j<COLUMN; j++){
-// destmat[i][j] = srcmat[i][j];
-// }
-// }
-// }
-
-// // copy float vector
-// static inline void vectorcopy(int DIM, float destVec[DIM], float srcVec[DIM]){
-// //TODO: check the dimension of the vector
-// for (int i=0; i<DIM; i++){
-// destVec[i] = srcVec[i];
-// }
-// }
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/empty_math.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/empty_math.h
deleted file mode 100644
index 18ffbdeef677d423571cdc3bc3f77f892d6dd57d..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/empty_math.h
+++ /dev/null
@@ -1,49 +0,0 @@
-#ifndef EMPTY_MATH_H
-#define EMPTY_MATH_H
-
-
-float cosf(float x)
-{
- return 0;
-}
-
-float sinf(float x)
-{
- return 0;
-}
-
-float fmaxf(float a, float b)
-{
- return 0;
-}
-
-float sqrtf(float x)
-{
- return 0;
-}
-
-
-// QueueHandle_t xQueueCreateStatic(int length, int itemSize, uint8_t name, StaticQueue_t* mgm)
-// {
-// return;
-// }
-
-// TaskHandle_t xTaskCreateStatic(void *appTask, char * name, int parameters, void * priority, int buffer, void * param, StaticTask_t* task)
-// {
-// return;
-// }
-
-
-void * xTimerCreateStatic(char * name, int time, long int arg1,
- void * arg2, void * arg3, void * arg4) {
- return;
-}
-
-// uint32_t uxTaskGetSystemState(TaskStatus_t* status, int count, uint32_t* stts)
-// {
-// return 0;
-// }
-
-
-
-#endif
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/eprintf.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/eprintf.c
index 2a9d110b7d7bfd821451a282c77f96b412c2b4a2..c7ba68b0e20a5c118290f6e093e4f544f5408e5f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/eprintf.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/eprintf.c
@@ -28,8 +28,7 @@
#include <stdarg.h>
#include <stdint.h>
#include <stdbool.h>
-//COMMENTED FIRMWARE
-//#include <ctype.h>
+#include <ctype.h>
static const char digit[] = {'0', '1', '2', '3', '4', '5', '6', '7', '8', '9',
'A', 'B', 'C', 'D', 'E', 'F'};
@@ -155,153 +154,153 @@ static int itoa16(putc_t putcf, uint64_t num, int width, char padChar)
static int handleLongLong(putc_t putcf, const char** fmt, unsigned long long int val, int width, char padChar)
{
int len = 0;
- //COMMENTED FIRMWARE
-// switch(*((*fmt)++))
-// {
-// case 'i':
-// case 'd':
-// len = itoa10(putcf, (long long int)val, 0);
-// break;
-// case 'u':
-// len = itoa10Unsigned(putcf, val);
-// break;
-// case 'x':
-// case 'X':
-// len = itoa16(putcf, val, width, padChar);
-// break;
-// default:
-// // Nothing here
-// break;
-// }
-
-// return len;
-// }
-
-// static int handleLong(putc_t putcf, const char** fmt, unsigned long int val, int width, char padChar)
-// {
-// int len = 0;
-
-// switch(*((*fmt)++))
-// {
-// case 'i':
-// case 'd':
-// len = itoa10(putcf, (long int)val, 0);
-// break;
-// case 'u':
-// len = itoa10Unsigned(putcf, val);
-// break;
-// case 'x':
-// case 'X':
-// len = itoa16(putcf, val, width, padChar);
-// break;
-// default:
-// // Nothing here
-// break;
-// }
-
-// return len;
-// }
-
-// int evprintf(putc_t putcf, const char * fmt, va_list ap)
-// {
-// int len=0;
-// float num;
-// char* str;
-// int precision;
-// int width;
-// char padChar;
-
-// while (*fmt)
-// {
-// if (*fmt == '%')
-// {
-// precision = 6;
-// padChar = ' ';
-// width = 0;
-
-// fmt++;
-// while ('0' == *fmt)
-// {
-// padChar = '0';
-// fmt++;
-// }
-
-// while(isdigit((unsigned)*fmt))
-// {
-// width *= 10;
-// width += *fmt - '0';
-// fmt++;
-// }
-
-// while (!isalpha((unsigned) *fmt))
-// {
-// if (*fmt == '.')
-// {
-// fmt++;
-// if (isdigit((unsigned)*fmt))
-// {
-// precision = *fmt - '0';
-// fmt++;
-// }
-// }
-// }
-// switch (*fmt++)
-// {
-// case 'i':
-// case 'd':
-// len += itoa10(putcf, va_arg(ap, int), 0);
-// break;
-// case 'u':
-// len += itoa10Unsigned(putcf, va_arg(ap, unsigned int));
-// break;
-// case 'x':
-// case 'X':
-// len += itoa16(putcf, va_arg(ap, unsigned int), width, padChar);
-// break;
-// case 'l':
-// // Look ahead for ll
-// if (*fmt == 'l') {
-// fmt++;
-// len += handleLongLong(putcf, &fmt, va_arg(ap, unsigned long long int), width, padChar);
-// } else {
-// len += handleLong(putcf, &fmt, va_arg(ap, unsigned long int), width, padChar);
-// }
-
-// break;
-// case 'f':
-// num = va_arg(ap, double);
-// if(num<0)
-// {
-// putcf('-');
-// num = -num;
-// len++;
-// }
-// len += itoa10(putcf, (int)num, 0);
-// putcf('.'); len++;
-// len += itoa10(putcf, (num - (int)num) * power(10,precision), precision);
-// break;
-// case 's':
-// str = va_arg(ap, char* );
-// while(*str)
-// {
-// putcf(*str++);
-// len++;
-// }
-// break;
-// case 'c':
-// putcf((char)va_arg(ap, int));
-// len++;
-// break;
-// default:
-// break;
-// }
-// }
-// else
-// {
-// putcf(*fmt++);
-// len++;
-// }
-// }
+
+ switch(*((*fmt)++))
+ {
+ case 'i':
+ case 'd':
+ len = itoa10(putcf, (long long int)val, 0);
+ break;
+ case 'u':
+ len = itoa10Unsigned(putcf, val);
+ break;
+ case 'x':
+ case 'X':
+ len = itoa16(putcf, val, width, padChar);
+ break;
+ default:
+ // Nothing here
+ break;
+ }
+
+ return len;
+}
+
+static int handleLong(putc_t putcf, const char** fmt, unsigned long int val, int width, char padChar)
+{
+ int len = 0;
+
+ switch(*((*fmt)++))
+ {
+ case 'i':
+ case 'd':
+ len = itoa10(putcf, (long int)val, 0);
+ break;
+ case 'u':
+ len = itoa10Unsigned(putcf, val);
+ break;
+ case 'x':
+ case 'X':
+ len = itoa16(putcf, val, width, padChar);
+ break;
+ default:
+ // Nothing here
+ break;
+ }
+
+ return len;
+}
+
+int evprintf(putc_t putcf, const char * fmt, va_list ap)
+{
+ int len=0;
+ float num;
+ char* str;
+ int precision;
+ int width;
+ char padChar;
+
+ while (*fmt)
+ {
+ if (*fmt == '%')
+ {
+ precision = 6;
+ padChar = ' ';
+ width = 0;
+
+ fmt++;
+ while ('0' == *fmt)
+ {
+ padChar = '0';
+ fmt++;
+ }
+
+ while(isdigit((unsigned)*fmt))
+ {
+ width *= 10;
+ width += *fmt - '0';
+ fmt++;
+ }
+
+ while (!isalpha((unsigned) *fmt))
+ {
+ if (*fmt == '.')
+ {
+ fmt++;
+ if (isdigit((unsigned)*fmt))
+ {
+ precision = *fmt - '0';
+ fmt++;
+ }
+ }
+ }
+ switch (*fmt++)
+ {
+ case 'i':
+ case 'd':
+ len += itoa10(putcf, va_arg(ap, int), 0);
+ break;
+ case 'u':
+ len += itoa10Unsigned(putcf, va_arg(ap, unsigned int));
+ break;
+ case 'x':
+ case 'X':
+ len += itoa16(putcf, va_arg(ap, unsigned int), width, padChar);
+ break;
+ case 'l':
+ // Look ahead for ll
+ if (*fmt == 'l') {
+ fmt++;
+ len += handleLongLong(putcf, &fmt, va_arg(ap, unsigned long long int), width, padChar);
+ } else {
+ len += handleLong(putcf, &fmt, va_arg(ap, unsigned long int), width, padChar);
+ }
+
+ break;
+ case 'f':
+ num = va_arg(ap, double);
+ if(num<0)
+ {
+ putcf('-');
+ num = -num;
+ len++;
+ }
+ len += itoa10(putcf, (int)num, 0);
+ putcf('.'); len++;
+ len += itoa10(putcf, (num - (int)num) * power(10,precision), precision);
+ break;
+ case 's':
+ str = va_arg(ap, char* );
+ while(*str)
+ {
+ putcf(*str++);
+ len++;
+ }
+ break;
+ case 'c':
+ putcf((char)va_arg(ap, int));
+ len++;
+ break;
+ default:
+ break;
+ }
+ }
+ else
+ {
+ putcf(*fmt++);
+ len++;
+ }
+ }
return len;
}
@@ -310,10 +309,10 @@ int eprintf(putc_t putcf, const char * fmt, ...)
{
va_list ap;
int len;
- //COMMENTED FIRMWARE
- // va_start(ap, fmt);
- // len = evprintf(putcf, fmt, ap);
- // va_end(ap);
+
+ va_start(ap, fmt);
+ len = evprintf(putcf, fmt, ap);
+ va_end(ap);
return len;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.c
index 0caf2ec049d64265c20b4f74d0f68c3024e35051..a7173174b2f7cb658819af629029d3c33bfa8781 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_calibration.c
@@ -36,27 +36,28 @@
#include "cf_math.h"
#include "physicalConstants.h"
-void lighthouseCalibrationInitFromFrame(lighthouseCalibration_t *calib, struct ootxDataFrame_s *frame)
-{
- calib->sweep[0].phase = frame->phase0;
- calib->sweep[0].tilt = frame->tilt0;
- calib->sweep[0].curve = frame->curve0;
- calib->sweep[0].gibmag = frame->gibmag0;
- calib->sweep[0].gibphase = frame->gibphase0;
- calib->sweep[0].ogeemag = frame->ogeemag0;
- calib->sweep[0].ogeephase = frame->ogeephase0;
-
- calib->sweep[1].phase = frame->phase1;
- calib->sweep[1].tilt = frame->tilt1;
- calib->sweep[1].curve = frame->curve1;
- calib->sweep[1].gibmag = frame->gibmag1;
- calib->sweep[1].gibphase = frame->gibphase1;
- calib->sweep[1].ogeemag = frame->ogeemag1;
- calib->sweep[1].ogeephase = frame->ogeephase1;
-
- calib->uid = frame->id;
- calib->valid = true;
-}
+//COMMENTED FIRMWARE
+// void lighthouseCalibrationInitFromFrame(lighthouseCalibration_t *calib, struct ootxDataFrame_s *frame)
+// {
+// calib->sweep[0].phase = frame->phase0;
+// calib->sweep[0].tilt = frame->tilt0;
+// calib->sweep[0].curve = frame->curve0;
+// calib->sweep[0].gibmag = frame->gibmag0;
+// calib->sweep[0].gibphase = frame->gibphase0;
+// calib->sweep[0].ogeemag = frame->ogeemag0;
+// calib->sweep[0].ogeephase = frame->ogeephase0;
+
+// calib->sweep[1].phase = frame->phase1;
+// calib->sweep[1].tilt = frame->tilt1;
+// calib->sweep[1].curve = frame->curve1;
+// calib->sweep[1].gibmag = frame->gibmag1;
+// calib->sweep[1].gibphase = frame->gibphase1;
+// calib->sweep[1].ogeemag = frame->ogeemag1;
+// calib->sweep[1].ogeephase = frame->ogeephase1;
+
+// calib->uid = frame->id;
+// calib->valid = true;
+// }
static void idealToDistortedV1(const lighthouseCalibration_t* calib, const float* ideal, float* distorted) {
//COMMENTED FIRWARE
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.c
index 4c7f38bcbebb75b7969431fe8d1b5958b976d560..86a6654af7f5da00bedb94bb5b8cb9ebbe8d7e49 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/lighthouse_geometry.c
@@ -57,48 +57,47 @@ static float vec_length(const vec3d vec) {
float pow = vec_dot(vec, vec);
float res;
- //COMMENTED FIRMWARE
- // arm_sqrt_f32(pow, &res);
+ arm_sqrt_f32(pow, &res);
return res;
}
static bool intersect_lines(vec3d orig1, vec3d vec1, vec3d orig2, vec3d vec2, vec3d res, float *dist) {
// Algoritm: http://geomalgorithms.com/a07-_distance.html#Distance-between-Lines
- //COMMENTED FIRMWARE
- // vec3d w0 = {};
- // arm_sub_f32(orig1, orig2, w0, vec3d_size);
-
- // float a, b, c, d, e;
- // arm_dot_prod_f32(vec1, vec1, vec3d_size, &a);
- // arm_dot_prod_f32(vec1, vec2, vec3d_size, &b);
- // arm_dot_prod_f32(vec2, vec2, vec3d_size, &c);
- // arm_dot_prod_f32(vec1, w0, vec3d_size, &d);
- // arm_dot_prod_f32(vec2, w0, vec3d_size, &e);
-
- // float denom = a * c - b * b;
- // if (fabsf(denom) < 1e-5f)
- // return false;
-
- // // Closest point to 2nd line on 1st line
- // float t1 = (b * e - c * d) / denom;
- // vec3d pt1 = {};
- // arm_scale_f32(vec1, t1, pt1, vec3d_size);
- // arm_add_f32(pt1, orig1, pt1, vec3d_size);
-
- // // Closest point to 1st line on 2nd line
- // float t2 = (a * e - b * d) / denom;
- // vec3d pt2 = {};
- // arm_scale_f32(vec2, t2, pt2, vec3d_size);
- // arm_add_f32(pt2, orig2, pt2, vec3d_size);
-
- // // Result is in the middle
- // vec3d tmp = {};
- // arm_add_f32(pt1, pt2, tmp, vec3d_size);
- // arm_scale_f32(tmp, 0.5f, res, vec3d_size);
-
- // // Dist is distance between pt1 and pt2
- // arm_sub_f32(pt1, pt2, tmp, vec3d_size);
- // *dist = vec_length(tmp);
+
+ vec3d w0 = {};
+ arm_sub_f32(orig1, orig2, w0, vec3d_size);
+
+ float a, b, c, d, e;
+ arm_dot_prod_f32(vec1, vec1, vec3d_size, &a);
+ arm_dot_prod_f32(vec1, vec2, vec3d_size, &b);
+ arm_dot_prod_f32(vec2, vec2, vec3d_size, &c);
+ arm_dot_prod_f32(vec1, w0, vec3d_size, &d);
+ arm_dot_prod_f32(vec2, w0, vec3d_size, &e);
+
+ float denom = a * c - b * b;
+ if (fabsf(denom) < 1e-5f)
+ return false;
+
+ // Closest point to 2nd line on 1st line
+ float t1 = (b * e - c * d) / denom;
+ vec3d pt1 = {};
+ arm_scale_f32(vec1, t1, pt1, vec3d_size);
+ arm_add_f32(pt1, orig1, pt1, vec3d_size);
+
+ // Closest point to 1st line on 2nd line
+ float t2 = (a * e - b * d) / denom;
+ vec3d pt2 = {};
+ arm_scale_f32(vec2, t2, pt2, vec3d_size);
+ arm_add_f32(pt2, orig2, pt2, vec3d_size);
+
+ // Result is in the middle
+ vec3d tmp = {};
+ arm_add_f32(pt1, pt2, tmp, vec3d_size);
+ arm_scale_f32(tmp, 0.5f, res, vec3d_size);
+
+ // Dist is distance between pt1 and pt2
+ arm_sub_f32(pt1, pt2, tmp, vec3d_size);
+ *dist = vec_length(tmp);
return true;
}
@@ -117,15 +116,14 @@ bool lighthouseGeometryGetPositionFromRayIntersection(const baseStationGeometry_
}
void lighthouseGeometryGetBaseStationPosition(const baseStationGeometry_t* bs, vec3d baseStationPos) {
- //COMMENTED FIRMWARE
- // // TODO: Make geometry adjustments within base station.
- // vec3d rotated_origin_delta = {};
- // //vec3d base_origin_delta = {-0.025f, -0.025f, 0.f}; // Rotors are slightly off center in base station.
- // // arm_matrix_instance_f32 origin_vec = {3, 1, base_origin_delta};
- // // arm_matrix_instance_f32 origin_rotated_vec = {3, 1, rotated_origin_delta};
- // // mat_mult(&source_rotation_matrix, &origin_vec, &origin_rotated_vec);
- // baseStationGeometry_t* bs_unconst = (baseStationGeometry_t*)bs;
- // arm_add_f32(bs_unconst->origin, rotated_origin_delta, baseStationPos, vec3d_size);
+ // TODO: Make geometry adjustments within base station.
+ vec3d rotated_origin_delta = {};
+ //vec3d base_origin_delta = {-0.025f, -0.025f, 0.f}; // Rotors are slightly off center in base station.
+ // arm_matrix_instance_f32 origin_vec = {3, 1, base_origin_delta};
+ // arm_matrix_instance_f32 origin_rotated_vec = {3, 1, rotated_origin_delta};
+ // mat_mult(&source_rotation_matrix, &origin_vec, &origin_rotated_vec);
+ baseStationGeometry_t* bs_unconst = (baseStationGeometry_t*)bs;
+ arm_add_f32(bs_unconst->origin, rotated_origin_delta, baseStationPos, vec3d_size);
}
void lighthouseGeometryGetRay(const baseStationGeometry_t* baseStationGeometry, const float angleH, const float angleV, vec3d ray) {
@@ -174,36 +172,35 @@ bool lighthouseGeometryIntersectionPlaneVector(const vec3d linePoint, const vec3
// }
bool lighthouseGeometryYawDelta(const vec3d ipv, const vec3d spv, const vec3d n, float* yawDelta) {
- //COMMENTED FIRMWARE
- // float spvn = vec_length(spv);
- // float ipvn = vec_length(ipv);
+ float spvn = vec_length(spv);
+ float ipvn = vec_length(ipv);
- // const float minIntersectionVectorLength = 0.0001f;
- // if (ipvn < minIntersectionVectorLength) {
- // return false;
- // }
+ const float minIntersectionVectorLength = 0.0001f;
+ if (ipvn < minIntersectionVectorLength) {
+ return false;
+ }
- // // Angle between vectors
- // float a = vec_dot(spv, ipv) / (spvn * ipvn);
+ // Angle between vectors
+ float a = vec_dot(spv, ipv) / (spvn * ipvn);
- // // Handle rouding errors
- // if (a > 1.0f) {
- // a = 1.0f;
- // }
- // if (a < -1.0f) {
- // a = -1.0f;
- // }
+ // Handle rouding errors
+ if (a > 1.0f) {
+ a = 1.0f;
+ }
+ if (a < -1.0f) {
+ a = -1.0f;
+ }
- // float delta = acosf(a);
+ float delta = acosf(a);
- // // Figure our the sign of the angle by looking at the cross product of the vectors in relation to the normal
- // float nt[3];
- // vec_cross_product(spv, ipv, nt);
+ // Figure our the sign of the angle by looking at the cross product of the vectors in relation to the normal
+ float nt[3];
+ vec_cross_product(spv, ipv, nt);
- // if (vec_dot(n, nt) > 0.0f) {
- // delta = -delta;
- // }
+ if (vec_dot(n, nt) > 0.0f) {
+ delta = -delta;
+ }
- // *yawDelta = delta;
+ *yawDelta = delta;
return true;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v1.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v1.c
index f1ca0320d236fb9ba04b8d50bc298a921f511f82..739f0715d1dbe06326fd64f75b46537c40a3c847 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v1.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v1.c
@@ -445,48 +445,47 @@ TESTABLE_STATIC bool getSystemSyncTime(const uint32_t syncTimes[], size_t nSyncT
// If the samples are wrapping, all samples bellow PULSE_PROCESSOR_TIMESTAMP_MAX/2 will
// be pushed by (1<<TIMESTAMP_BITWIDTH) to correct the wrapping
bool isWrapping = false;
- //COMMENTED FIRMWARE
- // int wref = syncTimes[0];
- // for (size_t i=0; i<nSyncTimes; i++) {
- // if (abs(wref - (int)syncTimes[i]) > (PULSE_PROCESSOR_TIMESTAMP_MAX/2)) {
- // isWrapping = true;
- // }
- // }
-
- // int32_t differenceSum = 0;
- // int32_t reference = syncTimes[0] % FRAME_LENGTH;
- // if (isWrapping && syncTimes[0] < (PULSE_PROCESSOR_TIMESTAMP_MAX/2)) {
- // reference = (syncTimes[0] + (1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH)) % FRAME_LENGTH;
- // }
-
- // int minDiff = INT32_MAX;
- // int maxDiff = INT32_MIN;
-
- // for (size_t i=1; i<nSyncTimes; i++) {
- // int diff;
-
- // if (isWrapping && (syncTimes[i] < (PULSE_PROCESSOR_TIMESTAMP_MAX/2))) {
- // diff = ((syncTimes[i] + (1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH)) % FRAME_LENGTH) - reference;
- // } else {
- // diff = (syncTimes[i] % FRAME_LENGTH) - reference;
- // }
-
-
- // if (diff < minDiff) {
- // minDiff = diff;
- // }
- // if (diff > maxDiff) {
- // maxDiff = diff;
- // }
-
- // differenceSum += diff;
- // }
-
- // if ((maxDiff - minDiff) > MAX_FRAME_LENGTH_NOISE) {
- // return false;
- // }
-
- // *syncTime = ((int)syncTimes[0] + ((int)differenceSum / (int)nSyncTimes)) & (PULSE_PROCESSOR_TIMESTAMP_MAX);
+ int wref = syncTimes[0];
+ for (size_t i=0; i<nSyncTimes; i++) {
+ if (abs(wref - (int)syncTimes[i]) > (PULSE_PROCESSOR_TIMESTAMP_MAX/2)) {
+ isWrapping = true;
+ }
+ }
+
+ int32_t differenceSum = 0;
+ int32_t reference = syncTimes[0] % FRAME_LENGTH;
+ if (isWrapping && syncTimes[0] < (PULSE_PROCESSOR_TIMESTAMP_MAX/2)) {
+ reference = (syncTimes[0] + (1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH)) % FRAME_LENGTH;
+ }
+
+ int minDiff = INT32_MAX;
+ int maxDiff = INT32_MIN;
+
+ for (size_t i=1; i<nSyncTimes; i++) {
+ int diff;
+
+ if (isWrapping && (syncTimes[i] < (PULSE_PROCESSOR_TIMESTAMP_MAX/2))) {
+ diff = ((syncTimes[i] + (1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH)) % FRAME_LENGTH) - reference;
+ } else {
+ diff = (syncTimes[i] % FRAME_LENGTH) - reference;
+ }
+
+
+ if (diff < minDiff) {
+ minDiff = diff;
+ }
+ if (diff > maxDiff) {
+ maxDiff = diff;
+ }
+
+ differenceSum += diff;
+ }
+
+ if ((maxDiff - minDiff) > MAX_FRAME_LENGTH_NOISE) {
+ return false;
+ }
+
+ *syncTime = ((int)syncTimes[0] + ((int)differenceSum / (int)nSyncTimes)) & (PULSE_PROCESSOR_TIMESTAMP_MAX);
return true;
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v2.c
index a1e8fe960ddf505693b37c2b453ff71eb81abb66..f5b865ddb1a4a9428ade4f76943dab051134a1a7 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v2.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/lighthouse/pulse_processor_v2.c
@@ -232,11 +232,10 @@ static bool processFrame(const pulseProcessorFrame_t* frameData, pulseProcessorV
}
void pulseProcessorV2ConvertToV1Angles(const float v2Angle1, const float v2Angle2, float* v1Angles) {
- //COMMENTED FIRMWARE
- // const float tant = 0.5773502691896258f; // tan(pi / 6)
+ const float tant = 0.5773502691896258f; // tan(pi / 6)
- // v1Angles[0] = (v2Angle1 + v2Angle2) / 2.0f;
- // v1Angles[1] = atan2f(sinf(v2Angle2 - v2Angle1), (tant * (cosf(v2Angle1) + cosf(v2Angle2))));
+ v1Angles[0] = (v2Angle1 + v2Angle2) / 2.0f;
+ v1Angles[1] = atan2f(sinf(v2Angle2 - v2Angle1), (tant * (cosf(v2Angle1) + cosf(v2Angle2))));
}
static void calculateAngles(const pulseProcessorV2SweepBlock_t* latestBlock, const pulseProcessorV2SweepBlock_t* previousBlock, pulseProcessorResult_t* angles) {
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/num.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/num.c
index e77a3fff3860ca8827b8322ba79e7a0de2cd9d47..0b20be6ab7e74e739a9faa00cb2333657fa2d99f 100644
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/num.c
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/src/utils/src/num.c
@@ -102,24 +102,22 @@ uint16_t limitUint16(int32_t value)
float constrain(float value, const float minVal, const float maxVal)
{
- //COMMENTED FIRMWARE
- return 0;//fminf(maxVal, fmaxf(minVal,value));
+ return fminf(maxVal, fmaxf(minVal,value));
}
float deadband(float value, const float threshold)
{
- //COMMENTED FIRMWARE
- // if (fabsf(value) < threshold)
- // {
- // value = 0;
- // }
- // else if (value > 0)
- // {
- // value -= threshold;
- // }
- // else if (value < 0)
- // {
- // value += threshold;
- // }
+ if (fabsf(value) < threshold)
+ {
+ value = 0;
+ }
+ else if (value > 0)
+ {
+ value -= threshold;
+ }
+ else if (value < 0)
+ {
+ value += threshold;
+ }
return value;
}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/deck/core/test_deck_memory.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/deck/core/test_deck_memory.c
new file mode 100644
index 0000000000000000000000000000000000000000..4678f665b4c9f8c5909b7be9a5dd19ee35dede8f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/deck/core/test_deck_memory.c
@@ -0,0 +1,421 @@
+// File under test deck_memory.c
+#include "deck_memory.h"
+
+#include "unity.h"
+#include "mock_deck_core.h"
+#include "mock_mem.h"
+
+#include <string.h>
+
+// Functions under test
+bool handleMemRead(const uint32_t memAddr, const uint8_t readLen, uint8_t* buffer);
+bool handleMemWrite(const uint32_t memAddr, const uint8_t writeLen, const uint8_t* buffer);
+
+
+// Fixtures
+uint8_t stockDeckProperties;
+uint8_t stockDeckPropertiesFcn() { return stockDeckProperties; }
+
+uint32_t read_vAddr;
+uint8_t read_len;
+bool read_isCalled;
+bool mockRead(const uint32_t vAddr, const uint8_t len, uint8_t* buffer) { read_isCalled = true; read_vAddr = vAddr; read_len = len; return true; }
+
+uint32_t write_vAddr;
+uint8_t write_len;
+bool write_isCalled;
+bool mockWrite(const uint32_t vAddr, const uint8_t len, const uint8_t* buffer) { write_isCalled = true; write_vAddr = vAddr; write_len = len; return true; }
+
+char* stockName = "A name";
+DeckMemDef_t stockMemDef;
+DeckDriver stockDriver;
+DeckInfo stockInfo;
+
+
+// Constants
+#define SIZE_ONE_DECK 0x20
+#define MAX_NR_DECKS 4
+#define BUF_SIZE (SIZE_ONE_DECK * MAX_NR_DECKS)
+uint8_t buffer[BUF_SIZE];
+
+#define DECK_0 (1 + 0 * SIZE_ONE_DECK)
+#define DECK_1 (1 + 1 * SIZE_ONE_DECK)
+#define DECK_2 (1 + 2 * SIZE_ONE_DECK)
+#define DECK_3 (1 + 3 * SIZE_ONE_DECK)
+
+#define DECK_MEM_SIZE 0x10000000
+
+const uint8_t MASK_IS_VALID = 1;
+const uint8_t MASK_IS_STARTED = 2;
+const uint8_t MASK_SUPPORTS_READ = 4;
+const uint8_t MASK_SUPPORTS_WRITE = 8;
+const uint8_t MASK_SUPPORTS_UPGRADE = 16;
+const uint8_t MASK_UPGRADE_REQUIRED = 32;
+const uint8_t MASK_BOOTLOADER_ACTIVE = 64;
+
+
+void setUp() {
+ memset(buffer, 0, BUF_SIZE);
+ stockDeckProperties = 0;
+
+ // Stock deck definition
+ memset(&stockMemDef, 0, sizeof(stockMemDef));
+ stockMemDef.properties = stockDeckPropertiesFcn;
+
+ memset(&stockDriver, 0, sizeof(stockDriver));
+ stockDriver.memoryDef = &stockMemDef;
+ stockDriver.name = stockName;
+
+ memset(&stockInfo, 0, sizeof(stockInfo));
+ stockInfo.driver = &stockDriver;
+
+ read_isCalled = false;
+ read_vAddr = 0;
+ read_len = 0;
+
+ write_isCalled = false;
+ write_vAddr = 0;
+ write_len = 0;
+}
+
+void testFirstByteIsVersion() {
+ // Fixture
+ deckCount_ExpectAndReturn(0);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(1, buffer[0]);
+}
+
+void testNoInstalledDecks() {
+ // Fixture
+ deckCount_ExpectAndReturn(0);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_0]);
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_1]);
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_2]);
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_3]);
+}
+
+void testTwoDecskWithoutMemorySupport() {
+ // Fixture
+ DeckDriver driverNoMem = { .memoryDef = 0 };
+ DeckInfo deckNoMem = { .driver = &driverNoMem };
+
+ deckCount_ExpectAndReturn(2);
+ deckInfo_ExpectAndReturn(0, &deckNoMem);
+ deckInfo_ExpectAndReturn(1, &deckNoMem);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_0]);
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_1]);
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_2]);
+ TEST_ASSERT_EQUAL_UINT8(0, buffer[DECK_3]);
+}
+
+void testOneDeckReadSupported() {
+ // Fixture
+ stockMemDef.read = mockRead;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_SUPPORTS_READ, buffer[DECK_0]);
+}
+
+void testOneDeckWriteSupported() {
+ // Fixture
+ stockMemDef.write = mockWrite;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_SUPPORTS_WRITE, buffer[DECK_0]);
+}
+
+void testOneDeckUpgradeupported() {
+ // Fixture
+ stockMemDef.write = mockWrite;
+ stockMemDef.supportsUpgrade = true;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_SUPPORTS_WRITE | MASK_SUPPORTS_UPGRADE, buffer[DECK_0]);
+}
+
+void testOneDeckStarted() {
+ // Fixture
+ stockDeckProperties = DECK_MEMORY_MASK_STARTED;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_IS_STARTED, buffer[DECK_0]);
+}
+
+void testOneDeckRequiresUpgrade() {
+ // Fixture
+ stockDeckProperties = DECK_MEMORY_MASK_UPGRADE_REQUIRED;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_UPGRADE_REQUIRED, buffer[DECK_0]);
+}
+
+void testOneDeckInBootloaderMode() {
+ // Fixture
+ stockDeckProperties = DECK_MEMORY_MASK_BOOT_LOADER_ACTIVE;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(MASK_IS_VALID | MASK_BOOTLOADER_ACTIVE, buffer[DECK_0]);
+}
+
+void testOneDeckRequiredHash() {
+ // Fixture
+ stockMemDef.requiredHash = 0x12345678;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(0x78, buffer[DECK_0 + 1]);
+ TEST_ASSERT_EQUAL_UINT8(0x56, buffer[DECK_0 + 2]);
+ TEST_ASSERT_EQUAL_UINT8(0x34, buffer[DECK_0 + 3]);
+ TEST_ASSERT_EQUAL_UINT8(0x12, buffer[DECK_0 + 4]);
+}
+
+void testOneDeckRequiredLength() {
+ // Fixture
+ stockMemDef.requiredSize = 0x12345678;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(0x78, buffer[DECK_0 + 5]);
+ TEST_ASSERT_EQUAL_UINT8(0x56, buffer[DECK_0 + 6]);
+ TEST_ASSERT_EQUAL_UINT8(0x34, buffer[DECK_0 + 7]);
+ TEST_ASSERT_EQUAL_UINT8(0x12, buffer[DECK_0 + 8]);
+}
+
+void testBaseAddressSecondDeck() {
+ // Fixture
+ deckCount_ExpectAndReturn(2);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+ deckInfo_ExpectAndReturn(1, &stockInfo);
+
+ uint32_t expected = DECK_MEM_SIZE * 2;
+
+ // Test
+ handleMemRead(0, BUF_SIZE, buffer);
+
+ // Assert
+ uint32_t actual = 0;
+ memcpy(&actual, &buffer[DECK_1 + 0x0009], 4);
+
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testReadOfFiveFirstBytes() {
+ // Fixture
+ stockMemDef.requiredHash = 0x12345678;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(0, 5, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(1, buffer[0]); // Version
+ TEST_ASSERT_EQUAL_UINT32(1, buffer[1]); // valid bit
+ TEST_ASSERT_EQUAL_UINT32(0x78, buffer[2]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x56, buffer[3]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x34, buffer[4]); // Required hash
+}
+
+void testReadNotFromZero() {
+ // Fixture
+ stockMemDef.requiredHash = 0x12345678;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ handleMemRead(3, 2, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(0x56, buffer[0]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x34, buffer[1]); // Required hash
+}
+
+void testReadOfFiveFirstBytesFromThirdDeck() {
+ // Fixture
+ stockMemDef.requiredHash = 0x12345678;
+
+ deckCount_ExpectAndReturn(3);
+ deckInfo_ExpectAndReturn(2, &stockInfo);
+
+ // Test
+ handleMemRead(DECK_2, 5, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(1, buffer[0]); // valid bit
+ TEST_ASSERT_EQUAL_UINT32(0x78, buffer[1]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x56, buffer[2]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x34, buffer[3]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x12, buffer[4]); // Required hash
+}
+
+void testReadPartOfSecondAndThirdDeck() {
+ // Fixture
+ DeckDriver driverNoMem = { .memoryDef = 0 };
+ DeckInfo deckNoMem = { .driver = &driverNoMem };
+
+ stockMemDef.requiredHash = 0x12345678;
+
+ deckCount_ExpectAndReturn(3);
+ deckInfo_ExpectAndReturn(1, &deckNoMem);
+ deckInfo_ExpectAndReturn(2, &stockInfo);
+
+ // Test
+ handleMemRead(DECK_2 - 1, 5, buffer);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(0, buffer[0]); // last byte of deck 2
+ TEST_ASSERT_EQUAL_UINT32(1, buffer[1]); // valid bit
+ TEST_ASSERT_EQUAL_UINT32(0x78, buffer[2]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x56, buffer[3]); // Required hash
+ TEST_ASSERT_EQUAL_UINT32(0x34, buffer[4]); // Required hash
+}
+
+void testReadFromDeck() {
+ // Fixture
+ stockMemDef.read = mockRead;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ bool actual = handleMemRead(DECK_MEM_SIZE + 100, 30, buffer);
+
+ // Assert
+ TEST_ASSERT_TRUE(read_isCalled);
+ TEST_ASSERT_EQUAL_UINT32(100, read_vAddr);
+ TEST_ASSERT_EQUAL_UINT8(30, read_len);
+ TEST_ASSERT_TRUE(actual)
+}
+
+void testReadFromDeckWithoutReadFunction() {
+ // Fixture
+ stockMemDef.read = 0;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ bool actual = handleMemRead(DECK_MEM_SIZE + 100, 30, buffer);
+
+ // Assert
+ TEST_ASSERT_FALSE(read_isCalled);
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testReadFromNonExistingDeck() {
+ // Fixture
+ deckCount_ExpectAndReturn(0);
+
+ // Test
+ bool actual = handleMemRead(DECK_MEM_SIZE + 100, 30, buffer);
+
+ // Assert
+ TEST_ASSERT_FALSE(read_isCalled);
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testWriteToDeck() {
+ // Fixture
+ stockMemDef.write = mockWrite;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ bool actual = handleMemWrite(DECK_MEM_SIZE + 100, 30, buffer);
+
+ // Assert
+ TEST_ASSERT_TRUE(write_isCalled);
+ TEST_ASSERT_EQUAL_UINT32(100, write_vAddr);
+ TEST_ASSERT_EQUAL_UINT8(30, write_len);
+ TEST_ASSERT_TRUE(actual)
+}
+
+void testWriteToDeckWithoutWriteFunction() {
+ // Fixture
+ stockMemDef.write = 0;
+
+ deckCount_ExpectAndReturn(1);
+ deckInfo_ExpectAndReturn(0, &stockInfo);
+
+ // Test
+ bool actual = handleMemWrite(DECK_MEM_SIZE + 100, 30, buffer);
+
+ // Assert
+ TEST_ASSERT_FALSE(write_isCalled);
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testWriteToNonExistingDeck() {
+ // Fixture
+ deckCount_ExpectAndReturn(0);
+
+ // Test
+ bool actual = handleMemWrite(DECK_MEM_SIZE + 100, 30, buffer);
+
+ // Assert
+ TEST_ASSERT_FALSE(write_isCalled);
+ TEST_ASSERT_FALSE(actual);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/deck/drivers/src/test_lps_twr_tag.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/deck/drivers/src/test_lps_twr_tag.c
new file mode 100644
index 0000000000000000000000000000000000000000..721e457bb044a9ebaef5ac0178d7fe140c12e92a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/deck/drivers/src/test_lps_twr_tag.c
@@ -0,0 +1,412 @@
+// File under test lpsTwrTag.h
+#include "lpsTwrTag.h"
+
+#include <string.h>
+#include "unity.h"
+#include "mock_libdw1000.h"
+#include "mock_cfassert.h"
+#include "mock_locodeck.h"
+#include "mock_configblock.h"
+
+#include "crtp_localization_serviceMocks.h"
+#include "dw1000Mocks.h"
+#include "physicalConstants.h"
+
+// #include "mock_arm_math.h"
+
+// The mocking FW can not handle the cf_math.h/arm_math.h file, it crashes while parsing it. We have to use manual mocks instead.
+// Temporarily fix to make tests pass, add test code for the estimator part of rxcallback()
+#include "cf_math.h"
+void arm_std_f32(const float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
+void arm_mean_f32(const float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
+
+#include "mock_estimator.h"
+
+#include "freertosMocks.h"
+
+static dwDevice_t dev;
+static lpsTwrAlgoOptions_t options;
+
+static void setTime(uint8_t* data, const dwTime_t* time);
+static void populatePacket(packet_t* packet, uint8_t seqNr, uint8_t type, locoAddress_t sourceAddress, locoAddress_t destinationAddress);
+static void populateLppPacket(packet_t* packet, char *data, int length, locoAddress_t sourceAddress, locoAddress_t destinationAddress);
+
+static void mockEventTimeoutHandling(const packet_t* expectedTxPacket);
+static void mockEventPacketSendHandling(dwTime_t* departureTime);
+static void mockEventPacketReceivedAnswerHandling(int dataLength, const packet_t* rxPacket, const dwTime_t* answerArrivalTagTime, const packet_t* expectedTxPacket);
+static void mockEventPacketReceivedReportHandling(int dataLength, const packet_t* rxPacket);
+static void mockSendLppShortHandling(const packet_t* expectedTxPacket, int datalength);
+
+static bool lpsGetLppShortCallbackForLppShortPacketSent(lpsLppShortPacket_t* shortPacket, int cmock_num_calls);
+
+static lpsTwrAlgoOptions_t defaultOptions = {
+ .tagAddress = 0xbccf000000000008,
+ .anchorAddress = {
+ 0xbccf000000000001,
+ 0xbccf000000000002,
+ 0xbccf000000000003,
+ 0xbccf000000000004,
+ 0xbccf000000000005,
+ 0xbccf000000000006
+ },
+ .antennaDelay = 30000,
+ .rangingFailedThreshold = 6,
+ .combinedAnchorPositionOk = false
+};
+
+static char * lppShortPacketData = "hello";
+static int lppShortPacketLength = 5;
+static int lppShortPacketDest = 3;
+
+void setUp(void) {
+ dwGetData_resetMock();
+ dwGetTransmitTimestamp_resetMock();
+ dwGetReceiveTimestamp_resetMock();
+
+ dwSetReceiveWaitTimeout_Expect(&dev, TWR_RECEIVE_TIMEOUT);
+ dwCommitConfiguration_Expect(&dev);
+
+ memcpy(&options, &defaultOptions, sizeof(options));
+ uwbTwrTagSetOptions(&options);
+
+ locoDeckSetRangingState_Expect(0);
+
+ uwbTwrTagAlgorithm.init(&dev);
+
+ locoDeckGetRangingState_IgnoreAndReturn(0);
+ locoDeckSetRangingState_Ignore();
+}
+
+void testNormalMessageSequenceShouldGenerateDistance() {
+ // Fixture
+ const int dataLength = sizeof(packet_t);
+ const uint8_t expectedSeqNr = 1;
+ const uint8_t expectedAnchor = 1;
+
+ float expectedDistance = 5.0;
+ const uint32_t distInTicks = expectedDistance * LOCODECK_TS_FREQ / SPEED_OF_LIGHT;
+
+ dwTime_t pollDepartureTagTime = {.full = 123456};
+ dwTime_t pollArrivalAnchorTime = {.full = pollDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+ dwTime_t answerDepartureAnchorTime = {.full = pollArrivalAnchorTime.full + 100000};
+ dwTime_t answerArrivalTagTime = {.full = answerDepartureAnchorTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+ dwTime_t finalDepartureTagTime = {.full = answerArrivalTagTime.full + 200000};
+ dwTime_t finalArrivalAnchorTime = {.full = finalDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+
+ // eventTimeout
+ packet_t expectedTxPacket1;
+ populatePacket(&expectedTxPacket1, expectedSeqNr, LPS_TWR_POLL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+ mockEventTimeoutHandling(&expectedTxPacket1);
+ lpsGetLppShort_IgnoreAndReturn(false);
+
+ // eventPacketSent (POLL)
+ mockEventPacketSendHandling(&pollDepartureTagTime);
+
+ // eventPacketReceived (ANSWER)
+ packet_t rxPacket1;
+ populatePacket(&rxPacket1, expectedSeqNr, LPS_TWR_ANSWER, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+ packet_t expectedTxPacket2;
+ populatePacket(&expectedTxPacket2, expectedSeqNr, LPS_TWR_FINAL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+ mockEventPacketReceivedAnswerHandling(dataLength, &rxPacket1, &answerArrivalTagTime, &expectedTxPacket2);
+
+ // eventPacketSent (FINAL)
+ mockEventPacketSendHandling(&finalDepartureTagTime);
+
+ // eventPacketReceived (REPORT)
+ packet_t rxPacket2;
+ populatePacket(&rxPacket2, expectedSeqNr, LPS_TWR_REPORT, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+ lpsTwrTagReportPayload_t *report = (lpsTwrTagReportPayload_t *)(rxPacket2.payload + 2);
+ setTime(report->pollRx, &pollArrivalAnchorTime);
+ setTime(report->answerTx, &answerDepartureAnchorTime);
+ setTime(report->finalRx, &finalArrivalAnchorTime);
+ mockEventPacketReceivedReportHandling(dataLength, &rxPacket2);
+
+ // Test
+ uint32_t actual1 = uwbTwrTagAlgorithm.onEvent(&dev, eventTimeout);
+ uint32_t actual2 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+ uint32_t actual3 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+ uint32_t actual4 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+ uint32_t actual5 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual1);
+ TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual2);
+ TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual3);
+ TEST_ASSERT_EQUAL_UINT32(MAX_TIMEOUT, actual4);
+ TEST_ASSERT_EQUAL_UINT32(0, actual5);
+
+ float actualDistance = lpsTwrTagGetDistance(expectedAnchor);
+ TEST_ASSERT_FLOAT_WITHIN(0.01, expectedDistance, actualDistance);
+}
+
+void testEventReceiveUnhandledEventShouldAssertFailure() {
+ // Fixture
+ assertFail_Expect("", "", 0);
+ assertFail_IgnoreArg_exp();
+ assertFail_IgnoreArg_file();
+ assertFail_IgnoreArg_line();
+
+ uwbEvent_t unknownEvent = 100;
+
+ // Test
+ uwbTwrTagAlgorithm.onEvent(&dev, unknownEvent);
+
+ // Assert
+ // Mock automatically validated after test
+}
+
+void testEventReceiveFailedShouldBeIgnored() {
+ // Fixture
+
+ // Test
+ uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventReceiveFailed);
+
+ // Assert
+ const uint32_t expected = 0;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventReceiveTimeoutShouldBeIgnored() {
+ // Fixture
+
+ // Test
+ uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventReceiveTimeout);
+
+ // Assert
+ const uint32_t expected = 0;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithZeroDataLengthShouldBeIgnored() {
+ // Fixture
+ dwGetDataLength_ExpectAndReturn(&dev, 0);
+
+ // Test
+ uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+ // Assert
+ const uint32_t expected = 0;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithWrongDestinationAddressShouldPrepareForReceptionOfNewPacket() {
+ // Fixture
+ packet_t rxPacket = {.destAddress = 0x4711471147114711};
+ const int dataLength = sizeof(rxPacket);
+
+ dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+ dwGetData_ExpectAndCopyData(&dev, &rxPacket, dataLength);
+
+ dwNewReceive_Expect(&dev);
+ dwSetDefaults_Expect(&dev);
+ dwStartReceive_Expect(&dev);
+
+ // Test
+ uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+ // Assert
+ const uint32_t expected = MAX_TIMEOUT;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithTypeAnswerAndWrongSeqNrShouldReturn0() {
+ // Fixture
+ packet_t rxPacket;
+ rxPacket.destAddress = defaultOptions.tagAddress;
+ rxPacket.payload[LPS_TWR_TYPE] = LPS_TWR_ANSWER;
+
+ uint8_t wrongSeqNr = 17; // After init curr_seq = 0
+ rxPacket.payload[LPS_TWR_SEQ] = wrongSeqNr;
+
+ const int dataLength = sizeof(rxPacket);
+ dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+ dwGetData_ExpectAndCopyData(&dev, &rxPacket, dataLength);
+
+ // Test
+ uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+ // Assert
+ const uint32_t expected = 0;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testEventPacketReceivedWithTypeReportAndWrongSeqNrShouldReturn0() {
+ // Fixture
+ packet_t rxPacket;
+ rxPacket.destAddress = defaultOptions.tagAddress;
+ rxPacket.payload[LPS_TWR_TYPE] = LPS_TWR_REPORT;
+
+ uint8_t wrongSeqNr = 17; // After init curr_seq = 0
+ rxPacket.payload[LPS_TWR_SEQ] = wrongSeqNr;
+
+ const int dataLength = sizeof(rxPacket);
+ dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+ dwGetData_ExpectAndCopyData(&dev, &rxPacket, dataLength);
+
+ // Test
+ uint32_t actual = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+ // Assert
+ const uint32_t expected = 0;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatLppShortPacketIsSentWhenAvailable() {
+ // Fixture
+ lpsGetLppShort_StubWithCallback(lpsGetLppShortCallbackForLppShortPacketSent);
+
+ packet_t expectedTxPacket;
+ populateLppPacket(&expectedTxPacket, lppShortPacketData, lppShortPacketLength, defaultOptions.tagAddress, defaultOptions.anchorAddress[lppShortPacketDest]);
+
+ mockSendLppShortHandling(&expectedTxPacket, lppShortPacketLength);
+
+ dwTime_t txTime = {.full = 0};
+ mockEventPacketSendHandling(&txTime);
+
+ // Test
+ uint32_t actual1 = uwbTwrTagAlgorithm.onEvent(&dev, eventTimeout);
+ uint32_t actual2 = uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+
+ // Assert
+ const uint32_t expected1 = MAX_TIMEOUT;
+ const uint32_t expected2 = 0;
+ TEST_ASSERT_EQUAL_UINT32(expected1, actual1);
+ TEST_ASSERT_EQUAL_UINT32(expected2, actual2);
+}
+
+void testThatInitiallyNoRangingAreReportedToBeOk() {
+ // Test
+ // Nothing there, there has been no rangings
+
+ // Assert
+ TEST_ASSERT_FALSE(uwbTwrTagAlgorithm.isRangingOk());
+}
+
+void testThatWhenARangingHasHappenRangingIsReportedToBeOk() {
+ // Fixture, setup a simple ranging
+ const int dataLength = sizeof(packet_t);
+ const uint8_t expectedSeqNr = 1;
+ const uint8_t expectedAnchor = 1;
+
+ float expectedDistance = 5.0;
+ const uint32_t distInTicks = expectedDistance * LOCODECK_TS_FREQ / SPEED_OF_LIGHT;
+
+ dwTime_t pollDepartureTagTime = {.full = 123456};
+ dwTime_t pollArrivalAnchorTime = {.full = pollDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+ dwTime_t answerDepartureAnchorTime = {.full = pollArrivalAnchorTime.full + 100000};
+ dwTime_t answerArrivalTagTime = {.full = answerDepartureAnchorTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+ dwTime_t finalDepartureTagTime = {.full = answerArrivalTagTime.full + 200000};
+ dwTime_t finalArrivalAnchorTime = {.full = finalDepartureTagTime.full + distInTicks + defaultOptions.antennaDelay / 2};
+
+ // eventTimeout
+ packet_t expectedTxPacket1;
+ populatePacket(&expectedTxPacket1, expectedSeqNr, LPS_TWR_POLL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+ mockEventTimeoutHandling(&expectedTxPacket1);
+ lpsGetLppShort_IgnoreAndReturn(false);
+
+ // eventPacketSent (POLL)
+ mockEventPacketSendHandling(&pollDepartureTagTime);
+
+ // eventPacketReceived (ANSWER)
+ packet_t rxPacket1;
+ populatePacket(&rxPacket1, expectedSeqNr, LPS_TWR_ANSWER, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+ packet_t expectedTxPacket2;
+ populatePacket(&expectedTxPacket2, expectedSeqNr, LPS_TWR_FINAL, defaultOptions.tagAddress, defaultOptions.anchorAddress[expectedAnchor]);
+ mockEventPacketReceivedAnswerHandling(dataLength, &rxPacket1, &answerArrivalTagTime, &expectedTxPacket2);
+
+ // eventPacketSent (FINAL)
+ mockEventPacketSendHandling(&finalDepartureTagTime);
+
+ // eventPacketReceived (REPORT)
+ packet_t rxPacket2;
+ populatePacket(&rxPacket2, expectedSeqNr, LPS_TWR_REPORT, defaultOptions.anchorAddress[expectedAnchor], defaultOptions.tagAddress);
+ lpsTwrTagReportPayload_t *report = (lpsTwrTagReportPayload_t *)(rxPacket2.payload + 2);
+ setTime(report->pollRx, &pollArrivalAnchorTime);
+ setTime(report->answerTx, &answerDepartureAnchorTime);
+ setTime(report->finalRx, &finalArrivalAnchorTime);
+ mockEventPacketReceivedReportHandling(dataLength, &rxPacket2);
+
+ // Test
+ uwbTwrTagAlgorithm.onEvent(&dev, eventTimeout);
+ uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+ uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+ uwbTwrTagAlgorithm.onEvent(&dev, eventPacketSent);
+ uwbTwrTagAlgorithm.onEvent(&dev, eventPacketReceived);
+
+ // Assert
+ TEST_ASSERT_TRUE(uwbTwrTagAlgorithm.isRangingOk());
+}
+
+
+///////////////////////////////////////////////////////////////////////////////
+
+static void setTime(uint8_t* data, const dwTime_t* time) {
+ memcpy(data, time, sizeof(dwTime_t));
+}
+
+static void populatePacket(packet_t* packet, uint8_t seqNr, uint8_t type, locoAddress_t sourceAddress, locoAddress_t destinationAddress) {
+ memset(packet, 0, sizeof(packet_t));
+
+ MAC80215_PACKET_INIT((*packet), MAC802154_TYPE_DATA);
+ packet->pan = 0xbccf;
+ packet->payload[LPS_TWR_SEQ] = seqNr;
+ packet->payload[LPS_TWR_TYPE] = type;
+ packet->sourceAddress = sourceAddress;
+ packet->destAddress = destinationAddress;
+}
+
+static void populateLppPacket(packet_t* packet, char *data, int length, locoAddress_t sourceAddress, locoAddress_t destinationAddress) {
+ memset(packet, 0, sizeof(packet_t));
+
+ MAC80215_PACKET_INIT((*packet), MAC802154_TYPE_DATA);
+ packet->pan = 0xbccf;
+ memcpy(&packet->payload[LPS_TWR_SEND_LPP_PAYLOAD], data, length);
+ packet->payload[LPS_TWR_TYPE] = LPS_TWR_LPP_SHORT;
+ packet->sourceAddress = sourceAddress;
+ packet->destAddress = destinationAddress;
+}
+
+static void mockEventTimeoutHandling(const packet_t* expectedTxPacket) {
+ dwIdle_Expect(&dev);
+ dwNewTransmit_Expect(&dev);
+ dwSetDefaults_Expect(&dev);
+ dwSetData_ExpectWithArray(&dev, 1, (uint8_t*)expectedTxPacket, sizeof(packet_t), MAC802154_HEADER_LENGTH + 2);
+ dwWaitForResponse_Expect(&dev, true);
+ dwStartTransmit_Expect(&dev);
+}
+
+static void mockSendLppShortHandling(const packet_t* expectedTxPacket, int length) {
+ dwIdle_Expect(&dev);
+ dwNewTransmit_Expect(&dev);
+ dwSetDefaults_Expect(&dev);
+ dwSetData_ExpectWithArray(&dev, 1, (uint8_t*)expectedTxPacket, sizeof(packet_t), MAC802154_HEADER_LENGTH + 1 + length);
+ dwWaitForResponse_Expect(&dev, false);
+ dwStartTransmit_Expect(&dev);
+}
+
+static void mockEventPacketSendHandling(dwTime_t* departureTime) {
+ dwGetTransmitTimestamp_ExpectAndCopyData(&dev, departureTime);
+}
+
+static void mockEventPacketReceivedAnswerHandling(int dataLength, const packet_t* rxPacket, const dwTime_t* answerArrivalTagTime, const packet_t* expectedTxPacket) {
+ dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+ dwGetData_ExpectAndCopyData(&dev, rxPacket, dataLength);
+ dwGetReceiveTimestamp_ExpectAndCopyData(&dev, answerArrivalTagTime);
+ dwNewTransmit_Expect(&dev);
+ dwSetData_ExpectWithArray(&dev, 1, (uint8_t*)expectedTxPacket, sizeof(packet_t), MAC802154_HEADER_LENGTH + 2);
+ dwWaitForResponse_Expect(&dev, true);
+ dwStartTransmit_Expect(&dev);
+}
+
+static void mockEventPacketReceivedReportHandling(int dataLength, const packet_t* rxPacket) {
+ dwGetDataLength_ExpectAndReturn(&dev, dataLength);
+ dwGetData_ExpectAndCopyData(&dev, rxPacket, dataLength);
+}
+
+static bool lpsGetLppShortCallbackForLppShortPacketSent(lpsLppShortPacket_t* shortPacket, int cmock_num_calls) {
+ memcpy(shortPacket->data, lppShortPacketData, lppShortPacketLength);
+ shortPacket->dest = lppShortPacketDest;
+ shortPacket->length = lppShortPacketLength;
+
+ return true;
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/kalman_core_mm_test_helpers.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/kalman_core_mm_test_helpers.c
new file mode 100644
index 0000000000000000000000000000000000000000..53021c2485bad7ade1e4f35f53afee9fb06135e5
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/kalman_core_mm_test_helpers.c
@@ -0,0 +1,60 @@
+#include "unity.h"
+#include "mock_kalman_core.h"
+
+// Helpers to simplify testing of measurment model implementations in the kalman core
+
+// Use to set up expectations for one call to kalmanCoreScalarUpdate(). This helper does not support multiple calls.
+
+// Storage for expected values
+const kalmanCoreData_t* kcsus_expectedThis;
+float kcsus_expectedHm[KC_STATE_DIM];
+float kcsus_expectedError;
+float kcsus_expectedStdMeasNoise;
+float kcsus_scalarUpadateWasCalled;
+
+void mock_kalmanCoreScalarUpdate_callback(kalmanCoreData_t* actualThis, arm_matrix_instance_f32* actualHm, float actualError, float actualStdMeasNoise, int cmock_num_calls);
+
+// Inti the mock with default (unlikely) values
+void initKalmanCoreScalarUpdateExpectationsSingleCall() {
+ kcsus_expectedThis = (void*)0;
+ memset(kcsus_expectedHm, 0, sizeof(kcsus_expectedHm));
+ kcsus_expectedError = 1234567890.0f;
+ kcsus_expectedStdMeasNoise = 987654321.0f;
+ kcsus_scalarUpadateWasCalled = false;
+}
+
+// Call this fkn to set expected values for the mock
+// Note: expectedHm is a pure c float vector, not arm_matrix_instance_f32 to make life somple.
+void setKalmanCoreScalarUpdateExpectationsSingleCall(const kalmanCoreData_t* expectedThis, const float* expectedHm, const float expectedError, const float expectedStdMeasNoise) {
+ kcsus_expectedThis = expectedThis;
+ memcpy(kcsus_expectedHm, expectedHm, sizeof(kcsus_expectedHm));
+ kcsus_expectedError = expectedError;
+ kcsus_expectedStdMeasNoise = expectedStdMeasNoise;
+
+ kalmanCoreScalarUpdate_StubWithCallback(mock_kalmanCoreScalarUpdate_callback);
+}
+
+// Callback doing the validation work
+void mock_kalmanCoreScalarUpdate_callback(kalmanCoreData_t* actualThis, arm_matrix_instance_f32* actualHm, float actualError, float actualStdMeasNoise, int cmock_num_calls) {
+ kcsus_scalarUpadateWasCalled = true;
+ TEST_ASSERT_EQUAL_INT_MESSAGE(0, cmock_num_calls, "Only expect one call");
+ TEST_ASSERT_EQUAL_PTR_MESSAGE(kcsus_expectedThis, actualThis, "Unexpected this pointer");
+
+ // Verify size and contents of Hm vector
+ TEST_ASSERT_EQUAL_UINT16_MESSAGE(1, actualHm->numRows, "Uexpected nr of rows in Hm Vector");
+ TEST_ASSERT_EQUAL_UINT16_MESSAGE(KC_STATE_DIM, actualHm->numCols, "Unexpected nr of collumns in Hm vector");
+ for (int i = 0; i < KC_STATE_DIM; i++) {
+ TEST_ASSERT_FLOAT_WITHIN_MESSAGE(1e-20, kcsus_expectedHm[i], actualHm->pData[i], "Unexpected value of element in Hm vector");
+ }
+
+ TEST_ASSERT_EQUAL_FLOAT_MESSAGE(kcsus_expectedError, actualError, "Unexpected value of error");
+ TEST_ASSERT_EQUAL_FLOAT_MESSAGE(kcsus_expectedStdMeasNoise, actualStdMeasNoise, "Unexpected value of stdMeasNoise");
+}
+
+void assertScalarUpdateWasCalled() {
+ TEST_ASSERT_TRUE_MESSAGE(kcsus_scalarUpadateWasCalled, "kalmanCoreScalarUpdate() was never called");
+}
+
+void assertScalarUpdateWasNotCalled() {
+ TEST_ASSERT_FALSE_MESSAGE(kcsus_scalarUpadateWasCalled, "kalmanCoreScalarUpdate() got an unexpected call");
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/test_mm_absolute_height.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/test_mm_absolute_height.c
new file mode 100644
index 0000000000000000000000000000000000000000..b2f9efb9cf3505d1a32477c77e4c49aaa5f2a5ad
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/test_mm_absolute_height.c
@@ -0,0 +1,47 @@
+// File under test mm_absolute_height.c
+#include "mm_absolute_height.h"
+
+#include "unity.h"
+
+#include "mock_kalman_core.h"
+#include "kalman_core_mm_test_helpers.c"
+
+static kalmanCoreData_t this;
+static float h[KC_STATE_DIM];
+
+
+void setUp(void) {
+ memset(&this, 0, sizeof(this));
+ memset(&h, 0, sizeof(h));
+
+ initKalmanCoreScalarUpdateExpectationsSingleCall();
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+
+void testThatCorrectValuesAreUsedInScalatUpdate() {
+ // Fixture
+ float currentZ = 47.11f;
+ float measuredHeight = 12.34;
+ float expectedError = measuredHeight - currentZ;
+ float expectedStdMeasNoise = 0.123f;
+
+ this.S[KC_STATE_Z] = currentZ;
+ h[KC_STATE_Z] = 1.0f;
+
+ heightMeasurement_t measurement = {
+ .height = measuredHeight,
+ .stdDev = expectedStdMeasNoise,
+ };
+
+ setKalmanCoreScalarUpdateExpectationsSingleCall(&this, h, expectedError, expectedStdMeasNoise);
+
+ // Test
+ kalmanCoreUpdateWithAbsoluteHeight(&this, &measurement);
+
+ // Assert
+ // Checked in mock
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/test_mm_tdoa.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/test_mm_tdoa.c
new file mode 100644
index 0000000000000000000000000000000000000000..e10075a7bca2c6f0a5d2d7b7c7e528ba2daa7c3a
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/kalman_core/test_mm_tdoa.c
@@ -0,0 +1,109 @@
+// File under test mm_tdoa.c
+#include "mm_tdoa.h"
+
+#include "unity.h"
+
+#include "mock_kalman_core.h"
+#include "mock_outlierFilter.h"
+#include "kalman_core_mm_test_helpers.c"
+
+// Default data initialized in setup()
+static kalmanCoreData_t this;
+static float expectedHm[KC_STATE_DIM];
+
+// Instrumented in code under test
+extern uint32_t tdoaCount;
+
+void setUp(void) {
+ memset(&this, 0, sizeof(this));
+ memset(&expectedHm, 0, sizeof(expectedHm));
+
+ // Make sure we pass the tdoaCount counter
+ tdoaCount = 100;
+
+ initKalmanCoreScalarUpdateExpectationsSingleCall();
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+void testThatScalarUpdateIsCalledInSimpleCase() {
+ // Fixture
+ float expectedError = 0;
+ float expectedStdMeasNoise = 0.123;
+
+ this.S[KC_STATE_X] = 0.0;
+ this.S[KC_STATE_Y] = 0.0;
+ this.S[KC_STATE_Z] = 0.0;
+
+ expectedHm[KC_STATE_X] = -2.0;
+ expectedHm[KC_STATE_Y] = 0.0;
+ expectedHm[KC_STATE_Z] = 0.0;
+
+ tdoaMeasurement_t measurement = {
+ .anchorPositions = {
+ {.x = -1.0, .y = 0.0, .z = 0.0},
+ {.x = 1.0, .y = 0.0, .z = 0.0},
+ },
+ .distanceDiff = 0.0,
+ .stdDev = expectedStdMeasNoise,
+ };
+
+ setKalmanCoreScalarUpdateExpectationsSingleCall(&this, expectedHm, expectedError, expectedStdMeasNoise);
+ outlierFilterValidateTdoaSteps_IgnoreAndReturn(true);
+
+ // Test
+ kalmanCoreUpdateWithTDOA(&this, &measurement);
+
+ // Assert
+ assertScalarUpdateWasCalled();
+}
+
+
+void testThatSampleWhereDroneIsInSamePositionAsAnchorIsIgnored() {
+ // Fixture
+ this.S[KC_STATE_X] = -1.0;
+ this.S[KC_STATE_Y] = 0.0;
+ this.S[KC_STATE_Z] = 0.0;
+
+ tdoaMeasurement_t measurement = {
+ .anchorPositions = {
+ {.x = -1.0, .y = 0.0, .z = 0.0},
+ {.x = 1.0, .y = 0.0, .z = 0.0},
+ },
+ .distanceDiff = 2.0,
+ .stdDev = 0.123,
+ };
+
+ // Test
+ kalmanCoreUpdateWithTDOA(&this, &measurement);
+
+ // Assert
+ assertScalarUpdateWasNotCalled();
+}
+
+
+void testThatScalarUpdateIsNotCalledWhenTheOutlierFilterIsBlocking() {
+ // Fixture
+ this.S[KC_STATE_X] = 0.0;
+ this.S[KC_STATE_Y] = 0.0;
+ this.S[KC_STATE_Z] = 0.0;
+
+ tdoaMeasurement_t measurement = {
+ .anchorPositions = {
+ {.x = -1.0, .y = 0.0, .z = 0.0},
+ {.x = 1.0, .y = 0.0, .z = 0.0},
+ },
+ .distanceDiff = 2.0,
+ .stdDev = 0.123,
+ };
+
+ outlierFilterValidateTdoaSteps_IgnoreAndReturn(false);
+
+ // Test
+ kalmanCoreUpdateWithTDOA(&this, &measurement);
+
+ // Assert
+ assertScalarUpdateWasNotCalled();
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_core.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_core.c
new file mode 100644
index 0000000000000000000000000000000000000000..8dbb4e2f7195c7404f16cdea046c333037644bb0
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_core.c
@@ -0,0 +1,266 @@
+// File under test lighthouse_core.c
+#include "lighthouse_core.h"
+
+#include "unity.h"
+#include "mock_system.h"
+#include "mock_pulse_processor.h"
+#include "mock_pulse_processor_v1.h"
+#include "mock_pulse_processor_v2.h"
+#include "mock_lighthouse_deck_flasher.h"
+#include "mock_lighthouse_position_est.h"
+#include "mock_lighthouse_calibration.h"
+#include "mock_uart1.h"
+#include "mock_statsCnt.h"
+#include "mock_cfassert.h"
+#include "mock_crtp_localization_service.h"
+#include "mock_lighthouse_storage.h"
+
+#include <stdbool.h>
+
+static void uart1SetSequence(char* sequence, int length);
+static emptySequence[] = {0};
+static int uart1BytesRead = 0;
+static char* uart1Sequence;
+static int uart1SequenceLength;
+static lighthouseUartFrame_t frame;
+
+extern pulseProcessor_t lighthouseCoreState;
+
+// Functions under test
+void waitForUartSynchFrame();
+bool getUartFrameRaw(lighthouseUartFrame_t *frame);
+lighthouseBaseStationType_t identifyBaseStationType(const lighthouseUartFrame_t* frame, lighthouseBsIdentificationData_t* state);
+
+// Dummy mocks timer
+uint32_t xTaskGetTickCount() {return 0;}
+void vTaskDelay(const uint32_t ignore) {}
+
+static int nrOfCallsToStorageFetchForCalib = 0;
+static size_t mockStorageFetchForCalib(char* key, void* buffer, size_t length, int cmock_num_calls);
+
+void setUp(void) {
+ nrOfCallsToStorageFetchForCalib = 0;
+ uart1SetSequence(emptySequence, 0);
+
+ memset(&frame, 0, sizeof(frame));
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+
+void testThatUartFrameIsDetected() {
+ // Fixture
+ unsigned char sequence[] = {0, 1, 2, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0, 1, 2};
+ int expected = 15;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ waitForUartSynchFrame();
+
+ // Assert
+ int actual = uart1BytesRead;
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+void testThatUartSyncFramesAreSkipped() {
+ // Fixture
+ unsigned char sequence[] = {0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff,
+ 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ int expectedRead = 24;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ do {
+ bool actual = getUartFrameRaw(&frame);
+ TEST_ASSERT_TRUE(actual);
+ } while(frame.isSyncFrame);
+
+ // Assert
+ int actualRead = uart1BytesRead;
+ TEST_ASSERT_EQUAL(expectedRead, actualRead);
+}
+
+
+void testThatCorruptUartFramesAreDetectedWithOnesInFirstPadding() {
+ // Fixture
+ unsigned char sequence[] = {0, 0, 0, 0, 0, 2, 0, 0, 0, 0, 0, 0};
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ bool actual = getUartFrameRaw(&frame);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+
+void testThatCorruptUartFramesAreDetectedWithOnesInSecondPadding() {
+ // Fixture
+ unsigned char sequence[] = {0, 0, 0, 0, 0, 0, 0, 0, 128, 0, 0, 0};
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ bool actual = getUartFrameRaw(&frame);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+
+void testThatTimeStampIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0, 0, 0, 0, 0, 0, 0, 0, 0, 3, 2, 1};
+ uint32_t expected = 0x010203;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ getUartFrameRaw(&frame);
+
+ // Assert
+ uint32_t actual = frame.data.timestamp;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+
+void testThatWidthIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0, 1, 2, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ uint32_t expected = 0x0201;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ getUartFrameRaw(&frame);
+
+ // Assert
+ uint32_t actual = frame.data.width;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+
+void testThatOffsetIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0, 0, 0, 3, 2, 1, 0, 0, 0, 0, 0, 0};
+
+ // The offset is converted from a 6 MHz to 24 MHz clock when read
+ uint32_t expected = 0x10203 * 4;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ bool frameOk = getUartFrameRaw(&frame);
+
+ // Assert
+ uint32_t actual = frame.data.offset;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+
+ // Verify the padding data was not affected
+ TEST_ASSERT_TRUE(frameOk)
+}
+
+
+void testThatBeamDataIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0, 0, 0, 0, 0, 0, 3, 2, 1, 0, 0, 0};
+ uint32_t expected = 0x10203;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ bool frameOk = getUartFrameRaw(&frame);
+
+ // Assert
+ uint32_t actual = frame.data.beamData;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+
+ // Verify the padding data was not affected
+ TEST_ASSERT_TRUE(frameOk)
+}
+
+void testThatSensorIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ uint8_t expected = 0x3;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ getUartFrameRaw(&frame);
+
+ // Assert
+ uint32_t actual = frame.data.sensor;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+
+ // Verify we did not get data in other fields
+ TEST_ASSERT_TRUE(frame.data.channelFound);
+}
+
+void testThatLackOfChannelIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0x80, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ getUartFrameRaw(&frame);
+
+ // Assert
+ TEST_ASSERT_FALSE(frame.data.channelFound);
+
+ // Verify we did not get data in other fields
+ TEST_ASSERT_EQUAL_UINT8(0, frame.data.channel);
+ TEST_ASSERT_FALSE(frame.data.slowbit);
+}
+
+
+void testThatChannelIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0x78, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ uint8_t expected = 0x0f;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ getUartFrameRaw(&frame);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(expected, frame.data.channel);
+
+ // Verify we did not get data in other fields
+ TEST_ASSERT_TRUE(frame.data.channelFound);
+ TEST_ASSERT_FALSE(frame.data.slowbit);
+}
+
+
+void testThatSlowBitIsDecodedInUartFrame() {
+ // Fixture
+ unsigned char sequence[] = {0x04, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0};
+ uint8_t expected = 0x0f;
+ uart1SetSequence(sequence, sizeof(sequence));
+
+ // Test
+ getUartFrameRaw(&frame);
+
+ // Assert
+ TEST_ASSERT_TRUE(frame.data.slowbit);
+
+ // Verify we did not get data in other fields
+ TEST_ASSERT_TRUE(frame.data.channelFound);
+ TEST_ASSERT_EQUAL_UINT8(0, frame.data.channel);
+}
+
+// Test support ----------------------------------------------------------------------------------------------------
+
+static void uart1ReadCallback(char* ch, int cmock_num_calls) {
+ if (uart1BytesRead >= uart1SequenceLength) {
+ TEST_FAIL_MESSAGE("Too many bytes read from uart1");
+ }
+
+ *ch = uart1Sequence[uart1BytesRead];
+ uart1BytesRead++;
+}
+
+static void uart1SetSequence(char* sequence, int length) {
+ uart1BytesRead = 0;
+ uart1Sequence = sequence;
+ uart1SequenceLength = length;
+
+ uart1Getchar_StubWithCallback(uart1ReadCallback);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_deck_flasher.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_deck_flasher.c
new file mode 100644
index 0000000000000000000000000000000000000000..6185f14e6760a76512ff04c26f30f21aa5f2b9a2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_deck_flasher.c
@@ -0,0 +1,48 @@
+// File under test lighthouse_core.c
+#include "lighthouse_deck_flasher.h"
+
+#include "unity.h"
+#include "mock_system.h"
+#include "mock_lh_bootloader.h"
+#include "mock_crc32.h"
+
+#include "freertosMocks.h"
+
+#include <stdbool.h>
+
+void setUp(void) {
+ // Empty
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+
+void testThaEraseFwIsCalledWhenWritingTheFirstBlock() {
+ // Fixture
+ lhblFlashEraseFirmware_ExpectAndReturn(true);
+ uint8_t buffer[] = {1, 2, 3, 4};
+ lhblFlashWritePage_ExpectWithArrayAndReturn(LH_FW_ADDR + 0, 4, buffer, 4, true);
+
+ // Test
+ bool actual = lighthouseDeckFlasherWrite(0, 4, buffer);
+
+ // Actual
+ TEST_ASSERT_TRUE(actual);
+}
+
+
+void testThaEraseFwSplitsWriteBetweenTwoPages() {
+ // Fixture
+ uint8_t buffer[] = {1, 2, 3, 4};
+ lhblFlashWritePage_ExpectWithArrayAndReturn(LH_FW_ADDR + 254, 2, buffer, 2, true);
+ lhblFlashWritePage_ExpectWithArrayAndReturn(LH_FW_ADDR + 256, 2, &buffer[2], 2, true);
+
+
+ // Test
+ bool actual = lighthouseDeckFlasherWrite(254, 4, buffer);
+
+ // Actual
+ TEST_ASSERT_TRUE(actual);
+}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_storage.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_storage.c
new file mode 100644
index 0000000000000000000000000000000000000000..596d87875d49b1d457107b8b1dc6cb892ba14cb9
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/lighthouse/test_lighthouse_storage.c
@@ -0,0 +1,137 @@
+// File under test lighthouse_core.c
+#include "lighthouse_storage.h"
+
+#include "unity.h"
+#include "mock_system.h"
+#include "mock_storage.h"
+#include "mock_cfassert.h"
+#include "mock_lighthouse_position_est.h"
+#include "mock_lighthouse_calibration.h"
+#include "mock_lighthouse_core.h"
+#include "mock_pulse_processor.h"
+#include "mock_worker.h"
+
+#include <stdbool.h>
+
+// Functions under test
+void lighthouseStorageInitializeGeoDataFromStorage();
+void lighthouseStorageInitializeCalibDataFromStorage();
+
+pulseProcessor_t lighthouseCoreState;
+
+void setUp(void) {
+ // Empty
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+
+void testThatGeoDataIsWrittenToStorage() {
+ // Fixture
+ storageStore_ExpectAndReturn("lh/sys/0/geo/1", &lighthouseCoreState.bsGeometry[1], sizeof(baseStationGeometry_t), true);
+
+ // Test
+ bool actual = lighthouseStoragePersistData(1, true, false);
+
+ // Actual
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatFailedGeoDataWriteToStorageReturnsFailure() {
+ // Fixture
+ storageStore_IgnoreAndReturn(false);
+
+ // Test
+ bool actual = lighthouseStoragePersistData(1, true, false);
+
+ // Actual
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatCalibDataIsWrittenToStorage() {
+ // Fixture
+ storageStore_ExpectAndReturn("lh/sys/0/cal/1", &lighthouseCoreState.bsCalibration[1], sizeof(lighthouseCalibration_t), true);
+
+ // Test
+ bool actual = lighthouseStoragePersistData(1, false, true);
+
+ // Actual
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatFailedCalibDataWriteToStorageReturnsFailure() {
+ // Fixture
+ storageStore_IgnoreAndReturn(false);
+
+ // Test
+ bool actual = lighthouseStoragePersistData(1, false, true);
+
+ // Actual
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatNoInitializationOfGeoIsDoneWhenStorageIsEmpty() {
+ // Fixture
+ storageFetch_IgnoreAndReturn(0);
+
+ // Test
+ lighthouseStorageInitializeGeoDataFromStorage();
+
+ // Actual
+ // Verified in mocks
+}
+
+void testInitializationOfGeoIsDoneFromStorage() {
+ // Fixture
+ int geoSize = sizeof(baseStationGeometry_t);
+ const void* ignored = 0;
+
+ for (int i = 0; i < PULSE_PROCESSOR_N_BASE_STATIONS; i++) {
+ storageFetch_ExpectAndReturn("Ignored", ignored, geoSize, geoSize);
+ storageFetch_IgnoreArg_key();
+ storageFetch_IgnoreArg_buffer();
+
+ lighthousePositionSetGeometryData_Expect(i, ignored);
+ lighthousePositionSetGeometryData_IgnoreArg_geometry();
+ }
+
+ // Test
+ lighthouseStorageInitializeGeoDataFromStorage();
+
+ // Actual
+ // Verified in mocks
+}
+
+void testThatNoInitializationOfCalibIsDoneWhenStorageIsEmpty() {
+ // Fixture
+ storageFetch_IgnoreAndReturn(0);
+
+ // Test
+ lighthouseStorageInitializeCalibDataFromStorage();
+
+ // Actual
+ // Verified in mocks
+}
+
+void testInitializationOfCalibIsDoneFromStorage() {
+ // Fixture
+ int calibSize = sizeof(lighthouseCalibration_t);
+ const void* ignored = 0;
+
+ for (int i = 0; i < PULSE_PROCESSOR_N_BASE_STATIONS; i++) {
+ storageFetch_ExpectAndReturn("Ignored", ignored, calibSize, calibSize);
+ storageFetch_IgnoreArg_key();
+ storageFetch_IgnoreArg_buffer();
+
+ lighthouseCoreSetCalibrationData_Expect(i, ignored);
+ lighthouseCoreSetCalibrationData_IgnoreArg_calibration();
+ }
+
+ // Test
+ lighthouseStorageInitializeCalibDataFromStorage();
+
+ // Actual
+ // Verified in mocks
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_kalman_supervisor.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_kalman_supervisor.c
new file mode 100644
index 0000000000000000000000000000000000000000..addb1a443d4021279b025bb46d938a7146112808
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_kalman_supervisor.c
@@ -0,0 +1,74 @@
+// File under test kalman_supervisor.c
+#include "kalman_supervisor.h"
+
+#include "unity.h"
+
+kalmanCoreData_t coreData;
+
+void setUp(void) {
+ memset(&coreData, 0, sizeof(coreData));
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+
+void testThatStationaryInOriginIsAccepted() {
+ // Fixture
+ bool expected = true;
+
+ // Test
+ bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+ // Assert
+ TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatPositionOutOfBoundsPositiveIsNotAccepted() {
+ // Fixture
+ bool expected = false;
+ coreData.S[KC_STATE_X] = 200;
+
+ // Test
+ bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+ // Assert
+ TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatPositionOutOfBoundsNegativeIsNotAccepted() {
+ // Fixture
+ bool expected = false;
+ coreData.S[KC_STATE_Z] = -200;
+
+ // Test
+ bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+ // Assert
+ TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatVelocityOutOfBoundsPositiveIsNotAccepted() {
+ // Fixture
+ bool expected = false;
+ coreData.S[KC_STATE_PX] = 20;
+
+ // Test
+ bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+ // Assert
+ TEST_ASSERT_EQUAL(actual, expected);
+}
+
+void testThatVelocityOutOfBoundsNegativeIsNotAccepted() {
+ // Fixture
+ bool expected = false;
+ coreData.S[KC_STATE_PZ] = -20;
+
+ // Test
+ bool actual = kalmanSupervisorIsStateWithinBounds(&coreData);
+
+ // Assert
+ TEST_ASSERT_EQUAL(actual, expected);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_outlier_filter.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_outlier_filter.c
new file mode 100644
index 0000000000000000000000000000000000000000..a2a3b28c350e79a297dc0de91d0b53137d3effc4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_outlier_filter.c
@@ -0,0 +1,231 @@
+// File under test outlierFilter.h
+#include "outlierFilter.h"
+
+#include "unity.h"
+
+#include "mock_cfassert.h"
+
+static tdoaMeasurement_t tdoa;
+
+// Helpers
+uint32_t fixtureCloseLhFilter(OutlierFilterLhState_t* this);
+uint32_t fixtureOpenLhFilter(OutlierFilterLhState_t* this);
+
+
+void setUp(void) {
+ // TDoA filter
+ tdoa.anchorPositions[0].x = 1.0;
+ tdoa.anchorPositions[0].y = 1.0;
+ tdoa.anchorPositions[0].z = 1.0;
+
+ tdoa.anchorPositions[1].x = 5.0;
+ tdoa.anchorPositions[1].y = 1.0;
+ tdoa.anchorPositions[1].z = 1.0;
+
+ tdoa.distanceDiff = 0.0;
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+
+void testThatSamplesAreAcceptedWhenTdoaIsCloserThanDistanceBetweenAnchors() {
+ // Fixture
+ tdoa.distanceDiff = 1.0;
+ bool expected = true;
+
+ // Test
+ bool actual = outlierFilterValidateTdoaSimple(&tdoa);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+void testThatSamplesAreRejectedWhenTdoaIsGreaterThanDistanceBetweenAnchors() {
+ // Fixture
+ tdoa.distanceDiff = 10.0;
+ bool expected = false;
+
+ // Test
+ bool actual = outlierFilterValidateTdoaSimple(&tdoa);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+void testThatSamplesAreRejectedWhenTdoaIsGreaterButNegativeThanDistanceBetweenAnchors() {
+ // Fixture
+ tdoa.distanceDiff = -10.0;
+ bool expected = false;
+
+ // Test
+ bool actual = outlierFilterValidateTdoaSimple(&tdoa);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+// Lighthouse filter tests ----------------------------------------------------------
+
+#define LH_DISTANCE 4
+#define LH_BAD_ANGLE 1
+#define LH_GOOD_ANGLE 0.0001
+#define LH_TIME_STEP (1000 / 120)
+
+// TOOD krri remove
+static void print(OutlierFilterLhState_t* this, uint32_t time) {
+ printf("win:%i openingTime:%i time:%i ", this->openingWindow, this->openingTime, time);
+ bool isFilterClosed = (time < this->openingTime);
+ if (isFilterClosed) {
+ printf("Is closed\n");
+ } else {
+ printf("Is open\n");
+ }
+}
+
+
+void testThatLhFilterLetsGoodSampleThroughWhenOpen() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureOpenLhFilter(&this);
+ bool expected = true;
+
+ // Test
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterLetsBadSampleThroughWhenOpen() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureOpenLhFilter(&this);
+ bool expected = true;
+
+ // Test
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterLetsGoodSampleThroughWhenClosed() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureCloseLhFilter(&this);
+ bool expected = true;
+
+ // Test
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterBlocksBadSampleWhenClosed() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureCloseLhFilter(&this);
+ bool expected = false;
+
+ // Test
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterOpensForManyBadSamples() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureCloseLhFilter(&this);
+
+ // Test, Assert
+ for (int i = 0; i < 10; i++) {
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+ time += LH_TIME_STEP;
+
+ // Should block the first 4 samples and let the rest through
+ bool expected = (i >= 4);
+ TEST_ASSERT_EQUAL(expected, actual);
+ }
+}
+
+void testThatLhFilterOpensAfterInactivity() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureCloseLhFilter(&this);
+ uint32_t newTime = time + LH_TIME_STEP * 200;
+ bool expected = true;
+
+ // Test
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, newTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterClosesAfterManyGoodSamples() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureOpenLhFilter(&this);
+
+ // Test
+ for (int i = 0; i < 7; i++) {
+ outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+ time += LH_TIME_STEP;
+ }
+
+ // Assert
+ bool expected = false;
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+void testThatLhFilterOpensWithMixedSamples() {
+ // Fixture
+ OutlierFilterLhState_t this;
+ uint32_t time = fixtureCloseLhFilter(&this);
+
+ // Test
+ for (int i = 0; i < 7; i++) {
+ outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+ outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+ time += LH_TIME_STEP;
+ }
+
+ // Assert
+ bool expected = true;
+ bool actual = outlierFilterValidateLighthouseSweep(&this, LH_DISTANCE, LH_BAD_ANGLE, time);
+ TEST_ASSERT_EQUAL(expected, actual);
+}
+
+
+// Helpers /////////////////////////////////////////////////////////////////////////////////
+uint32_t fixtureCloseLhFilter(OutlierFilterLhState_t* this) {
+ uint32_t time = 1000;
+
+ outlierFilterReset(this, time);
+ time += LH_TIME_STEP;
+
+ for (int i = 0; i < 20; i++) {
+ outlierFilterValidateLighthouseSweep(this, LH_DISTANCE, LH_GOOD_ANGLE, time);
+ time += LH_TIME_STEP;
+ }
+
+ return time;
+}
+
+uint32_t fixtureOpenLhFilter(OutlierFilterLhState_t* this) {
+ uint32_t time = 1000;
+
+ outlierFilterReset(this, time);
+ time += LH_TIME_STEP;
+
+ return time;
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_pptraj.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_pptraj.c
new file mode 100644
index 0000000000000000000000000000000000000000..5b0bbec0033a1a745ea40a6f93a347c27800ccc9
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/modules/src/test_pptraj.c
@@ -0,0 +1,433 @@
+// File under test pptraj.h and pptraj_compressed.h
+#include "pptraj.h"
+#include "pptraj_compressed.h"
+
+#include <stdlib.h>
+#include <string.h>
+
+#include "unity.h"
+
+// #define SHOW_OUTPUT
+
+struct poly4d figure8_pieces[] = {
+ {
+ .p = {
+ { 0.000000, -0.000000, 0.000000, -0.000000, 0.830443, -0.276140, -0.384219, 0.180493 },
+ { -0.000000, 0.000000, -0.000000, 0.000000, -1.356107, 0.688430, 0.587426, -0.329106 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 1.05
+ },
+ {
+ .p = {
+ { 0.396058, 0.918033, 0.128965, -0.773546, 0.339704, 0.034310, -0.026417, -0.030049 },
+ { -0.445604, -0.684403, 0.888433, 1.493630, -1.361618, -0.139316, 0.158875, 0.095799 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.71
+ },
+ {
+ .p = {
+ { 0.922409, 0.405715, -0.582968, -0.092188, -0.114670, 0.101046, 0.075834, -0.037926 },
+ { -0.291165, 0.967514, 0.421451, -1.086348, 0.545211, 0.030109, -0.050046, -0.068177 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.62
+ },
+ {
+ .p = {
+ { 0.923174, -0.431533, -0.682975, 0.177173, 0.319468, -0.043852, -0.111269, 0.023166 },
+ { 0.289869, 0.724722, -0.512011, -0.209623, -0.218710, 0.108797, 0.128756, -0.055461 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.7
+ },
+ {
+ .p = {
+ { 0.405364, -0.834716, 0.158939, 0.288175, -0.373738, -0.054995, 0.036090, 0.078627 },
+ { 0.450742, -0.385534, -0.954089, 0.128288, 0.442620, 0.055630, -0.060142, -0.076163 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.56
+ },
+ {
+ .p = {
+ { 0.001062, -0.646270, -0.012560, -0.324065, 0.125327, 0.119738, 0.034567, -0.063130 },
+ { 0.001593, -1.031457, 0.015159, 0.820816, -0.152665, -0.130729, -0.045679, 0.080444 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.56
+ },
+ {
+ .p = {
+ { -0.402804, -0.820508, -0.132914, 0.236278, 0.235164, -0.053551, -0.088687, 0.031253 },
+ { -0.449354, -0.411507, 0.902946, 0.185335, -0.239125, -0.041696, 0.016857, 0.016709 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.7
+ },
+ {
+ .p = {
+ { -0.921641, -0.464596, 0.661875, 0.286582, -0.228921, -0.051987, 0.004669, 0.038463 },
+ { -0.292459, 0.777682, 0.565788, -0.432472, -0.060568, -0.082048, -0.009439, 0.041158 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.62
+ },
+ {
+ .p = {
+ { -0.923935, 0.447832, 0.627381, -0.259808, -0.042325, -0.032258, 0.001420, 0.005294 },
+ { 0.288570, 0.873350, -0.515586, -0.730207, -0.026023, 0.288755, 0.215678, -0.148061 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 0.71
+ },
+ {
+ .p = {
+ { -0.398611, 0.850510, -0.144007, -0.485368, -0.079781, 0.176330, 0.234482, -0.153567 },
+ { 0.447039, -0.532729, -0.855023, 0.878509, 0.775168, -0.391051, -0.713519, 0.391628 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 },
+ { 0, 0, 0, 0, 0, 0, 0, 0 }
+ },
+ .duration = 1.05
+ },
+};
+
+const uint8_t figure8_compressed_pieces[] = {
+ /* initial position */
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+ /* t = 0.000s */
+ 0x0f, 0x1a, 0x04, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1d, 0x00, 0x7f, 0x00, 0x02, 0x01, 0x8c,
+ 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xd1, 0xff, 0x3e, 0xff, 0xa9, 0xfe, 0x42, 0xfe,
+
+ /* t = 1.050s */
+ 0x0f, 0xc6, 0x02, 0xe9, 0x01, 0x49, 0x02, 0xa5, 0x02, 0xf6, 0x02, 0x3a, 0x03, 0x71, 0x03, 0x9a,
+ 0x03, 0xfd, 0xfd, 0xcd, 0xfd, 0xc1, 0xfd, 0xe0, 0xfd, 0x23, 0xfe, 0x7b, 0xfe, 0xdd, 0xfe,
+
+ /* t = 1.760s */
+ 0x0f, 0x6c, 0x02, 0xbe, 0x03, 0xd8, 0x03, 0xe6, 0x03, 0xe7, 0x03, 0xdb, 0x03, 0xc1, 0x03, 0x9b,
+ 0x03, 0x33, 0xff, 0x90, 0xff, 0xee, 0xff, 0x47, 0x00, 0x98, 0x00, 0xe2, 0x00, 0x22, 0x01,
+
+ /* t = 2.380s */
+ 0x0f, 0xbc, 0x02, 0x70, 0x03, 0x35, 0x03, 0xec, 0x02, 0x98, 0x02, 0x40, 0x02, 0xe9, 0x01, 0x95,
+ 0x01, 0x6a, 0x01, 0xa7, 0x01, 0xd5, 0x01, 0xf2, 0x01, 0xfa, 0x01, 0xe9, 0x01, 0xc3, 0x01,
+
+ /* t = 3.080s */
+ 0x0f, 0x30, 0x02, 0x53, 0x01, 0x12, 0x01, 0xd6, 0x00, 0x9d, 0x00, 0x68, 0x00, 0x35, 0x00, 0x01,
+ 0x00, 0xa4, 0x01, 0x77, 0x01, 0x3c, 0x01, 0xf6, 0x00, 0xa7, 0x00, 0x54, 0x00, 0x02, 0x00,
+
+ /* t = 3.640s */
+ 0x0f, 0x30, 0x02, 0xcd, 0xff, 0x99, 0xff, 0x64, 0xff, 0x2b, 0xff, 0xee, 0xfe, 0xaf, 0xfe, 0x6d,
+ 0xfe, 0xaf, 0xff, 0x5d, 0xff, 0x0f, 0xff, 0xc9, 0xfe, 0x8e, 0xfe, 0x60, 0xfe, 0x3f, 0xfe,
+
+ /* t = 4.200s */
+ 0x0f, 0xbc, 0x02, 0x1b, 0xfe, 0xc6, 0xfd, 0x70, 0xfd, 0x1d, 0xfd, 0xd3, 0xfc, 0x95, 0xfc, 0x66,
+ 0xfc, 0x15, 0xfe, 0x01, 0xfe, 0x04, 0xfe, 0x1e, 0xfe, 0x4d, 0xfe, 0x8e, 0xfe, 0xdc, 0xfe,
+
+ /* t = 4.900s */
+ 0x0f, 0x6c, 0x02, 0x3d, 0xfc, 0x20, 0xfc, 0x11, 0xfc, 0x11, 0xfc, 0x20, 0xfc, 0x3c, 0xfc, 0x64,
+ 0xfc, 0x20, 0xff, 0x70, 0xff, 0xc6, 0xff, 0x21, 0x00, 0x7c, 0x00, 0xd3, 0x00, 0x21, 0x01,
+
+ /* t = 5.520s */
+ 0x0f, 0xc6, 0x02, 0x91, 0xfc, 0xce, 0xfc, 0x17, 0xfd, 0x69, 0xfd, 0xc1, 0xfd, 0x1b, 0xfe, 0x71,
+ 0xfe, 0x79, 0x01, 0xc5, 0x01, 0xfe, 0x01, 0x1b, 0x02, 0x17, 0x02, 0xf5, 0x01, 0xbf, 0x01,
+
+ /* t = 6.230s */
+ 0x0f, 0x1d, 0x04, 0xf1, 0xfe, 0x6a, 0xff, 0xca, 0xff, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+ 0x00, 0x6f, 0x01, 0xf2, 0x00, 0x64, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+ /* t = 7.28s */
+ 0x00, 0x00, 0x00
+};
+
+const uint8_t simplified_figure8_compressed_pieces[] = {
+ /* initial position */
+ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+
+ /* trajectory */
+ 0x10, 0xd0, 0x07, 0xdc, 0x05, 0x05, 0xd0, 0x07, 0xe8, 0x03, 0xe8, 0x03, 0x05, 0xd0, 0x07, 0xd0,
+ 0x07, 0x00, 0x00, 0x05, 0xd0, 0x07, 0xe8, 0x03, 0x18, 0xfc, 0x05, 0xd0, 0x07, 0x00, 0x00, 0x00,
+ 0x00, 0x05, 0xd0, 0x07, 0x18, 0xfc, 0xe8, 0x03, 0x05, 0xd0, 0x07, 0x30, 0xf8, 0x00, 0x00, 0x05,
+ 0xd0, 0x07, 0x18, 0xfc, 0x18, 0xfc, 0x05, 0xd0, 0x07, 0x00, 0x00, 0x00, 0x00, 0x10, 0xd0, 0x07,
+ 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+
+const uint8_t frame_compressed_pieces[] = {
+ /* initial position */
+ 0xb8, 0x0b, 0x58, 0x1b, 0xe8, 0x03, 0x00, 0x00,
+
+ /* trajectory */
+ 0x00, 0xf4, 0x01, 0x00, 0xf4, 0x01, 0x04, 0xf4, 0x01, 0xa8, 0x1b, 0x04, 0xf4, 0x01, 0xb4, 0x1e,
+ 0x04, 0xf4, 0x01, 0xc4, 0x22, 0x04, 0xf4, 0x01, 0xfc, 0x26, 0x04, 0xf4, 0x01, 0xda, 0x2a, 0x14,
+ 0xf4, 0x01, 0xec, 0x2c, 0xf2, 0x03, 0x10, 0xf4, 0x01, 0x96, 0x05, 0x10, 0xf4, 0x01, 0xf8, 0x07,
+ 0x10, 0xf4, 0x01, 0x8c, 0x0a, 0x10, 0xf4, 0x01, 0x20, 0x0d, 0x10, 0xf4, 0x01, 0x78, 0x0f, 0x14,
+ 0xf4, 0x01, 0xe2, 0x2c, 0xcc, 0x10, 0x04, 0xf4, 0x01, 0x30, 0x2a, 0x04, 0xf4, 0x01, 0xa2, 0x26,
+ 0x04, 0xf4, 0x01, 0xd8, 0x22, 0x04, 0xf4, 0x01, 0xfa, 0x1e, 0x04, 0xf4, 0x01, 0x08, 0x1b, 0x04,
+ 0xf4, 0x01, 0x16, 0x17, 0x04, 0xf4, 0x01, 0x38, 0x13, 0x04, 0xf4, 0x01, 0x78, 0x0f, 0x04, 0xf4,
+ 0x01, 0xfe, 0x0b, 0x14, 0xf4, 0x01, 0xc4, 0x09, 0xc2, 0x10, 0x10, 0xf4, 0x01, 0x1e, 0x0f, 0x10,
+ 0xf4, 0x01, 0xbc, 0x0c, 0x10, 0xf4, 0x01, 0x28, 0x0a, 0x10, 0xf4, 0x01, 0x94, 0x07, 0x10, 0xf4,
+ 0x01, 0x3c, 0x05, 0x14, 0xf4, 0x01, 0xce, 0x09, 0xe8, 0x03, 0x04, 0xf4, 0x01, 0xea, 0x0b, 0x04,
+ 0xf4, 0x01, 0xf6, 0x0e, 0x04, 0xf4, 0x01, 0x48, 0x12, 0x04, 0xf4, 0x01, 0x9a, 0x15, 0x04, 0xf4,
+ 0x01, 0xba, 0x18, 0x04, 0xf4, 0x01, 0x26, 0x1b, 0x14, 0xf4, 0x01, 0x58, 0x1b, 0x02, 0x03, 0x10,
+ 0xf4, 0x01, 0x3c, 0x00, 0x10, 0xf4, 0x01, 0xf0, 0x00, 0x14, 0xf4, 0x01, 0x9e, 0x1b, 0x8a, 0x02,
+ 0x14, 0xf4, 0x01, 0x8e, 0x1c, 0xde, 0x03, 0x14, 0xf4, 0x01, 0xd2, 0x1e, 0x4c, 0x04, 0x14, 0xf4,
+ 0x01, 0xd4, 0x21, 0x1a, 0x04, 0x14, 0xf4, 0x01, 0xd6, 0x24, 0xe8, 0x03, 0x14, 0xf4, 0x01, 0x9c,
+ 0x27, 0xf2, 0x03, 0x14, 0xf4, 0x01, 0xfe, 0x29, 0x60, 0x04, 0x14, 0xf4, 0x01, 0xa2, 0x2b, 0x82,
+ 0x05, 0x14, 0xf4, 0x01, 0x88, 0x2c, 0x4e, 0x07, 0x14, 0xf4, 0x01, 0xba, 0x2c, 0x74, 0x09, 0x14,
+ 0xf4, 0x01, 0x38, 0x2c, 0x90, 0x0b, 0x14, 0xf4, 0x01, 0x2a, 0x2b, 0x70, 0x0d, 0x14, 0xf4, 0x01,
+ 0xb8, 0x29, 0xe2, 0x0e, 0x14, 0xf4, 0x01, 0xce, 0x27, 0xe6, 0x0f, 0x14, 0xf4, 0x01, 0x3a, 0x25,
+ 0x90, 0x10, 0x14, 0xf4, 0x01, 0x4c, 0x22, 0xf4, 0x10, 0x14, 0xf4, 0x01, 0x36, 0x1f, 0x30, 0x11,
+ 0x14, 0xf4, 0x01, 0x02, 0x1c, 0x4e, 0x11, 0x14, 0xf4, 0x01, 0xce, 0x18, 0x44, 0x11, 0x14, 0xf4,
+ 0x01, 0x9a, 0x15, 0x1c, 0x11, 0x14, 0xf4, 0x01, 0x8e, 0x12, 0xcc, 0x10, 0x14, 0xf4, 0x01, 0xaa,
+ 0x0f, 0x54, 0x10, 0x14, 0xf4, 0x01, 0x3e, 0x0d, 0xa0, 0x0f, 0x14, 0xf4, 0x01, 0x7c, 0x0b, 0x7e,
+ 0x0e, 0x14, 0xf4, 0x01, 0x50, 0x0a, 0xf8, 0x0c, 0x14, 0xf4, 0x01, 0xce, 0x09, 0x18, 0x0b, 0x14,
+ 0xf4, 0x01, 0xf6, 0x09, 0xfc, 0x08, 0x14, 0xf4, 0x01, 0xc8, 0x0a, 0xf4, 0x06, 0x14, 0xf4, 0x01,
+ 0x30, 0x0c, 0x46, 0x05, 0x14, 0xf4, 0x01, 0xe8, 0x0d, 0x56, 0x04, 0x14, 0xf4, 0x01, 0xe6, 0x0f,
+ 0xfc, 0x03, 0x14, 0xf4, 0x01, 0xf8, 0x11, 0xe8, 0x03, 0x14, 0xf4, 0x01, 0x1e, 0x14, 0x06, 0x04,
+ 0x14, 0xf4, 0x01, 0x44, 0x16, 0x2e, 0x04, 0x14, 0xf4, 0x01, 0x6a, 0x18, 0x42, 0x04, 0x14, 0xf4,
+ 0x01, 0x40, 0x1a, 0xb6, 0x03, 0x14, 0xf4, 0x01, 0x08, 0x1b, 0xf4, 0x01, 0x14, 0xf4, 0x01, 0x58,
+ 0x1b, 0x00, 0x00, 0x15, 0xf4, 0x01, 0x90, 0x0b, 0x6c, 0x1b, 0xa0, 0x00, 0x15, 0xf4, 0x01, 0x36,
+ 0x0b, 0xa8, 0x1b, 0xfe, 0x01, 0x15, 0xf4, 0x01, 0x78, 0x0a, 0x20, 0x1c, 0xca, 0x03, 0x15, 0xf4,
+ 0x01, 0x10, 0x09, 0xfc, 0x1c, 0x8c, 0x05, 0x15, 0xf4, 0x01, 0x62, 0x07, 0xce, 0x1d, 0xbe, 0x05,
+ 0x15, 0xf4, 0x01, 0xd2, 0x05, 0xaa, 0x1e, 0x64, 0x05, 0x15, 0xf4, 0x01, 0x60, 0x04, 0x90, 0x1f,
+ 0xf6, 0x04, 0x15, 0xf4, 0x01, 0x02, 0x03, 0xa8, 0x20, 0x88, 0x04, 0x15, 0xf4, 0x01, 0xcc, 0x01,
+ 0xf2, 0x21, 0x24, 0x04, 0x15, 0xf4, 0x01, 0xc8, 0x00, 0xa0, 0x23, 0xe8, 0x03, 0x15, 0xf4, 0x01,
+ 0x14, 0x00, 0xe4, 0x25, 0x06, 0x04, 0x15, 0xf4, 0x01, 0x6e, 0x00, 0x0e, 0x29, 0xce, 0x04, 0x15,
+ 0xf4, 0x01, 0x76, 0x02, 0x16, 0x2b, 0xaa, 0x05, 0x15, 0xf4, 0x01, 0x32, 0x05, 0x42, 0x2c, 0x86,
+ 0x06, 0x15, 0xf4, 0x01, 0x34, 0x08, 0xc4, 0x2c, 0x76, 0x07, 0x15, 0xf4, 0x01, 0x36, 0x0b, 0xba,
+ 0x2c, 0x70, 0x08, 0x15, 0xf4, 0x01, 0x10, 0x0e, 0x38, 0x2c, 0x88, 0x09, 0x15, 0xf4, 0x01, 0x9a,
+ 0x10, 0x16, 0x2b, 0xbe, 0x0a, 0x15, 0xf4, 0x01, 0x98, 0x12, 0x40, 0x29, 0x30, 0x0c, 0x15, 0xf4,
+ 0x01, 0x92, 0x13, 0x66, 0x26, 0xfc, 0x0d, 0x15, 0xf4, 0x01, 0x1a, 0x13, 0x6e, 0x23, 0x82, 0x0f,
+ 0x15, 0xf4, 0x01, 0x02, 0x12, 0x66, 0x21, 0x54, 0x10, 0x15, 0xf4, 0x01, 0xae, 0x10, 0xc2, 0x1f,
+ 0xd6, 0x10, 0x15, 0xf4, 0x01, 0x32, 0x0f, 0x50, 0x1e, 0x26, 0x11, 0x15, 0xf4, 0x01, 0xac, 0x0d,
+ 0xfc, 0x1c, 0x4e, 0x11, 0x15, 0xf4, 0x01, 0x12, 0x0c, 0xbc, 0x1b, 0x62, 0x11, 0x15, 0xf4, 0x01,
+ 0x78, 0x0a, 0x90, 0x1a, 0x58, 0x11, 0x15, 0xf4, 0x01, 0xde, 0x08, 0x64, 0x19, 0x44, 0x11, 0x15,
+ 0xf4, 0x01, 0x3a, 0x07, 0x42, 0x18, 0x12, 0x11, 0x15, 0xf4, 0x01, 0xaa, 0x05, 0x0c, 0x17, 0xcc,
+ 0x10, 0x15, 0xf4, 0x01, 0x24, 0x04, 0xd6, 0x15, 0x72, 0x10, 0x15, 0xf4, 0x01, 0xb2, 0x02, 0x82,
+ 0x14, 0x04, 0x10, 0x15, 0xf4, 0x01, 0x68, 0x01, 0xfc, 0x12, 0x6e, 0x0f, 0x15, 0xf4, 0x01, 0x64,
+ 0x00, 0x30, 0x11, 0xb0, 0x0e, 0x15, 0xf4, 0x01, 0x32, 0x00, 0x92, 0x0e, 0x84, 0x0d, 0x15, 0xf4,
+ 0x01, 0x68, 0x01, 0x6c, 0x0c, 0x6c, 0x0c, 0x15, 0xf4, 0x01, 0x84, 0x03, 0x0e, 0x0b, 0x86, 0x0b,
+ 0x15, 0xf4, 0x01, 0x18, 0x06, 0x32, 0x0a, 0xbe, 0x0a, 0x15, 0xf4, 0x01, 0xf2, 0x08, 0xd8, 0x09,
+ 0xf6, 0x09, 0x15, 0xf4, 0x01, 0xea, 0x0b, 0xf6, 0x09, 0x2e, 0x09, 0x15, 0xf4, 0x01, 0xce, 0x0e,
+ 0x8c, 0x0a, 0x52, 0x08, 0x15, 0xf4, 0x01, 0x62, 0x11, 0xc2, 0x0b, 0x58, 0x07, 0x15, 0xf4, 0x01,
+ 0x38, 0x13, 0xe8, 0x0d, 0xfa, 0x05, 0x15, 0xf4, 0x01, 0x6a, 0x13, 0x12, 0x11, 0x74, 0x04, 0x15,
+ 0xf4, 0x01, 0xf2, 0x12, 0x1a, 0x13, 0xf2, 0x03, 0x15, 0xf4, 0x01, 0x5c, 0x12, 0x96, 0x14, 0xde,
+ 0x03, 0x15, 0xf4, 0x01, 0xa8, 0x11, 0xcc, 0x15, 0xfc, 0x03, 0x15, 0xf4, 0x01, 0xea, 0x10, 0xd0,
+ 0x16, 0x42, 0x04, 0x15, 0xf4, 0x01, 0x22, 0x10, 0xac, 0x17, 0x92, 0x04, 0x15, 0xf4, 0x01, 0x50,
+ 0x0f, 0x74, 0x18, 0xe2, 0x04, 0x15, 0xf4, 0x01, 0x74, 0x0e, 0x32, 0x19, 0x28, 0x05, 0x05, 0xf4,
+ 0x01, 0x84, 0x0d, 0xdc, 0x19, 0x15, 0xf4, 0x01, 0x9e, 0x0c, 0x90, 0x1a, 0xde, 0x03, 0x15, 0xf4,
+ 0x01, 0x30, 0x0c, 0xea, 0x1a, 0x94, 0x02, 0x15, 0xf4, 0x01, 0xf4, 0x0b, 0x1c, 0x1b, 0x90, 0x01,
+ 0x15, 0xf4, 0x01, 0xd6, 0x0b, 0x3a, 0x1b, 0xd2, 0x00, 0x15, 0xf4, 0x01, 0xc2, 0x0b, 0x4e, 0x1b,
+ 0x46, 0x00, 0x15, 0xf4, 0x01, 0xb8, 0x0b, 0x58, 0x1b, 0x00, 0x00, 0x00, 0x00, 0x00,
+};
+
+void setUp(void) {
+ // Empty
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+void testFigure8Evaluation(void) {
+ // Fixture
+ struct piecewise_traj traj;
+ float duration, t;
+
+ traj.t_begin = 2;
+ traj.timescale = 1;
+ traj.shift = vzero();
+ traj.n_pieces = sizeof(figure8_pieces) / sizeof(figure8_pieces[0]);
+ traj.pieces = figure8_pieces;
+ traj.shift = mkvec(-1, 2, 3);
+
+ // Test
+ duration = piecewise_duration(&traj);
+#ifdef SHOW_OUTPUT
+ printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+ for (t = traj.t_begin - 0.5; t < traj.t_begin + duration + 0.5; t += 0.1) {
+ struct traj_eval actual = piecewise_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+ printf(
+ "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+ t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+ actual.vel.x, actual.vel.y, actual.vel.z,
+ actual.acc.x, actual.acc.y, actual.acc.z
+ );
+#endif
+
+ TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+ TEST_ASSERT(fabs(actual.vel.x) <= 2.5f && fabs(actual.vel.y) <= 2.5f && fabs(actual.vel.z) <= 2.5f);
+ TEST_ASSERT(piecewise_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+ }
+
+ // Assert
+}
+
+void testCompressedFigure8Evaluation(void) {
+ // Fixture
+ struct piecewise_traj_compressed traj;
+ float duration, t;
+
+ piecewise_compressed_load(&traj, figure8_compressed_pieces);
+ traj.t_begin = 2;
+ traj.shift = mkvec(-1, 2, 3);
+
+ // Test
+ duration = piecewise_compressed_duration(&traj);
+#ifdef SHOW_OUTPUT
+ printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+ for (t = traj.t_begin - 0.5; t < traj.t_begin + duration + 0.5; t += 0.1) {
+ struct traj_eval actual = piecewise_compressed_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+ printf(
+ "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+ t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+ actual.vel.x, actual.vel.y, actual.vel.z,
+ actual.acc.x, actual.acc.y, actual.acc.z
+ );
+#endif
+
+ TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+ TEST_ASSERT(fabs(actual.vel.x) <= 2.5f && fabs(actual.vel.y) <= 2.5f && fabs(actual.vel.z) <= 2.5f);
+ TEST_ASSERT(piecewise_compressed_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+ }
+
+ // Assert
+}
+
+void testCompressedFrameEvaluation(void) {
+ // Fixture
+ struct piecewise_traj_compressed traj;
+ float duration, t;
+
+ piecewise_compressed_load(&traj, frame_compressed_pieces);
+ traj.t_begin = 0;
+ traj.shift = mkvec(0, 0, 0);
+
+ // Test
+ duration = piecewise_compressed_duration(&traj);
+#ifdef SHOW_OUTPUT
+ printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+ for (t = traj.t_begin; t < traj.t_begin + duration; t += 0.1) {
+ struct traj_eval actual = piecewise_compressed_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+ printf(
+ "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+ t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+ actual.vel.x, actual.vel.y, actual.vel.z,
+ actual.acc.x, actual.acc.y, actual.acc.z
+ );
+#endif
+
+ TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+ TEST_ASSERT(fabs(actual.vel.x) <= 2.5f && fabs(actual.vel.y) <= 2.5f && fabs(actual.vel.z) <= 2.5f);
+ TEST_ASSERT(piecewise_compressed_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+ }
+
+ // Assert
+}
+
+void testCompressedSimplifiedFigure8Evaluation(void) {
+ // Fixture
+ struct piecewise_traj_compressed traj;
+ float duration, t;
+
+ piecewise_compressed_load(&traj, simplified_figure8_compressed_pieces);
+ traj.t_begin = 2;
+ traj.shift = mkvec(-1, 2, 3);
+
+ // Test
+ duration = piecewise_compressed_duration(&traj);
+#ifdef SHOW_OUTPUT
+ printf("t\tx\ty\tz\tyaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+ for (t = traj.t_begin - 0.5; t < traj.t_begin + duration + 0.5; t += 0.1) {
+ struct traj_eval actual = piecewise_compressed_eval(&traj, t);
+#ifdef SHOW_OUTPUT
+ printf(
+ "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+ t, actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+ actual.vel.x, actual.vel.y, actual.vel.z,
+ actual.acc.x, actual.acc.y, actual.acc.z
+ );
+#endif
+
+ TEST_ASSERT(!isnan(actual.pos.x) && !isnan(actual.pos.y) && !isnan(actual.pos.z));
+ TEST_ASSERT(piecewise_compressed_is_finished(&traj, t) == (t >= traj.t_begin + duration));
+ }
+
+ // Assert
+}
+
+#define MAX(a, b) ((a) > (b) ? (a) : (b))
+
+void testCompressedFigure8RandomOrderQueries(void) {
+ // Fixture
+ struct piecewise_traj traj;
+ struct piecewise_traj_compressed ctraj;
+ float duration, t, diff, maxdiff;
+ int i;
+
+ traj.t_begin = 2;
+ traj.timescale = 1;
+ traj.shift = vzero();
+ traj.n_pieces = sizeof(figure8_pieces) / sizeof(figure8_pieces[0]);
+ traj.pieces = figure8_pieces;
+ traj.shift = mkvec(-1, 2, 3);
+
+ piecewise_compressed_load(&ctraj, figure8_compressed_pieces);
+ ctraj.t_begin = 2;
+ ctraj.shift = mkvec(-1, 2, 3);
+
+ // Test
+ duration = piecewise_compressed_duration(&ctraj);
+#ifdef SHOW_OUTPUT
+ printf("t\tdiff\tx\ty\tz\tyaw\texp_x\texp_y\texp_z\texp_yaw\tvx\tvy\tvz\tax\tay\taz\n");
+#endif
+ i = 1000; maxdiff = 0.0;
+ for (i = 0; i < 10; i++) {
+ struct traj_eval actual, expected;
+
+ t = ctraj.t_begin + (rand() / (float)RAND_MAX) * (duration + 1) - 0.5;
+
+ actual = piecewise_compressed_eval(&ctraj, t);
+ expected = piecewise_eval(&traj, t);
+
+ diff = 0.0;
+ diff = MAX(diff, fabs(actual.pos.x - expected.pos.x));
+ diff = MAX(diff, fabs(actual.pos.y - expected.pos.y));
+ diff = MAX(diff, fabs(actual.pos.z - expected.pos.z));
+ diff = MAX(diff, fabs(actual.yaw - expected.yaw));
+
+#ifdef SHOW_OUTPUT
+ printf(
+ "%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\t%.4f\n",
+ t, diff,
+ actual.pos.x, actual.pos.y, actual.pos.z, actual.yaw,
+ expected.pos.x, expected.pos.y, expected.pos.z, expected.yaw
+ );
+#endif
+
+ maxdiff = MAX(diff, maxdiff);
+ }
+
+ // Assert
+ TEST_ASSERT_FLOAT_WITHIN(0.02, 0, maxdiff);
+#ifdef SHOW_OUTPUT
+ printf("Maximum difference = %.4f\n", maxdiff);
+#endif
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/platform/test_platform.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/platform/test_platform.c
new file mode 100644
index 0000000000000000000000000000000000000000..a0cccc4de7cf92e2149af0eb2cc53b26381411dd
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/platform/test_platform.c
@@ -0,0 +1,160 @@
+// File under test platform.c
+#include "platform.h"
+
+#include "unity.h"
+#include <string.h>
+
+
+static char actualDeviceType[100];
+
+
+// Mock implementation
+static char* deviceTypeStringToReturn = "";
+void platformGetDeviceTypeString(char* deviceTypeString) {
+ strcpy(deviceTypeString, deviceTypeStringToReturn);
+}
+
+#define CONFIG_COUNT 3
+static platformConfig_t fixtureConfig[CONFIG_COUNT];
+
+void setUp(void) {
+ strcpy(actualDeviceType, "abcdefghijklmn");
+ deviceTypeStringToReturn = "";
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+void testThatDeviceTypeStringIsReturned() {
+ // Fixture
+ const char* deviceTypeString = "0;CF20";
+
+ // Test
+ int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("CF20", actualDeviceType);
+ TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeStringIsReturnedWithTrailingSemiColonAndKeyValues() {
+ // Fixture
+ const char* deviceTypeString = "0;CF21;R=C";
+
+ // Test
+ int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("CF21", actualDeviceType);
+ TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeStringIsReturnedWhenTypeIdentifierIsShorterThan4Chars() {
+ // Fixture
+ const char* deviceTypeString = "0;AB;R=C";
+
+ // Test
+ int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("AB", actualDeviceType);
+ TEST_ASSERT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedWhenTypeIdentifierIsTooLong() {
+ // Fixture
+ const char* deviceTypeString = "0;CF21XXX;R=C";
+
+ // Test
+ int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+ // Assert
+ TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedIfVersionIfNot0() {
+ // Fixture
+ const char* deviceTypeString = "1;CF21";
+
+ // Test
+ int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+ // Assert
+ TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatDeviceTypeIsNotReturnedIfSecondCharIsNotSemicolon() {
+ // Fixture
+ const char* deviceTypeString = "0+CF21";
+
+ // Test
+ int actual = platformParseDeviceTypeString(deviceTypeString, actualDeviceType);
+
+ // Assert
+ TEST_ASSERT_NOT_EQUAL(0, actual);
+}
+
+void testThatFirstMatchingPlatformConfigIsReturned() {
+ // Fixture
+ deviceTypeStringToReturn = "0;ASD";
+
+ // Test
+ int actual = platformInitConfiguration(fixtureConfig, CONFIG_COUNT);
+
+ // Assert
+ const char* actualName = platformConfigGetDeviceTypeName();
+
+ TEST_ASSERT_EQUAL(0, actual);
+ TEST_ASSERT_EQUAL_STRING("Second", actualName);
+}
+
+void testThatErrorIsReturnedWhenDeviceIsNotInConfig() {
+ // Fixture
+ deviceTypeStringToReturn = "0;WRNG";
+
+ // Test
+ int actual = platformInitConfiguration(fixtureConfig, CONFIG_COUNT);
+
+ // Assert
+ TEST_ASSERT_EQUAL(1, actual);
+}
+
+void testThatItIsNotSearchingOutsideListOfPlatformConfigs() {
+ // Fixture
+ deviceTypeStringToReturn = "0;ZXC";
+
+ // Test
+ int actual = platformInitConfiguration(fixtureConfig, CONFIG_COUNT - 1);
+
+ // Assert
+ TEST_ASSERT_EQUAL(1, actual);
+}
+
+
+
+// Dummy implementations -------------------
+
+const platformConfig_t* platformGetListOfConfigurations(int* nrOfConfigs){
+ return 0;
+}
+
+void platformInitHardware(){}
+
+// Fixtures -------------------------
+
+
+static platformConfig_t fixtureConfig[CONFIG_COUNT] = {
+ {
+ .deviceType = "QWE",
+ .deviceTypeName = "First",
+ },
+ {
+ .deviceType = "ASD",
+ .deviceTypeName = "Second",
+ },
+ {
+ .deviceType = "ZXC",
+ .deviceTypeName = "Third",
+ }
+};
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/platform/test_platform_stm32f4.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/platform/test_platform_stm32f4.c
new file mode 100644
index 0000000000000000000000000000000000000000..47ef5605589006cd7387b8112878a9d901922a8b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/platform/test_platform_stm32f4.c
@@ -0,0 +1,113 @@
+// File under test platform_stm32f4.c
+
+// @MODULE "platform_stm32f4.c"
+#include "platform.h" // @NO_MODULE
+
+#include "unity.h"
+#include <string.h>
+
+
+#define PLATFORM_INFO_OTP_NR_OF_BLOCKS 16
+#define PLATFORM_INFO_OTP_BLOCK_LEN 32
+static char mockOtpBlocks[PLATFORM_INFO_OTP_NR_OF_BLOCKS][PLATFORM_INFO_OTP_BLOCK_LEN];
+
+static void fixtureInitOtpBlocks();
+static void fixtureSetOtpBlockString(const int blockNr, const char* content);
+static void fixtureClearOtpBlock(const int blockNr);
+
+void setUp(void) {
+ fixtureInitOtpBlocks();
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+void testThatFirstBlockIsReturnedIfSet() {
+ // Fixture
+ fixtureSetOtpBlockString(0, "0;CF21");
+
+ char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+ // Test
+ platformGetDeviceTypeString(actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("0;CF21", actual);
+}
+
+void testThatLAterBlockIsReturnedIfEarlierBlockAreCleared() {
+ // Fixture
+ fixtureClearOtpBlock(0);
+ fixtureClearOtpBlock(1);
+ fixtureClearOtpBlock(2);
+ fixtureSetOtpBlockString(3, "0;CF21");
+
+ char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+ // Test
+ platformGetDeviceTypeString(actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("0;CF21", actual);
+}
+
+void testThatDefaultPlatformStringIsCF20IfNoInfoIsSet() {
+ // Fixture
+ char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+ // Test
+ platformGetDeviceTypeString(actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("0;CF20", actual);
+}
+
+void testThatDefaultPlatformStringIsCF20IfAllBlocksAreCleared() {
+ // Fixture
+ memset(mockOtpBlocks, 0x00, sizeof(mockOtpBlocks));
+
+ char actual[PLATFORM_DEVICE_TYPE_STRING_MAX_LEN];
+
+ // Test
+ platformGetDeviceTypeString(actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("0;CF20", actual);
+}
+
+void testThatNoMoreThanTheBlockSizeIsCopiedIfTheBlockIsNotNullTerminated() {
+ // Fixture
+ // Set the block to a string that is longer than the block size of 32
+ fixtureSetOtpBlockString(0, "0123456789012345678901234567890123456789");
+
+ char actual[100];
+
+ // Test
+ platformGetDeviceTypeString(actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING("01234567890123456789012345678901", actual);
+}
+
+
+
+// Replaces function in file under test
+char* getAddressOfOtpMemoryBlock(const int blockNr) {
+ return mockOtpBlocks[blockNr];
+}
+
+
+// Fixtures
+
+static void fixtureInitOtpBlocks() {
+ memset(mockOtpBlocks, 0xff, sizeof(mockOtpBlocks));
+}
+
+static void fixtureSetOtpBlockString(const int blockNr, const char* content) {
+ strcpy(mockOtpBlocks[blockNr], content);
+}
+
+static void fixtureClearOtpBlock(const int blockNr) {
+ memset(mockOtpBlocks[blockNr], 0, PLATFORM_INFO_OTP_BLOCK_LEN);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/crtp_localization_serviceMocks.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/crtp_localization_serviceMocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..509239d4da49b43f36c5d8f5b5cde78c23e14b4b
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/crtp_localization_serviceMocks.c
@@ -0,0 +1,6 @@
+#include <stdint.h>
+
+void locSrvSendRangeFloat(uint8_t id, float range)
+{
+ // Do nothing
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/crtp_localization_serviceMocks.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/crtp_localization_serviceMocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/dw1000Mocks.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/dw1000Mocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..45503d0d7abcf8ccd8bb23207d1b8c824afc844c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/dw1000Mocks.c
@@ -0,0 +1,105 @@
+#include "dw1000Mocks.h"
+
+#include <string.h>
+#include "unity.h"
+#include "mock_libdw1000.h"
+
+
+// dwGetData mock /////////////////////////////////////////////////////////////
+
+#define DW_GET_DATA_MAX_CALLS 100
+
+static struct {
+ dwDevice_t* expectedDev;
+ unsigned int expectedDataLength;
+ packet_t packet;
+} dwGetDataContexts[DW_GET_DATA_MAX_CALLS];
+
+static int dwGetDataMockCallIndex = 0;
+
+static void dwGetDataMockCallback(dwDevice_t* actualDev, uint8_t* data, unsigned int actualDataLength, int cmock_num_calls) {
+ TEST_ASSERT_EQUAL_PTR(dwGetDataContexts[cmock_num_calls].expectedDev, actualDev);
+ TEST_ASSERT_EQUAL_UINT(dwGetDataContexts[cmock_num_calls].expectedDataLength, actualDataLength);
+
+ memcpy(data, &dwGetDataContexts[cmock_num_calls].packet, actualDataLength);
+}
+
+void dwGetData_ExpectAndCopyData(dwDevice_t* expDev, const packet_t* rxPacket, unsigned int expDataLength) {
+ TEST_ASSERT_TRUE(dwGetDataMockCallIndex < DW_GET_DATA_MAX_CALLS);
+
+ dwGetDataContexts[dwGetDataMockCallIndex].expectedDev = expDev;
+ dwGetDataContexts[dwGetDataMockCallIndex].expectedDataLength = expDataLength;
+ memcpy(&dwGetDataContexts[dwGetDataMockCallIndex].packet, rxPacket, sizeof(packet_t));
+
+ dwGetData_StubWithCallback(dwGetDataMockCallback);
+
+ dwGetDataMockCallIndex++;
+}
+
+void dwGetData_resetMock() {
+ dwGetDataMockCallIndex = 0;
+}
+
+
+// dwGetTransmitTimestamp mock ////////////////////////////////////////////////
+
+#define DW_GET_TRANSMIT_TIMESTAMP_MAX_CALLS 100
+
+static struct {
+ dwDevice_t* expectedDev;
+ dwTime_t time;
+} dwGetTransmitTimestampContexts[DW_GET_TRANSMIT_TIMESTAMP_MAX_CALLS];
+
+static int dwGetTransmitTimestampMockCallIndex = 0;
+
+static void dwGetTransmitTimestampMockCallback(dwDevice_t* actualDev, dwTime_t* time, int cmock_num_calls) {
+ TEST_ASSERT_EQUAL_PTR(dwGetTransmitTimestampContexts[cmock_num_calls].expectedDev, actualDev);
+ memcpy(time, &dwGetTransmitTimestampContexts[cmock_num_calls].time, sizeof(dwTime_t));
+}
+
+void dwGetTransmitTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time) {
+ TEST_ASSERT_TRUE(dwGetTransmitTimestampMockCallIndex < DW_GET_TRANSMIT_TIMESTAMP_MAX_CALLS);
+
+ dwGetTransmitTimestampContexts[dwGetTransmitTimestampMockCallIndex].expectedDev = expDev;
+ memcpy(&dwGetTransmitTimestampContexts[dwGetTransmitTimestampMockCallIndex].time, time, sizeof(dwTime_t));
+
+ dwGetTransmitTimestamp_StubWithCallback(dwGetTransmitTimestampMockCallback);
+
+ dwGetTransmitTimestampMockCallIndex++;
+}
+
+void dwGetTransmitTimestamp_resetMock() {
+ dwGetTransmitTimestampMockCallIndex = 0;
+}
+
+
+// dwGetReceiveTimestamp mock /////////////////////////////////////////////////
+
+#define DW_GET_RECEIVE_TIMESTAMP_MAX_CALLS 100
+
+static struct {
+ dwDevice_t* expectedDev;
+ dwTime_t time;
+} dwGetReceiveTimestampContexts[DW_GET_RECEIVE_TIMESTAMP_MAX_CALLS];
+
+int dwGetReceiveTimestampMockCallIndex = 0;
+
+static void dwGetReceiveTimestampMockCallback(dwDevice_t* actualDev, dwTime_t* time, int cmock_num_calls) {
+ TEST_ASSERT_EQUAL_PTR(dwGetReceiveTimestampContexts[cmock_num_calls].expectedDev, actualDev);
+ memcpy(time, &dwGetReceiveTimestampContexts[cmock_num_calls].time, sizeof(dwTime_t));
+}
+
+void dwGetReceiveTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time) {
+ TEST_ASSERT_TRUE(dwGetReceiveTimestampMockCallIndex < DW_GET_RECEIVE_TIMESTAMP_MAX_CALLS);
+
+ dwGetReceiveTimestampContexts[dwGetReceiveTimestampMockCallIndex].expectedDev = expDev;
+ memcpy(&dwGetReceiveTimestampContexts[dwGetReceiveTimestampMockCallIndex].time, time, sizeof(dwTime_t));
+
+ dwGetReceiveTimestamp_StubWithCallback(dwGetReceiveTimestampMockCallback);
+
+ dwGetReceiveTimestampMockCallIndex++;
+}
+
+void dwGetReceiveTimestamp_resetMock() {
+ dwGetReceiveTimestampMockCallIndex = 0;
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/dw1000Mocks.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/dw1000Mocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..b7e68480a186293f4d379c949f58eefbdec36cf2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/dw1000Mocks.h
@@ -0,0 +1,16 @@
+#ifndef __DW_1000_MOCKS_H__
+#define __DW_1000_MOCKS_H__
+
+#include "libdw1000Types.h"
+#include "mac.h"
+
+void dwGetData_ExpectAndCopyData(dwDevice_t* expDev, const packet_t* rxPacket, unsigned int expDataLength);
+void dwGetData_resetMock();
+
+void dwGetTransmitTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time);
+void dwGetTransmitTimestamp_resetMock();
+
+void dwGetReceiveTimestamp_ExpectAndCopyData(dwDevice_t* expDev, const dwTime_t* time);
+void dwGetReceiveTimestamp_resetMock();
+
+#endif // __DW_1000_MOCKS_H__
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/freertosMocks.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/freertosMocks.c
new file mode 100644
index 0000000000000000000000000000000000000000..60725cbea51fc244181c0b73c8b0ce84429d8905
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/freertosMocks.c
@@ -0,0 +1,10 @@
+#include <stdint.h>
+
+uint32_t xTaskGetTickCount()
+{
+ return 1;
+}
+
+void vTaskDelay(uint32_t delay) {
+ return;
+}
\ No newline at end of file
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/freertosMocks.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/testSupport/freertosMocks.h
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/kve/test_kve_storage.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/kve/test_kve_storage.c
new file mode 100644
index 0000000000000000000000000000000000000000..763fe62b95059d1abbc60907ee1eda824db476e2
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/kve/test_kve_storage.c
@@ -0,0 +1,250 @@
+#include "kve/kve_storage.h"
+
+#include "unity.h"
+#include <string.h>
+
+#define TEST_MEMORY_SIZE 100
+
+static size_t min(size_t a, size_t b)
+{
+ if (a < b) {
+ return a;
+ } else {
+ return b;
+ }
+}
+
+char memory[TEST_MEMORY_SIZE];
+char cacheMemory[TEST_MEMORY_SIZE];
+
+size_t kvememoryRead(size_t address, void* data, size_t length) {
+ if(address > TEST_MEMORY_SIZE) {
+ return 0;
+ }
+ size_t toRead = min(length, TEST_MEMORY_SIZE - address);
+ memcpy(data, &memory[address], toRead);
+
+ return toRead;
+}
+
+size_t kvememoryWrite(size_t address, const void* data, size_t length) {
+ if(address > TEST_MEMORY_SIZE) {
+ return 0;
+ }
+ size_t toWrite = min(length, TEST_MEMORY_SIZE - address);
+ memcpy(&cacheMemory[address], data, toWrite);
+
+ return toWrite;
+}
+
+void kvememoryFlush() {
+ memcpy(memory, cacheMemory, TEST_MEMORY_SIZE);
+}
+
+kveMemory_t kveMemory = {
+ .memorySize = TEST_MEMORY_SIZE,
+ .read = kvememoryRead,
+ .write = kvememoryWrite,
+ .flush = kvememoryFlush,
+};
+
+void setUp(void) {
+ // The full memory is initialized to the characted 'a'
+ memset(memory, 'a', TEST_MEMORY_SIZE);
+ memset(cacheMemory, 'a', TEST_MEMORY_SIZE);
+}
+
+void testThatWriteItemDoesWriteTheItemAtTheRightAddress() {
+ // Fixture
+ size_t address = 42;
+ char *key = "hello";
+ void *buffer = "world";
+ size_t bufferLength = 5;
+
+ size_t expectedItemSize = 3 + strlen(key) + strlen(buffer);
+ char *expectedItemInMemory = "a\x0d\x00\x05helloworlda";
+
+
+ // Test
+ size_t itemSize = kveStorageWriteItem(&kveMemory, address, key, buffer, bufferLength);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expectedItemSize, itemSize);
+ TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[address-1], expectedItemSize+2);
+}
+
+void testThatWriteHoleDoesWriteAHoleAtTheRightAddress() {
+ // Fixture
+ memset(memory, 'a', TEST_MEMORY_SIZE);
+
+ size_t address = 42;
+ uint16_t length = 5;
+
+ size_t expectedItemSize = length;
+ char *expectedItemInMemory = "a\x05\0\0aa";
+
+
+ // Test
+ size_t itemSize = kveStorageWriteHole(&kveMemory, address, length);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expectedItemSize, itemSize);
+ TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[address - 1], expectedItemSize + 1);
+}
+
+void testThatWriteEndDoesWriteTheEndAtTheRightAddress() {
+ // Fixture
+ memset(memory, 'a', TEST_MEMORY_SIZE);
+
+ size_t address = 42;
+
+ size_t expectedItemSize = 2;
+ char *expectedItemInMemory = "a\xff\xff" "a";
+
+
+ // Test
+ size_t itemSize = kveStorageWriteEnd(&kveMemory, address);
+
+ // Assert
+ TEST_ASSERT_EQUAL(expectedItemSize, itemSize);
+ TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[address - 1], expectedItemSize + 2);
+}
+
+void testThatMoveMemoryDoesMoveAnItem() {
+ // Fixture
+ size_t address = 42;
+ size_t newAddress = 7;
+ char *key = "hello";
+ void *buffer = "world";
+ size_t bufferLength = 5;
+
+ char *expectedItemInMemory = "\x0d\x00\x05helloworld";
+
+ // Create an item
+ size_t itemSize = kveStorageWriteItem(&kveMemory, address, key, buffer, bufferLength);
+
+ // Test
+ kveStorageMoveMemory(&kveMemory, address, newAddress, itemSize);
+
+ // Assert
+ TEST_ASSERT_EQUAL_MEMORY(expectedItemInMemory, &memory[newAddress], itemSize);
+}
+
+void testThatFindItemByKeyFindsAnItem() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t world_address = 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+
+ // Test
+ size_t found_address = kveStorageFindItemByKey(&kveMemory, 0, "world");
+
+ // Assert
+ TEST_ASSERT_EQUAL(world_address, found_address);
+}
+
+void testThatFindItemByKeyDoNotFindAnItemWhenSearchingAfterIt() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t world_address = 13;
+ size_t end_address = world_address + 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+ kveStorageWriteEnd(&kveMemory, end_address);
+
+
+ // Test
+ size_t found_address = kveStorageFindItemByKey(&kveMemory, world_address, "hello");
+
+ // Assert
+ TEST_ASSERT_FALSE(KVE_STORAGE_IS_VALID(found_address));
+}
+
+void testThatFindEndFindsTheEnd() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t world_address = 13;
+ size_t end_address = world_address + 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+ kveStorageWriteEnd(&kveMemory, end_address);
+
+ // Test
+ size_t found_address = kveStorageFindEnd(&kveMemory, 0);
+
+ // Assert
+ TEST_ASSERT_EQUAL(end_address, found_address);
+}
+
+void testThatFindEndReturnInvalidAddressIfNoEnd() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t world_address = 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+
+ // Test
+ size_t found_address = kveStorageFindEnd(&kveMemory, 0);
+
+ // Assert
+ TEST_ASSERT_FALSE(KVE_STORAGE_IS_VALID(found_address));
+}
+
+void testThatFindNextItemFindsTheNextItem() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t world_address = 13;
+ size_t end_address = world_address + 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+ kveStorageWriteEnd(&kveMemory, end_address);
+
+ // Test
+ size_t found_address = kveStorageFindNextItem(&kveMemory, hello_address);
+
+ // Assert
+ TEST_ASSERT_EQUAL(world_address, found_address);
+}
+
+void testThatFindNextItemReturnInvalidAddressIfNoMoreItem() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t world_address = 13;
+ size_t end_address = world_address + 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+ kveStorageWriteEnd(&kveMemory, end_address);
+
+ // Test
+ size_t found_address = kveStorageFindNextItem(&kveMemory, world_address);
+
+ // Assert
+ TEST_ASSERT_FALSE(KVE_STORAGE_IS_VALID(found_address));
+}
+
+void testThatFindNextItemJumpsOverHoles() {
+ // Fixture
+ size_t hello_address = 0;
+ size_t hole_address = 13;
+ size_t hole_length = 10;
+ size_t world_address = 23;
+ size_t end_address = world_address + 13;
+
+ kveStorageWriteItem(&kveMemory, hello_address, "hello", "world", 5);
+ kveStorageWriteHole(&kveMemory, hole_address, hole_length);
+ kveStorageWriteItem(&kveMemory, world_address, "world", "hello", 5);
+ kveStorageWriteEnd(&kveMemory, end_address);
+
+ // Test
+ size_t found_address = kveStorageFindNextItem(&kveMemory, hello_address);
+
+ // Assert
+ TEST_ASSERT_EQUAL(world_address, found_address);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_lighthouse_geometry.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_lighthouse_geometry.c
new file mode 100644
index 0000000000000000000000000000000000000000..5b0e980455a4b7e3a93269a719227391bbbf405f
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_lighthouse_geometry.c
@@ -0,0 +1,258 @@
+#include "lighthouse_geometry.h"
+
+#include <stdlib.h>
+#include <string.h>
+#include "unity.h"
+
+#include "mock_cfassert.h"
+
+
+// Build the arm dsp math lib and use the "real thing" instead of mocking calls to it
+// @BUILD_LIB ARM_DSP_MATH
+
+void setUp(void) {
+}
+
+void testThatBaseStationPositionIsExtracted() {
+ // Fixture
+ vec3d actual;
+ baseStationGeometry_t baseStationGeometry = {.origin = {1.0, 1.0, 3.0, }};
+
+ vec3d expected = {1.0, 1.0, 3.0};
+
+ // Test
+ lighthouseGeometryGetBaseStationPosition(&baseStationGeometry, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromNonRotatedBaseStation() {
+ // Fixture
+ baseStationGeometry_t bsGeo = {.mat = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}};
+
+ float angle1 = 0.0f;
+ float angle2 = 0.0f;
+ vec3d actual;
+
+ vec3d expected = {1.0, 0.0, 0.0};
+
+ // Test
+ lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromRotatedBaseStation() {
+ // Fixture
+
+ // Rotation about Y-axis
+ float rotY = 0.1;
+ baseStationGeometry_t bsGeo = {.mat = {{cos(rotY), 0, sin(rotY)}, {0, 1, 0}, {-sin(rotY), 0, cos(rotY)}}};
+
+ float angle1 = 0.0f;
+ float angle2 = 0.0f;
+ vec3d actual;
+
+ vec3d expected = {cos(rotY), 0.0, -sin(rotY)};
+
+ // Test
+ lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromNonRotatedBaseStationWithHorizontalSweepAngle() {
+ // Fixture
+ baseStationGeometry_t bsGeo = {.mat = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}};
+
+ float angle1 = 0.1f;
+ float angle2 = 0.0f;
+ vec3d actual;
+
+ vec3d expected = {cos(angle1), sin(angle1), 0.0};
+
+ // Test
+ lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatRayIsCalculatedFromNonRotatedBaseStationWithVerticalSweepAngle() {
+ // Fixture
+ baseStationGeometry_t bsGeo = {.mat = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}}};
+
+ float angle1 = 0.0f;
+ float angle2 = 0.1f;
+ vec3d actual;
+
+ vec3d expected = {cos(angle2), 0.0, sin(angle2)};
+
+ // Test
+ lighthouseGeometryGetRay(&bsGeo, angle1, angle2, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatIntersectionPointIsFoundForLinePerpendicularToPlane() {
+ // Fixture
+ vec3d linePoint = {1, 1, 2};
+ vec3d lineVec = {0, 0, -1};
+ vec3d planePoint = {0, 0, 1};
+ vec3d planeNormal = {0, 0, 1};
+
+ vec3d actualIntersecionPoint;
+
+ vec3d expected = {1, 1, 1};
+
+ // Test
+ bool actualFound = lighthouseGeometryIntersectionPlaneVector(linePoint, lineVec, planePoint, planeNormal, actualIntersecionPoint);
+
+ // Assert
+ TEST_ASSERT_TRUE(actualFound);
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actualIntersecionPoint, vec3d_size);
+}
+
+void testThatNoIntersectionPointIsFoundForLineParallelToPlane() {
+ // Fixture
+ vec3d linePoint = {1, 1, 2};
+ vec3d lineVec = {1, 1, 0};
+ vec3d planePoint = {0, 0, 1};
+ vec3d planeNormal = {0, 0, 1};
+
+ vec3d actualIntersecionPoint;
+
+ // Test
+ bool actualFound = lighthouseGeometryIntersectionPlaneVector(linePoint, lineVec, planePoint, planeNormal, actualIntersecionPoint);
+
+ // Assert
+ TEST_ASSERT_FALSE(actualFound);
+}
+
+void testThatSensorPositionIsTranslated() {
+ // Fixture
+ vec3d cfPos = {1, 2, 3};
+ vec3d sensorPos = {-0.015, -0.0075, 0.0};
+
+ float r[3][3] = {{1, 0, 0}, {0, 1, 0}, {0, 0, 1}};
+ arm_matrix_instance_f32 R = {3, 3, (float*)r};
+
+ // Sensor 1 is in the right back corner of the deck
+ vec3d expected = {1 - 0.015, 2 - 0.0075, 3};
+
+ vec3d actual;
+
+ // Test
+ lighthouseGeometryGetSensorPosition(cfPos, &R, sensorPos, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatSensorPositionIsRotated() {
+ // Fixture
+ vec3d cfPos = {1, 2, 3};
+ vec3d sensorPos = {-0.015, -0.0075, 0.0};
+
+ // Rotate 90 degrees about the Y-axis
+ float r[3][3] = {{0, 0, 1}, {0, 1, 0}, {-1, 0, 0}};
+ arm_matrix_instance_f32 R = {3, 3, (float*)r};
+
+ // Sensor 1 is in the right back corner of the deck
+ vec3d expected = {1, 2 - 0.0075, 3 + 0.015};
+
+ vec3d actual;
+
+ // Test
+ lighthouseGeometryGetSensorPosition(cfPos, &R, sensorPos, actual);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT_ARRAY(expected, actual, vec3d_size);
+}
+
+void testThatYawDeltaIsCalculatedForZeroAngle() {
+ // Fixture
+ vec3d ipv = {0, 1, 1};
+ vec3d spv = {0, 2, 2};
+ vec3d n = {1, 0, 0};
+
+ float actualAngle;
+ float expected = 0.0f;
+
+ // Test
+ float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+ // Assert
+ TEST_ASSERT_TRUE(actualResult);
+ TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsCalculatedForPiAngle() {
+ // Fixture
+ vec3d ipv = {0, 1, 1};
+ vec3d spv = {0, -2, -2};
+ vec3d n = {1, 0, 0};
+
+ float actualAngle;
+ float expected = PI;
+
+ // Test
+ float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+ // Assert
+ TEST_ASSERT_TRUE(actualResult);
+ TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsCalculatedForPerpendicularVectors() {
+ // Fixture
+ vec3d ipv = {0, 1, 1};
+ vec3d spv = {0, 2, -2};
+ vec3d n = {1, 0, 0};
+
+ float actualAngle;
+ float expected = -PI / 2;
+
+ // Test
+ float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+ // Assert
+ TEST_ASSERT_TRUE(actualResult);
+ TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsCalculatedForPerpendicularVectorsWithNegativeAngle() {
+ // Fixture
+ vec3d ipv = {0, 1, -1};
+ vec3d spv = {0, 2, 2};
+ vec3d n = {1, 0, 0};
+
+ float actualAngle;
+ float expected = PI / 2;
+
+ // Test
+ float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+ // Assert
+ TEST_ASSERT_TRUE(actualResult);
+ TEST_ASSERT_EQUAL_FLOAT(expected, actualAngle);
+}
+
+void testThatYawDeltaIsNotCalculatedForSmallIntersectionPointVector() {
+ // Fixture
+ vec3d ipv = {0, 0.00001, -0.00001};
+ vec3d spv = {0, 2, 2};
+ vec3d n = {1, 0, 0};
+
+ float actualAngle;
+
+ // Test
+ float actualResult = lighthouseGeometryYawDelta(ipv, spv, n, &actualAngle);
+
+ // Assert
+ TEST_ASSERT_FALSE(actualResult);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor.c
new file mode 100644
index 0000000000000000000000000000000000000000..71d7378a0f543f6441e4b069eaa95a5ee6d74115
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor.c
@@ -0,0 +1,82 @@
+// File under test pulse_processor.c
+#include "pulse_processor.h"
+
+#include "unity.h"
+
+#include "mock_lighthouse_calibration.h"
+#include "mock_pulse_processor_v1.h"
+#include "mock_pulse_processor_v2.h"
+
+void setUp(void) {
+}
+
+void testThatResultStructIsCleared() {
+ // Fixture
+ pulseProcessorResult_t angles;
+ angles.sensorMeasurementsLh1[2].baseStatonMeasurements[1].validCount = 2;
+ angles.sensorMeasurementsLh2[2].baseStatonMeasurements[1].validCount = 2;
+
+ // Test
+ pulseProcessorClear(&angles, 1);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(0, angles.sensorMeasurementsLh1[2].baseStatonMeasurements[1].validCount);
+ TEST_ASSERT_EQUAL_INT(0, angles.sensorMeasurementsLh2[2].baseStatonMeasurements[1].validCount);
+}
+
+void testThatTsDiffReturnsDifference() {
+ // Fixture
+ uint32_t a = 100;
+ uint32_t b = 60;
+ uint32_t expected = 40;
+
+ // Test
+ uint32_t actual = TS_DIFF(a, b);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatTsDiffReturnsDifferenceWhenClocksWrap() {
+ // Fixture
+ uint32_t a = 100;
+ uint32_t b = PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 20;
+ uint32_t expected = 120;
+
+ // Test
+ uint32_t actual = TS_DIFF(a, b);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatTsDiffReturnsDifferenceWhenDifferenceWraps() {
+ // Fixture
+ uint32_t a = 40;
+ uint32_t b = 60;
+ uint32_t expected = PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 20;
+
+ // Test
+ uint32_t actual = TS_DIFF(a, b);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatTsAbsDiffGreaterThan() {
+ // Fixture
+ // Test
+ // Assert
+ TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(100, 60, 200));
+ TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(60, 100, 200));
+ TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(100, 60, 40));
+ TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(60, 100, 40));
+
+ TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(100, 60, 39));
+ TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(60, 100, 39));
+ TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(100, 60, 1));
+ TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(60, 100, 1));
+
+ TEST_ASSERT_FALSE(TS_ABS_DIFF_LARGER_THAN(PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 10, 30, 100));
+ TEST_ASSERT_TRUE(TS_ABS_DIFF_LARGER_THAN(PULSE_PROCESSOR_TIMESTAMP_MAX + 1 - 10, 30, 1));
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor_v1.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor_v1.c
new file mode 100644
index 0000000000000000000000000000000000000000..b373a963aa3f95c4705944f392c63ee478cf488e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor_v1.c
@@ -0,0 +1,754 @@
+// File under test pulse_processor_v1.c
+#include "pulse_processor_v1.h"
+
+#include <stdlib.h>
+#include <string.h>
+#include "unity.h"
+
+#include "mock_pulse_processor.h"
+#include "mock_ootx_decoder.h"
+#include "mock_lighthouse_calibration.h"
+
+#define FRAME_LENGTH 200000 // 8.333ms
+#define SWEEP_MAX_WIDTH 512 // 20us
+#define SWEEP_CENTER 96000 // 4ms
+#define SYNC_BASE_WIDTH 1375
+#define SYNC_DIVIDER 250
+#define SYNC_SEPARATION 10000
+#define MAX_FRAME_LENGTH_NOISE 200
+
+#define SYNC_X SYNC_BASE_WIDTH+(SYNC_DIVIDER * 0)
+#define SYNC_Y SYNC_BASE_WIDTH+(SYNC_DIVIDER * 1)
+#define SYNC_X_SKIP SYNC_BASE_WIDTH+(SYNC_DIVIDER * 4)
+#define SYNC_Y_SKIP SYNC_BASE_WIDTH+(SYNC_DIVIDER * 5)
+#define UN_IDENTFD (SWEEP_MAX_WIDTH + 7)
+#define SWEEP 256
+#define LONG_SWEEP 750
+
+// Helpers
+static void assertSyncTimeIsMultipleOfFrameLength(uint32_t expectedSyncTime, uint32_t actualSyncTime);
+static void limitTimestamps(pulseProcessorPulse_t history[]);
+
+// Functions under test
+int findSyncTime(const pulseProcessorPulse_t pulseHistory[], uint32_t *sync0Time);
+bool getSystemSyncTime(const uint32_t syncTimes[], size_t nSyncTimes, uint32_t *syncTime);
+int getBaseStationId(pulseProcessorV1_t *stateV1, unsigned int timestamp);
+bool isSweepActiveThisFrame(int width);
+bool isSync(pulseProcessorV1_t *stateV1, unsigned int timestamp);
+
+void setUp(void) {
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestations()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsMissaligned()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = 2*FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (-1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (-1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + ( 0*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + ( 0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + ( 0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + ( 1*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + ( 1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + ( 1*FRAME_LENGTH)+SWEEP_CENTER},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromOneBasestation()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (3*FRAME_LENGTH)+0},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (3*FRAME_LENGTH)+SWEEP_CENTER},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(1, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithShortSpuriousSpike()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER+100},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithShortSpuriousSpikeBetweenSyncs()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+(SYNC_SEPARATION/2)},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithNoisyPulseLength()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X + 10, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP - 10, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP - 10, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y + 7, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP - 10, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP + 10, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP - 8, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X + 4, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithLongSweep()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = LONG_SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = LONG_SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithOneMissingMasterSync()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (3*FRAME_LENGTH)+SWEEP_CENTER},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncFailsWhenReceivingFromTwoBasestationsWithInvalidSyncSeparation()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+(SYNC_SEPARATION*2)},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithTimingNoise()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + 10 + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime - 3 + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + 4 + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + 7 + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime - 9 + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + 10 + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime - 10 + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + 3 + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncCanDetectSync0FromTwoBasestationsWithTimestampWrapping()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = (1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH) - ((1*FRAME_LENGTH)+SYNC_SEPARATION);
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatFindSyncFailesWhenReceivingAnUnidentifiedPulse()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = UN_IDENTFD, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+void testThatFindSyncFailesWhenReceivingAnUnidentifiedPulseFirstInHistory()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = FRAME_LENGTH;
+ pulseProcessorPulse_t pulseHistory[PULSE_PROCESSOR_HISTORY_LENGTH] = {
+ {.width = UN_IDENTFD, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+0},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (0*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_Y, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+0},
+ {.width = SYNC_Y_SKIP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SYNC_SEPARATION},
+ {.width = SWEEP, .timestamp = expectedSyncTime + (1*FRAME_LENGTH)+SWEEP_CENTER},
+ {.width = SYNC_X_SKIP, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+0},
+ {.width = SYNC_X, .timestamp = expectedSyncTime + (2*FRAME_LENGTH)+SYNC_SEPARATION},
+ };
+ limitTimestamps(pulseHistory);
+
+ // Test
+ int found = findSyncTime(pulseHistory, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(0, found);
+}
+
+
+
+
+
+void testThatGetSystemSyncTimeReturnsTheAverageForGoodSyncData()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = 2;
+ uint32_t syncTimes[8] = {1, 2, 3};
+ size_t nSyncTimes = 3;
+
+ // Test
+ bool found = getSystemSyncTime(syncTimes, nSyncTimes, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_TRUE(found);
+ TEST_ASSERT_EQUAL(expectedSyncTime, actualSyncTime);
+}
+
+void testThatGetSystemSyncTimeHandlesTimestampsFromMultipleFrames()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = 2;
+ uint32_t syncTimes[8] = {1 + FRAME_LENGTH, 2 + (2*FRAME_LENGTH), 3, 2 + (2*FRAME_LENGTH)};
+ size_t nSyncTimes = 4;
+
+ // Test
+ bool found = getSystemSyncTime(syncTimes, nSyncTimes, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_TRUE(found);
+ assertSyncTimeIsMultipleOfFrameLength(expectedSyncTime, actualSyncTime);
+}
+
+void testThatGetSystemSyncTimeDoesNotReturnTimestampFor0Samples()
+{
+ // Fixture
+ uint32_t unused = 0;
+ uint32_t syncTimes[8];
+ size_t nSyncTimes = 0;
+
+ // Test
+ bool found = getSystemSyncTime(syncTimes, nSyncTimes, &unused);
+
+ // Assert
+ TEST_ASSERT_FALSE(found);
+}
+
+void testThatGetSystemSyncTimeDoesNotReturnTimestampIfTooMuchTimestampsSpread()
+{
+ // Fixture
+ uint32_t unused = 0;
+ uint32_t syncTimes[8] = {1, 900, 3};
+ size_t nSyncTimes = 3;
+
+ // Test
+ bool found = getSystemSyncTime(syncTimes, nSyncTimes, &unused);
+
+ // Assert
+ TEST_ASSERT_FALSE(found);
+}
+
+void testThatGetSystemSyncTimeHandlesTimestampsWithWrapping()
+{
+ // Fixture
+ uint32_t actualSyncTime = 0;
+ uint32_t expectedSyncTime = PULSE_PROCESSOR_TIMESTAMP_MAX;
+ uint32_t syncTimes[8] = {0, PULSE_PROCESSOR_TIMESTAMP_MAX - 1, PULSE_PROCESSOR_TIMESTAMP_MAX};
+ size_t nSyncTimes = 3;
+
+ // Test
+ bool found = getSystemSyncTime(syncTimes, nSyncTimes, &actualSyncTime);
+
+ // Assert
+ TEST_ASSERT_TRUE(found);
+ TEST_ASSERT_EQUAL(expectedSyncTime, actualSyncTime);
+}
+
+void testThatIsSyncFindsNextSync0()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + FRAME_LENGTH;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsNextSync1()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + FRAME_LENGTH + SYNC_SEPARATION;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsDistantSync1()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + (10*FRAME_LENGTH) + SYNC_SEPARATION;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncReturnFalseOnSweep()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + FRAME_LENGTH + SWEEP_CENTER;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_FALSE(result);
+}
+
+void testThatIsSyncFindsSync0WithSomeNoise()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + FRAME_LENGTH - 10;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsSync1WithSomeNoise()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + FRAME_LENGTH + SYNC_SEPARATION + 500;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+
+void testThatIsSyncFindsSync0WithWrapping()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = PULSE_PROCESSOR_TIMESTAMP_MAX - (FRAME_LENGTH/2);
+ uint32_t timestamp = (state.currentSync0 + FRAME_LENGTH) & PULSE_PROCESSOR_TIMESTAMP_MAX;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncFindsSync1WithWrapping()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = PULSE_PROCESSOR_TIMESTAMP_MAX - (FRAME_LENGTH/2);;
+ uint32_t timestamp = (state.currentSync0 + FRAME_LENGTH + SYNC_SEPARATION) & PULSE_PROCESSOR_TIMESTAMP_MAX;;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_TRUE(result);
+}
+
+void testThatIsSyncReturnsFalseIfSync1WasSync0AndTheRealSync0IsReceived()
+{
+ // Fixture
+ pulseProcessorV1_t state = {0};
+ state.currentSync0 = 0;
+ uint32_t timestamp = state.currentSync0 + FRAME_LENGTH - SYNC_SEPARATION;
+
+ // Test
+ bool result = isSync(&state, timestamp);
+
+ // Assert
+ TEST_ASSERT_FALSE(result);
+}
+
+bool isNewSync(uint32_t timestamp, uint32_t lastSync);
+
+void testThatIsNewSyncMatchesTimestampCloseAfter() {
+ // Fixture
+ uint32_t lastSync = 4711;
+ uint32_t timestamp = lastSync + 3;
+
+ // Test
+ bool actual = isNewSync(timestamp, lastSync);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatIsNewSyncMatchesTimestampCloseBefore() {
+ // Fixture
+ uint32_t lastSync = 4711;
+ uint32_t timestamp = lastSync - 3;
+
+ // Test
+ bool actual = isNewSync(timestamp, lastSync);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatIsNewSyncMatchesTimestampCloseBeforeWhenWrapping() {
+ // Fixture
+ uint32_t lastSync = 1;
+ uint32_t timestamp = (1 << PULSE_PROCESSOR_TIMESTAMP_BITWIDTH) - 1;
+
+ // Test
+ bool actual = isNewSync(timestamp, lastSync);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatIsNewSyncDoesNotMatchTimestampTooFarAway() {
+ // Fixture
+ uint32_t lastSync = 4711;
+ uint32_t timestamp = lastSync + 30;
+
+ // Test
+ bool actual = isNewSync(timestamp, lastSync);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampIsOneFrameFromPreviousSync0() {
+ // Fixture
+ unsigned int baseTime = 100000;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 0;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampIsSlightlyLessThanOneFrameFromPreviousSync0() {
+ // Fixture
+ unsigned int baseTime = 100000;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH - 10;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 0;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampIsSlightlyMoreThanOneFrameFromPreviousSync0() {
+ // Fixture
+ unsigned int baseTime = 100000;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH + 10;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 0;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs1IsReturnedWhenTimeStampIsOneFrameAndSyncSeparationFromPreviousSync0() {
+ // Fixture
+ unsigned int baseTime = 100000;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH + SYNC_SEPARATION;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 1;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs1IsReturnedWhenTimeStampIsOneFrameAndSlighlyLessThanSyncSeparationFromPreviousSync0() {
+ // Fixture
+ unsigned int baseTime = 100000;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH + SYNC_SEPARATION - 10;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 1;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs1IsReturnedWhenTimeStampIsOneFrameAndSlighlyMoreThanSyncSeparationFromPreviousSync0() {
+ // Fixture
+ unsigned int baseTime = 100000;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH + SYNC_SEPARATION + 10;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 1;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatBs0IsReturnedWhenTimeStampWraps() {
+ // Fixture
+ unsigned int baseTime = -1;
+ unsigned int timeStamp = baseTime + FRAME_LENGTH;
+ pulseProcessorV1_t state = {.currentSync0 = baseTime};
+ int expected = 0;
+
+ // Test
+ int actual = getBaseStationId(&state, timeStamp);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatSweepIsActive() {
+ // Fixture
+ unsigned int width = SYNC_BASE_WIDTH;
+
+ // Test
+ int actual = isSweepActiveThisFrame(width);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatSweepIsNotActive() {
+ // Fixture
+ unsigned int width = SYNC_BASE_WIDTH + SYNC_DIVIDER * 4;
+
+ // Test
+ int actual = isSweepActiveThisFrame(width);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+// Helpers
+
+static void assertSyncTimeIsMultipleOfFrameLength(uint32_t expectedSyncTime, uint32_t actualSyncTime)
+{
+ uint32_t diff = actualSyncTime - expectedSyncTime;
+
+ TEST_ASSERT_LESS_THAN_MESSAGE(MAX_FRAME_LENGTH_NOISE, diff % FRAME_LENGTH, "Sync time out of bound");
+}
+
+static void limitTimestamps(pulseProcessorPulse_t history[])
+{
+ for (int i=0; i<PULSE_PROCESSOR_HISTORY_LENGTH; i++) {
+ history[i].timestamp &= ((1<<PULSE_PROCESSOR_TIMESTAMP_BITWIDTH)-1);
+ }
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor_v2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor_v2.c
new file mode 100644
index 0000000000000000000000000000000000000000..3efff2184f5abb86b93103f5a4087007ba1ac37c
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/lighthouse/test_pulse_processor_v2.c
@@ -0,0 +1,562 @@
+// File under test pulse_processor_v2.c
+#include "pulse_processor_v2.h"
+
+#include <stdlib.h>
+#include <string.h>
+#include "unity.h"
+
+#include "mock_ootx_decoder.h"
+#include "mock_lighthouse_calibration.h"
+#include "mock_usec_time.h"
+#include "mock_pulse_processor.h"
+
+
+// Functions under test
+void clearWorkspace(pulseProcessorV2PulseWorkspace_t* pulseWorkspace);
+bool storePulse(const pulseProcessorFrame_t* frameData, pulseProcessorV2PulseWorkspace_t* pulseWorkspace);
+void augmentFramesInWorkspace(pulseProcessorV2PulseWorkspace_t* pulseWorkspace);
+bool processWorkspaceBlock(const pulseProcessorFrame_t slots[], pulseProcessorV2SweepBlock_t* block);
+bool isBlockPairGood(const pulseProcessorV2SweepBlock_t* latest, const pulseProcessorV2SweepBlock_t* storage);
+bool handleCalibrationData(pulseProcessor_t *state, const pulseProcessorFrame_t* frameData);
+
+// Helpers
+static void addDefaultFrames();
+static void setChannel(uint8_t channel);
+static void setOffsetBase(uint32_t ts_base);
+static void setUpOkBlocks(pulseProcessorV2SweepBlock_t* newBlock, pulseProcessorV2SweepBlock_t* storageBlock);
+static void addFrameToWs(uint8_t sensor, uint32_t timestamp, uint32_t offset, bool channelFound, uint8_t channel);
+static void setUpOotxDecoderProcessBitCallCounter();
+static void setUpSlowbitFrame();
+static void clearSlowbitState();
+
+static pulseProcessor_t state;
+static pulseProcessorV2PulseWorkspace_t ws;
+static pulseProcessorV2SweepBlock_t block;
+
+static pulseProcessorFrame_t slowbitFrame;
+static int nrOfCallsToOotxDecoderProcessBit;
+
+const uint32_t NO_OFFSET = 0;
+const uint32_t OFFSET_BASE = 100000;
+const uint32_t TIMESTAMP_BASE = 2000000;
+const uint32_t TIMESTAMP_STEP = 1000;
+
+const uint32_t A_TS = 4711;
+const uint32_t AN_OFFSET = 17;
+
+const uint32_t SB_CHANNEL = 1;
+const uint32_t SB_BIT = 1;
+
+// The order the sensors are hit by the beam
+const uint8_t SWEEP_SENS_0 = 3;
+const uint8_t SWEEP_SENS_1 = 1;
+const uint8_t SWEEP_SENS_2 = 0;
+const uint8_t SWEEP_SENS_3 = 2;
+
+void setUp(void) {
+ clearWorkspace(&ws);
+ addDefaultFrames();
+
+ block.channel = 0;
+
+ setUpSlowbitFrame();
+ clearSlowbitState();
+ nrOfCallsToOotxDecoderProcessBit = -1;
+}
+
+void testThatWorkspaceIsCleared() {
+ // Fixture
+
+ // Test
+ clearWorkspace(&ws);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(0, ws.slotsUsed);
+}
+
+void testThatAPulseIsStoredInTheWorkspace() {
+ // Fixture
+ clearWorkspace(&ws);
+
+ pulseProcessorFrame_t frame;
+
+ uint8_t expected = 7;
+ frame.channel = expected;
+
+ // Test
+ bool actual = storePulse(&frame, &ws);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+ TEST_ASSERT_EQUAL_INT(1, ws.slotsUsed);
+ TEST_ASSERT_EQUAL_UINT8(expected, ws.slots[0].channel);
+}
+
+void testThatAPulseIsRejectedWhenWorkspaceIsFull() {
+ // Fixture
+ clearWorkspace(&ws);
+
+ pulseProcessorFrame_t frame;
+
+ for (int i = 0; i < PULSE_PROCESSOR_N_WORKSPACE; i++) {
+ bool actual = storePulse(&frame, &ws);
+ TEST_ASSERT_TRUE(actual);
+ }
+
+ // Test
+ bool actual = storePulse(&frame, &ws);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatCleanFramesAreAugmented() {
+ // Fixture
+ uint8_t expectedChan1 = 2;
+ uint8_t expectedChan2 = 5;
+
+ clearWorkspace(&ws);
+
+ addFrameToWs(0, A_TS, NO_OFFSET, false, 0);
+ addFrameToWs(1, A_TS, AN_OFFSET, true, expectedChan1);
+ addFrameToWs(2, A_TS, NO_OFFSET, true, expectedChan1);
+ addFrameToWs(3, A_TS, NO_OFFSET, true, expectedChan1);
+
+ addFrameToWs(0, A_TS, AN_OFFSET, false, 0);
+ addFrameToWs(1, A_TS, AN_OFFSET, true, expectedChan2);
+ addFrameToWs(2, A_TS, AN_OFFSET, true, expectedChan2);
+ addFrameToWs(3, A_TS, AN_OFFSET, true, expectedChan2);
+
+ // Test
+ augmentFramesInWorkspace(&ws);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(expectedChan1, ws.slots[0].channel);
+ TEST_ASSERT_TRUE(ws.slots[0].channelFound);
+
+ TEST_ASSERT_EQUAL_UINT8(expectedChan2, ws.slots[4].channel);
+ TEST_ASSERT_TRUE(ws.slots[4].channelFound);
+}
+
+void testThatUnCleanFramesAreAugmented() {
+ // Fixture
+ uint8_t expectedChan1 = 2;
+ uint8_t expectedChan2 = 5;
+
+ clearWorkspace(&ws);
+
+ addFrameToWs(0, A_TS, AN_OFFSET, true, 1);
+ addFrameToWs(1, A_TS, AN_OFFSET, false, 0);
+ addFrameToWs(2, A_TS, AN_OFFSET, true, expectedChan1);
+ addFrameToWs(3, A_TS, AN_OFFSET, false, 0);
+
+ addFrameToWs(0, A_TS, AN_OFFSET, false, 0);
+ addFrameToWs(1, A_TS, AN_OFFSET, true, expectedChan2);
+ addFrameToWs(2, A_TS, AN_OFFSET, true, 1);
+ addFrameToWs(3, A_TS, AN_OFFSET, false, 0);
+
+ // Test
+ augmentFramesInWorkspace(&ws);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(expectedChan1, ws.slots[1].channel);
+ TEST_ASSERT_FALSE(ws.slots[3].channelFound);
+ TEST_ASSERT_EQUAL_UINT8(expectedChan2, ws.slots[4].channel);
+ TEST_ASSERT_FALSE(ws.slots[7].channelFound);
+}
+
+void testThatProcessBlockRejectsMissingSensors() {
+ // Fixture
+ ws.slots[2].sensor = SWEEP_SENS_0;
+
+ // Test
+ bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockFindsChannel() {
+ // Fixture
+ uint8_t expected = 3;
+ setChannel(expected);
+
+ // Test
+ bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ uint8_t actual = block.channel;
+ TEST_ASSERT_EQUAL_UINT8(expected, actual);
+ TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockFindsChannelWhenSomeChannelsAreMissing() {
+ // Fixture
+ uint8_t expected = 3;
+ setChannel(expected);
+ ws.slots[2].channelFound = false;
+ ws.slots[3].channelFound = false;
+
+ // Test
+ bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ uint8_t actual = block.channel;
+ TEST_ASSERT_EQUAL_UINT8(expected, actual);
+ TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockRejectsAllChannelsMissing() {
+ // Fixture
+ ws.slots[0].channelFound = false;
+ ws.slots[1].channelFound = false;
+ ws.slots[2].channelFound = false;
+ ws.slots[3].channelFound = false;
+
+ // Test
+ bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockRejectsMultipleChannels() {
+ // Fixture
+ uint8_t channel = 3;
+
+ setChannel(channel);
+ ws.slots[0].channel = channel + 1;
+
+ // Test
+ bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockRejectsMisissingOffset() {
+ // Fixture
+ ws.slots[1].offset = NO_OFFSET;
+
+ // Test
+ bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockRejectsMultipleOffsets() {
+ // Fixture
+ ws.slots[0].offset = OFFSET_BASE;
+
+ // Test
+ bool actual = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockSetsOffsets() {
+ // Fixture
+ setOffsetBase(TIMESTAMP_BASE);
+
+ // Test
+ bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP, block.offset[SWEEP_SENS_0]);
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE, block.offset[SWEEP_SENS_1]);
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE - TIMESTAMP_STEP, block.offset[SWEEP_SENS_2]);
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP * 2, block.offset[SWEEP_SENS_3]);
+
+ TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockSetsOffsetsWhenTimeStampWraps() {
+ // Fixture
+ setOffsetBase(0x00ffff00);
+
+ // Test
+ bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP, block.offset[SWEEP_SENS_0]);
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE, block.offset[SWEEP_SENS_1]);
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE - TIMESTAMP_STEP, block.offset[SWEEP_SENS_2]);
+ TEST_ASSERT_EQUAL_UINT32(OFFSET_BASE + TIMESTAMP_STEP * 2, block.offset[SWEEP_SENS_3]);
+
+ TEST_ASSERT_TRUE(ok);
+}
+
+
+void testThatProcessBlockSetsTimestampToStartOfRotation() {
+ // Fixture
+ setOffsetBase(TIMESTAMP_BASE);
+ uint32_t expected = TIMESTAMP_BASE - OFFSET_BASE;
+
+ // Test
+ bool ok = processWorkspaceBlock(&ws.slots[0], &block);
+
+ // Assert
+ uint32_t actual = block.timestamp0;
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+ TEST_ASSERT_TRUE(ok);
+}
+
+void testThatProcessBlockPairAcceptBlocks() {
+ // Fixture
+ pulseProcessorV2SweepBlock_t newBlock;
+ pulseProcessorV2SweepBlock_t storageBlock;
+
+ setUpOkBlocks(&newBlock, &storageBlock);
+
+ // Test
+ bool actual = isBlockPairGood(&newBlock, &storageBlock);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatProcessBlockPairRejectsBlocksWithDifferentChannels() {
+ // Fixture
+ pulseProcessorV2SweepBlock_t newBlock;
+ pulseProcessorV2SweepBlock_t storageBlock;
+
+ setUpOkBlocks(&newBlock, &storageBlock);
+
+ newBlock.channel = 0;
+
+ // Test
+ bool actual = isBlockPairGood(&newBlock, &storageBlock);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatProcessBlockPairRejectsBlocksWhenTooLongApart() {
+ // Fixture
+ pulseProcessorV2SweepBlock_t newBlock;
+ pulseProcessorV2SweepBlock_t storageBlock;
+
+ setUpOkBlocks(&newBlock, &storageBlock);
+
+ newBlock.timestamp0 = newBlock.timestamp0 + 20;
+
+ // Test
+ bool actual = isBlockPairGood(&newBlock, &storageBlock);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatSlowBitIsProcessed() {
+ // Fixture
+ ootxDecoderProcessBit_ExpectAndReturn(&state.ootxDecoder[SB_CHANNEL], SB_BIT, false);
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ // Validated in mock
+}
+
+void testThatSlowBitIsNotProcessedIfChannelIsMissing() {
+ // Fixture
+ slowbitFrame.channelFound = false;
+
+ setUpOotxDecoderProcessBitCallCounter();
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_EQUAL(0, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatSlowBitIsNotProcessedIfChannelIsOutOfBounds() {
+ // Fixture
+ slowbitFrame.channel = PULSE_PROCESSOR_N_BASE_STATIONS + 1;
+
+ setUpOotxDecoderProcessBitCallCounter();
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_EQUAL(0, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatSlowBitIsNotProcessedIfOffsetIsMissing() {
+ // Fixture
+ slowbitFrame.offset = NO_OFFSET;
+
+ setUpOotxDecoderProcessBitCallCounter();
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_EQUAL(0, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatMoreThanOneSlowBitIsProcessed() {
+ // Fixture
+ setUpOotxDecoderProcessBitCallCounter();
+
+ uint32_t timestamp0 = 1000000;
+ slowbitFrame.offset = 10000;
+
+ // First Bit
+ slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset;
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Second sweep
+ slowbitFrame.timestamp = slowbitFrame.timestamp + 959000 / 2;
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_EQUAL(2, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatOnlyOneSlowBitPerRevolutionIsProcessed1() {
+ // Fixture
+ setUpOotxDecoderProcessBitCallCounter();
+
+ uint32_t timestamp0 = 1000000;
+ // First Sweep
+ slowbitFrame.offset = 10000;
+ slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset + 3;
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Second sweep
+ slowbitFrame.offset = 200000;
+ slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset - 2;
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_EQUAL(1, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatOnlyOneSlowBitsPerRevolutionIsProcessed2() {
+ // Fixture
+ setUpOotxDecoderProcessBitCallCounter();
+
+ uint32_t timestamp0 = 1000000;
+ // First Sweep
+ slowbitFrame.offset = 10000;
+ slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset - 3;
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Second sweep
+ slowbitFrame.offset = 200000;
+ slowbitFrame.timestamp = timestamp0 + slowbitFrame.offset + 2;
+
+ // Test
+ handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_EQUAL(1, nrOfCallsToOotxDecoderProcessBit);
+}
+
+void testThatFullSlowbitMessageIsReported() {
+ // Fixture
+ ootxDecoderProcessBit_IgnoreAndReturn(true);
+
+ // Test
+ bool actual = handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatNonFullSlowbitMessageIsNotReported() {
+ // Fixture
+ ootxDecoderProcessBit_IgnoreAndReturn(false);
+
+ // Test
+ bool actual = handleCalibrationData(&state, &slowbitFrame);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+
+// Helpers ------------------------------------------------
+
+static void addFrameToWs(uint8_t sensor, uint32_t timestamp, uint32_t offset, bool channelFound, uint8_t channel) {
+ pulseProcessorFrame_t frame;
+
+ frame.sensor = sensor;
+ frame.timestamp = timestamp;
+ frame.offset = offset;
+ frame.channelFound = channelFound;
+ frame.channel = channel;
+
+ storePulse(&frame, &ws);
+}
+
+static void addDefaultFrames() {
+ addFrameToWs(SWEEP_SENS_0, TIMESTAMP_STEP * 0, NO_OFFSET, true, 3);
+ addFrameToWs(SWEEP_SENS_1, TIMESTAMP_STEP * 1, OFFSET_BASE, true, 3);
+ addFrameToWs(SWEEP_SENS_2, TIMESTAMP_STEP * 2, NO_OFFSET, true, 3);
+ addFrameToWs(SWEEP_SENS_3, TIMESTAMP_STEP * 3, NO_OFFSET, true, 3);
+}
+
+static void setChannel(uint8_t channel) {
+ for (int i = 0; i < PULSE_PROCESSOR_N_SENSORS; i++) {
+ ws.slots[i].channel = channel;
+ ws.slots[i].channelFound = true;
+ }
+}
+
+static void setOffsetBase(uint32_t ts_base) {
+ ws.slots[0].timestamp = ts_base + TIMESTAMP_STEP * 1;
+ ws.slots[0].offset = NO_OFFSET;
+
+ ws.slots[1].timestamp = ts_base;
+ ws.slots[1].offset = OFFSET_BASE;
+
+ ws.slots[2].timestamp = ts_base - TIMESTAMP_STEP * 1;
+ ws.slots[2].offset = NO_OFFSET;
+
+ ws.slots[3].timestamp = ts_base + TIMESTAMP_STEP * 2;
+ ws.slots[3].offset = NO_OFFSET;
+}
+
+static void setUpOkBlocks(pulseProcessorV2SweepBlock_t* newBlock, pulseProcessorV2SweepBlock_t* storageBlock) {
+ storageBlock->channel = 1;
+ storageBlock->timestamp0 = 1000000;
+
+ newBlock->channel = 1;
+ newBlock->timestamp0 = 1000003;
+}
+
+
+static bool ootxDecoderProcessBitCallback(ootxDecoderState_t* state, int data, int cmock_num_calls) {
+ nrOfCallsToOotxDecoderProcessBit++;
+ return false;
+}
+
+static void setUpOotxDecoderProcessBitCallCounter() {
+ nrOfCallsToOotxDecoderProcessBit = 0;
+ ootxDecoderProcessBit_StubWithCallback(ootxDecoderProcessBitCallback);
+}
+
+static void setUpSlowbitFrame(){
+ slowbitFrame.timestamp = 1000000;
+ slowbitFrame.offset = 100000;
+ slowbitFrame.channel = SB_CHANNEL;
+ slowbitFrame.slowbit = SB_BIT;
+ slowbitFrame.channelFound = true;
+}
+
+static void clearSlowbitState() {
+ for (int i = 0; i < PULSE_PROCESSOR_N_BASE_STATIONS; i++) {
+ state.v2.ootxTimestamps[i] = 0;
+ state.bsCalibration[i].valid = false;
+ }
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/tdoa/test_tdoa_storage.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/tdoa/test_tdoa_storage.c
new file mode 100644
index 0000000000000000000000000000000000000000..bcfd6058015674ff8e257cc885f5b52e07883a7d
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/tdoa/test_tdoa_storage.c
@@ -0,0 +1,696 @@
+/**
+ * || ____ _ __
+ * +------+ / __ )(_) /_______________ _____ ___
+ * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2018 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * TestTdoaStorage.c - Unit tests for tdoa storage functions
+ */
+
+// File under test
+#include "tdoaStorage.h"
+
+#include "unity.h"
+
+#include <string.h>
+#include "mock_clockCorrectionEngine.h"
+
+
+#define TOF_VALIDITY_PERIOD (2 * 1000)
+#define REMOTE_DATA_VALIDITY_PERIOD 30
+#define ANCHOR_POSITION_VALIDITY_PERIOD (2 * 1000)
+
+
+static tdaoAnchorInfoArray_t storage;
+static void fixtureSetRemoteRxTime(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t remoteRxTime, const uint8_t seqNr);
+static void fixtureSetTof(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t tof);
+
+void setUp(void) {
+ tdoaStorageInitialize(storage);
+}
+
+void testThatCurrentTimeIsSetInContextForGet() {
+ // Fixture
+ uint8_t anchor = 17;
+ uint32_t expectedTime = 123;
+
+ // Test
+ tdoaAnchorContext_t result;
+ tdoaStorageGetAnchorCtx(storage, anchor, expectedTime, &result);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(expectedTime, result.currentTime_ms);
+}
+
+
+void testThatCurrentTimeIsSetInContextForGetCreate() {
+ // Fixture
+ uint8_t anchor = 17;
+ uint32_t expectedTime = 123;
+
+ // Test
+ tdoaAnchorContext_t result;
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, expectedTime, &result);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT8(expectedTime, result.currentTime_ms);
+}
+
+
+void testThatNoAnchorIsReturnedWhenItDoesNotExistInStorage() {
+ // Fixture
+ uint8_t anchor = 17;
+ uint32_t currentTime = 123;
+
+ // Test
+ tdoaAnchorContext_t result;
+ bool actual = tdoaStorageGetAnchorCtx(storage, anchor, currentTime, &result);
+
+ // Assert
+ // False indicates that the anchor did not exist
+ TEST_ASSERT_FALSE(actual);
+ TEST_ASSERT_NULL(result.anchorInfo);
+}
+
+
+void testThatANewAnchorContextIsReturnedWhenItDoesNotExistInStorage() {
+ // Fixture
+ uint8_t anchor = 17;
+ uint32_t currentTime = 123;
+
+ // Test
+ tdoaAnchorContext_t result;
+ bool actual = tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &result);
+
+ // Assert
+ // False indicates that the anchor did not exist
+ TEST_ASSERT_FALSE(actual);
+ TEST_ASSERT_NOT_NULL(result.anchorInfo);
+}
+
+
+void testThatTheSameAnchorContextIsReturnedWhenItAlreadyExistsInStorageForGet() {
+ // Fixture
+ uint8_t anchor = 17;
+ uint32_t currentTime = 123;
+
+ // Make sure the anchor exists
+ tdoaAnchorContext_t firstContext;
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &firstContext);
+
+ // Test
+ tdoaAnchorContext_t result;
+ bool actual = tdoaStorageGetAnchorCtx(storage, anchor, currentTime, &result);
+
+ // Assert
+ // False indicates that the anchor did exist
+ TEST_ASSERT_TRUE(actual);
+ TEST_ASSERT_EQUAL_PTR(firstContext.anchorInfo, result.anchorInfo);
+}
+
+
+void testThatTheSameAnchorContextIsReturnedWhenItAlreadyExistsInStorageForGetCreate() {
+ // Fixture
+ uint8_t anchor = 17;
+ uint32_t currentTime = 123;
+
+ // Make sure the anchor exists
+ tdoaAnchorContext_t firstContext;
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &firstContext);
+
+ // Test
+ tdoaAnchorContext_t result;
+ bool actual = tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &result);
+
+ // Assert
+ // False indicates that the anchor did exist
+ TEST_ASSERT_TRUE(actual);
+ TEST_ASSERT_EQUAL_PTR(firstContext.anchorInfo, result.anchorInfo);
+}
+
+
+void testThatTheOldestAnchorContextIsReplacedWhenStorageIsFull() {
+ // Fixture
+ const uint32_t oldestAnchorTime = 900;
+ const uint32_t baseAnchorTime = 1000;
+ const uint32_t currentTime = 2000;
+
+ uint8_t newAnchor = ANCHOR_STORAGE_COUNT;
+ uint8_t oldestAnchor = 4;
+ TEST_ASSERT_TRUE(oldestAnchor < ANCHOR_STORAGE_COUNT);
+
+ // Make sure the storage is full with increasing update times, set the update
+ // time for one slot to be oldest
+ tdoaAnchorContext_t context;
+ for (int id = 0; id < ANCHOR_STORAGE_COUNT; id++) {
+ tdoaStorageGetCreateAnchorCtx(storage, id, currentTime, &context);
+
+ uint32_t updateTime = baseAnchorTime + id;
+ if (id == oldestAnchor) {
+ updateTime = oldestAnchorTime;
+ }
+
+ context.currentTime_ms = updateTime;
+ tdoaStorageSetRxTxData(&context, 0, 0, 0);
+ }
+
+ // Test
+ tdoaAnchorContext_t result;
+ bool actual = tdoaStorageGetCreateAnchorCtx(storage, newAnchor, currentTime, &result);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+ TEST_ASSERT_TRUE(tdoaStorageIsAnchorInStorage(storage, newAnchor));
+ TEST_ASSERT_FALSE(tdoaStorageIsAnchorInStorage(storage, oldestAnchor));
+}
+
+
+void testThatAListOfAnchorIdsIsReturned() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ uint32_t currentTime = 1234;
+
+ uint8_t expectedId0 = 17;
+ uint8_t expectedId1 = 47;
+ uint8_t expectedId2 = 11;
+
+ uint8_t expectedCount = 3;
+
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId0, currentTime, &context);
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId1, currentTime, &context);
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId2, currentTime, &context);
+
+ uint8_t unorderedAnchorList[10];
+
+ // Test
+ uint8_t actualCount = tdoaStorageGetListOfAnchorIds(storage, unorderedAnchorList, 10);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+ TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+ TEST_ASSERT_EQUAL_INT8(expectedId1, unorderedAnchorList[1]);
+ TEST_ASSERT_EQUAL_INT8(expectedId2, unorderedAnchorList[2]);
+}
+
+void testThatAListOfAnchorIdsIsReturnedButNotMoreThanTheListLength() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ uint32_t currentTime = 1234;
+
+ uint8_t expectedId0 = 17;
+ uint8_t expectedId1 = 47;
+ uint8_t expectedId2 = 11;
+
+ uint8_t expectedCount = 2;
+
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId0, currentTime, &context);
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId1, currentTime, &context);
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId2, currentTime, &context);
+
+ uint8_t unorderedAnchorList[10];
+
+ // Test
+ uint8_t actualCount = tdoaStorageGetListOfAnchorIds(storage, unorderedAnchorList, expectedCount);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+ TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+ TEST_ASSERT_EQUAL_INT8(expectedId1, unorderedAnchorList[1]);
+}
+
+
+void testThatAListOfActiveAnchorIdsIsReturned() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ uint32_t oldTime = 1234; // Not valid
+ // Validity time is 2000 ms
+ uint32_t recentTime = 9000; // Still valid
+ uint32_t currentTime = 10000;
+
+
+ uint8_t expectedId0 = 17;
+ uint8_t expectedId1 = 47;
+ uint8_t otherId = 11;
+
+ uint8_t expectedCount = 2;
+
+ tdoaStorageGetCreateAnchorCtx(storage, otherId, oldTime, &context);
+ tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId0, recentTime, &context);
+ tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId1, recentTime, &context);
+ tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+ uint8_t unorderedAnchorList[10];
+
+ // Test
+ uint8_t actualCount = tdoaStorageGetListOfActiveAnchorIds(storage, unorderedAnchorList, 10, currentTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+ TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+ TEST_ASSERT_EQUAL_INT8(expectedId1, unorderedAnchorList[1]);
+}
+
+
+void testThatAListOfActiveAnchorIdsIsReturnedButNotMoreThanTheListLength() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ uint32_t currentTime = 10000;
+
+
+ uint8_t expectedId0 = 17;
+ uint8_t otherId = 11;
+
+ uint8_t expectedCount = 1;
+
+ tdoaStorageGetCreateAnchorCtx(storage, expectedId0, currentTime, &context);
+ tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+ tdoaStorageGetCreateAnchorCtx(storage, otherId, currentTime, &context);
+ tdoaStorageSetRxTxData(&context, 0, 0, 0);
+
+ uint8_t unorderedAnchorList[10];
+
+ // Test
+ uint8_t actualCount = tdoaStorageGetListOfActiveAnchorIds(storage, unorderedAnchorList, expectedCount, currentTime);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT8(expectedCount, actualCount);
+ TEST_ASSERT_EQUAL_INT8(expectedId0, unorderedAnchorList[0]);
+}
+
+
+void testThatAnchorPositionIsSetAndGet() {
+ // Fixture
+ float expectedX = 1.0;
+ float expectedY = 2.0;
+ float expectedZ = 3.0;
+ uint32_t expectedTime = 1234;
+
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, expectedTime, &context);
+
+ tdoaStorageSetAnchorPosition(&context, expectedX, expectedY, expectedZ);
+
+ uint32_t now = 2345;
+ tdoaStorageGetAnchorCtx(storage, 0, now, &context);
+ point_t actual;
+
+ // Test
+ bool isValid = tdoaStorageGetAnchorPosition(&context, &actual);
+
+ // Assert
+ TEST_ASSERT_TRUE(isValid);
+ TEST_ASSERT_EQUAL_FLOAT(expectedX, actual.x);
+ TEST_ASSERT_EQUAL_FLOAT(expectedY, actual.y);
+ TEST_ASSERT_EQUAL_FLOAT(expectedZ, actual.z);
+ TEST_ASSERT_EQUAL_UINT32(expectedTime, actual.timestamp);
+}
+
+
+void testThatAnchorPositionIsNotReturnedWhenTooOld() {
+ // Fixture
+ float x = 1.0;
+ float y = 2.0;
+ float z = 3.0;
+ uint32_t now = 1234;
+
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, now, &context);
+
+ tdoaStorageSetAnchorPosition(&context, x, y, z);
+
+ point_t voidResult;
+
+ // Test
+ context.currentTime_ms += ANCHOR_POSITION_VALIDITY_PERIOD;
+ bool isValid = tdoaStorageGetAnchorPosition(&context, &voidResult);
+
+ // Assert
+ TEST_ASSERT_FALSE(isValid);
+}
+
+
+void testThatRxTxDataIsSet() {
+ // Fixture
+ uint32_t expectedUpdateTime = 1234;
+ int64_t expectedRxTime = 4747474747;
+ int64_t expectedTxTime = 1111111111;
+ uint8_t expectedSeqNr = 17;
+
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, expectedUpdateTime, &context);
+
+ // Test
+ tdoaStorageSetRxTxData(&context, expectedRxTime, expectedTxTime, expectedSeqNr);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(expectedUpdateTime, tdoaStorageGetLastUpdateTime(&context));
+ TEST_ASSERT_EQUAL_UINT64(expectedRxTime, tdoaStorageGetRxTime(&context));
+ TEST_ASSERT_EQUAL_UINT64(expectedTxTime, tdoaStorageGetTxTime(&context));
+ TEST_ASSERT_EQUAL_UINT64(expectedSeqNr, tdoaStorageGetSeqNr(&context));
+}
+
+
+void testThatClockCorrectionIsReturned() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+ double expected = 123.456;
+ clockCorrectionStorage_t* clockCorrectionStorage = tdoaStorageGetClockCorrectionStorage(&context);
+ clockCorrectionEngineGet_ExpectAndReturn(clockCorrectionStorage, expected);
+
+ // Test
+ double actual = tdoaStorageGetClockCorrection(&context);
+
+ // Assert
+ TEST_ASSERT_EQUAL_DOUBLE(expected, actual);
+}
+
+
+void testThatRemoteRxTimeIsReturned() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+ const uint8_t seqNr = 13;
+ const uint8_t remoteAnchor = 17;
+ const int64_t expectedRemoteRxTime = 4711;
+ tdoaStorageSetRemoteRxTime(&context, remoteAnchor, expectedRemoteRxTime, seqNr);
+
+ // Test
+ int64_t actual = tdoaStorageGetRemoteRxTime(&context, remoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeIsNotReturnedWhenOutdated() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint32_t storageTime = 1117;
+ const uint32_t expiryTime = storageTime + REMOTE_DATA_VALIDITY_PERIOD;
+ const uint8_t anchor = 0;
+
+
+ const uint8_t seqNr = 13;
+ const uint8_t remoteAnchor = 17;
+ fixtureSetRemoteRxTime(&context, anchor, storageTime, remoteAnchor, 4711, seqNr);
+
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, expiryTime, &context);
+ const int64_t expectedRemoteRxTime = 0;
+
+ // Test
+ int64_t actual = tdoaStorageGetRemoteRxTime(&context, remoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeIsNotReturnedForUnknownRemoteAnchor() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+ const uint8_t unkownRemoteAnchor = 17;
+ const int64_t expectedRemoteRxTime = 0;
+
+ // Test
+ int64_t actual = tdoaStorageGetRemoteRxTime(&context, unkownRemoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeIsOverwrittenWhenSetWithTheSameRemoteId() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+ const uint8_t seqNr = 13;
+ const uint8_t remoteAnchor = 17;
+ const uint32_t storageTime = 123;
+ const uint8_t anchor = 3;
+
+ const int64_t firstRemoteRxTime = 1234;
+ fixtureSetRemoteRxTime(&context, anchor, storageTime, remoteAnchor, firstRemoteRxTime, seqNr);
+
+ const int64_t expectedRemoteRxTime = 4711;
+ fixtureSetRemoteRxTime(&context, anchor, storageTime, remoteAnchor, expectedRemoteRxTime, seqNr);
+
+ // Test
+ int64_t actual = tdoaStorageGetRemoteRxTime(&context, remoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actual);
+}
+
+
+void testThatRemoteRxTimeReplacesTheOldestEntryWhenStorageIsFull() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint8_t anchor = 17;
+ const uint8_t seqNr = 13;
+
+ // Fill the storage (for one anchor) with remote data. Make sure one entry is
+ // older than all the rest
+ const uint8_t oldestRemoteAnchor = 3;
+ TEST_ASSERT_TRUE(oldestRemoteAnchor < REMOTE_ANCHOR_DATA_COUNT);
+ const uint32_t oldestStorageTime = 1117;
+
+ const uint32_t newerStorageTime = oldestStorageTime + 1;
+
+ const int64_t firstRemoteRxTime = 1234;
+ for (int remoteAnchor = 0; remoteAnchor < REMOTE_ANCHOR_DATA_COUNT; remoteAnchor++) {
+ if (remoteAnchor == oldestRemoteAnchor) {
+ fixtureSetRemoteRxTime(&context, anchor, oldestStorageTime, remoteAnchor, firstRemoteRxTime, seqNr);
+ } else {
+ fixtureSetRemoteRxTime(&context, anchor, newerStorageTime, remoteAnchor, firstRemoteRxTime, seqNr);
+ }
+ }
+
+ // Test
+ // Set data for one more remote anchor that should replace the oldest in storage
+ const uint8_t verificationRemoteAnchor = REMOTE_ANCHOR_DATA_COUNT;
+ const uint64_t verificationRemoteRxTime = 6543;
+ const uint32_t verificationStorageTime = newerStorageTime + 1;
+ fixtureSetRemoteRxTime(&context, anchor, verificationStorageTime, verificationRemoteAnchor, verificationRemoteRxTime, seqNr);
+
+ // Assert
+ const int64_t actualVerification = tdoaStorageGetRemoteRxTime(&context, verificationRemoteAnchor);
+ TEST_ASSERT_EQUAL_INT64(verificationRemoteRxTime, actualVerification);
+
+ const int64_t actualReplaced = tdoaStorageGetRemoteRxTime(&context, oldestRemoteAnchor);
+ TEST_ASSERT_EQUAL_INT64(0, actualReplaced);
+}
+
+void testThatRemoteRxTimeAndSequenceNumberIsReturned() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+ const uint8_t remoteAnchor = 17;
+ const uint8_t expectedRemoteSeqNr = 13;
+ const int64_t expectedRemoteRxTime = 4711;
+ tdoaStorageSetRemoteRxTime(&context, remoteAnchor, expectedRemoteRxTime, expectedRemoteSeqNr);
+
+ // Test
+ int64_t actualRxTime = 0l;
+ uint8_t actualSeqNr = 0;
+ bool actual = tdoaStorageGetRemoteRxTimeSeqNr(&context, remoteAnchor, &actualRxTime, &actualSeqNr);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+ TEST_ASSERT_EQUAL_INT64(expectedRemoteRxTime, actualRxTime);
+ TEST_ASSERT_EQUAL_INT8(expectedRemoteSeqNr, actualSeqNr);
+}
+
+void testThatRemoteRxTimeAndSequenceNumberIsNotReturnedWhenNotInList() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ tdoaStorageGetCreateAnchorCtx(storage, 0, 0, &context);
+
+ const uint8_t remoteAnchor = 17;
+
+ // Test
+ int64_t actualRxTime = 0l;
+ uint8_t actualSeqNr = 0;
+ bool actual = tdoaStorageGetRemoteRxTimeSeqNr(&context, remoteAnchor, &actualRxTime, &actualSeqNr);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatAListOfSequenceNumbersAndIdsOfRemoteAnchorsIsReturned() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint8_t anchor = 5;
+
+ // Add remote data that is too old
+ const uint8_t oldRemoteAncor = 3;
+ const uint8_t oldSeqNr = 100;
+ const uint32_t oldStorageTime = 1117;
+ const uint64_t someRemoteRxTime = 1234;
+
+ fixtureSetRemoteRxTime(&context, anchor, oldStorageTime, oldRemoteAncor, someRemoteRxTime, oldSeqNr);
+
+ // Add remote data for two more anchors that are not too old
+ const uint8_t activeRemoteAnchor0 = 11;
+ const uint8_t activeSeqNr0 = 101;
+ const uint8_t activeRemoteAnchor1 = 17;
+ const uint8_t activeSeqNr1 = 102;
+ const uint32_t activeStorageTime = oldStorageTime + 1;
+
+ fixtureSetRemoteRxTime(&context, anchor, activeStorageTime, activeRemoteAnchor0, someRemoteRxTime, activeSeqNr0);
+ fixtureSetRemoteRxTime(&context, anchor, activeStorageTime, activeRemoteAnchor1, someRemoteRxTime, activeSeqNr1);
+
+ const uint32_t currentTime = oldStorageTime + REMOTE_DATA_VALIDITY_PERIOD;
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, currentTime, &context);
+
+ int actualRemoteCount;
+ uint8_t actualSequenceNumbers[REMOTE_ANCHOR_DATA_COUNT];
+ uint8_t actualIds[REMOTE_ANCHOR_DATA_COUNT];
+
+ // Test
+ tdoaStorageGetRemoteSeqNrList(&context, &actualRemoteCount, actualSequenceNumbers, actualIds);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT32(2, actualRemoteCount);
+
+ TEST_ASSERT_EQUAL_INT8(actualIds[0], activeRemoteAnchor0);
+ TEST_ASSERT_EQUAL_INT8(actualSequenceNumbers[0], activeSeqNr0);
+
+ TEST_ASSERT_EQUAL_INT8(actualIds[1], activeRemoteAnchor1);
+ TEST_ASSERT_EQUAL_INT8(actualSequenceNumbers[1], activeSeqNr1);
+}
+
+
+void testThatNoTimeOfFlightIsReturnedWhenRemoteAnchorIsNotInStorage() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint8_t anchor = 5;
+ const uint32_t storageTime = 1234;
+ const uint8_t remoteAnchor = 17;
+ const uint64_t expected = 0;
+
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, storageTime, &context);
+
+ // Test
+ int64_t actual = tdoaStorageGetTimeOfFlight(&context, remoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expected, actual);
+}
+
+
+void testThatTimeOfFlightIsReturnedWhenSet() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint8_t anchor = 5;
+ const uint32_t storageTime = 1234;
+ const uint8_t remoteAnchor = 17;
+ const uint64_t expected = 65432;
+
+ fixtureSetTof(&context, anchor, storageTime, remoteAnchor, expected);
+
+ // Test
+ int64_t actual = tdoaStorageGetTimeOfFlight(&context, remoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expected, actual);
+}
+
+
+void testThatTimeOfFlightIsReturnedWhenSetASecondTime() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint8_t anchor = 5;
+ const uint32_t storageTime = 1234;
+ const uint8_t remoteAnchor = 17;
+
+ const uint64_t firstTof = 777777;
+ const uint64_t expected = 65432;
+
+ fixtureSetTof(&context, anchor, storageTime, remoteAnchor, firstTof);
+ fixtureSetTof(&context, anchor, storageTime, remoteAnchor, expected);
+
+ // Test
+ int64_t actual = tdoaStorageGetTimeOfFlight(&context, remoteAnchor);
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT64(expected, actual);
+}
+
+
+void testThatTofReplacesTheOldestEntryWhenStorageIsFull() {
+ // Fixture
+ tdoaAnchorContext_t context;
+ const uint8_t anchor = 17;
+
+ // Fill the storage (for one anchor) with Tofsa. Make sure one entry is
+ // older than all the rest
+ const uint8_t oldestRemoteAnchor = 3;
+ TEST_ASSERT_TRUE(oldestRemoteAnchor < TOF_PER_ANCHOR_COUNT);
+ const uint32_t oldestStorageTime = 1117;
+
+ const uint32_t newerStorageTime = oldestStorageTime + 1;
+
+ const int64_t firstTof = 1234;
+ for (int remoteAnchor = 0; remoteAnchor < TOF_PER_ANCHOR_COUNT; remoteAnchor++) {
+ if (remoteAnchor == oldestRemoteAnchor) {
+ fixtureSetTof(&context, anchor, oldestStorageTime, remoteAnchor, firstTof);
+ } else {
+ fixtureSetTof(&context, anchor, newerStorageTime, remoteAnchor, firstTof);
+ }
+ }
+
+ // Test
+ // Set Tof for one more remote anchor that should replace the oldest in storage
+ const uint8_t verificationRemoteAnchor = TOF_PER_ANCHOR_COUNT;
+ const uint64_t verificationTof = 6543;
+ const uint32_t verificationStorageTime = newerStorageTime + 1;
+ fixtureSetTof(&context, anchor, verificationStorageTime, verificationRemoteAnchor, verificationTof);
+
+ // Assert
+ const int64_t actualVerification = tdoaStorageGetTimeOfFlight(&context, verificationRemoteAnchor);
+ TEST_ASSERT_EQUAL_INT64(verificationTof, actualVerification);
+
+ const int64_t actualReplaced = tdoaStorageGetTimeOfFlight(&context, oldestRemoteAnchor);
+ TEST_ASSERT_EQUAL_INT64(0, actualReplaced);
+}
+
+
+// Helpers ///////////////
+
+static void fixtureSetRemoteRxTime(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t remoteRxTime, const uint8_t seqNr) {
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, storageTime, context);
+ tdoaStorageSetRemoteRxTime(context, remoteAnchor, remoteRxTime, seqNr);
+}
+
+static void fixtureSetTof(tdoaAnchorContext_t* context, const uint8_t anchor, const uint32_t storageTime, const uint8_t remoteAnchor, const uint64_t tof) {
+ tdoaStorageGetCreateAnchorCtx(storage, anchor, storageTime, context);
+ tdoaStorageSetTimeOfFlight(context, remoteAnchor, tof);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_cf_math.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_cf_math.c
new file mode 100644
index 0000000000000000000000000000000000000000..5f48fb008a5fef724e90fbe8bcd0dc1de1b1ea92
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_cf_math.c
@@ -0,0 +1,58 @@
+// File under test
+#include "cf_math.h"
+#include "unity.h"
+
+void testThatClip1ReturnsValueInRange() {
+ // Fixture
+ float expected = 0.123f;
+
+ // Test
+ float actual = clip1(expected);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatClip1Returns1ForLargeValues() {
+ // Fixture
+ float expected = 1.0f;
+
+ // Test
+ float actual = clip1(2.0f);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatClip1ReturnsMinus1ForNegativeLargeValues() {
+ // Fixture
+ float expected = -1.0f;
+
+ // Test
+ float actual = clip1(-2.0f);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatLimPosReturnsValueInRange() {
+ // Fixture
+ float expected = 1.0f;
+
+ // Test
+ float actual = limPos(expected);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+void testThatLimPosReturnsZeroForNegativeValues() {
+ // Fixture
+ float expected = 0.0f;
+
+ // Test
+ float actual = limPos(-1.0f);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_clock_correction.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_clock_correction.c
new file mode 100644
index 0000000000000000000000000000000000000000..1442e9c88362b2909f229e974f3c8acfc3252842
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_clock_correction.c
@@ -0,0 +1,202 @@
+// FIle under test
+#include "clockCorrectionEngine.h"
+
+#include "unity.h"
+
+#define MAX_CLOCK_DEVIATION_SPEC 10e-6
+#define CLOCK_CORRECTION_SPEC_MAX (1.0 + MAX_CLOCK_DEVIATION_SPEC * 2)
+
+#define CLOCK_CORRECTION_ACCEPTED_NOISE 0.03e-6
+#define CLOCK_CORRECTION_FILTER 0.1
+#define CLOCK_CORRECTION_BUCKET_MAX 4
+
+void setUp(void) {
+}
+
+void tearDown(void) {
+}
+
+void testGetClockCorrection() {
+ // Fixture
+ const double clockCorrection = 12345.6789;
+ clockCorrectionStorage_t clockCorrectionStorage = {
+ .clockCorrection = clockCorrection,
+ .clockCorrectionBucket = 0
+ };
+
+ // Test
+ const double result = clockCorrectionEngineGet(&clockCorrectionStorage);
+
+ // Assert
+ const double expectedResult = clockCorrection;
+ TEST_ASSERT_EQUAL_DOUBLE(expectedResult, result);
+}
+
+void testCalculateClockCorrectionWithValidInputDataWithoutWrapAround() {
+ // Fixture
+ const double clockCorrection = 1.0057;
+ const uint64_t mask = 0xFFFFFFFFFF; // 40 bits
+ const uint64_t difference_in_cl_x = 10000;
+
+ const uint64_t old_t_in_cl_x = 1000;
+ const uint64_t new_t_in_cl_x = old_t_in_cl_x + difference_in_cl_x; // Does not wrap around
+ const uint64_t old_t_in_cl_reference = 56789;
+ const uint64_t new_t_in_cl_reference = old_t_in_cl_reference + clockCorrection * difference_in_cl_x; // Does not wrap around
+
+ // Test
+ const double result = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, mask);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrection;
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, result);
+}
+
+void testCalculateClockCorrectionWithValidInputDataWithWrapAround() {
+ // Fixture
+ const double clockCorrection = 1.0057;
+ const uint64_t mask = 0xFFFFFFFFFF; // 40 bits
+ const uint64_t difference_in_cl_x = 10000;
+
+ const uint64_t old_t_in_cl_x = mask - difference_in_cl_x / 2;
+ const uint64_t new_t_in_cl_x = (old_t_in_cl_x + difference_in_cl_x) & mask; // Wraps around
+ const uint64_t old_t_in_cl_reference = 56789;
+ const uint64_t new_t_in_cl_reference = old_t_in_cl_reference + clockCorrection * difference_in_cl_x; // Does not wrap around
+
+ // Test
+ const double result1 = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, mask);
+ // This second part of the test veryfies that when the bit mask has a higher number of bits than the timestamps, the result is wrong if wrap around happens
+ const uint64_t wrongMask = 0x1FFFFFFFFFF; // 41 bits
+ const double result2 = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, wrongMask);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrection;
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, result1);
+ TEST_ASSERT_NOT_EQUAL(expectedClockCorrection, result2);
+}
+
+void testCalculateClockCorrectionWithInvalidInputData() {
+ // Fixture
+ const uint64_t mask = 0xFFFFFFFFFF; // 40 bits
+
+ const uint64_t old_t_in_cl_x = 1000;
+ const uint64_t new_t_in_cl_x = 1000;
+ const uint64_t old_t_in_cl_reference = 56789;
+ const uint64_t new_t_in_cl_reference = 56789;
+
+ // Test
+ const double result = clockCorrectionEngineCalculate(new_t_in_cl_reference, old_t_in_cl_reference, new_t_in_cl_x, old_t_in_cl_x, mask);
+
+ // Assert
+ const double expectedClockCorrection = -1;
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, result);
+}
+
+void testUpdateClockCorrectionWithSampleInTheOuterLimitOfTheSpecs() {
+ // Fixture
+ const double clockCorrection = 5;
+ const unsigned int clockCorrectionBucket = 3;
+ const double clockCorrectionCandidate = CLOCK_CORRECTION_SPEC_MAX; // First value out of the specs
+
+ clockCorrectionStorage_t clockCorrectionStorage = {
+ .clockCorrection = clockCorrection,
+ .clockCorrectionBucket = clockCorrectionBucket
+ };
+
+ // Test
+ const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrection;
+ const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket - 1;
+ TEST_ASSERT_FALSE(sampleIsReliable);
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+ TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheInnerLimitOfTheSpecsWithEmptyBucket() {
+ // Fixture
+ const double clockCorrection = 1;
+ const unsigned int clockCorrectionBucket = 0;
+ const double clockCorrectionCandidate = nextafter(CLOCK_CORRECTION_SPEC_MAX, 1); // First value in the specs
+
+ clockCorrectionStorage_t clockCorrectionStorage = {
+ .clockCorrection = clockCorrection,
+ .clockCorrectionBucket = clockCorrectionBucket
+ };
+
+ // Test
+ const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrectionCandidate;
+ const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket;
+ TEST_ASSERT_FALSE(sampleIsReliable);
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+ TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheOuterLimitOfTheAcceptableNoiseWithEmptyBucket() {
+ // Fixture
+ const double clockCorrection = 1;
+ const unsigned int clockCorrectionBucket = 0;
+ const double clockCorrectionCandidate = clockCorrection + CLOCK_CORRECTION_ACCEPTED_NOISE; // First value out of acceptable noise
+
+ clockCorrectionStorage_t clockCorrectionStorage = {
+ .clockCorrection = clockCorrection,
+ .clockCorrectionBucket = clockCorrectionBucket
+ };
+
+ // Test
+ const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrectionCandidate;
+ const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket;
+ TEST_ASSERT_FALSE(sampleIsReliable);
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+ TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheOuterLimitOfTheAcceptableNoiseWithNonEmptyBucket() {
+ // Fixture
+ const double clockCorrection = 1;
+ const unsigned int clockCorrectionBucket = 2;
+ const double clockCorrectionCandidate = clockCorrection + CLOCK_CORRECTION_ACCEPTED_NOISE; // First value out of acceptable noise
+
+ clockCorrectionStorage_t clockCorrectionStorage = {
+ .clockCorrection = clockCorrection,
+ .clockCorrectionBucket = clockCorrectionBucket
+ };
+
+ // Test
+ const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrection;
+ const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket - 1;
+ TEST_ASSERT_FALSE(sampleIsReliable);
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+ TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
+
+void testUpdateClockCorrectionWithSampleInTheInnerLimitOfTheAcceptableNoise() {
+ // Fixture
+ const double clockCorrection = 1.0 + 10e-6; // A value inside the clock specs
+ const unsigned int clockCorrectionBucket = 2;
+ const double clockCorrectionCandidate = nextafter(clockCorrection + CLOCK_CORRECTION_ACCEPTED_NOISE, 1); // First value in the acceptable noise
+
+ clockCorrectionStorage_t clockCorrectionStorage = {
+ .clockCorrection = clockCorrection,
+ .clockCorrectionBucket = clockCorrectionBucket
+ };
+
+ // Test
+ const double sampleIsReliable = clockCorrectionEngineUpdate(&clockCorrectionStorage, clockCorrectionCandidate);
+
+ // Assert
+ const double expectedClockCorrection = clockCorrection * CLOCK_CORRECTION_FILTER + clockCorrectionCandidate * (1.0 - CLOCK_CORRECTION_FILTER);
+ const unsigned int expectedClockCorrectionBucket = clockCorrectionBucket + 1;
+ TEST_ASSERT_TRUE(sampleIsReliable);
+ TEST_ASSERT_EQUAL_DOUBLE(expectedClockCorrection, clockCorrectionStorage.clockCorrection);
+ TEST_ASSERT_EQUAL_UINT(expectedClockCorrectionBucket, clockCorrectionStorage.clockCorrectionBucket);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_eprintf.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_eprintf.c
new file mode 100644
index 0000000000000000000000000000000000000000..74cd3650da0ec1ac23086c0b89760a99b57f8f4e
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_eprintf.c
@@ -0,0 +1,300 @@
+/**
+ * || ____ _ __
+ * +------+ / __ )(_) /_______________ _____ ___
+ * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2018 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * TestEprintf.c - Unit tests for printing of formatted strings
+ */
+
+#include "unity.h"
+#include "eprintf.h"
+
+#include <stdarg.h>
+#include <string.h>
+
+static int putcMock(int c);
+static void verifyStdio(char* format, ...);
+static void verify(char* expected, char* format, ...);
+static char actual[100];
+
+static void reset() {
+ memset(actual, 0, sizeof(actual));
+}
+
+void setUp(void) {
+ reset();
+}
+
+void tearDown(void) {}
+
+void testThatTextIsPrinted() {
+ // Fixture
+ char* expected = "Some text\n";
+
+ // Test
+ eprintf(putcMock, "Some text\n");
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING(expected, actual);
+}
+
+void testThatTheNumberOfCharactersIsReturned() {
+ // Fixture
+ int expected = 10;
+
+ // Test
+ int actual = eprintf(putcMock, "Some text\n");
+
+ // Assert
+ TEST_ASSERT_EQUAL_INT(expected, actual);
+}
+
+void testThatStringIsPrinted() {
+ // Fixture
+ // Test
+ // Assert
+ verifyStdio("Some %s text", "extra");
+}
+
+void testThatIntIsPrinted() {
+ // Fixture
+ int val = -456;
+
+ // Test
+ // Assert
+ verifyStdio("Some %i text", val);
+}
+
+void testThatIntIsPrinted2() {
+ // Fixture
+ int val = 123;
+
+ // Test
+ // Assert
+ verifyStdio("Some %d text", val);
+}
+
+void testThatLongIntIsPrinted() {
+ // Fixture
+ long int val = -456123434;
+
+ // Test
+ // Assert
+ verifyStdio("Some %ld text", val);
+}
+
+void testThatLongLongIntIsPrinted() {
+ // Fixture
+ long long int val = -4561234345345;
+
+ // Test
+ // Assert
+ verifyStdio("Some %lld text", val);
+}
+
+void testThatUnsignedIntIsPrinted() {
+ // Fixture
+ unsigned int val = 10;
+
+ // Test
+ // Assert
+ verifyStdio("Some %u text", val);
+}
+
+void testThatLongUnsignedIntIsPrinted() {
+ // Fixture
+ long unsigned int val = 1234567890;
+
+ // Test
+ // Assert
+ verifyStdio("Some %lu text", val);
+}
+
+void testThatLongLongUnsignedIntIsPrinted() {
+ // Fixture
+ long long unsigned int val = 9223372036854775807;
+
+ // Test
+ // Assert
+ verifyStdio("Some %llu text", val);
+}
+
+void testThatHexIsPrinted() {
+ // Fixture
+ int val = 0xABCD;
+
+ // Note: Not behaving as sprintf() that generates "Some abcd text"
+ char* expected = "Some ABCD text";
+
+ // Test
+ eprintf(putcMock, "Some %x text", val);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING(expected, actual);
+}
+
+void testThatHexIsPrinted2() {
+ // Fixture
+ unsigned int val = 0xABCD;
+
+ // Test
+ // Assert
+ verifyStdio("Some %X text", val);
+}
+
+void testThatLongHexIsPrinted() {
+ // Fixture
+ long int val = 0xABCD;
+
+ // Test
+ // Assert
+ verifyStdio("Some %lX text", val);
+}
+
+
+void testThatLongLongHexIsPrinted() {
+ // Fixture
+ long long int val = 0xABCD98768FEDC098;
+
+ // Test
+ // Assert
+ verifyStdio("Some %llX text", val);
+}
+
+void testThatHexWithWidthIsPrinted() {
+ // Fixture
+ int val = 0xab;
+
+ // Test
+ // Assert
+ verifyStdio("Some %4X text", val);
+}
+
+void testThatDoubleIsPrintedWithRoundingErrors() {
+ // Fixture
+ double val = -1234.12;
+ char* expected = "Implementaion has rounding errors, -1234.119995";
+
+ // Test
+ // Assert
+ verify(expected, "Implementaion has rounding errors, %f", val);
+}
+
+void testThatHexWithZeroPaddedWidthIsPrinted() {
+ // Fixture
+ int val = 0xab;
+
+ // Test
+ // Assert
+ verifyStdio("Some %08X text", val);
+}
+
+void testThatDoubleWithPrecisionIsPrinted() {
+ // Fixture
+ double val = -1234.1234;
+
+ // Test
+ // Assert
+ verifyStdio("Some %.2f text", val);
+}
+
+void testThatCharIsPrinted() {
+ // Fixture
+ char val1 = 'z';
+ char val2 = 'c';
+
+ // Test
+ // Assert
+ verifyStdio("Bitcra%ce ro%cks!", val1, val2);
+}
+
+void testThatMultipleParamsArePrinted() {
+ // Fixture
+
+ // Test
+ // Assert
+ verifyStdio("Bla %i %d text %s %03x %5x", 10, 20, "hello", 4, 5);
+}
+
+void testThatAllIntTypesArePrinted() {
+ // Fixture
+ // Test
+ // Assert
+ verify("255", "%u", (uint8_t)255);
+ verify("65535", "%u", (uint16_t)65535);
+ verify("4294967295", "%lu", (uint32_t)4294967295);
+ verify("18446744073709551615", "%llu", (uint64_t)18446744073709551615u);
+
+ verify("127", "%i", (int8_t)127);
+ verify("32767", "%i", (int16_t)32767);
+ verify("2147483647", "%li", (int32_t)2147483647);
+ verify("9223372036854775807", "%lli", (int64_t)9223372036854775807);
+
+ verify("FF", "%X", (uint8_t)0xFF);
+ verify("FFFF", "%X", (uint16_t)0xFFFF);
+ verify("FFFFFFFF", "%lX", (uint32_t)0xFFFFFFFF);
+ verify("FFFFFFFFFFFFFFFF", "%llX", (uint64_t)0xFFFFFFFFFFFFFFFF);
+}
+
+//////////////////////////////
+
+static int putcMock(int c) {
+ uint32_t i = 0;
+ for (; actual[i] != 0 && i < sizeof(actual); i++) {}
+ actual[i] = (char)c;
+ return 1;
+}
+
+static void verifyStdio(char* format, ...) {
+ // Fixture
+ reset();
+ va_list ap;
+ char* expected[100];
+
+ // Trust sprintf() to be correct
+ va_start(ap, format);
+ int expected_len = vsprintf((char*)expected, format, ap);
+ va_end(ap);
+
+ // Test
+ va_start(ap, format);
+ int actual_len = evprintf(putcMock, format, ap);
+ va_end(ap);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING(expected, actual);
+ TEST_ASSERT_EQUAL_INT(expected_len, actual_len);
+}
+
+static void verify(char* expected, char* format, ...) {
+ reset();
+ va_list ap;
+
+ // Fixture
+ // Trust sprintf() to be correct
+ // Test
+ va_start(ap, format);
+ evprintf(putcMock, format, ap);
+ va_end(ap);
+
+ // Assert
+ TEST_ASSERT_EQUAL_STRING(expected, actual);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_num.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_num.c
new file mode 100644
index 0000000000000000000000000000000000000000..e99c37d878c7b172f779eeb0a233b200bda7fbd4
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_num.c
@@ -0,0 +1,138 @@
+#include "unity.h"
+#include "num.h"
+
+
+void testThatLimitUint16NotLimitInRange() {
+ // Fixture
+ int32_t value = 4711;
+ uint16_t expected = 4711;
+
+ // Test
+ uint16_t actual = limitUint16(value);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatLimitUint16LimitZero() {
+ // Fixture
+ int32_t value = -100;
+ uint16_t expected = 0;
+
+ // Test
+ uint16_t actual = limitUint16(value);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatLimitUint16LimitMax() {
+ // Fixture
+ int32_t value = UINT16_MAX + 100;
+ uint16_t expected = UINT16_MAX;
+
+ // Test
+ uint16_t actual = limitUint16(value);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT16(expected, actual);
+}
+
+
+void testThatConstrainDoesNotLimitInRange() {
+ // Fixture
+ float value = 3.45;
+ float expected = value;
+
+ // Test
+ float actual = constrain(value, 0.0, 100.0);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatConstrainLimitsMin() {
+ // Fixture
+ float value = -10.0;
+ float min = 3.45;
+ float expected = min;
+
+ // Test
+ float actual = constrain(value, min, 100.0);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatConstrainLimitsMax() {
+ // Fixture
+ float value = 10.0;
+ float max = 3.45;
+ float expected = max;
+
+ // Test
+ float actual = constrain(value, -100.0, max);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandInDeadbandPositive() {
+ // Fixture
+ float value = 0.5;
+ float threshold = 1.0;
+ float expected = 0.0;
+
+ // Test
+ float actual = deadband(value, threshold);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandInDeadbandNegative() {
+ // Fixture
+ float value = -0.5;
+ float threshold = 1.0;
+ float expected = 0.0;
+
+ // Test
+ float actual = deadband(value, threshold);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandOutsideDeadbandPositive() {
+ // Fixture
+ float value = 2.5;
+ float threshold = 1.0;
+ float expected = 1.5;
+
+ // Test
+ float actual = deadband(value, threshold);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
+
+
+void testThatDeadbandOutsideDeadbandNegative() {
+ // Fixture
+ float value = -2.5;
+ float threshold = 1.0;
+ float expected = -1.5;
+
+ // Test
+ float actual = deadband(value, threshold);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_rateSupervisor.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_rateSupervisor.c
new file mode 100644
index 0000000000000000000000000000000000000000..3d4b1b5f1b68b4b4095606c2dcdb961d3122df43
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_rateSupervisor.c
@@ -0,0 +1,145 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 20 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * test_rateSupervisor.h - unit tests for rate supervisor
+ */
+
+// File under test
+#include "rateSupervisor.h"
+
+#include "unity.h"
+
+
+static rateSupervisor_t context;
+
+static uint32_t startTime = 12345;
+static uint32_t evaluationIntervall = 1000;
+static uint32_t minCount = 2;
+static uint32_t maxCount = 4;
+
+void setUp(void) {
+ rateSupervisorInit(&context, startTime, evaluationIntervall, minCount, maxCount, 0);
+}
+
+void tearDown(void) {
+ // Empty
+}
+
+void testThatValidationPassesBeforeEvaluation() {
+ // Fixture
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 100);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatValidationPassesWhenCountIsWithinInterval() {
+ // Fixture
+ rateSupervisorValidate(&context, startTime + 400);
+ rateSupervisorValidate(&context, startTime + 800);
+
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatValidationFailesWhenCountIsTooLow() {
+ // Fixture
+
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatValidationPassesWhenCountIsTooHigh() {
+ // Fixture
+ rateSupervisorValidate(&context, startTime + 400);
+ rateSupervisorValidate(&context, startTime + 500);
+ rateSupervisorValidate(&context, startTime + 600);
+ rateSupervisorValidate(&context, startTime + 700);
+
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatCounterIsResetAtEvaluation() {
+ // Fixture
+ rateSupervisorValidate(&context, startTime + 400);
+ rateSupervisorValidate(&context, startTime + 700);
+ rateSupervisorValidate(&context, startTime + 1200);
+ // An evaluation should be triggered by the last call and counter reset
+
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 1200 + 1100);
+
+ // Assert
+ // The test call should trigger a second evaluation, and since the counter was
+ // reset, the validation should return false
+ TEST_ASSERT_FALSE(actual);
+}
+
+void testThatLatestCountIsStored() {
+ // Fixture
+ rateSupervisorValidate(&context, startTime + 1200);
+ uint32_t expected = 1;
+
+ // Test
+ uint32_t actual = rateSupervisorLatestCount(&context);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(expected, actual);
+}
+
+void testThatValidationPassesWithSkip() {
+ // Fixture
+ uint32_t skip = 1;
+ rateSupervisorInit(&context, startTime, evaluationIntervall, minCount, maxCount, skip);
+
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 1200);
+
+ // Assert
+ TEST_ASSERT_TRUE(actual);
+}
+
+void testThatValidationFailesAfterSkip() {
+ // Fixture
+ uint32_t skip = 1;
+ rateSupervisorInit(&context, startTime, evaluationIntervall, minCount, maxCount, skip);
+ rateSupervisorValidate(&context, startTime + 1200);
+
+ // Test
+ bool actual = rateSupervisorValidate(&context, startTime + 1200 + 1100);
+
+ // Assert
+ TEST_ASSERT_FALSE(actual);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_statsCnt.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_statsCnt.c
new file mode 100644
index 0000000000000000000000000000000000000000..b9294aae794b57685dc9daccab4b9dfbb0559cb8
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/test/utils/src/test_statsCnt.c
@@ -0,0 +1,178 @@
+/**
+ * ,---------, ____ _ __
+ * | ,-^-, | / __ )(_) /_______________ _____ ___
+ * | ( O ) | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * | / ,--´ | / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * +------` /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2019 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ *
+ * testStatsCnt.h - unit tests for statsCnt
+ */
+
+// File under test
+#include "statsCnt.h"
+
+#include "unity.h"
+
+
+// Helpers
+void assertRateCounterIsInitialized(statsCntRateCounter_t* sut);
+void assertLoggerIsInitialized(statsCntRateLogger_t* sut);
+
+void testThatRateCounterIsInitialized() {
+ // Fixture
+ statsCntRateCounter_t sut = {
+ .count = 1,
+ .latestCount = 2,
+ .latestAveragingMs = 3,
+ .latestRate = 4.0f,
+ .intervalMs = 5,
+ };
+
+ // Test
+ statsCntRateCounterInit(&sut, 4711);
+
+ // Assert
+ assertRateCounterIsInitialized(&sut);
+}
+
+void testThatRateIsComputedWhenTimeSinceLastComputationIsLongerThanTheInterval() {
+ // Fixture
+ uint32_t interval = 500;
+
+ statsCntRateCounter_t sut;
+ statsCntRateCounterInit(&sut, interval);
+
+ uint32_t firstCount = 100;
+ sut.count = firstCount;
+
+ uint32_t firstUpdate_ms = 1000;
+ statsCntRateCounterUpdate(&sut, firstUpdate_ms);
+
+ uint32_t dCount = 100;
+ sut.count = firstCount + dCount;
+
+ // Make sure dt is longer than the interval
+ uint32_t dt_ms = interval * 2;
+ uint32_t now = firstUpdate_ms + dt_ms;
+
+ float expected = dCount * 1000.0f / dt_ms;
+
+ // Test
+ float actual = statsCntRateCounterUpdate(&sut, now);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+ TEST_ASSERT_EQUAL_FLOAT(expected, sut.latestRate);
+}
+
+void testThatRateNotIsComputedWhenTimeSinceLastComputationIsLessThanTheInterval() {
+ // Fixture
+ uint32_t interval = 500;
+
+ statsCntRateCounter_t sut;
+ statsCntRateCounterInit(&sut, interval);
+
+ uint32_t firstCount = 100;
+ sut.count = firstCount;
+
+ uint32_t firstUpdate_ms = 1000;
+ float expected = statsCntRateCounterUpdate(&sut, firstUpdate_ms);
+
+ uint32_t dCount = 100;
+ sut.count = firstCount + dCount;
+
+ // Make sure dt is less than the interval
+ uint32_t dt_ms = interval - 1;
+ uint32_t now = firstUpdate_ms + dt_ms;
+
+ // Test
+ float actual = statsCntRateCounterUpdate(&sut, now);
+
+ // Assert
+ TEST_ASSERT_EQUAL_FLOAT(expected, actual);
+ TEST_ASSERT_EQUAL_FLOAT(expected, sut.latestRate);
+}
+
+void testThatRateLoggerIsInitialized() {
+ // Fixture
+ statsCntRateLogger_t sut = {
+ .logByFunction = {.data = 0, .aquireFloat = 0},
+ .rateCounter = {.latestAveragingMs = 3},
+ };
+
+ // Test
+ STATS_CNT_RATE_INIT(&sut, 4711);
+
+ // Assert
+ assertLoggerIsInitialized(&sut);
+}
+
+void testThatRateLoggerIsInitializedInline() {
+ // Fixture
+ // Test
+ STATS_CNT_RATE_DEFINE(sut, 4711);
+
+ // Assert
+ assertLoggerIsInitialized(&sut);
+}
+
+void testThatStatsCntRateLoggerCanBeCastToLogByFunction() {
+ // Fixture
+ statsCntRateLogger_t sut = {
+ .logByFunction = {.data = (void*)47, .aquireFloat = (logAcquireFloat)11},
+ };
+
+ // Test
+ logByFunction_t* actual = (logByFunction_t*)&sut;
+
+ // Assert
+ TEST_ASSERT_EQUAL_PTR(47, actual->data);
+ TEST_ASSERT_EQUAL_PTR(11, actual->aquireFloat);
+}
+
+void testThatCounterIsIncreased() {
+ // Fixture
+ statsCntRateLogger_t sut;
+ STATS_CNT_RATE_INIT(&sut, 4711);
+
+ // Test
+ STATS_CNT_RATE_EVENT(&sut);
+
+ // Assert
+ TEST_ASSERT_EQUAL_UINT32(1, sut.rateCounter.count);
+}
+
+
+// Helpers
+
+void assertRateCounterIsInitialized(statsCntRateCounter_t* sut) {
+ TEST_ASSERT_EQUAL_UINT32(4711, sut->intervalMs);
+ TEST_ASSERT_EQUAL_UINT32(0, sut->count);
+ TEST_ASSERT_EQUAL_UINT32(0, sut->latestCount);
+ TEST_ASSERT_EQUAL_UINT32(0, sut->latestAveragingMs);
+ TEST_ASSERT_EQUAL_FLOAT(0.0, sut->latestRate);
+}
+
+void assertLoggerIsInitialized(statsCntRateLogger_t* sut) {
+ TEST_ASSERT_EQUAL_PTR(sut, sut->logByFunction.data);
+ TEST_ASSERT_EQUAL_PTR(statsCntRateLogHandler, sut->logByFunction.aquireFloat);
+
+ assertRateCounterIsInitialized(&sut->rateCounter);
+}
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/croutine.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/croutine.c
deleted file mode 100644
index 96301682ff47318bbd33ee2ee5a7d40824a3649e..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/croutine.c
+++ /dev/null
@@ -1,353 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "croutine.h"
-
-/* Remove the whole file is co-routines are not being used. */
-#if( configUSE_CO_ROUTINES != 0 )
-
-/*
- * Some kernel aware debuggers require data to be viewed to be global, rather
- * than file scope.
- */
-#ifdef portREMOVE_STATIC_QUALIFIER
- #define static
-#endif
-
-
-/* Lists for ready and blocked co-routines. --------------------*/
-static List_t pxReadyCoRoutineLists[ configMAX_CO_ROUTINE_PRIORITIES ]; /*< Prioritised ready co-routines. */
-static List_t xDelayedCoRoutineList1; /*< Delayed co-routines. */
-static List_t xDelayedCoRoutineList2; /*< Delayed co-routines (two lists are used - one for delays that have overflowed the current tick count. */
-static List_t * pxDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used. */
-static List_t * pxOverflowDelayedCoRoutineList; /*< Points to the delayed co-routine list currently being used to hold co-routines that have overflowed the current tick count. */
-static List_t xPendingReadyCoRoutineList; /*< Holds co-routines that have been readied by an external event. They cannot be added directly to the ready lists as the ready lists cannot be accessed by interrupts. */
-
-/* Other file private variables. --------------------------------*/
-CRCB_t * pxCurrentCoRoutine = NULL;
-static UBaseType_t uxTopCoRoutineReadyPriority = 0;
-static TickType_t xCoRoutineTickCount = 0, xLastTickCount = 0, xPassedTicks = 0;
-
-/* The initial state of the co-routine when it is created. */
-#define corINITIAL_STATE ( 0 )
-
-/*
- * Place the co-routine represented by pxCRCB into the appropriate ready queue
- * for the priority. It is inserted at the end of the list.
- *
- * This macro accesses the co-routine ready lists and therefore must not be
- * used from within an ISR.
- */
-#define prvAddCoRoutineToReadyQueue( pxCRCB ) \
-{ \
- if( pxCRCB->uxPriority > uxTopCoRoutineReadyPriority ) \
- { \
- uxTopCoRoutineReadyPriority = pxCRCB->uxPriority; \
- } \
- vListInsertEnd( ( List_t * ) &( pxReadyCoRoutineLists[ pxCRCB->uxPriority ] ), &( pxCRCB->xGenericListItem ) ); \
-}
-
-/*
- * Utility to ready all the lists used by the scheduler. This is called
- * automatically upon the creation of the first co-routine.
- */
-static void prvInitialiseCoRoutineLists( void );
-
-/*
- * Co-routines that are readied by an interrupt cannot be placed directly into
- * the ready lists (there is no mutual exclusion). Instead they are placed in
- * in the pending ready list in order that they can later be moved to the ready
- * list by the co-routine scheduler.
- */
-static void prvCheckPendingReadyList( void );
-
-/*
- * Macro that looks at the list of co-routines that are currently delayed to
- * see if any require waking.
- *
- * Co-routines are stored in the queue in the order of their wake time -
- * meaning once one co-routine has been found whose timer has not expired
- * we need not look any further down the list.
- */
-static void prvCheckDelayedList( void );
-
-/*-----------------------------------------------------------*/
-
-BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex )
-{
-BaseType_t xReturn;
-CRCB_t *pxCoRoutine;
-
- /* Allocate the memory that will store the co-routine control block. */
- pxCoRoutine = ( CRCB_t * ) pvPortMalloc( sizeof( CRCB_t ) );
- if( pxCoRoutine )
- {
- /* If pxCurrentCoRoutine is NULL then this is the first co-routine to
- be created and the co-routine data structures need initialising. */
- if( pxCurrentCoRoutine == NULL )
- {
- pxCurrentCoRoutine = pxCoRoutine;
- prvInitialiseCoRoutineLists();
- }
-
- /* Check the priority is within limits. */
- if( uxPriority >= configMAX_CO_ROUTINE_PRIORITIES )
- {
- uxPriority = configMAX_CO_ROUTINE_PRIORITIES - 1;
- }
-
- /* Fill out the co-routine control block from the function parameters. */
- pxCoRoutine->uxState = corINITIAL_STATE;
- pxCoRoutine->uxPriority = uxPriority;
- pxCoRoutine->uxIndex = uxIndex;
- pxCoRoutine->pxCoRoutineFunction = pxCoRoutineCode;
-
- /* Initialise all the other co-routine control block parameters. */
- vListInitialiseItem( &( pxCoRoutine->xGenericListItem ) );
- vListInitialiseItem( &( pxCoRoutine->xEventListItem ) );
-
- /* Set the co-routine control block as a link back from the ListItem_t.
- This is so we can get back to the containing CRCB from a generic item
- in a list. */
- listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xGenericListItem ), pxCoRoutine );
- listSET_LIST_ITEM_OWNER( &( pxCoRoutine->xEventListItem ), pxCoRoutine );
-
- /* Event lists are always in priority order. */
- listSET_LIST_ITEM_VALUE( &( pxCoRoutine->xEventListItem ), ( ( TickType_t ) configMAX_CO_ROUTINE_PRIORITIES - ( TickType_t ) uxPriority ) );
-
- /* Now the co-routine has been initialised it can be added to the ready
- list at the correct priority. */
- prvAddCoRoutineToReadyQueue( pxCoRoutine );
-
- xReturn = pdPASS;
- }
- else
- {
- xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList )
-{
-TickType_t xTimeToWake;
-
- /* Calculate the time to wake - this may overflow but this is
- not a problem. */
- xTimeToWake = xCoRoutineTickCount + xTicksToDelay;
-
- /* We must remove ourselves from the ready list before adding
- ourselves to the blocked list as the same list item is used for
- both lists. */
- ( void ) uxListRemove( ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
-
- /* The list item will be inserted in wake time order. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentCoRoutine->xGenericListItem ), xTimeToWake );
-
- if( xTimeToWake < xCoRoutineTickCount )
- {
- /* Wake time has overflowed. Place this item in the
- overflow list. */
- vListInsert( ( List_t * ) pxOverflowDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so we can use the
- current block list. */
- vListInsert( ( List_t * ) pxDelayedCoRoutineList, ( ListItem_t * ) &( pxCurrentCoRoutine->xGenericListItem ) );
- }
-
- if( pxEventList )
- {
- /* Also add the co-routine to an event list. If this is done then the
- function must be called with interrupts disabled. */
- vListInsert( pxEventList, &( pxCurrentCoRoutine->xEventListItem ) );
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckPendingReadyList( void )
-{
- /* Are there any co-routines waiting to get moved to the ready list? These
- are co-routines that have been readied by an ISR. The ISR cannot access
- the ready lists itself. */
- while( listLIST_IS_EMPTY( &xPendingReadyCoRoutineList ) == pdFALSE )
- {
- CRCB_t *pxUnblockedCRCB;
-
- /* The pending ready list can be accessed by an ISR. */
- portDISABLE_INTERRUPTS();
- {
- pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( (&xPendingReadyCoRoutineList) );
- ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
- }
- portENABLE_INTERRUPTS();
-
- ( void ) uxListRemove( &( pxUnblockedCRCB->xGenericListItem ) );
- prvAddCoRoutineToReadyQueue( pxUnblockedCRCB );
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckDelayedList( void )
-{
-CRCB_t *pxCRCB;
-
- xPassedTicks = xTaskGetTickCount() - xLastTickCount;
- while( xPassedTicks )
- {
- xCoRoutineTickCount++;
- xPassedTicks--;
-
- /* If the tick count has overflowed we need to swap the ready lists. */
- if( xCoRoutineTickCount == 0 )
- {
- List_t * pxTemp;
-
- /* Tick count has overflowed so we need to swap the delay lists. If there are
- any items in pxDelayedCoRoutineList here then there is an error! */
- pxTemp = pxDelayedCoRoutineList;
- pxDelayedCoRoutineList = pxOverflowDelayedCoRoutineList;
- pxOverflowDelayedCoRoutineList = pxTemp;
- }
-
- /* See if this tick has made a timeout expire. */
- while( listLIST_IS_EMPTY( pxDelayedCoRoutineList ) == pdFALSE )
- {
- pxCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxDelayedCoRoutineList );
-
- if( xCoRoutineTickCount < listGET_LIST_ITEM_VALUE( &( pxCRCB->xGenericListItem ) ) )
- {
- /* Timeout not yet expired. */
- break;
- }
-
- portDISABLE_INTERRUPTS();
- {
- /* The event could have occurred just before this critical
- section. If this is the case then the generic list item will
- have been moved to the pending ready list and the following
- line is still valid. Also the pvContainer parameter will have
- been set to NULL so the following lines are also valid. */
- ( void ) uxListRemove( &( pxCRCB->xGenericListItem ) );
-
- /* Is the co-routine waiting on an event also? */
- if( pxCRCB->xEventListItem.pxContainer )
- {
- ( void ) uxListRemove( &( pxCRCB->xEventListItem ) );
- }
- }
- portENABLE_INTERRUPTS();
-
- prvAddCoRoutineToReadyQueue( pxCRCB );
- }
- }
-
- xLastTickCount = xCoRoutineTickCount;
-}
-/*-----------------------------------------------------------*/
-
-void vCoRoutineSchedule( void )
-{
- /* See if any co-routines readied by events need moving to the ready lists. */
- prvCheckPendingReadyList();
-
- /* See if any delayed co-routines have timed out. */
- prvCheckDelayedList();
-
- /* Find the highest priority queue that contains ready co-routines. */
- while( listLIST_IS_EMPTY( &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) ) )
- {
- if( uxTopCoRoutineReadyPriority == 0 )
- {
- /* No more co-routines to check. */
- return;
- }
- --uxTopCoRoutineReadyPriority;
- }
-
- /* listGET_OWNER_OF_NEXT_ENTRY walks through the list, so the co-routines
- of the same priority get an equal share of the processor time. */
- listGET_OWNER_OF_NEXT_ENTRY( pxCurrentCoRoutine, &( pxReadyCoRoutineLists[ uxTopCoRoutineReadyPriority ] ) );
-
- /* Call the co-routine. */
- ( pxCurrentCoRoutine->pxCoRoutineFunction )( pxCurrentCoRoutine, pxCurrentCoRoutine->uxIndex );
-
- return;
-}
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseCoRoutineLists( void )
-{
-UBaseType_t uxPriority;
-
- for( uxPriority = 0; uxPriority < configMAX_CO_ROUTINE_PRIORITIES; uxPriority++ )
- {
- vListInitialise( ( List_t * ) &( pxReadyCoRoutineLists[ uxPriority ] ) );
- }
-
- vListInitialise( ( List_t * ) &xDelayedCoRoutineList1 );
- vListInitialise( ( List_t * ) &xDelayedCoRoutineList2 );
- vListInitialise( ( List_t * ) &xPendingReadyCoRoutineList );
-
- /* Start with pxDelayedCoRoutineList using list1 and the
- pxOverflowDelayedCoRoutineList using list2. */
- pxDelayedCoRoutineList = &xDelayedCoRoutineList1;
- pxOverflowDelayedCoRoutineList = &xDelayedCoRoutineList2;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList )
-{
-CRCB_t *pxUnblockedCRCB;
-BaseType_t xReturn;
-
- /* This function is called from within an interrupt. It can only access
- event lists and the pending ready list. This function assumes that a
- check has already been made to ensure pxEventList is not empty. */
- pxUnblockedCRCB = ( CRCB_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxEventList );
- ( void ) uxListRemove( &( pxUnblockedCRCB->xEventListItem ) );
- vListInsertEnd( ( List_t * ) &( xPendingReadyCoRoutineList ), &( pxUnblockedCRCB->xEventListItem ) );
-
- if( pxUnblockedCRCB->uxPriority >= pxCurrentCoRoutine->uxPriority )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-}
-
-#endif /* configUSE_CO_ROUTINES == 0 */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/event_groups.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/event_groups.c
deleted file mode 100644
index 3602a3b43fb56bcc88de69d0dd44fb7f020847f3..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/event_groups.c
+++ /dev/null
@@ -1,753 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/* Standard includes. */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/* FreeRTOS includes. */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "timers.h"
-#include "event_groups.h"
-
-/* Lint e961, e750 and e9021 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021 See comment above. */
-
-/* The following bit fields convey control information in a task's event list
-item value. It is important they don't clash with the
-taskEVENT_LIST_ITEM_VALUE_IN_USE definition. */
-#if configUSE_16_BIT_TICKS == 1
- #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x0100U
- #define eventUNBLOCKED_DUE_TO_BIT_SET 0x0200U
- #define eventWAIT_FOR_ALL_BITS 0x0400U
- #define eventEVENT_BITS_CONTROL_BYTES 0xff00U
-#else
- #define eventCLEAR_EVENTS_ON_EXIT_BIT 0x01000000UL
- #define eventUNBLOCKED_DUE_TO_BIT_SET 0x02000000UL
- #define eventWAIT_FOR_ALL_BITS 0x04000000UL
- #define eventEVENT_BITS_CONTROL_BYTES 0xff000000UL
-#endif
-
-typedef struct EventGroupDef_t
-{
- EventBits_t uxEventBits;
- List_t xTasksWaitingForBits; /*< List of tasks waiting for a bit to be set. */
-
- #if( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxEventGroupNumber;
- #endif
-
- #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
- uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the event group is statically allocated to ensure no attempt is made to free the memory. */
- #endif
-} EventGroup_t;
-
-/*-----------------------------------------------------------*/
-
-/*
- * Test the bits set in uxCurrentEventBits to see if the wait condition is met.
- * The wait condition is defined by xWaitForAllBits. If xWaitForAllBits is
- * pdTRUE then the wait condition is met if all the bits set in uxBitsToWaitFor
- * are also set in uxCurrentEventBits. If xWaitForAllBits is pdFALSE then the
- * wait condition is met if any of the bits set in uxBitsToWait for are also set
- * in uxCurrentEventBits.
- */
-static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer )
- {
- EventGroup_t *pxEventBits;
-
- /* A StaticEventGroup_t object must be provided. */
- configASSERT( pxEventGroupBuffer );
-
- #if( configASSERT_DEFINED == 1 )
- {
- /* Sanity check that the size of the structure used to declare a
- variable of type StaticEventGroup_t equals the size of the real
- event group structure. */
- volatile size_t xSize = sizeof( StaticEventGroup_t );
- configASSERT( xSize == sizeof( EventGroup_t ) );
- } /*lint !e529 xSize is referenced if configASSERT() is defined. */
- #endif /* configASSERT_DEFINED */
-
- /* The user has provided a statically allocated event group - use it. */
- pxEventBits = ( EventGroup_t * ) pxEventGroupBuffer; /*lint !e740 !e9087 EventGroup_t and StaticEventGroup_t are deliberately aliased for data hiding purposes and guaranteed to have the same size and alignment requirement - checked by configASSERT(). */
-
- if( pxEventBits != NULL )
- {
- pxEventBits->uxEventBits = 0;
- vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
-
- #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- {
- /* Both static and dynamic allocation can be used, so note that
- this event group was created statically in case the event group
- is later deleted. */
- pxEventBits->ucStaticallyAllocated = pdTRUE;
- }
- #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-
- traceEVENT_GROUP_CREATE( pxEventBits );
- }
- else
- {
- /* xEventGroupCreateStatic should only ever be called with
- pxEventGroupBuffer pointing to a pre-allocated (compile time
- allocated) StaticEventGroup_t variable. */
- traceEVENT_GROUP_CREATE_FAILED();
- }
-
- return pxEventBits;
- }
-
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- EventGroupHandle_t xEventGroupCreate( void )
- {
- EventGroup_t *pxEventBits;
-
- /* Allocate the event group. Justification for MISRA deviation as
- follows: pvPortMalloc() always ensures returned memory blocks are
- aligned per the requirements of the MCU stack. In this case
- pvPortMalloc() must return a pointer that is guaranteed to meet the
- alignment requirements of the EventGroup_t structure - which (if you
- follow it through) is the alignment requirements of the TickType_t type
- (EventBits_t being of TickType_t itself). Therefore, whenever the
- stack alignment requirements are greater than or equal to the
- TickType_t alignment requirements the cast is safe. In other cases,
- where the natural word size of the architecture is less than
- sizeof( TickType_t ), the TickType_t variables will be accessed in two
- or more reads operations, and the alignment requirements is only that
- of each individual read. */
- pxEventBits = ( EventGroup_t * ) pvPortMalloc( sizeof( EventGroup_t ) ); /*lint !e9087 !e9079 see comment above. */
-
- if( pxEventBits != NULL )
- {
- pxEventBits->uxEventBits = 0;
- vListInitialise( &( pxEventBits->xTasksWaitingForBits ) );
-
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
- {
- /* Both static and dynamic allocation can be used, so note this
- event group was allocated statically in case the event group is
- later deleted. */
- pxEventBits->ucStaticallyAllocated = pdFALSE;
- }
- #endif /* configSUPPORT_STATIC_ALLOCATION */
-
- traceEVENT_GROUP_CREATE( pxEventBits );
- }
- else
- {
- traceEVENT_GROUP_CREATE_FAILED(); /*lint !e9063 Else branch only exists to allow tracing and does not generate code if trace macros are not defined. */
- }
-
- return pxEventBits;
- }
-
-#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait )
-{
-EventBits_t uxOriginalBitValue, uxReturn;
-EventGroup_t *pxEventBits = xEventGroup;
-BaseType_t xAlreadyYielded;
-BaseType_t xTimeoutOccurred = pdFALSE;
-
- configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
- configASSERT( uxBitsToWaitFor != 0 );
- #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- {
- configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
- }
- #endif
-
- vTaskSuspendAll();
- {
- uxOriginalBitValue = pxEventBits->uxEventBits;
-
- ( void ) xEventGroupSetBits( xEventGroup, uxBitsToSet );
-
- if( ( ( uxOriginalBitValue | uxBitsToSet ) & uxBitsToWaitFor ) == uxBitsToWaitFor )
- {
- /* All the rendezvous bits are now set - no need to block. */
- uxReturn = ( uxOriginalBitValue | uxBitsToSet );
-
- /* Rendezvous always clear the bits. They will have been cleared
- already unless this is the only task in the rendezvous. */
- pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
-
- xTicksToWait = 0;
- }
- else
- {
- if( xTicksToWait != ( TickType_t ) 0 )
- {
- traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor );
-
- /* Store the bits that the calling task is waiting for in the
- task's event list item so the kernel knows when a match is
- found. Then enter the blocked state. */
- vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | eventCLEAR_EVENTS_ON_EXIT_BIT | eventWAIT_FOR_ALL_BITS ), xTicksToWait );
-
- /* This assignment is obsolete as uxReturn will get set after
- the task unblocks, but some compilers mistakenly generate a
- warning about uxReturn being returned without being set if the
- assignment is omitted. */
- uxReturn = 0;
- }
- else
- {
- /* The rendezvous bits were not set, but no block time was
- specified - just return the current event bit value. */
- uxReturn = pxEventBits->uxEventBits;
- xTimeoutOccurred = pdTRUE;
- }
- }
- }
- xAlreadyYielded = xTaskResumeAll();
-
- if( xTicksToWait != ( TickType_t ) 0 )
- {
- if( xAlreadyYielded == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* The task blocked to wait for its required bits to be set - at this
- point either the required bits were set or the block time expired. If
- the required bits were set they will have been stored in the task's
- event list item, and they should now be retrieved then cleared. */
- uxReturn = uxTaskResetEventItemValue();
-
- if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
- {
- /* The task timed out, just return the current event bit value. */
- taskENTER_CRITICAL();
- {
- uxReturn = pxEventBits->uxEventBits;
-
- /* Although the task got here because it timed out before the
- bits it was waiting for were set, it is possible that since it
- unblocked another task has set the bits. If this is the case
- then it needs to clear the bits before exiting. */
- if( ( uxReturn & uxBitsToWaitFor ) == uxBitsToWaitFor )
- {
- pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- xTimeoutOccurred = pdTRUE;
- }
- else
- {
- /* The task unblocked because the bits were set. */
- }
-
- /* Control bits might be set as the task had blocked should not be
- returned. */
- uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
- }
-
- traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred );
-
- /* Prevent compiler warnings when trace macros are not used. */
- ( void ) xTimeoutOccurred;
-
- return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait )
-{
-EventGroup_t *pxEventBits = xEventGroup;
-EventBits_t uxReturn, uxControlBits = 0;
-BaseType_t xWaitConditionMet, xAlreadyYielded;
-BaseType_t xTimeoutOccurred = pdFALSE;
-
- /* Check the user is not attempting to wait on the bits used by the kernel
- itself, and that at least one bit is being requested. */
- configASSERT( xEventGroup );
- configASSERT( ( uxBitsToWaitFor & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
- configASSERT( uxBitsToWaitFor != 0 );
- #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- {
- configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
- }
- #endif
-
- vTaskSuspendAll();
- {
- const EventBits_t uxCurrentEventBits = pxEventBits->uxEventBits;
-
- /* Check to see if the wait condition is already met or not. */
- xWaitConditionMet = prvTestWaitCondition( uxCurrentEventBits, uxBitsToWaitFor, xWaitForAllBits );
-
- if( xWaitConditionMet != pdFALSE )
- {
- /* The wait condition has already been met so there is no need to
- block. */
- uxReturn = uxCurrentEventBits;
- xTicksToWait = ( TickType_t ) 0;
-
- /* Clear the wait bits if requested to do so. */
- if( xClearOnExit != pdFALSE )
- {
- pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else if( xTicksToWait == ( TickType_t ) 0 )
- {
- /* The wait condition has not been met, but no block time was
- specified, so just return the current value. */
- uxReturn = uxCurrentEventBits;
- xTimeoutOccurred = pdTRUE;
- }
- else
- {
- /* The task is going to block to wait for its required bits to be
- set. uxControlBits are used to remember the specified behaviour of
- this call to xEventGroupWaitBits() - for use when the event bits
- unblock the task. */
- if( xClearOnExit != pdFALSE )
- {
- uxControlBits |= eventCLEAR_EVENTS_ON_EXIT_BIT;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( xWaitForAllBits != pdFALSE )
- {
- uxControlBits |= eventWAIT_FOR_ALL_BITS;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Store the bits that the calling task is waiting for in the
- task's event list item so the kernel knows when a match is
- found. Then enter the blocked state. */
- vTaskPlaceOnUnorderedEventList( &( pxEventBits->xTasksWaitingForBits ), ( uxBitsToWaitFor | uxControlBits ), xTicksToWait );
-
- /* This is obsolete as it will get set after the task unblocks, but
- some compilers mistakenly generate a warning about the variable
- being returned without being set if it is not done. */
- uxReturn = 0;
-
- traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor );
- }
- }
- xAlreadyYielded = xTaskResumeAll();
-
- if( xTicksToWait != ( TickType_t ) 0 )
- {
- if( xAlreadyYielded == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* The task blocked to wait for its required bits to be set - at this
- point either the required bits were set or the block time expired. If
- the required bits were set they will have been stored in the task's
- event list item, and they should now be retrieved then cleared. */
- uxReturn = uxTaskResetEventItemValue();
-
- if( ( uxReturn & eventUNBLOCKED_DUE_TO_BIT_SET ) == ( EventBits_t ) 0 )
- {
- taskENTER_CRITICAL();
- {
- /* The task timed out, just return the current event bit value. */
- uxReturn = pxEventBits->uxEventBits;
-
- /* It is possible that the event bits were updated between this
- task leaving the Blocked state and running again. */
- if( prvTestWaitCondition( uxReturn, uxBitsToWaitFor, xWaitForAllBits ) != pdFALSE )
- {
- if( xClearOnExit != pdFALSE )
- {
- pxEventBits->uxEventBits &= ~uxBitsToWaitFor;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- xTimeoutOccurred = pdTRUE;
- }
- taskEXIT_CRITICAL();
- }
- else
- {
- /* The task unblocked because the bits were set. */
- }
-
- /* The task blocked so control bits may have been set. */
- uxReturn &= ~eventEVENT_BITS_CONTROL_BYTES;
- }
- traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred );
-
- /* Prevent compiler warnings when trace macros are not used. */
- ( void ) xTimeoutOccurred;
-
- return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
-{
-EventGroup_t *pxEventBits = xEventGroup;
-EventBits_t uxReturn;
-
- /* Check the user is not attempting to clear the bits used by the kernel
- itself. */
- configASSERT( xEventGroup );
- configASSERT( ( uxBitsToClear & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
-
- taskENTER_CRITICAL();
- {
- traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear );
-
- /* The value returned is the event group value prior to the bits being
- cleared. */
- uxReturn = pxEventBits->uxEventBits;
-
- /* Clear the bits. */
- pxEventBits->uxEventBits &= ~uxBitsToClear;
- }
- taskEXIT_CRITICAL();
-
- return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
-
- BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear )
- {
- BaseType_t xReturn;
-
- traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear );
- xReturn = xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */
-
- return xReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup )
-{
-UBaseType_t uxSavedInterruptStatus;
-EventGroup_t const * const pxEventBits = xEventGroup;
-EventBits_t uxReturn;
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- uxReturn = pxEventBits->uxEventBits;
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return uxReturn;
-} /*lint !e818 EventGroupHandle_t is a typedef used in other functions to so can't be pointer to const. */
-/*-----------------------------------------------------------*/
-
-EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet )
-{
-ListItem_t *pxListItem, *pxNext;
-ListItem_t const *pxListEnd;
-List_t const * pxList;
-EventBits_t uxBitsToClear = 0, uxBitsWaitedFor, uxControlBits;
-EventGroup_t *pxEventBits = xEventGroup;
-BaseType_t xMatchFound = pdFALSE;
-
- /* Check the user is not attempting to set the bits used by the kernel
- itself. */
- configASSERT( xEventGroup );
- configASSERT( ( uxBitsToSet & eventEVENT_BITS_CONTROL_BYTES ) == 0 );
-
- pxList = &( pxEventBits->xTasksWaitingForBits );
- pxListEnd = listGET_END_MARKER( pxList ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
- vTaskSuspendAll();
- {
- traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet );
-
- pxListItem = listGET_HEAD_ENTRY( pxList );
-
- /* Set the bits. */
- pxEventBits->uxEventBits |= uxBitsToSet;
-
- /* See if the new bit value should unblock any tasks. */
- while( pxListItem != pxListEnd )
- {
- pxNext = listGET_NEXT( pxListItem );
- uxBitsWaitedFor = listGET_LIST_ITEM_VALUE( pxListItem );
- xMatchFound = pdFALSE;
-
- /* Split the bits waited for from the control bits. */
- uxControlBits = uxBitsWaitedFor & eventEVENT_BITS_CONTROL_BYTES;
- uxBitsWaitedFor &= ~eventEVENT_BITS_CONTROL_BYTES;
-
- if( ( uxControlBits & eventWAIT_FOR_ALL_BITS ) == ( EventBits_t ) 0 )
- {
- /* Just looking for single bit being set. */
- if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) != ( EventBits_t ) 0 )
- {
- xMatchFound = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else if( ( uxBitsWaitedFor & pxEventBits->uxEventBits ) == uxBitsWaitedFor )
- {
- /* All bits are set. */
- xMatchFound = pdTRUE;
- }
- else
- {
- /* Need all bits to be set, but not all the bits were set. */
- }
-
- if( xMatchFound != pdFALSE )
- {
- /* The bits match. Should the bits be cleared on exit? */
- if( ( uxControlBits & eventCLEAR_EVENTS_ON_EXIT_BIT ) != ( EventBits_t ) 0 )
- {
- uxBitsToClear |= uxBitsWaitedFor;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Store the actual event flag value in the task's event list
- item before removing the task from the event list. The
- eventUNBLOCKED_DUE_TO_BIT_SET bit is set so the task knows
- that is was unblocked due to its required bits matching, rather
- than because it timed out. */
- vTaskRemoveFromUnorderedEventList( pxListItem, pxEventBits->uxEventBits | eventUNBLOCKED_DUE_TO_BIT_SET );
- }
-
- /* Move onto the next list item. Note pxListItem->pxNext is not
- used here as the list item may have been removed from the event list
- and inserted into the ready/pending reading list. */
- pxListItem = pxNext;
- }
-
- /* Clear any bits that matched when the eventCLEAR_EVENTS_ON_EXIT_BIT
- bit was set in the control word. */
- pxEventBits->uxEventBits &= ~uxBitsToClear;
- }
- ( void ) xTaskResumeAll();
-
- return pxEventBits->uxEventBits;
-}
-/*-----------------------------------------------------------*/
-
-void vEventGroupDelete( EventGroupHandle_t xEventGroup )
-{
-EventGroup_t *pxEventBits = xEventGroup;
-const List_t *pxTasksWaitingForBits = &( pxEventBits->xTasksWaitingForBits );
-
- vTaskSuspendAll();
- {
- traceEVENT_GROUP_DELETE( xEventGroup );
-
- while( listCURRENT_LIST_LENGTH( pxTasksWaitingForBits ) > ( UBaseType_t ) 0 )
- {
- /* Unblock the task, returning 0 as the event list is being deleted
- and cannot therefore have any bits set. */
- configASSERT( pxTasksWaitingForBits->xListEnd.pxNext != ( const ListItem_t * ) &( pxTasksWaitingForBits->xListEnd ) );
- vTaskRemoveFromUnorderedEventList( pxTasksWaitingForBits->xListEnd.pxNext, eventUNBLOCKED_DUE_TO_BIT_SET );
- }
-
- #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
- {
- /* The event group can only have been allocated dynamically - free
- it again. */
- vPortFree( pxEventBits );
- }
- #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
- {
- /* The event group could have been allocated statically or
- dynamically, so check before attempting to free the memory. */
- if( pxEventBits->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
- {
- vPortFree( pxEventBits );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
- }
- ( void ) xTaskResumeAll();
-}
-/*-----------------------------------------------------------*/
-
-/* For internal use only - execute a 'set bits' command that was pended from
-an interrupt. */
-void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet )
-{
- ( void ) xEventGroupSetBits( pvEventGroup, ( EventBits_t ) ulBitsToSet ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */
-}
-/*-----------------------------------------------------------*/
-
-/* For internal use only - execute a 'clear bits' command that was pended from
-an interrupt. */
-void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear )
-{
- ( void ) xEventGroupClearBits( pvEventGroup, ( EventBits_t ) ulBitsToClear ); /*lint !e9079 Can't avoid cast to void* as a generic timer callback prototype. Callback casts back to original type so safe. */
-}
-/*-----------------------------------------------------------*/
-
-static BaseType_t prvTestWaitCondition( const EventBits_t uxCurrentEventBits, const EventBits_t uxBitsToWaitFor, const BaseType_t xWaitForAllBits )
-{
-BaseType_t xWaitConditionMet = pdFALSE;
-
- if( xWaitForAllBits == pdFALSE )
- {
- /* Task only has to wait for one bit within uxBitsToWaitFor to be
- set. Is one already set? */
- if( ( uxCurrentEventBits & uxBitsToWaitFor ) != ( EventBits_t ) 0 )
- {
- xWaitConditionMet = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* Task has to wait for all the bits in uxBitsToWaitFor to be set.
- Are they set already? */
- if( ( uxCurrentEventBits & uxBitsToWaitFor ) == uxBitsToWaitFor )
- {
- xWaitConditionMet = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- return xWaitConditionMet;
-}
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 1 ) )
-
- BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken )
- {
- BaseType_t xReturn;
-
- traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet );
- xReturn = xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken ); /*lint !e9087 Can't avoid cast to void* as a generic callback function not specific to this use case. Callback casts back to original type so safe. */
-
- return xReturn;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if (configUSE_TRACE_FACILITY == 1)
-
- UBaseType_t uxEventGroupGetNumber( void* xEventGroup )
- {
- UBaseType_t xReturn;
- EventGroup_t const *pxEventBits = ( EventGroup_t * ) xEventGroup; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */
-
- if( xEventGroup == NULL )
- {
- xReturn = 0;
- }
- else
- {
- xReturn = pxEventBits->uxEventGroupNumber;
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vEventGroupSetNumber( void * xEventGroup, UBaseType_t uxEventGroupNumber )
- {
- ( ( EventGroup_t * ) xEventGroup )->uxEventGroupNumber = uxEventGroupNumber; /*lint !e9087 !e9079 EventGroupHandle_t is a pointer to an EventGroup_t, but EventGroupHandle_t is kept opaque outside of this file for data hiding purposes. */
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/FreeRTOS.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/FreeRTOS.h
deleted file mode 100644
index a621f8a3b369c0f11a0a7f238b812fbf89a04867..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/FreeRTOS.h
+++ /dev/null
@@ -1,1295 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef INC_FREERTOS_H
-#define INC_FREERTOS_H
-
-/*
- * Include the generic headers required for the FreeRTOS port being used.
- */
-#include <stddef.h>
-
-/*
- * If stdint.h cannot be located then:
- * + If using GCC ensure the -nostdint options is *not* being used.
- * + Ensure the project's include path includes the directory in which your
- * compiler stores stdint.h.
- * + Set any compiler options necessary for it to support C99, as technically
- * stdint.h is only mandatory with C99 (FreeRTOS does not require C99 in any
- * other way).
- * + The FreeRTOS download includes a simple stdint.h definition that can be
- * used in cases where none is provided by the compiler. The files only
- * contains the typedefs required to build FreeRTOS. Read the instructions
- * in FreeRTOS/source/stdint.readme for more information.
- */
-#include <stdint.h> /* READ COMMENT ABOVE. */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Application specific configuration options. */
-#include "FreeRTOSConfig.h"
-
-/* Basic FreeRTOS definitions. */
-#include "projdefs.h"
-
-/* Definitions specific to the port being used. */
-#include "portable.h"
-
-/* Must be defaulted before configUSE_NEWLIB_REENTRANT is used below. */
-#ifndef configUSE_NEWLIB_REENTRANT
- #define configUSE_NEWLIB_REENTRANT 0
-#endif
-
-/* Required if struct _reent is used. */
-#if ( configUSE_NEWLIB_REENTRANT == 1 )
- #include <reent.h>
-#endif
-/*
- * Check all the required application specific macros have been defined.
- * These macros are application specific and (as downloaded) are defined
- * within FreeRTOSConfig.h.
- */
-
-#ifndef configMINIMAL_STACK_SIZE
- #error Missing definition: configMINIMAL_STACK_SIZE must be defined in FreeRTOSConfig.h. configMINIMAL_STACK_SIZE defines the size (in words) of the stack allocated to the idle task. Refer to the demo project provided for your port for a suitable value.
-#endif
-
-#ifndef configMAX_PRIORITIES
- #error Missing definition: configMAX_PRIORITIES must be defined in FreeRTOSConfig.h. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#if configMAX_PRIORITIES < 1
- #error configMAX_PRIORITIES must be defined to be greater than or equal to 1.
-#endif
-
-#ifndef configUSE_PREEMPTION
- #error Missing definition: configUSE_PREEMPTION must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_IDLE_HOOK
- #error Missing definition: configUSE_IDLE_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_TICK_HOOK
- #error Missing definition: configUSE_TICK_HOOK must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_16_BIT_TICKS
- #error Missing definition: configUSE_16_BIT_TICKS must be defined in FreeRTOSConfig.h as either 1 or 0. See the Configuration section of the FreeRTOS API documentation for details.
-#endif
-
-#ifndef configUSE_CO_ROUTINES
- #define configUSE_CO_ROUTINES 0
-#endif
-
-#ifndef INCLUDE_vTaskPrioritySet
- #define INCLUDE_vTaskPrioritySet 0
-#endif
-
-#ifndef INCLUDE_uxTaskPriorityGet
- #define INCLUDE_uxTaskPriorityGet 0
-#endif
-
-#ifndef INCLUDE_vTaskDelete
- #define INCLUDE_vTaskDelete 0
-#endif
-
-#ifndef INCLUDE_vTaskSuspend
- #define INCLUDE_vTaskSuspend 0
-#endif
-
-#ifndef INCLUDE_vTaskDelayUntil
- #define INCLUDE_vTaskDelayUntil 0
-#endif
-
-#ifndef INCLUDE_vTaskDelay
- #define INCLUDE_vTaskDelay 0
-#endif
-
-#ifndef INCLUDE_xTaskGetIdleTaskHandle
- #define INCLUDE_xTaskGetIdleTaskHandle 0
-#endif
-
-#ifndef INCLUDE_xTaskAbortDelay
- #define INCLUDE_xTaskAbortDelay 0
-#endif
-
-#ifndef INCLUDE_xQueueGetMutexHolder
- #define INCLUDE_xQueueGetMutexHolder 0
-#endif
-
-#ifndef INCLUDE_xSemaphoreGetMutexHolder
- #define INCLUDE_xSemaphoreGetMutexHolder INCLUDE_xQueueGetMutexHolder
-#endif
-
-#ifndef INCLUDE_xTaskGetHandle
- #define INCLUDE_xTaskGetHandle 0
-#endif
-
-#ifndef INCLUDE_uxTaskGetStackHighWaterMark
- #define INCLUDE_uxTaskGetStackHighWaterMark 0
-#endif
-
-#ifndef INCLUDE_uxTaskGetStackHighWaterMark2
- #define INCLUDE_uxTaskGetStackHighWaterMark2 0
-#endif
-
-#ifndef INCLUDE_eTaskGetState
- #define INCLUDE_eTaskGetState 0
-#endif
-
-#ifndef INCLUDE_xTaskResumeFromISR
- #define INCLUDE_xTaskResumeFromISR 1
-#endif
-
-#ifndef INCLUDE_xTimerPendFunctionCall
- #define INCLUDE_xTimerPendFunctionCall 0
-#endif
-
-#ifndef INCLUDE_xTaskGetSchedulerState
- #define INCLUDE_xTaskGetSchedulerState 0
-#endif
-
-#ifndef INCLUDE_xTaskGetCurrentTaskHandle
- #define INCLUDE_xTaskGetCurrentTaskHandle 0
-#endif
-
-#if configUSE_CO_ROUTINES != 0
- #ifndef configMAX_CO_ROUTINE_PRIORITIES
- #error configMAX_CO_ROUTINE_PRIORITIES must be greater than or equal to 1.
- #endif
-#endif
-
-#ifndef configUSE_DAEMON_TASK_STARTUP_HOOK
- #define configUSE_DAEMON_TASK_STARTUP_HOOK 0
-#endif
-
-#ifndef configUSE_APPLICATION_TASK_TAG
- #define configUSE_APPLICATION_TASK_TAG 0
-#endif
-
-#ifndef configNUM_THREAD_LOCAL_STORAGE_POINTERS
- #define configNUM_THREAD_LOCAL_STORAGE_POINTERS 0
-#endif
-
-#ifndef configUSE_RECURSIVE_MUTEXES
- #define configUSE_RECURSIVE_MUTEXES 0
-#endif
-
-#ifndef configUSE_MUTEXES
- #define configUSE_MUTEXES 0
-#endif
-
-#ifndef configUSE_TIMERS
- #define configUSE_TIMERS 0
-#endif
-
-#ifndef configUSE_COUNTING_SEMAPHORES
- #define configUSE_COUNTING_SEMAPHORES 0
-#endif
-
-#ifndef configUSE_ALTERNATIVE_API
- #define configUSE_ALTERNATIVE_API 0
-#endif
-
-#ifndef portCRITICAL_NESTING_IN_TCB
- #define portCRITICAL_NESTING_IN_TCB 0
-#endif
-
-#ifndef configMAX_TASK_NAME_LEN
- #define configMAX_TASK_NAME_LEN 16
-#endif
-
-#ifndef configIDLE_SHOULD_YIELD
- #define configIDLE_SHOULD_YIELD 1
-#endif
-
-#if configMAX_TASK_NAME_LEN < 1
- #error configMAX_TASK_NAME_LEN must be set to a minimum of 1 in FreeRTOSConfig.h
-#endif
-
-#ifndef configASSERT
- #define configASSERT( x )
- #define configASSERT_DEFINED 0
-#else
- #define configASSERT_DEFINED 1
-#endif
-
-/* configPRECONDITION should be defined as configASSERT.
-The CBMC proofs need a way to track assumptions and assertions.
-A configPRECONDITION statement should express an implicit invariant or
-assumption made. A configASSERT statement should express an invariant that must
-hold explicit before calling the code. */
-#ifndef configPRECONDITION
- #define configPRECONDITION( X ) configASSERT(X)
- #define configPRECONDITION_DEFINED 0
-#else
- #define configPRECONDITION_DEFINED 1
-#endif
-
-#ifndef portMEMORY_BARRIER
- #define portMEMORY_BARRIER()
-#endif
-
-#ifndef portSOFTWARE_BARRIER
- #define portSOFTWARE_BARRIER()
-#endif
-
-/* The timers module relies on xTaskGetSchedulerState(). */
-#if configUSE_TIMERS == 1
-
- #ifndef configTIMER_TASK_PRIORITY
- #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_PRIORITY must also be defined.
- #endif /* configTIMER_TASK_PRIORITY */
-
- #ifndef configTIMER_QUEUE_LENGTH
- #error If configUSE_TIMERS is set to 1 then configTIMER_QUEUE_LENGTH must also be defined.
- #endif /* configTIMER_QUEUE_LENGTH */
-
- #ifndef configTIMER_TASK_STACK_DEPTH
- #error If configUSE_TIMERS is set to 1 then configTIMER_TASK_STACK_DEPTH must also be defined.
- #endif /* configTIMER_TASK_STACK_DEPTH */
-
-#endif /* configUSE_TIMERS */
-
-#ifndef portSET_INTERRUPT_MASK_FROM_ISR
- #define portSET_INTERRUPT_MASK_FROM_ISR() 0
-#endif
-
-#ifndef portCLEAR_INTERRUPT_MASK_FROM_ISR
- #define portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedStatusValue ) ( void ) uxSavedStatusValue
-#endif
-
-#ifndef portCLEAN_UP_TCB
- #define portCLEAN_UP_TCB( pxTCB ) ( void ) pxTCB
-#endif
-
-#ifndef portPRE_TASK_DELETE_HOOK
- #define portPRE_TASK_DELETE_HOOK( pvTaskToDelete, pxYieldPending )
-#endif
-
-#ifndef portSETUP_TCB
- #define portSETUP_TCB( pxTCB ) ( void ) pxTCB
-#endif
-
-#ifndef configQUEUE_REGISTRY_SIZE
- #define configQUEUE_REGISTRY_SIZE 0U
-#endif
-
-#if ( configQUEUE_REGISTRY_SIZE < 1 )
- #define vQueueAddToRegistry( xQueue, pcName )
- #define vQueueUnregisterQueue( xQueue )
- #define pcQueueGetName( xQueue )
-#endif
-
-#ifndef portPOINTER_SIZE_TYPE
- #define portPOINTER_SIZE_TYPE uint32_t
-#endif
-
-/* Remove any unused trace macros. */
-#ifndef traceSTART
- /* Used to perform any necessary initialisation - for example, open a file
- into which trace is to be written. */
- #define traceSTART()
-#endif
-
-#ifndef traceEND
- /* Use to close a trace, for example close a file into which trace has been
- written. */
- #define traceEND()
-#endif
-
-#ifndef traceTASK_SWITCHED_IN
- /* Called after a task has been selected to run. pxCurrentTCB holds a pointer
- to the task control block of the selected task. */
- #define traceTASK_SWITCHED_IN()
-#endif
-
-#ifndef traceINCREASE_TICK_COUNT
- /* Called before stepping the tick count after waking from tickless idle
- sleep. */
- #define traceINCREASE_TICK_COUNT( x )
-#endif
-
-#ifndef traceLOW_POWER_IDLE_BEGIN
- /* Called immediately before entering tickless idle. */
- #define traceLOW_POWER_IDLE_BEGIN()
-#endif
-
-#ifndef traceLOW_POWER_IDLE_END
- /* Called when returning to the Idle task after a tickless idle. */
- #define traceLOW_POWER_IDLE_END()
-#endif
-
-#ifndef traceTASK_SWITCHED_OUT
- /* Called before a task has been selected to run. pxCurrentTCB holds a pointer
- to the task control block of the task being switched out. */
- #define traceTASK_SWITCHED_OUT()
-#endif
-
-#ifndef traceTASK_PRIORITY_INHERIT
- /* Called when a task attempts to take a mutex that is already held by a
- lower priority task. pxTCBOfMutexHolder is a pointer to the TCB of the task
- that holds the mutex. uxInheritedPriority is the priority the mutex holder
- will inherit (the priority of the task that is attempting to obtain the
- muted. */
- #define traceTASK_PRIORITY_INHERIT( pxTCBOfMutexHolder, uxInheritedPriority )
-#endif
-
-#ifndef traceTASK_PRIORITY_DISINHERIT
- /* Called when a task releases a mutex, the holding of which had resulted in
- the task inheriting the priority of a higher priority task.
- pxTCBOfMutexHolder is a pointer to the TCB of the task that is releasing the
- mutex. uxOriginalPriority is the task's configured (base) priority. */
- #define traceTASK_PRIORITY_DISINHERIT( pxTCBOfMutexHolder, uxOriginalPriority )
-#endif
-
-#ifndef traceBLOCKING_ON_QUEUE_RECEIVE
- /* Task is about to block because it cannot read from a
- queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
- upon which the read was attempted. pxCurrentTCB points to the TCB of the
- task that attempted the read. */
- #define traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue )
-#endif
-
-#ifndef traceBLOCKING_ON_QUEUE_PEEK
- /* Task is about to block because it cannot read from a
- queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
- upon which the read was attempted. pxCurrentTCB points to the TCB of the
- task that attempted the read. */
- #define traceBLOCKING_ON_QUEUE_PEEK( pxQueue )
-#endif
-
-#ifndef traceBLOCKING_ON_QUEUE_SEND
- /* Task is about to block because it cannot write to a
- queue/mutex/semaphore. pxQueue is a pointer to the queue/mutex/semaphore
- upon which the write was attempted. pxCurrentTCB points to the TCB of the
- task that attempted the write. */
- #define traceBLOCKING_ON_QUEUE_SEND( pxQueue )
-#endif
-
-#ifndef configCHECK_FOR_STACK_OVERFLOW
- #define configCHECK_FOR_STACK_OVERFLOW 0
-#endif
-
-#ifndef configRECORD_STACK_HIGH_ADDRESS
- #define configRECORD_STACK_HIGH_ADDRESS 0
-#endif
-
-#ifndef configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H
- #define configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H 0
-#endif
-
-/* The following event macros are embedded in the kernel API calls. */
-
-#ifndef traceMOVED_TASK_TO_READY_STATE
- #define traceMOVED_TASK_TO_READY_STATE( pxTCB )
-#endif
-
-#ifndef tracePOST_MOVED_TASK_TO_READY_STATE
- #define tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
-#endif
-
-#ifndef traceQUEUE_CREATE
- #define traceQUEUE_CREATE( pxNewQueue )
-#endif
-
-#ifndef traceQUEUE_CREATE_FAILED
- #define traceQUEUE_CREATE_FAILED( ucQueueType )
-#endif
-
-#ifndef traceCREATE_MUTEX
- #define traceCREATE_MUTEX( pxNewQueue )
-#endif
-
-#ifndef traceCREATE_MUTEX_FAILED
- #define traceCREATE_MUTEX_FAILED()
-#endif
-
-#ifndef traceGIVE_MUTEX_RECURSIVE
- #define traceGIVE_MUTEX_RECURSIVE( pxMutex )
-#endif
-
-#ifndef traceGIVE_MUTEX_RECURSIVE_FAILED
- #define traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex )
-#endif
-
-#ifndef traceTAKE_MUTEX_RECURSIVE
- #define traceTAKE_MUTEX_RECURSIVE( pxMutex )
-#endif
-
-#ifndef traceTAKE_MUTEX_RECURSIVE_FAILED
- #define traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex )
-#endif
-
-#ifndef traceCREATE_COUNTING_SEMAPHORE
- #define traceCREATE_COUNTING_SEMAPHORE()
-#endif
-
-#ifndef traceCREATE_COUNTING_SEMAPHORE_FAILED
- #define traceCREATE_COUNTING_SEMAPHORE_FAILED()
-#endif
-
-#ifndef traceQUEUE_SEND
- #define traceQUEUE_SEND( pxQueue )
-#endif
-
-#ifndef traceQUEUE_SEND_FAILED
- #define traceQUEUE_SEND_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE
- #define traceQUEUE_RECEIVE( pxQueue )
-#endif
-
-#ifndef traceQUEUE_PEEK
- #define traceQUEUE_PEEK( pxQueue )
-#endif
-
-#ifndef traceQUEUE_PEEK_FAILED
- #define traceQUEUE_PEEK_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_PEEK_FROM_ISR
- #define traceQUEUE_PEEK_FROM_ISR( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE_FAILED
- #define traceQUEUE_RECEIVE_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_SEND_FROM_ISR
- #define traceQUEUE_SEND_FROM_ISR( pxQueue )
-#endif
-
-#ifndef traceQUEUE_SEND_FROM_ISR_FAILED
- #define traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE_FROM_ISR
- #define traceQUEUE_RECEIVE_FROM_ISR( pxQueue )
-#endif
-
-#ifndef traceQUEUE_RECEIVE_FROM_ISR_FAILED
- #define traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_PEEK_FROM_ISR_FAILED
- #define traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue )
-#endif
-
-#ifndef traceQUEUE_DELETE
- #define traceQUEUE_DELETE( pxQueue )
-#endif
-
-#ifndef traceTASK_CREATE
- #define traceTASK_CREATE( pxNewTCB )
-#endif
-
-#ifndef traceTASK_CREATE_FAILED
- #define traceTASK_CREATE_FAILED()
-#endif
-
-#ifndef traceTASK_DELETE
- #define traceTASK_DELETE( pxTaskToDelete )
-#endif
-
-#ifndef traceTASK_DELAY_UNTIL
- #define traceTASK_DELAY_UNTIL( x )
-#endif
-
-#ifndef traceTASK_DELAY
- #define traceTASK_DELAY()
-#endif
-
-#ifndef traceTASK_PRIORITY_SET
- #define traceTASK_PRIORITY_SET( pxTask, uxNewPriority )
-#endif
-
-#ifndef traceTASK_SUSPEND
- #define traceTASK_SUSPEND( pxTaskToSuspend )
-#endif
-
-#ifndef traceTASK_RESUME
- #define traceTASK_RESUME( pxTaskToResume )
-#endif
-
-#ifndef traceTASK_RESUME_FROM_ISR
- #define traceTASK_RESUME_FROM_ISR( pxTaskToResume )
-#endif
-
-#ifndef traceTASK_INCREMENT_TICK
- #define traceTASK_INCREMENT_TICK( xTickCount )
-#endif
-
-#ifndef traceTIMER_CREATE
- #define traceTIMER_CREATE( pxNewTimer )
-#endif
-
-#ifndef traceTIMER_CREATE_FAILED
- #define traceTIMER_CREATE_FAILED()
-#endif
-
-#ifndef traceTIMER_COMMAND_SEND
- #define traceTIMER_COMMAND_SEND( xTimer, xMessageID, xMessageValueValue, xReturn )
-#endif
-
-#ifndef traceTIMER_EXPIRED
- #define traceTIMER_EXPIRED( pxTimer )
-#endif
-
-#ifndef traceTIMER_COMMAND_RECEIVED
- #define traceTIMER_COMMAND_RECEIVED( pxTimer, xMessageID, xMessageValue )
-#endif
-
-#ifndef traceMALLOC
- #define traceMALLOC( pvAddress, uiSize )
-#endif
-
-#ifndef traceFREE
- #define traceFREE( pvAddress, uiSize )
-#endif
-
-#ifndef traceEVENT_GROUP_CREATE
- #define traceEVENT_GROUP_CREATE( xEventGroup )
-#endif
-
-#ifndef traceEVENT_GROUP_CREATE_FAILED
- #define traceEVENT_GROUP_CREATE_FAILED()
-#endif
-
-#ifndef traceEVENT_GROUP_SYNC_BLOCK
- #define traceEVENT_GROUP_SYNC_BLOCK( xEventGroup, uxBitsToSet, uxBitsToWaitFor )
-#endif
-
-#ifndef traceEVENT_GROUP_SYNC_END
- #define traceEVENT_GROUP_SYNC_END( xEventGroup, uxBitsToSet, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred
-#endif
-
-#ifndef traceEVENT_GROUP_WAIT_BITS_BLOCK
- #define traceEVENT_GROUP_WAIT_BITS_BLOCK( xEventGroup, uxBitsToWaitFor )
-#endif
-
-#ifndef traceEVENT_GROUP_WAIT_BITS_END
- #define traceEVENT_GROUP_WAIT_BITS_END( xEventGroup, uxBitsToWaitFor, xTimeoutOccurred ) ( void ) xTimeoutOccurred
-#endif
-
-#ifndef traceEVENT_GROUP_CLEAR_BITS
- #define traceEVENT_GROUP_CLEAR_BITS( xEventGroup, uxBitsToClear )
-#endif
-
-#ifndef traceEVENT_GROUP_CLEAR_BITS_FROM_ISR
- #define traceEVENT_GROUP_CLEAR_BITS_FROM_ISR( xEventGroup, uxBitsToClear )
-#endif
-
-#ifndef traceEVENT_GROUP_SET_BITS
- #define traceEVENT_GROUP_SET_BITS( xEventGroup, uxBitsToSet )
-#endif
-
-#ifndef traceEVENT_GROUP_SET_BITS_FROM_ISR
- #define traceEVENT_GROUP_SET_BITS_FROM_ISR( xEventGroup, uxBitsToSet )
-#endif
-
-#ifndef traceEVENT_GROUP_DELETE
- #define traceEVENT_GROUP_DELETE( xEventGroup )
-#endif
-
-#ifndef tracePEND_FUNC_CALL
- #define tracePEND_FUNC_CALL(xFunctionToPend, pvParameter1, ulParameter2, ret)
-#endif
-
-#ifndef tracePEND_FUNC_CALL_FROM_ISR
- #define tracePEND_FUNC_CALL_FROM_ISR(xFunctionToPend, pvParameter1, ulParameter2, ret)
-#endif
-
-#ifndef traceQUEUE_REGISTRY_ADD
- #define traceQUEUE_REGISTRY_ADD(xQueue, pcQueueName)
-#endif
-
-#ifndef traceTASK_NOTIFY_TAKE_BLOCK
- #define traceTASK_NOTIFY_TAKE_BLOCK()
-#endif
-
-#ifndef traceTASK_NOTIFY_TAKE
- #define traceTASK_NOTIFY_TAKE()
-#endif
-
-#ifndef traceTASK_NOTIFY_WAIT_BLOCK
- #define traceTASK_NOTIFY_WAIT_BLOCK()
-#endif
-
-#ifndef traceTASK_NOTIFY_WAIT
- #define traceTASK_NOTIFY_WAIT()
-#endif
-
-#ifndef traceTASK_NOTIFY
- #define traceTASK_NOTIFY()
-#endif
-
-#ifndef traceTASK_NOTIFY_FROM_ISR
- #define traceTASK_NOTIFY_FROM_ISR()
-#endif
-
-#ifndef traceTASK_NOTIFY_GIVE_FROM_ISR
- #define traceTASK_NOTIFY_GIVE_FROM_ISR()
-#endif
-
-#ifndef traceSTREAM_BUFFER_CREATE_FAILED
- #define traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_CREATE_STATIC_FAILED
- #define traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_CREATE
- #define traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_DELETE
- #define traceSTREAM_BUFFER_DELETE( xStreamBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_RESET
- #define traceSTREAM_BUFFER_RESET( xStreamBuffer )
-#endif
-
-#ifndef traceBLOCKING_ON_STREAM_BUFFER_SEND
- #define traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_SEND
- #define traceSTREAM_BUFFER_SEND( xStreamBuffer, xBytesSent )
-#endif
-
-#ifndef traceSTREAM_BUFFER_SEND_FAILED
- #define traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_SEND_FROM_ISR
- #define traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xBytesSent )
-#endif
-
-#ifndef traceBLOCKING_ON_STREAM_BUFFER_RECEIVE
- #define traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_RECEIVE
- #define traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength )
-#endif
-
-#ifndef traceSTREAM_BUFFER_RECEIVE_FAILED
- #define traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer )
-#endif
-
-#ifndef traceSTREAM_BUFFER_RECEIVE_FROM_ISR
- #define traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength )
-#endif
-
-#ifndef configGENERATE_RUN_TIME_STATS
- #define configGENERATE_RUN_TIME_STATS 0
-#endif
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
- #ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
- #error If configGENERATE_RUN_TIME_STATS is defined then portCONFIGURE_TIMER_FOR_RUN_TIME_STATS must also be defined. portCONFIGURE_TIMER_FOR_RUN_TIME_STATS should call a port layer function to setup a peripheral timer/counter that can then be used as the run time counter time base.
- #endif /* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS */
-
- #ifndef portGET_RUN_TIME_COUNTER_VALUE
- #ifndef portALT_GET_RUN_TIME_COUNTER_VALUE
- #error If configGENERATE_RUN_TIME_STATS is defined then either portGET_RUN_TIME_COUNTER_VALUE or portALT_GET_RUN_TIME_COUNTER_VALUE must also be defined. See the examples provided and the FreeRTOS web site for more information.
- #endif /* portALT_GET_RUN_TIME_COUNTER_VALUE */
- #endif /* portGET_RUN_TIME_COUNTER_VALUE */
-
-#endif /* configGENERATE_RUN_TIME_STATS */
-
-#ifndef portCONFIGURE_TIMER_FOR_RUN_TIME_STATS
- #define portCONFIGURE_TIMER_FOR_RUN_TIME_STATS()
-#endif
-
-#ifndef configUSE_MALLOC_FAILED_HOOK
- #define configUSE_MALLOC_FAILED_HOOK 0
-#endif
-
-#ifndef portPRIVILEGE_BIT
- #define portPRIVILEGE_BIT ( ( UBaseType_t ) 0x00 )
-#endif
-
-#ifndef portYIELD_WITHIN_API
- #define portYIELD_WITHIN_API portYIELD
-#endif
-
-#ifndef portSUPPRESS_TICKS_AND_SLEEP
- #define portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime )
-#endif
-
-#ifndef configEXPECTED_IDLE_TIME_BEFORE_SLEEP
- #define configEXPECTED_IDLE_TIME_BEFORE_SLEEP 2
-#endif
-
-#if configEXPECTED_IDLE_TIME_BEFORE_SLEEP < 2
- #error configEXPECTED_IDLE_TIME_BEFORE_SLEEP must not be less than 2
-#endif
-
-#ifndef configUSE_TICKLESS_IDLE
- #define configUSE_TICKLESS_IDLE 0
-#endif
-
-#ifndef configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING
- #define configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( x )
-#endif
-
-#ifndef configPRE_SLEEP_PROCESSING
- #define configPRE_SLEEP_PROCESSING( x )
-#endif
-
-#ifndef configPOST_SLEEP_PROCESSING
- #define configPOST_SLEEP_PROCESSING( x )
-#endif
-
-#ifndef configUSE_QUEUE_SETS
- #define configUSE_QUEUE_SETS 0
-#endif
-
-#ifndef portTASK_USES_FLOATING_POINT
- #define portTASK_USES_FLOATING_POINT()
-#endif
-
-#ifndef portALLOCATE_SECURE_CONTEXT
- #define portALLOCATE_SECURE_CONTEXT( ulSecureStackSize )
-#endif
-
-#ifndef portDONT_DISCARD
- #define portDONT_DISCARD
-#endif
-
-#ifndef configUSE_TIME_SLICING
- #define configUSE_TIME_SLICING 1
-#endif
-
-#ifndef configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS
- #define configINCLUDE_APPLICATION_DEFINED_PRIVILEGED_FUNCTIONS 0
-#endif
-
-#ifndef configUSE_STATS_FORMATTING_FUNCTIONS
- #define configUSE_STATS_FORMATTING_FUNCTIONS 0
-#endif
-
-#ifndef portASSERT_IF_INTERRUPT_PRIORITY_INVALID
- #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID()
-#endif
-
-#ifndef configUSE_TRACE_FACILITY
- #define configUSE_TRACE_FACILITY 0
-#endif
-
-#ifndef mtCOVERAGE_TEST_MARKER
- #define mtCOVERAGE_TEST_MARKER()
-#endif
-
-#ifndef mtCOVERAGE_TEST_DELAY
- #define mtCOVERAGE_TEST_DELAY()
-#endif
-
-#ifndef portASSERT_IF_IN_ISR
- #define portASSERT_IF_IN_ISR()
-#endif
-
-#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
- #define configUSE_PORT_OPTIMISED_TASK_SELECTION 0
-#endif
-
-#ifndef configAPPLICATION_ALLOCATED_HEAP
- #define configAPPLICATION_ALLOCATED_HEAP 0
-#endif
-
-#ifndef configUSE_TASK_NOTIFICATIONS
- #define configUSE_TASK_NOTIFICATIONS 1
-#endif
-
-#ifndef configUSE_POSIX_ERRNO
- #define configUSE_POSIX_ERRNO 0
-#endif
-
-#ifndef portTICK_TYPE_IS_ATOMIC
- #define portTICK_TYPE_IS_ATOMIC 0
-#endif
-
-#ifndef configSUPPORT_STATIC_ALLOCATION
- /* Defaults to 0 for backward compatibility. */
- #define configSUPPORT_STATIC_ALLOCATION 0
-#endif
-
-#ifndef configSUPPORT_DYNAMIC_ALLOCATION
- /* Defaults to 1 for backward compatibility. */
- #define configSUPPORT_DYNAMIC_ALLOCATION 1
-#endif
-
-#ifndef configSTACK_DEPTH_TYPE
- /* Defaults to uint16_t for backward compatibility, but can be overridden
- in FreeRTOSConfig.h if uint16_t is too restrictive. */
- #define configSTACK_DEPTH_TYPE uint16_t
-#endif
-
-#ifndef configMESSAGE_BUFFER_LENGTH_TYPE
- /* Defaults to size_t for backward compatibility, but can be overridden
- in FreeRTOSConfig.h if lengths will always be less than the number of bytes
- in a size_t. */
- #define configMESSAGE_BUFFER_LENGTH_TYPE size_t
-#endif
-
-/* Sanity check the configuration. */
-#if( configUSE_TICKLESS_IDLE != 0 )
- #if( INCLUDE_vTaskSuspend != 1 )
- #error INCLUDE_vTaskSuspend must be set to 1 if configUSE_TICKLESS_IDLE is not set to 0
- #endif /* INCLUDE_vTaskSuspend */
-#endif /* configUSE_TICKLESS_IDLE */
-
-#if( ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 0 ) )
- #error configSUPPORT_STATIC_ALLOCATION and configSUPPORT_DYNAMIC_ALLOCATION cannot both be 0, but can both be 1.
-#endif
-
-#if( ( configUSE_RECURSIVE_MUTEXES == 1 ) && ( configUSE_MUTEXES != 1 ) )
- #error configUSE_MUTEXES must be set to 1 to use recursive mutexes
-#endif
-
-#ifndef configINITIAL_TICK_COUNT
- #define configINITIAL_TICK_COUNT 0
-#endif
-
-#if( portTICK_TYPE_IS_ATOMIC == 0 )
- /* Either variables of tick type cannot be read atomically, or
- portTICK_TYPE_IS_ATOMIC was not set - map the critical sections used when
- the tick count is returned to the standard critical section macros. */
- #define portTICK_TYPE_ENTER_CRITICAL() portENTER_CRITICAL()
- #define portTICK_TYPE_EXIT_CRITICAL() portEXIT_CRITICAL()
- #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR()
- #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( ( x ) )
-#else
- /* The tick type can be read atomically, so critical sections used when the
- tick count is returned can be defined away. */
- #define portTICK_TYPE_ENTER_CRITICAL()
- #define portTICK_TYPE_EXIT_CRITICAL()
- #define portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR() 0
- #define portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( x ) ( void ) x
-#endif
-
-/* Definitions to allow backward compatibility with FreeRTOS versions prior to
-V8 if desired. */
-#ifndef configENABLE_BACKWARD_COMPATIBILITY
- #define configENABLE_BACKWARD_COMPATIBILITY 1
-#endif
-
-#ifndef configPRINTF
- /* configPRINTF() was not defined, so define it away to nothing. To use
- configPRINTF() then define it as follows (where MyPrintFunction() is
- provided by the application writer):
-
- void MyPrintFunction(const char *pcFormat, ... );
- #define configPRINTF( X ) MyPrintFunction X
-
- Then call like a standard printf() function, but placing brackets around
- all parameters so they are passed as a single parameter. For example:
- configPRINTF( ("Value = %d", MyVariable) ); */
- #define configPRINTF( X )
-#endif
-
-#ifndef configMAX
- /* The application writer has not provided their own MAX macro, so define
- the following generic implementation. */
- #define configMAX( a, b ) ( ( ( a ) > ( b ) ) ? ( a ) : ( b ) )
-#endif
-
-#ifndef configMIN
- /* The application writer has not provided their own MAX macro, so define
- the following generic implementation. */
- #define configMIN( a, b ) ( ( ( a ) < ( b ) ) ? ( a ) : ( b ) )
-#endif
-
-#if configENABLE_BACKWARD_COMPATIBILITY == 1
- #define eTaskStateGet eTaskGetState
- #define portTickType TickType_t
- #define xTaskHandle TaskHandle_t
- #define xQueueHandle QueueHandle_t
- #define xSemaphoreHandle SemaphoreHandle_t
- #define xQueueSetHandle QueueSetHandle_t
- #define xQueueSetMemberHandle QueueSetMemberHandle_t
- #define xTimeOutType TimeOut_t
- #define xMemoryRegion MemoryRegion_t
- #define xTaskParameters TaskParameters_t
- #define xTaskStatusType TaskStatus_t
- #define xTimerHandle TimerHandle_t
- #define xCoRoutineHandle CoRoutineHandle_t
- #define pdTASK_HOOK_CODE TaskHookFunction_t
- #define portTICK_RATE_MS portTICK_PERIOD_MS
- #define pcTaskGetTaskName pcTaskGetName
- #define pcTimerGetTimerName pcTimerGetName
- #define pcQueueGetQueueName pcQueueGetName
- #define vTaskGetTaskInfo vTaskGetInfo
- #define xTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
-
- /* Backward compatibility within the scheduler code only - these definitions
- are not really required but are included for completeness. */
- #define tmrTIMER_CALLBACK TimerCallbackFunction_t
- #define pdTASK_CODE TaskFunction_t
- #define xListItem ListItem_t
- #define xList List_t
-
- /* For libraries that break the list data hiding, and access list structure
- members directly (which is not supposed to be done). */
- #define pxContainer pvContainer
-#endif /* configENABLE_BACKWARD_COMPATIBILITY */
-
-#if( configUSE_ALTERNATIVE_API != 0 )
- #error The alternative API was deprecated some time ago, and was removed in FreeRTOS V9.0 0
-#endif
-
-/* Set configUSE_TASK_FPU_SUPPORT to 0 to omit floating point support even
-if floating point hardware is otherwise supported by the FreeRTOS port in use.
-This constant is not supported by all FreeRTOS ports that include floating
-point support. */
-#ifndef configUSE_TASK_FPU_SUPPORT
- #define configUSE_TASK_FPU_SUPPORT 1
-#endif
-
-/* Set configENABLE_MPU to 1 to enable MPU support and 0 to disable it. This is
-currently used in ARMv8M ports. */
-#ifndef configENABLE_MPU
- #define configENABLE_MPU 0
-#endif
-
-/* Set configENABLE_FPU to 1 to enable FPU support and 0 to disable it. This is
-currently used in ARMv8M ports. */
-#ifndef configENABLE_FPU
- #define configENABLE_FPU 1
-#endif
-
-/* Set configENABLE_TRUSTZONE to 1 enable TrustZone support and 0 to disable it.
-This is currently used in ARMv8M ports. */
-#ifndef configENABLE_TRUSTZONE
- #define configENABLE_TRUSTZONE 1
-#endif
-
-/* Set configRUN_FREERTOS_SECURE_ONLY to 1 to run the FreeRTOS ARMv8M port on
-the Secure Side only. */
-#ifndef configRUN_FREERTOS_SECURE_ONLY
- #define configRUN_FREERTOS_SECURE_ONLY 0
-#endif
-
-/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
- * dynamically allocated RAM, in which case when any task is deleted it is known
- * that both the task's stack and TCB need to be freed. Sometimes the
- * FreeRTOSConfig.h settings only allow a task to be created using statically
- * allocated RAM, in which case when any task is deleted it is known that neither
- * the task's stack or TCB should be freed. Sometimes the FreeRTOSConfig.h
- * settings allow a task to be created using either statically or dynamically
- * allocated RAM, in which case a member of the TCB is used to record whether the
- * stack and/or TCB were allocated statically or dynamically, so when a task is
- * deleted the RAM that was allocated dynamically is freed again and no attempt is
- * made to free the RAM that was allocated statically.
- * tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
- * task to be created using either statically or dynamically allocated RAM. Note
- * that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
- * a statically allocated stack and a dynamically allocated TCB.
- *
- * The following table lists various combinations of portUSING_MPU_WRAPPERS,
- * configSUPPORT_DYNAMIC_ALLOCATION and configSUPPORT_STATIC_ALLOCATION and
- * when it is possible to have both static and dynamic allocation:
- * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+
- * | MPU | Dynamic | Static | Available Functions | Possible Allocations | Both Dynamic and | Need Free |
- * | | | | | | Static Possible | |
- * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+
- * | 0 | 0 | 1 | xTaskCreateStatic | TCB - Static, Stack - Static | No | No |
- * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
- * | 0 | 1 | 0 | xTaskCreate | TCB - Dynamic, Stack - Dynamic | No | Yes |
- * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
- * | 0 | 1 | 1 | xTaskCreate, | 1. TCB - Dynamic, Stack - Dynamic | Yes | Yes |
- * | | | | xTaskCreateStatic | 2. TCB - Static, Stack - Static | | |
- * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
- * | 1 | 0 | 1 | xTaskCreateStatic, | TCB - Static, Stack - Static | No | No |
- * | | | | xTaskCreateRestrictedStatic | | | |
- * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
- * | 1 | 1 | 0 | xTaskCreate, | 1. TCB - Dynamic, Stack - Dynamic | Yes | Yes |
- * | | | | xTaskCreateRestricted | 2. TCB - Dynamic, Stack - Static | | |
- * +-----|---------|--------|-----------------------------|-----------------------------------|------------------|-----------|
- * | 1 | 1 | 1 | xTaskCreate, | 1. TCB - Dynamic, Stack - Dynamic | Yes | Yes |
- * | | | | xTaskCreateStatic, | 2. TCB - Dynamic, Stack - Static | | |
- * | | | | xTaskCreateRestricted, | 3. TCB - Static, Stack - Static | | |
- * | | | | xTaskCreateRestrictedStatic | | | |
- * +-----+---------+--------+-----------------------------+-----------------------------------+------------------+-----------+
- */
-#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE ( ( ( portUSING_MPU_WRAPPERS == 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) || \
- ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) )
-
-/*
- * In line with software engineering best practice, FreeRTOS implements a strict
- * data hiding policy, so the real structures used by FreeRTOS to maintain the
- * state of tasks, queues, semaphores, etc. are not accessible to the application
- * code. However, if the application writer wants to statically allocate such
- * an object then the size of the object needs to be know. Dummy structures
- * that are guaranteed to have the same size and alignment requirements of the
- * real objects are used for this purpose. The dummy list and list item
- * structures below are used for inclusion in such a dummy structure.
- */
-struct xSTATIC_LIST_ITEM
-{
- #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
- TickType_t xDummy1;
- #endif
- TickType_t xDummy2;
- void *pvDummy3[ 4 ];
- #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
- TickType_t xDummy4;
- #endif
-};
-typedef struct xSTATIC_LIST_ITEM StaticListItem_t;
-
-/* See the comments above the struct xSTATIC_LIST_ITEM definition. */
-struct xSTATIC_MINI_LIST_ITEM
-{
- #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
- TickType_t xDummy1;
- #endif
- TickType_t xDummy2;
- void *pvDummy3[ 2 ];
-};
-typedef struct xSTATIC_MINI_LIST_ITEM StaticMiniListItem_t;
-
-/* See the comments above the struct xSTATIC_LIST_ITEM definition. */
-typedef struct xSTATIC_LIST
-{
- #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
- TickType_t xDummy1;
- #endif
- UBaseType_t uxDummy2;
- void *pvDummy3;
- StaticMiniListItem_t xDummy4;
- #if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 1 )
- TickType_t xDummy5;
- #endif
-} StaticList_t;
-
-/*
- * In line with software engineering best practice, especially when supplying a
- * library that is likely to change in future versions, FreeRTOS implements a
- * strict data hiding policy. This means the Task structure used internally by
- * FreeRTOS is not accessible to application code. However, if the application
- * writer wants to statically allocate the memory required to create a task then
- * the size of the task object needs to be know. The StaticTask_t structure
- * below is provided for this purpose. Its sizes and alignment requirements are
- * guaranteed to match those of the genuine structure, no matter which
- * architecture is being used, and no matter how the values in FreeRTOSConfig.h
- * are set. Its contents are somewhat obfuscated in the hope users will
- * recognise that it would be unwise to make direct use of the structure members.
- */
-typedef struct xSTATIC_TCB
-{
- void *pxDummy1;
- #if ( portUSING_MPU_WRAPPERS == 1 )
- xMPU_SETTINGS xDummy2;
- #endif
- StaticListItem_t xDummy3[ 2 ];
- UBaseType_t uxDummy5;
- void *pxDummy6;
- uint8_t ucDummy7[ configMAX_TASK_NAME_LEN ];
- #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
- void *pxDummy8;
- #endif
- #if ( portCRITICAL_NESTING_IN_TCB == 1 )
- UBaseType_t uxDummy9;
- #endif
- #if ( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxDummy10[ 2 ];
- #endif
- #if ( configUSE_MUTEXES == 1 )
- UBaseType_t uxDummy12[ 2 ];
- #endif
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )
- void *pxDummy14;
- #endif
- #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
- void *pvDummy15[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
- #endif
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- uint32_t ulDummy16;
- #endif
- #if ( configUSE_NEWLIB_REENTRANT == 1 )
- struct _reent xDummy17;
- #endif
- #if ( configUSE_TASK_NOTIFICATIONS == 1 )
- uint32_t ulDummy18;
- uint8_t ucDummy19;
- #endif
- #if ( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
- uint8_t uxDummy20;
- #endif
-
- #if( INCLUDE_xTaskAbortDelay == 1 )
- uint8_t ucDummy21;
- #endif
- #if ( configUSE_POSIX_ERRNO == 1 )
- int iDummy22;
- #endif
-} StaticTask_t;
-
-/*
- * In line with software engineering best practice, especially when supplying a
- * library that is likely to change in future versions, FreeRTOS implements a
- * strict data hiding policy. This means the Queue structure used internally by
- * FreeRTOS is not accessible to application code. However, if the application
- * writer wants to statically allocate the memory required to create a queue
- * then the size of the queue object needs to be know. The StaticQueue_t
- * structure below is provided for this purpose. Its sizes and alignment
- * requirements are guaranteed to match those of the genuine structure, no
- * matter which architecture is being used, and no matter how the values in
- * FreeRTOSConfig.h are set. Its contents are somewhat obfuscated in the hope
- * users will recognise that it would be unwise to make direct use of the
- * structure members.
- */
-typedef struct xSTATIC_QUEUE
-{
- void *pvDummy1[ 3 ];
-
- union
- {
- void *pvDummy2;
- UBaseType_t uxDummy2;
- } u;
-
- StaticList_t xDummy3[ 2 ];
- UBaseType_t uxDummy4[ 3 ];
- uint8_t ucDummy5[ 2 ];
-
- #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
- uint8_t ucDummy6;
- #endif
-
- #if ( configUSE_QUEUE_SETS == 1 )
- void *pvDummy7;
- #endif
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxDummy8;
- uint8_t ucDummy9;
- #endif
-
-} StaticQueue_t;
-typedef StaticQueue_t StaticSemaphore_t;
-
-/*
- * In line with software engineering best practice, especially when supplying a
- * library that is likely to change in future versions, FreeRTOS implements a
- * strict data hiding policy. This means the event group structure used
- * internally by FreeRTOS is not accessible to application code. However, if
- * the application writer wants to statically allocate the memory required to
- * create an event group then the size of the event group object needs to be
- * know. The StaticEventGroup_t structure below is provided for this purpose.
- * Its sizes and alignment requirements are guaranteed to match those of the
- * genuine structure, no matter which architecture is being used, and no matter
- * how the values in FreeRTOSConfig.h are set. Its contents are somewhat
- * obfuscated in the hope users will recognise that it would be unwise to make
- * direct use of the structure members.
- */
-typedef struct xSTATIC_EVENT_GROUP
-{
- TickType_t xDummy1;
- StaticList_t xDummy2;
-
- #if( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxDummy3;
- #endif
-
- #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
- uint8_t ucDummy4;
- #endif
-
-} StaticEventGroup_t;
-
-/*
- * In line with software engineering best practice, especially when supplying a
- * library that is likely to change in future versions, FreeRTOS implements a
- * strict data hiding policy. This means the software timer structure used
- * internally by FreeRTOS is not accessible to application code. However, if
- * the application writer wants to statically allocate the memory required to
- * create a software timer then the size of the queue object needs to be know.
- * The StaticTimer_t structure below is provided for this purpose. Its sizes
- * and alignment requirements are guaranteed to match those of the genuine
- * structure, no matter which architecture is being used, and no matter how the
- * values in FreeRTOSConfig.h are set. Its contents are somewhat obfuscated in
- * the hope users will recognise that it would be unwise to make direct use of
- * the structure members.
- */
-typedef struct xSTATIC_TIMER
-{
- void *pvDummy1;
- StaticListItem_t xDummy2;
- TickType_t xDummy3;
- void *pvDummy5;
- TaskFunction_t pvDummy6;
- #if( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxDummy7;
- #endif
- uint8_t ucDummy8;
-
-} StaticTimer_t;
-
-/*
-* In line with software engineering best practice, especially when supplying a
-* library that is likely to change in future versions, FreeRTOS implements a
-* strict data hiding policy. This means the stream buffer structure used
-* internally by FreeRTOS is not accessible to application code. However, if
-* the application writer wants to statically allocate the memory required to
-* create a stream buffer then the size of the stream buffer object needs to be
-* know. The StaticStreamBuffer_t structure below is provided for this purpose.
-* Its size and alignment requirements are guaranteed to match those of the
-* genuine structure, no matter which architecture is being used, and no matter
-* how the values in FreeRTOSConfig.h are set. Its contents are somewhat
-* obfuscated in the hope users will recognise that it would be unwise to make
-* direct use of the structure members.
-*/
-typedef struct xSTATIC_STREAM_BUFFER
-{
- size_t uxDummy1[ 4 ];
- void * pvDummy2[ 3 ];
- uint8_t ucDummy3;
- #if ( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxDummy4;
- #endif
-} StaticStreamBuffer_t;
-
-/* Message buffers are built on stream buffers. */
-typedef StaticStreamBuffer_t StaticMessageBuffer_t;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* INC_FREERTOS_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/StackMacros.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/StackMacros.h
deleted file mode 100644
index 63efd4d46a7e85c524ca7c78b1ee7782257e0976..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/StackMacros.h
+++ /dev/null
@@ -1,133 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef STACK_MACROS_H
-#define STACK_MACROS_H
-
-#ifndef _MSC_VER /* Visual Studio doesn't support #warning. */
- #warning The name of this file has changed to stack_macros.h. Please update your code accordingly. This source file (which has the original name) will be removed in future released.
-#endif
-
-/*
- * Call the stack overflow hook function if the stack of the task being swapped
- * out is currently overflowed, or looks like it might have overflowed in the
- * past.
- *
- * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
- * the current stack state only - comparing the current top of stack value to
- * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
- * will also cause the last few stack bytes to be checked to ensure the value
- * to which the bytes were set when the task was created have not been
- * overwritten. Note this second test does not guarantee that an overflowed
- * stack will always be recognised.
- */
-
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
-
- /* Only the current stack state is to be checked. */
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- /* Is the currently saved stack pointer within the stack limit? */ \
- if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
-
- /* Only the current stack state is to be checked. */
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- \
- /* Is the currently saved stack pointer within the stack limit? */ \
- if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
-
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
- const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
- \
- if( ( pulStack[ 0 ] != ulCheckValue ) || \
- ( pulStack[ 1 ] != ulCheckValue ) || \
- ( pulStack[ 2 ] != ulCheckValue ) || \
- ( pulStack[ 3 ] != ulCheckValue ) ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
-
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
- static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
- \
- \
- pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
- \
- /* Has the extremity of the task stack ever been written over? */ \
- if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-/* Remove stack overflow macro if not being used. */
-#ifndef taskCHECK_FOR_STACK_OVERFLOW
- #define taskCHECK_FOR_STACK_OVERFLOW()
-#endif
-
-
-
-#endif /* STACK_MACROS_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/atomic.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/atomic.h
deleted file mode 100644
index d6009f6756082a1fbf2929c638ae3ad9e4c0209e..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/atomic.h
+++ /dev/null
@@ -1,414 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/**
- * @file atomic.h
- * @brief FreeRTOS atomic operation support.
- *
- * This file implements atomic functions by disabling interrupts globally.
- * Implementations with architecture specific atomic instructions can be
- * provided under each compiler directory.
- */
-
-#ifndef ATOMIC_H
-#define ATOMIC_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h must appear in source files before include atomic.h"
-#endif
-
-/* Standard includes. */
-#include <stdint.h>
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*
- * Port specific definitions -- entering/exiting critical section.
- * Refer template -- ./lib/FreeRTOS/portable/Compiler/Arch/portmacro.h
- *
- * Every call to ATOMIC_EXIT_CRITICAL() must be closely paired with
- * ATOMIC_ENTER_CRITICAL().
- *
- */
-#if defined( portSET_INTERRUPT_MASK_FROM_ISR )
-
- /* Nested interrupt scheme is supported in this port. */
- #define ATOMIC_ENTER_CRITICAL() \
- UBaseType_t uxCriticalSectionType = portSET_INTERRUPT_MASK_FROM_ISR()
-
- #define ATOMIC_EXIT_CRITICAL() \
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxCriticalSectionType )
-
-#else
-
- /* Nested interrupt scheme is NOT supported in this port. */
- #define ATOMIC_ENTER_CRITICAL() portENTER_CRITICAL()
- #define ATOMIC_EXIT_CRITICAL() portEXIT_CRITICAL()
-
-#endif /* portSET_INTERRUPT_MASK_FROM_ISR() */
-
-/*
- * Port specific definition -- "always inline".
- * Inline is compiler specific, and may not always get inlined depending on your
- * optimization level. Also, inline is considered as performance optimization
- * for atomic. Thus, if portFORCE_INLINE is not provided by portmacro.h,
- * instead of resulting error, simply define it away.
- */
-#ifndef portFORCE_INLINE
- #define portFORCE_INLINE
-#endif
-
-#define ATOMIC_COMPARE_AND_SWAP_SUCCESS 0x1U /**< Compare and swap succeeded, swapped. */
-#define ATOMIC_COMPARE_AND_SWAP_FAILURE 0x0U /**< Compare and swap failed, did not swap. */
-
-/*----------------------------- Swap && CAS ------------------------------*/
-
-/**
- * Atomic compare-and-swap
- *
- * @brief Performs an atomic compare-and-swap operation on the specified values.
- *
- * @param[in, out] pulDestination Pointer to memory location from where value is
- * to be loaded and checked.
- * @param[in] ulExchange If condition meets, write this value to memory.
- * @param[in] ulComparand Swap condition.
- *
- * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
- *
- * @note This function only swaps *pulDestination with ulExchange, if previous
- * *pulDestination value equals ulComparand.
- */
-static portFORCE_INLINE uint32_t Atomic_CompareAndSwap_u32( uint32_t volatile * pulDestination,
- uint32_t ulExchange,
- uint32_t ulComparand )
-{
-uint32_t ulReturnValue;
-
- ATOMIC_ENTER_CRITICAL();
- {
- if( *pulDestination == ulComparand )
- {
- *pulDestination = ulExchange;
- ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
- }
- else
- {
- ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
- }
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulReturnValue;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic swap (pointers)
- *
- * @brief Atomically sets the address pointed to by *ppvDestination to the value
- * of *pvExchange.
- *
- * @param[in, out] ppvDestination Pointer to memory location from where a pointer
- * value is to be loaded and written back to.
- * @param[in] pvExchange Pointer value to be written to *ppvDestination.
- *
- * @return The initial value of *ppvDestination.
- */
-static portFORCE_INLINE void * Atomic_SwapPointers_p32( void * volatile * ppvDestination,
- void * pvExchange )
-{
-void * pReturnValue;
-
- ATOMIC_ENTER_CRITICAL();
- {
- pReturnValue = *ppvDestination;
- *ppvDestination = pvExchange;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return pReturnValue;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic compare-and-swap (pointers)
- *
- * @brief Performs an atomic compare-and-swap operation on the specified pointer
- * values.
- *
- * @param[in, out] ppvDestination Pointer to memory location from where a pointer
- * value is to be loaded and checked.
- * @param[in] pvExchange If condition meets, write this value to memory.
- * @param[in] pvComparand Swap condition.
- *
- * @return Unsigned integer of value 1 or 0. 1 for swapped, 0 for not swapped.
- *
- * @note This function only swaps *ppvDestination with pvExchange, if previous
- * *ppvDestination value equals pvComparand.
- */
-static portFORCE_INLINE uint32_t Atomic_CompareAndSwapPointers_p32( void * volatile * ppvDestination,
- void * pvExchange,
- void * pvComparand )
-{
-uint32_t ulReturnValue = ATOMIC_COMPARE_AND_SWAP_FAILURE;
-
- ATOMIC_ENTER_CRITICAL();
- {
- if( *ppvDestination == pvComparand )
- {
- *ppvDestination = pvExchange;
- ulReturnValue = ATOMIC_COMPARE_AND_SWAP_SUCCESS;
- }
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulReturnValue;
-}
-
-
-/*----------------------------- Arithmetic ------------------------------*/
-
-/**
- * Atomic add
- *
- * @brief Atomically adds count to the value of the specified pointer points to.
- *
- * @param[in,out] pulAddend Pointer to memory location from where value is to be
- * loaded and written back to.
- * @param[in] ulCount Value to be added to *pulAddend.
- *
- * @return previous *pulAddend value.
- */
-static portFORCE_INLINE uint32_t Atomic_Add_u32( uint32_t volatile * pulAddend,
- uint32_t ulCount )
-{
- uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulAddend;
- *pulAddend += ulCount;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic subtract
- *
- * @brief Atomically subtracts count from the value of the specified pointer
- * pointers to.
- *
- * @param[in,out] pulAddend Pointer to memory location from where value is to be
- * loaded and written back to.
- * @param[in] ulCount Value to be subtract from *pulAddend.
- *
- * @return previous *pulAddend value.
- */
-static portFORCE_INLINE uint32_t Atomic_Subtract_u32( uint32_t volatile * pulAddend,
- uint32_t ulCount )
-{
- uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulAddend;
- *pulAddend -= ulCount;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic increment
- *
- * @brief Atomically increments the value of the specified pointer points to.
- *
- * @param[in,out] pulAddend Pointer to memory location from where value is to be
- * loaded and written back to.
- *
- * @return *pulAddend value before increment.
- */
-static portFORCE_INLINE uint32_t Atomic_Increment_u32( uint32_t volatile * pulAddend )
-{
-uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulAddend;
- *pulAddend += 1;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic decrement
- *
- * @brief Atomically decrements the value of the specified pointer points to
- *
- * @param[in,out] pulAddend Pointer to memory location from where value is to be
- * loaded and written back to.
- *
- * @return *pulAddend value before decrement.
- */
-static portFORCE_INLINE uint32_t Atomic_Decrement_u32( uint32_t volatile * pulAddend )
-{
-uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulAddend;
- *pulAddend -= 1;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-
-/*----------------------------- Bitwise Logical ------------------------------*/
-
-/**
- * Atomic OR
- *
- * @brief Performs an atomic OR operation on the specified values.
- *
- * @param [in, out] pulDestination Pointer to memory location from where value is
- * to be loaded and written back to.
- * @param [in] ulValue Value to be ORed with *pulDestination.
- *
- * @return The original value of *pulDestination.
- */
-static portFORCE_INLINE uint32_t Atomic_OR_u32( uint32_t volatile * pulDestination,
- uint32_t ulValue )
-{
-uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulDestination;
- *pulDestination |= ulValue;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic AND
- *
- * @brief Performs an atomic AND operation on the specified values.
- *
- * @param [in, out] pulDestination Pointer to memory location from where value is
- * to be loaded and written back to.
- * @param [in] ulValue Value to be ANDed with *pulDestination.
- *
- * @return The original value of *pulDestination.
- */
-static portFORCE_INLINE uint32_t Atomic_AND_u32( uint32_t volatile * pulDestination,
- uint32_t ulValue )
-{
-uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulDestination;
- *pulDestination &= ulValue;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic NAND
- *
- * @brief Performs an atomic NAND operation on the specified values.
- *
- * @param [in, out] pulDestination Pointer to memory location from where value is
- * to be loaded and written back to.
- * @param [in] ulValue Value to be NANDed with *pulDestination.
- *
- * @return The original value of *pulDestination.
- */
-static portFORCE_INLINE uint32_t Atomic_NAND_u32( uint32_t volatile * pulDestination,
- uint32_t ulValue )
-{
-uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulDestination;
- *pulDestination = ~( ulCurrent & ulValue );
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-/*-----------------------------------------------------------*/
-
-/**
- * Atomic XOR
- *
- * @brief Performs an atomic XOR operation on the specified values.
- *
- * @param [in, out] pulDestination Pointer to memory location from where value is
- * to be loaded and written back to.
- * @param [in] ulValue Value to be XORed with *pulDestination.
- *
- * @return The original value of *pulDestination.
- */
-static portFORCE_INLINE uint32_t Atomic_XOR_u32( uint32_t volatile * pulDestination,
- uint32_t ulValue )
-{
-uint32_t ulCurrent;
-
- ATOMIC_ENTER_CRITICAL();
- {
- ulCurrent = *pulDestination;
- *pulDestination ^= ulValue;
- }
- ATOMIC_EXIT_CRITICAL();
-
- return ulCurrent;
-}
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* ATOMIC_H */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/croutine.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/croutine.h
deleted file mode 100644
index 9bdf8a08f49bf5bf740737c403d079d255409bc0..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/croutine.h
+++ /dev/null
@@ -1,720 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef CO_ROUTINE_H
-#define CO_ROUTINE_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h must appear in source files before include croutine.h"
-#endif
-
-#include "list.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Used to hide the implementation of the co-routine control block. The
-control block structure however has to be included in the header due to
-the macro implementation of the co-routine functionality. */
-typedef void * CoRoutineHandle_t;
-
-/* Defines the prototype to which co-routine functions must conform. */
-typedef void (*crCOROUTINE_CODE)( CoRoutineHandle_t, UBaseType_t );
-
-typedef struct corCoRoutineControlBlock
-{
- crCOROUTINE_CODE pxCoRoutineFunction;
- ListItem_t xGenericListItem; /*< List item used to place the CRCB in ready and blocked queues. */
- ListItem_t xEventListItem; /*< List item used to place the CRCB in event lists. */
- UBaseType_t uxPriority; /*< The priority of the co-routine in relation to other co-routines. */
- UBaseType_t uxIndex; /*< Used to distinguish between co-routines when multiple co-routines use the same co-routine function. */
- uint16_t uxState; /*< Used internally by the co-routine implementation. */
-} CRCB_t; /* Co-routine control block. Note must be identical in size down to uxPriority with TCB_t. */
-
-/**
- * croutine. h
- *<pre>
- BaseType_t xCoRoutineCreate(
- crCOROUTINE_CODE pxCoRoutineCode,
- UBaseType_t uxPriority,
- UBaseType_t uxIndex
- );</pre>
- *
- * Create a new co-routine and add it to the list of co-routines that are
- * ready to run.
- *
- * @param pxCoRoutineCode Pointer to the co-routine function. Co-routine
- * functions require special syntax - see the co-routine section of the WEB
- * documentation for more information.
- *
- * @param uxPriority The priority with respect to other co-routines at which
- * the co-routine will run.
- *
- * @param uxIndex Used to distinguish between different co-routines that
- * execute the same function. See the example below and the co-routine section
- * of the WEB documentation for further information.
- *
- * @return pdPASS if the co-routine was successfully created and added to a ready
- * list, otherwise an error code defined with ProjDefs.h.
- *
- * Example usage:
- <pre>
- // Co-routine to be created.
- void vFlashCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- static const char cLedToFlash[ 2 ] = { 5, 6 };
- static const TickType_t uxFlashRates[ 2 ] = { 200, 400 };
-
- // Must start every co-routine with a call to crSTART();
- crSTART( xHandle );
-
- for( ;; )
- {
- // This co-routine just delays for a fixed period, then toggles
- // an LED. Two co-routines are created using this function, so
- // the uxIndex parameter is used to tell the co-routine which
- // LED to flash and how int32_t to delay. This assumes xQueue has
- // already been created.
- vParTestToggleLED( cLedToFlash[ uxIndex ] );
- crDELAY( xHandle, uxFlashRates[ uxIndex ] );
- }
-
- // Must end every co-routine with a call to crEND();
- crEND();
- }
-
- // Function that creates two co-routines.
- void vOtherFunction( void )
- {
- uint8_t ucParameterToPass;
- TaskHandle_t xHandle;
-
- // Create two co-routines at priority 0. The first is given index 0
- // so (from the code above) toggles LED 5 every 200 ticks. The second
- // is given index 1 so toggles LED 6 every 400 ticks.
- for( uxIndex = 0; uxIndex < 2; uxIndex++ )
- {
- xCoRoutineCreate( vFlashCoRoutine, 0, uxIndex );
- }
- }
- </pre>
- * \defgroup xCoRoutineCreate xCoRoutineCreate
- * \ingroup Tasks
- */
-BaseType_t xCoRoutineCreate( crCOROUTINE_CODE pxCoRoutineCode, UBaseType_t uxPriority, UBaseType_t uxIndex );
-
-
-/**
- * croutine. h
- *<pre>
- void vCoRoutineSchedule( void );</pre>
- *
- * Run a co-routine.
- *
- * vCoRoutineSchedule() executes the highest priority co-routine that is able
- * to run. The co-routine will execute until it either blocks, yields or is
- * preempted by a task. Co-routines execute cooperatively so one
- * co-routine cannot be preempted by another, but can be preempted by a task.
- *
- * If an application comprises of both tasks and co-routines then
- * vCoRoutineSchedule should be called from the idle task (in an idle task
- * hook).
- *
- * Example usage:
- <pre>
- // This idle task hook will schedule a co-routine each time it is called.
- // The rest of the idle task will execute between co-routine calls.
- void vApplicationIdleHook( void )
- {
- vCoRoutineSchedule();
- }
-
- // Alternatively, if you do not require any other part of the idle task to
- // execute, the idle task hook can call vCoRoutineSchedule() within an
- // infinite loop.
- void vApplicationIdleHook( void )
- {
- for( ;; )
- {
- vCoRoutineSchedule();
- }
- }
- </pre>
- * \defgroup vCoRoutineSchedule vCoRoutineSchedule
- * \ingroup Tasks
- */
-void vCoRoutineSchedule( void );
-
-/**
- * croutine. h
- * <pre>
- crSTART( CoRoutineHandle_t xHandle );</pre>
- *
- * This macro MUST always be called at the start of a co-routine function.
- *
- * Example usage:
- <pre>
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static int32_t ulAVariable;
-
- // Must start every co-routine with a call to crSTART();
- crSTART( xHandle );
-
- for( ;; )
- {
- // Co-routine functionality goes here.
- }
-
- // Must end every co-routine with a call to crEND();
- crEND();
- }</pre>
- * \defgroup crSTART crSTART
- * \ingroup Tasks
- */
-#define crSTART( pxCRCB ) switch( ( ( CRCB_t * )( pxCRCB ) )->uxState ) { case 0:
-
-/**
- * croutine. h
- * <pre>
- crEND();</pre>
- *
- * This macro MUST always be called at the end of a co-routine function.
- *
- * Example usage:
- <pre>
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static int32_t ulAVariable;
-
- // Must start every co-routine with a call to crSTART();
- crSTART( xHandle );
-
- for( ;; )
- {
- // Co-routine functionality goes here.
- }
-
- // Must end every co-routine with a call to crEND();
- crEND();
- }</pre>
- * \defgroup crSTART crSTART
- * \ingroup Tasks
- */
-#define crEND() }
-
-/*
- * These macros are intended for internal use by the co-routine implementation
- * only. The macros should not be used directly by application writers.
- */
-#define crSET_STATE0( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = (__LINE__ * 2); return; case (__LINE__ * 2):
-#define crSET_STATE1( xHandle ) ( ( CRCB_t * )( xHandle ) )->uxState = ((__LINE__ * 2)+1); return; case ((__LINE__ * 2)+1):
-
-/**
- * croutine. h
- *<pre>
- crDELAY( CoRoutineHandle_t xHandle, TickType_t xTicksToDelay );</pre>
- *
- * Delay a co-routine for a fixed period of time.
- *
- * crDELAY can only be called from the co-routine function itself - not
- * from within a function called by the co-routine function. This is because
- * co-routines do not maintain their own stack.
- *
- * @param xHandle The handle of the co-routine to delay. This is the xHandle
- * parameter of the co-routine function.
- *
- * @param xTickToDelay The number of ticks that the co-routine should delay
- * for. The actual amount of time this equates to is defined by
- * configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant portTICK_PERIOD_MS
- * can be used to convert ticks to milliseconds.
- *
- * Example usage:
- <pre>
- // Co-routine to be created.
- void vACoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- // This may not be necessary for const variables.
- // We are to delay for 200ms.
- static const xTickType xDelayTime = 200 / portTICK_PERIOD_MS;
-
- // Must start every co-routine with a call to crSTART();
- crSTART( xHandle );
-
- for( ;; )
- {
- // Delay for 200ms.
- crDELAY( xHandle, xDelayTime );
-
- // Do something here.
- }
-
- // Must end every co-routine with a call to crEND();
- crEND();
- }</pre>
- * \defgroup crDELAY crDELAY
- * \ingroup Tasks
- */
-#define crDELAY( xHandle, xTicksToDelay ) \
- if( ( xTicksToDelay ) > 0 ) \
- { \
- vCoRoutineAddToDelayedList( ( xTicksToDelay ), NULL ); \
- } \
- crSET_STATE0( ( xHandle ) );
-
-/**
- * <pre>
- crQUEUE_SEND(
- CoRoutineHandle_t xHandle,
- QueueHandle_t pxQueue,
- void *pvItemToQueue,
- TickType_t xTicksToWait,
- BaseType_t *pxResult
- )</pre>
- *
- * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
- * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
- *
- * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
- * xQueueSend() and xQueueReceive() can only be used from tasks.
- *
- * crQUEUE_SEND can only be called from the co-routine function itself - not
- * from within a function called by the co-routine function. This is because
- * co-routines do not maintain their own stack.
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xHandle The handle of the calling co-routine. This is the xHandle
- * parameter of the co-routine function.
- *
- * @param pxQueue The handle of the queue on which the data will be posted.
- * The handle is obtained as the return value when the queue is created using
- * the xQueueCreate() API function.
- *
- * @param pvItemToQueue A pointer to the data being posted onto the queue.
- * The number of bytes of each queued item is specified when the queue is
- * created. This number of bytes is copied from pvItemToQueue into the queue
- * itself.
- *
- * @param xTickToDelay The number of ticks that the co-routine should block
- * to wait for space to become available on the queue, should space not be
- * available immediately. The actual amount of time this equates to is defined
- * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
- * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see example
- * below).
- *
- * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
- * data was successfully posted onto the queue, otherwise it will be set to an
- * error defined within ProjDefs.h.
- *
- * Example usage:
- <pre>
- // Co-routine function that blocks for a fixed period then posts a number onto
- // a queue.
- static void prvCoRoutineFlashTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static BaseType_t xNumberToPost = 0;
- static BaseType_t xResult;
-
- // Co-routines must begin with a call to crSTART().
- crSTART( xHandle );
-
- for( ;; )
- {
- // This assumes the queue has already been created.
- crQUEUE_SEND( xHandle, xCoRoutineQueue, &xNumberToPost, NO_DELAY, &xResult );
-
- if( xResult != pdPASS )
- {
- // The message was not posted!
- }
-
- // Increment the number to be posted onto the queue.
- xNumberToPost++;
-
- // Delay for 100 ticks.
- crDELAY( xHandle, 100 );
- }
-
- // Co-routines must end with a call to crEND().
- crEND();
- }</pre>
- * \defgroup crQUEUE_SEND crQUEUE_SEND
- * \ingroup Tasks
- */
-#define crQUEUE_SEND( xHandle, pxQueue, pvItemToQueue, xTicksToWait, pxResult ) \
-{ \
- *( pxResult ) = xQueueCRSend( ( pxQueue) , ( pvItemToQueue) , ( xTicksToWait ) ); \
- if( *( pxResult ) == errQUEUE_BLOCKED ) \
- { \
- crSET_STATE0( ( xHandle ) ); \
- *pxResult = xQueueCRSend( ( pxQueue ), ( pvItemToQueue ), 0 ); \
- } \
- if( *pxResult == errQUEUE_YIELD ) \
- { \
- crSET_STATE1( ( xHandle ) ); \
- *pxResult = pdPASS; \
- } \
-}
-
-/**
- * croutine. h
- * <pre>
- crQUEUE_RECEIVE(
- CoRoutineHandle_t xHandle,
- QueueHandle_t pxQueue,
- void *pvBuffer,
- TickType_t xTicksToWait,
- BaseType_t *pxResult
- )</pre>
- *
- * The macro's crQUEUE_SEND() and crQUEUE_RECEIVE() are the co-routine
- * equivalent to the xQueueSend() and xQueueReceive() functions used by tasks.
- *
- * crQUEUE_SEND and crQUEUE_RECEIVE can only be used from a co-routine whereas
- * xQueueSend() and xQueueReceive() can only be used from tasks.
- *
- * crQUEUE_RECEIVE can only be called from the co-routine function itself - not
- * from within a function called by the co-routine function. This is because
- * co-routines do not maintain their own stack.
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xHandle The handle of the calling co-routine. This is the xHandle
- * parameter of the co-routine function.
- *
- * @param pxQueue The handle of the queue from which the data will be received.
- * The handle is obtained as the return value when the queue is created using
- * the xQueueCreate() API function.
- *
- * @param pvBuffer The buffer into which the received item is to be copied.
- * The number of bytes of each queued item is specified when the queue is
- * created. This number of bytes is copied into pvBuffer.
- *
- * @param xTickToDelay The number of ticks that the co-routine should block
- * to wait for data to become available from the queue, should data not be
- * available immediately. The actual amount of time this equates to is defined
- * by configTICK_RATE_HZ (set in FreeRTOSConfig.h). The constant
- * portTICK_PERIOD_MS can be used to convert ticks to milliseconds (see the
- * crQUEUE_SEND example).
- *
- * @param pxResult The variable pointed to by pxResult will be set to pdPASS if
- * data was successfully retrieved from the queue, otherwise it will be set to
- * an error code as defined within ProjDefs.h.
- *
- * Example usage:
- <pre>
- // A co-routine receives the number of an LED to flash from a queue. It
- // blocks on the queue until the number is received.
- static void prvCoRoutineFlashWorkTask( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // Variables in co-routines must be declared static if they must maintain value across a blocking call.
- static BaseType_t xResult;
- static UBaseType_t uxLEDToFlash;
-
- // All co-routines must start with a call to crSTART().
- crSTART( xHandle );
-
- for( ;; )
- {
- // Wait for data to become available on the queue.
- crQUEUE_RECEIVE( xHandle, xCoRoutineQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
- if( xResult == pdPASS )
- {
- // We received the LED to flash - flash it!
- vParTestToggleLED( uxLEDToFlash );
- }
- }
-
- crEND();
- }</pre>
- * \defgroup crQUEUE_RECEIVE crQUEUE_RECEIVE
- * \ingroup Tasks
- */
-#define crQUEUE_RECEIVE( xHandle, pxQueue, pvBuffer, xTicksToWait, pxResult ) \
-{ \
- *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), ( xTicksToWait ) ); \
- if( *( pxResult ) == errQUEUE_BLOCKED ) \
- { \
- crSET_STATE0( ( xHandle ) ); \
- *( pxResult ) = xQueueCRReceive( ( pxQueue) , ( pvBuffer ), 0 ); \
- } \
- if( *( pxResult ) == errQUEUE_YIELD ) \
- { \
- crSET_STATE1( ( xHandle ) ); \
- *( pxResult ) = pdPASS; \
- } \
-}
-
-/**
- * croutine. h
- * <pre>
- crQUEUE_SEND_FROM_ISR(
- QueueHandle_t pxQueue,
- void *pvItemToQueue,
- BaseType_t xCoRoutinePreviouslyWoken
- )</pre>
- *
- * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
- * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
- * functions used by tasks.
- *
- * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
- * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
- * xQueueReceiveFromISR() can only be used to pass data between a task and and
- * ISR.
- *
- * crQUEUE_SEND_FROM_ISR can only be called from an ISR to send data to a queue
- * that is being used from within a co-routine.
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xCoRoutinePreviouslyWoken This is included so an ISR can post onto
- * the same queue multiple times from a single interrupt. The first call
- * should always pass in pdFALSE. Subsequent calls should pass in
- * the value returned from the previous call.
- *
- * @return pdTRUE if a co-routine was woken by posting onto the queue. This is
- * used by the ISR to determine if a context switch may be required following
- * the ISR.
- *
- * Example usage:
- <pre>
- // A co-routine that blocks on a queue waiting for characters to be received.
- static void vReceivingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- char cRxedChar;
- BaseType_t xResult;
-
- // All co-routines must start with a call to crSTART().
- crSTART( xHandle );
-
- for( ;; )
- {
- // Wait for data to become available on the queue. This assumes the
- // queue xCommsRxQueue has already been created!
- crQUEUE_RECEIVE( xHandle, xCommsRxQueue, &uxLEDToFlash, portMAX_DELAY, &xResult );
-
- // Was a character received?
- if( xResult == pdPASS )
- {
- // Process the character here.
- }
- }
-
- // All co-routines must end with a call to crEND().
- crEND();
- }
-
- // An ISR that uses a queue to send characters received on a serial port to
- // a co-routine.
- void vUART_ISR( void )
- {
- char cRxedChar;
- BaseType_t xCRWokenByPost = pdFALSE;
-
- // We loop around reading characters until there are none left in the UART.
- while( UART_RX_REG_NOT_EMPTY() )
- {
- // Obtain the character from the UART.
- cRxedChar = UART_RX_REG;
-
- // Post the character onto a queue. xCRWokenByPost will be pdFALSE
- // the first time around the loop. If the post causes a co-routine
- // to be woken (unblocked) then xCRWokenByPost will be set to pdTRUE.
- // In this manner we can ensure that if more than one co-routine is
- // blocked on the queue only one is woken by this ISR no matter how
- // many characters are posted to the queue.
- xCRWokenByPost = crQUEUE_SEND_FROM_ISR( xCommsRxQueue, &cRxedChar, xCRWokenByPost );
- }
- }</pre>
- * \defgroup crQUEUE_SEND_FROM_ISR crQUEUE_SEND_FROM_ISR
- * \ingroup Tasks
- */
-#define crQUEUE_SEND_FROM_ISR( pxQueue, pvItemToQueue, xCoRoutinePreviouslyWoken ) xQueueCRSendFromISR( ( pxQueue ), ( pvItemToQueue ), ( xCoRoutinePreviouslyWoken ) )
-
-
-/**
- * croutine. h
- * <pre>
- crQUEUE_SEND_FROM_ISR(
- QueueHandle_t pxQueue,
- void *pvBuffer,
- BaseType_t * pxCoRoutineWoken
- )</pre>
- *
- * The macro's crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() are the
- * co-routine equivalent to the xQueueSendFromISR() and xQueueReceiveFromISR()
- * functions used by tasks.
- *
- * crQUEUE_SEND_FROM_ISR() and crQUEUE_RECEIVE_FROM_ISR() can only be used to
- * pass data between a co-routine and and ISR, whereas xQueueSendFromISR() and
- * xQueueReceiveFromISR() can only be used to pass data between a task and and
- * ISR.
- *
- * crQUEUE_RECEIVE_FROM_ISR can only be called from an ISR to receive data
- * from a queue that is being used from within a co-routine (a co-routine
- * posted to the queue).
- *
- * See the co-routine section of the WEB documentation for information on
- * passing data between tasks and co-routines and between ISR's and
- * co-routines.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvBuffer A pointer to a buffer into which the received item will be
- * placed. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from the queue into
- * pvBuffer.
- *
- * @param pxCoRoutineWoken A co-routine may be blocked waiting for space to become
- * available on the queue. If crQUEUE_RECEIVE_FROM_ISR causes such a
- * co-routine to unblock *pxCoRoutineWoken will get set to pdTRUE, otherwise
- * *pxCoRoutineWoken will remain unchanged.
- *
- * @return pdTRUE an item was successfully received from the queue, otherwise
- * pdFALSE.
- *
- * Example usage:
- <pre>
- // A co-routine that posts a character to a queue then blocks for a fixed
- // period. The character is incremented each time.
- static void vSendingCoRoutine( CoRoutineHandle_t xHandle, UBaseType_t uxIndex )
- {
- // cChar holds its value while this co-routine is blocked and must therefore
- // be declared static.
- static char cCharToTx = 'a';
- BaseType_t xResult;
-
- // All co-routines must start with a call to crSTART().
- crSTART( xHandle );
-
- for( ;; )
- {
- // Send the next character to the queue.
- crQUEUE_SEND( xHandle, xCoRoutineQueue, &cCharToTx, NO_DELAY, &xResult );
-
- if( xResult == pdPASS )
- {
- // The character was successfully posted to the queue.
- }
- else
- {
- // Could not post the character to the queue.
- }
-
- // Enable the UART Tx interrupt to cause an interrupt in this
- // hypothetical UART. The interrupt will obtain the character
- // from the queue and send it.
- ENABLE_RX_INTERRUPT();
-
- // Increment to the next character then block for a fixed period.
- // cCharToTx will maintain its value across the delay as it is
- // declared static.
- cCharToTx++;
- if( cCharToTx > 'x' )
- {
- cCharToTx = 'a';
- }
- crDELAY( 100 );
- }
-
- // All co-routines must end with a call to crEND().
- crEND();
- }
-
- // An ISR that uses a queue to receive characters to send on a UART.
- void vUART_ISR( void )
- {
- char cCharToTx;
- BaseType_t xCRWokenByPost = pdFALSE;
-
- while( UART_TX_REG_EMPTY() )
- {
- // Are there any characters in the queue waiting to be sent?
- // xCRWokenByPost will automatically be set to pdTRUE if a co-routine
- // is woken by the post - ensuring that only a single co-routine is
- // woken no matter how many times we go around this loop.
- if( crQUEUE_RECEIVE_FROM_ISR( pxQueue, &cCharToTx, &xCRWokenByPost ) )
- {
- SEND_CHARACTER( cCharToTx );
- }
- }
- }</pre>
- * \defgroup crQUEUE_RECEIVE_FROM_ISR crQUEUE_RECEIVE_FROM_ISR
- * \ingroup Tasks
- */
-#define crQUEUE_RECEIVE_FROM_ISR( pxQueue, pvBuffer, pxCoRoutineWoken ) xQueueCRReceiveFromISR( ( pxQueue ), ( pvBuffer ), ( pxCoRoutineWoken ) )
-
-/*
- * This function is intended for internal use by the co-routine macros only.
- * The macro nature of the co-routine implementation requires that the
- * prototype appears here. The function should not be used by application
- * writers.
- *
- * Removes the current co-routine from its ready list and places it in the
- * appropriate delayed list.
- */
-void vCoRoutineAddToDelayedList( TickType_t xTicksToDelay, List_t *pxEventList );
-
-/*
- * This function is intended for internal use by the queue implementation only.
- * The function should not be used by application writers.
- *
- * Removes the highest priority co-routine from the event list and places it in
- * the pending ready list.
- */
-BaseType_t xCoRoutineRemoveFromEventList( const List_t *pxEventList );
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* CO_ROUTINE_H */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/deprecated_definitions.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/deprecated_definitions.h
deleted file mode 100644
index e5cb48478b3629a19c647e4d0128adbba8783c82..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/deprecated_definitions.h
+++ /dev/null
@@ -1,279 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef DEPRECATED_DEFINITIONS_H
-#define DEPRECATED_DEFINITIONS_H
-
-
-/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
-pre-processor definition was used to ensure the pre-processor found the correct
-portmacro.h file for the port being used. That scheme was deprecated in favour
-of setting the compiler's include path such that it found the correct
-portmacro.h file - removing the need for the constant and allowing the
-portmacro.h file to be located anywhere in relation to the port being used. The
-definitions below remain in the code for backward compatibility only. New
-projects should not use them. */
-
-#ifdef OPEN_WATCOM_INDUSTRIAL_PC_PORT
- #include "..\..\Source\portable\owatcom\16bitdos\pc\portmacro.h"
- typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef OPEN_WATCOM_FLASH_LITE_186_PORT
- #include "..\..\Source\portable\owatcom\16bitdos\flsh186\portmacro.h"
- typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef GCC_MEGA_AVR
- #include "../portable/GCC/ATMega323/portmacro.h"
-#endif
-
-#ifdef IAR_MEGA_AVR
- #include "../portable/IAR/ATMega323/portmacro.h"
-#endif
-
-#ifdef MPLAB_PIC24_PORT
- #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
-#endif
-
-#ifdef MPLAB_DSPIC_PORT
- #include "../../Source/portable/MPLAB/PIC24_dsPIC/portmacro.h"
-#endif
-
-#ifdef MPLAB_PIC18F_PORT
- #include "../../Source/portable/MPLAB/PIC18F/portmacro.h"
-#endif
-
-#ifdef MPLAB_PIC32MX_PORT
- #include "../../Source/portable/MPLAB/PIC32MX/portmacro.h"
-#endif
-
-#ifdef _FEDPICC
- #include "libFreeRTOS/Include/portmacro.h"
-#endif
-
-#ifdef SDCC_CYGNAL
- #include "../../Source/portable/SDCC/Cygnal/portmacro.h"
-#endif
-
-#ifdef GCC_ARM7
- #include "../../Source/portable/GCC/ARM7_LPC2000/portmacro.h"
-#endif
-
-#ifdef GCC_ARM7_ECLIPSE
- #include "portmacro.h"
-#endif
-
-#ifdef ROWLEY_LPC23xx
- #include "../../Source/portable/GCC/ARM7_LPC23xx/portmacro.h"
-#endif
-
-#ifdef IAR_MSP430
- #include "..\..\Source\portable\IAR\MSP430\portmacro.h"
-#endif
-
-#ifdef GCC_MSP430
- #include "../../Source/portable/GCC/MSP430F449/portmacro.h"
-#endif
-
-#ifdef ROWLEY_MSP430
- #include "../../Source/portable/Rowley/MSP430F449/portmacro.h"
-#endif
-
-#ifdef ARM7_LPC21xx_KEIL_RVDS
- #include "..\..\Source\portable\RVDS\ARM7_LPC21xx\portmacro.h"
-#endif
-
-#ifdef SAM7_GCC
- #include "../../Source/portable/GCC/ARM7_AT91SAM7S/portmacro.h"
-#endif
-
-#ifdef SAM7_IAR
- #include "..\..\Source\portable\IAR\AtmelSAM7S64\portmacro.h"
-#endif
-
-#ifdef SAM9XE_IAR
- #include "..\..\Source\portable\IAR\AtmelSAM9XE\portmacro.h"
-#endif
-
-#ifdef LPC2000_IAR
- #include "..\..\Source\portable\IAR\LPC2000\portmacro.h"
-#endif
-
-#ifdef STR71X_IAR
- #include "..\..\Source\portable\IAR\STR71x\portmacro.h"
-#endif
-
-#ifdef STR75X_IAR
- #include "..\..\Source\portable\IAR\STR75x\portmacro.h"
-#endif
-
-#ifdef STR75X_GCC
- #include "..\..\Source\portable\GCC\STR75x\portmacro.h"
-#endif
-
-#ifdef STR91X_IAR
- #include "..\..\Source\portable\IAR\STR91x\portmacro.h"
-#endif
-
-#ifdef GCC_H8S
- #include "../../Source/portable/GCC/H8S2329/portmacro.h"
-#endif
-
-#ifdef GCC_AT91FR40008
- #include "../../Source/portable/GCC/ARM7_AT91FR40008/portmacro.h"
-#endif
-
-#ifdef RVDS_ARMCM3_LM3S102
- #include "../../Source/portable/RVDS/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef GCC_ARMCM3_LM3S102
- #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef GCC_ARMCM3
- #include "../../Source/portable/GCC/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef IAR_ARM_CM3
- #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef IAR_ARMCM3_LM
- #include "../../Source/portable/IAR/ARM_CM3/portmacro.h"
-#endif
-
-#ifdef HCS12_CODE_WARRIOR
- #include "../../Source/portable/CodeWarrior/HCS12/portmacro.h"
-#endif
-
-#ifdef MICROBLAZE_GCC
- #include "../../Source/portable/GCC/MicroBlaze/portmacro.h"
-#endif
-
-#ifdef TERN_EE
- #include "..\..\Source\portable\Paradigm\Tern_EE\small\portmacro.h"
-#endif
-
-#ifdef GCC_HCS12
- #include "../../Source/portable/GCC/HCS12/portmacro.h"
-#endif
-
-#ifdef GCC_MCF5235
- #include "../../Source/portable/GCC/MCF5235/portmacro.h"
-#endif
-
-#ifdef COLDFIRE_V2_GCC
- #include "../../../Source/portable/GCC/ColdFire_V2/portmacro.h"
-#endif
-
-#ifdef COLDFIRE_V2_CODEWARRIOR
- #include "../../Source/portable/CodeWarrior/ColdFire_V2/portmacro.h"
-#endif
-
-#ifdef GCC_PPC405
- #include "../../Source/portable/GCC/PPC405_Xilinx/portmacro.h"
-#endif
-
-#ifdef GCC_PPC440
- #include "../../Source/portable/GCC/PPC440_Xilinx/portmacro.h"
-#endif
-
-#ifdef _16FX_SOFTUNE
- #include "..\..\Source\portable\Softune\MB96340\portmacro.h"
-#endif
-
-#ifdef BCC_INDUSTRIAL_PC_PORT
- /* A short file name has to be used in place of the normal
- FreeRTOSConfig.h when using the Borland compiler. */
- #include "frconfig.h"
- #include "..\portable\BCC\16BitDOS\PC\prtmacro.h"
- typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef BCC_FLASH_LITE_186_PORT
- /* A short file name has to be used in place of the normal
- FreeRTOSConfig.h when using the Borland compiler. */
- #include "frconfig.h"
- #include "..\portable\BCC\16BitDOS\flsh186\prtmacro.h"
- typedef void ( __interrupt __far *pxISR )();
-#endif
-
-#ifdef __GNUC__
- #ifdef __AVR32_AVR32A__
- #include "portmacro.h"
- #endif
-#endif
-
-#ifdef __ICCAVR32__
- #ifdef __CORE__
- #if __CORE__ == __AVR32A__
- #include "portmacro.h"
- #endif
- #endif
-#endif
-
-#ifdef __91467D
- #include "portmacro.h"
-#endif
-
-#ifdef __96340
- #include "portmacro.h"
-#endif
-
-
-#ifdef __IAR_V850ES_Fx3__
- #include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Jx3__
- #include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Jx3_L__
- #include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Jx2__
- #include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_V850ES_Hx2__
- #include "../../Source/portable/IAR/V850ES/portmacro.h"
-#endif
-
-#ifdef __IAR_78K0R_Kx3__
- #include "../../Source/portable/IAR/78K0R/portmacro.h"
-#endif
-
-#ifdef __IAR_78K0R_Kx3L__
- #include "../../Source/portable/IAR/78K0R/portmacro.h"
-#endif
-
-#endif /* DEPRECATED_DEFINITIONS_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/event_groups.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/event_groups.h
deleted file mode 100644
index 70989b0e41053df771145eb62c2ac1e290fbe04e..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/event_groups.h
+++ /dev/null
@@ -1,757 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef EVENT_GROUPS_H
-#define EVENT_GROUPS_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h" must appear in source files before "include event_groups.h"
-#endif
-
-/* FreeRTOS includes. */
-#include "timers.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/**
- * An event group is a collection of bits to which an application can assign a
- * meaning. For example, an application may create an event group to convey
- * the status of various CAN bus related events in which bit 0 might mean "A CAN
- * message has been received and is ready for processing", bit 1 might mean "The
- * application has queued a message that is ready for sending onto the CAN
- * network", and bit 2 might mean "It is time to send a SYNC message onto the
- * CAN network" etc. A task can then test the bit values to see which events
- * are active, and optionally enter the Blocked state to wait for a specified
- * bit or a group of specified bits to be active. To continue the CAN bus
- * example, a CAN controlling task can enter the Blocked state (and therefore
- * not consume any processing time) until either bit 0, bit 1 or bit 2 are
- * active, at which time the bit that was actually active would inform the task
- * which action it had to take (process a received message, send a message, or
- * send a SYNC).
- *
- * The event groups implementation contains intelligence to avoid race
- * conditions that would otherwise occur were an application to use a simple
- * variable for the same purpose. This is particularly important with respect
- * to when a bit within an event group is to be cleared, and when bits have to
- * be set and then tested atomically - as is the case where event groups are
- * used to create a synchronisation point between multiple tasks (a
- * 'rendezvous').
- *
- * \defgroup EventGroup
- */
-
-
-
-/**
- * event_groups.h
- *
- * Type by which event groups are referenced. For example, a call to
- * xEventGroupCreate() returns an EventGroupHandle_t variable that can then
- * be used as a parameter to other event group functions.
- *
- * \defgroup EventGroupHandle_t EventGroupHandle_t
- * \ingroup EventGroup
- */
-struct EventGroupDef_t;
-typedef struct EventGroupDef_t * EventGroupHandle_t;
-
-/*
- * The type that holds event bits always matches TickType_t - therefore the
- * number of bits it holds is set by configUSE_16_BIT_TICKS (16 bits if set to 1,
- * 32 bits if set to 0.
- *
- * \defgroup EventBits_t EventBits_t
- * \ingroup EventGroup
- */
-typedef TickType_t EventBits_t;
-
-/**
- * event_groups.h
- *<pre>
- EventGroupHandle_t xEventGroupCreate( void );
- </pre>
- *
- * Create a new event group.
- *
- * Internally, within the FreeRTOS implementation, event groups use a [small]
- * block of memory, in which the event group's structure is stored. If an event
- * groups is created using xEventGropuCreate() then the required memory is
- * automatically dynamically allocated inside the xEventGroupCreate() function.
- * (see http://www.freertos.org/a00111.html). If an event group is created
- * using xEventGropuCreateStatic() then the application writer must instead
- * provide the memory that will get used by the event group.
- * xEventGroupCreateStatic() therefore allows an event group to be created
- * without using any dynamic memory allocation.
- *
- * Although event groups are not related to ticks, for internal implementation
- * reasons the number of bits available for use in an event group is dependent
- * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
- * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
- * 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
- * 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
- * event bits within an event group.
- *
- * @return If the event group was created then a handle to the event group is
- * returned. If there was insufficient FreeRTOS heap available to create the
- * event group then NULL is returned. See http://www.freertos.org/a00111.html
- *
- * Example usage:
- <pre>
- // Declare a variable to hold the created event group.
- EventGroupHandle_t xCreatedEventGroup;
-
- // Attempt to create the event group.
- xCreatedEventGroup = xEventGroupCreate();
-
- // Was the event group created successfully?
- if( xCreatedEventGroup == NULL )
- {
- // The event group was not created because there was insufficient
- // FreeRTOS heap available.
- }
- else
- {
- // The event group was created.
- }
- </pre>
- * \defgroup xEventGroupCreate xEventGroupCreate
- * \ingroup EventGroup
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- EventGroupHandle_t xEventGroupCreate( void ) PRIVILEGED_FUNCTION;
-#endif
-
-/**
- * event_groups.h
- *<pre>
- EventGroupHandle_t xEventGroupCreateStatic( EventGroupHandle_t * pxEventGroupBuffer );
- </pre>
- *
- * Create a new event group.
- *
- * Internally, within the FreeRTOS implementation, event groups use a [small]
- * block of memory, in which the event group's structure is stored. If an event
- * groups is created using xEventGropuCreate() then the required memory is
- * automatically dynamically allocated inside the xEventGroupCreate() function.
- * (see http://www.freertos.org/a00111.html). If an event group is created
- * using xEventGropuCreateStatic() then the application writer must instead
- * provide the memory that will get used by the event group.
- * xEventGroupCreateStatic() therefore allows an event group to be created
- * without using any dynamic memory allocation.
- *
- * Although event groups are not related to ticks, for internal implementation
- * reasons the number of bits available for use in an event group is dependent
- * on the configUSE_16_BIT_TICKS setting in FreeRTOSConfig.h. If
- * configUSE_16_BIT_TICKS is 1 then each event group contains 8 usable bits (bit
- * 0 to bit 7). If configUSE_16_BIT_TICKS is set to 0 then each event group has
- * 24 usable bits (bit 0 to bit 23). The EventBits_t type is used to store
- * event bits within an event group.
- *
- * @param pxEventGroupBuffer pxEventGroupBuffer must point to a variable of type
- * StaticEventGroup_t, which will be then be used to hold the event group's data
- * structures, removing the need for the memory to be allocated dynamically.
- *
- * @return If the event group was created then a handle to the event group is
- * returned. If pxEventGroupBuffer was NULL then NULL is returned.
- *
- * Example usage:
- <pre>
- // StaticEventGroup_t is a publicly accessible structure that has the same
- // size and alignment requirements as the real event group structure. It is
- // provided as a mechanism for applications to know the size of the event
- // group (which is dependent on the architecture and configuration file
- // settings) without breaking the strict data hiding policy by exposing the
- // real event group internals. This StaticEventGroup_t variable is passed
- // into the xSemaphoreCreateEventGroupStatic() function and is used to store
- // the event group's data structures
- StaticEventGroup_t xEventGroupBuffer;
-
- // Create the event group without dynamically allocating any memory.
- xEventGroup = xEventGroupCreateStatic( &xEventGroupBuffer );
- </pre>
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- EventGroupHandle_t xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) PRIVILEGED_FUNCTION;
-#endif
-
-/**
- * event_groups.h
- *<pre>
- EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup,
- const EventBits_t uxBitsToWaitFor,
- const BaseType_t xClearOnExit,
- const BaseType_t xWaitForAllBits,
- const TickType_t xTicksToWait );
- </pre>
- *
- * [Potentially] block to wait for one or more bits to be set within a
- * previously created event group.
- *
- * This function cannot be called from an interrupt.
- *
- * @param xEventGroup The event group in which the bits are being tested. The
- * event group must have previously been created using a call to
- * xEventGroupCreate().
- *
- * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
- * inside the event group. For example, to wait for bit 0 and/or bit 2 set
- * uxBitsToWaitFor to 0x05. To wait for bits 0 and/or bit 1 and/or bit 2 set
- * uxBitsToWaitFor to 0x07. Etc.
- *
- * @param xClearOnExit If xClearOnExit is set to pdTRUE then any bits within
- * uxBitsToWaitFor that are set within the event group will be cleared before
- * xEventGroupWaitBits() returns if the wait condition was met (if the function
- * returns for a reason other than a timeout). If xClearOnExit is set to
- * pdFALSE then the bits set in the event group are not altered when the call to
- * xEventGroupWaitBits() returns.
- *
- * @param xWaitForAllBits If xWaitForAllBits is set to pdTRUE then
- * xEventGroupWaitBits() will return when either all the bits in uxBitsToWaitFor
- * are set or the specified block time expires. If xWaitForAllBits is set to
- * pdFALSE then xEventGroupWaitBits() will return when any one of the bits set
- * in uxBitsToWaitFor is set or the specified block time expires. The block
- * time is specified by the xTicksToWait parameter.
- *
- * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
- * for one/all (depending on the xWaitForAllBits value) of the bits specified by
- * uxBitsToWaitFor to become set.
- *
- * @return The value of the event group at the time either the bits being waited
- * for became set, or the block time expired. Test the return value to know
- * which bits were set. If xEventGroupWaitBits() returned because its timeout
- * expired then not all the bits being waited for will be set. If
- * xEventGroupWaitBits() returned because the bits it was waiting for were set
- * then the returned value is the event group value before any bits were
- * automatically cleared in the case that xClearOnExit parameter was set to
- * pdTRUE.
- *
- * Example usage:
- <pre>
- #define BIT_0 ( 1 << 0 )
- #define BIT_4 ( 1 << 4 )
-
- void aFunction( EventGroupHandle_t xEventGroup )
- {
- EventBits_t uxBits;
- const TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
-
- // Wait a maximum of 100ms for either bit 0 or bit 4 to be set within
- // the event group. Clear the bits before exiting.
- uxBits = xEventGroupWaitBits(
- xEventGroup, // The event group being tested.
- BIT_0 | BIT_4, // The bits within the event group to wait for.
- pdTRUE, // BIT_0 and BIT_4 should be cleared before returning.
- pdFALSE, // Don't wait for both bits, either bit will do.
- xTicksToWait ); // Wait a maximum of 100ms for either bit to be set.
-
- if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
- {
- // xEventGroupWaitBits() returned because both bits were set.
- }
- else if( ( uxBits & BIT_0 ) != 0 )
- {
- // xEventGroupWaitBits() returned because just BIT_0 was set.
- }
- else if( ( uxBits & BIT_4 ) != 0 )
- {
- // xEventGroupWaitBits() returned because just BIT_4 was set.
- }
- else
- {
- // xEventGroupWaitBits() returned because xTicksToWait ticks passed
- // without either BIT_0 or BIT_4 becoming set.
- }
- }
- </pre>
- * \defgroup xEventGroupWaitBits xEventGroupWaitBits
- * \ingroup EventGroup
- */
-EventBits_t xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * event_groups.h
- *<pre>
- EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear );
- </pre>
- *
- * Clear bits within an event group. This function cannot be called from an
- * interrupt.
- *
- * @param xEventGroup The event group in which the bits are to be cleared.
- *
- * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear
- * in the event group. For example, to clear bit 3 only, set uxBitsToClear to
- * 0x08. To clear bit 3 and bit 0 set uxBitsToClear to 0x09.
- *
- * @return The value of the event group before the specified bits were cleared.
- *
- * Example usage:
- <pre>
- #define BIT_0 ( 1 << 0 )
- #define BIT_4 ( 1 << 4 )
-
- void aFunction( EventGroupHandle_t xEventGroup )
- {
- EventBits_t uxBits;
-
- // Clear bit 0 and bit 4 in xEventGroup.
- uxBits = xEventGroupClearBits(
- xEventGroup, // The event group being updated.
- BIT_0 | BIT_4 );// The bits being cleared.
-
- if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
- {
- // Both bit 0 and bit 4 were set before xEventGroupClearBits() was
- // called. Both will now be clear (not set).
- }
- else if( ( uxBits & BIT_0 ) != 0 )
- {
- // Bit 0 was set before xEventGroupClearBits() was called. It will
- // now be clear.
- }
- else if( ( uxBits & BIT_4 ) != 0 )
- {
- // Bit 4 was set before xEventGroupClearBits() was called. It will
- // now be clear.
- }
- else
- {
- // Neither bit 0 nor bit 4 were set in the first place.
- }
- }
- </pre>
- * \defgroup xEventGroupClearBits xEventGroupClearBits
- * \ingroup EventGroup
- */
-EventBits_t xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
-
-/**
- * event_groups.h
- *<pre>
- BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
- </pre>
- *
- * A version of xEventGroupClearBits() that can be called from an interrupt.
- *
- * Setting bits in an event group is not a deterministic operation because there
- * are an unknown number of tasks that may be waiting for the bit or bits being
- * set. FreeRTOS does not allow nondeterministic operations to be performed
- * while interrupts are disabled, so protects event groups that are accessed
- * from tasks by suspending the scheduler rather than disabling interrupts. As
- * a result event groups cannot be accessed directly from an interrupt service
- * routine. Therefore xEventGroupClearBitsFromISR() sends a message to the
- * timer task to have the clear operation performed in the context of the timer
- * task.
- *
- * @param xEventGroup The event group in which the bits are to be cleared.
- *
- * @param uxBitsToClear A bitwise value that indicates the bit or bits to clear.
- * For example, to clear bit 3 only, set uxBitsToClear to 0x08. To clear bit 3
- * and bit 0 set uxBitsToClear to 0x09.
- *
- * @return If the request to execute the function was posted successfully then
- * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
- * if the timer service queue was full.
- *
- * Example usage:
- <pre>
- #define BIT_0 ( 1 << 0 )
- #define BIT_4 ( 1 << 4 )
-
- // An event group which it is assumed has already been created by a call to
- // xEventGroupCreate().
- EventGroupHandle_t xEventGroup;
-
- void anInterruptHandler( void )
- {
- // Clear bit 0 and bit 4 in xEventGroup.
- xResult = xEventGroupClearBitsFromISR(
- xEventGroup, // The event group being updated.
- BIT_0 | BIT_4 ); // The bits being set.
-
- if( xResult == pdPASS )
- {
- // The message was posted successfully.
- }
- }
- </pre>
- * \defgroup xEventGroupClearBitsFromISR xEventGroupClearBitsFromISR
- * \ingroup EventGroup
- */
-#if( configUSE_TRACE_FACILITY == 1 )
- BaseType_t xEventGroupClearBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) PRIVILEGED_FUNCTION;
-#else
- #define xEventGroupClearBitsFromISR( xEventGroup, uxBitsToClear ) xTimerPendFunctionCallFromISR( vEventGroupClearBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToClear, NULL )
-#endif
-
-/**
- * event_groups.h
- *<pre>
- EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet );
- </pre>
- *
- * Set bits within an event group.
- * This function cannot be called from an interrupt. xEventGroupSetBitsFromISR()
- * is a version that can be called from an interrupt.
- *
- * Setting bits in an event group will automatically unblock tasks that are
- * blocked waiting for the bits.
- *
- * @param xEventGroup The event group in which the bits are to be set.
- *
- * @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
- * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
- * and bit 0 set uxBitsToSet to 0x09.
- *
- * @return The value of the event group at the time the call to
- * xEventGroupSetBits() returns. There are two reasons why the returned value
- * might have the bits specified by the uxBitsToSet parameter cleared. First,
- * if setting a bit results in a task that was waiting for the bit leaving the
- * blocked state then it is possible the bit will be cleared automatically
- * (see the xClearBitOnExit parameter of xEventGroupWaitBits()). Second, any
- * unblocked (or otherwise Ready state) task that has a priority above that of
- * the task that called xEventGroupSetBits() will execute and may change the
- * event group value before the call to xEventGroupSetBits() returns.
- *
- * Example usage:
- <pre>
- #define BIT_0 ( 1 << 0 )
- #define BIT_4 ( 1 << 4 )
-
- void aFunction( EventGroupHandle_t xEventGroup )
- {
- EventBits_t uxBits;
-
- // Set bit 0 and bit 4 in xEventGroup.
- uxBits = xEventGroupSetBits(
- xEventGroup, // The event group being updated.
- BIT_0 | BIT_4 );// The bits being set.
-
- if( ( uxBits & ( BIT_0 | BIT_4 ) ) == ( BIT_0 | BIT_4 ) )
- {
- // Both bit 0 and bit 4 remained set when the function returned.
- }
- else if( ( uxBits & BIT_0 ) != 0 )
- {
- // Bit 0 remained set when the function returned, but bit 4 was
- // cleared. It might be that bit 4 was cleared automatically as a
- // task that was waiting for bit 4 was removed from the Blocked
- // state.
- }
- else if( ( uxBits & BIT_4 ) != 0 )
- {
- // Bit 4 remained set when the function returned, but bit 0 was
- // cleared. It might be that bit 0 was cleared automatically as a
- // task that was waiting for bit 0 was removed from the Blocked
- // state.
- }
- else
- {
- // Neither bit 0 nor bit 4 remained set. It might be that a task
- // was waiting for both of the bits to be set, and the bits were
- // cleared as the task left the Blocked state.
- }
- }
- </pre>
- * \defgroup xEventGroupSetBits xEventGroupSetBits
- * \ingroup EventGroup
- */
-EventBits_t xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) PRIVILEGED_FUNCTION;
-
-/**
- * event_groups.h
- *<pre>
- BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken );
- </pre>
- *
- * A version of xEventGroupSetBits() that can be called from an interrupt.
- *
- * Setting bits in an event group is not a deterministic operation because there
- * are an unknown number of tasks that may be waiting for the bit or bits being
- * set. FreeRTOS does not allow nondeterministic operations to be performed in
- * interrupts or from critical sections. Therefore xEventGroupSetBitsFromISR()
- * sends a message to the timer task to have the set operation performed in the
- * context of the timer task - where a scheduler lock is used in place of a
- * critical section.
- *
- * @param xEventGroup The event group in which the bits are to be set.
- *
- * @param uxBitsToSet A bitwise value that indicates the bit or bits to set.
- * For example, to set bit 3 only, set uxBitsToSet to 0x08. To set bit 3
- * and bit 0 set uxBitsToSet to 0x09.
- *
- * @param pxHigherPriorityTaskWoken As mentioned above, calling this function
- * will result in a message being sent to the timer daemon task. If the
- * priority of the timer daemon task is higher than the priority of the
- * currently running task (the task the interrupt interrupted) then
- * *pxHigherPriorityTaskWoken will be set to pdTRUE by
- * xEventGroupSetBitsFromISR(), indicating that a context switch should be
- * requested before the interrupt exits. For that reason
- * *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
- * example code below.
- *
- * @return If the request to execute the function was posted successfully then
- * pdPASS is returned, otherwise pdFALSE is returned. pdFALSE will be returned
- * if the timer service queue was full.
- *
- * Example usage:
- <pre>
- #define BIT_0 ( 1 << 0 )
- #define BIT_4 ( 1 << 4 )
-
- // An event group which it is assumed has already been created by a call to
- // xEventGroupCreate().
- EventGroupHandle_t xEventGroup;
-
- void anInterruptHandler( void )
- {
- BaseType_t xHigherPriorityTaskWoken, xResult;
-
- // xHigherPriorityTaskWoken must be initialised to pdFALSE.
- xHigherPriorityTaskWoken = pdFALSE;
-
- // Set bit 0 and bit 4 in xEventGroup.
- xResult = xEventGroupSetBitsFromISR(
- xEventGroup, // The event group being updated.
- BIT_0 | BIT_4 // The bits being set.
- &xHigherPriorityTaskWoken );
-
- // Was the message posted successfully?
- if( xResult == pdPASS )
- {
- // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
- // switch should be requested. The macro used is port specific and
- // will be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() -
- // refer to the documentation page for the port being used.
- portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
- }
- }
- </pre>
- * \defgroup xEventGroupSetBitsFromISR xEventGroupSetBitsFromISR
- * \ingroup EventGroup
- */
-#if( configUSE_TRACE_FACILITY == 1 )
- BaseType_t xEventGroupSetBitsFromISR( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-#else
- #define xEventGroupSetBitsFromISR( xEventGroup, uxBitsToSet, pxHigherPriorityTaskWoken ) xTimerPendFunctionCallFromISR( vEventGroupSetBitsCallback, ( void * ) xEventGroup, ( uint32_t ) uxBitsToSet, pxHigherPriorityTaskWoken )
-#endif
-
-/**
- * event_groups.h
- *<pre>
- EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup,
- const EventBits_t uxBitsToSet,
- const EventBits_t uxBitsToWaitFor,
- TickType_t xTicksToWait );
- </pre>
- *
- * Atomically set bits within an event group, then wait for a combination of
- * bits to be set within the same event group. This functionality is typically
- * used to synchronise multiple tasks, where each task has to wait for the other
- * tasks to reach a synchronisation point before proceeding.
- *
- * This function cannot be used from an interrupt.
- *
- * The function will return before its block time expires if the bits specified
- * by the uxBitsToWait parameter are set, or become set within that time. In
- * this case all the bits specified by uxBitsToWait will be automatically
- * cleared before the function returns.
- *
- * @param xEventGroup The event group in which the bits are being tested. The
- * event group must have previously been created using a call to
- * xEventGroupCreate().
- *
- * @param uxBitsToSet The bits to set in the event group before determining
- * if, and possibly waiting for, all the bits specified by the uxBitsToWait
- * parameter are set.
- *
- * @param uxBitsToWaitFor A bitwise value that indicates the bit or bits to test
- * inside the event group. For example, to wait for bit 0 and bit 2 set
- * uxBitsToWaitFor to 0x05. To wait for bits 0 and bit 1 and bit 2 set
- * uxBitsToWaitFor to 0x07. Etc.
- *
- * @param xTicksToWait The maximum amount of time (specified in 'ticks') to wait
- * for all of the bits specified by uxBitsToWaitFor to become set.
- *
- * @return The value of the event group at the time either the bits being waited
- * for became set, or the block time expired. Test the return value to know
- * which bits were set. If xEventGroupSync() returned because its timeout
- * expired then not all the bits being waited for will be set. If
- * xEventGroupSync() returned because all the bits it was waiting for were
- * set then the returned value is the event group value before any bits were
- * automatically cleared.
- *
- * Example usage:
- <pre>
- // Bits used by the three tasks.
- #define TASK_0_BIT ( 1 << 0 )
- #define TASK_1_BIT ( 1 << 1 )
- #define TASK_2_BIT ( 1 << 2 )
-
- #define ALL_SYNC_BITS ( TASK_0_BIT | TASK_1_BIT | TASK_2_BIT )
-
- // Use an event group to synchronise three tasks. It is assumed this event
- // group has already been created elsewhere.
- EventGroupHandle_t xEventBits;
-
- void vTask0( void *pvParameters )
- {
- EventBits_t uxReturn;
- TickType_t xTicksToWait = 100 / portTICK_PERIOD_MS;
-
- for( ;; )
- {
- // Perform task functionality here.
-
- // Set bit 0 in the event flag to note this task has reached the
- // sync point. The other two tasks will set the other two bits defined
- // by ALL_SYNC_BITS. All three tasks have reached the synchronisation
- // point when all the ALL_SYNC_BITS are set. Wait a maximum of 100ms
- // for this to happen.
- uxReturn = xEventGroupSync( xEventBits, TASK_0_BIT, ALL_SYNC_BITS, xTicksToWait );
-
- if( ( uxReturn & ALL_SYNC_BITS ) == ALL_SYNC_BITS )
- {
- // All three tasks reached the synchronisation point before the call
- // to xEventGroupSync() timed out.
- }
- }
- }
-
- void vTask1( void *pvParameters )
- {
- for( ;; )
- {
- // Perform task functionality here.
-
- // Set bit 1 in the event flag to note this task has reached the
- // synchronisation point. The other two tasks will set the other two
- // bits defined by ALL_SYNC_BITS. All three tasks have reached the
- // synchronisation point when all the ALL_SYNC_BITS are set. Wait
- // indefinitely for this to happen.
- xEventGroupSync( xEventBits, TASK_1_BIT, ALL_SYNC_BITS, portMAX_DELAY );
-
- // xEventGroupSync() was called with an indefinite block time, so
- // this task will only reach here if the syncrhonisation was made by all
- // three tasks, so there is no need to test the return value.
- }
- }
-
- void vTask2( void *pvParameters )
- {
- for( ;; )
- {
- // Perform task functionality here.
-
- // Set bit 2 in the event flag to note this task has reached the
- // synchronisation point. The other two tasks will set the other two
- // bits defined by ALL_SYNC_BITS. All three tasks have reached the
- // synchronisation point when all the ALL_SYNC_BITS are set. Wait
- // indefinitely for this to happen.
- xEventGroupSync( xEventBits, TASK_2_BIT, ALL_SYNC_BITS, portMAX_DELAY );
-
- // xEventGroupSync() was called with an indefinite block time, so
- // this task will only reach here if the syncrhonisation was made by all
- // three tasks, so there is no need to test the return value.
- }
- }
-
- </pre>
- * \defgroup xEventGroupSync xEventGroupSync
- * \ingroup EventGroup
- */
-EventBits_t xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-
-/**
- * event_groups.h
- *<pre>
- EventBits_t xEventGroupGetBits( EventGroupHandle_t xEventGroup );
- </pre>
- *
- * Returns the current value of the bits in an event group. This function
- * cannot be used from an interrupt.
- *
- * @param xEventGroup The event group being queried.
- *
- * @return The event group bits at the time xEventGroupGetBits() was called.
- *
- * \defgroup xEventGroupGetBits xEventGroupGetBits
- * \ingroup EventGroup
- */
-#define xEventGroupGetBits( xEventGroup ) xEventGroupClearBits( xEventGroup, 0 )
-
-/**
- * event_groups.h
- *<pre>
- EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup );
- </pre>
- *
- * A version of xEventGroupGetBits() that can be called from an ISR.
- *
- * @param xEventGroup The event group being queried.
- *
- * @return The event group bits at the time xEventGroupGetBitsFromISR() was called.
- *
- * \defgroup xEventGroupGetBitsFromISR xEventGroupGetBitsFromISR
- * \ingroup EventGroup
- */
-EventBits_t xEventGroupGetBitsFromISR( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
-
-/**
- * event_groups.h
- *<pre>
- void xEventGroupDelete( EventGroupHandle_t xEventGroup );
- </pre>
- *
- * Delete an event group that was previously created by a call to
- * xEventGroupCreate(). Tasks that are blocked on the event group will be
- * unblocked and obtain 0 as the event group's value.
- *
- * @param xEventGroup The event group being deleted.
- */
-void vEventGroupDelete( EventGroupHandle_t xEventGroup ) PRIVILEGED_FUNCTION;
-
-/* For internal use only. */
-void vEventGroupSetBitsCallback( void *pvEventGroup, const uint32_t ulBitsToSet ) PRIVILEGED_FUNCTION;
-void vEventGroupClearBitsCallback( void *pvEventGroup, const uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
-
-
-#if (configUSE_TRACE_FACILITY == 1)
- UBaseType_t uxEventGroupGetNumber( void* xEventGroup ) PRIVILEGED_FUNCTION;
- void vEventGroupSetNumber( void* xEventGroup, UBaseType_t uxEventGroupNumber ) PRIVILEGED_FUNCTION;
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* EVENT_GROUPS_H */
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/list.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/list.h
deleted file mode 100644
index 51322f216dba286ad3a1c001cbe6efce756d4a9d..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/list.h
+++ /dev/null
@@ -1,412 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * This is the list implementation used by the scheduler. While it is tailored
- * heavily for the schedulers needs, it is also available for use by
- * application code.
- *
- * list_ts can only store pointers to list_item_ts. Each ListItem_t contains a
- * numeric value (xItemValue). Most of the time the lists are sorted in
- * descending item value order.
- *
- * Lists are created already containing one list item. The value of this
- * item is the maximum possible that can be stored, it is therefore always at
- * the end of the list and acts as a marker. The list member pxHead always
- * points to this marker - even though it is at the tail of the list. This
- * is because the tail contains a wrap back pointer to the true head of
- * the list.
- *
- * In addition to it's value, each list item contains a pointer to the next
- * item in the list (pxNext), a pointer to the list it is in (pxContainer)
- * and a pointer to back to the object that contains it. These later two
- * pointers are included for efficiency of list manipulation. There is
- * effectively a two way link between the object containing the list item and
- * the list item itself.
- *
- *
- * \page ListIntroduction List Implementation
- * \ingroup FreeRTOSIntro
- */
-
-#ifndef INC_FREERTOS_H
- #error FreeRTOS.h must be included before list.h
-#endif
-
-#ifndef LIST_H
-#define LIST_H
-
-/*
- * The list structure members are modified from within interrupts, and therefore
- * by rights should be declared volatile. However, they are only modified in a
- * functionally atomic way (within critical sections of with the scheduler
- * suspended) and are either passed by reference into a function or indexed via
- * a volatile variable. Therefore, in all use cases tested so far, the volatile
- * qualifier can be omitted in order to provide a moderate performance
- * improvement without adversely affecting functional behaviour. The assembly
- * instructions generated by the IAR, ARM and GCC compilers when the respective
- * compiler's options were set for maximum optimisation has been inspected and
- * deemed to be as intended. That said, as compiler technology advances, and
- * especially if aggressive cross module optimisation is used (a use case that
- * has not been exercised to any great extend) then it is feasible that the
- * volatile qualifier will be needed for correct optimisation. It is expected
- * that a compiler removing essential code because, without the volatile
- * qualifier on the list structure members and with aggressive cross module
- * optimisation, the compiler deemed the code unnecessary will result in
- * complete and obvious failure of the scheduler. If this is ever experienced
- * then the volatile qualifier can be inserted in the relevant places within the
- * list structures by simply defining configLIST_VOLATILE to volatile in
- * FreeRTOSConfig.h (as per the example at the bottom of this comment block).
- * If configLIST_VOLATILE is not defined then the preprocessor directives below
- * will simply #define configLIST_VOLATILE away completely.
- *
- * To use volatile list structure members then add the following line to
- * FreeRTOSConfig.h (without the quotes):
- * "#define configLIST_VOLATILE volatile"
- */
-#ifndef configLIST_VOLATILE
- #define configLIST_VOLATILE
-#endif /* configSUPPORT_CROSS_MODULE_OPTIMISATION */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/* Macros that can be used to place known values within the list structures,
-then check that the known values do not get corrupted during the execution of
-the application. These may catch the list data structures being overwritten in
-memory. They will not catch data errors caused by incorrect configuration or
-use of FreeRTOS.*/
-#if( configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES == 0 )
- /* Define the macros to do nothing. */
- #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE
- #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE
- #define listFIRST_LIST_INTEGRITY_CHECK_VALUE
- #define listSECOND_LIST_INTEGRITY_CHECK_VALUE
- #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
- #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem )
- #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList )
- #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList )
- #define listTEST_LIST_ITEM_INTEGRITY( pxItem )
- #define listTEST_LIST_INTEGRITY( pxList )
-#else
- /* Define macros that add new members into the list structures. */
- #define listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue1;
- #define listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE TickType_t xListItemIntegrityValue2;
- #define listFIRST_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue1;
- #define listSECOND_LIST_INTEGRITY_CHECK_VALUE TickType_t xListIntegrityValue2;
-
- /* Define macros that set the new structure members to known values. */
- #define listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
- #define listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem ) ( pxItem )->xListItemIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
- #define listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList ) ( pxList )->xListIntegrityValue1 = pdINTEGRITY_CHECK_VALUE
- #define listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList ) ( pxList )->xListIntegrityValue2 = pdINTEGRITY_CHECK_VALUE
-
- /* Define macros that will assert if one of the structure members does not
- contain its expected value. */
- #define listTEST_LIST_ITEM_INTEGRITY( pxItem ) configASSERT( ( ( pxItem )->xListItemIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxItem )->xListItemIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
- #define listTEST_LIST_INTEGRITY( pxList ) configASSERT( ( ( pxList )->xListIntegrityValue1 == pdINTEGRITY_CHECK_VALUE ) && ( ( pxList )->xListIntegrityValue2 == pdINTEGRITY_CHECK_VALUE ) )
-#endif /* configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES */
-
-
-/*
- * Definition of the only type of object that a list can contain.
- */
-struct xLIST;
-struct xLIST_ITEM
-{
- listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
- configLIST_VOLATILE TickType_t xItemValue; /*< The value being listed. In most cases this is used to sort the list in descending order. */
- struct xLIST_ITEM * configLIST_VOLATILE pxNext; /*< Pointer to the next ListItem_t in the list. */
- struct xLIST_ITEM * configLIST_VOLATILE pxPrevious; /*< Pointer to the previous ListItem_t in the list. */
- void * pvOwner; /*< Pointer to the object (normally a TCB) that contains the list item. There is therefore a two way link between the object containing the list item and the list item itself. */
- struct xLIST * configLIST_VOLATILE pxContainer; /*< Pointer to the list in which this list item is placed (if any). */
- listSECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-};
-typedef struct xLIST_ITEM ListItem_t; /* For some reason lint wants this as two separate definitions. */
-
-struct xMINI_LIST_ITEM
-{
- listFIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
- configLIST_VOLATILE TickType_t xItemValue;
- struct xLIST_ITEM * configLIST_VOLATILE pxNext;
- struct xLIST_ITEM * configLIST_VOLATILE pxPrevious;
-};
-typedef struct xMINI_LIST_ITEM MiniListItem_t;
-
-/*
- * Definition of the type of queue used by the scheduler.
- */
-typedef struct xLIST
-{
- listFIRST_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
- volatile UBaseType_t uxNumberOfItems;
- ListItem_t * configLIST_VOLATILE pxIndex; /*< Used to walk through the list. Points to the last item returned by a call to listGET_OWNER_OF_NEXT_ENTRY (). */
- MiniListItem_t xListEnd; /*< List item that contains the maximum possible item value meaning it is always at the end of the list and is therefore used as a marker. */
- listSECOND_LIST_INTEGRITY_CHECK_VALUE /*< Set to a known value if configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
-} List_t;
-
-/*
- * Access macro to set the owner of a list item. The owner of a list item
- * is the object (usually a TCB) that contains the list item.
- *
- * \page listSET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
- * \ingroup LinkedList
- */
-#define listSET_LIST_ITEM_OWNER( pxListItem, pxOwner ) ( ( pxListItem )->pvOwner = ( void * ) ( pxOwner ) )
-
-/*
- * Access macro to get the owner of a list item. The owner of a list item
- * is the object (usually a TCB) that contains the list item.
- *
- * \page listGET_LIST_ITEM_OWNER listSET_LIST_ITEM_OWNER
- * \ingroup LinkedList
- */
-#define listGET_LIST_ITEM_OWNER( pxListItem ) ( ( pxListItem )->pvOwner )
-
-/*
- * Access macro to set the value of the list item. In most cases the value is
- * used to sort the list in descending order.
- *
- * \page listSET_LIST_ITEM_VALUE listSET_LIST_ITEM_VALUE
- * \ingroup LinkedList
- */
-#define listSET_LIST_ITEM_VALUE( pxListItem, xValue ) ( ( pxListItem )->xItemValue = ( xValue ) )
-
-/*
- * Access macro to retrieve the value of the list item. The value can
- * represent anything - for example the priority of a task, or the time at
- * which a task should be unblocked.
- *
- * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
- * \ingroup LinkedList
- */
-#define listGET_LIST_ITEM_VALUE( pxListItem ) ( ( pxListItem )->xItemValue )
-
-/*
- * Access macro to retrieve the value of the list item at the head of a given
- * list.
- *
- * \page listGET_LIST_ITEM_VALUE listGET_LIST_ITEM_VALUE
- * \ingroup LinkedList
- */
-#define listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext->xItemValue )
-
-/*
- * Return the list item at the head of the list.
- *
- * \page listGET_HEAD_ENTRY listGET_HEAD_ENTRY
- * \ingroup LinkedList
- */
-#define listGET_HEAD_ENTRY( pxList ) ( ( ( pxList )->xListEnd ).pxNext )
-
-/*
- * Return the next list item.
- *
- * \page listGET_NEXT listGET_NEXT
- * \ingroup LinkedList
- */
-#define listGET_NEXT( pxListItem ) ( ( pxListItem )->pxNext )
-
-/*
- * Return the list item that marks the end of the list
- *
- * \page listGET_END_MARKER listGET_END_MARKER
- * \ingroup LinkedList
- */
-#define listGET_END_MARKER( pxList ) ( ( ListItem_t const * ) ( &( ( pxList )->xListEnd ) ) )
-
-/*
- * Access macro to determine if a list contains any items. The macro will
- * only have the value true if the list is empty.
- *
- * \page listLIST_IS_EMPTY listLIST_IS_EMPTY
- * \ingroup LinkedList
- */
-#define listLIST_IS_EMPTY( pxList ) ( ( ( pxList )->uxNumberOfItems == ( UBaseType_t ) 0 ) ? pdTRUE : pdFALSE )
-
-/*
- * Access macro to return the number of items in the list.
- */
-#define listCURRENT_LIST_LENGTH( pxList ) ( ( pxList )->uxNumberOfItems )
-
-/*
- * Access function to obtain the owner of the next entry in a list.
- *
- * The list member pxIndex is used to walk through a list. Calling
- * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list
- * and returns that entry's pxOwner parameter. Using multiple calls to this
- * function it is therefore possible to move through every item contained in
- * a list.
- *
- * The pxOwner parameter of a list item is a pointer to the object that owns
- * the list item. In the scheduler this is normally a task control block.
- * The pxOwner parameter effectively creates a two way link between the list
- * item and its owner.
- *
- * @param pxTCB pxTCB is set to the address of the owner of the next list item.
- * @param pxList The list from which the next item owner is to be returned.
- *
- * \page listGET_OWNER_OF_NEXT_ENTRY listGET_OWNER_OF_NEXT_ENTRY
- * \ingroup LinkedList
- */
-#define listGET_OWNER_OF_NEXT_ENTRY( pxTCB, pxList ) \
-{ \
-List_t * const pxConstList = ( pxList ); \
- /* Increment the index to the next item and return the item, ensuring */ \
- /* we don't return the marker used at the end of the list. */ \
- ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
- if( ( void * ) ( pxConstList )->pxIndex == ( void * ) &( ( pxConstList )->xListEnd ) ) \
- { \
- ( pxConstList )->pxIndex = ( pxConstList )->pxIndex->pxNext; \
- } \
- ( pxTCB ) = ( pxConstList )->pxIndex->pvOwner; \
-}
-
-
-/*
- * Access function to obtain the owner of the first entry in a list. Lists
- * are normally sorted in ascending item value order.
- *
- * This function returns the pxOwner member of the first item in the list.
- * The pxOwner parameter of a list item is a pointer to the object that owns
- * the list item. In the scheduler this is normally a task control block.
- * The pxOwner parameter effectively creates a two way link between the list
- * item and its owner.
- *
- * @param pxList The list from which the owner of the head item is to be
- * returned.
- *
- * \page listGET_OWNER_OF_HEAD_ENTRY listGET_OWNER_OF_HEAD_ENTRY
- * \ingroup LinkedList
- */
-#define listGET_OWNER_OF_HEAD_ENTRY( pxList ) ( (&( ( pxList )->xListEnd ))->pxNext->pvOwner )
-
-/*
- * Check to see if a list item is within a list. The list item maintains a
- * "container" pointer that points to the list it is in. All this macro does
- * is check to see if the container and the list match.
- *
- * @param pxList The list we want to know if the list item is within.
- * @param pxListItem The list item we want to know if is in the list.
- * @return pdTRUE if the list item is in the list, otherwise pdFALSE.
- */
-#define listIS_CONTAINED_WITHIN( pxList, pxListItem ) ( ( ( pxListItem )->pxContainer == ( pxList ) ) ? ( pdTRUE ) : ( pdFALSE ) )
-
-/*
- * Return the list a list item is contained within (referenced from).
- *
- * @param pxListItem The list item being queried.
- * @return A pointer to the List_t object that references the pxListItem
- */
-#define listLIST_ITEM_CONTAINER( pxListItem ) ( ( pxListItem )->pxContainer )
-
-/*
- * This provides a crude means of knowing if a list has been initialised, as
- * pxList->xListEnd.xItemValue is set to portMAX_DELAY by the vListInitialise()
- * function.
- */
-#define listLIST_IS_INITIALISED( pxList ) ( ( pxList )->xListEnd.xItemValue == portMAX_DELAY )
-
-/*
- * Must be called before a list is used! This initialises all the members
- * of the list structure and inserts the xListEnd item into the list as a
- * marker to the back of the list.
- *
- * @param pxList Pointer to the list being initialised.
- *
- * \page vListInitialise vListInitialise
- * \ingroup LinkedList
- */
-void vListInitialise( List_t * const pxList ) PRIVILEGED_FUNCTION;
-
-/*
- * Must be called before a list item is used. This sets the list container to
- * null so the item does not think that it is already contained in a list.
- *
- * @param pxItem Pointer to the list item being initialised.
- *
- * \page vListInitialiseItem vListInitialiseItem
- * \ingroup LinkedList
- */
-void vListInitialiseItem( ListItem_t * const pxItem ) PRIVILEGED_FUNCTION;
-
-/*
- * Insert a list item into a list. The item will be inserted into the list in
- * a position determined by its item value (descending item value order).
- *
- * @param pxList The list into which the item is to be inserted.
- *
- * @param pxNewListItem The item that is to be placed in the list.
- *
- * \page vListInsert vListInsert
- * \ingroup LinkedList
- */
-void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
-
-/*
- * Insert a list item into a list. The item will be inserted in a position
- * such that it will be the last item within the list returned by multiple
- * calls to listGET_OWNER_OF_NEXT_ENTRY.
- *
- * The list member pxIndex is used to walk through a list. Calling
- * listGET_OWNER_OF_NEXT_ENTRY increments pxIndex to the next item in the list.
- * Placing an item in a list using vListInsertEnd effectively places the item
- * in the list position pointed to by pxIndex. This means that every other
- * item within the list will be returned by listGET_OWNER_OF_NEXT_ENTRY before
- * the pxIndex parameter again points to the item being inserted.
- *
- * @param pxList The list into which the item is to be inserted.
- *
- * @param pxNewListItem The list item to be inserted into the list.
- *
- * \page vListInsertEnd vListInsertEnd
- * \ingroup LinkedList
- */
-void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem ) PRIVILEGED_FUNCTION;
-
-/*
- * Remove an item from a list. The list item has a pointer to the list that
- * it is in, so only the list item need be passed into the function.
- *
- * @param uxListRemove The item to be removed. The item will remove itself from
- * the list pointed to by it's pxContainer parameter.
- *
- * @return The number of items that remain in the list after the list item has
- * been removed.
- *
- * \page uxListRemove uxListRemove
- * \ingroup LinkedList
- */
-UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove ) PRIVILEGED_FUNCTION;
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/message_buffer.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/message_buffer.h
deleted file mode 100644
index 9923b330bf377f99a88efc614557acc8343507ad..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/message_buffer.h
+++ /dev/null
@@ -1,803 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-/*
- * Message buffers build functionality on top of FreeRTOS stream buffers.
- * Whereas stream buffers are used to send a continuous stream of data from one
- * task or interrupt to another, message buffers are used to send variable
- * length discrete messages from one task or interrupt to another. Their
- * implementation is light weight, making them particularly suited for interrupt
- * to task and core to core communication scenarios.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * timeout to 0.
- *
- * Message buffers hold variable length messages. To enable that, when a
- * message is written to the message buffer an additional sizeof( size_t ) bytes
- * are also written to store the message's length (that happens internally, with
- * the API function). sizeof( size_t ) is typically 4 bytes on a 32-bit
- * architecture, so writing a 10 byte message to a message buffer on a 32-bit
- * architecture will actually reduce the available space in the message buffer
- * by 14 bytes (10 byte are used by the message, and 4 bytes to hold the length
- * of the message).
- */
-
-#ifndef FREERTOS_MESSAGE_BUFFER_H
-#define FREERTOS_MESSAGE_BUFFER_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h must appear in source files before include message_buffer.h"
-#endif
-
-/* Message buffers are built onto of stream buffers. */
-#include "stream_buffer.h"
-
-#if defined( __cplusplus )
-extern "C" {
-#endif
-
-/**
- * Type by which message buffers are referenced. For example, a call to
- * xMessageBufferCreate() returns an MessageBufferHandle_t variable that can
- * then be used as a parameter to xMessageBufferSend(), xMessageBufferReceive(),
- * etc.
- */
-typedef void * MessageBufferHandle_t;
-
-/*-----------------------------------------------------------*/
-
-/**
- * message_buffer.h
- *
-<pre>
-MessageBufferHandle_t xMessageBufferCreate( size_t xBufferSizeBytes );
-</pre>
- *
- * Creates a new message buffer using dynamically allocated memory. See
- * xMessageBufferCreateStatic() for a version that uses statically allocated
- * memory (memory that is allocated at compile time).
- *
- * configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
- * FreeRTOSConfig.h for xMessageBufferCreate() to be available.
- *
- * @param xBufferSizeBytes The total number of bytes (not messages) the message
- * buffer will be able to hold at any one time. When a message is written to
- * the message buffer an additional sizeof( size_t ) bytes are also written to
- * store the message's length. sizeof( size_t ) is typically 4 bytes on a
- * 32-bit architecture, so on most 32-bit architectures a 10 byte message will
- * take up 14 bytes of message buffer space.
- *
- * @return If NULL is returned, then the message buffer cannot be created
- * because there is insufficient heap memory available for FreeRTOS to allocate
- * the message buffer data structures and storage area. A non-NULL value being
- * returned indicates that the message buffer has been created successfully -
- * the returned value should be stored as the handle to the created message
- * buffer.
- *
- * Example use:
-<pre>
-
-void vAFunction( void )
-{
-MessageBufferHandle_t xMessageBuffer;
-const size_t xMessageBufferSizeBytes = 100;
-
- // Create a message buffer that can hold 100 bytes. The memory used to hold
- // both the message buffer structure and the messages themselves is allocated
- // dynamically. Each message added to the buffer consumes an additional 4
- // bytes which are used to hold the lengh of the message.
- xMessageBuffer = xMessageBufferCreate( xMessageBufferSizeBytes );
-
- if( xMessageBuffer == NULL )
- {
- // There was not enough heap memory space available to create the
- // message buffer.
- }
- else
- {
- // The message buffer was created successfully and can now be used.
- }
-
-</pre>
- * \defgroup xMessageBufferCreate xMessageBufferCreate
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferCreate( xBufferSizeBytes ) ( MessageBufferHandle_t ) xStreamBufferGenericCreate( xBufferSizeBytes, ( size_t ) 0, pdTRUE )
-
-/**
- * message_buffer.h
- *
-<pre>
-MessageBufferHandle_t xMessageBufferCreateStatic( size_t xBufferSizeBytes,
- uint8_t *pucMessageBufferStorageArea,
- StaticMessageBuffer_t *pxStaticMessageBuffer );
-</pre>
- * Creates a new message buffer using statically allocated memory. See
- * xMessageBufferCreate() for a version that uses dynamically allocated memory.
- *
- * @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
- * pucMessageBufferStorageArea parameter. When a message is written to the
- * message buffer an additional sizeof( size_t ) bytes are also written to store
- * the message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
- * architecture, so on most 32-bit architecture a 10 byte message will take up
- * 14 bytes of message buffer space. The maximum number of bytes that can be
- * stored in the message buffer is actually (xBufferSizeBytes - 1).
- *
- * @param pucMessageBufferStorageArea Must point to a uint8_t array that is at
- * least xBufferSizeBytes + 1 big. This is the array to which messages are
- * copied when they are written to the message buffer.
- *
- * @param pxStaticMessageBuffer Must point to a variable of type
- * StaticMessageBuffer_t, which will be used to hold the message buffer's data
- * structure.
- *
- * @return If the message buffer is created successfully then a handle to the
- * created message buffer is returned. If either pucMessageBufferStorageArea or
- * pxStaticmessageBuffer are NULL then NULL is returned.
- *
- * Example use:
-<pre>
-
-// Used to dimension the array used to hold the messages. The available space
-// will actually be one less than this, so 999.
-#define STORAGE_SIZE_BYTES 1000
-
-// Defines the memory that will actually hold the messages within the message
-// buffer.
-static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
-
-// The variable used to hold the message buffer structure.
-StaticMessageBuffer_t xMessageBufferStruct;
-
-void MyFunction( void )
-{
-MessageBufferHandle_t xMessageBuffer;
-
- xMessageBuffer = xMessageBufferCreateStatic( sizeof( ucBufferStorage ),
- ucBufferStorage,
- &xMessageBufferStruct );
-
- // As neither the pucMessageBufferStorageArea or pxStaticMessageBuffer
- // parameters were NULL, xMessageBuffer will not be NULL, and can be used to
- // reference the created message buffer in other message buffer API calls.
-
- // Other code that uses the message buffer can go here.
-}
-
-</pre>
- * \defgroup xMessageBufferCreateStatic xMessageBufferCreateStatic
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferCreateStatic( xBufferSizeBytes, pucMessageBufferStorageArea, pxStaticMessageBuffer ) ( MessageBufferHandle_t ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, 0, pdTRUE, pucMessageBufferStorageArea, pxStaticMessageBuffer )
-
-/**
- * message_buffer.h
- *
-<pre>
-size_t xMessageBufferSend( MessageBufferHandle_t xMessageBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- TickType_t xTicksToWait );
-<pre>
- *
- * Sends a discrete message to the message buffer. The message can be any
- * length that fits within the buffer's free space, and is copied into the
- * buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xMessageBufferSend() to write to a message buffer from a task. Use
- * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
- * service routine (ISR).
- *
- * @param xMessageBuffer The handle of the message buffer to which a message is
- * being sent.
- *
- * @param pvTxData A pointer to the message that is to be copied into the
- * message buffer.
- *
- * @param xDataLengthBytes The length of the message. That is, the number of
- * bytes to copy from pvTxData into the message buffer. When a message is
- * written to the message buffer an additional sizeof( size_t ) bytes are also
- * written to store the message's length. sizeof( size_t ) is typically 4 bytes
- * on a 32-bit architecture, so on most 32-bit architecture setting
- * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
- * bytes (20 bytes of message data and 4 bytes to hold the message length).
- *
- * @param xTicksToWait The maximum amount of time the calling task should remain
- * in the Blocked state to wait for enough space to become available in the
- * message buffer, should the message buffer have insufficient space when
- * xMessageBufferSend() is called. The calling task will never block if
- * xTicksToWait is zero. The block time is specified in tick periods, so the
- * absolute time it represents is dependent on the tick frequency. The macro
- * pdMS_TO_TICKS() can be used to convert a time specified in milliseconds into
- * a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will cause
- * the task to wait indefinitely (without timing out), provided
- * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
- * CPU time when they are in the Blocked state.
- *
- * @return The number of bytes written to the message buffer. If the call to
- * xMessageBufferSend() times out before there was enough space to write the
- * message into the message buffer then zero is returned. If the call did not
- * time out then xDataLengthBytes is returned.
- *
- * Example use:
-<pre>
-void vAFunction( MessageBufferHandle_t xMessageBuffer )
-{
-size_t xBytesSent;
-uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
-char *pcStringToSend = "String to send";
-const TickType_t x100ms = pdMS_TO_TICKS( 100 );
-
- // Send an array to the message buffer, blocking for a maximum of 100ms to
- // wait for enough space to be available in the message buffer.
- xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
-
- if( xBytesSent != sizeof( ucArrayToSend ) )
- {
- // The call to xMessageBufferSend() times out before there was enough
- // space in the buffer for the data to be written.
- }
-
- // Send the string to the message buffer. Return immediately if there is
- // not enough space in the buffer.
- xBytesSent = xMessageBufferSend( xMessageBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
-
- if( xBytesSent != strlen( pcStringToSend ) )
- {
- // The string could not be added to the message buffer because there was
- // not enough free space in the buffer.
- }
-}
-</pre>
- * \defgroup xMessageBufferSend xMessageBufferSend
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferSend( xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait ) xStreamBufferSend( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, xTicksToWait )
-
-/**
- * message_buffer.h
- *
-<pre>
-size_t xMessageBufferSendFromISR( MessageBufferHandle_t xMessageBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- BaseType_t *pxHigherPriorityTaskWoken );
-<pre>
- *
- * Interrupt safe version of the API function that sends a discrete message to
- * the message buffer. The message can be any length that fits within the
- * buffer's free space, and is copied into the buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xMessageBufferSend() to write to a message buffer from a task. Use
- * xMessageBufferSendFromISR() to write to a message buffer from an interrupt
- * service routine (ISR).
- *
- * @param xMessageBuffer The handle of the message buffer to which a message is
- * being sent.
- *
- * @param pvTxData A pointer to the message that is to be copied into the
- * message buffer.
- *
- * @param xDataLengthBytes The length of the message. That is, the number of
- * bytes to copy from pvTxData into the message buffer. When a message is
- * written to the message buffer an additional sizeof( size_t ) bytes are also
- * written to store the message's length. sizeof( size_t ) is typically 4 bytes
- * on a 32-bit architecture, so on most 32-bit architecture setting
- * xDataLengthBytes to 20 will reduce the free space in the message buffer by 24
- * bytes (20 bytes of message data and 4 bytes to hold the message length).
- *
- * @param pxHigherPriorityTaskWoken It is possible that a message buffer will
- * have a task blocked on it waiting for data. Calling
- * xMessageBufferSendFromISR() can make data available, and so cause a task that
- * was waiting for data to leave the Blocked state. If calling
- * xMessageBufferSendFromISR() causes a task to leave the Blocked state, and the
- * unblocked task has a priority higher than the currently executing task (the
- * task that was interrupted), then, internally, xMessageBufferSendFromISR()
- * will set *pxHigherPriorityTaskWoken to pdTRUE. If
- * xMessageBufferSendFromISR() sets this value to pdTRUE, then normally a
- * context switch should be performed before the interrupt is exited. This will
- * ensure that the interrupt returns directly to the highest priority Ready
- * state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it
- * is passed into the function. See the code example below for an example.
- *
- * @return The number of bytes actually written to the message buffer. If the
- * message buffer didn't have enough free space for the message to be stored
- * then 0 is returned, otherwise xDataLengthBytes is returned.
- *
- * Example use:
-<pre>
-// A message buffer that has already been created.
-MessageBufferHandle_t xMessageBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-size_t xBytesSent;
-char *pcStringToSend = "String to send";
-BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
-
- // Attempt to send the string to the message buffer.
- xBytesSent = xMessageBufferSendFromISR( xMessageBuffer,
- ( void * ) pcStringToSend,
- strlen( pcStringToSend ),
- &xHigherPriorityTaskWoken );
-
- if( xBytesSent != strlen( pcStringToSend ) )
- {
- // The string could not be added to the message buffer because there was
- // not enough free space in the buffer.
- }
-
- // If xHigherPriorityTaskWoken was set to pdTRUE inside
- // xMessageBufferSendFromISR() then a task that has a priority above the
- // priority of the currently executing task was unblocked and a context
- // switch should be performed to ensure the ISR returns to the unblocked
- // task. In most FreeRTOS ports this is done by simply passing
- // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
- // variables value, and perform the context switch if necessary. Check the
- // documentation for the port in use for port specific instructions.
- portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-</pre>
- * \defgroup xMessageBufferSendFromISR xMessageBufferSendFromISR
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferSendFromISR( xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferSendFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvTxData, xDataLengthBytes, pxHigherPriorityTaskWoken )
-
-/**
- * message_buffer.h
- *
-<pre>
-size_t xMessageBufferReceive( MessageBufferHandle_t xMessageBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- TickType_t xTicksToWait );
-</pre>
- *
- * Receives a discrete message from a message buffer. Messages can be of
- * variable length and are copied out of the buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xMessageBufferReceive() to read from a message buffer from a task. Use
- * xMessageBufferReceiveFromISR() to read from a message buffer from an
- * interrupt service routine (ISR).
- *
- * @param xMessageBuffer The handle of the message buffer from which a message
- * is being received.
- *
- * @param pvRxData A pointer to the buffer into which the received message is
- * to be copied.
- *
- * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
- * parameter. This sets the maximum length of the message that can be received.
- * If xBufferLengthBytes is too small to hold the next message then the message
- * will be left in the message buffer and 0 will be returned.
- *
- * @param xTicksToWait The maximum amount of time the task should remain in the
- * Blocked state to wait for a message, should the message buffer be empty.
- * xMessageBufferReceive() will return immediately if xTicksToWait is zero and
- * the message buffer is empty. The block time is specified in tick periods, so
- * the absolute time it represents is dependent on the tick frequency. The
- * macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
- * into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will
- * cause the task to wait indefinitely (without timing out), provided
- * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. Tasks do not use any
- * CPU time when they are in the Blocked state.
- *
- * @return The length, in bytes, of the message read from the message buffer, if
- * any. If xMessageBufferReceive() times out before a message became available
- * then zero is returned. If the length of the message is greater than
- * xBufferLengthBytes then the message will be left in the message buffer and
- * zero is returned.
- *
- * Example use:
-<pre>
-void vAFunction( MessageBuffer_t xMessageBuffer )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
-
- // Receive the next message from the message buffer. Wait in the Blocked
- // state (so not using any CPU processing time) for a maximum of 100ms for
- // a message to become available.
- xReceivedBytes = xMessageBufferReceive( xMessageBuffer,
- ( void * ) ucRxData,
- sizeof( ucRxData ),
- xBlockTime );
-
- if( xReceivedBytes > 0 )
- {
- // A ucRxData contains a message that is xReceivedBytes long. Process
- // the message here....
- }
-}
-</pre>
- * \defgroup xMessageBufferReceive xMessageBufferReceive
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferReceive( xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait ) xStreamBufferReceive( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, xTicksToWait )
-
-
-/**
- * message_buffer.h
- *
-<pre>
-size_t xMessageBufferReceiveFromISR( MessageBufferHandle_t xMessageBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * An interrupt safe version of the API function that receives a discrete
- * message from a message buffer. Messages can be of variable length and are
- * copied out of the buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xMessageBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xMessageBufferRead()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xMessageBufferReceive() to read from a message buffer from a task. Use
- * xMessageBufferReceiveFromISR() to read from a message buffer from an
- * interrupt service routine (ISR).
- *
- * @param xMessageBuffer The handle of the message buffer from which a message
- * is being received.
- *
- * @param pvRxData A pointer to the buffer into which the received message is
- * to be copied.
- *
- * @param xBufferLengthBytes The length of the buffer pointed to by the pvRxData
- * parameter. This sets the maximum length of the message that can be received.
- * If xBufferLengthBytes is too small to hold the next message then the message
- * will be left in the message buffer and 0 will be returned.
- *
- * @param pxHigherPriorityTaskWoken It is possible that a message buffer will
- * have a task blocked on it waiting for space to become available. Calling
- * xMessageBufferReceiveFromISR() can make space available, and so cause a task
- * that is waiting for space to leave the Blocked state. If calling
- * xMessageBufferReceiveFromISR() causes a task to leave the Blocked state, and
- * the unblocked task has a priority higher than the currently executing task
- * (the task that was interrupted), then, internally,
- * xMessageBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
- * If xMessageBufferReceiveFromISR() sets this value to pdTRUE, then normally a
- * context switch should be performed before the interrupt is exited. That will
- * ensure the interrupt returns directly to the highest priority Ready state
- * task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
- * passed into the function. See the code example below for an example.
- *
- * @return The length, in bytes, of the message read from the message buffer, if
- * any.
- *
- * Example use:
-<pre>
-// A message buffer that has already been created.
-MessageBuffer_t xMessageBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
-
- // Receive the next message from the message buffer.
- xReceivedBytes = xMessageBufferReceiveFromISR( xMessageBuffer,
- ( void * ) ucRxData,
- sizeof( ucRxData ),
- &xHigherPriorityTaskWoken );
-
- if( xReceivedBytes > 0 )
- {
- // A ucRxData contains a message that is xReceivedBytes long. Process
- // the message here....
- }
-
- // If xHigherPriorityTaskWoken was set to pdTRUE inside
- // xMessageBufferReceiveFromISR() then a task that has a priority above the
- // priority of the currently executing task was unblocked and a context
- // switch should be performed to ensure the ISR returns to the unblocked
- // task. In most FreeRTOS ports this is done by simply passing
- // xHigherPriorityTaskWoken into portYIELD_FROM_ISR(), which will test the
- // variables value, and perform the context switch if necessary. Check the
- // documentation for the port in use for port specific instructions.
- portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-</pre>
- * \defgroup xMessageBufferReceiveFromISR xMessageBufferReceiveFromISR
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferReceiveFromISR( xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken ) xStreamBufferReceiveFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pvRxData, xBufferLengthBytes, pxHigherPriorityTaskWoken )
-
-/**
- * message_buffer.h
- *
-<pre>
-void vMessageBufferDelete( MessageBufferHandle_t xMessageBuffer );
-</pre>
- *
- * Deletes a message buffer that was previously created using a call to
- * xMessageBufferCreate() or xMessageBufferCreateStatic(). If the message
- * buffer was created using dynamic memory (that is, by xMessageBufferCreate()),
- * then the allocated memory is freed.
- *
- * A message buffer handle must not be used after the message buffer has been
- * deleted.
- *
- * @param xMessageBuffer The handle of the message buffer to be deleted.
- *
- */
-#define vMessageBufferDelete( xMessageBuffer ) vStreamBufferDelete( ( StreamBufferHandle_t ) xMessageBuffer )
-
-/**
- * message_buffer.h
-<pre>
-BaseType_t xMessageBufferIsFull( MessageBufferHandle_t xMessageBuffer ) );
-</pre>
- *
- * Tests to see if a message buffer is full. A message buffer is full if it
- * cannot accept any more messages, of any size, until space is made available
- * by a message being removed from the message buffer.
- *
- * @param xMessageBuffer The handle of the message buffer being queried.
- *
- * @return If the message buffer referenced by xMessageBuffer is full then
- * pdTRUE is returned. Otherwise pdFALSE is returned.
- */
-#define xMessageBufferIsFull( xMessageBuffer ) xStreamBufferIsFull( ( StreamBufferHandle_t ) xMessageBuffer )
-
-/**
- * message_buffer.h
-<pre>
-BaseType_t xMessageBufferIsEmpty( MessageBufferHandle_t xMessageBuffer ) );
-</pre>
- *
- * Tests to see if a message buffer is empty (does not contain any messages).
- *
- * @param xMessageBuffer The handle of the message buffer being queried.
- *
- * @return If the message buffer referenced by xMessageBuffer is empty then
- * pdTRUE is returned. Otherwise pdFALSE is returned.
- *
- */
-#define xMessageBufferIsEmpty( xMessageBuffer ) xStreamBufferIsEmpty( ( StreamBufferHandle_t ) xMessageBuffer )
-
-/**
- * message_buffer.h
-<pre>
-BaseType_t xMessageBufferReset( MessageBufferHandle_t xMessageBuffer );
-</pre>
- *
- * Resets a message buffer to its initial empty state, discarding any message it
- * contained.
- *
- * A message buffer can only be reset if there are no tasks blocked on it.
- *
- * @param xMessageBuffer The handle of the message buffer being reset.
- *
- * @return If the message buffer was reset then pdPASS is returned. If the
- * message buffer could not be reset because either there was a task blocked on
- * the message queue to wait for space to become available, or to wait for a
- * a message to be available, then pdFAIL is returned.
- *
- * \defgroup xMessageBufferReset xMessageBufferReset
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferReset( xMessageBuffer ) xStreamBufferReset( ( StreamBufferHandle_t ) xMessageBuffer )
-
-
-/**
- * message_buffer.h
-<pre>
-size_t xMessageBufferSpaceAvailable( MessageBufferHandle_t xMessageBuffer ) );
-</pre>
- * Returns the number of bytes of free space in the message buffer.
- *
- * @param xMessageBuffer The handle of the message buffer being queried.
- *
- * @return The number of bytes that can be written to the message buffer before
- * the message buffer would be full. When a message is written to the message
- * buffer an additional sizeof( size_t ) bytes are also written to store the
- * message's length. sizeof( size_t ) is typically 4 bytes on a 32-bit
- * architecture, so if xMessageBufferSpacesAvailable() returns 10, then the size
- * of the largest message that can be written to the message buffer is 6 bytes.
- *
- * \defgroup xMessageBufferSpaceAvailable xMessageBufferSpaceAvailable
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferSpaceAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer )
-#define xMessageBufferSpacesAvailable( xMessageBuffer ) xStreamBufferSpacesAvailable( ( StreamBufferHandle_t ) xMessageBuffer ) /* Corrects typo in original macro name. */
-
-/**
- * message_buffer.h
- <pre>
- size_t xMessageBufferNextLengthBytes( MessageBufferHandle_t xMessageBuffer ) );
- </pre>
- * Returns the length (in bytes) of the next message in a message buffer.
- * Useful if xMessageBufferReceive() returned 0 because the size of the buffer
- * passed into xMessageBufferReceive() was too small to hold the next message.
- *
- * @param xMessageBuffer The handle of the message buffer being queried.
- *
- * @return The length (in bytes) of the next message in the message buffer, or 0
- * if the message buffer is empty.
- *
- * \defgroup xMessageBufferNextLengthBytes xMessageBufferNextLengthBytes
- * \ingroup MessageBufferManagement
- */
-#define xMessageBufferNextLengthBytes( xMessageBuffer ) xStreamBufferNextMessageLengthBytes( ( StreamBufferHandle_t ) xMessageBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * message_buffer.h
- *
-<pre>
-BaseType_t xMessageBufferSendCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * For advanced users only.
- *
- * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
- * data is sent to a message buffer or stream buffer. If there was a task that
- * was blocked on the message or stream buffer waiting for data to arrive then
- * the sbSEND_COMPLETED() macro sends a notification to the task to remove it
- * from the Blocked state. xMessageBufferSendCompletedFromISR() does the same
- * thing. It is provided to enable application writers to implement their own
- * version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
- *
- * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
- * additional information.
- *
- * @param xStreamBuffer The handle of the stream buffer to which data was
- * written.
- *
- * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
- * initialised to pdFALSE before it is passed into
- * xMessageBufferSendCompletedFromISR(). If calling
- * xMessageBufferSendCompletedFromISR() removes a task from the Blocked state,
- * and the task has a priority above the priority of the currently running task,
- * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
- * context switch should be performed before exiting the ISR.
- *
- * @return If a task was removed from the Blocked state then pdTRUE is returned.
- * Otherwise pdFALSE is returned.
- *
- * \defgroup xMessageBufferSendCompletedFromISR xMessageBufferSendCompletedFromISR
- * \ingroup StreamBufferManagement
- */
-#define xMessageBufferSendCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferSendCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
-
-/**
- * message_buffer.h
- *
-<pre>
-BaseType_t xMessageBufferReceiveCompletedFromISR( MessageBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * For advanced users only.
- *
- * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
- * data is read out of a message buffer or stream buffer. If there was a task
- * that was blocked on the message or stream buffer waiting for data to arrive
- * then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
- * remove it from the Blocked state. xMessageBufferReceiveCompletedFromISR()
- * does the same thing. It is provided to enable application writers to
- * implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
- * ANY OTHER TIME.
- *
- * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
- * additional information.
- *
- * @param xStreamBuffer The handle of the stream buffer from which data was
- * read.
- *
- * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
- * initialised to pdFALSE before it is passed into
- * xMessageBufferReceiveCompletedFromISR(). If calling
- * xMessageBufferReceiveCompletedFromISR() removes a task from the Blocked state,
- * and the task has a priority above the priority of the currently running task,
- * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
- * context switch should be performed before exiting the ISR.
- *
- * @return If a task was removed from the Blocked state then pdTRUE is returned.
- * Otherwise pdFALSE is returned.
- *
- * \defgroup xMessageBufferReceiveCompletedFromISR xMessageBufferReceiveCompletedFromISR
- * \ingroup StreamBufferManagement
- */
-#define xMessageBufferReceiveCompletedFromISR( xMessageBuffer, pxHigherPriorityTaskWoken ) xStreamBufferReceiveCompletedFromISR( ( StreamBufferHandle_t ) xMessageBuffer, pxHigherPriorityTaskWoken )
-
-#if defined( __cplusplus )
-} /* extern "C" */
-#endif
-
-#endif /* !defined( FREERTOS_MESSAGE_BUFFER_H ) */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/mpu_prototypes.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/mpu_prototypes.h
deleted file mode 100644
index ca876326936f0db1f467f6afcf0fb899a8d01e4c..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/mpu_prototypes.h
+++ /dev/null
@@ -1,160 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * When the MPU is used the standard (non MPU) API functions are mapped to
- * equivalents that start "MPU_", the prototypes for which are defined in this
- * header files. This will cause the application code to call the MPU_ version
- * which wraps the non-MPU version with privilege promoting then demoting code,
- * so the kernel code always runs will full privileges.
- */
-
-
-#ifndef MPU_PROTOTYPES_H
-#define MPU_PROTOTYPES_H
-
-/* MPU versions of tasks.h API functions. */
-BaseType_t MPU_xTaskCreate( TaskFunction_t pxTaskCode, const char * const pcName, const uint16_t usStackDepth, void * const pvParameters, UBaseType_t uxPriority, TaskHandle_t * const pxCreatedTask ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskCreateStatic( TaskFunction_t pxTaskCode, const char * const pcName, const uint32_t ulStackDepth, void * const pvParameters, UBaseType_t uxPriority, StackType_t * const puxStackBuffer, StaticTask_t * const pxTaskBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskDelete( TaskHandle_t xTaskToDelete ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskDelay( const TickType_t xTicksToDelay ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskAbortDelay( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxTaskPriorityGet( const TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-eTaskState MPU_eTaskGetState( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSuspend( TaskHandle_t xTaskToSuspend ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskResume( TaskHandle_t xTaskToResume ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskStartScheduler( void ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSuspendAll( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskResumeAll( void ) FREERTOS_SYSTEM_CALL;
-TickType_t MPU_xTaskGetTickCount( void ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxTaskGetNumberOfTasks( void ) FREERTOS_SYSTEM_CALL;
-char * MPU_pcTaskGetName( TaskHandle_t xTaskToQuery ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskGetHandle( const char *pcNameToQuery ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-configSTACK_DEPTH_TYPE MPU_uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) FREERTOS_SYSTEM_CALL;
-TaskHookFunction_t MPU_xTaskGetApplicationTaskTag( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) FREERTOS_SYSTEM_CALL;
-void * MPU_pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskGetIdleTaskHandle( void ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) FREERTOS_SYSTEM_CALL;
-uint32_t MPU_ulTaskGetIdleRunTimeCounter( void ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskList( char * pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskGetRunTimeStats( char *pcWriteBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-uint32_t MPU_ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskNotifyStateClear( TaskHandle_t xTask ) FREERTOS_SYSTEM_CALL;
-uint32_t MPU_ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskIncrementTick( void ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTaskGetCurrentTaskHandle( void ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) FREERTOS_SYSTEM_CALL;
-void MPU_vTaskMissedYield( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskGetSchedulerState( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) FREERTOS_SYSTEM_CALL;
-
-/* MPU versions of queue.h API functions. */
-BaseType_t MPU_xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxQueueMessagesWaiting( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxQueueSpacesAvailable( const QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueDelete( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateMutex( const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xQueueGetMutexHolder( QueueHandle_t xSemaphore ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueGiveMutexRecursive( QueueHandle_t pxMutex ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcName ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueUnregisterQueue( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-const char * MPU_pcQueueGetName( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
-QueueHandle_t MPU_xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) FREERTOS_SYSTEM_CALL;
-QueueSetHandle_t MPU_xQueueCreateSet( const UBaseType_t uxEventQueueLength ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) FREERTOS_SYSTEM_CALL;
-QueueSetMemberHandle_t MPU_xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) FREERTOS_SYSTEM_CALL;
-void MPU_vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxQueueGetQueueNumber( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-uint8_t MPU_ucQueueGetQueueType( QueueHandle_t xQueue ) FREERTOS_SYSTEM_CALL;
-
-/* MPU versions of timers.h API functions. */
-TimerHandle_t MPU_xTimerCreate( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction ) FREERTOS_SYSTEM_CALL;
-TimerHandle_t MPU_xTimerCreateStatic( const char * const pcTimerName, const TickType_t xTimerPeriodInTicks, const UBaseType_t uxAutoReload, void * const pvTimerID, TimerCallbackFunction_t pxCallbackFunction, StaticTimer_t *pxTimerBuffer ) FREERTOS_SYSTEM_CALL;
-void * MPU_pvTimerGetTimerID( const TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-void MPU_vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerIsTimerActive( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-TaskHandle_t MPU_xTimerGetTimerDaemonTaskHandle( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-const char * MPU_pcTimerGetName( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-void MPU_vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxTimerGetReloadMode( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-TickType_t MPU_xTimerGetPeriod( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-TickType_t MPU_xTimerGetExpiryTime( TimerHandle_t xTimer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerCreateTimerTask( void ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-
-/* MPU versions of event_group.h API functions. */
-EventGroupHandle_t MPU_xEventGroupCreate( void ) FREERTOS_SYSTEM_CALL;
-EventGroupHandle_t MPU_xEventGroupCreateStatic( StaticEventGroup_t *pxEventGroupBuffer ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupWaitBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToWaitFor, const BaseType_t xClearOnExit, const BaseType_t xWaitForAllBits, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupClearBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToClear ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupSetBits( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet ) FREERTOS_SYSTEM_CALL;
-EventBits_t MPU_xEventGroupSync( EventGroupHandle_t xEventGroup, const EventBits_t uxBitsToSet, const EventBits_t uxBitsToWaitFor, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-void MPU_vEventGroupDelete( EventGroupHandle_t xEventGroup ) FREERTOS_SYSTEM_CALL;
-UBaseType_t MPU_uxEventGroupGetNumber( void* xEventGroup ) FREERTOS_SYSTEM_CALL;
-
-/* MPU versions of message/stream_buffer.h API functions. */
-size_t MPU_xStreamBufferSend( StreamBufferHandle_t xStreamBuffer, const void *pvTxData, size_t xDataLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-size_t MPU_xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer, void *pvRxData, size_t xBufferLengthBytes, TickType_t xTicksToWait ) FREERTOS_SYSTEM_CALL;
-size_t MPU_xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-void MPU_vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-size_t MPU_xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-size_t MPU_xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) FREERTOS_SYSTEM_CALL;
-BaseType_t MPU_xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) FREERTOS_SYSTEM_CALL;
-StreamBufferHandle_t MPU_xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer ) FREERTOS_SYSTEM_CALL;
-StreamBufferHandle_t MPU_xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer, uint8_t * const pucStreamBufferStorageArea, StaticStreamBuffer_t * const pxStaticStreamBuffer ) FREERTOS_SYSTEM_CALL;
-
-
-
-#endif /* MPU_PROTOTYPES_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/mpu_wrappers.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/mpu_wrappers.h
deleted file mode 100644
index 55a0ba333870b1ea1dadac82ff1bf3d68814308a..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/mpu_wrappers.h
+++ /dev/null
@@ -1,189 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef MPU_WRAPPERS_H
-#define MPU_WRAPPERS_H
-
-/* This file redefines API functions to be called through a wrapper macro, but
-only for ports that are using the MPU. */
-#ifdef portUSING_MPU_WRAPPERS
-
- /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE will be defined when this file is
- included from queue.c or task.c to prevent it from having an effect within
- those files. */
- #ifndef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
- /*
- * Map standard (non MPU) API functions to equivalents that start
- * "MPU_". This will cause the application code to call the MPU_
- * version, which wraps the non-MPU version with privilege promoting
- * then demoting code, so the kernel code always runs will full
- * privileges.
- */
-
- /* Map standard tasks.h API functions to the MPU equivalents. */
- #define xTaskCreate MPU_xTaskCreate
- #define xTaskCreateStatic MPU_xTaskCreateStatic
- #define xTaskCreateRestricted MPU_xTaskCreateRestricted
- #define vTaskAllocateMPURegions MPU_vTaskAllocateMPURegions
- #define vTaskDelete MPU_vTaskDelete
- #define vTaskDelay MPU_vTaskDelay
- #define vTaskDelayUntil MPU_vTaskDelayUntil
- #define xTaskAbortDelay MPU_xTaskAbortDelay
- #define uxTaskPriorityGet MPU_uxTaskPriorityGet
- #define eTaskGetState MPU_eTaskGetState
- #define vTaskGetInfo MPU_vTaskGetInfo
- #define vTaskPrioritySet MPU_vTaskPrioritySet
- #define vTaskSuspend MPU_vTaskSuspend
- #define vTaskResume MPU_vTaskResume
- #define vTaskSuspendAll MPU_vTaskSuspendAll
- #define xTaskResumeAll MPU_xTaskResumeAll
- #define xTaskGetTickCount MPU_xTaskGetTickCount
- #define uxTaskGetNumberOfTasks MPU_uxTaskGetNumberOfTasks
- #define pcTaskGetName MPU_pcTaskGetName
- #define xTaskGetHandle MPU_xTaskGetHandle
- #define uxTaskGetStackHighWaterMark MPU_uxTaskGetStackHighWaterMark
- #define uxTaskGetStackHighWaterMark2 MPU_uxTaskGetStackHighWaterMark2
- #define vTaskSetApplicationTaskTag MPU_vTaskSetApplicationTaskTag
- #define xTaskGetApplicationTaskTag MPU_xTaskGetApplicationTaskTag
- #define vTaskSetThreadLocalStoragePointer MPU_vTaskSetThreadLocalStoragePointer
- #define pvTaskGetThreadLocalStoragePointer MPU_pvTaskGetThreadLocalStoragePointer
- #define xTaskCallApplicationTaskHook MPU_xTaskCallApplicationTaskHook
- #define xTaskGetIdleTaskHandle MPU_xTaskGetIdleTaskHandle
- #define uxTaskGetSystemState MPU_uxTaskGetSystemState
- #define vTaskList MPU_vTaskList
- #define vTaskGetRunTimeStats MPU_vTaskGetRunTimeStats
- #define ulTaskGetIdleRunTimeCounter MPU_ulTaskGetIdleRunTimeCounter
- #define xTaskGenericNotify MPU_xTaskGenericNotify
- #define xTaskNotifyWait MPU_xTaskNotifyWait
- #define ulTaskNotifyTake MPU_ulTaskNotifyTake
- #define xTaskNotifyStateClear MPU_xTaskNotifyStateClear
- #define ulTaskNotifyValueClear MPU_ulTaskNotifyValueClear
- #define xTaskCatchUpTicks MPU_xTaskCatchUpTicks
-
- #define xTaskGetCurrentTaskHandle MPU_xTaskGetCurrentTaskHandle
- #define vTaskSetTimeOutState MPU_vTaskSetTimeOutState
- #define xTaskCheckForTimeOut MPU_xTaskCheckForTimeOut
- #define xTaskGetSchedulerState MPU_xTaskGetSchedulerState
-
- /* Map standard queue.h API functions to the MPU equivalents. */
- #define xQueueGenericSend MPU_xQueueGenericSend
- #define xQueueReceive MPU_xQueueReceive
- #define xQueuePeek MPU_xQueuePeek
- #define xQueueSemaphoreTake MPU_xQueueSemaphoreTake
- #define uxQueueMessagesWaiting MPU_uxQueueMessagesWaiting
- #define uxQueueSpacesAvailable MPU_uxQueueSpacesAvailable
- #define vQueueDelete MPU_vQueueDelete
- #define xQueueCreateMutex MPU_xQueueCreateMutex
- #define xQueueCreateMutexStatic MPU_xQueueCreateMutexStatic
- #define xQueueCreateCountingSemaphore MPU_xQueueCreateCountingSemaphore
- #define xQueueCreateCountingSemaphoreStatic MPU_xQueueCreateCountingSemaphoreStatic
- #define xQueueGetMutexHolder MPU_xQueueGetMutexHolder
- #define xQueueTakeMutexRecursive MPU_xQueueTakeMutexRecursive
- #define xQueueGiveMutexRecursive MPU_xQueueGiveMutexRecursive
- #define xQueueGenericCreate MPU_xQueueGenericCreate
- #define xQueueGenericCreateStatic MPU_xQueueGenericCreateStatic
- #define xQueueCreateSet MPU_xQueueCreateSet
- #define xQueueAddToSet MPU_xQueueAddToSet
- #define xQueueRemoveFromSet MPU_xQueueRemoveFromSet
- #define xQueueSelectFromSet MPU_xQueueSelectFromSet
- #define xQueueGenericReset MPU_xQueueGenericReset
-
- #if( configQUEUE_REGISTRY_SIZE > 0 )
- #define vQueueAddToRegistry MPU_vQueueAddToRegistry
- #define vQueueUnregisterQueue MPU_vQueueUnregisterQueue
- #define pcQueueGetName MPU_pcQueueGetName
- #endif
-
- /* Map standard timer.h API functions to the MPU equivalents. */
- #define xTimerCreate MPU_xTimerCreate
- #define xTimerCreateStatic MPU_xTimerCreateStatic
- #define pvTimerGetTimerID MPU_pvTimerGetTimerID
- #define vTimerSetTimerID MPU_vTimerSetTimerID
- #define xTimerIsTimerActive MPU_xTimerIsTimerActive
- #define xTimerGetTimerDaemonTaskHandle MPU_xTimerGetTimerDaemonTaskHandle
- #define xTimerPendFunctionCall MPU_xTimerPendFunctionCall
- #define pcTimerGetName MPU_pcTimerGetName
- #define vTimerSetReloadMode MPU_vTimerSetReloadMode
- #define uxTimerGetReloadMode MPU_uxTimerGetReloadMode
- #define xTimerGetPeriod MPU_xTimerGetPeriod
- #define xTimerGetExpiryTime MPU_xTimerGetExpiryTime
- #define xTimerGenericCommand MPU_xTimerGenericCommand
-
- /* Map standard event_group.h API functions to the MPU equivalents. */
- #define xEventGroupCreate MPU_xEventGroupCreate
- #define xEventGroupCreateStatic MPU_xEventGroupCreateStatic
- #define xEventGroupWaitBits MPU_xEventGroupWaitBits
- #define xEventGroupClearBits MPU_xEventGroupClearBits
- #define xEventGroupSetBits MPU_xEventGroupSetBits
- #define xEventGroupSync MPU_xEventGroupSync
- #define vEventGroupDelete MPU_vEventGroupDelete
-
- /* Map standard message/stream_buffer.h API functions to the MPU
- equivalents. */
- #define xStreamBufferSend MPU_xStreamBufferSend
- #define xStreamBufferReceive MPU_xStreamBufferReceive
- #define xStreamBufferNextMessageLengthBytes MPU_xStreamBufferNextMessageLengthBytes
- #define vStreamBufferDelete MPU_vStreamBufferDelete
- #define xStreamBufferIsFull MPU_xStreamBufferIsFull
- #define xStreamBufferIsEmpty MPU_xStreamBufferIsEmpty
- #define xStreamBufferReset MPU_xStreamBufferReset
- #define xStreamBufferSpacesAvailable MPU_xStreamBufferSpacesAvailable
- #define xStreamBufferBytesAvailable MPU_xStreamBufferBytesAvailable
- #define xStreamBufferSetTriggerLevel MPU_xStreamBufferSetTriggerLevel
- #define xStreamBufferGenericCreate MPU_xStreamBufferGenericCreate
- #define xStreamBufferGenericCreateStatic MPU_xStreamBufferGenericCreateStatic
-
-
- /* Remove the privileged function macro, but keep the PRIVILEGED_DATA
- macro so applications can place data in privileged access sections
- (useful when using statically allocated objects). */
- #define PRIVILEGED_FUNCTION
- #define PRIVILEGED_DATA __attribute__((section("privileged_data")))
- #define FREERTOS_SYSTEM_CALL
-
- #else /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
-
- /* Ensure API functions go in the privileged execution section. */
- #define PRIVILEGED_FUNCTION __attribute__((section("privileged_functions")))
- #define PRIVILEGED_DATA __attribute__((section("privileged_data")))
- #define FREERTOS_SYSTEM_CALL __attribute__((section( "freertos_system_calls")))
-
- #endif /* MPU_WRAPPERS_INCLUDED_FROM_API_FILE */
-
-#else /* portUSING_MPU_WRAPPERS */
-
- #define PRIVILEGED_FUNCTION
- #define PRIVILEGED_DATA
- #define FREERTOS_SYSTEM_CALL
- #define portUSING_MPU_WRAPPERS 0
-
-#endif /* portUSING_MPU_WRAPPERS */
-
-
-#endif /* MPU_WRAPPERS_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/portable.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/portable.h
deleted file mode 100644
index a9cb726dc30902353845886ce5d878cd6b5520ad..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/portable.h
+++ /dev/null
@@ -1,199 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*-----------------------------------------------------------
- * Portable layer API. Each function must be defined for each port.
- *----------------------------------------------------------*/
-
-#ifndef PORTABLE_H
-#define PORTABLE_H
-
-/* Each FreeRTOS port has a unique portmacro.h header file. Originally a
-pre-processor definition was used to ensure the pre-processor found the correct
-portmacro.h file for the port being used. That scheme was deprecated in favour
-of setting the compiler's include path such that it found the correct
-portmacro.h file - removing the need for the constant and allowing the
-portmacro.h file to be located anywhere in relation to the port being used.
-Purely for reasons of backward compatibility the old method is still valid, but
-to make it clear that new projects should not use it, support for the port
-specific constants has been moved into the deprecated_definitions.h header
-file. */
-#include "deprecated_definitions.h"
-
-/* If portENTER_CRITICAL is not defined then including deprecated_definitions.h
-did not result in a portmacro.h header file being included - and it should be
-included here. In this case the path to the correct portmacro.h header file
-must be set in the compiler's include path. */
-#ifndef portENTER_CRITICAL
- #include "portmacro.h"
-#endif
-
-#if portBYTE_ALIGNMENT == 32
- #define portBYTE_ALIGNMENT_MASK ( 0x001f )
-#endif
-
-#if portBYTE_ALIGNMENT == 16
- #define portBYTE_ALIGNMENT_MASK ( 0x000f )
-#endif
-
-#if portBYTE_ALIGNMENT == 8
- #define portBYTE_ALIGNMENT_MASK ( 0x0007 )
-#endif
-
-#if portBYTE_ALIGNMENT == 4
- #define portBYTE_ALIGNMENT_MASK ( 0x0003 )
-#endif
-
-#if portBYTE_ALIGNMENT == 2
- #define portBYTE_ALIGNMENT_MASK ( 0x0001 )
-#endif
-
-#if portBYTE_ALIGNMENT == 1
- #define portBYTE_ALIGNMENT_MASK ( 0x0000 )
-#endif
-
-#ifndef portBYTE_ALIGNMENT_MASK
- #error "Invalid portBYTE_ALIGNMENT definition"
-#endif
-
-#ifndef portNUM_CONFIGURABLE_REGIONS
- #define portNUM_CONFIGURABLE_REGIONS 1
-#endif
-
-#ifndef portHAS_STACK_OVERFLOW_CHECKING
- #define portHAS_STACK_OVERFLOW_CHECKING 0
-#endif
-
-#ifndef portARCH_NAME
- #define portARCH_NAME NULL
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "mpu_wrappers.h"
-
-/*
- * Setup the stack of a new task so it is ready to be placed under the
- * scheduler control. The registers have to be placed on the stack in
- * the order that the port expects to find them.
- *
- */
-#if( portUSING_MPU_WRAPPERS == 1 )
- #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
- StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
- #else
- StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters, BaseType_t xRunPrivileged ) PRIVILEGED_FUNCTION;
- #endif
-#else
- #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
- StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, StackType_t *pxEndOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
- #else
- StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters ) PRIVILEGED_FUNCTION;
- #endif
-#endif
-
-/* Used by heap_5.c to define the start address and size of each memory region
-that together comprise the total FreeRTOS heap space. */
-typedef struct HeapRegion
-{
- uint8_t *pucStartAddress;
- size_t xSizeInBytes;
-} HeapRegion_t;
-
-/* Used to pass information about the heap out of vPortGetHeapStats(). */
-typedef struct xHeapStats
-{
- size_t xAvailableHeapSpaceInBytes; /* The total heap size currently available - this is the sum of all the free blocks, not the largest block that can be allocated. */
- size_t xSizeOfLargestFreeBlockInBytes; /* The maximum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
- size_t xSizeOfSmallestFreeBlockInBytes; /* The minimum size, in bytes, of all the free blocks within the heap at the time vPortGetHeapStats() is called. */
- size_t xNumberOfFreeBlocks; /* The number of free memory blocks within the heap at the time vPortGetHeapStats() is called. */
- size_t xMinimumEverFreeBytesRemaining; /* The minimum amount of total free memory (sum of all free blocks) there has been in the heap since the system booted. */
- size_t xNumberOfSuccessfulAllocations; /* The number of calls to pvPortMalloc() that have returned a valid memory block. */
- size_t xNumberOfSuccessfulFrees; /* The number of calls to vPortFree() that has successfully freed a block of memory. */
-} HeapStats_t;
-
-/*
- * Used to define multiple heap regions for use by heap_5.c. This function
- * must be called before any calls to pvPortMalloc() - not creating a task,
- * queue, semaphore, mutex, software timer, event group, etc. will result in
- * pvPortMalloc being called.
- *
- * pxHeapRegions passes in an array of HeapRegion_t structures - each of which
- * defines a region of memory that can be used as the heap. The array is
- * terminated by a HeapRegions_t structure that has a size of 0. The region
- * with the lowest start address must appear first in the array.
- */
-void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions ) PRIVILEGED_FUNCTION;
-
-/*
- * Returns a HeapStats_t structure filled with information about the current
- * heap state.
- */
-void vPortGetHeapStats( HeapStats_t *pxHeapStats );
-
-/*
- * Map to the memory management routines required for the port.
- */
-void *pvPortMalloc( size_t xSize ) PRIVILEGED_FUNCTION;
-void vPortFree( void *pv ) PRIVILEGED_FUNCTION;
-void vPortInitialiseBlocks( void ) PRIVILEGED_FUNCTION;
-size_t xPortGetFreeHeapSize( void ) PRIVILEGED_FUNCTION;
-size_t xPortGetMinimumEverFreeHeapSize( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Setup the hardware ready for the scheduler to take control. This generally
- * sets up a tick interrupt and sets timers for the correct tick frequency.
- */
-BaseType_t xPortStartScheduler( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Undo any hardware/ISR setup that was performed by xPortStartScheduler() so
- * the hardware is left in its original condition after the scheduler stops
- * executing.
- */
-void vPortEndScheduler( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The structures and methods of manipulating the MPU are contained within the
- * port layer.
- *
- * Fills the xMPUSettings structure with the memory region information
- * contained in xRegions.
- */
-#if( portUSING_MPU_WRAPPERS == 1 )
- struct xMEMORY_REGION;
- void vPortStoreTaskMPUSettings( xMPU_SETTINGS *xMPUSettings, const struct xMEMORY_REGION * const xRegions, StackType_t *pxBottomOfStack, uint32_t ulStackDepth ) PRIVILEGED_FUNCTION;
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* PORTABLE_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/projdefs.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/projdefs.h
deleted file mode 100644
index 19a6b8f3e6f4d04827a1fe9bbae543395ea42f9a..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/projdefs.h
+++ /dev/null
@@ -1,124 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef PROJDEFS_H
-#define PROJDEFS_H
-
-/*
- * Defines the prototype to which task functions must conform. Defined in this
- * file to ensure the type is known before portable.h is included.
- */
-typedef void (*TaskFunction_t)( void * );
-
-/* Converts a time in milliseconds to a time in ticks. This macro can be
-overridden by a macro of the same name defined in FreeRTOSConfig.h in case the
-definition here is not suitable for your application. */
-#ifndef pdMS_TO_TICKS
- #define pdMS_TO_TICKS( xTimeInMs ) ( ( TickType_t ) ( ( ( TickType_t ) ( xTimeInMs ) * ( TickType_t ) configTICK_RATE_HZ ) / ( TickType_t ) 1000 ) )
-#endif
-
-#define pdFALSE ( ( BaseType_t ) 0 )
-#define pdTRUE ( ( BaseType_t ) 1 )
-
-#define pdPASS ( pdTRUE )
-#define pdFAIL ( pdFALSE )
-#define errQUEUE_EMPTY ( ( BaseType_t ) 0 )
-#define errQUEUE_FULL ( ( BaseType_t ) 0 )
-
-/* FreeRTOS error definitions. */
-#define errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY ( -1 )
-#define errQUEUE_BLOCKED ( -4 )
-#define errQUEUE_YIELD ( -5 )
-
-/* Macros used for basic data corruption checks. */
-#ifndef configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES
- #define configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES 0
-#endif
-
-#if( configUSE_16_BIT_TICKS == 1 )
- #define pdINTEGRITY_CHECK_VALUE 0x5a5a
-#else
- #define pdINTEGRITY_CHECK_VALUE 0x5a5a5a5aUL
-#endif
-
-/* The following errno values are used by FreeRTOS+ components, not FreeRTOS
-itself. */
-#define pdFREERTOS_ERRNO_NONE 0 /* No errors */
-#define pdFREERTOS_ERRNO_ENOENT 2 /* No such file or directory */
-#define pdFREERTOS_ERRNO_EINTR 4 /* Interrupted system call */
-#define pdFREERTOS_ERRNO_EIO 5 /* I/O error */
-#define pdFREERTOS_ERRNO_ENXIO 6 /* No such device or address */
-#define pdFREERTOS_ERRNO_EBADF 9 /* Bad file number */
-#define pdFREERTOS_ERRNO_EAGAIN 11 /* No more processes */
-#define pdFREERTOS_ERRNO_EWOULDBLOCK 11 /* Operation would block */
-#define pdFREERTOS_ERRNO_ENOMEM 12 /* Not enough memory */
-#define pdFREERTOS_ERRNO_EACCES 13 /* Permission denied */
-#define pdFREERTOS_ERRNO_EFAULT 14 /* Bad address */
-#define pdFREERTOS_ERRNO_EBUSY 16 /* Mount device busy */
-#define pdFREERTOS_ERRNO_EEXIST 17 /* File exists */
-#define pdFREERTOS_ERRNO_EXDEV 18 /* Cross-device link */
-#define pdFREERTOS_ERRNO_ENODEV 19 /* No such device */
-#define pdFREERTOS_ERRNO_ENOTDIR 20 /* Not a directory */
-#define pdFREERTOS_ERRNO_EISDIR 21 /* Is a directory */
-#define pdFREERTOS_ERRNO_EINVAL 22 /* Invalid argument */
-#define pdFREERTOS_ERRNO_ENOSPC 28 /* No space left on device */
-#define pdFREERTOS_ERRNO_ESPIPE 29 /* Illegal seek */
-#define pdFREERTOS_ERRNO_EROFS 30 /* Read only file system */
-#define pdFREERTOS_ERRNO_EUNATCH 42 /* Protocol driver not attached */
-#define pdFREERTOS_ERRNO_EBADE 50 /* Invalid exchange */
-#define pdFREERTOS_ERRNO_EFTYPE 79 /* Inappropriate file type or format */
-#define pdFREERTOS_ERRNO_ENMFILE 89 /* No more files */
-#define pdFREERTOS_ERRNO_ENOTEMPTY 90 /* Directory not empty */
-#define pdFREERTOS_ERRNO_ENAMETOOLONG 91 /* File or path name too long */
-#define pdFREERTOS_ERRNO_EOPNOTSUPP 95 /* Operation not supported on transport endpoint */
-#define pdFREERTOS_ERRNO_ENOBUFS 105 /* No buffer space available */
-#define pdFREERTOS_ERRNO_ENOPROTOOPT 109 /* Protocol not available */
-#define pdFREERTOS_ERRNO_EADDRINUSE 112 /* Address already in use */
-#define pdFREERTOS_ERRNO_ETIMEDOUT 116 /* Connection timed out */
-#define pdFREERTOS_ERRNO_EINPROGRESS 119 /* Connection already in progress */
-#define pdFREERTOS_ERRNO_EALREADY 120 /* Socket already connected */
-#define pdFREERTOS_ERRNO_EADDRNOTAVAIL 125 /* Address not available */
-#define pdFREERTOS_ERRNO_EISCONN 127 /* Socket is already connected */
-#define pdFREERTOS_ERRNO_ENOTCONN 128 /* Socket is not connected */
-#define pdFREERTOS_ERRNO_ENOMEDIUM 135 /* No medium inserted */
-#define pdFREERTOS_ERRNO_EILSEQ 138 /* An invalid UTF-16 sequence was encountered. */
-#define pdFREERTOS_ERRNO_ECANCELED 140 /* Operation canceled. */
-
-/* The following endian values are used by FreeRTOS+ components, not FreeRTOS
-itself. */
-#define pdFREERTOS_LITTLE_ENDIAN 0
-#define pdFREERTOS_BIG_ENDIAN 1
-
-/* Re-defining endian values for generic naming. */
-#define pdLITTLE_ENDIAN pdFREERTOS_LITTLE_ENDIAN
-#define pdBIG_ENDIAN pdFREERTOS_BIG_ENDIAN
-
-
-#endif /* PROJDEFS_H */
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/queue.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/queue.h
deleted file mode 100644
index a0439c5204014a5e74e3e109e01a74bc7e13d7b0..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/queue.h
+++ /dev/null
@@ -1,1655 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-#ifndef QUEUE_H
-#define QUEUE_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h" must appear in source files before "include queue.h"
-#endif
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-#include "task.h"
-
-/**
- * Type by which queues are referenced. For example, a call to xQueueCreate()
- * returns an QueueHandle_t variable that can then be used as a parameter to
- * xQueueSend(), xQueueReceive(), etc.
- */
-struct QueueDefinition; /* Using old naming convention so as not to break kernel aware debuggers. */
-typedef struct QueueDefinition * QueueHandle_t;
-
-/**
- * Type by which queue sets are referenced. For example, a call to
- * xQueueCreateSet() returns an xQueueSet variable that can then be used as a
- * parameter to xQueueSelectFromSet(), xQueueAddToSet(), etc.
- */
-typedef struct QueueDefinition * QueueSetHandle_t;
-
-/**
- * Queue sets can contain both queues and semaphores, so the
- * QueueSetMemberHandle_t is defined as a type to be used where a parameter or
- * return value can be either an QueueHandle_t or an SemaphoreHandle_t.
- */
-typedef struct QueueDefinition * QueueSetMemberHandle_t;
-
-/* For internal use only. */
-#define queueSEND_TO_BACK ( ( BaseType_t ) 0 )
-#define queueSEND_TO_FRONT ( ( BaseType_t ) 1 )
-#define queueOVERWRITE ( ( BaseType_t ) 2 )
-
-/* For internal use only. These definitions *must* match those in queue.c. */
-#define queueQUEUE_TYPE_BASE ( ( uint8_t ) 0U )
-#define queueQUEUE_TYPE_SET ( ( uint8_t ) 0U )
-#define queueQUEUE_TYPE_MUTEX ( ( uint8_t ) 1U )
-#define queueQUEUE_TYPE_COUNTING_SEMAPHORE ( ( uint8_t ) 2U )
-#define queueQUEUE_TYPE_BINARY_SEMAPHORE ( ( uint8_t ) 3U )
-#define queueQUEUE_TYPE_RECURSIVE_MUTEX ( ( uint8_t ) 4U )
-
-/**
- * queue. h
- * <pre>
- QueueHandle_t xQueueCreate(
- UBaseType_t uxQueueLength,
- UBaseType_t uxItemSize
- );
- * </pre>
- *
- * Creates a new queue instance, and returns a handle by which the new queue
- * can be referenced.
- *
- * Internally, within the FreeRTOS implementation, queues use two blocks of
- * memory. The first block is used to hold the queue's data structures. The
- * second block is used to hold items placed into the queue. If a queue is
- * created using xQueueCreate() then both blocks of memory are automatically
- * dynamically allocated inside the xQueueCreate() function. (see
- * http://www.freertos.org/a00111.html). If a queue is created using
- * xQueueCreateStatic() then the application writer must provide the memory that
- * will get used by the queue. xQueueCreateStatic() therefore allows a queue to
- * be created without using any dynamic memory allocation.
- *
- * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html
- *
- * @param uxQueueLength The maximum number of items that the queue can contain.
- *
- * @param uxItemSize The number of bytes each item in the queue will require.
- * Items are queued by copy, not by reference, so this is the number of bytes
- * that will be copied for each posted item. Each item on the queue must be
- * the same size.
- *
- * @return If the queue is successfully create then a handle to the newly
- * created queue is returned. If the queue cannot be created then 0 is
- * returned.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- };
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
-
- // Create a queue capable of containing 10 uint32_t values.
- xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
- if( xQueue1 == 0 )
- {
- // Queue was not created and must not be used.
- }
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
- if( xQueue2 == 0 )
- {
- // Queue was not created and must not be used.
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueCreate xQueueCreate
- * \ingroup QueueManagement
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- #define xQueueCreate( uxQueueLength, uxItemSize ) xQueueGenericCreate( ( uxQueueLength ), ( uxItemSize ), ( queueQUEUE_TYPE_BASE ) )
-#endif
-
-/**
- * queue. h
- * <pre>
- QueueHandle_t xQueueCreateStatic(
- UBaseType_t uxQueueLength,
- UBaseType_t uxItemSize,
- uint8_t *pucQueueStorageBuffer,
- StaticQueue_t *pxQueueBuffer
- );
- * </pre>
- *
- * Creates a new queue instance, and returns a handle by which the new queue
- * can be referenced.
- *
- * Internally, within the FreeRTOS implementation, queues use two blocks of
- * memory. The first block is used to hold the queue's data structures. The
- * second block is used to hold items placed into the queue. If a queue is
- * created using xQueueCreate() then both blocks of memory are automatically
- * dynamically allocated inside the xQueueCreate() function. (see
- * http://www.freertos.org/a00111.html). If a queue is created using
- * xQueueCreateStatic() then the application writer must provide the memory that
- * will get used by the queue. xQueueCreateStatic() therefore allows a queue to
- * be created without using any dynamic memory allocation.
- *
- * http://www.FreeRTOS.org/Embedded-RTOS-Queues.html
- *
- * @param uxQueueLength The maximum number of items that the queue can contain.
- *
- * @param uxItemSize The number of bytes each item in the queue will require.
- * Items are queued by copy, not by reference, so this is the number of bytes
- * that will be copied for each posted item. Each item on the queue must be
- * the same size.
- *
- * @param pucQueueStorageBuffer If uxItemSize is not zero then
- * pucQueueStorageBuffer must point to a uint8_t array that is at least large
- * enough to hold the maximum number of items that can be in the queue at any
- * one time - which is ( uxQueueLength * uxItemsSize ) bytes. If uxItemSize is
- * zero then pucQueueStorageBuffer can be NULL.
- *
- * @param pxQueueBuffer Must point to a variable of type StaticQueue_t, which
- * will be used to hold the queue's data structure.
- *
- * @return If the queue is created then a handle to the created queue is
- * returned. If pxQueueBuffer is NULL then NULL is returned.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- };
-
- #define QUEUE_LENGTH 10
- #define ITEM_SIZE sizeof( uint32_t )
-
- // xQueueBuffer will hold the queue structure.
- StaticQueue_t xQueueBuffer;
-
- // ucQueueStorage will hold the items posted to the queue. Must be at least
- // [(queue length) * ( queue item size)] bytes long.
- uint8_t ucQueueStorage[ QUEUE_LENGTH * ITEM_SIZE ];
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1;
-
- // Create a queue capable of containing 10 uint32_t values.
- xQueue1 = xQueueCreate( QUEUE_LENGTH, // The number of items the queue can hold.
- ITEM_SIZE // The size of each item in the queue
- &( ucQueueStorage[ 0 ] ), // The buffer that will hold the items in the queue.
- &xQueueBuffer ); // The buffer that will hold the queue structure.
-
- // The queue is guaranteed to be created successfully as no dynamic memory
- // allocation is used. Therefore xQueue1 is now a handle to a valid queue.
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueCreateStatic xQueueCreateStatic
- * \ingroup QueueManagement
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- #define xQueueCreateStatic( uxQueueLength, uxItemSize, pucQueueStorage, pxQueueBuffer ) xQueueGenericCreateStatic( ( uxQueueLength ), ( uxItemSize ), ( pucQueueStorage ), ( pxQueueBuffer ), ( queueQUEUE_TYPE_BASE ) )
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueSendToToFront(
- QueueHandle_t xQueue,
- const void *pvItemToQueue,
- TickType_t xTicksToWait
- );
- * </pre>
- *
- * Post an item to the front of a queue. The item is queued by copy, not by
- * reference. This function must not be called from an interrupt service
- * routine. See xQueueSendFromISR () for an alternative which may be used
- * in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full. The call will return immediately if this is set to 0 and the
- * queue is full. The time is defined in tick periods so the constant
- * portTICK_PERIOD_MS should be used to convert to real time if this is required.
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
- // Create a queue capable of containing 10 uint32_t values.
- xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
- // ...
-
- if( xQueue1 != 0 )
- {
- // Send an uint32_t. Wait for 10 ticks for space to become
- // available if necessary.
- if( xQueueSendToFront( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
- {
- // Failed to post the message, even after 10 ticks.
- }
- }
-
- if( xQueue2 != 0 )
- {
- // Send a pointer to a struct AMessage object. Don't block if the
- // queue is already full.
- pxMessage = & xMessage;
- xQueueSendToFront( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-#define xQueueSendToFront( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_FRONT )
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueSendToBack(
- QueueHandle_t xQueue,
- const void *pvItemToQueue,
- TickType_t xTicksToWait
- );
- * </pre>
- *
- * This is a macro that calls xQueueGenericSend().
- *
- * Post an item to the back of a queue. The item is queued by copy, not by
- * reference. This function must not be called from an interrupt service
- * routine. See xQueueSendFromISR () for an alternative which may be used
- * in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full. The call will return immediately if this is set to 0 and the queue
- * is full. The time is defined in tick periods so the constant
- * portTICK_PERIOD_MS should be used to convert to real time if this is required.
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
- // Create a queue capable of containing 10 uint32_t values.
- xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
- // ...
-
- if( xQueue1 != 0 )
- {
- // Send an uint32_t. Wait for 10 ticks for space to become
- // available if necessary.
- if( xQueueSendToBack( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
- {
- // Failed to post the message, even after 10 ticks.
- }
- }
-
- if( xQueue2 != 0 )
- {
- // Send a pointer to a struct AMessage object. Don't block if the
- // queue is already full.
- pxMessage = & xMessage;
- xQueueSendToBack( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-#define xQueueSendToBack( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueSend(
- QueueHandle_t xQueue,
- const void * pvItemToQueue,
- TickType_t xTicksToWait
- );
- * </pre>
- *
- * This is a macro that calls xQueueGenericSend(). It is included for
- * backward compatibility with versions of FreeRTOS.org that did not
- * include the xQueueSendToFront() and xQueueSendToBack() macros. It is
- * equivalent to xQueueSendToBack().
- *
- * Post an item on a queue. The item is queued by copy, not by reference.
- * This function must not be called from an interrupt service routine.
- * See xQueueSendFromISR () for an alternative which may be used in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full. The call will return immediately if this is set to 0 and the
- * queue is full. The time is defined in tick periods so the constant
- * portTICK_PERIOD_MS should be used to convert to real time if this is required.
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
- // Create a queue capable of containing 10 uint32_t values.
- xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
- // ...
-
- if( xQueue1 != 0 )
- {
- // Send an uint32_t. Wait for 10 ticks for space to become
- // available if necessary.
- if( xQueueSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10 ) != pdPASS )
- {
- // Failed to post the message, even after 10 ticks.
- }
- }
-
- if( xQueue2 != 0 )
- {
- // Send a pointer to a struct AMessage object. Don't block if the
- // queue is already full.
- pxMessage = & xMessage;
- xQueueSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0 );
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-#define xQueueSend( xQueue, pvItemToQueue, xTicksToWait ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), ( xTicksToWait ), queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueOverwrite(
- QueueHandle_t xQueue,
- const void * pvItemToQueue
- );
- * </pre>
- *
- * Only for use with queues that have a length of one - so the queue is either
- * empty or full.
- *
- * Post an item on a queue. If the queue is already full then overwrite the
- * value held in the queue. The item is queued by copy, not by reference.
- *
- * This function must not be called from an interrupt service routine.
- * See xQueueOverwriteFromISR () for an alternative which may be used in an ISR.
- *
- * @param xQueue The handle of the queue to which the data is being sent.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @return xQueueOverwrite() is a macro that calls xQueueGenericSend(), and
- * therefore has the same return values as xQueueSendToFront(). However, pdPASS
- * is the only value that can be returned because xQueueOverwrite() will write
- * to the queue even when the queue is already full.
- *
- * Example usage:
- <pre>
-
- void vFunction( void *pvParameters )
- {
- QueueHandle_t xQueue;
- uint32_t ulVarToSend, ulValReceived;
-
- // Create a queue to hold one uint32_t value. It is strongly
- // recommended *not* to use xQueueOverwrite() on queues that can
- // contain more than one value, and doing so will trigger an assertion
- // if configASSERT() is defined.
- xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
-
- // Write the value 10 to the queue using xQueueOverwrite().
- ulVarToSend = 10;
- xQueueOverwrite( xQueue, &ulVarToSend );
-
- // Peeking the queue should now return 10, but leave the value 10 in
- // the queue. A block time of zero is used as it is known that the
- // queue holds a value.
- ulValReceived = 0;
- xQueuePeek( xQueue, &ulValReceived, 0 );
-
- if( ulValReceived != 10 )
- {
- // Error unless the item was removed by a different task.
- }
-
- // The queue is still full. Use xQueueOverwrite() to overwrite the
- // value held in the queue with 100.
- ulVarToSend = 100;
- xQueueOverwrite( xQueue, &ulVarToSend );
-
- // This time read from the queue, leaving the queue empty once more.
- // A block time of 0 is used again.
- xQueueReceive( xQueue, &ulValReceived, 0 );
-
- // The value read should be the last value written, even though the
- // queue was already full when the value was written.
- if( ulValReceived != 100 )
- {
- // Error!
- }
-
- // ...
-}
- </pre>
- * \defgroup xQueueOverwrite xQueueOverwrite
- * \ingroup QueueManagement
- */
-#define xQueueOverwrite( xQueue, pvItemToQueue ) xQueueGenericSend( ( xQueue ), ( pvItemToQueue ), 0, queueOVERWRITE )
-
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueGenericSend(
- QueueHandle_t xQueue,
- const void * pvItemToQueue,
- TickType_t xTicksToWait
- BaseType_t xCopyPosition
- );
- * </pre>
- *
- * It is preferred that the macros xQueueSend(), xQueueSendToFront() and
- * xQueueSendToBack() are used in place of calling this function directly.
- *
- * Post an item on a queue. The item is queued by copy, not by reference.
- * This function must not be called from an interrupt service routine.
- * See xQueueSendFromISR () for an alternative which may be used in an ISR.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for space to become available on the queue, should it already
- * be full. The call will return immediately if this is set to 0 and the
- * queue is full. The time is defined in tick periods so the constant
- * portTICK_PERIOD_MS should be used to convert to real time if this is required.
- *
- * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
- * item at the back of the queue, or queueSEND_TO_FRONT to place the item
- * at the front of the queue (for high priority messages).
- *
- * @return pdTRUE if the item was successfully posted, otherwise errQUEUE_FULL.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- } xMessage;
-
- uint32_t ulVar = 10UL;
-
- void vATask( void *pvParameters )
- {
- QueueHandle_t xQueue1, xQueue2;
- struct AMessage *pxMessage;
-
- // Create a queue capable of containing 10 uint32_t values.
- xQueue1 = xQueueCreate( 10, sizeof( uint32_t ) );
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue2 = xQueueCreate( 10, sizeof( struct AMessage * ) );
-
- // ...
-
- if( xQueue1 != 0 )
- {
- // Send an uint32_t. Wait for 10 ticks for space to become
- // available if necessary.
- if( xQueueGenericSend( xQueue1, ( void * ) &ulVar, ( TickType_t ) 10, queueSEND_TO_BACK ) != pdPASS )
- {
- // Failed to post the message, even after 10 ticks.
- }
- }
-
- if( xQueue2 != 0 )
- {
- // Send a pointer to a struct AMessage object. Don't block if the
- // queue is already full.
- pxMessage = & xMessage;
- xQueueGenericSend( xQueue2, ( void * ) &pxMessage, ( TickType_t ) 0, queueSEND_TO_BACK );
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueSend xQueueSend
- * \ingroup QueueManagement
- */
-BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueuePeek(
- QueueHandle_t xQueue,
- void * const pvBuffer,
- TickType_t xTicksToWait
- );</pre>
- *
- * Receive an item from a queue without removing the item from the queue.
- * The item is received by copy so a buffer of adequate size must be
- * provided. The number of bytes copied into the buffer was defined when
- * the queue was created.
- *
- * Successfully received items remain on the queue so will be returned again
- * by the next call, or a call to xQueueReceive().
- *
- * This macro must not be used in an interrupt service routine. See
- * xQueuePeekFromISR() for an alternative that can be called from an interrupt
- * service routine.
- *
- * @param xQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for an item to receive should the queue be empty at the time
- * of the call. The time is defined in tick periods so the constant
- * portTICK_PERIOD_MS should be used to convert to real time if this is required.
- * xQueuePeek() will return immediately if xTicksToWait is 0 and the queue
- * is empty.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- } xMessage;
-
- QueueHandle_t xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
- if( xQueue == 0 )
- {
- // Failed to create the queue.
- }
-
- // ...
-
- // Send a pointer to a struct AMessage object. Don't block if the
- // queue is already full.
- pxMessage = & xMessage;
- xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
-
- // ... Rest of task code.
- }
-
- // Task to peek the data from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
- if( xQueue != 0 )
- {
- // Peek a message on the created queue. Block for 10 ticks if a
- // message is not immediately available.
- if( xQueuePeek( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
- {
- // pcRxedMessage now points to the struct AMessage variable posted
- // by vATask, but the item still remains on the queue.
- }
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueuePeek xQueuePeek
- * \ingroup QueueManagement
- */
-BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueuePeekFromISR(
- QueueHandle_t xQueue,
- void *pvBuffer,
- );</pre>
- *
- * A version of xQueuePeek() that can be called from an interrupt service
- * routine (ISR).
- *
- * Receive an item from a queue without removing the item from the queue.
- * The item is received by copy so a buffer of adequate size must be
- * provided. The number of bytes copied into the buffer was defined when
- * the queue was created.
- *
- * Successfully received items remain on the queue so will be returned again
- * by the next call, or a call to xQueueReceive().
- *
- * @param xQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * \defgroup xQueuePeekFromISR xQueuePeekFromISR
- * \ingroup QueueManagement
- */
-BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueReceive(
- QueueHandle_t xQueue,
- void *pvBuffer,
- TickType_t xTicksToWait
- );</pre>
- *
- * Receive an item from a queue. The item is received by copy so a buffer of
- * adequate size must be provided. The number of bytes copied into the buffer
- * was defined when the queue was created.
- *
- * Successfully received items are removed from the queue.
- *
- * This function must not be used in an interrupt service routine. See
- * xQueueReceiveFromISR for an alternative that can.
- *
- * @param xQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param xTicksToWait The maximum amount of time the task should block
- * waiting for an item to receive should the queue be empty at the time
- * of the call. xQueueReceive() will return immediately if xTicksToWait
- * is zero and the queue is empty. The time is defined in tick periods so the
- * constant portTICK_PERIOD_MS should be used to convert to real time if this is
- * required.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
- <pre>
- struct AMessage
- {
- char ucMessageID;
- char ucData[ 20 ];
- } xMessage;
-
- QueueHandle_t xQueue;
-
- // Task to create a queue and post a value.
- void vATask( void *pvParameters )
- {
- struct AMessage *pxMessage;
-
- // Create a queue capable of containing 10 pointers to AMessage structures.
- // These should be passed by pointer as they contain a lot of data.
- xQueue = xQueueCreate( 10, sizeof( struct AMessage * ) );
- if( xQueue == 0 )
- {
- // Failed to create the queue.
- }
-
- // ...
-
- // Send a pointer to a struct AMessage object. Don't block if the
- // queue is already full.
- pxMessage = & xMessage;
- xQueueSend( xQueue, ( void * ) &pxMessage, ( TickType_t ) 0 );
-
- // ... Rest of task code.
- }
-
- // Task to receive from the queue.
- void vADifferentTask( void *pvParameters )
- {
- struct AMessage *pxRxedMessage;
-
- if( xQueue != 0 )
- {
- // Receive a message on the created queue. Block for 10 ticks if a
- // message is not immediately available.
- if( xQueueReceive( xQueue, &( pxRxedMessage ), ( TickType_t ) 10 ) )
- {
- // pcRxedMessage now points to the struct AMessage variable posted
- // by vATask.
- }
- }
-
- // ... Rest of task code.
- }
- </pre>
- * \defgroup xQueueReceive xQueueReceive
- * \ingroup QueueManagement
- */
-BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue );</pre>
- *
- * Return the number of messages stored in a queue.
- *
- * @param xQueue A handle to the queue being queried.
- *
- * @return The number of messages available in the queue.
- *
- * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
- * \ingroup QueueManagement
- */
-UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue );</pre>
- *
- * Return the number of free spaces available in a queue. This is equal to the
- * number of items that can be sent to the queue before the queue becomes full
- * if no items are removed.
- *
- * @param xQueue A handle to the queue being queried.
- *
- * @return The number of spaces available in the queue.
- *
- * \defgroup uxQueueMessagesWaiting uxQueueMessagesWaiting
- * \ingroup QueueManagement
- */
-UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>void vQueueDelete( QueueHandle_t xQueue );</pre>
- *
- * Delete a queue - freeing all the memory allocated for storing of items
- * placed on the queue.
- *
- * @param xQueue A handle to the queue to be deleted.
- *
- * \defgroup vQueueDelete vQueueDelete
- * \ingroup QueueManagement
- */
-void vQueueDelete( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueSendToFrontFromISR(
- QueueHandle_t xQueue,
- const void *pvItemToQueue,
- BaseType_t *pxHigherPriorityTaskWoken
- );
- </pre>
- *
- * This is a macro that calls xQueueGenericSendFromISR().
- *
- * Post an item to the front of a queue. It is safe to use this macro from
- * within an interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR. In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueSendToFrontFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xQueueSendToFromFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
- <pre>
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPrioritTaskWoken;
-
- // We have not woken a task at the start of the ISR.
- xHigherPriorityTaskWoken = pdFALSE;
-
- // Loop until the buffer is empty.
- do
- {
- // Obtain a byte from the buffer.
- cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
- // Post the byte.
- xQueueSendToFrontFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
- } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
- // Now the buffer is empty we can switch context if necessary.
- if( xHigherPriorityTaskWoken )
- {
- taskYIELD ();
- }
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-#define xQueueSendToFrontFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_FRONT )
-
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueSendToBackFromISR(
- QueueHandle_t xQueue,
- const void *pvItemToQueue,
- BaseType_t *pxHigherPriorityTaskWoken
- );
- </pre>
- *
- * This is a macro that calls xQueueGenericSendFromISR().
- *
- * Post an item to the back of a queue. It is safe to use this macro from
- * within an interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR. In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueSendToBackFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xQueueSendToBackFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
- <pre>
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPriorityTaskWoken;
-
- // We have not woken a task at the start of the ISR.
- xHigherPriorityTaskWoken = pdFALSE;
-
- // Loop until the buffer is empty.
- do
- {
- // Obtain a byte from the buffer.
- cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
- // Post the byte.
- xQueueSendToBackFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
- } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
- // Now the buffer is empty we can switch context if necessary.
- if( xHigherPriorityTaskWoken )
- {
- taskYIELD ();
- }
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-#define xQueueSendToBackFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueOverwriteFromISR(
- QueueHandle_t xQueue,
- const void * pvItemToQueue,
- BaseType_t *pxHigherPriorityTaskWoken
- );
- * </pre>
- *
- * A version of xQueueOverwrite() that can be used in an interrupt service
- * routine (ISR).
- *
- * Only for use with queues that can hold a single item - so the queue is either
- * empty or full.
- *
- * Post an item on a queue. If the queue is already full then overwrite the
- * value held in the queue. The item is queued by copy, not by reference.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueOverwriteFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xQueueOverwriteFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return xQueueOverwriteFromISR() is a macro that calls
- * xQueueGenericSendFromISR(), and therefore has the same return values as
- * xQueueSendToFrontFromISR(). However, pdPASS is the only value that can be
- * returned because xQueueOverwriteFromISR() will write to the queue even when
- * the queue is already full.
- *
- * Example usage:
- <pre>
-
- QueueHandle_t xQueue;
-
- void vFunction( void *pvParameters )
- {
- // Create a queue to hold one uint32_t value. It is strongly
- // recommended *not* to use xQueueOverwriteFromISR() on queues that can
- // contain more than one value, and doing so will trigger an assertion
- // if configASSERT() is defined.
- xQueue = xQueueCreate( 1, sizeof( uint32_t ) );
-}
-
-void vAnInterruptHandler( void )
-{
-// xHigherPriorityTaskWoken must be set to pdFALSE before it is used.
-BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-uint32_t ulVarToSend, ulValReceived;
-
- // Write the value 10 to the queue using xQueueOverwriteFromISR().
- ulVarToSend = 10;
- xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
-
- // The queue is full, but calling xQueueOverwriteFromISR() again will still
- // pass because the value held in the queue will be overwritten with the
- // new value.
- ulVarToSend = 100;
- xQueueOverwriteFromISR( xQueue, &ulVarToSend, &xHigherPriorityTaskWoken );
-
- // Reading from the queue will now return 100.
-
- // ...
-
- if( xHigherPrioritytaskWoken == pdTRUE )
- {
- // Writing to the queue caused a task to unblock and the unblocked task
- // has a priority higher than or equal to the priority of the currently
- // executing task (the task this interrupt interrupted). Perform a context
- // switch so this interrupt returns directly to the unblocked task.
- portYIELD_FROM_ISR(); // or portEND_SWITCHING_ISR() depending on the port.
- }
-}
- </pre>
- * \defgroup xQueueOverwriteFromISR xQueueOverwriteFromISR
- * \ingroup QueueManagement
- */
-#define xQueueOverwriteFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueOVERWRITE )
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueSendFromISR(
- QueueHandle_t xQueue,
- const void *pvItemToQueue,
- BaseType_t *pxHigherPriorityTaskWoken
- );
- </pre>
- *
- * This is a macro that calls xQueueGenericSendFromISR(). It is included
- * for backward compatibility with versions of FreeRTOS.org that did not
- * include the xQueueSendToBackFromISR() and xQueueSendToFrontFromISR()
- * macros.
- *
- * Post an item to the back of a queue. It is safe to use this function from
- * within an interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR. In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueSendFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xQueueSendFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
- <pre>
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPriorityTaskWoken;
-
- // We have not woken a task at the start of the ISR.
- xHigherPriorityTaskWoken = pdFALSE;
-
- // Loop until the buffer is empty.
- do
- {
- // Obtain a byte from the buffer.
- cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
- // Post the byte.
- xQueueSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWoken );
-
- } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
- // Now the buffer is empty we can switch context if necessary.
- if( xHigherPriorityTaskWoken )
- {
- // Actual macro used here is port specific.
- portYIELD_FROM_ISR ();
- }
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-#define xQueueSendFromISR( xQueue, pvItemToQueue, pxHigherPriorityTaskWoken ) xQueueGenericSendFromISR( ( xQueue ), ( pvItemToQueue ), ( pxHigherPriorityTaskWoken ), queueSEND_TO_BACK )
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueGenericSendFromISR(
- QueueHandle_t xQueue,
- const void *pvItemToQueue,
- BaseType_t *pxHigherPriorityTaskWoken,
- BaseType_t xCopyPosition
- );
- </pre>
- *
- * It is preferred that the macros xQueueSendFromISR(),
- * xQueueSendToFrontFromISR() and xQueueSendToBackFromISR() be used in place
- * of calling this function directly. xQueueGiveFromISR() is an
- * equivalent for use by semaphores that don't actually copy any data.
- *
- * Post an item on a queue. It is safe to use this function from within an
- * interrupt service routine.
- *
- * Items are queued by copy not reference so it is preferable to only
- * queue small items, especially when called from an ISR. In most cases
- * it would be preferable to store a pointer to the item being queued.
- *
- * @param xQueue The handle to the queue on which the item is to be posted.
- *
- * @param pvItemToQueue A pointer to the item that is to be placed on the
- * queue. The size of the items the queue will hold was defined when the
- * queue was created, so this many bytes will be copied from pvItemToQueue
- * into the queue storage area.
- *
- * @param pxHigherPriorityTaskWoken xQueueGenericSendFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending to the queue caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xQueueGenericSendFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @param xCopyPosition Can take the value queueSEND_TO_BACK to place the
- * item at the back of the queue, or queueSEND_TO_FRONT to place the item
- * at the front of the queue (for high priority messages).
- *
- * @return pdTRUE if the data was successfully sent to the queue, otherwise
- * errQUEUE_FULL.
- *
- * Example usage for buffered IO (where the ISR can obtain more than one value
- * per call):
- <pre>
- void vBufferISR( void )
- {
- char cIn;
- BaseType_t xHigherPriorityTaskWokenByPost;
-
- // We have not woken a task at the start of the ISR.
- xHigherPriorityTaskWokenByPost = pdFALSE;
-
- // Loop until the buffer is empty.
- do
- {
- // Obtain a byte from the buffer.
- cIn = portINPUT_BYTE( RX_REGISTER_ADDRESS );
-
- // Post each byte.
- xQueueGenericSendFromISR( xRxQueue, &cIn, &xHigherPriorityTaskWokenByPost, queueSEND_TO_BACK );
-
- } while( portINPUT_BYTE( BUFFER_COUNT ) );
-
- // Now the buffer is empty we can switch context if necessary. Note that the
- // name of the yield function required is port specific.
- if( xHigherPriorityTaskWokenByPost )
- {
- portYIELD_FROM_ISR();
- }
- }
- </pre>
- *
- * \defgroup xQueueSendFromISR xQueueSendFromISR
- * \ingroup QueueManagement
- */
-BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/**
- * queue. h
- * <pre>
- BaseType_t xQueueReceiveFromISR(
- QueueHandle_t xQueue,
- void *pvBuffer,
- BaseType_t *pxTaskWoken
- );
- * </pre>
- *
- * Receive an item from a queue. It is safe to use this function from within an
- * interrupt service routine.
- *
- * @param xQueue The handle to the queue from which the item is to be
- * received.
- *
- * @param pvBuffer Pointer to the buffer into which the received item will
- * be copied.
- *
- * @param pxTaskWoken A task may be blocked waiting for space to become
- * available on the queue. If xQueueReceiveFromISR causes such a task to
- * unblock *pxTaskWoken will get set to pdTRUE, otherwise *pxTaskWoken will
- * remain unchanged.
- *
- * @return pdTRUE if an item was successfully received from the queue,
- * otherwise pdFALSE.
- *
- * Example usage:
- <pre>
-
- QueueHandle_t xQueue;
-
- // Function to create a queue and post some values.
- void vAFunction( void *pvParameters )
- {
- char cValueToPost;
- const TickType_t xTicksToWait = ( TickType_t )0xff;
-
- // Create a queue capable of containing 10 characters.
- xQueue = xQueueCreate( 10, sizeof( char ) );
- if( xQueue == 0 )
- {
- // Failed to create the queue.
- }
-
- // ...
-
- // Post some characters that will be used within an ISR. If the queue
- // is full then this task will block for xTicksToWait ticks.
- cValueToPost = 'a';
- xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
- cValueToPost = 'b';
- xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
-
- // ... keep posting characters ... this task may block when the queue
- // becomes full.
-
- cValueToPost = 'c';
- xQueueSend( xQueue, ( void * ) &cValueToPost, xTicksToWait );
- }
-
- // ISR that outputs all the characters received on the queue.
- void vISR_Routine( void )
- {
- BaseType_t xTaskWokenByReceive = pdFALSE;
- char cRxedChar;
-
- while( xQueueReceiveFromISR( xQueue, ( void * ) &cRxedChar, &xTaskWokenByReceive) )
- {
- // A character was received. Output the character now.
- vOutputCharacter( cRxedChar );
-
- // If removing the character from the queue woke the task that was
- // posting onto the queue cTaskWokenByReceive will have been set to
- // pdTRUE. No matter how many times this loop iterates only one
- // task will be woken.
- }
-
- if( cTaskWokenByPost != ( char ) pdFALSE;
- {
- taskYIELD ();
- }
- }
- </pre>
- * \defgroup xQueueReceiveFromISR xQueueReceiveFromISR
- * \ingroup QueueManagement
- */
-BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/*
- * Utilities to query queues that are safe to use from an ISR. These utilities
- * should be used only from witin an ISR, or within a critical section.
- */
-BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * The functions defined above are for passing data to and from tasks. The
- * functions below are the equivalents for passing data to and from
- * co-routines.
- *
- * These functions are called from the co-routine macro implementation and
- * should not be called directly from application code. Instead use the macro
- * wrappers defined within croutine.h.
- */
-BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken );
-BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxTaskWoken );
-BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait );
-BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait );
-
-/*
- * For internal use only. Use xSemaphoreCreateMutex(),
- * xSemaphoreCreateCounting() or xSemaphoreGetMutexHolder() instead of calling
- * these functions directly.
- */
-QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount ) PRIVILEGED_FUNCTION;
-QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
-TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore ) PRIVILEGED_FUNCTION;
-
-/*
- * For internal use only. Use xSemaphoreTakeMutexRecursive() or
- * xSemaphoreGiveMutexRecursive() instead of calling these functions directly.
- */
-BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex ) PRIVILEGED_FUNCTION;
-
-/*
- * Reset a queue back to its original empty state. The return value is now
- * obsolete and is always set to pdPASS.
- */
-#define xQueueReset( xQueue ) xQueueGenericReset( xQueue, pdFALSE )
-
-/*
- * The registry is provided as a means for kernel aware debuggers to
- * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add
- * a queue, semaphore or mutex handle to the registry if you want the handle
- * to be available to a kernel aware debugger. If you are not using a kernel
- * aware debugger then this function can be ignored.
- *
- * configQUEUE_REGISTRY_SIZE defines the maximum number of handles the
- * registry can hold. configQUEUE_REGISTRY_SIZE must be greater than 0
- * within FreeRTOSConfig.h for the registry to be available. Its value
- * does not effect the number of queues, semaphores and mutexes that can be
- * created - just the number that the registry can hold.
- *
- * @param xQueue The handle of the queue being added to the registry. This
- * is the handle returned by a call to xQueueCreate(). Semaphore and mutex
- * handles can also be passed in here.
- *
- * @param pcName The name to be associated with the handle. This is the
- * name that the kernel aware debugger will display. The queue registry only
- * stores a pointer to the string - so the string must be persistent (global or
- * preferably in ROM/Flash), not on the stack.
- */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
- void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-#endif
-
-/*
- * The registry is provided as a means for kernel aware debuggers to
- * locate queues, semaphores and mutexes. Call vQueueAddToRegistry() add
- * a queue, semaphore or mutex handle to the registry if you want the handle
- * to be available to a kernel aware debugger, and vQueueUnregisterQueue() to
- * remove the queue, semaphore or mutex from the register. If you are not using
- * a kernel aware debugger then this function can be ignored.
- *
- * @param xQueue The handle of the queue being removed from the registry.
- */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
- void vQueueUnregisterQueue( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-#endif
-
-/*
- * The queue registry is provided as a means for kernel aware debuggers to
- * locate queues, semaphores and mutexes. Call pcQueueGetName() to look
- * up and return the name of a queue in the queue registry from the queue's
- * handle.
- *
- * @param xQueue The handle of the queue the name of which will be returned.
- * @return If the queue is in the registry then a pointer to the name of the
- * queue is returned. If the queue is not in the registry then NULL is
- * returned.
- */
-#if( configQUEUE_REGISTRY_SIZE > 0 )
- const char *pcQueueGetName( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-#endif
-
-/*
- * Generic version of the function used to creaet a queue using dynamic memory
- * allocation. This is called by other functions and macros that create other
- * RTOS objects that use the queue structure as their base.
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
-#endif
-
-/*
- * Generic version of the function used to creaet a queue using dynamic memory
- * allocation. This is called by other functions and macros that create other
- * RTOS objects that use the queue structure as their base.
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType ) PRIVILEGED_FUNCTION;
-#endif
-
-/*
- * Queue sets provide a mechanism to allow a task to block (pend) on a read
- * operation from multiple queues or semaphores simultaneously.
- *
- * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
- * function.
- *
- * A queue set must be explicitly created using a call to xQueueCreateSet()
- * before it can be used. Once created, standard FreeRTOS queues and semaphores
- * can be added to the set using calls to xQueueAddToSet().
- * xQueueSelectFromSet() is then used to determine which, if any, of the queues
- * or semaphores contained in the set is in a state where a queue read or
- * semaphore take operation would be successful.
- *
- * Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
- * for reasons why queue sets are very rarely needed in practice as there are
- * simpler methods of blocking on multiple objects.
- *
- * Note 2: Blocking on a queue set that contains a mutex will not cause the
- * mutex holder to inherit the priority of the blocked task.
- *
- * Note 3: An additional 4 bytes of RAM is required for each space in a every
- * queue added to a queue set. Therefore counting semaphores that have a high
- * maximum count value should not be added to a queue set.
- *
- * Note 4: A receive (in the case of a queue) or take (in the case of a
- * semaphore) operation must not be performed on a member of a queue set unless
- * a call to xQueueSelectFromSet() has first returned a handle to that set member.
- *
- * @param uxEventQueueLength Queue sets store events that occur on
- * the queues and semaphores contained in the set. uxEventQueueLength specifies
- * the maximum number of events that can be queued at once. To be absolutely
- * certain that events are not lost uxEventQueueLength should be set to the
- * total sum of the length of the queues added to the set, where binary
- * semaphores and mutexes have a length of 1, and counting semaphores have a
- * length set by their maximum count value. Examples:
- * + If a queue set is to hold a queue of length 5, another queue of length 12,
- * and a binary semaphore, then uxEventQueueLength should be set to
- * (5 + 12 + 1), or 18.
- * + If a queue set is to hold three binary semaphores then uxEventQueueLength
- * should be set to (1 + 1 + 1 ), or 3.
- * + If a queue set is to hold a counting semaphore that has a maximum count of
- * 5, and a counting semaphore that has a maximum count of 3, then
- * uxEventQueueLength should be set to (5 + 3), or 8.
- *
- * @return If the queue set is created successfully then a handle to the created
- * queue set is returned. Otherwise NULL is returned.
- */
-QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength ) PRIVILEGED_FUNCTION;
-
-/*
- * Adds a queue or semaphore to a queue set that was previously created by a
- * call to xQueueCreateSet().
- *
- * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
- * function.
- *
- * Note 1: A receive (in the case of a queue) or take (in the case of a
- * semaphore) operation must not be performed on a member of a queue set unless
- * a call to xQueueSelectFromSet() has first returned a handle to that set member.
- *
- * @param xQueueOrSemaphore The handle of the queue or semaphore being added to
- * the queue set (cast to an QueueSetMemberHandle_t type).
- *
- * @param xQueueSet The handle of the queue set to which the queue or semaphore
- * is being added.
- *
- * @return If the queue or semaphore was successfully added to the queue set
- * then pdPASS is returned. If the queue could not be successfully added to the
- * queue set because it is already a member of a different queue set then pdFAIL
- * is returned.
- */
-BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
-
-/*
- * Removes a queue or semaphore from a queue set. A queue or semaphore can only
- * be removed from a set if the queue or semaphore is empty.
- *
- * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
- * function.
- *
- * @param xQueueOrSemaphore The handle of the queue or semaphore being removed
- * from the queue set (cast to an QueueSetMemberHandle_t type).
- *
- * @param xQueueSet The handle of the queue set in which the queue or semaphore
- * is included.
- *
- * @return If the queue or semaphore was successfully removed from the queue set
- * then pdPASS is returned. If the queue was not in the queue set, or the
- * queue (or semaphore) was not empty, then pdFAIL is returned.
- */
-BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
-
-/*
- * xQueueSelectFromSet() selects from the members of a queue set a queue or
- * semaphore that either contains data (in the case of a queue) or is available
- * to take (in the case of a semaphore). xQueueSelectFromSet() effectively
- * allows a task to block (pend) on a read operation on all the queues and
- * semaphores in a queue set simultaneously.
- *
- * See FreeRTOS/Source/Demo/Common/Minimal/QueueSet.c for an example using this
- * function.
- *
- * Note 1: See the documentation on http://wwwFreeRTOS.org/RTOS-queue-sets.html
- * for reasons why queue sets are very rarely needed in practice as there are
- * simpler methods of blocking on multiple objects.
- *
- * Note 2: Blocking on a queue set that contains a mutex will not cause the
- * mutex holder to inherit the priority of the blocked task.
- *
- * Note 3: A receive (in the case of a queue) or take (in the case of a
- * semaphore) operation must not be performed on a member of a queue set unless
- * a call to xQueueSelectFromSet() has first returned a handle to that set member.
- *
- * @param xQueueSet The queue set on which the task will (potentially) block.
- *
- * @param xTicksToWait The maximum time, in ticks, that the calling task will
- * remain in the Blocked state (with other tasks executing) to wait for a member
- * of the queue set to be ready for a successful queue read or semaphore take
- * operation.
- *
- * @return xQueueSelectFromSet() will return the handle of a queue (cast to
- * a QueueSetMemberHandle_t type) contained in the queue set that contains data,
- * or the handle of a semaphore (cast to a QueueSetMemberHandle_t type) contained
- * in the queue set that is available, or NULL if no such queue or semaphore
- * exists before before the specified block time expires.
- */
-QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/*
- * A version of xQueueSelectFromSet() that can be used from an ISR.
- */
-QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet ) PRIVILEGED_FUNCTION;
-
-/* Not public API functions. */
-void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
-BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue ) PRIVILEGED_FUNCTION;
-void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber ) PRIVILEGED_FUNCTION;
-UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-uint8_t ucQueueGetQueueType( QueueHandle_t xQueue ) PRIVILEGED_FUNCTION;
-
-
-#ifdef __cplusplus
-}
-#endif
-
-#endif /* QUEUE_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/semphr.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/semphr.h
deleted file mode 100644
index 0f01948c7569710fac8b24f46e0773ab3265b1ab..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/semphr.h
+++ /dev/null
@@ -1,1140 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef SEMAPHORE_H
-#define SEMAPHORE_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h" must appear in source files before "include semphr.h"
-#endif
-
-#include "queue.h"
-
-typedef QueueHandle_t SemaphoreHandle_t;
-
-#define semBINARY_SEMAPHORE_QUEUE_LENGTH ( ( uint8_t ) 1U )
-#define semSEMAPHORE_QUEUE_ITEM_LENGTH ( ( uint8_t ) 0U )
-#define semGIVE_BLOCK_TIME ( ( TickType_t ) 0U )
-
-
-/**
- * semphr. h
- * <pre>vSemaphoreCreateBinary( SemaphoreHandle_t xSemaphore )</pre>
- *
- * In many usage scenarios it is faster and more memory efficient to use a
- * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
- *
- * This old vSemaphoreCreateBinary() macro is now deprecated in favour of the
- * xSemaphoreCreateBinary() function. Note that binary semaphores created using
- * the vSemaphoreCreateBinary() macro are created in a state such that the
- * first call to 'take' the semaphore would pass, whereas binary semaphores
- * created using xSemaphoreCreateBinary() are created in a state such that the
- * the semaphore must first be 'given' before it can be 'taken'.
- *
- * <i>Macro</i> that implements a semaphore by using the existing queue mechanism.
- * The queue length is 1 as this is a binary semaphore. The data size is 0
- * as we don't want to actually store any data - we just want to know if the
- * queue is empty or full.
- *
- * This type of semaphore can be used for pure synchronisation between tasks or
- * between an interrupt and a task. The semaphore need not be given back once
- * obtained, so one task/interrupt can continuously 'give' the semaphore while
- * another continuously 'takes' the semaphore. For this reason this type of
- * semaphore does not use a priority inheritance mechanism. For an alternative
- * that does use priority inheritance see xSemaphoreCreateMutex().
- *
- * @param xSemaphore Handle to the created semaphore. Should be of type SemaphoreHandle_t.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
- // Semaphore cannot be used before a call to vSemaphoreCreateBinary ().
- // This is a macro so pass the variable in directly.
- vSemaphoreCreateBinary( xSemaphore );
-
- if( xSemaphore != NULL )
- {
- // The semaphore was created successfully.
- // The semaphore can now be used.
- }
- }
- </pre>
- * \defgroup vSemaphoreCreateBinary vSemaphoreCreateBinary
- * \ingroup Semaphores
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- #define vSemaphoreCreateBinary( xSemaphore ) \
- { \
- ( xSemaphore ) = xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE ); \
- if( ( xSemaphore ) != NULL ) \
- { \
- ( void ) xSemaphoreGive( ( xSemaphore ) ); \
- } \
- }
-#endif
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateBinary( void )</pre>
- *
- * Creates a new binary semaphore instance, and returns a handle by which the
- * new semaphore can be referenced.
- *
- * In many usage scenarios it is faster and more memory efficient to use a
- * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
- *
- * Internally, within the FreeRTOS implementation, binary semaphores use a block
- * of memory, in which the semaphore structure is stored. If a binary semaphore
- * is created using xSemaphoreCreateBinary() then the required memory is
- * automatically dynamically allocated inside the xSemaphoreCreateBinary()
- * function. (see http://www.freertos.org/a00111.html). If a binary semaphore
- * is created using xSemaphoreCreateBinaryStatic() then the application writer
- * must provide the memory. xSemaphoreCreateBinaryStatic() therefore allows a
- * binary semaphore to be created without using any dynamic memory allocation.
- *
- * The old vSemaphoreCreateBinary() macro is now deprecated in favour of this
- * xSemaphoreCreateBinary() function. Note that binary semaphores created using
- * the vSemaphoreCreateBinary() macro are created in a state such that the
- * first call to 'take' the semaphore would pass, whereas binary semaphores
- * created using xSemaphoreCreateBinary() are created in a state such that the
- * the semaphore must first be 'given' before it can be 'taken'.
- *
- * This type of semaphore can be used for pure synchronisation between tasks or
- * between an interrupt and a task. The semaphore need not be given back once
- * obtained, so one task/interrupt can continuously 'give' the semaphore while
- * another continuously 'takes' the semaphore. For this reason this type of
- * semaphore does not use a priority inheritance mechanism. For an alternative
- * that does use priority inheritance see xSemaphoreCreateMutex().
- *
- * @return Handle to the created semaphore, or NULL if the memory required to
- * hold the semaphore's data structures could not be allocated.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
- // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
- // This is a macro so pass the variable in directly.
- xSemaphore = xSemaphoreCreateBinary();
-
- if( xSemaphore != NULL )
- {
- // The semaphore was created successfully.
- // The semaphore can now be used.
- }
- }
- </pre>
- * \defgroup xSemaphoreCreateBinary xSemaphoreCreateBinary
- * \ingroup Semaphores
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- #define xSemaphoreCreateBinary() xQueueGenericCreate( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_BINARY_SEMAPHORE )
-#endif
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateBinaryStatic( StaticSemaphore_t *pxSemaphoreBuffer )</pre>
- *
- * Creates a new binary semaphore instance, and returns a handle by which the
- * new semaphore can be referenced.
- *
- * NOTE: In many usage scenarios it is faster and more memory efficient to use a
- * direct to task notification in place of a binary semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
- *
- * Internally, within the FreeRTOS implementation, binary semaphores use a block
- * of memory, in which the semaphore structure is stored. If a binary semaphore
- * is created using xSemaphoreCreateBinary() then the required memory is
- * automatically dynamically allocated inside the xSemaphoreCreateBinary()
- * function. (see http://www.freertos.org/a00111.html). If a binary semaphore
- * is created using xSemaphoreCreateBinaryStatic() then the application writer
- * must provide the memory. xSemaphoreCreateBinaryStatic() therefore allows a
- * binary semaphore to be created without using any dynamic memory allocation.
- *
- * This type of semaphore can be used for pure synchronisation between tasks or
- * between an interrupt and a task. The semaphore need not be given back once
- * obtained, so one task/interrupt can continuously 'give' the semaphore while
- * another continuously 'takes' the semaphore. For this reason this type of
- * semaphore does not use a priority inheritance mechanism. For an alternative
- * that does use priority inheritance see xSemaphoreCreateMutex().
- *
- * @param pxSemaphoreBuffer Must point to a variable of type StaticSemaphore_t,
- * which will then be used to hold the semaphore's data structure, removing the
- * need for the memory to be allocated dynamically.
- *
- * @return If the semaphore is created then a handle to the created semaphore is
- * returned. If pxSemaphoreBuffer is NULL then NULL is returned.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore = NULL;
- StaticSemaphore_t xSemaphoreBuffer;
-
- void vATask( void * pvParameters )
- {
- // Semaphore cannot be used before a call to xSemaphoreCreateBinary().
- // The semaphore's data structures will be placed in the xSemaphoreBuffer
- // variable, the address of which is passed into the function. The
- // function's parameter is not NULL, so the function will not attempt any
- // dynamic memory allocation, and therefore the function will not return
- // return NULL.
- xSemaphore = xSemaphoreCreateBinary( &xSemaphoreBuffer );
-
- // Rest of task code goes here.
- }
- </pre>
- * \defgroup xSemaphoreCreateBinaryStatic xSemaphoreCreateBinaryStatic
- * \ingroup Semaphores
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- #define xSemaphoreCreateBinaryStatic( pxStaticSemaphore ) xQueueGenericCreateStatic( ( UBaseType_t ) 1, semSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticSemaphore, queueQUEUE_TYPE_BINARY_SEMAPHORE )
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * semphr. h
- * <pre>xSemaphoreTake(
- * SemaphoreHandle_t xSemaphore,
- * TickType_t xBlockTime
- * )</pre>
- *
- * <i>Macro</i> to obtain a semaphore. The semaphore must have previously been
- * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
- * xSemaphoreCreateCounting().
- *
- * @param xSemaphore A handle to the semaphore being taken - obtained when
- * the semaphore was created.
- *
- * @param xBlockTime The time in ticks to wait for the semaphore to become
- * available. The macro portTICK_PERIOD_MS can be used to convert this to a
- * real time. A block time of zero can be used to poll the semaphore. A block
- * time of portMAX_DELAY can be used to block indefinitely (provided
- * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h).
- *
- * @return pdTRUE if the semaphore was obtained. pdFALSE
- * if xBlockTime expired without the semaphore becoming available.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore = NULL;
-
- // A task that creates a semaphore.
- void vATask( void * pvParameters )
- {
- // Create the semaphore to guard a shared resource.
- xSemaphore = xSemaphoreCreateBinary();
- }
-
- // A task that uses the semaphore.
- void vAnotherTask( void * pvParameters )
- {
- // ... Do other things.
-
- if( xSemaphore != NULL )
- {
- // See if we can obtain the semaphore. If the semaphore is not available
- // wait 10 ticks to see if it becomes free.
- if( xSemaphoreTake( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
- {
- // We were able to obtain the semaphore and can now access the
- // shared resource.
-
- // ...
-
- // We have finished accessing the shared resource. Release the
- // semaphore.
- xSemaphoreGive( xSemaphore );
- }
- else
- {
- // We could not obtain the semaphore and can therefore not access
- // the shared resource safely.
- }
- }
- }
- </pre>
- * \defgroup xSemaphoreTake xSemaphoreTake
- * \ingroup Semaphores
- */
-#define xSemaphoreTake( xSemaphore, xBlockTime ) xQueueSemaphoreTake( ( xSemaphore ), ( xBlockTime ) )
-
-/**
- * semphr. h
- * xSemaphoreTakeRecursive(
- * SemaphoreHandle_t xMutex,
- * TickType_t xBlockTime
- * )
- *
- * <i>Macro</i> to recursively obtain, or 'take', a mutex type semaphore.
- * The mutex must have previously been created using a call to
- * xSemaphoreCreateRecursiveMutex();
- *
- * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
- * macro to be available.
- *
- * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
- *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
- * doesn't become available again until the owner has called
- * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
- * if a task successfully 'takes' the same mutex 5 times then the mutex will
- * not be available to any other task until it has also 'given' the mutex back
- * exactly five times.
- *
- * @param xMutex A handle to the mutex being obtained. This is the
- * handle returned by xSemaphoreCreateRecursiveMutex();
- *
- * @param xBlockTime The time in ticks to wait for the semaphore to become
- * available. The macro portTICK_PERIOD_MS can be used to convert this to a
- * real time. A block time of zero can be used to poll the semaphore. If
- * the task already owns the semaphore then xSemaphoreTakeRecursive() will
- * return immediately no matter what the value of xBlockTime.
- *
- * @return pdTRUE if the semaphore was obtained. pdFALSE if xBlockTime
- * expired without the semaphore becoming available.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
- // Create the mutex to guard a shared resource.
- xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
- // ... Do other things.
-
- if( xMutex != NULL )
- {
- // See if we can obtain the mutex. If the mutex is not available
- // wait 10 ticks to see if it becomes free.
- if( xSemaphoreTakeRecursive( xSemaphore, ( TickType_t ) 10 ) == pdTRUE )
- {
- // We were able to obtain the mutex and can now access the
- // shared resource.
-
- // ...
- // For some reason due to the nature of the code further calls to
- // xSemaphoreTakeRecursive() are made on the same mutex. In real
- // code these would not be just sequential calls as this would make
- // no sense. Instead the calls are likely to be buried inside
- // a more complex call structure.
- xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
- xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
-
- // The mutex has now been 'taken' three times, so will not be
- // available to another task until it has also been given back
- // three times. Again it is unlikely that real code would have
- // these calls sequentially, but instead buried in a more complex
- // call structure. This is just for illustrative purposes.
- xSemaphoreGiveRecursive( xMutex );
- xSemaphoreGiveRecursive( xMutex );
- xSemaphoreGiveRecursive( xMutex );
-
- // Now the mutex can be taken by other tasks.
- }
- else
- {
- // We could not obtain the mutex and can therefore not access
- // the shared resource safely.
- }
- }
- }
- </pre>
- * \defgroup xSemaphoreTakeRecursive xSemaphoreTakeRecursive
- * \ingroup Semaphores
- */
-#if( configUSE_RECURSIVE_MUTEXES == 1 )
- #define xSemaphoreTakeRecursive( xMutex, xBlockTime ) xQueueTakeMutexRecursive( ( xMutex ), ( xBlockTime ) )
-#endif
-
-/**
- * semphr. h
- * <pre>xSemaphoreGive( SemaphoreHandle_t xSemaphore )</pre>
- *
- * <i>Macro</i> to release a semaphore. The semaphore must have previously been
- * created with a call to xSemaphoreCreateBinary(), xSemaphoreCreateMutex() or
- * xSemaphoreCreateCounting(). and obtained using sSemaphoreTake().
- *
- * This macro must not be used from an ISR. See xSemaphoreGiveFromISR () for
- * an alternative which can be used from an ISR.
- *
- * This macro must also not be used on semaphores created using
- * xSemaphoreCreateRecursiveMutex().
- *
- * @param xSemaphore A handle to the semaphore being released. This is the
- * handle returned when the semaphore was created.
- *
- * @return pdTRUE if the semaphore was released. pdFALSE if an error occurred.
- * Semaphores are implemented using queues. An error can occur if there is
- * no space on the queue to post a message - indicating that the
- * semaphore was not first obtained correctly.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore = NULL;
-
- void vATask( void * pvParameters )
- {
- // Create the semaphore to guard a shared resource.
- xSemaphore = vSemaphoreCreateBinary();
-
- if( xSemaphore != NULL )
- {
- if( xSemaphoreGive( xSemaphore ) != pdTRUE )
- {
- // We would expect this call to fail because we cannot give
- // a semaphore without first "taking" it!
- }
-
- // Obtain the semaphore - don't block if the semaphore is not
- // immediately available.
- if( xSemaphoreTake( xSemaphore, ( TickType_t ) 0 ) )
- {
- // We now have the semaphore and can access the shared resource.
-
- // ...
-
- // We have finished accessing the shared resource so can free the
- // semaphore.
- if( xSemaphoreGive( xSemaphore ) != pdTRUE )
- {
- // We would not expect this call to fail because we must have
- // obtained the semaphore to get here.
- }
- }
- }
- }
- </pre>
- * \defgroup xSemaphoreGive xSemaphoreGive
- * \ingroup Semaphores
- */
-#define xSemaphoreGive( xSemaphore ) xQueueGenericSend( ( QueueHandle_t ) ( xSemaphore ), NULL, semGIVE_BLOCK_TIME, queueSEND_TO_BACK )
-
-/**
- * semphr. h
- * <pre>xSemaphoreGiveRecursive( SemaphoreHandle_t xMutex )</pre>
- *
- * <i>Macro</i> to recursively release, or 'give', a mutex type semaphore.
- * The mutex must have previously been created using a call to
- * xSemaphoreCreateRecursiveMutex();
- *
- * configUSE_RECURSIVE_MUTEXES must be set to 1 in FreeRTOSConfig.h for this
- * macro to be available.
- *
- * This macro must not be used on mutexes created using xSemaphoreCreateMutex().
- *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
- * doesn't become available again until the owner has called
- * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
- * if a task successfully 'takes' the same mutex 5 times then the mutex will
- * not be available to any other task until it has also 'given' the mutex back
- * exactly five times.
- *
- * @param xMutex A handle to the mutex being released, or 'given'. This is the
- * handle returned by xSemaphoreCreateMutex();
- *
- * @return pdTRUE if the semaphore was given.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xMutex = NULL;
-
- // A task that creates a mutex.
- void vATask( void * pvParameters )
- {
- // Create the mutex to guard a shared resource.
- xMutex = xSemaphoreCreateRecursiveMutex();
- }
-
- // A task that uses the mutex.
- void vAnotherTask( void * pvParameters )
- {
- // ... Do other things.
-
- if( xMutex != NULL )
- {
- // See if we can obtain the mutex. If the mutex is not available
- // wait 10 ticks to see if it becomes free.
- if( xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 ) == pdTRUE )
- {
- // We were able to obtain the mutex and can now access the
- // shared resource.
-
- // ...
- // For some reason due to the nature of the code further calls to
- // xSemaphoreTakeRecursive() are made on the same mutex. In real
- // code these would not be just sequential calls as this would make
- // no sense. Instead the calls are likely to be buried inside
- // a more complex call structure.
- xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
- xSemaphoreTakeRecursive( xMutex, ( TickType_t ) 10 );
-
- // The mutex has now been 'taken' three times, so will not be
- // available to another task until it has also been given back
- // three times. Again it is unlikely that real code would have
- // these calls sequentially, it would be more likely that the calls
- // to xSemaphoreGiveRecursive() would be called as a call stack
- // unwound. This is just for demonstrative purposes.
- xSemaphoreGiveRecursive( xMutex );
- xSemaphoreGiveRecursive( xMutex );
- xSemaphoreGiveRecursive( xMutex );
-
- // Now the mutex can be taken by other tasks.
- }
- else
- {
- // We could not obtain the mutex and can therefore not access
- // the shared resource safely.
- }
- }
- }
- </pre>
- * \defgroup xSemaphoreGiveRecursive xSemaphoreGiveRecursive
- * \ingroup Semaphores
- */
-#if( configUSE_RECURSIVE_MUTEXES == 1 )
- #define xSemaphoreGiveRecursive( xMutex ) xQueueGiveMutexRecursive( ( xMutex ) )
-#endif
-
-/**
- * semphr. h
- * <pre>
- xSemaphoreGiveFromISR(
- SemaphoreHandle_t xSemaphore,
- BaseType_t *pxHigherPriorityTaskWoken
- )</pre>
- *
- * <i>Macro</i> to release a semaphore. The semaphore must have previously been
- * created with a call to xSemaphoreCreateBinary() or xSemaphoreCreateCounting().
- *
- * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
- * must not be used with this macro.
- *
- * This macro can be used from an ISR.
- *
- * @param xSemaphore A handle to the semaphore being released. This is the
- * handle returned when the semaphore was created.
- *
- * @param pxHigherPriorityTaskWoken xSemaphoreGiveFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if giving the semaphore caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xSemaphoreGiveFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the semaphore was successfully given, otherwise errQUEUE_FULL.
- *
- * Example usage:
- <pre>
- \#define LONG_TIME 0xffff
- \#define TICKS_TO_WAIT 10
- SemaphoreHandle_t xSemaphore = NULL;
-
- // Repetitive task.
- void vATask( void * pvParameters )
- {
- for( ;; )
- {
- // We want this task to run every 10 ticks of a timer. The semaphore
- // was created before this task was started.
-
- // Block waiting for the semaphore to become available.
- if( xSemaphoreTake( xSemaphore, LONG_TIME ) == pdTRUE )
- {
- // It is time to execute.
-
- // ...
-
- // We have finished our task. Return to the top of the loop where
- // we will block on the semaphore until it is time to execute
- // again. Note when using the semaphore for synchronisation with an
- // ISR in this manner there is no need to 'give' the semaphore back.
- }
- }
- }
-
- // Timer ISR
- void vTimerISR( void * pvParameters )
- {
- static uint8_t ucLocalTickCount = 0;
- static BaseType_t xHigherPriorityTaskWoken;
-
- // A timer tick has occurred.
-
- // ... Do other time functions.
-
- // Is it time for vATask () to run?
- xHigherPriorityTaskWoken = pdFALSE;
- ucLocalTickCount++;
- if( ucLocalTickCount >= TICKS_TO_WAIT )
- {
- // Unblock the task by releasing the semaphore.
- xSemaphoreGiveFromISR( xSemaphore, &xHigherPriorityTaskWoken );
-
- // Reset the count so we release the semaphore again in 10 ticks time.
- ucLocalTickCount = 0;
- }
-
- if( xHigherPriorityTaskWoken != pdFALSE )
- {
- // We can force a context switch here. Context switching from an
- // ISR uses port specific syntax. Check the demo task for your port
- // to find the syntax required.
- }
- }
- </pre>
- * \defgroup xSemaphoreGiveFromISR xSemaphoreGiveFromISR
- * \ingroup Semaphores
- */
-#define xSemaphoreGiveFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueGiveFromISR( ( QueueHandle_t ) ( xSemaphore ), ( pxHigherPriorityTaskWoken ) )
-
-/**
- * semphr. h
- * <pre>
- xSemaphoreTakeFromISR(
- SemaphoreHandle_t xSemaphore,
- BaseType_t *pxHigherPriorityTaskWoken
- )</pre>
- *
- * <i>Macro</i> to take a semaphore from an ISR. The semaphore must have
- * previously been created with a call to xSemaphoreCreateBinary() or
- * xSemaphoreCreateCounting().
- *
- * Mutex type semaphores (those created using a call to xSemaphoreCreateMutex())
- * must not be used with this macro.
- *
- * This macro can be used from an ISR, however taking a semaphore from an ISR
- * is not a common operation. It is likely to only be useful when taking a
- * counting semaphore when an interrupt is obtaining an object from a resource
- * pool (when the semaphore count indicates the number of resources available).
- *
- * @param xSemaphore A handle to the semaphore being taken. This is the
- * handle returned when the semaphore was created.
- *
- * @param pxHigherPriorityTaskWoken xSemaphoreTakeFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if taking the semaphore caused a task
- * to unblock, and the unblocked task has a priority higher than the currently
- * running task. If xSemaphoreTakeFromISR() sets this value to pdTRUE then
- * a context switch should be requested before the interrupt is exited.
- *
- * @return pdTRUE if the semaphore was successfully taken, otherwise
- * pdFALSE
- */
-#define xSemaphoreTakeFromISR( xSemaphore, pxHigherPriorityTaskWoken ) xQueueReceiveFromISR( ( QueueHandle_t ) ( xSemaphore ), NULL, ( pxHigherPriorityTaskWoken ) )
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateMutex( void )</pre>
- *
- * Creates a new mutex type semaphore instance, and returns a handle by which
- * the new mutex can be referenced.
- *
- * Internally, within the FreeRTOS implementation, mutex semaphores use a block
- * of memory, in which the mutex structure is stored. If a mutex is created
- * using xSemaphoreCreateMutex() then the required memory is automatically
- * dynamically allocated inside the xSemaphoreCreateMutex() function. (see
- * http://www.freertos.org/a00111.html). If a mutex is created using
- * xSemaphoreCreateMutexStatic() then the application writer must provided the
- * memory. xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
- * without using any dynamic memory allocation.
- *
- * Mutexes created using this function can be accessed using the xSemaphoreTake()
- * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
- * xSemaphoreGiveRecursive() macros must not be used.
- *
- * This type of semaphore uses a priority inheritance mechanism so a task
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
- * semaphore it is no longer required.
- *
- * Mutex type semaphores cannot be used from within interrupt service routines.
- *
- * See xSemaphoreCreateBinary() for an alternative implementation that can be
- * used for pure synchronisation (where one task or interrupt always 'gives' the
- * semaphore and another always 'takes' the semaphore) and from within interrupt
- * service routines.
- *
- * @return If the mutex was successfully created then a handle to the created
- * semaphore is returned. If there was not enough heap to allocate the mutex
- * data structures then NULL is returned.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore;
-
- void vATask( void * pvParameters )
- {
- // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
- // This is a macro so pass the variable in directly.
- xSemaphore = xSemaphoreCreateMutex();
-
- if( xSemaphore != NULL )
- {
- // The semaphore was created successfully.
- // The semaphore can now be used.
- }
- }
- </pre>
- * \defgroup xSemaphoreCreateMutex xSemaphoreCreateMutex
- * \ingroup Semaphores
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- #define xSemaphoreCreateMutex() xQueueCreateMutex( queueQUEUE_TYPE_MUTEX )
-#endif
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateMutexStatic( StaticSemaphore_t *pxMutexBuffer )</pre>
- *
- * Creates a new mutex type semaphore instance, and returns a handle by which
- * the new mutex can be referenced.
- *
- * Internally, within the FreeRTOS implementation, mutex semaphores use a block
- * of memory, in which the mutex structure is stored. If a mutex is created
- * using xSemaphoreCreateMutex() then the required memory is automatically
- * dynamically allocated inside the xSemaphoreCreateMutex() function. (see
- * http://www.freertos.org/a00111.html). If a mutex is created using
- * xSemaphoreCreateMutexStatic() then the application writer must provided the
- * memory. xSemaphoreCreateMutexStatic() therefore allows a mutex to be created
- * without using any dynamic memory allocation.
- *
- * Mutexes created using this function can be accessed using the xSemaphoreTake()
- * and xSemaphoreGive() macros. The xSemaphoreTakeRecursive() and
- * xSemaphoreGiveRecursive() macros must not be used.
- *
- * This type of semaphore uses a priority inheritance mechanism so a task
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
- * semaphore it is no longer required.
- *
- * Mutex type semaphores cannot be used from within interrupt service routines.
- *
- * See xSemaphoreCreateBinary() for an alternative implementation that can be
- * used for pure synchronisation (where one task or interrupt always 'gives' the
- * semaphore and another always 'takes' the semaphore) and from within interrupt
- * service routines.
- *
- * @param pxMutexBuffer Must point to a variable of type StaticSemaphore_t,
- * which will be used to hold the mutex's data structure, removing the need for
- * the memory to be allocated dynamically.
- *
- * @return If the mutex was successfully created then a handle to the created
- * mutex is returned. If pxMutexBuffer was NULL then NULL is returned.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore;
- StaticSemaphore_t xMutexBuffer;
-
- void vATask( void * pvParameters )
- {
- // A mutex cannot be used before it has been created. xMutexBuffer is
- // into xSemaphoreCreateMutexStatic() so no dynamic memory allocation is
- // attempted.
- xSemaphore = xSemaphoreCreateMutexStatic( &xMutexBuffer );
-
- // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
- // so there is no need to check it.
- }
- </pre>
- * \defgroup xSemaphoreCreateMutexStatic xSemaphoreCreateMutexStatic
- * \ingroup Semaphores
- */
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
- #define xSemaphoreCreateMutexStatic( pxMutexBuffer ) xQueueCreateMutexStatic( queueQUEUE_TYPE_MUTEX, ( pxMutexBuffer ) )
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateRecursiveMutex( void )</pre>
- *
- * Creates a new recursive mutex type semaphore instance, and returns a handle
- * by which the new recursive mutex can be referenced.
- *
- * Internally, within the FreeRTOS implementation, recursive mutexs use a block
- * of memory, in which the mutex structure is stored. If a recursive mutex is
- * created using xSemaphoreCreateRecursiveMutex() then the required memory is
- * automatically dynamically allocated inside the
- * xSemaphoreCreateRecursiveMutex() function. (see
- * http://www.freertos.org/a00111.html). If a recursive mutex is created using
- * xSemaphoreCreateRecursiveMutexStatic() then the application writer must
- * provide the memory that will get used by the mutex.
- * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
- * be created without using any dynamic memory allocation.
- *
- * Mutexes created using this macro can be accessed using the
- * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
- * xSemaphoreTake() and xSemaphoreGive() macros must not be used.
- *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
- * doesn't become available again until the owner has called
- * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
- * if a task successfully 'takes' the same mutex 5 times then the mutex will
- * not be available to any other task until it has also 'given' the mutex back
- * exactly five times.
- *
- * This type of semaphore uses a priority inheritance mechanism so a task
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
- * semaphore it is no longer required.
- *
- * Mutex type semaphores cannot be used from within interrupt service routines.
- *
- * See xSemaphoreCreateBinary() for an alternative implementation that can be
- * used for pure synchronisation (where one task or interrupt always 'gives' the
- * semaphore and another always 'takes' the semaphore) and from within interrupt
- * service routines.
- *
- * @return xSemaphore Handle to the created mutex semaphore. Should be of type
- * SemaphoreHandle_t.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore;
-
- void vATask( void * pvParameters )
- {
- // Semaphore cannot be used before a call to xSemaphoreCreateMutex().
- // This is a macro so pass the variable in directly.
- xSemaphore = xSemaphoreCreateRecursiveMutex();
-
- if( xSemaphore != NULL )
- {
- // The semaphore was created successfully.
- // The semaphore can now be used.
- }
- }
- </pre>
- * \defgroup xSemaphoreCreateRecursiveMutex xSemaphoreCreateRecursiveMutex
- * \ingroup Semaphores
- */
-#if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
- #define xSemaphoreCreateRecursiveMutex() xQueueCreateMutex( queueQUEUE_TYPE_RECURSIVE_MUTEX )
-#endif
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateRecursiveMutexStatic( StaticSemaphore_t *pxMutexBuffer )</pre>
- *
- * Creates a new recursive mutex type semaphore instance, and returns a handle
- * by which the new recursive mutex can be referenced.
- *
- * Internally, within the FreeRTOS implementation, recursive mutexs use a block
- * of memory, in which the mutex structure is stored. If a recursive mutex is
- * created using xSemaphoreCreateRecursiveMutex() then the required memory is
- * automatically dynamically allocated inside the
- * xSemaphoreCreateRecursiveMutex() function. (see
- * http://www.freertos.org/a00111.html). If a recursive mutex is created using
- * xSemaphoreCreateRecursiveMutexStatic() then the application writer must
- * provide the memory that will get used by the mutex.
- * xSemaphoreCreateRecursiveMutexStatic() therefore allows a recursive mutex to
- * be created without using any dynamic memory allocation.
- *
- * Mutexes created using this macro can be accessed using the
- * xSemaphoreTakeRecursive() and xSemaphoreGiveRecursive() macros. The
- * xSemaphoreTake() and xSemaphoreGive() macros must not be used.
- *
- * A mutex used recursively can be 'taken' repeatedly by the owner. The mutex
- * doesn't become available again until the owner has called
- * xSemaphoreGiveRecursive() for each successful 'take' request. For example,
- * if a task successfully 'takes' the same mutex 5 times then the mutex will
- * not be available to any other task until it has also 'given' the mutex back
- * exactly five times.
- *
- * This type of semaphore uses a priority inheritance mechanism so a task
- * 'taking' a semaphore MUST ALWAYS 'give' the semaphore back once the
- * semaphore it is no longer required.
- *
- * Mutex type semaphores cannot be used from within interrupt service routines.
- *
- * See xSemaphoreCreateBinary() for an alternative implementation that can be
- * used for pure synchronisation (where one task or interrupt always 'gives' the
- * semaphore and another always 'takes' the semaphore) and from within interrupt
- * service routines.
- *
- * @param pxMutexBuffer Must point to a variable of type StaticSemaphore_t,
- * which will then be used to hold the recursive mutex's data structure,
- * removing the need for the memory to be allocated dynamically.
- *
- * @return If the recursive mutex was successfully created then a handle to the
- * created recursive mutex is returned. If pxMutexBuffer was NULL then NULL is
- * returned.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore;
- StaticSemaphore_t xMutexBuffer;
-
- void vATask( void * pvParameters )
- {
- // A recursive semaphore cannot be used before it is created. Here a
- // recursive mutex is created using xSemaphoreCreateRecursiveMutexStatic().
- // The address of xMutexBuffer is passed into the function, and will hold
- // the mutexes data structures - so no dynamic memory allocation will be
- // attempted.
- xSemaphore = xSemaphoreCreateRecursiveMutexStatic( &xMutexBuffer );
-
- // As no dynamic memory allocation was performed, xSemaphore cannot be NULL,
- // so there is no need to check it.
- }
- </pre>
- * \defgroup xSemaphoreCreateRecursiveMutexStatic xSemaphoreCreateRecursiveMutexStatic
- * \ingroup Semaphores
- */
-#if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configUSE_RECURSIVE_MUTEXES == 1 ) )
- #define xSemaphoreCreateRecursiveMutexStatic( pxStaticSemaphore ) xQueueCreateMutexStatic( queueQUEUE_TYPE_RECURSIVE_MUTEX, pxStaticSemaphore )
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateCounting( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount )</pre>
- *
- * Creates a new counting semaphore instance, and returns a handle by which the
- * new counting semaphore can be referenced.
- *
- * In many usage scenarios it is faster and more memory efficient to use a
- * direct to task notification in place of a counting semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
- *
- * Internally, within the FreeRTOS implementation, counting semaphores use a
- * block of memory, in which the counting semaphore structure is stored. If a
- * counting semaphore is created using xSemaphoreCreateCounting() then the
- * required memory is automatically dynamically allocated inside the
- * xSemaphoreCreateCounting() function. (see
- * http://www.freertos.org/a00111.html). If a counting semaphore is created
- * using xSemaphoreCreateCountingStatic() then the application writer can
- * instead optionally provide the memory that will get used by the counting
- * semaphore. xSemaphoreCreateCountingStatic() therefore allows a counting
- * semaphore to be created without using any dynamic memory allocation.
- *
- * Counting semaphores are typically used for two things:
- *
- * 1) Counting events.
- *
- * In this usage scenario an event handler will 'give' a semaphore each time
- * an event occurs (incrementing the semaphore count value), and a handler
- * task will 'take' a semaphore each time it processes an event
- * (decrementing the semaphore count value). The count value is therefore
- * the difference between the number of events that have occurred and the
- * number that have been processed. In this case it is desirable for the
- * initial count value to be zero.
- *
- * 2) Resource management.
- *
- * In this usage scenario the count value indicates the number of resources
- * available. To obtain control of a resource a task must first obtain a
- * semaphore - decrementing the semaphore count value. When the count value
- * reaches zero there are no free resources. When a task finishes with the
- * resource it 'gives' the semaphore back - incrementing the semaphore count
- * value. In this case it is desirable for the initial count value to be
- * equal to the maximum count value, indicating that all resources are free.
- *
- * @param uxMaxCount The maximum count value that can be reached. When the
- * semaphore reaches this value it can no longer be 'given'.
- *
- * @param uxInitialCount The count value assigned to the semaphore when it is
- * created.
- *
- * @return Handle to the created semaphore. Null if the semaphore could not be
- * created.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore;
-
- void vATask( void * pvParameters )
- {
- SemaphoreHandle_t xSemaphore = NULL;
-
- // Semaphore cannot be used before a call to xSemaphoreCreateCounting().
- // The max value to which the semaphore can count should be 10, and the
- // initial value assigned to the count should be 0.
- xSemaphore = xSemaphoreCreateCounting( 10, 0 );
-
- if( xSemaphore != NULL )
- {
- // The semaphore was created successfully.
- // The semaphore can now be used.
- }
- }
- </pre>
- * \defgroup xSemaphoreCreateCounting xSemaphoreCreateCounting
- * \ingroup Semaphores
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- #define xSemaphoreCreateCounting( uxMaxCount, uxInitialCount ) xQueueCreateCountingSemaphore( ( uxMaxCount ), ( uxInitialCount ) )
-#endif
-
-/**
- * semphr. h
- * <pre>SemaphoreHandle_t xSemaphoreCreateCountingStatic( UBaseType_t uxMaxCount, UBaseType_t uxInitialCount, StaticSemaphore_t *pxSemaphoreBuffer )</pre>
- *
- * Creates a new counting semaphore instance, and returns a handle by which the
- * new counting semaphore can be referenced.
- *
- * In many usage scenarios it is faster and more memory efficient to use a
- * direct to task notification in place of a counting semaphore!
- * http://www.freertos.org/RTOS-task-notifications.html
- *
- * Internally, within the FreeRTOS implementation, counting semaphores use a
- * block of memory, in which the counting semaphore structure is stored. If a
- * counting semaphore is created using xSemaphoreCreateCounting() then the
- * required memory is automatically dynamically allocated inside the
- * xSemaphoreCreateCounting() function. (see
- * http://www.freertos.org/a00111.html). If a counting semaphore is created
- * using xSemaphoreCreateCountingStatic() then the application writer must
- * provide the memory. xSemaphoreCreateCountingStatic() therefore allows a
- * counting semaphore to be created without using any dynamic memory allocation.
- *
- * Counting semaphores are typically used for two things:
- *
- * 1) Counting events.
- *
- * In this usage scenario an event handler will 'give' a semaphore each time
- * an event occurs (incrementing the semaphore count value), and a handler
- * task will 'take' a semaphore each time it processes an event
- * (decrementing the semaphore count value). The count value is therefore
- * the difference between the number of events that have occurred and the
- * number that have been processed. In this case it is desirable for the
- * initial count value to be zero.
- *
- * 2) Resource management.
- *
- * In this usage scenario the count value indicates the number of resources
- * available. To obtain control of a resource a task must first obtain a
- * semaphore - decrementing the semaphore count value. When the count value
- * reaches zero there are no free resources. When a task finishes with the
- * resource it 'gives' the semaphore back - incrementing the semaphore count
- * value. In this case it is desirable for the initial count value to be
- * equal to the maximum count value, indicating that all resources are free.
- *
- * @param uxMaxCount The maximum count value that can be reached. When the
- * semaphore reaches this value it can no longer be 'given'.
- *
- * @param uxInitialCount The count value assigned to the semaphore when it is
- * created.
- *
- * @param pxSemaphoreBuffer Must point to a variable of type StaticSemaphore_t,
- * which will then be used to hold the semaphore's data structure, removing the
- * need for the memory to be allocated dynamically.
- *
- * @return If the counting semaphore was successfully created then a handle to
- * the created counting semaphore is returned. If pxSemaphoreBuffer was NULL
- * then NULL is returned.
- *
- * Example usage:
- <pre>
- SemaphoreHandle_t xSemaphore;
- StaticSemaphore_t xSemaphoreBuffer;
-
- void vATask( void * pvParameters )
- {
- SemaphoreHandle_t xSemaphore = NULL;
-
- // Counting semaphore cannot be used before they have been created. Create
- // a counting semaphore using xSemaphoreCreateCountingStatic(). The max
- // value to which the semaphore can count is 10, and the initial value
- // assigned to the count will be 0. The address of xSemaphoreBuffer is
- // passed in and will be used to hold the semaphore structure, so no dynamic
- // memory allocation will be used.
- xSemaphore = xSemaphoreCreateCounting( 10, 0, &xSemaphoreBuffer );
-
- // No memory allocation was attempted so xSemaphore cannot be NULL, so there
- // is no need to check its value.
- }
- </pre>
- * \defgroup xSemaphoreCreateCountingStatic xSemaphoreCreateCountingStatic
- * \ingroup Semaphores
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- #define xSemaphoreCreateCountingStatic( uxMaxCount, uxInitialCount, pxSemaphoreBuffer ) xQueueCreateCountingSemaphoreStatic( ( uxMaxCount ), ( uxInitialCount ), ( pxSemaphoreBuffer ) )
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * semphr. h
- * <pre>void vSemaphoreDelete( SemaphoreHandle_t xSemaphore );</pre>
- *
- * Delete a semaphore. This function must be used with care. For example,
- * do not delete a mutex type semaphore if the mutex is held by a task.
- *
- * @param xSemaphore A handle to the semaphore to be deleted.
- *
- * \defgroup vSemaphoreDelete vSemaphoreDelete
- * \ingroup Semaphores
- */
-#define vSemaphoreDelete( xSemaphore ) vQueueDelete( ( QueueHandle_t ) ( xSemaphore ) )
-
-/**
- * semphr.h
- * <pre>TaskHandle_t xSemaphoreGetMutexHolder( SemaphoreHandle_t xMutex );</pre>
- *
- * If xMutex is indeed a mutex type semaphore, return the current mutex holder.
- * If xMutex is not a mutex type semaphore, or the mutex is available (not held
- * by a task), return NULL.
- *
- * Note: This is a good way of determining if the calling task is the mutex
- * holder, but not a good way of determining the identity of the mutex holder as
- * the holder may change between the function exiting and the returned value
- * being tested.
- */
-#define xSemaphoreGetMutexHolder( xSemaphore ) xQueueGetMutexHolder( ( xSemaphore ) )
-
-/**
- * semphr.h
- * <pre>TaskHandle_t xSemaphoreGetMutexHolderFromISR( SemaphoreHandle_t xMutex );</pre>
- *
- * If xMutex is indeed a mutex type semaphore, return the current mutex holder.
- * If xMutex is not a mutex type semaphore, or the mutex is available (not held
- * by a task), return NULL.
- *
- */
-#define xSemaphoreGetMutexHolderFromISR( xSemaphore ) xQueueGetMutexHolderFromISR( ( xSemaphore ) )
-
-/**
- * semphr.h
- * <pre>UBaseType_t uxSemaphoreGetCount( SemaphoreHandle_t xSemaphore );</pre>
- *
- * If the semaphore is a counting semaphore then uxSemaphoreGetCount() returns
- * its current count value. If the semaphore is a binary semaphore then
- * uxSemaphoreGetCount() returns 1 if the semaphore is available, and 0 if the
- * semaphore is not available.
- *
- */
-#define uxSemaphoreGetCount( xSemaphore ) uxQueueMessagesWaiting( ( QueueHandle_t ) ( xSemaphore ) )
-
-#endif /* SEMAPHORE_H */
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stack_macros.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stack_macros.h
deleted file mode 100644
index 4f6f5cac52470793e6d8bcf70771526e5d402a88..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stack_macros.h
+++ /dev/null
@@ -1,129 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef STACK_MACROS_H
-#define STACK_MACROS_H
-
-/*
- * Call the stack overflow hook function if the stack of the task being swapped
- * out is currently overflowed, or looks like it might have overflowed in the
- * past.
- *
- * Setting configCHECK_FOR_STACK_OVERFLOW to 1 will cause the macro to check
- * the current stack state only - comparing the current top of stack value to
- * the stack limit. Setting configCHECK_FOR_STACK_OVERFLOW to greater than 1
- * will also cause the last few stack bytes to be checked to ensure the value
- * to which the bytes were set when the task was created have not been
- * overwritten. Note this second test does not guarantee that an overflowed
- * stack will always be recognised.
- */
-
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH < 0 ) )
-
- /* Only the current stack state is to be checked. */
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- /* Is the currently saved stack pointer within the stack limit? */ \
- if( pxCurrentTCB->pxTopOfStack <= pxCurrentTCB->pxStack ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW == 1 ) && ( portSTACK_GROWTH > 0 ) )
-
- /* Only the current stack state is to be checked. */
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- \
- /* Is the currently saved stack pointer within the stack limit? */ \
- if( pxCurrentTCB->pxTopOfStack >= pxCurrentTCB->pxEndOfStack ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* configCHECK_FOR_STACK_OVERFLOW == 1 */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH < 0 ) )
-
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- const uint32_t * const pulStack = ( uint32_t * ) pxCurrentTCB->pxStack; \
- const uint32_t ulCheckValue = ( uint32_t ) 0xa5a5a5a5; \
- \
- if( ( pulStack[ 0 ] != ulCheckValue ) || \
- ( pulStack[ 1 ] != ulCheckValue ) || \
- ( pulStack[ 2 ] != ulCheckValue ) || \
- ( pulStack[ 3 ] != ulCheckValue ) ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) && ( portSTACK_GROWTH > 0 ) )
-
- #define taskCHECK_FOR_STACK_OVERFLOW() \
- { \
- int8_t *pcEndOfStack = ( int8_t * ) pxCurrentTCB->pxEndOfStack; \
- static const uint8_t ucExpectedStackBytes[] = { tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, \
- tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE, tskSTACK_FILL_BYTE }; \
- \
- \
- pcEndOfStack -= sizeof( ucExpectedStackBytes ); \
- \
- /* Has the extremity of the task stack ever been written over? */ \
- if( memcmp( ( void * ) pcEndOfStack, ( void * ) ucExpectedStackBytes, sizeof( ucExpectedStackBytes ) ) != 0 ) \
- { \
- vApplicationStackOverflowHook( ( TaskHandle_t ) pxCurrentTCB, pxCurrentTCB->pcTaskName ); \
- } \
- }
-
-#endif /* #if( configCHECK_FOR_STACK_OVERFLOW > 1 ) */
-/*-----------------------------------------------------------*/
-
-/* Remove stack overflow macro if not being used. */
-#ifndef taskCHECK_FOR_STACK_OVERFLOW
- #define taskCHECK_FOR_STACK_OVERFLOW()
-#endif
-
-
-
-#endif /* STACK_MACROS_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stdint.readme b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stdint.readme
deleted file mode 100644
index 6d86149ca6bcc6719648f0ca98d3263f706d273c..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stdint.readme
+++ /dev/null
@@ -1,27 +0,0 @@
-
-#ifndef FREERTOS_STDINT
-#define FREERTOS_STDINT
-
-/*******************************************************************************
- * THIS IS NOT A FULL stdint.h IMPLEMENTATION - It only contains the definitions
- * necessary to build the FreeRTOS code. It is provided to allow FreeRTOS to be
- * built using compilers that do not provide their own stdint.h definition.
- *
- * To use this file:
- *
- * 1) Copy this file into the directory that contains your FreeRTOSConfig.h
- * header file, as that directory will already be in the compilers include
- * path.
- *
- * 2) Rename the copied file stdint.h.
- *
- */
-
-typedef signed char int8_t;
-typedef unsigned char uint8_t;
-typedef short int16_t;
-typedef unsigned short uint16_t;
-typedef long int32_t;
-typedef unsigned long uint32_t;
-
-#endif /* FREERTOS_STDINT */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stream_buffer.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stream_buffer.h
deleted file mode 100644
index 50c782ae5de99c8c3ddadaaedb626a3e0a6505f2..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/stream_buffer.h
+++ /dev/null
@@ -1,859 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * Stream buffers are used to send a continuous stream of data from one task or
- * interrupt to another. Their implementation is light weight, making them
- * particularly suited for interrupt to task and core to core communication
- * scenarios.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section section and set the
- * receive block time to 0.
- *
- */
-
-#ifndef STREAM_BUFFER_H
-#define STREAM_BUFFER_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h must appear in source files before include stream_buffer.h"
-#endif
-
-#if defined( __cplusplus )
-extern "C" {
-#endif
-
-/**
- * Type by which stream buffers are referenced. For example, a call to
- * xStreamBufferCreate() returns an StreamBufferHandle_t variable that can
- * then be used as a parameter to xStreamBufferSend(), xStreamBufferReceive(),
- * etc.
- */
-struct StreamBufferDef_t;
-typedef struct StreamBufferDef_t * StreamBufferHandle_t;
-
-
-/**
- * message_buffer.h
- *
-<pre>
-StreamBufferHandle_t xStreamBufferCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes );
-</pre>
- *
- * Creates a new stream buffer using dynamically allocated memory. See
- * xStreamBufferCreateStatic() for a version that uses statically allocated
- * memory (memory that is allocated at compile time).
- *
- * configSUPPORT_DYNAMIC_ALLOCATION must be set to 1 or left undefined in
- * FreeRTOSConfig.h for xStreamBufferCreate() to be available.
- *
- * @param xBufferSizeBytes The total number of bytes the stream buffer will be
- * able to hold at any one time.
- *
- * @param xTriggerLevelBytes The number of bytes that must be in the stream
- * buffer before a task that is blocked on the stream buffer to wait for data is
- * moved out of the blocked state. For example, if a task is blocked on a read
- * of an empty stream buffer that has a trigger level of 1 then the task will be
- * unblocked when a single byte is written to the buffer or the task's block
- * time expires. As another example, if a task is blocked on a read of an empty
- * stream buffer that has a trigger level of 10 then the task will not be
- * unblocked until the stream buffer contains at least 10 bytes or the task's
- * block time expires. If a reading task's block time expires before the
- * trigger level is reached then the task will still receive however many bytes
- * are actually available. Setting a trigger level of 0 will result in a
- * trigger level of 1 being used. It is not valid to specify a trigger level
- * that is greater than the buffer size.
- *
- * @return If NULL is returned, then the stream buffer cannot be created
- * because there is insufficient heap memory available for FreeRTOS to allocate
- * the stream buffer data structures and storage area. A non-NULL value being
- * returned indicates that the stream buffer has been created successfully -
- * the returned value should be stored as the handle to the created stream
- * buffer.
- *
- * Example use:
-<pre>
-
-void vAFunction( void )
-{
-StreamBufferHandle_t xStreamBuffer;
-const size_t xStreamBufferSizeBytes = 100, xTriggerLevel = 10;
-
- // Create a stream buffer that can hold 100 bytes. The memory used to hold
- // both the stream buffer structure and the data in the stream buffer is
- // allocated dynamically.
- xStreamBuffer = xStreamBufferCreate( xStreamBufferSizeBytes, xTriggerLevel );
-
- if( xStreamBuffer == NULL )
- {
- // There was not enough heap memory space available to create the
- // stream buffer.
- }
- else
- {
- // The stream buffer was created successfully and can now be used.
- }
-}
-</pre>
- * \defgroup xStreamBufferCreate xStreamBufferCreate
- * \ingroup StreamBufferManagement
- */
-#define xStreamBufferCreate( xBufferSizeBytes, xTriggerLevelBytes ) xStreamBufferGenericCreate( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE )
-
-/**
- * stream_buffer.h
- *
-<pre>
-StreamBufferHandle_t xStreamBufferCreateStatic( size_t xBufferSizeBytes,
- size_t xTriggerLevelBytes,
- uint8_t *pucStreamBufferStorageArea,
- StaticStreamBuffer_t *pxStaticStreamBuffer );
-</pre>
- * Creates a new stream buffer using statically allocated memory. See
- * xStreamBufferCreate() for a version that uses dynamically allocated memory.
- *
- * configSUPPORT_STATIC_ALLOCATION must be set to 1 in FreeRTOSConfig.h for
- * xStreamBufferCreateStatic() to be available.
- *
- * @param xBufferSizeBytes The size, in bytes, of the buffer pointed to by the
- * pucStreamBufferStorageArea parameter.
- *
- * @param xTriggerLevelBytes The number of bytes that must be in the stream
- * buffer before a task that is blocked on the stream buffer to wait for data is
- * moved out of the blocked state. For example, if a task is blocked on a read
- * of an empty stream buffer that has a trigger level of 1 then the task will be
- * unblocked when a single byte is written to the buffer or the task's block
- * time expires. As another example, if a task is blocked on a read of an empty
- * stream buffer that has a trigger level of 10 then the task will not be
- * unblocked until the stream buffer contains at least 10 bytes or the task's
- * block time expires. If a reading task's block time expires before the
- * trigger level is reached then the task will still receive however many bytes
- * are actually available. Setting a trigger level of 0 will result in a
- * trigger level of 1 being used. It is not valid to specify a trigger level
- * that is greater than the buffer size.
- *
- * @param pucStreamBufferStorageArea Must point to a uint8_t array that is at
- * least xBufferSizeBytes + 1 big. This is the array to which streams are
- * copied when they are written to the stream buffer.
- *
- * @param pxStaticStreamBuffer Must point to a variable of type
- * StaticStreamBuffer_t, which will be used to hold the stream buffer's data
- * structure.
- *
- * @return If the stream buffer is created successfully then a handle to the
- * created stream buffer is returned. If either pucStreamBufferStorageArea or
- * pxStaticstreamBuffer are NULL then NULL is returned.
- *
- * Example use:
-<pre>
-
-// Used to dimension the array used to hold the streams. The available space
-// will actually be one less than this, so 999.
-#define STORAGE_SIZE_BYTES 1000
-
-// Defines the memory that will actually hold the streams within the stream
-// buffer.
-static uint8_t ucStorageBuffer[ STORAGE_SIZE_BYTES ];
-
-// The variable used to hold the stream buffer structure.
-StaticStreamBuffer_t xStreamBufferStruct;
-
-void MyFunction( void )
-{
-StreamBufferHandle_t xStreamBuffer;
-const size_t xTriggerLevel = 1;
-
- xStreamBuffer = xStreamBufferCreateStatic( sizeof( ucBufferStorage ),
- xTriggerLevel,
- ucBufferStorage,
- &xStreamBufferStruct );
-
- // As neither the pucStreamBufferStorageArea or pxStaticStreamBuffer
- // parameters were NULL, xStreamBuffer will not be NULL, and can be used to
- // reference the created stream buffer in other stream buffer API calls.
-
- // Other code that uses the stream buffer can go here.
-}
-
-</pre>
- * \defgroup xStreamBufferCreateStatic xStreamBufferCreateStatic
- * \ingroup StreamBufferManagement
- */
-#define xStreamBufferCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pucStreamBufferStorageArea, pxStaticStreamBuffer ) xStreamBufferGenericCreateStatic( xBufferSizeBytes, xTriggerLevelBytes, pdFALSE, pucStreamBufferStorageArea, pxStaticStreamBuffer )
-
-/**
- * stream_buffer.h
- *
-<pre>
-size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- TickType_t xTicksToWait );
-</pre>
- *
- * Sends bytes to a stream buffer. The bytes are copied into the stream buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xStreamBufferSend() to write to a stream buffer from a task. Use
- * xStreamBufferSendFromISR() to write to a stream buffer from an interrupt
- * service routine (ISR).
- *
- * @param xStreamBuffer The handle of the stream buffer to which a stream is
- * being sent.
- *
- * @param pvTxData A pointer to the buffer that holds the bytes to be copied
- * into the stream buffer.
- *
- * @param xDataLengthBytes The maximum number of bytes to copy from pvTxData
- * into the stream buffer.
- *
- * @param xTicksToWait The maximum amount of time the task should remain in the
- * Blocked state to wait for enough space to become available in the stream
- * buffer, should the stream buffer contain too little space to hold the
- * another xDataLengthBytes bytes. The block time is specified in tick periods,
- * so the absolute time it represents is dependent on the tick frequency. The
- * macro pdMS_TO_TICKS() can be used to convert a time specified in milliseconds
- * into a time specified in ticks. Setting xTicksToWait to portMAX_DELAY will
- * cause the task to wait indefinitely (without timing out), provided
- * INCLUDE_vTaskSuspend is set to 1 in FreeRTOSConfig.h. If a task times out
- * before it can write all xDataLengthBytes into the buffer it will still write
- * as many bytes as possible. A task does not use any CPU time when it is in
- * the blocked state.
- *
- * @return The number of bytes written to the stream buffer. If a task times
- * out before it can write all xDataLengthBytes into the buffer it will still
- * write as many bytes as possible.
- *
- * Example use:
-<pre>
-void vAFunction( StreamBufferHandle_t xStreamBuffer )
-{
-size_t xBytesSent;
-uint8_t ucArrayToSend[] = { 0, 1, 2, 3 };
-char *pcStringToSend = "String to send";
-const TickType_t x100ms = pdMS_TO_TICKS( 100 );
-
- // Send an array to the stream buffer, blocking for a maximum of 100ms to
- // wait for enough space to be available in the stream buffer.
- xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) ucArrayToSend, sizeof( ucArrayToSend ), x100ms );
-
- if( xBytesSent != sizeof( ucArrayToSend ) )
- {
- // The call to xStreamBufferSend() times out before there was enough
- // space in the buffer for the data to be written, but it did
- // successfully write xBytesSent bytes.
- }
-
- // Send the string to the stream buffer. Return immediately if there is not
- // enough space in the buffer.
- xBytesSent = xStreamBufferSend( xStreamBuffer, ( void * ) pcStringToSend, strlen( pcStringToSend ), 0 );
-
- if( xBytesSent != strlen( pcStringToSend ) )
- {
- // The entire string could not be added to the stream buffer because
- // there was not enough free space in the buffer, but xBytesSent bytes
- // were sent. Could try again to send the remaining bytes.
- }
-}
-</pre>
- * \defgroup xStreamBufferSend xStreamBufferSend
- * \ingroup StreamBufferManagement
- */
-size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * Interrupt safe version of the API function that sends a stream of bytes to
- * the stream buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xStreamBufferSend() to write to a stream buffer from a task. Use
- * xStreamBufferSendFromISR() to write to a stream buffer from an interrupt
- * service routine (ISR).
- *
- * @param xStreamBuffer The handle of the stream buffer to which a stream is
- * being sent.
- *
- * @param pvTxData A pointer to the data that is to be copied into the stream
- * buffer.
- *
- * @param xDataLengthBytes The maximum number of bytes to copy from pvTxData
- * into the stream buffer.
- *
- * @param pxHigherPriorityTaskWoken It is possible that a stream buffer will
- * have a task blocked on it waiting for data. Calling
- * xStreamBufferSendFromISR() can make data available, and so cause a task that
- * was waiting for data to leave the Blocked state. If calling
- * xStreamBufferSendFromISR() causes a task to leave the Blocked state, and the
- * unblocked task has a priority higher than the currently executing task (the
- * task that was interrupted), then, internally, xStreamBufferSendFromISR()
- * will set *pxHigherPriorityTaskWoken to pdTRUE. If
- * xStreamBufferSendFromISR() sets this value to pdTRUE, then normally a
- * context switch should be performed before the interrupt is exited. This will
- * ensure that the interrupt returns directly to the highest priority Ready
- * state task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it
- * is passed into the function. See the example code below for an example.
- *
- * @return The number of bytes actually written to the stream buffer, which will
- * be less than xDataLengthBytes if the stream buffer didn't have enough free
- * space for all the bytes to be written.
- *
- * Example use:
-<pre>
-// A stream buffer that has already been created.
-StreamBufferHandle_t xStreamBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-size_t xBytesSent;
-char *pcStringToSend = "String to send";
-BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
-
- // Attempt to send the string to the stream buffer.
- xBytesSent = xStreamBufferSendFromISR( xStreamBuffer,
- ( void * ) pcStringToSend,
- strlen( pcStringToSend ),
- &xHigherPriorityTaskWoken );
-
- if( xBytesSent != strlen( pcStringToSend ) )
- {
- // There was not enough free space in the stream buffer for the entire
- // string to be written, ut xBytesSent bytes were written.
- }
-
- // If xHigherPriorityTaskWoken was set to pdTRUE inside
- // xStreamBufferSendFromISR() then a task that has a priority above the
- // priority of the currently executing task was unblocked and a context
- // switch should be performed to ensure the ISR returns to the unblocked
- // task. In most FreeRTOS ports this is done by simply passing
- // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
- // variables value, and perform the context switch if necessary. Check the
- // documentation for the port in use for port specific instructions.
- taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-</pre>
- * \defgroup xStreamBufferSendFromISR xStreamBufferSendFromISR
- * \ingroup StreamBufferManagement
- */
-size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- TickType_t xTicksToWait );
-</pre>
- *
- * Receives bytes from a stream buffer.
- *
- * ***NOTE***: Uniquely among FreeRTOS objects, the stream buffer
- * implementation (so also the message buffer implementation, as message buffers
- * are built on top of stream buffers) assumes there is only one task or
- * interrupt that will write to the buffer (the writer), and only one task or
- * interrupt that will read from the buffer (the reader). It is safe for the
- * writer and reader to be different tasks or interrupts, but, unlike other
- * FreeRTOS objects, it is not safe to have multiple different writers or
- * multiple different readers. If there are to be multiple different writers
- * then the application writer must place each call to a writing API function
- * (such as xStreamBufferSend()) inside a critical section and set the send
- * block time to 0. Likewise, if there are to be multiple different readers
- * then the application writer must place each call to a reading API function
- * (such as xStreamBufferReceive()) inside a critical section and set the receive
- * block time to 0.
- *
- * Use xStreamBufferReceive() to read from a stream buffer from a task. Use
- * xStreamBufferReceiveFromISR() to read from a stream buffer from an
- * interrupt service routine (ISR).
- *
- * @param xStreamBuffer The handle of the stream buffer from which bytes are to
- * be received.
- *
- * @param pvRxData A pointer to the buffer into which the received bytes will be
- * copied.
- *
- * @param xBufferLengthBytes The length of the buffer pointed to by the
- * pvRxData parameter. This sets the maximum number of bytes to receive in one
- * call. xStreamBufferReceive will return as many bytes as possible up to a
- * maximum set by xBufferLengthBytes.
- *
- * @param xTicksToWait The maximum amount of time the task should remain in the
- * Blocked state to wait for data to become available if the stream buffer is
- * empty. xStreamBufferReceive() will return immediately if xTicksToWait is
- * zero. The block time is specified in tick periods, so the absolute time it
- * represents is dependent on the tick frequency. The macro pdMS_TO_TICKS() can
- * be used to convert a time specified in milliseconds into a time specified in
- * ticks. Setting xTicksToWait to portMAX_DELAY will cause the task to wait
- * indefinitely (without timing out), provided INCLUDE_vTaskSuspend is set to 1
- * in FreeRTOSConfig.h. A task does not use any CPU time when it is in the
- * Blocked state.
- *
- * @return The number of bytes actually read from the stream buffer, which will
- * be less than xBufferLengthBytes if the call to xStreamBufferReceive() timed
- * out before xBufferLengthBytes were available.
- *
- * Example use:
-<pre>
-void vAFunction( StreamBuffer_t xStreamBuffer )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-const TickType_t xBlockTime = pdMS_TO_TICKS( 20 );
-
- // Receive up to another sizeof( ucRxData ) bytes from the stream buffer.
- // Wait in the Blocked state (so not using any CPU processing time) for a
- // maximum of 100ms for the full sizeof( ucRxData ) number of bytes to be
- // available.
- xReceivedBytes = xStreamBufferReceive( xStreamBuffer,
- ( void * ) ucRxData,
- sizeof( ucRxData ),
- xBlockTime );
-
- if( xReceivedBytes > 0 )
- {
- // A ucRxData contains another xRecievedBytes bytes of data, which can
- // be processed here....
- }
-}
-</pre>
- * \defgroup xStreamBufferReceive xStreamBufferReceive
- * \ingroup StreamBufferManagement
- */
-size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * An interrupt safe version of the API function that receives bytes from a
- * stream buffer.
- *
- * Use xStreamBufferReceive() to read bytes from a stream buffer from a task.
- * Use xStreamBufferReceiveFromISR() to read bytes from a stream buffer from an
- * interrupt service routine (ISR).
- *
- * @param xStreamBuffer The handle of the stream buffer from which a stream
- * is being received.
- *
- * @param pvRxData A pointer to the buffer into which the received bytes are
- * copied.
- *
- * @param xBufferLengthBytes The length of the buffer pointed to by the
- * pvRxData parameter. This sets the maximum number of bytes to receive in one
- * call. xStreamBufferReceive will return as many bytes as possible up to a
- * maximum set by xBufferLengthBytes.
- *
- * @param pxHigherPriorityTaskWoken It is possible that a stream buffer will
- * have a task blocked on it waiting for space to become available. Calling
- * xStreamBufferReceiveFromISR() can make space available, and so cause a task
- * that is waiting for space to leave the Blocked state. If calling
- * xStreamBufferReceiveFromISR() causes a task to leave the Blocked state, and
- * the unblocked task has a priority higher than the currently executing task
- * (the task that was interrupted), then, internally,
- * xStreamBufferReceiveFromISR() will set *pxHigherPriorityTaskWoken to pdTRUE.
- * If xStreamBufferReceiveFromISR() sets this value to pdTRUE, then normally a
- * context switch should be performed before the interrupt is exited. That will
- * ensure the interrupt returns directly to the highest priority Ready state
- * task. *pxHigherPriorityTaskWoken should be set to pdFALSE before it is
- * passed into the function. See the code example below for an example.
- *
- * @return The number of bytes read from the stream buffer, if any.
- *
- * Example use:
-<pre>
-// A stream buffer that has already been created.
-StreamBuffer_t xStreamBuffer;
-
-void vAnInterruptServiceRoutine( void )
-{
-uint8_t ucRxData[ 20 ];
-size_t xReceivedBytes;
-BaseType_t xHigherPriorityTaskWoken = pdFALSE; // Initialised to pdFALSE.
-
- // Receive the next stream from the stream buffer.
- xReceivedBytes = xStreamBufferReceiveFromISR( xStreamBuffer,
- ( void * ) ucRxData,
- sizeof( ucRxData ),
- &xHigherPriorityTaskWoken );
-
- if( xReceivedBytes > 0 )
- {
- // ucRxData contains xReceivedBytes read from the stream buffer.
- // Process the stream here....
- }
-
- // If xHigherPriorityTaskWoken was set to pdTRUE inside
- // xStreamBufferReceiveFromISR() then a task that has a priority above the
- // priority of the currently executing task was unblocked and a context
- // switch should be performed to ensure the ISR returns to the unblocked
- // task. In most FreeRTOS ports this is done by simply passing
- // xHigherPriorityTaskWoken into taskYIELD_FROM_ISR(), which will test the
- // variables value, and perform the context switch if necessary. Check the
- // documentation for the port in use for port specific instructions.
- taskYIELD_FROM_ISR( xHigherPriorityTaskWoken );
-}
-</pre>
- * \defgroup xStreamBufferReceiveFromISR xStreamBufferReceiveFromISR
- * \ingroup StreamBufferManagement
- */
-size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- BaseType_t * const pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer );
-</pre>
- *
- * Deletes a stream buffer that was previously created using a call to
- * xStreamBufferCreate() or xStreamBufferCreateStatic(). If the stream
- * buffer was created using dynamic memory (that is, by xStreamBufferCreate()),
- * then the allocated memory is freed.
- *
- * A stream buffer handle must not be used after the stream buffer has been
- * deleted.
- *
- * @param xStreamBuffer The handle of the stream buffer to be deleted.
- *
- * \defgroup vStreamBufferDelete vStreamBufferDelete
- * \ingroup StreamBufferManagement
- */
-void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer );
-</pre>
- *
- * Queries a stream buffer to see if it is full. A stream buffer is full if it
- * does not have any free space, and therefore cannot accept any more data.
- *
- * @param xStreamBuffer The handle of the stream buffer being queried.
- *
- * @return If the stream buffer is full then pdTRUE is returned. Otherwise
- * pdFALSE is returned.
- *
- * \defgroup xStreamBufferIsFull xStreamBufferIsFull
- * \ingroup StreamBufferManagement
- */
-BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer );
-</pre>
- *
- * Queries a stream buffer to see if it is empty. A stream buffer is empty if
- * it does not contain any data.
- *
- * @param xStreamBuffer The handle of the stream buffer being queried.
- *
- * @return If the stream buffer is empty then pdTRUE is returned. Otherwise
- * pdFALSE is returned.
- *
- * \defgroup xStreamBufferIsEmpty xStreamBufferIsEmpty
- * \ingroup StreamBufferManagement
- */
-BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer );
-</pre>
- *
- * Resets a stream buffer to its initial, empty, state. Any data that was in
- * the stream buffer is discarded. A stream buffer can only be reset if there
- * are no tasks blocked waiting to either send to or receive from the stream
- * buffer.
- *
- * @param xStreamBuffer The handle of the stream buffer being reset.
- *
- * @return If the stream buffer is reset then pdPASS is returned. If there was
- * a task blocked waiting to send to or read from the stream buffer then the
- * stream buffer is not reset and pdFAIL is returned.
- *
- * \defgroup xStreamBufferReset xStreamBufferReset
- * \ingroup StreamBufferManagement
- */
-BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer );
-</pre>
- *
- * Queries a stream buffer to see how much free space it contains, which is
- * equal to the amount of data that can be sent to the stream buffer before it
- * is full.
- *
- * @param xStreamBuffer The handle of the stream buffer being queried.
- *
- * @return The number of bytes that can be written to the stream buffer before
- * the stream buffer would be full.
- *
- * \defgroup xStreamBufferSpacesAvailable xStreamBufferSpacesAvailable
- * \ingroup StreamBufferManagement
- */
-size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer );
-</pre>
- *
- * Queries a stream buffer to see how much data it contains, which is equal to
- * the number of bytes that can be read from the stream buffer before the stream
- * buffer would be empty.
- *
- * @param xStreamBuffer The handle of the stream buffer being queried.
- *
- * @return The number of bytes that can be read from the stream buffer before
- * the stream buffer would be empty.
- *
- * \defgroup xStreamBufferBytesAvailable xStreamBufferBytesAvailable
- * \ingroup StreamBufferManagement
- */
-size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel );
-</pre>
- *
- * A stream buffer's trigger level is the number of bytes that must be in the
- * stream buffer before a task that is blocked on the stream buffer to
- * wait for data is moved out of the blocked state. For example, if a task is
- * blocked on a read of an empty stream buffer that has a trigger level of 1
- * then the task will be unblocked when a single byte is written to the buffer
- * or the task's block time expires. As another example, if a task is blocked
- * on a read of an empty stream buffer that has a trigger level of 10 then the
- * task will not be unblocked until the stream buffer contains at least 10 bytes
- * or the task's block time expires. If a reading task's block time expires
- * before the trigger level is reached then the task will still receive however
- * many bytes are actually available. Setting a trigger level of 0 will result
- * in a trigger level of 1 being used. It is not valid to specify a trigger
- * level that is greater than the buffer size.
- *
- * A trigger level is set when the stream buffer is created, and can be modified
- * using xStreamBufferSetTriggerLevel().
- *
- * @param xStreamBuffer The handle of the stream buffer being updated.
- *
- * @param xTriggerLevel The new trigger level for the stream buffer.
- *
- * @return If xTriggerLevel was less than or equal to the stream buffer's length
- * then the trigger level will be updated and pdTRUE is returned. Otherwise
- * pdFALSE is returned.
- *
- * \defgroup xStreamBufferSetTriggerLevel xStreamBufferSetTriggerLevel
- * \ingroup StreamBufferManagement
- */
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * For advanced users only.
- *
- * The sbSEND_COMPLETED() macro is called from within the FreeRTOS APIs when
- * data is sent to a message buffer or stream buffer. If there was a task that
- * was blocked on the message or stream buffer waiting for data to arrive then
- * the sbSEND_COMPLETED() macro sends a notification to the task to remove it
- * from the Blocked state. xStreamBufferSendCompletedFromISR() does the same
- * thing. It is provided to enable application writers to implement their own
- * version of sbSEND_COMPLETED(), and MUST NOT BE USED AT ANY OTHER TIME.
- *
- * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
- * additional information.
- *
- * @param xStreamBuffer The handle of the stream buffer to which data was
- * written.
- *
- * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
- * initialised to pdFALSE before it is passed into
- * xStreamBufferSendCompletedFromISR(). If calling
- * xStreamBufferSendCompletedFromISR() removes a task from the Blocked state,
- * and the task has a priority above the priority of the currently running task,
- * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
- * context switch should be performed before exiting the ISR.
- *
- * @return If a task was removed from the Blocked state then pdTRUE is returned.
- * Otherwise pdFALSE is returned.
- *
- * \defgroup xStreamBufferSendCompletedFromISR xStreamBufferSendCompletedFromISR
- * \ingroup StreamBufferManagement
- */
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/**
- * stream_buffer.h
- *
-<pre>
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken );
-</pre>
- *
- * For advanced users only.
- *
- * The sbRECEIVE_COMPLETED() macro is called from within the FreeRTOS APIs when
- * data is read out of a message buffer or stream buffer. If there was a task
- * that was blocked on the message or stream buffer waiting for data to arrive
- * then the sbRECEIVE_COMPLETED() macro sends a notification to the task to
- * remove it from the Blocked state. xStreamBufferReceiveCompletedFromISR()
- * does the same thing. It is provided to enable application writers to
- * implement their own version of sbRECEIVE_COMPLETED(), and MUST NOT BE USED AT
- * ANY OTHER TIME.
- *
- * See the example implemented in FreeRTOS/Demo/Minimal/MessageBufferAMP.c for
- * additional information.
- *
- * @param xStreamBuffer The handle of the stream buffer from which data was
- * read.
- *
- * @param pxHigherPriorityTaskWoken *pxHigherPriorityTaskWoken should be
- * initialised to pdFALSE before it is passed into
- * xStreamBufferReceiveCompletedFromISR(). If calling
- * xStreamBufferReceiveCompletedFromISR() removes a task from the Blocked state,
- * and the task has a priority above the priority of the currently running task,
- * then *pxHigherPriorityTaskWoken will get set to pdTRUE indicating that a
- * context switch should be performed before exiting the ISR.
- *
- * @return If a task was removed from the Blocked state then pdTRUE is returned.
- * Otherwise pdFALSE is returned.
- *
- * \defgroup xStreamBufferReceiveCompletedFromISR xStreamBufferReceiveCompletedFromISR
- * \ingroup StreamBufferManagement
- */
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/* Functions below here are not part of the public API. */
-StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes,
- size_t xTriggerLevelBytes,
- BaseType_t xIsMessageBuffer ) PRIVILEGED_FUNCTION;
-
-StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
- size_t xTriggerLevelBytes,
- BaseType_t xIsMessageBuffer,
- uint8_t * const pucStreamBufferStorageArea,
- StaticStreamBuffer_t * const pxStaticStreamBuffer ) PRIVILEGED_FUNCTION;
-
-size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-
-#if( configUSE_TRACE_FACILITY == 1 )
- void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber ) PRIVILEGED_FUNCTION;
- UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
- uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer ) PRIVILEGED_FUNCTION;
-#endif
-
-#if defined( __cplusplus )
-}
-#endif
-
-#endif /* !defined( STREAM_BUFFER_H ) */
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/task.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/task.h
deleted file mode 100644
index b861483d042010b97b35f553becae8edd3804f50..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/task.h
+++ /dev/null
@@ -1,2543 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-#ifndef INC_TASK_H
-#define INC_TASK_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h must appear in source files before include task.h"
-#endif
-
-#include "list.h"
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*-----------------------------------------------------------
- * MACROS AND DEFINITIONS
- *----------------------------------------------------------*/
-
-#define tskKERNEL_VERSION_NUMBER "V10.3.0"
-#define tskKERNEL_VERSION_MAJOR 10
-#define tskKERNEL_VERSION_MINOR 3
-#define tskKERNEL_VERSION_BUILD 0
-
-/* MPU region parameters passed in ulParameters
- * of MemoryRegion_t struct. */
-#define tskMPU_REGION_READ_ONLY ( 1UL << 0UL )
-#define tskMPU_REGION_READ_WRITE ( 1UL << 1UL )
-#define tskMPU_REGION_EXECUTE_NEVER ( 1UL << 2UL )
-#define tskMPU_REGION_NORMAL_MEMORY ( 1UL << 3UL )
-#define tskMPU_REGION_DEVICE_MEMORY ( 1UL << 4UL )
-
-/**
- * task. h
- *
- * Type by which tasks are referenced. For example, a call to xTaskCreate
- * returns (via a pointer parameter) an TaskHandle_t variable that can then
- * be used as a parameter to vTaskDelete to delete the task.
- *
- * \defgroup TaskHandle_t TaskHandle_t
- * \ingroup Tasks
- */
-struct tskTaskControlBlock; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-typedef struct tskTaskControlBlock* TaskHandle_t;
-
-/*
- * Defines the prototype to which the application task hook function must
- * conform.
- */
-typedef BaseType_t (*TaskHookFunction_t)( void * );
-
-/* Task states returned by eTaskGetState. */
-typedef enum
-{
- eRunning = 0, /* A task is querying the state of itself, so must be running. */
- eReady, /* The task being queried is in a read or pending ready list. */
- eBlocked, /* The task being queried is in the Blocked state. */
- eSuspended, /* The task being queried is in the Suspended state, or is in the Blocked state with an infinite time out. */
- eDeleted, /* The task being queried has been deleted, but its TCB has not yet been freed. */
- eInvalid /* Used as an 'invalid state' value. */
-} eTaskState;
-
-/* Actions that can be performed when vTaskNotify() is called. */
-typedef enum
-{
- eNoAction = 0, /* Notify the task without updating its notify value. */
- eSetBits, /* Set bits in the task's notification value. */
- eIncrement, /* Increment the task's notification value. */
- eSetValueWithOverwrite, /* Set the task's notification value to a specific value even if the previous value has not yet been read by the task. */
- eSetValueWithoutOverwrite /* Set the task's notification value if the previous value has been read by the task. */
-} eNotifyAction;
-
-/*
- * Used internally only.
- */
-typedef struct xTIME_OUT
-{
- BaseType_t xOverflowCount;
- TickType_t xTimeOnEntering;
-} TimeOut_t;
-
-/*
- * Defines the memory ranges allocated to the task when an MPU is used.
- */
-typedef struct xMEMORY_REGION
-{
- void *pvBaseAddress;
- uint32_t ulLengthInBytes;
- uint32_t ulParameters;
-} MemoryRegion_t;
-
-/*
- * Parameters required to create an MPU protected task.
- */
-typedef struct xTASK_PARAMETERS
-{
- TaskFunction_t pvTaskCode;
- const char * const pcName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- configSTACK_DEPTH_TYPE usStackDepth;
- void *pvParameters;
- UBaseType_t uxPriority;
- StackType_t *puxStackBuffer;
- MemoryRegion_t xRegions[ portNUM_CONFIGURABLE_REGIONS ];
- #if ( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
- StaticTask_t * const pxTaskBuffer;
- #endif
-} TaskParameters_t;
-
-/* Used with the uxTaskGetSystemState() function to return the state of each task
-in the system. */
-typedef struct xTASK_STATUS
-{
- TaskHandle_t xHandle; /* The handle of the task to which the rest of the information in the structure relates. */
- const char *pcTaskName; /* A pointer to the task's name. This value will be invalid if the task was deleted since the structure was populated! */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- UBaseType_t xTaskNumber; /* A number unique to the task. */
- eTaskState eCurrentState; /* The state in which the task existed when the structure was populated. */
- UBaseType_t uxCurrentPriority; /* The priority at which the task was running (may be inherited) when the structure was populated. */
- UBaseType_t uxBasePriority; /* The priority to which the task will return if the task's current priority has been inherited to avoid unbounded priority inversion when obtaining a mutex. Only valid if configUSE_MUTEXES is defined as 1 in FreeRTOSConfig.h. */
- uint32_t ulRunTimeCounter; /* The total run time allocated to the task so far, as defined by the run time stats clock. See http://www.freertos.org/rtos-run-time-stats.html. Only valid when configGENERATE_RUN_TIME_STATS is defined as 1 in FreeRTOSConfig.h. */
- StackType_t *pxStackBase; /* Points to the lowest address of the task's stack area. */
- configSTACK_DEPTH_TYPE usStackHighWaterMark; /* The minimum amount of stack space that has remained for the task since the task was created. The closer this value is to zero the closer the task has come to overflowing its stack. */
-} TaskStatus_t;
-
-/* Possible return values for eTaskConfirmSleepModeStatus(). */
-typedef enum
-{
- eAbortSleep = 0, /* A task has been made ready or a context switch pended since portSUPPORESS_TICKS_AND_SLEEP() was called - abort entering a sleep mode. */
- eStandardSleep, /* Enter a sleep mode that will not last any longer than the expected idle time. */
- eNoTasksWaitingTimeout /* No tasks are waiting for a timeout so it is safe to enter a sleep mode that can only be exited by an external interrupt. */
-} eSleepModeStatus;
-
-/**
- * Defines the priority used by the idle task. This must not be modified.
- *
- * \ingroup TaskUtils
- */
-#define tskIDLE_PRIORITY ( ( UBaseType_t ) 0U )
-
-/**
- * task. h
- *
- * Macro for forcing a context switch.
- *
- * \defgroup taskYIELD taskYIELD
- * \ingroup SchedulerControl
- */
-#define taskYIELD() portYIELD()
-
-/**
- * task. h
- *
- * Macro to mark the start of a critical code region. Preemptive context
- * switches cannot occur when in a critical region.
- *
- * NOTE: This may alter the stack (depending on the portable implementation)
- * so must be used with care!
- *
- * \defgroup taskENTER_CRITICAL taskENTER_CRITICAL
- * \ingroup SchedulerControl
- */
-#define taskENTER_CRITICAL() portENTER_CRITICAL()
-#define taskENTER_CRITICAL_FROM_ISR() portSET_INTERRUPT_MASK_FROM_ISR()
-
-/**
- * task. h
- *
- * Macro to mark the end of a critical code region. Preemptive context
- * switches cannot occur when in a critical region.
- *
- * NOTE: This may alter the stack (depending on the portable implementation)
- * so must be used with care!
- *
- * \defgroup taskEXIT_CRITICAL taskEXIT_CRITICAL
- * \ingroup SchedulerControl
- */
-#define taskEXIT_CRITICAL() portEXIT_CRITICAL()
-#define taskEXIT_CRITICAL_FROM_ISR( x ) portCLEAR_INTERRUPT_MASK_FROM_ISR( x )
-/**
- * task. h
- *
- * Macro to disable all maskable interrupts.
- *
- * \defgroup taskDISABLE_INTERRUPTS taskDISABLE_INTERRUPTS
- * \ingroup SchedulerControl
- */
-#define taskDISABLE_INTERRUPTS() portDISABLE_INTERRUPTS()
-
-/**
- * task. h
- *
- * Macro to enable microcontroller interrupts.
- *
- * \defgroup taskENABLE_INTERRUPTS taskENABLE_INTERRUPTS
- * \ingroup SchedulerControl
- */
-#define taskENABLE_INTERRUPTS() portENABLE_INTERRUPTS()
-
-/* Definitions returned by xTaskGetSchedulerState(). taskSCHEDULER_SUSPENDED is
-0 to generate more optimal code when configASSERT() is defined as the constant
-is used in assert() statements. */
-#define taskSCHEDULER_SUSPENDED ( ( BaseType_t ) 0 )
-#define taskSCHEDULER_NOT_STARTED ( ( BaseType_t ) 1 )
-#define taskSCHEDULER_RUNNING ( ( BaseType_t ) 2 )
-
-
-/*-----------------------------------------------------------
- * TASK CREATION API
- *----------------------------------------------------------*/
-
-/**
- * task. h
- *<pre>
- BaseType_t xTaskCreate(
- TaskFunction_t pvTaskCode,
- const char * const pcName,
- configSTACK_DEPTH_TYPE usStackDepth,
- void *pvParameters,
- UBaseType_t uxPriority,
- TaskHandle_t *pvCreatedTask
- );</pre>
- *
- * Create a new task and add it to the list of tasks that are ready to run.
- *
- * Internally, within the FreeRTOS implementation, tasks use two blocks of
- * memory. The first block is used to hold the task's data structures. The
- * second block is used by the task as its stack. If a task is created using
- * xTaskCreate() then both blocks of memory are automatically dynamically
- * allocated inside the xTaskCreate() function. (see
- * http://www.freertos.org/a00111.html). If a task is created using
- * xTaskCreateStatic() then the application writer must provide the required
- * memory. xTaskCreateStatic() therefore allows a task to be created without
- * using any dynamic memory allocation.
- *
- * See xTaskCreateStatic() for a version that does not use any dynamic memory
- * allocation.
- *
- * xTaskCreate() can only be used to create a task that has unrestricted
- * access to the entire microcontroller memory map. Systems that include MPU
- * support can alternatively create an MPU constrained task using
- * xTaskCreateRestricted().
- *
- * @param pvTaskCode Pointer to the task entry function. Tasks
- * must be implemented to never return (i.e. continuous loop).
- *
- * @param pcName A descriptive name for the task. This is mainly used to
- * facilitate debugging. Max length defined by configMAX_TASK_NAME_LEN - default
- * is 16.
- *
- * @param usStackDepth The size of the task stack specified as the number of
- * variables the stack can hold - not the number of bytes. For example, if
- * the stack is 16 bits wide and usStackDepth is defined as 100, 200 bytes
- * will be allocated for stack storage.
- *
- * @param pvParameters Pointer that will be used as the parameter for the task
- * being created.
- *
- * @param uxPriority The priority at which the task should run. Systems that
- * include MPU support can optionally create tasks in a privileged (system)
- * mode by setting bit portPRIVILEGE_BIT of the priority parameter. For
- * example, to create a privileged task at priority 2 the uxPriority parameter
- * should be set to ( 2 | portPRIVILEGE_BIT ).
- *
- * @param pvCreatedTask Used to pass back a handle by which the created task
- * can be referenced.
- *
- * @return pdPASS if the task was successfully created and added to a ready
- * list, otherwise an error code defined in the file projdefs.h
- *
- * Example usage:
- <pre>
- // Task to be created.
- void vTaskCode( void * pvParameters )
- {
- for( ;; )
- {
- // Task code goes here.
- }
- }
-
- // Function that creates a task.
- void vOtherFunction( void )
- {
- static uint8_t ucParameterToPass;
- TaskHandle_t xHandle = NULL;
-
- // Create the task, storing the handle. Note that the passed parameter ucParameterToPass
- // must exist for the lifetime of the task, so in this case is declared static. If it was just an
- // an automatic stack variable it might no longer exist, or at least have been corrupted, by the time
- // the new task attempts to access it.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, &ucParameterToPass, tskIDLE_PRIORITY, &xHandle );
- configASSERT( xHandle );
-
- // Use the handle to delete the task.
- if( xHandle != NULL )
- {
- vTaskDelete( xHandle );
- }
- }
- </pre>
- * \defgroup xTaskCreate xTaskCreate
- * \ingroup Tasks
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
- const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const configSTACK_DEPTH_TYPE usStackDepth,
- void * const pvParameters,
- UBaseType_t uxPriority,
- TaskHandle_t * const pxCreatedTask ) PRIVILEGED_FUNCTION;
-#endif
-
-/**
- * task. h
- *<pre>
- TaskHandle_t xTaskCreateStatic( TaskFunction_t pvTaskCode,
- const char * const pcName,
- uint32_t ulStackDepth,
- void *pvParameters,
- UBaseType_t uxPriority,
- StackType_t *pxStackBuffer,
- StaticTask_t *pxTaskBuffer );</pre>
- *
- * Create a new task and add it to the list of tasks that are ready to run.
- *
- * Internally, within the FreeRTOS implementation, tasks use two blocks of
- * memory. The first block is used to hold the task's data structures. The
- * second block is used by the task as its stack. If a task is created using
- * xTaskCreate() then both blocks of memory are automatically dynamically
- * allocated inside the xTaskCreate() function. (see
- * http://www.freertos.org/a00111.html). If a task is created using
- * xTaskCreateStatic() then the application writer must provide the required
- * memory. xTaskCreateStatic() therefore allows a task to be created without
- * using any dynamic memory allocation.
- *
- * @param pvTaskCode Pointer to the task entry function. Tasks
- * must be implemented to never return (i.e. continuous loop).
- *
- * @param pcName A descriptive name for the task. This is mainly used to
- * facilitate debugging. The maximum length of the string is defined by
- * configMAX_TASK_NAME_LEN in FreeRTOSConfig.h.
- *
- * @param ulStackDepth The size of the task stack specified as the number of
- * variables the stack can hold - not the number of bytes. For example, if
- * the stack is 32-bits wide and ulStackDepth is defined as 100 then 400 bytes
- * will be allocated for stack storage.
- *
- * @param pvParameters Pointer that will be used as the parameter for the task
- * being created.
- *
- * @param uxPriority The priority at which the task will run.
- *
- * @param pxStackBuffer Must point to a StackType_t array that has at least
- * ulStackDepth indexes - the array will then be used as the task's stack,
- * removing the need for the stack to be allocated dynamically.
- *
- * @param pxTaskBuffer Must point to a variable of type StaticTask_t, which will
- * then be used to hold the task's data structures, removing the need for the
- * memory to be allocated dynamically.
- *
- * @return If neither pxStackBuffer or pxTaskBuffer are NULL, then the task will
- * be created and a handle to the created task is returned. If either
- * pxStackBuffer or pxTaskBuffer are NULL then the task will not be created and
- * NULL is returned.
- *
- * Example usage:
- <pre>
-
- // Dimensions the buffer that the task being created will use as its stack.
- // NOTE: This is the number of words the stack will hold, not the number of
- // bytes. For example, if each stack item is 32-bits, and this is set to 100,
- // then 400 bytes (100 * 32-bits) will be allocated.
- #define STACK_SIZE 200
-
- // Structure that will hold the TCB of the task being created.
- StaticTask_t xTaskBuffer;
-
- // Buffer that the task being created will use as its stack. Note this is
- // an array of StackType_t variables. The size of StackType_t is dependent on
- // the RTOS port.
- StackType_t xStack[ STACK_SIZE ];
-
- // Function that implements the task being created.
- void vTaskCode( void * pvParameters )
- {
- // The parameter value is expected to be 1 as 1 is passed in the
- // pvParameters value in the call to xTaskCreateStatic().
- configASSERT( ( uint32_t ) pvParameters == 1UL );
-
- for( ;; )
- {
- // Task code goes here.
- }
- }
-
- // Function that creates a task.
- void vOtherFunction( void )
- {
- TaskHandle_t xHandle = NULL;
-
- // Create the task without using any dynamic memory allocation.
- xHandle = xTaskCreateStatic(
- vTaskCode, // Function that implements the task.
- "NAME", // Text name for the task.
- STACK_SIZE, // Stack size in words, not bytes.
- ( void * ) 1, // Parameter passed into the task.
- tskIDLE_PRIORITY,// Priority at which the task is created.
- xStack, // Array to use as the task's stack.
- &xTaskBuffer ); // Variable to hold the task's data structure.
-
- // puxStackBuffer and pxTaskBuffer were not NULL, so the task will have
- // been created, and xHandle will be the task's handle. Use the handle
- // to suspend the task.
- vTaskSuspend( xHandle );
- }
- </pre>
- * \defgroup xTaskCreateStatic xTaskCreateStatic
- * \ingroup Tasks
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
- const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const uint32_t ulStackDepth,
- void * const pvParameters,
- UBaseType_t uxPriority,
- StackType_t * const puxStackBuffer,
- StaticTask_t * const pxTaskBuffer ) PRIVILEGED_FUNCTION;
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * task. h
- *<pre>
- BaseType_t xTaskCreateRestricted( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );</pre>
- *
- * Only available when configSUPPORT_DYNAMIC_ALLOCATION is set to 1.
- *
- * xTaskCreateRestricted() should only be used in systems that include an MPU
- * implementation.
- *
- * Create a new task and add it to the list of tasks that are ready to run.
- * The function parameters define the memory regions and associated access
- * permissions allocated to the task.
- *
- * See xTaskCreateRestrictedStatic() for a version that does not use any
- * dynamic memory allocation.
- *
- * @param pxTaskDefinition Pointer to a structure that contains a member
- * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
- * documentation) plus an optional stack buffer and the memory region
- * definitions.
- *
- * @param pxCreatedTask Used to pass back a handle by which the created task
- * can be referenced.
- *
- * @return pdPASS if the task was successfully created and added to a ready
- * list, otherwise an error code defined in the file projdefs.h
- *
- * Example usage:
- <pre>
-// Create an TaskParameters_t structure that defines the task to be created.
-static const TaskParameters_t xCheckTaskParameters =
-{
- vATask, // pvTaskCode - the function that implements the task.
- "ATask", // pcName - just a text name for the task to assist debugging.
- 100, // usStackDepth - the stack size DEFINED IN WORDS.
- NULL, // pvParameters - passed into the task function as the function parameters.
- ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
- cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
-
- // xRegions - Allocate up to three separate memory regions for access by
- // the task, with appropriate access permissions. Different processors have
- // different memory alignment requirements - refer to the FreeRTOS documentation
- // for full information.
- {
- // Base address Length Parameters
- { cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
- { cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
- { cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
- }
-};
-
-int main( void )
-{
-TaskHandle_t xHandle;
-
- // Create a task from the const structure defined above. The task handle
- // is requested (the second parameter is not NULL) but in this case just for
- // demonstration purposes as its not actually used.
- xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
-
- // Start the scheduler.
- vTaskStartScheduler();
-
- // Will only get here if there was insufficient memory to create the idle
- // and/or timer task.
- for( ;; );
-}
- </pre>
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted
- * \ingroup Tasks
- */
-#if( portUSING_MPU_WRAPPERS == 1 )
- BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION;
-#endif
-
-/**
- * task. h
- *<pre>
- BaseType_t xTaskCreateRestrictedStatic( TaskParameters_t *pxTaskDefinition, TaskHandle_t *pxCreatedTask );</pre>
- *
- * Only available when configSUPPORT_STATIC_ALLOCATION is set to 1.
- *
- * xTaskCreateRestrictedStatic() should only be used in systems that include an
- * MPU implementation.
- *
- * Internally, within the FreeRTOS implementation, tasks use two blocks of
- * memory. The first block is used to hold the task's data structures. The
- * second block is used by the task as its stack. If a task is created using
- * xTaskCreateRestricted() then the stack is provided by the application writer,
- * and the memory used to hold the task's data structure is automatically
- * dynamically allocated inside the xTaskCreateRestricted() function. If a task
- * is created using xTaskCreateRestrictedStatic() then the application writer
- * must provide the memory used to hold the task's data structures too.
- * xTaskCreateRestrictedStatic() therefore allows a memory protected task to be
- * created without using any dynamic memory allocation.
- *
- * @param pxTaskDefinition Pointer to a structure that contains a member
- * for each of the normal xTaskCreate() parameters (see the xTaskCreate() API
- * documentation) plus an optional stack buffer and the memory region
- * definitions. If configSUPPORT_STATIC_ALLOCATION is set to 1 the structure
- * contains an additional member, which is used to point to a variable of type
- * StaticTask_t - which is then used to hold the task's data structure.
- *
- * @param pxCreatedTask Used to pass back a handle by which the created task
- * can be referenced.
- *
- * @return pdPASS if the task was successfully created and added to a ready
- * list, otherwise an error code defined in the file projdefs.h
- *
- * Example usage:
- <pre>
-// Create an TaskParameters_t structure that defines the task to be created.
-// The StaticTask_t variable is only included in the structure when
-// configSUPPORT_STATIC_ALLOCATION is set to 1. The PRIVILEGED_DATA macro can
-// be used to force the variable into the RTOS kernel's privileged data area.
-static PRIVILEGED_DATA StaticTask_t xTaskBuffer;
-static const TaskParameters_t xCheckTaskParameters =
-{
- vATask, // pvTaskCode - the function that implements the task.
- "ATask", // pcName - just a text name for the task to assist debugging.
- 100, // usStackDepth - the stack size DEFINED IN WORDS.
- NULL, // pvParameters - passed into the task function as the function parameters.
- ( 1UL | portPRIVILEGE_BIT ),// uxPriority - task priority, set the portPRIVILEGE_BIT if the task should run in a privileged state.
- cStackBuffer,// puxStackBuffer - the buffer to be used as the task stack.
-
- // xRegions - Allocate up to three separate memory regions for access by
- // the task, with appropriate access permissions. Different processors have
- // different memory alignment requirements - refer to the FreeRTOS documentation
- // for full information.
- {
- // Base address Length Parameters
- { cReadWriteArray, 32, portMPU_REGION_READ_WRITE },
- { cReadOnlyArray, 32, portMPU_REGION_READ_ONLY },
- { cPrivilegedOnlyAccessArray, 128, portMPU_REGION_PRIVILEGED_READ_WRITE }
- }
-
- &xTaskBuffer; // Holds the task's data structure.
-};
-
-int main( void )
-{
-TaskHandle_t xHandle;
-
- // Create a task from the const structure defined above. The task handle
- // is requested (the second parameter is not NULL) but in this case just for
- // demonstration purposes as its not actually used.
- xTaskCreateRestricted( &xRegTest1Parameters, &xHandle );
-
- // Start the scheduler.
- vTaskStartScheduler();
-
- // Will only get here if there was insufficient memory to create the idle
- // and/or timer task.
- for( ;; );
-}
- </pre>
- * \defgroup xTaskCreateRestrictedStatic xTaskCreateRestrictedStatic
- * \ingroup Tasks
- */
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
- BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask ) PRIVILEGED_FUNCTION;
-#endif
-
-/**
- * task. h
- *<pre>
- void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions );</pre>
- *
- * Memory regions are assigned to a restricted task when the task is created by
- * a call to xTaskCreateRestricted(). These regions can be redefined using
- * vTaskAllocateMPURegions().
- *
- * @param xTask The handle of the task being updated.
- *
- * @param xRegions A pointer to an MemoryRegion_t structure that contains the
- * new memory region definitions.
- *
- * Example usage:
- <pre>
-// Define an array of MemoryRegion_t structures that configures an MPU region
-// allowing read/write access for 1024 bytes starting at the beginning of the
-// ucOneKByte array. The other two of the maximum 3 definable regions are
-// unused so set to zero.
-static const MemoryRegion_t xAltRegions[ portNUM_CONFIGURABLE_REGIONS ] =
-{
- // Base address Length Parameters
- { ucOneKByte, 1024, portMPU_REGION_READ_WRITE },
- { 0, 0, 0 },
- { 0, 0, 0 }
-};
-
-void vATask( void *pvParameters )
-{
- // This task was created such that it has access to certain regions of
- // memory as defined by the MPU configuration. At some point it is
- // desired that these MPU regions are replaced with that defined in the
- // xAltRegions const struct above. Use a call to vTaskAllocateMPURegions()
- // for this purpose. NULL is used as the task handle to indicate that this
- // function should modify the MPU regions of the calling task.
- vTaskAllocateMPURegions( NULL, xAltRegions );
-
- // Now the task can continue its function, but from this point on can only
- // access its stack and the ucOneKByte array (unless any other statically
- // defined or shared regions have been declared elsewhere).
-}
- </pre>
- * \defgroup xTaskCreateRestricted xTaskCreateRestricted
- * \ingroup Tasks
- */
-void vTaskAllocateMPURegions( TaskHandle_t xTask, const MemoryRegion_t * const pxRegions ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskDelete( TaskHandle_t xTask );</pre>
- *
- * INCLUDE_vTaskDelete must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Remove a task from the RTOS real time kernel's management. The task being
- * deleted will be removed from all ready, blocked, suspended and event lists.
- *
- * NOTE: The idle task is responsible for freeing the kernel allocated
- * memory from tasks that have been deleted. It is therefore important that
- * the idle task is not starved of microcontroller processing time if your
- * application makes any calls to vTaskDelete (). Memory allocated by the
- * task code is not automatically freed, and should be freed before the task
- * is deleted.
- *
- * See the demo application file death.c for sample code that utilises
- * vTaskDelete ().
- *
- * @param xTask The handle of the task to be deleted. Passing NULL will
- * cause the calling task to be deleted.
- *
- * Example usage:
- <pre>
- void vOtherFunction( void )
- {
- TaskHandle_t xHandle;
-
- // Create the task, storing the handle.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
- // Use the handle to delete the task.
- vTaskDelete( xHandle );
- }
- </pre>
- * \defgroup vTaskDelete vTaskDelete
- * \ingroup Tasks
- */
-void vTaskDelete( TaskHandle_t xTaskToDelete ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------
- * TASK CONTROL API
- *----------------------------------------------------------*/
-
-/**
- * task. h
- * <pre>void vTaskDelay( const TickType_t xTicksToDelay );</pre>
- *
- * Delay a task for a given number of ticks. The actual time that the
- * task remains blocked depends on the tick rate. The constant
- * portTICK_PERIOD_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
- *
- * INCLUDE_vTaskDelay must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- *
- * vTaskDelay() specifies a time at which the task wishes to unblock relative to
- * the time at which vTaskDelay() is called. For example, specifying a block
- * period of 100 ticks will cause the task to unblock 100 ticks after
- * vTaskDelay() is called. vTaskDelay() does not therefore provide a good method
- * of controlling the frequency of a periodic task as the path taken through the
- * code, as well as other task and interrupt activity, will effect the frequency
- * at which vTaskDelay() gets called and therefore the time at which the task
- * next executes. See vTaskDelayUntil() for an alternative API function designed
- * to facilitate fixed frequency execution. It does this by specifying an
- * absolute time (rather than a relative time) at which the calling task should
- * unblock.
- *
- * @param xTicksToDelay The amount of time, in tick periods, that
- * the calling task should block.
- *
- * Example usage:
-
- void vTaskFunction( void * pvParameters )
- {
- // Block for 500ms.
- const TickType_t xDelay = 500 / portTICK_PERIOD_MS;
-
- for( ;; )
- {
- // Simply toggle the LED every 500ms, blocking between each toggle.
- vToggleLED();
- vTaskDelay( xDelay );
- }
- }
-
- * \defgroup vTaskDelay vTaskDelay
- * \ingroup TaskCtrl
- */
-void vTaskDelay( const TickType_t xTicksToDelay ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskDelayUntil( TickType_t *pxPreviousWakeTime, const TickType_t xTimeIncrement );</pre>
- *
- * INCLUDE_vTaskDelayUntil must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Delay a task until a specified time. This function can be used by periodic
- * tasks to ensure a constant execution frequency.
- *
- * This function differs from vTaskDelay () in one important aspect: vTaskDelay () will
- * cause a task to block for the specified number of ticks from the time vTaskDelay () is
- * called. It is therefore difficult to use vTaskDelay () by itself to generate a fixed
- * execution frequency as the time between a task starting to execute and that task
- * calling vTaskDelay () may not be fixed [the task may take a different path though the
- * code between calls, or may get interrupted or preempted a different number of times
- * each time it executes].
- *
- * Whereas vTaskDelay () specifies a wake time relative to the time at which the function
- * is called, vTaskDelayUntil () specifies the absolute (exact) time at which it wishes to
- * unblock.
- *
- * The constant portTICK_PERIOD_MS can be used to calculate real time from the tick
- * rate - with the resolution of one tick period.
- *
- * @param pxPreviousWakeTime Pointer to a variable that holds the time at which the
- * task was last unblocked. The variable must be initialised with the current time
- * prior to its first use (see the example below). Following this the variable is
- * automatically updated within vTaskDelayUntil ().
- *
- * @param xTimeIncrement The cycle time period. The task will be unblocked at
- * time *pxPreviousWakeTime + xTimeIncrement. Calling vTaskDelayUntil with the
- * same xTimeIncrement parameter value will cause the task to execute with
- * a fixed interface period.
- *
- * Example usage:
- <pre>
- // Perform an action every 10 ticks.
- void vTaskFunction( void * pvParameters )
- {
- TickType_t xLastWakeTime;
- const TickType_t xFrequency = 10;
-
- // Initialise the xLastWakeTime variable with the current time.
- xLastWakeTime = xTaskGetTickCount ();
- for( ;; )
- {
- // Wait for the next cycle.
- vTaskDelayUntil( &xLastWakeTime, xFrequency );
-
- // Perform action here.
- }
- }
- </pre>
- * \defgroup vTaskDelayUntil vTaskDelayUntil
- * \ingroup TaskCtrl
- */
-void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>BaseType_t xTaskAbortDelay( TaskHandle_t xTask );</pre>
- *
- * INCLUDE_xTaskAbortDelay must be defined as 1 in FreeRTOSConfig.h for this
- * function to be available.
- *
- * A task will enter the Blocked state when it is waiting for an event. The
- * event it is waiting for can be a temporal event (waiting for a time), such
- * as when vTaskDelay() is called, or an event on an object, such as when
- * xQueueReceive() or ulTaskNotifyTake() is called. If the handle of a task
- * that is in the Blocked state is used in a call to xTaskAbortDelay() then the
- * task will leave the Blocked state, and return from whichever function call
- * placed the task into the Blocked state.
- *
- * There is no 'FromISR' version of this function as an interrupt would need to
- * know which object a task was blocked on in order to know which actions to
- * take. For example, if the task was blocked on a queue the interrupt handler
- * would then need to know if the queue was locked.
- *
- * @param xTask The handle of the task to remove from the Blocked state.
- *
- * @return If the task referenced by xTask was not in the Blocked state then
- * pdFAIL is returned. Otherwise pdPASS is returned.
- *
- * \defgroup xTaskAbortDelay xTaskAbortDelay
- * \ingroup TaskCtrl
- */
-BaseType_t xTaskAbortDelay( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask );</pre>
- *
- * INCLUDE_uxTaskPriorityGet must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Obtain the priority of any task.
- *
- * @param xTask Handle of the task to be queried. Passing a NULL
- * handle results in the priority of the calling task being returned.
- *
- * @return The priority of xTask.
- *
- * Example usage:
- <pre>
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
- // Create a task, storing the handle.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
- // ...
-
- // Use the handle to obtain the priority of the created task.
- // It was created with tskIDLE_PRIORITY, but may have changed
- // it itself.
- if( uxTaskPriorityGet( xHandle ) != tskIDLE_PRIORITY )
- {
- // The task has changed it's priority.
- }
-
- // ...
-
- // Is our priority higher than the created task?
- if( uxTaskPriorityGet( xHandle ) < uxTaskPriorityGet( NULL ) )
- {
- // Our priority (obtained using NULL handle) is higher.
- }
- }
- </pre>
- * \defgroup uxTaskPriorityGet uxTaskPriorityGet
- * \ingroup TaskCtrl
- */
-UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask );</pre>
- *
- * A version of uxTaskPriorityGet() that can be used from an ISR.
- */
-UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>eTaskState eTaskGetState( TaskHandle_t xTask );</pre>
- *
- * INCLUDE_eTaskGetState must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Obtain the state of any task. States are encoded by the eTaskState
- * enumerated type.
- *
- * @param xTask Handle of the task to be queried.
- *
- * @return The state of xTask at the time the function was called. Note the
- * state of the task might change between the function being called, and the
- * functions return value being tested by the calling task.
- */
-eTaskState eTaskGetState( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState );</pre>
- *
- * configUSE_TRACE_FACILITY must be defined as 1 for this function to be
- * available. See the configuration section for more information.
- *
- * Populates a TaskStatus_t structure with information about a task.
- *
- * @param xTask Handle of the task being queried. If xTask is NULL then
- * information will be returned about the calling task.
- *
- * @param pxTaskStatus A pointer to the TaskStatus_t structure that will be
- * filled with information about the task referenced by the handle passed using
- * the xTask parameter.
- *
- * @xGetFreeStackSpace The TaskStatus_t structure contains a member to report
- * the stack high water mark of the task being queried. Calculating the stack
- * high water mark takes a relatively long time, and can make the system
- * temporarily unresponsive - so the xGetFreeStackSpace parameter is provided to
- * allow the high water mark checking to be skipped. The high watermark value
- * will only be written to the TaskStatus_t structure if xGetFreeStackSpace is
- * not set to pdFALSE;
- *
- * @param eState The TaskStatus_t structure contains a member to report the
- * state of the task being queried. Obtaining the task state is not as fast as
- * a simple assignment - so the eState parameter is provided to allow the state
- * information to be omitted from the TaskStatus_t structure. To obtain state
- * information then set eState to eInvalid - otherwise the value passed in
- * eState will be reported as the task state in the TaskStatus_t structure.
- *
- * Example usage:
- <pre>
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
- TaskStatus_t xTaskDetails;
-
- // Obtain the handle of a task from its name.
- xHandle = xTaskGetHandle( "Task_Name" );
-
- // Check the handle is not NULL.
- configASSERT( xHandle );
-
- // Use the handle to obtain further information about the task.
- vTaskGetInfo( xHandle,
- &xTaskDetails,
- pdTRUE, // Include the high water mark in xTaskDetails.
- eInvalid ); // Include the task state in xTaskDetails.
- }
- </pre>
- * \defgroup vTaskGetInfo vTaskGetInfo
- * \ingroup TaskCtrl
- */
-void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority );</pre>
- *
- * INCLUDE_vTaskPrioritySet must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Set the priority of any task.
- *
- * A context switch will occur before the function returns if the priority
- * being set is higher than the currently executing task.
- *
- * @param xTask Handle to the task for which the priority is being set.
- * Passing a NULL handle results in the priority of the calling task being set.
- *
- * @param uxNewPriority The priority to which the task will be set.
- *
- * Example usage:
- <pre>
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
- // Create a task, storing the handle.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
- // ...
-
- // Use the handle to raise the priority of the created task.
- vTaskPrioritySet( xHandle, tskIDLE_PRIORITY + 1 );
-
- // ...
-
- // Use a NULL handle to raise our priority to the same value.
- vTaskPrioritySet( NULL, tskIDLE_PRIORITY + 1 );
- }
- </pre>
- * \defgroup vTaskPrioritySet vTaskPrioritySet
- * \ingroup TaskCtrl
- */
-void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskSuspend( TaskHandle_t xTaskToSuspend );</pre>
- *
- * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Suspend any task. When suspended a task will never get any microcontroller
- * processing time, no matter what its priority.
- *
- * Calls to vTaskSuspend are not accumulative -
- * i.e. calling vTaskSuspend () twice on the same task still only requires one
- * call to vTaskResume () to ready the suspended task.
- *
- * @param xTaskToSuspend Handle to the task being suspended. Passing a NULL
- * handle will cause the calling task to be suspended.
- *
- * Example usage:
- <pre>
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
- // Create a task, storing the handle.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
- // ...
-
- // Use the handle to suspend the created task.
- vTaskSuspend( xHandle );
-
- // ...
-
- // The created task will not run during this period, unless
- // another task calls vTaskResume( xHandle ).
-
- //...
-
-
- // Suspend ourselves.
- vTaskSuspend( NULL );
-
- // We cannot get here unless another task calls vTaskResume
- // with our handle as the parameter.
- }
- </pre>
- * \defgroup vTaskSuspend vTaskSuspend
- * \ingroup TaskCtrl
- */
-void vTaskSuspend( TaskHandle_t xTaskToSuspend ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskResume( TaskHandle_t xTaskToResume );</pre>
- *
- * INCLUDE_vTaskSuspend must be defined as 1 for this function to be available.
- * See the configuration section for more information.
- *
- * Resumes a suspended task.
- *
- * A task that has been suspended by one or more calls to vTaskSuspend ()
- * will be made available for running again by a single call to
- * vTaskResume ().
- *
- * @param xTaskToResume Handle to the task being readied.
- *
- * Example usage:
- <pre>
- void vAFunction( void )
- {
- TaskHandle_t xHandle;
-
- // Create a task, storing the handle.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, &xHandle );
-
- // ...
-
- // Use the handle to suspend the created task.
- vTaskSuspend( xHandle );
-
- // ...
-
- // The created task will not run during this period, unless
- // another task calls vTaskResume( xHandle ).
-
- //...
-
-
- // Resume the suspended task ourselves.
- vTaskResume( xHandle );
-
- // The created task will once again get microcontroller processing
- // time in accordance with its priority within the system.
- }
- </pre>
- * \defgroup vTaskResume vTaskResume
- * \ingroup TaskCtrl
- */
-void vTaskResume( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void xTaskResumeFromISR( TaskHandle_t xTaskToResume );</pre>
- *
- * INCLUDE_xTaskResumeFromISR must be defined as 1 for this function to be
- * available. See the configuration section for more information.
- *
- * An implementation of vTaskResume() that can be called from within an ISR.
- *
- * A task that has been suspended by one or more calls to vTaskSuspend ()
- * will be made available for running again by a single call to
- * xTaskResumeFromISR ().
- *
- * xTaskResumeFromISR() should not be used to synchronise a task with an
- * interrupt if there is a chance that the interrupt could arrive prior to the
- * task being suspended - as this can lead to interrupts being missed. Use of a
- * semaphore as a synchronisation mechanism would avoid this eventuality.
- *
- * @param xTaskToResume Handle to the task being readied.
- *
- * @return pdTRUE if resuming the task should result in a context switch,
- * otherwise pdFALSE. This is used by the ISR to determine if a context switch
- * may be required following the ISR.
- *
- * \defgroup vTaskResumeFromISR vTaskResumeFromISR
- * \ingroup TaskCtrl
- */
-BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------
- * SCHEDULER CONTROL
- *----------------------------------------------------------*/
-
-/**
- * task. h
- * <pre>void vTaskStartScheduler( void );</pre>
- *
- * Starts the real time kernel tick processing. After calling the kernel
- * has control over which tasks are executed and when.
- *
- * See the demo application file main.c for an example of creating
- * tasks and starting the kernel.
- *
- * Example usage:
- <pre>
- void vAFunction( void )
- {
- // Create at least one task before starting the kernel.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
- // Start the real time kernel with preemption.
- vTaskStartScheduler ();
-
- // Will not get here unless a task calls vTaskEndScheduler ()
- }
- </pre>
- *
- * \defgroup vTaskStartScheduler vTaskStartScheduler
- * \ingroup SchedulerControl
- */
-void vTaskStartScheduler( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskEndScheduler( void );</pre>
- *
- * NOTE: At the time of writing only the x86 real mode port, which runs on a PC
- * in place of DOS, implements this function.
- *
- * Stops the real time kernel tick. All created tasks will be automatically
- * deleted and multitasking (either preemptive or cooperative) will
- * stop. Execution then resumes from the point where vTaskStartScheduler ()
- * was called, as if vTaskStartScheduler () had just returned.
- *
- * See the demo application file main. c in the demo/PC directory for an
- * example that uses vTaskEndScheduler ().
- *
- * vTaskEndScheduler () requires an exit function to be defined within the
- * portable layer (see vPortEndScheduler () in port. c for the PC port). This
- * performs hardware specific operations such as stopping the kernel tick.
- *
- * vTaskEndScheduler () will cause all of the resources allocated by the
- * kernel to be freed - but will not free resources allocated by application
- * tasks.
- *
- * Example usage:
- <pre>
- void vTaskCode( void * pvParameters )
- {
- for( ;; )
- {
- // Task code goes here.
-
- // At some point we want to end the real time kernel processing
- // so call ...
- vTaskEndScheduler ();
- }
- }
-
- void vAFunction( void )
- {
- // Create at least one task before starting the kernel.
- xTaskCreate( vTaskCode, "NAME", STACK_SIZE, NULL, tskIDLE_PRIORITY, NULL );
-
- // Start the real time kernel with preemption.
- vTaskStartScheduler ();
-
- // Will only get here when the vTaskCode () task has called
- // vTaskEndScheduler (). When we get here we are back to single task
- // execution.
- }
- </pre>
- *
- * \defgroup vTaskEndScheduler vTaskEndScheduler
- * \ingroup SchedulerControl
- */
-void vTaskEndScheduler( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>void vTaskSuspendAll( void );</pre>
- *
- * Suspends the scheduler without disabling interrupts. Context switches will
- * not occur while the scheduler is suspended.
- *
- * After calling vTaskSuspendAll () the calling task will continue to execute
- * without risk of being swapped out until a call to xTaskResumeAll () has been
- * made.
- *
- * API functions that have the potential to cause a context switch (for example,
- * vTaskDelayUntil(), xQueueSend(), etc.) must not be called while the scheduler
- * is suspended.
- *
- * Example usage:
- <pre>
- void vTask1( void * pvParameters )
- {
- for( ;; )
- {
- // Task code goes here.
-
- // ...
-
- // At some point the task wants to perform a long operation during
- // which it does not want to get swapped out. It cannot use
- // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
- // operation may cause interrupts to be missed - including the
- // ticks.
-
- // Prevent the real time kernel swapping out the task.
- vTaskSuspendAll ();
-
- // Perform the operation here. There is no need to use critical
- // sections as we have all the microcontroller processing time.
- // During this time interrupts will still operate and the kernel
- // tick count will be maintained.
-
- // ...
-
- // The operation is complete. Restart the kernel.
- xTaskResumeAll ();
- }
- }
- </pre>
- * \defgroup vTaskSuspendAll vTaskSuspendAll
- * \ingroup SchedulerControl
- */
-void vTaskSuspendAll( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <pre>BaseType_t xTaskResumeAll( void );</pre>
- *
- * Resumes scheduler activity after it was suspended by a call to
- * vTaskSuspendAll().
- *
- * xTaskResumeAll() only resumes the scheduler. It does not unsuspend tasks
- * that were previously suspended by a call to vTaskSuspend().
- *
- * @return If resuming the scheduler caused a context switch then pdTRUE is
- * returned, otherwise pdFALSE is returned.
- *
- * Example usage:
- <pre>
- void vTask1( void * pvParameters )
- {
- for( ;; )
- {
- // Task code goes here.
-
- // ...
-
- // At some point the task wants to perform a long operation during
- // which it does not want to get swapped out. It cannot use
- // taskENTER_CRITICAL ()/taskEXIT_CRITICAL () as the length of the
- // operation may cause interrupts to be missed - including the
- // ticks.
-
- // Prevent the real time kernel swapping out the task.
- vTaskSuspendAll ();
-
- // Perform the operation here. There is no need to use critical
- // sections as we have all the microcontroller processing time.
- // During this time interrupts will still operate and the real
- // time kernel tick count will be maintained.
-
- // ...
-
- // The operation is complete. Restart the kernel. We want to force
- // a context switch - but there is no point if resuming the scheduler
- // caused a context switch already.
- if( !xTaskResumeAll () )
- {
- taskYIELD ();
- }
- }
- }
- </pre>
- * \defgroup xTaskResumeAll xTaskResumeAll
- * \ingroup SchedulerControl
- */
-BaseType_t xTaskResumeAll( void ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------
- * TASK UTILITIES
- *----------------------------------------------------------*/
-
-/**
- * task. h
- * <PRE>TickType_t xTaskGetTickCount( void );</PRE>
- *
- * @return The count of ticks since vTaskStartScheduler was called.
- *
- * \defgroup xTaskGetTickCount xTaskGetTickCount
- * \ingroup TaskUtils
- */
-TickType_t xTaskGetTickCount( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>TickType_t xTaskGetTickCountFromISR( void );</PRE>
- *
- * @return The count of ticks since vTaskStartScheduler was called.
- *
- * This is a version of xTaskGetTickCount() that is safe to be called from an
- * ISR - provided that TickType_t is the natural word size of the
- * microcontroller being used or interrupt nesting is either not supported or
- * not being used.
- *
- * \defgroup xTaskGetTickCountFromISR xTaskGetTickCountFromISR
- * \ingroup TaskUtils
- */
-TickType_t xTaskGetTickCountFromISR( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>uint16_t uxTaskGetNumberOfTasks( void );</PRE>
- *
- * @return The number of tasks that the real time kernel is currently managing.
- * This includes all ready, blocked and suspended tasks. A task that
- * has been deleted but not yet freed by the idle task will also be
- * included in the count.
- *
- * \defgroup uxTaskGetNumberOfTasks uxTaskGetNumberOfTasks
- * \ingroup TaskUtils
- */
-UBaseType_t uxTaskGetNumberOfTasks( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>char *pcTaskGetName( TaskHandle_t xTaskToQuery );</PRE>
- *
- * @return The text (human readable) name of the task referenced by the handle
- * xTaskToQuery. A task can query its own name by either passing in its own
- * handle, or by setting xTaskToQuery to NULL.
- *
- * \defgroup pcTaskGetName pcTaskGetName
- * \ingroup TaskUtils
- */
-char *pcTaskGetName( TaskHandle_t xTaskToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
-/**
- * task. h
- * <PRE>TaskHandle_t xTaskGetHandle( const char *pcNameToQuery );</PRE>
- *
- * NOTE: This function takes a relatively long time to complete and should be
- * used sparingly.
- *
- * @return The handle of the task that has the human readable name pcNameToQuery.
- * NULL is returned if no matching name is found. INCLUDE_xTaskGetHandle
- * must be set to 1 in FreeRTOSConfig.h for pcTaskGetHandle() to be available.
- *
- * \defgroup pcTaskGetHandle pcTaskGetHandle
- * \ingroup TaskUtils
- */
-TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
-/**
- * task.h
- * <PRE>UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask );</PRE>
- *
- * INCLUDE_uxTaskGetStackHighWaterMark must be set to 1 in FreeRTOSConfig.h for
- * this function to be available.
- *
- * Returns the high water mark of the stack associated with xTask. That is,
- * the minimum free stack space there has been (in words, so on a 32 bit machine
- * a value of 1 means 4 bytes) since the task started. The smaller the returned
- * number the closer the task has come to overflowing its stack.
- *
- * uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
- * same except for their return type. Using configSTACK_DEPTH_TYPE allows the
- * user to determine the return type. It gets around the problem of the value
- * overflowing on 8-bit types without breaking backward compatibility for
- * applications that expect an 8-bit return type.
- *
- * @param xTask Handle of the task associated with the stack to be checked.
- * Set xTask to NULL to check the stack of the calling task.
- *
- * @return The smallest amount of free stack space there has been (in words, so
- * actual spaces on the stack rather than bytes) since the task referenced by
- * xTask was created.
- */
-UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <PRE>configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask );</PRE>
- *
- * INCLUDE_uxTaskGetStackHighWaterMark2 must be set to 1 in FreeRTOSConfig.h for
- * this function to be available.
- *
- * Returns the high water mark of the stack associated with xTask. That is,
- * the minimum free stack space there has been (in words, so on a 32 bit machine
- * a value of 1 means 4 bytes) since the task started. The smaller the returned
- * number the closer the task has come to overflowing its stack.
- *
- * uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
- * same except for their return type. Using configSTACK_DEPTH_TYPE allows the
- * user to determine the return type. It gets around the problem of the value
- * overflowing on 8-bit types without breaking backward compatibility for
- * applications that expect an 8-bit return type.
- *
- * @param xTask Handle of the task associated with the stack to be checked.
- * Set xTask to NULL to check the stack of the calling task.
- *
- * @return The smallest amount of free stack space there has been (in words, so
- * actual spaces on the stack rather than bytes) since the task referenced by
- * xTask was created.
- */
-configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/* When using trace macros it is sometimes necessary to include task.h before
-FreeRTOS.h. When this is done TaskHookFunction_t will not yet have been defined,
-so the following two prototypes will cause a compilation error. This can be
-fixed by simply guarding against the inclusion of these two prototypes unless
-they are explicitly required by the configUSE_APPLICATION_TASK_TAG configuration
-constant. */
-#ifdef configUSE_APPLICATION_TASK_TAG
- #if configUSE_APPLICATION_TASK_TAG == 1
- /**
- * task.h
- * <pre>void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction );</pre>
- *
- * Sets pxHookFunction to be the task hook function used by the task xTask.
- * Passing xTask as NULL has the effect of setting the calling tasks hook
- * function.
- */
- void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction ) PRIVILEGED_FUNCTION;
-
- /**
- * task.h
- * <pre>void xTaskGetApplicationTaskTag( TaskHandle_t xTask );</pre>
- *
- * Returns the pxHookFunction value assigned to the task xTask. Do not
- * call from an interrupt service routine - call
- * xTaskGetApplicationTaskTagFromISR() instead.
- */
- TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
- /**
- * task.h
- * <pre>void xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask );</pre>
- *
- * Returns the pxHookFunction value assigned to the task xTask. Can
- * be called from an interrupt service routine.
- */
- TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
- #endif /* configUSE_APPLICATION_TASK_TAG ==1 */
-#endif /* ifdef configUSE_APPLICATION_TASK_TAG */
-
-#if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
-
- /* Each task contains an array of pointers that is dimensioned by the
- configNUM_THREAD_LOCAL_STORAGE_POINTERS setting in FreeRTOSConfig.h. The
- kernel does not use the pointers itself, so the application writer can use
- the pointers for any purpose they wish. The following two functions are
- used to set and query a pointer respectively. */
- void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue ) PRIVILEGED_FUNCTION;
- void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/**
- * task.h
- * <pre>BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter );</pre>
- *
- * Calls the hook function associated with xTask. Passing xTask as NULL has
- * the effect of calling the Running tasks (the calling task) hook function.
- *
- * pvParameter is passed to the hook function for the task to interpret as it
- * wants. The return value is the value returned by the task hook function
- * registered by the user.
- */
-BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter ) PRIVILEGED_FUNCTION;
-
-/**
- * xTaskGetIdleTaskHandle() is only available if
- * INCLUDE_xTaskGetIdleTaskHandle is set to 1 in FreeRTOSConfig.h.
- *
- * Simply returns the handle of the idle task. It is not valid to call
- * xTaskGetIdleTaskHandle() before the scheduler has been started.
- */
-TaskHandle_t xTaskGetIdleTaskHandle( void ) PRIVILEGED_FUNCTION;
-
-/**
- * configUSE_TRACE_FACILITY must be defined as 1 in FreeRTOSConfig.h for
- * uxTaskGetSystemState() to be available.
- *
- * uxTaskGetSystemState() populates an TaskStatus_t structure for each task in
- * the system. TaskStatus_t structures contain, among other things, members
- * for the task handle, task name, task priority, task state, and total amount
- * of run time consumed by the task. See the TaskStatus_t structure
- * definition in this file for the full member list.
- *
- * NOTE: This function is intended for debugging use only as its use results in
- * the scheduler remaining suspended for an extended period.
- *
- * @param pxTaskStatusArray A pointer to an array of TaskStatus_t structures.
- * The array must contain at least one TaskStatus_t structure for each task
- * that is under the control of the RTOS. The number of tasks under the control
- * of the RTOS can be determined using the uxTaskGetNumberOfTasks() API function.
- *
- * @param uxArraySize The size of the array pointed to by the pxTaskStatusArray
- * parameter. The size is specified as the number of indexes in the array, or
- * the number of TaskStatus_t structures contained in the array, not by the
- * number of bytes in the array.
- *
- * @param pulTotalRunTime If configGENERATE_RUN_TIME_STATS is set to 1 in
- * FreeRTOSConfig.h then *pulTotalRunTime is set by uxTaskGetSystemState() to the
- * total run time (as defined by the run time stats clock, see
- * http://www.freertos.org/rtos-run-time-stats.html) since the target booted.
- * pulTotalRunTime can be set to NULL to omit the total run time information.
- *
- * @return The number of TaskStatus_t structures that were populated by
- * uxTaskGetSystemState(). This should equal the number returned by the
- * uxTaskGetNumberOfTasks() API function, but will be zero if the value passed
- * in the uxArraySize parameter was too small.
- *
- * Example usage:
- <pre>
- // This example demonstrates how a human readable table of run time stats
- // information is generated from raw data provided by uxTaskGetSystemState().
- // The human readable table is written to pcWriteBuffer
- void vTaskGetRunTimeStats( char *pcWriteBuffer )
- {
- TaskStatus_t *pxTaskStatusArray;
- volatile UBaseType_t uxArraySize, x;
- uint32_t ulTotalRunTime, ulStatsAsPercentage;
-
- // Make sure the write buffer does not contain a string.
- *pcWriteBuffer = 0x00;
-
- // Take a snapshot of the number of tasks in case it changes while this
- // function is executing.
- uxArraySize = uxTaskGetNumberOfTasks();
-
- // Allocate a TaskStatus_t structure for each task. An array could be
- // allocated statically at compile time.
- pxTaskStatusArray = pvPortMalloc( uxArraySize * sizeof( TaskStatus_t ) );
-
- if( pxTaskStatusArray != NULL )
- {
- // Generate raw status information about each task.
- uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalRunTime );
-
- // For percentage calculations.
- ulTotalRunTime /= 100UL;
-
- // Avoid divide by zero errors.
- if( ulTotalRunTime > 0 )
- {
- // For each populated position in the pxTaskStatusArray array,
- // format the raw data as human readable ASCII data
- for( x = 0; x < uxArraySize; x++ )
- {
- // What percentage of the total run time has the task used?
- // This will always be rounded down to the nearest integer.
- // ulTotalRunTimeDiv100 has already been divided by 100.
- ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalRunTime;
-
- if( ulStatsAsPercentage > 0UL )
- {
- sprintf( pcWriteBuffer, "%s\t\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
- }
- else
- {
- // If the percentage is zero here then the task has
- // consumed less than 1% of the total run time.
- sprintf( pcWriteBuffer, "%s\t\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].pcTaskName, pxTaskStatusArray[ x ].ulRunTimeCounter );
- }
-
- pcWriteBuffer += strlen( ( char * ) pcWriteBuffer );
- }
- }
-
- // The array is no longer needed, free the memory it consumes.
- vPortFree( pxTaskStatusArray );
- }
- }
- </pre>
- */
-UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>void vTaskList( char *pcWriteBuffer );</PRE>
- *
- * configUSE_TRACE_FACILITY and configUSE_STATS_FORMATTING_FUNCTIONS must
- * both be defined as 1 for this function to be available. See the
- * configuration section of the FreeRTOS.org website for more information.
- *
- * NOTE 1: This function will disable interrupts for its duration. It is
- * not intended for normal application runtime use but as a debug aid.
- *
- * Lists all the current tasks, along with their current state and stack
- * usage high water mark.
- *
- * Tasks are reported as blocked ('B'), ready ('R'), deleted ('D') or
- * suspended ('S').
- *
- * PLEASE NOTE:
- *
- * This function is provided for convenience only, and is used by many of the
- * demo applications. Do not consider it to be part of the scheduler.
- *
- * vTaskList() calls uxTaskGetSystemState(), then formats part of the
- * uxTaskGetSystemState() output into a human readable table that displays task
- * names, states and stack usage.
- *
- * vTaskList() has a dependency on the sprintf() C library function that might
- * bloat the code size, use a lot of stack, and provide different results on
- * different platforms. An alternative, tiny, third party, and limited
- * functionality implementation of sprintf() is provided in many of the
- * FreeRTOS/Demo sub-directories in a file called printf-stdarg.c (note
- * printf-stdarg.c does not provide a full snprintf() implementation!).
- *
- * It is recommended that production systems call uxTaskGetSystemState()
- * directly to get access to raw stats data, rather than indirectly through a
- * call to vTaskList().
- *
- * @param pcWriteBuffer A buffer into which the above mentioned details
- * will be written, in ASCII form. This buffer is assumed to be large
- * enough to contain the generated report. Approximately 40 bytes per
- * task should be sufficient.
- *
- * \defgroup vTaskList vTaskList
- * \ingroup TaskUtils
- */
-void vTaskList( char * pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
-/**
- * task. h
- * <PRE>void vTaskGetRunTimeStats( char *pcWriteBuffer );</PRE>
- *
- * configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
- * must both be defined as 1 for this function to be available. The application
- * must also then provide definitions for
- * portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE()
- * to configure a peripheral timer/counter and return the timers current count
- * value respectively. The counter should be at least 10 times the frequency of
- * the tick count.
- *
- * NOTE 1: This function will disable interrupts for its duration. It is
- * not intended for normal application runtime use but as a debug aid.
- *
- * Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
- * accumulated execution time being stored for each task. The resolution
- * of the accumulated time value depends on the frequency of the timer
- * configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
- * Calling vTaskGetRunTimeStats() writes the total execution time of each
- * task into a buffer, both as an absolute count value and as a percentage
- * of the total system execution time.
- *
- * NOTE 2:
- *
- * This function is provided for convenience only, and is used by many of the
- * demo applications. Do not consider it to be part of the scheduler.
- *
- * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part of the
- * uxTaskGetSystemState() output into a human readable table that displays the
- * amount of time each task has spent in the Running state in both absolute and
- * percentage terms.
- *
- * vTaskGetRunTimeStats() has a dependency on the sprintf() C library function
- * that might bloat the code size, use a lot of stack, and provide different
- * results on different platforms. An alternative, tiny, third party, and
- * limited functionality implementation of sprintf() is provided in many of the
- * FreeRTOS/Demo sub-directories in a file called printf-stdarg.c (note
- * printf-stdarg.c does not provide a full snprintf() implementation!).
- *
- * It is recommended that production systems call uxTaskGetSystemState() directly
- * to get access to raw stats data, rather than indirectly through a call to
- * vTaskGetRunTimeStats().
- *
- * @param pcWriteBuffer A buffer into which the execution times will be
- * written, in ASCII form. This buffer is assumed to be large enough to
- * contain the generated report. Approximately 40 bytes per task should
- * be sufficient.
- *
- * \defgroup vTaskGetRunTimeStats vTaskGetRunTimeStats
- * \ingroup TaskUtils
- */
-void vTaskGetRunTimeStats( char *pcWriteBuffer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
-/**
-* task. h
-* <PRE>uint32_t ulTaskGetIdleRunTimeCounter( void );</PRE>
-*
-* configGENERATE_RUN_TIME_STATS and configUSE_STATS_FORMATTING_FUNCTIONS
-* must both be defined as 1 for this function to be available. The application
-* must also then provide definitions for
-* portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and portGET_RUN_TIME_COUNTER_VALUE()
-* to configure a peripheral timer/counter and return the timers current count
-* value respectively. The counter should be at least 10 times the frequency of
-* the tick count.
-*
-* Setting configGENERATE_RUN_TIME_STATS to 1 will result in a total
-* accumulated execution time being stored for each task. The resolution
-* of the accumulated time value depends on the frequency of the timer
-* configured by the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() macro.
-* While uxTaskGetSystemState() and vTaskGetRunTimeStats() writes the total
-* execution time of each task into a buffer, ulTaskGetIdleRunTimeCounter()
-* returns the total execution time of just the idle task.
-*
-* @return The total run time of the idle task. This is the amount of time the
-* idle task has actually been executing. The unit of time is dependent on the
-* frequency configured using the portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() and
-* portGET_RUN_TIME_COUNTER_VALUE() macros.
-*
-* \defgroup ulTaskGetIdleRunTimeCounter ulTaskGetIdleRunTimeCounter
-* \ingroup TaskUtils
-*/
-uint32_t ulTaskGetIdleRunTimeCounter( void ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>BaseType_t xTaskNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction );</PRE>
- *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
- * function to be available.
- *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * Events can be sent to a task using an intermediary object. Examples of such
- * objects are queues, semaphores, mutexes and event groups. Task notifications
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value. In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
- *
- * A notification sent to a task will remain pending until it is cleared by the
- * task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
- * already in the Blocked state to wait for a notification when the notification
- * arrives then the task will automatically be removed from the Blocked state
- * (unblocked) and the notification cleared.
- *
- * A task can use xTaskNotifyWait() to [optionally] block to wait for a
- * notification to be pending, or ulTaskNotifyTake() to [optionally] block
- * to wait for its notification value to have a non-zero value. The task does
- * not consume any CPU time while it is in the Blocked state.
- *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
- *
- * @param xTaskToNotify The handle of the task being notified. The handle to a
- * task can be returned from the xTaskCreate() API function used to create the
- * task, and the handle of the currently running task can be obtained by calling
- * xTaskGetCurrentTaskHandle().
- *
- * @param ulValue Data that can be sent with the notification. How the data is
- * used depends on the value of the eAction parameter.
- *
- * @param eAction Specifies how the notification updates the task's notification
- * value, if at all. Valid values for eAction are as follows:
- *
- * eSetBits -
- * The task's notification value is bitwise ORed with ulValue. xTaskNofify()
- * always returns pdPASS in this case.
- *
- * eIncrement -
- * The task's notification value is incremented. ulValue is not used and
- * xTaskNotify() always returns pdPASS in this case.
- *
- * eSetValueWithOverwrite -
- * The task's notification value is set to the value of ulValue, even if the
- * task being notified had not yet processed the previous notification (the
- * task already had a notification pending). xTaskNotify() always returns
- * pdPASS in this case.
- *
- * eSetValueWithoutOverwrite -
- * If the task being notified did not already have a notification pending then
- * the task's notification value is set to ulValue and xTaskNotify() will
- * return pdPASS. If the task being notified already had a notification
- * pending then no action is performed and pdFAIL is returned.
- *
- * eNoAction -
- * The task receives a notification without its notification value being
- * updated. ulValue is not used and xTaskNotify() always returns pdPASS in
- * this case.
- *
- * pulPreviousNotificationValue -
- * Can be used to pass out the subject task's notification value before any
- * bits are modified by the notify function.
- *
- * @return Dependent on the value of eAction. See the description of the
- * eAction parameter.
- *
- * \defgroup xTaskNotify xTaskNotify
- * \ingroup TaskNotifications
- */
-BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue ) PRIVILEGED_FUNCTION;
-#define xTaskNotify( xTaskToNotify, ulValue, eAction ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL )
-#define xTaskNotifyAndQuery( xTaskToNotify, ulValue, eAction, pulPreviousNotifyValue ) xTaskGenericNotify( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotifyValue ) )
-
-/**
- * task. h
- * <PRE>BaseType_t xTaskNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, BaseType_t *pxHigherPriorityTaskWoken );</PRE>
- *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
- * function to be available.
- *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * A version of xTaskNotify() that can be used from an interrupt service routine
- * (ISR).
- *
- * Events can be sent to a task using an intermediary object. Examples of such
- * objects are queues, semaphores, mutexes and event groups. Task notifications
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value. In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
- *
- * A notification sent to a task will remain pending until it is cleared by the
- * task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
- * already in the Blocked state to wait for a notification when the notification
- * arrives then the task will automatically be removed from the Blocked state
- * (unblocked) and the notification cleared.
- *
- * A task can use xTaskNotifyWait() to [optionally] block to wait for a
- * notification to be pending, or ulTaskNotifyTake() to [optionally] block
- * to wait for its notification value to have a non-zero value. The task does
- * not consume any CPU time while it is in the Blocked state.
- *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
- *
- * @param xTaskToNotify The handle of the task being notified. The handle to a
- * task can be returned from the xTaskCreate() API function used to create the
- * task, and the handle of the currently running task can be obtained by calling
- * xTaskGetCurrentTaskHandle().
- *
- * @param ulValue Data that can be sent with the notification. How the data is
- * used depends on the value of the eAction parameter.
- *
- * @param eAction Specifies how the notification updates the task's notification
- * value, if at all. Valid values for eAction are as follows:
- *
- * eSetBits -
- * The task's notification value is bitwise ORed with ulValue. xTaskNofify()
- * always returns pdPASS in this case.
- *
- * eIncrement -
- * The task's notification value is incremented. ulValue is not used and
- * xTaskNotify() always returns pdPASS in this case.
- *
- * eSetValueWithOverwrite -
- * The task's notification value is set to the value of ulValue, even if the
- * task being notified had not yet processed the previous notification (the
- * task already had a notification pending). xTaskNotify() always returns
- * pdPASS in this case.
- *
- * eSetValueWithoutOverwrite -
- * If the task being notified did not already have a notification pending then
- * the task's notification value is set to ulValue and xTaskNotify() will
- * return pdPASS. If the task being notified already had a notification
- * pending then no action is performed and pdFAIL is returned.
- *
- * eNoAction -
- * The task receives a notification without its notification value being
- * updated. ulValue is not used and xTaskNotify() always returns pdPASS in
- * this case.
- *
- * @param pxHigherPriorityTaskWoken xTaskNotifyFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
- * task to which the notification was sent to leave the Blocked state, and the
- * unblocked task has a priority higher than the currently running task. If
- * xTaskNotifyFromISR() sets this value to pdTRUE then a context switch should
- * be requested before the interrupt is exited. How a context switch is
- * requested from an ISR is dependent on the port - see the documentation page
- * for the port in use.
- *
- * @return Dependent on the value of eAction. See the description of the
- * eAction parameter.
- *
- * \defgroup xTaskNotify xTaskNotify
- * \ingroup TaskNotifications
- */
-BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-#define xTaskNotifyFromISR( xTaskToNotify, ulValue, eAction, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), NULL, ( pxHigherPriorityTaskWoken ) )
-#define xTaskNotifyAndQueryFromISR( xTaskToNotify, ulValue, eAction, pulPreviousNotificationValue, pxHigherPriorityTaskWoken ) xTaskGenericNotifyFromISR( ( xTaskToNotify ), ( ulValue ), ( eAction ), ( pulPreviousNotificationValue ), ( pxHigherPriorityTaskWoken ) )
-
-/**
- * task. h
- * <PRE>BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait );</pre>
- *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
- * function to be available.
- *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * Events can be sent to a task using an intermediary object. Examples of such
- * objects are queues, semaphores, mutexes and event groups. Task notifications
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value. In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
- *
- * A notification sent to a task will remain pending until it is cleared by the
- * task calling xTaskNotifyWait() or ulTaskNotifyTake(). If the task was
- * already in the Blocked state to wait for a notification when the notification
- * arrives then the task will automatically be removed from the Blocked state
- * (unblocked) and the notification cleared.
- *
- * A task can use xTaskNotifyWait() to [optionally] block to wait for a
- * notification to be pending, or ulTaskNotifyTake() to [optionally] block
- * to wait for its notification value to have a non-zero value. The task does
- * not consume any CPU time while it is in the Blocked state.
- *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
- *
- * @param ulBitsToClearOnEntry Bits that are set in ulBitsToClearOnEntry value
- * will be cleared in the calling task's notification value before the task
- * checks to see if any notifications are pending, and optionally blocks if no
- * notifications are pending. Setting ulBitsToClearOnEntry to ULONG_MAX (if
- * limits.h is included) or 0xffffffffUL (if limits.h is not included) will have
- * the effect of resetting the task's notification value to 0. Setting
- * ulBitsToClearOnEntry to 0 will leave the task's notification value unchanged.
- *
- * @param ulBitsToClearOnExit If a notification is pending or received before
- * the calling task exits the xTaskNotifyWait() function then the task's
- * notification value (see the xTaskNotify() API function) is passed out using
- * the pulNotificationValue parameter. Then any bits that are set in
- * ulBitsToClearOnExit will be cleared in the task's notification value (note
- * *pulNotificationValue is set before any bits are cleared). Setting
- * ulBitsToClearOnExit to ULONG_MAX (if limits.h is included) or 0xffffffffUL
- * (if limits.h is not included) will have the effect of resetting the task's
- * notification value to 0 before the function exits. Setting
- * ulBitsToClearOnExit to 0 will leave the task's notification value unchanged
- * when the function exits (in which case the value passed out in
- * pulNotificationValue will match the task's notification value).
- *
- * @param pulNotificationValue Used to pass the task's notification value out
- * of the function. Note the value passed out will not be effected by the
- * clearing of any bits caused by ulBitsToClearOnExit being non-zero.
- *
- * @param xTicksToWait The maximum amount of time that the task should wait in
- * the Blocked state for a notification to be received, should a notification
- * not already be pending when xTaskNotifyWait() was called. The task
- * will not consume any processing time while it is in the Blocked state. This
- * is specified in kernel ticks, the macro pdMS_TO_TICSK( value_in_ms ) can be
- * used to convert a time specified in milliseconds to a time specified in
- * ticks.
- *
- * @return If a notification was received (including notifications that were
- * already pending when xTaskNotifyWait was called) then pdPASS is
- * returned. Otherwise pdFAIL is returned.
- *
- * \defgroup xTaskNotifyWait xTaskNotifyWait
- * \ingroup TaskNotifications
- */
-BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>BaseType_t xTaskNotifyGive( TaskHandle_t xTaskToNotify );</PRE>
- *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro
- * to be available.
- *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * Events can be sent to a task using an intermediary object. Examples of such
- * objects are queues, semaphores, mutexes and event groups. Task notifications
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value. In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
- *
- * xTaskNotifyGive() is a helper macro intended for use when task notifications
- * are used as light weight and faster binary or counting semaphore equivalents.
- * Actual FreeRTOS semaphores are given using the xSemaphoreGive() API function,
- * the equivalent action that instead uses a task notification is
- * xTaskNotifyGive().
- *
- * When task notifications are being used as a binary or counting semaphore
- * equivalent then the task being notified should wait for the notification
- * using the ulTaskNotificationTake() API function rather than the
- * xTaskNotifyWait() API function.
- *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
- *
- * @param xTaskToNotify The handle of the task being notified. The handle to a
- * task can be returned from the xTaskCreate() API function used to create the
- * task, and the handle of the currently running task can be obtained by calling
- * xTaskGetCurrentTaskHandle().
- *
- * @return xTaskNotifyGive() is a macro that calls xTaskNotify() with the
- * eAction parameter set to eIncrement - so pdPASS is always returned.
- *
- * \defgroup xTaskNotifyGive xTaskNotifyGive
- * \ingroup TaskNotifications
- */
-#define xTaskNotifyGive( xTaskToNotify ) xTaskGenericNotify( ( xTaskToNotify ), ( 0 ), eIncrement, NULL )
-
-/**
- * task. h
- * <PRE>void vTaskNotifyGiveFromISR( TaskHandle_t xTaskHandle, BaseType_t *pxHigherPriorityTaskWoken );
- *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this macro
- * to be available.
- *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * A version of xTaskNotifyGive() that can be called from an interrupt service
- * routine (ISR).
- *
- * Events can be sent to a task using an intermediary object. Examples of such
- * objects are queues, semaphores, mutexes and event groups. Task notifications
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value. In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
- *
- * vTaskNotifyGiveFromISR() is intended for use when task notifications are
- * used as light weight and faster binary or counting semaphore equivalents.
- * Actual FreeRTOS semaphores are given from an ISR using the
- * xSemaphoreGiveFromISR() API function, the equivalent action that instead uses
- * a task notification is vTaskNotifyGiveFromISR().
- *
- * When task notifications are being used as a binary or counting semaphore
- * equivalent then the task being notified should wait for the notification
- * using the ulTaskNotificationTake() API function rather than the
- * xTaskNotifyWait() API function.
- *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for more details.
- *
- * @param xTaskToNotify The handle of the task being notified. The handle to a
- * task can be returned from the xTaskCreate() API function used to create the
- * task, and the handle of the currently running task can be obtained by calling
- * xTaskGetCurrentTaskHandle().
- *
- * @param pxHigherPriorityTaskWoken vTaskNotifyGiveFromISR() will set
- * *pxHigherPriorityTaskWoken to pdTRUE if sending the notification caused the
- * task to which the notification was sent to leave the Blocked state, and the
- * unblocked task has a priority higher than the currently running task. If
- * vTaskNotifyGiveFromISR() sets this value to pdTRUE then a context switch
- * should be requested before the interrupt is exited. How a context switch is
- * requested from an ISR is dependent on the port - see the documentation page
- * for the port in use.
- *
- * \defgroup xTaskNotifyWait xTaskNotifyWait
- * \ingroup TaskNotifications
- */
-void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait );</pre>
- *
- * configUSE_TASK_NOTIFICATIONS must be undefined or defined as 1 for this
- * function to be available.
- *
- * When configUSE_TASK_NOTIFICATIONS is set to one each task has its own private
- * "notification value", which is a 32-bit unsigned integer (uint32_t).
- *
- * Events can be sent to a task using an intermediary object. Examples of such
- * objects are queues, semaphores, mutexes and event groups. Task notifications
- * are a method of sending an event directly to a task without the need for such
- * an intermediary object.
- *
- * A notification sent to a task can optionally perform an action, such as
- * update, overwrite or increment the task's notification value. In that way
- * task notifications can be used to send data to a task, or be used as light
- * weight and fast binary or counting semaphores.
- *
- * ulTaskNotifyTake() is intended for use when a task notification is used as a
- * faster and lighter weight binary or counting semaphore alternative. Actual
- * FreeRTOS semaphores are taken using the xSemaphoreTake() API function, the
- * equivalent action that instead uses a task notification is
- * ulTaskNotifyTake().
- *
- * When a task is using its notification value as a binary or counting semaphore
- * other tasks should send notifications to it using the xTaskNotifyGive()
- * macro, or xTaskNotify() function with the eAction parameter set to
- * eIncrement.
- *
- * ulTaskNotifyTake() can either clear the task's notification value to
- * zero on exit, in which case the notification value acts like a binary
- * semaphore, or decrement the task's notification value on exit, in which case
- * the notification value acts like a counting semaphore.
- *
- * A task can use ulTaskNotifyTake() to [optionally] block to wait for a
- * the task's notification value to be non-zero. The task does not consume any
- * CPU time while it is in the Blocked state.
- *
- * Where as xTaskNotifyWait() will return when a notification is pending,
- * ulTaskNotifyTake() will return when the task's notification value is
- * not zero.
- *
- * See http://www.FreeRTOS.org/RTOS-task-notifications.html for details.
- *
- * @param xClearCountOnExit if xClearCountOnExit is pdFALSE then the task's
- * notification value is decremented when the function exits. In this way the
- * notification value acts like a counting semaphore. If xClearCountOnExit is
- * not pdFALSE then the task's notification value is cleared to zero when the
- * function exits. In this way the notification value acts like a binary
- * semaphore.
- *
- * @param xTicksToWait The maximum amount of time that the task should wait in
- * the Blocked state for the task's notification value to be greater than zero,
- * should the count not already be greater than zero when
- * ulTaskNotifyTake() was called. The task will not consume any processing
- * time while it is in the Blocked state. This is specified in kernel ticks,
- * the macro pdMS_TO_TICSK( value_in_ms ) can be used to convert a time
- * specified in milliseconds to a time specified in ticks.
- *
- * @return The task's notification count before it is either cleared to zero or
- * decremented (see the xClearCountOnExit parameter).
- *
- * \defgroup ulTaskNotifyTake ulTaskNotifyTake
- * \ingroup TaskNotifications
- */
-uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * task. h
- * <PRE>BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );</pre>
- *
- * If the notification state of the task referenced by the handle xTask is
- * eNotified, then set the task's notification state to eNotWaitingNotification.
- * The task's notification value is not altered. Set xTask to NULL to clear the
- * notification state of the calling task.
- *
- * @return pdTRUE if the task's notification state was set to
- * eNotWaitingNotification, otherwise pdFALSE.
- * \defgroup xTaskNotifyStateClear xTaskNotifyStateClear
- * \ingroup TaskNotifications
- */
-BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask );
-
-/**
-* task. h
-* <PRE>uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear );</pre>
-*
-* Clears the bits specified by the ulBitsToClear bit mask in the notification
-* value of the task referenced by xTask.
-*
-* Set ulBitsToClear to 0xffffffff (UINT_MAX on 32-bit architectures) to clear
-* the notification value to 0. Set ulBitsToClear to 0 to query the task's
-* notification value without clearing any bits.
-*
-* @return The value of the target task's notification value before the bits
-* specified by ulBitsToClear were cleared.
-* \defgroup ulTaskNotifyValueClear ulTaskNotifyValueClear
-* \ingroup TaskNotifications
-*/
-uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <pre>void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )</pre>
- *
- * Capture the current time for future use with xTaskCheckForTimeOut().
- *
- * @param pxTimeOut Pointer to a timeout object into which the current time
- * is to be captured. The captured time includes the tick count and the number
- * of times the tick count has overflowed since the system first booted.
- * \defgroup vTaskSetTimeOutState vTaskSetTimeOutState
- * \ingroup TaskCtrl
- */
-void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
-
-/**
- * task.h
- * <pre>BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait );</pre>
- *
- * Determines if pxTicksToWait ticks has passed since a time was captured
- * using a call to vTaskSetTimeOutState(). The captured time includes the tick
- * count and the number of times the tick count has overflowed.
- *
- * @param pxTimeOut The time status as captured previously using
- * vTaskSetTimeOutState. If the timeout has not yet occurred, it is updated
- * to reflect the current time status.
- * @param pxTicksToWait The number of ticks to check for timeout i.e. if
- * pxTicksToWait ticks have passed since pxTimeOut was last updated (either by
- * vTaskSetTimeOutState() or xTaskCheckForTimeOut()), the timeout has occurred.
- * If the timeout has not occurred, pxTIcksToWait is updated to reflect the
- * number of remaining ticks.
- *
- * @return If timeout has occurred, pdTRUE is returned. Otherwise pdFALSE is
- * returned and pxTicksToWait is updated to reflect the number of remaining
- * ticks.
- *
- * @see https://www.freertos.org/xTaskCheckForTimeOut.html
- *
- * Example Usage:
- * <pre>
- // Driver library function used to receive uxWantedBytes from an Rx buffer
- // that is filled by a UART interrupt. If there are not enough bytes in the
- // Rx buffer then the task enters the Blocked state until it is notified that
- // more data has been placed into the buffer. If there is still not enough
- // data then the task re-enters the Blocked state, and xTaskCheckForTimeOut()
- // is used to re-calculate the Block time to ensure the total amount of time
- // spent in the Blocked state does not exceed MAX_TIME_TO_WAIT. This
- // continues until either the buffer contains at least uxWantedBytes bytes,
- // or the total amount of time spent in the Blocked state reaches
- // MAX_TIME_TO_WAIT – at which point the task reads however many bytes are
- // available up to a maximum of uxWantedBytes.
-
- size_t xUART_Receive( uint8_t *pucBuffer, size_t uxWantedBytes )
- {
- size_t uxReceived = 0;
- TickType_t xTicksToWait = MAX_TIME_TO_WAIT;
- TimeOut_t xTimeOut;
-
- // Initialize xTimeOut. This records the time at which this function
- // was entered.
- vTaskSetTimeOutState( &xTimeOut );
-
- // Loop until the buffer contains the wanted number of bytes, or a
- // timeout occurs.
- while( UART_bytes_in_rx_buffer( pxUARTInstance ) < uxWantedBytes )
- {
- // The buffer didn't contain enough data so this task is going to
- // enter the Blocked state. Adjusting xTicksToWait to account for
- // any time that has been spent in the Blocked state within this
- // function so far to ensure the total amount of time spent in the
- // Blocked state does not exceed MAX_TIME_TO_WAIT.
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) != pdFALSE )
- {
- //Timed out before the wanted number of bytes were available,
- // exit the loop.
- break;
- }
-
- // Wait for a maximum of xTicksToWait ticks to be notified that the
- // receive interrupt has placed more data into the buffer.
- ulTaskNotifyTake( pdTRUE, xTicksToWait );
- }
-
- // Attempt to read uxWantedBytes from the receive buffer into pucBuffer.
- // The actual number of bytes read (which might be less than
- // uxWantedBytes) is returned.
- uxReceived = UART_read_from_receive_buffer( pxUARTInstance,
- pucBuffer,
- uxWantedBytes );
-
- return uxReceived;
- }
- </pre>
- * \defgroup xTaskCheckForTimeOut xTaskCheckForTimeOut
- * \ingroup TaskCtrl
- */
-BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------
- * SCHEDULER INTERNALS AVAILABLE FOR PORTING PURPOSES
- *----------------------------------------------------------*/
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
- * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
- * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * Called from the real time kernel tick (either preemptive or cooperative),
- * this increments the tick count and checks if any tasks that are blocked
- * for a finite period required removing from a blocked list and placing on
- * a ready list. If a non-zero value is returned then a context switch is
- * required because either:
- * + A task was removed from a blocked list because its timeout had expired,
- * or
- * + Time slicing is in use and there is a task of equal priority to the
- * currently running task.
- */
-BaseType_t xTaskIncrementTick( void ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * Removes the calling task from the ready list and places it both
- * on the list of tasks waiting for a particular event, and the
- * list of delayed tasks. The task will be removed from both lists
- * and replaced on the ready list should either the event occur (and
- * there be no higher priority tasks waiting on the same event) or
- * the delay period expires.
- *
- * The 'unordered' version replaces the event list item value with the
- * xItemValue value, and inserts the list item at the end of the list.
- *
- * The 'ordered' version uses the existing event list item value (which is the
- * owning tasks priority) to insert the list item into the event list is task
- * priority order.
- *
- * @param pxEventList The list containing tasks that are blocked waiting
- * for the event to occur.
- *
- * @param xItemValue The item value to use for the event list item when the
- * event list is not ordered by task priority.
- *
- * @param xTicksToWait The maximum amount of time that the task should wait
- * for the event to occur. This is specified in kernel ticks,the constant
- * portTICK_PERIOD_MS can be used to convert kernel ticks into a real time
- * period.
- */
-void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * This function performs nearly the same function as vTaskPlaceOnEventList().
- * The difference being that this function does not permit tasks to block
- * indefinitely, whereas vTaskPlaceOnEventList() does.
- *
- */
-void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS AN
- * INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * THIS FUNCTION MUST BE CALLED WITH INTERRUPTS DISABLED.
- *
- * Removes a task from both the specified event list and the list of blocked
- * tasks, and places it on a ready queue.
- *
- * xTaskRemoveFromEventList()/vTaskRemoveFromUnorderedEventList() will be called
- * if either an event occurs to unblock a task, or the block timeout period
- * expires.
- *
- * xTaskRemoveFromEventList() is used when the event list is in task priority
- * order. It removes the list item from the head of the event list as that will
- * have the highest priority owning task of all the tasks on the event list.
- * vTaskRemoveFromUnorderedEventList() is used when the event list is not
- * ordered and the event list items hold something other than the owning tasks
- * priority. In this case the event list item value is updated to the value
- * passed in the xItemValue parameter.
- *
- * @return pdTRUE if the task being removed has a higher priority than the task
- * making the call, otherwise pdFALSE.
- */
-BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList ) PRIVILEGED_FUNCTION;
-void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue ) PRIVILEGED_FUNCTION;
-
-/*
- * THIS FUNCTION MUST NOT BE USED FROM APPLICATION CODE. IT IS ONLY
- * INTENDED FOR USE WHEN IMPLEMENTING A PORT OF THE SCHEDULER AND IS
- * AN INTERFACE WHICH IS FOR THE EXCLUSIVE USE OF THE SCHEDULER.
- *
- * Sets the pointer to the current TCB to the TCB of the highest priority task
- * that is ready to run.
- */
-portDONT_DISCARD void vTaskSwitchContext( void ) PRIVILEGED_FUNCTION;
-
-/*
- * THESE FUNCTIONS MUST NOT BE USED FROM APPLICATION CODE. THEY ARE USED BY
- * THE EVENT BITS MODULE.
- */
-TickType_t uxTaskResetEventItemValue( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Return the handle of the calling task.
- */
-TaskHandle_t xTaskGetCurrentTaskHandle( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Shortcut used by the queue implementation to prevent unnecessary call to
- * taskYIELD();
- */
-void vTaskMissedYield( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Returns the scheduler state as taskSCHEDULER_RUNNING,
- * taskSCHEDULER_NOT_STARTED or taskSCHEDULER_SUSPENDED.
- */
-BaseType_t xTaskGetSchedulerState( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Raises the priority of the mutex holder to that of the calling task should
- * the mutex holder have a priority less than the calling task.
- */
-BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
-
-/*
- * Set the priority of a task back to its proper priority in the case that it
- * inherited a higher priority while it was holding a semaphore.
- */
-BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder ) PRIVILEGED_FUNCTION;
-
-/*
- * If a higher priority task attempting to obtain a mutex caused a lower
- * priority task to inherit the higher priority task's priority - but the higher
- * priority task then timed out without obtaining the mutex, then the lower
- * priority task will disinherit the priority again - but only down as far as
- * the highest priority task that is still waiting for the mutex (if there were
- * more than one task waiting for the mutex).
- */
-void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask ) PRIVILEGED_FUNCTION;
-
-/*
- * Get the uxTCBNumber assigned to the task referenced by the xTask parameter.
- */
-UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-/*
- * Set the uxTaskNumber of the task referenced by the xTask parameter to
- * uxHandle.
- */
-void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle ) PRIVILEGED_FUNCTION;
-
-/*
- * Only available when configUSE_TICKLESS_IDLE is set to 1.
- * If tickless mode is being used, or a low power mode is implemented, then
- * the tick interrupt will not execute during idle periods. When this is the
- * case, the tick count value maintained by the scheduler needs to be kept up
- * to date with the actual execution time by being skipped forward by a time
- * equal to the idle period.
- */
-void vTaskStepTick( const TickType_t xTicksToJump ) PRIVILEGED_FUNCTION;
-
-/* Correct the tick count value after the application code has held
-interrupts disabled for an extended period. xTicksToCatchUp is the number
-of tick interrupts that have been missed due to interrupts being disabled.
-Its value is not computed automatically, so must be computed by the
-application writer.
-
-This function is similar to vTaskStepTick(), however, unlike
-vTaskStepTick(), xTaskCatchUpTicks() may move the tick count forward past a
-time at which a task should be removed from the blocked state. That means
-tasks may have to be removed from the blocked state as the tick count is
-moved. */
-BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp ) PRIVILEGED_FUNCTION;
-
-/*
- * Only available when configUSE_TICKLESS_IDLE is set to 1.
- * Provided for use within portSUPPRESS_TICKS_AND_SLEEP() to allow the port
- * specific sleep function to determine if it is ok to proceed with the sleep,
- * and if it is ok to proceed, if it is ok to sleep indefinitely.
- *
- * This function is necessary because portSUPPRESS_TICKS_AND_SLEEP() is only
- * called with the scheduler suspended, not from within a critical section. It
- * is therefore possible for an interrupt to request a context switch between
- * portSUPPRESS_TICKS_AND_SLEEP() and the low power mode actually being
- * entered. eTaskConfirmSleepModeStatus() should be called from a short
- * critical section between the timer being stopped and the sleep mode being
- * entered to ensure it is ok to proceed into the sleep mode.
- */
-eSleepModeStatus eTaskConfirmSleepModeStatus( void ) PRIVILEGED_FUNCTION;
-
-/*
- * For internal use only. Increment the mutex held count when a mutex is
- * taken and return the handle of the task that has taken the mutex.
- */
-TaskHandle_t pvTaskIncrementMutexHeldCount( void ) PRIVILEGED_FUNCTION;
-
-/*
- * For internal use only. Same as vTaskSetTimeOutState(), but without a critial
- * section.
- */
-void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut ) PRIVILEGED_FUNCTION;
-
-
-#ifdef __cplusplus
-}
-#endif
-#endif /* INC_TASK_H */
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/timers.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/timers.h
deleted file mode 100644
index 205ad62fcb4afddab6afe3ac0fe7559b61a8d0dc..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/include/timers.h
+++ /dev/null
@@ -1,1309 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-#ifndef TIMERS_H
-#define TIMERS_H
-
-#ifndef INC_FREERTOS_H
- #error "include FreeRTOS.h must appear in source files before include timers.h"
-#endif
-
-/*lint -save -e537 This headers are only multiply included if the application code
-happens to also be including task.h. */
-#include "task.h"
-/*lint -restore */
-
-#ifdef __cplusplus
-extern "C" {
-#endif
-
-/*-----------------------------------------------------------
- * MACROS AND DEFINITIONS
- *----------------------------------------------------------*/
-
-/* IDs for commands that can be sent/received on the timer queue. These are to
-be used solely through the macros that make up the public software timer API,
-as defined below. The commands that are sent from interrupts must use the
-highest numbers as tmrFIRST_FROM_ISR_COMMAND is used to determine if the task
-or interrupt version of the queue send function should be used. */
-#define tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR ( ( BaseType_t ) -2 )
-#define tmrCOMMAND_EXECUTE_CALLBACK ( ( BaseType_t ) -1 )
-#define tmrCOMMAND_START_DONT_TRACE ( ( BaseType_t ) 0 )
-#define tmrCOMMAND_START ( ( BaseType_t ) 1 )
-#define tmrCOMMAND_RESET ( ( BaseType_t ) 2 )
-#define tmrCOMMAND_STOP ( ( BaseType_t ) 3 )
-#define tmrCOMMAND_CHANGE_PERIOD ( ( BaseType_t ) 4 )
-#define tmrCOMMAND_DELETE ( ( BaseType_t ) 5 )
-
-#define tmrFIRST_FROM_ISR_COMMAND ( ( BaseType_t ) 6 )
-#define tmrCOMMAND_START_FROM_ISR ( ( BaseType_t ) 6 )
-#define tmrCOMMAND_RESET_FROM_ISR ( ( BaseType_t ) 7 )
-#define tmrCOMMAND_STOP_FROM_ISR ( ( BaseType_t ) 8 )
-#define tmrCOMMAND_CHANGE_PERIOD_FROM_ISR ( ( BaseType_t ) 9 )
-
-
-/**
- * Type by which software timers are referenced. For example, a call to
- * xTimerCreate() returns an TimerHandle_t variable that can then be used to
- * reference the subject timer in calls to other software timer API functions
- * (for example, xTimerStart(), xTimerReset(), etc.).
- */
-struct tmrTimerControl; /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-typedef struct tmrTimerControl * TimerHandle_t;
-
-/*
- * Defines the prototype to which timer callback functions must conform.
- */
-typedef void (*TimerCallbackFunction_t)( TimerHandle_t xTimer );
-
-/*
- * Defines the prototype to which functions used with the
- * xTimerPendFunctionCallFromISR() function must conform.
- */
-typedef void (*PendedFunction_t)( void *, uint32_t );
-
-/**
- * TimerHandle_t xTimerCreate( const char * const pcTimerName,
- * TickType_t xTimerPeriodInTicks,
- * UBaseType_t uxAutoReload,
- * void * pvTimerID,
- * TimerCallbackFunction_t pxCallbackFunction );
- *
- * Creates a new software timer instance, and returns a handle by which the
- * created software timer can be referenced.
- *
- * Internally, within the FreeRTOS implementation, software timers use a block
- * of memory, in which the timer data structure is stored. If a software timer
- * is created using xTimerCreate() then the required memory is automatically
- * dynamically allocated inside the xTimerCreate() function. (see
- * http://www.freertos.org/a00111.html). If a software timer is created using
- * xTimerCreateStatic() then the application writer must provide the memory that
- * will get used by the software timer. xTimerCreateStatic() therefore allows a
- * software timer to be created without using any dynamic memory allocation.
- *
- * Timers are created in the dormant state. The xTimerStart(), xTimerReset(),
- * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
- * xTimerChangePeriodFromISR() API functions can all be used to transition a
- * timer into the active state.
- *
- * @param pcTimerName A text name that is assigned to the timer. This is done
- * purely to assist debugging. The kernel itself only ever references a timer
- * by its handle, and never by its name.
- *
- * @param xTimerPeriodInTicks The timer period. The time is defined in tick
- * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
- * has been specified in milliseconds. For example, if the timer must expire
- * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
- * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
- * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
- * equal to 1000. Time timer period must be greater than 0.
- *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
- * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
- * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
- * enter the dormant state after it expires.
- *
- * @param pvTimerID An identifier that is assigned to the timer being created.
- * Typically this would be used in the timer callback function to identify which
- * timer expired when the same callback function is assigned to more than one
- * timer.
- *
- * @param pxCallbackFunction The function to call when the timer expires.
- * Callback functions must have the prototype defined by TimerCallbackFunction_t,
- * which is "void vCallbackFunction( TimerHandle_t xTimer );".
- *
- * @return If the timer is successfully created then a handle to the newly
- * created timer is returned. If the timer cannot be created because there is
- * insufficient FreeRTOS heap remaining to allocate the timer
- * structures then NULL is returned.
- *
- * Example usage:
- * @verbatim
- * #define NUM_TIMERS 5
- *
- * // An array to hold handles to the created timers.
- * TimerHandle_t xTimers[ NUM_TIMERS ];
- *
- * // An array to hold a count of the number of times each timer expires.
- * int32_t lExpireCounters[ NUM_TIMERS ] = { 0 };
- *
- * // Define a callback function that will be used by multiple timer instances.
- * // The callback function does nothing but count the number of times the
- * // associated timer expires, and stop the timer once the timer has expired
- * // 10 times.
- * void vTimerCallback( TimerHandle_t pxTimer )
- * {
- * int32_t lArrayIndex;
- * const int32_t xMaxExpiryCountBeforeStopping = 10;
- *
- * // Optionally do something if the pxTimer parameter is NULL.
- * configASSERT( pxTimer );
- *
- * // Which timer expired?
- * lArrayIndex = ( int32_t ) pvTimerGetTimerID( pxTimer );
- *
- * // Increment the number of times that pxTimer has expired.
- * lExpireCounters[ lArrayIndex ] += 1;
- *
- * // If the timer has expired 10 times then stop it from running.
- * if( lExpireCounters[ lArrayIndex ] == xMaxExpiryCountBeforeStopping )
- * {
- * // Do not use a block time if calling a timer API function from a
- * // timer callback function, as doing so could cause a deadlock!
- * xTimerStop( pxTimer, 0 );
- * }
- * }
- *
- * void main( void )
- * {
- * int32_t x;
- *
- * // Create then start some timers. Starting the timers before the scheduler
- * // has been started means the timers will start running immediately that
- * // the scheduler starts.
- * for( x = 0; x < NUM_TIMERS; x++ )
- * {
- * xTimers[ x ] = xTimerCreate( "Timer", // Just a text name, not used by the kernel.
- * ( 100 * x ), // The timer period in ticks.
- * pdTRUE, // The timers will auto-reload themselves when they expire.
- * ( void * ) x, // Assign each timer a unique id equal to its array index.
- * vTimerCallback // Each timer calls the same callback when it expires.
- * );
- *
- * if( xTimers[ x ] == NULL )
- * {
- * // The timer was not created.
- * }
- * else
- * {
- * // Start the timer. No block time is specified, and even if one was
- * // it would be ignored because the scheduler has not yet been
- * // started.
- * if( xTimerStart( xTimers[ x ], 0 ) != pdPASS )
- * {
- * // The timer could not be set into the Active state.
- * }
- * }
- * }
- *
- * // ...
- * // Create tasks here.
- * // ...
- *
- * // Starting the scheduler will start the timers running as they have already
- * // been set into the active state.
- * vTaskStartScheduler();
- *
- * // Should not reach here.
- * for( ;; );
- * }
- * @endverbatim
- */
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const TickType_t xTimerPeriodInTicks,
- const UBaseType_t uxAutoReload,
- void * const pvTimerID,
- TimerCallbackFunction_t pxCallbackFunction ) PRIVILEGED_FUNCTION;
-#endif
-
-/**
- * TimerHandle_t xTimerCreateStatic(const char * const pcTimerName,
- * TickType_t xTimerPeriodInTicks,
- * UBaseType_t uxAutoReload,
- * void * pvTimerID,
- * TimerCallbackFunction_t pxCallbackFunction,
- * StaticTimer_t *pxTimerBuffer );
- *
- * Creates a new software timer instance, and returns a handle by which the
- * created software timer can be referenced.
- *
- * Internally, within the FreeRTOS implementation, software timers use a block
- * of memory, in which the timer data structure is stored. If a software timer
- * is created using xTimerCreate() then the required memory is automatically
- * dynamically allocated inside the xTimerCreate() function. (see
- * http://www.freertos.org/a00111.html). If a software timer is created using
- * xTimerCreateStatic() then the application writer must provide the memory that
- * will get used by the software timer. xTimerCreateStatic() therefore allows a
- * software timer to be created without using any dynamic memory allocation.
- *
- * Timers are created in the dormant state. The xTimerStart(), xTimerReset(),
- * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
- * xTimerChangePeriodFromISR() API functions can all be used to transition a
- * timer into the active state.
- *
- * @param pcTimerName A text name that is assigned to the timer. This is done
- * purely to assist debugging. The kernel itself only ever references a timer
- * by its handle, and never by its name.
- *
- * @param xTimerPeriodInTicks The timer period. The time is defined in tick
- * periods so the constant portTICK_PERIOD_MS can be used to convert a time that
- * has been specified in milliseconds. For example, if the timer must expire
- * after 100 ticks, then xTimerPeriodInTicks should be set to 100.
- * Alternatively, if the timer must expire after 500ms, then xPeriod can be set
- * to ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than or
- * equal to 1000. The timer period must be greater than 0.
- *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
- * expire repeatedly with a frequency set by the xTimerPeriodInTicks parameter.
- * If uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
- * enter the dormant state after it expires.
- *
- * @param pvTimerID An identifier that is assigned to the timer being created.
- * Typically this would be used in the timer callback function to identify which
- * timer expired when the same callback function is assigned to more than one
- * timer.
- *
- * @param pxCallbackFunction The function to call when the timer expires.
- * Callback functions must have the prototype defined by TimerCallbackFunction_t,
- * which is "void vCallbackFunction( TimerHandle_t xTimer );".
- *
- * @param pxTimerBuffer Must point to a variable of type StaticTimer_t, which
- * will be then be used to hold the software timer's data structures, removing
- * the need for the memory to be allocated dynamically.
- *
- * @return If the timer is created then a handle to the created timer is
- * returned. If pxTimerBuffer was NULL then NULL is returned.
- *
- * Example usage:
- * @verbatim
- *
- * // The buffer used to hold the software timer's data structure.
- * static StaticTimer_t xTimerBuffer;
- *
- * // A variable that will be incremented by the software timer's callback
- * // function.
- * UBaseType_t uxVariableToIncrement = 0;
- *
- * // A software timer callback function that increments a variable passed to
- * // it when the software timer was created. After the 5th increment the
- * // callback function stops the software timer.
- * static void prvTimerCallback( TimerHandle_t xExpiredTimer )
- * {
- * UBaseType_t *puxVariableToIncrement;
- * BaseType_t xReturned;
- *
- * // Obtain the address of the variable to increment from the timer ID.
- * puxVariableToIncrement = ( UBaseType_t * ) pvTimerGetTimerID( xExpiredTimer );
- *
- * // Increment the variable to show the timer callback has executed.
- * ( *puxVariableToIncrement )++;
- *
- * // If this callback has executed the required number of times, stop the
- * // timer.
- * if( *puxVariableToIncrement == 5 )
- * {
- * // This is called from a timer callback so must not block.
- * xTimerStop( xExpiredTimer, staticDONT_BLOCK );
- * }
- * }
- *
- *
- * void main( void )
- * {
- * // Create the software time. xTimerCreateStatic() has an extra parameter
- * // than the normal xTimerCreate() API function. The parameter is a pointer
- * // to the StaticTimer_t structure that will hold the software timer
- * // structure. If the parameter is passed as NULL then the structure will be
- * // allocated dynamically, just as if xTimerCreate() had been called.
- * xTimer = xTimerCreateStatic( "T1", // Text name for the task. Helps debugging only. Not used by FreeRTOS.
- * xTimerPeriod, // The period of the timer in ticks.
- * pdTRUE, // This is an auto-reload timer.
- * ( void * ) &uxVariableToIncrement, // A variable incremented by the software timer's callback function
- * prvTimerCallback, // The function to execute when the timer expires.
- * &xTimerBuffer ); // The buffer that will hold the software timer structure.
- *
- * // The scheduler has not started yet so a block time is not used.
- * xReturned = xTimerStart( xTimer, 0 );
- *
- * // ...
- * // Create tasks here.
- * // ...
- *
- * // Starting the scheduler will start the timers running as they have already
- * // been set into the active state.
- * vTaskStartScheduler();
- *
- * // Should not reach here.
- * for( ;; );
- * }
- * @endverbatim
- */
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
- TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const TickType_t xTimerPeriodInTicks,
- const UBaseType_t uxAutoReload,
- void * const pvTimerID,
- TimerCallbackFunction_t pxCallbackFunction,
- StaticTimer_t *pxTimerBuffer ) PRIVILEGED_FUNCTION;
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-
-/**
- * void *pvTimerGetTimerID( TimerHandle_t xTimer );
- *
- * Returns the ID assigned to the timer.
- *
- * IDs are assigned to timers using the pvTimerID parameter of the call to
- * xTimerCreated() that was used to create the timer, and by calling the
- * vTimerSetTimerID() API function.
- *
- * If the same callback function is assigned to multiple timers then the timer
- * ID can be used as time specific (timer local) storage.
- *
- * @param xTimer The timer being queried.
- *
- * @return The ID assigned to the timer being queried.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- */
-void *pvTimerGetTimerID( const TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/**
- * void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID );
- *
- * Sets the ID assigned to the timer.
- *
- * IDs are assigned to timers using the pvTimerID parameter of the call to
- * xTimerCreated() that was used to create the timer.
- *
- * If the same callback function is assigned to multiple timers then the timer
- * ID can be used as time specific (timer local) storage.
- *
- * @param xTimer The timer being updated.
- *
- * @param pvNewID The ID to assign to the timer.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- */
-void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID ) PRIVILEGED_FUNCTION;
-
-/**
- * BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer );
- *
- * Queries a timer to see if it is active or dormant.
- *
- * A timer will be dormant if:
- * 1) It has been created but not started, or
- * 2) It is an expired one-shot timer that has not been restarted.
- *
- * Timers are created in the dormant state. The xTimerStart(), xTimerReset(),
- * xTimerStartFromISR(), xTimerResetFromISR(), xTimerChangePeriod() and
- * xTimerChangePeriodFromISR() API functions can all be used to transition a timer into the
- * active state.
- *
- * @param xTimer The timer being queried.
- *
- * @return pdFALSE will be returned if the timer is dormant. A value other than
- * pdFALSE will be returned if the timer is active.
- *
- * Example usage:
- * @verbatim
- * // This function assumes xTimer has already been created.
- * void vAFunction( TimerHandle_t xTimer )
- * {
- * if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
- * {
- * // xTimer is active, do something.
- * }
- * else
- * {
- * // xTimer is not active, do something else.
- * }
- * }
- * @endverbatim
- */
-BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/**
- * TaskHandle_t xTimerGetTimerDaemonTaskHandle( void );
- *
- * Simply returns the handle of the timer service/daemon task. It it not valid
- * to call xTimerGetTimerDaemonTaskHandle() before the scheduler has been started.
- */
-TaskHandle_t xTimerGetTimerDaemonTaskHandle( void ) PRIVILEGED_FUNCTION;
-
-/**
- * BaseType_t xTimerStart( TimerHandle_t xTimer, TickType_t xTicksToWait );
- *
- * Timer functionality is provided by a timer service/daemon task. Many of the
- * public FreeRTOS timer API functions send commands to the timer service task
- * through a queue called the timer command queue. The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code. The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerStart() starts a timer that was previously created using the
- * xTimerCreate() API function. If the timer had already been started and was
- * already in the active state, then xTimerStart() has equivalent functionality
- * to the xTimerReset() API function.
- *
- * Starting a timer ensures the timer is in the active state. If the timer
- * is not stopped, deleted, or reset in the mean time, the callback function
- * associated with the timer will get called 'n' ticks after xTimerStart() was
- * called, where 'n' is the timers defined period.
- *
- * It is valid to call xTimerStart() before the scheduler has been started, but
- * when this is done the timer will not actually start until the scheduler is
- * started, and the timers expiry time will be relative to when the scheduler is
- * started, not relative to when xTimerStart() was called.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStart()
- * to be available.
- *
- * @param xTimer The handle of the timer being started/restarted.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the start command to be successfully
- * sent to the timer command queue, should the queue already be full when
- * xTimerStart() was called. xTicksToWait is ignored if xTimerStart() is called
- * before the scheduler is started.
- *
- * @return pdFAIL will be returned if the start command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed. pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system, although the
- * timers expiry time is relative to when xTimerStart() is actually called. The
- * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- *
- */
-#define xTimerStart( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerStop( TimerHandle_t xTimer, TickType_t xTicksToWait );
- *
- * Timer functionality is provided by a timer service/daemon task. Many of the
- * public FreeRTOS timer API functions send commands to the timer service task
- * through a queue called the timer command queue. The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code. The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerStop() stops a timer that was previously started using either of the
- * The xTimerStart(), xTimerReset(), xTimerStartFromISR(), xTimerResetFromISR(),
- * xTimerChangePeriod() or xTimerChangePeriodFromISR() API functions.
- *
- * Stopping a timer ensures the timer is not in the active state.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for xTimerStop()
- * to be available.
- *
- * @param xTimer The handle of the timer being stopped.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the stop command to be successfully
- * sent to the timer command queue, should the queue already be full when
- * xTimerStop() was called. xTicksToWait is ignored if xTimerStop() is called
- * before the scheduler is started.
- *
- * @return pdFAIL will be returned if the stop command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed. pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system. The timer
- * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- *
- * See the xTimerCreate() API function example usage scenario.
- *
- */
-#define xTimerStop( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP, 0U, NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerChangePeriod( TimerHandle_t xTimer,
- * TickType_t xNewPeriod,
- * TickType_t xTicksToWait );
- *
- * Timer functionality is provided by a timer service/daemon task. Many of the
- * public FreeRTOS timer API functions send commands to the timer service task
- * through a queue called the timer command queue. The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code. The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerChangePeriod() changes the period of a timer that was previously
- * created using the xTimerCreate() API function.
- *
- * xTimerChangePeriod() can be called to change the period of an active or
- * dormant state timer.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for
- * xTimerChangePeriod() to be available.
- *
- * @param xTimer The handle of the timer that is having its period changed.
- *
- * @param xNewPeriod The new period for xTimer. Timer periods are specified in
- * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time
- * that has been specified in milliseconds. For example, if the timer must
- * expire after 100 ticks, then xNewPeriod should be set to 100. Alternatively,
- * if the timer must expire after 500ms, then xNewPeriod can be set to
- * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than
- * or equal to 1000.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the change period command to be
- * successfully sent to the timer command queue, should the queue already be
- * full when xTimerChangePeriod() was called. xTicksToWait is ignored if
- * xTimerChangePeriod() is called before the scheduler is started.
- *
- * @return pdFAIL will be returned if the change period command could not be
- * sent to the timer command queue even after xTicksToWait ticks had passed.
- * pdPASS will be returned if the command was successfully sent to the timer
- * command queue. When the command is actually processed will depend on the
- * priority of the timer service/daemon task relative to other tasks in the
- * system. The timer service/daemon task priority is set by the
- * configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This function assumes xTimer has already been created. If the timer
- * // referenced by xTimer is already active when it is called, then the timer
- * // is deleted. If the timer referenced by xTimer is not active when it is
- * // called, then the period of the timer is set to 500ms and the timer is
- * // started.
- * void vAFunction( TimerHandle_t xTimer )
- * {
- * if( xTimerIsTimerActive( xTimer ) != pdFALSE ) // or more simply and equivalently "if( xTimerIsTimerActive( xTimer ) )"
- * {
- * // xTimer is already active - delete it.
- * xTimerDelete( xTimer );
- * }
- * else
- * {
- * // xTimer is not active, change its period to 500ms. This will also
- * // cause the timer to start. Block for a maximum of 100 ticks if the
- * // change period command cannot immediately be sent to the timer
- * // command queue.
- * if( xTimerChangePeriod( xTimer, 500 / portTICK_PERIOD_MS, 100 ) == pdPASS )
- * {
- * // The command was successfully sent.
- * }
- * else
- * {
- * // The command could not be sent, even after waiting for 100 ticks
- * // to pass. Take appropriate action here.
- * }
- * }
- * }
- * @endverbatim
- */
- #define xTimerChangePeriod( xTimer, xNewPeriod, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD, ( xNewPeriod ), NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerDelete( TimerHandle_t xTimer, TickType_t xTicksToWait );
- *
- * Timer functionality is provided by a timer service/daemon task. Many of the
- * public FreeRTOS timer API functions send commands to the timer service task
- * through a queue called the timer command queue. The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code. The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerDelete() deletes a timer that was previously created using the
- * xTimerCreate() API function.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for
- * xTimerDelete() to be available.
- *
- * @param xTimer The handle of the timer being deleted.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the delete command to be
- * successfully sent to the timer command queue, should the queue already be
- * full when xTimerDelete() was called. xTicksToWait is ignored if xTimerDelete()
- * is called before the scheduler is started.
- *
- * @return pdFAIL will be returned if the delete command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed. pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system. The timer
- * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- *
- * See the xTimerChangePeriod() API function example usage scenario.
- */
-#define xTimerDelete( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_DELETE, 0U, NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerReset( TimerHandle_t xTimer, TickType_t xTicksToWait );
- *
- * Timer functionality is provided by a timer service/daemon task. Many of the
- * public FreeRTOS timer API functions send commands to the timer service task
- * through a queue called the timer command queue. The timer command queue is
- * private to the kernel itself and is not directly accessible to application
- * code. The length of the timer command queue is set by the
- * configTIMER_QUEUE_LENGTH configuration constant.
- *
- * xTimerReset() re-starts a timer that was previously created using the
- * xTimerCreate() API function. If the timer had already been started and was
- * already in the active state, then xTimerReset() will cause the timer to
- * re-evaluate its expiry time so that it is relative to when xTimerReset() was
- * called. If the timer was in the dormant state then xTimerReset() has
- * equivalent functionality to the xTimerStart() API function.
- *
- * Resetting a timer ensures the timer is in the active state. If the timer
- * is not stopped, deleted, or reset in the mean time, the callback function
- * associated with the timer will get called 'n' ticks after xTimerReset() was
- * called, where 'n' is the timers defined period.
- *
- * It is valid to call xTimerReset() before the scheduler has been started, but
- * when this is done the timer will not actually start until the scheduler is
- * started, and the timers expiry time will be relative to when the scheduler is
- * started, not relative to when xTimerReset() was called.
- *
- * The configUSE_TIMERS configuration constant must be set to 1 for xTimerReset()
- * to be available.
- *
- * @param xTimer The handle of the timer being reset/started/restarted.
- *
- * @param xTicksToWait Specifies the time, in ticks, that the calling task should
- * be held in the Blocked state to wait for the reset command to be successfully
- * sent to the timer command queue, should the queue already be full when
- * xTimerReset() was called. xTicksToWait is ignored if xTimerReset() is called
- * before the scheduler is started.
- *
- * @return pdFAIL will be returned if the reset command could not be sent to
- * the timer command queue even after xTicksToWait ticks had passed. pdPASS will
- * be returned if the command was successfully sent to the timer command queue.
- * When the command is actually processed will depend on the priority of the
- * timer service/daemon task relative to other tasks in the system, although the
- * timers expiry time is relative to when xTimerStart() is actually called. The
- * timer service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- * @verbatim
- * // When a key is pressed, an LCD back-light is switched on. If 5 seconds pass
- * // without a key being pressed, then the LCD back-light is switched off. In
- * // this case, the timer is a one-shot timer.
- *
- * TimerHandle_t xBacklightTimer = NULL;
- *
- * // The callback function assigned to the one-shot timer. In this case the
- * // parameter is not used.
- * void vBacklightTimerCallback( TimerHandle_t pxTimer )
- * {
- * // The timer expired, therefore 5 seconds must have passed since a key
- * // was pressed. Switch off the LCD back-light.
- * vSetBacklightState( BACKLIGHT_OFF );
- * }
- *
- * // The key press event handler.
- * void vKeyPressEventHandler( char cKey )
- * {
- * // Ensure the LCD back-light is on, then reset the timer that is
- * // responsible for turning the back-light off after 5 seconds of
- * // key inactivity. Wait 10 ticks for the command to be successfully sent
- * // if it cannot be sent immediately.
- * vSetBacklightState( BACKLIGHT_ON );
- * if( xTimerReset( xBacklightTimer, 100 ) != pdPASS )
- * {
- * // The reset command was not executed successfully. Take appropriate
- * // action here.
- * }
- *
- * // Perform the rest of the key processing here.
- * }
- *
- * void main( void )
- * {
- * int32_t x;
- *
- * // Create then start the one-shot timer that is responsible for turning
- * // the back-light off if no keys are pressed within a 5 second period.
- * xBacklightTimer = xTimerCreate( "BacklightTimer", // Just a text name, not used by the kernel.
- * ( 5000 / portTICK_PERIOD_MS), // The timer period in ticks.
- * pdFALSE, // The timer is a one-shot timer.
- * 0, // The id is not used by the callback so can take any value.
- * vBacklightTimerCallback // The callback function that switches the LCD back-light off.
- * );
- *
- * if( xBacklightTimer == NULL )
- * {
- * // The timer was not created.
- * }
- * else
- * {
- * // Start the timer. No block time is specified, and even if one was
- * // it would be ignored because the scheduler has not yet been
- * // started.
- * if( xTimerStart( xBacklightTimer, 0 ) != pdPASS )
- * {
- * // The timer could not be set into the Active state.
- * }
- * }
- *
- * // ...
- * // Create tasks here.
- * // ...
- *
- * // Starting the scheduler will start the timer running as it has already
- * // been set into the active state.
- * vTaskStartScheduler();
- *
- * // Should not reach here.
- * for( ;; );
- * }
- * @endverbatim
- */
-#define xTimerReset( xTimer, xTicksToWait ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET, ( xTaskGetTickCount() ), NULL, ( xTicksToWait ) )
-
-/**
- * BaseType_t xTimerStartFromISR( TimerHandle_t xTimer,
- * BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerStart() that can be called from an interrupt service
- * routine.
- *
- * @param xTimer The handle of the timer being started/restarted.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue. Calling xTimerStartFromISR() writes a message to the timer
- * command queue, so has the potential to transition the timer service/daemon
- * task out of the Blocked state. If calling xTimerStartFromISR() causes the
- * timer service/daemon task to leave the Blocked state, and the timer service/
- * daemon task has a priority equal to or greater than the currently executing
- * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
- * get set to pdTRUE internally within the xTimerStartFromISR() function. If
- * xTimerStartFromISR() sets this value to pdTRUE then a context switch should
- * be performed before the interrupt exits.
- *
- * @return pdFAIL will be returned if the start command could not be sent to
- * the timer command queue. pdPASS will be returned if the command was
- * successfully sent to the timer command queue. When the command is actually
- * processed will depend on the priority of the timer service/daemon task
- * relative to other tasks in the system, although the timers expiry time is
- * relative to when xTimerStartFromISR() is actually called. The timer
- * service/daemon task priority is set by the configTIMER_TASK_PRIORITY
- * configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xBacklightTimer has already been created. When a
- * // key is pressed, an LCD back-light is switched on. If 5 seconds pass
- * // without a key being pressed, then the LCD back-light is switched off. In
- * // this case, the timer is a one-shot timer, and unlike the example given for
- * // the xTimerReset() function, the key press event handler is an interrupt
- * // service routine.
- *
- * // The callback function assigned to the one-shot timer. In this case the
- * // parameter is not used.
- * void vBacklightTimerCallback( TimerHandle_t pxTimer )
- * {
- * // The timer expired, therefore 5 seconds must have passed since a key
- * // was pressed. Switch off the LCD back-light.
- * vSetBacklightState( BACKLIGHT_OFF );
- * }
- *
- * // The key press interrupt service routine.
- * void vKeyPressEventInterruptHandler( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- * // Ensure the LCD back-light is on, then restart the timer that is
- * // responsible for turning the back-light off after 5 seconds of
- * // key inactivity. This is an interrupt service routine so can only
- * // call FreeRTOS API functions that end in "FromISR".
- * vSetBacklightState( BACKLIGHT_ON );
- *
- * // xTimerStartFromISR() or xTimerResetFromISR() could be called here
- * // as both cause the timer to re-calculate its expiry time.
- * // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
- * // declared (in this function).
- * if( xTimerStartFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- * {
- * // The start command was not executed successfully. Take appropriate
- * // action here.
- * }
- *
- * // Perform the rest of the key processing here.
- *
- * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- * // should be performed. The syntax required to perform a context switch
- * // from inside an ISR varies from port to port, and from compiler to
- * // compiler. Inspect the demos for the port you are using to find the
- * // actual syntax required.
- * if( xHigherPriorityTaskWoken != pdFALSE )
- * {
- * // Call the interrupt safe yield function here (actual function
- * // depends on the FreeRTOS port being used).
- * }
- * }
- * @endverbatim
- */
-#define xTimerStartFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_START_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
-
-/**
- * BaseType_t xTimerStopFromISR( TimerHandle_t xTimer,
- * BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerStop() that can be called from an interrupt service
- * routine.
- *
- * @param xTimer The handle of the timer being stopped.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue. Calling xTimerStopFromISR() writes a message to the timer
- * command queue, so has the potential to transition the timer service/daemon
- * task out of the Blocked state. If calling xTimerStopFromISR() causes the
- * timer service/daemon task to leave the Blocked state, and the timer service/
- * daemon task has a priority equal to or greater than the currently executing
- * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
- * get set to pdTRUE internally within the xTimerStopFromISR() function. If
- * xTimerStopFromISR() sets this value to pdTRUE then a context switch should
- * be performed before the interrupt exits.
- *
- * @return pdFAIL will be returned if the stop command could not be sent to
- * the timer command queue. pdPASS will be returned if the command was
- * successfully sent to the timer command queue. When the command is actually
- * processed will depend on the priority of the timer service/daemon task
- * relative to other tasks in the system. The timer service/daemon task
- * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xTimer has already been created and started. When
- * // an interrupt occurs, the timer should be simply stopped.
- *
- * // The interrupt service routine that stops the timer.
- * void vAnExampleInterruptServiceRoutine( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- * // The interrupt has occurred - simply stop the timer.
- * // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
- * // (within this function). As this is an interrupt service routine, only
- * // FreeRTOS API functions that end in "FromISR" can be used.
- * if( xTimerStopFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- * {
- * // The stop command was not executed successfully. Take appropriate
- * // action here.
- * }
- *
- * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- * // should be performed. The syntax required to perform a context switch
- * // from inside an ISR varies from port to port, and from compiler to
- * // compiler. Inspect the demos for the port you are using to find the
- * // actual syntax required.
- * if( xHigherPriorityTaskWoken != pdFALSE )
- * {
- * // Call the interrupt safe yield function here (actual function
- * // depends on the FreeRTOS port being used).
- * }
- * }
- * @endverbatim
- */
-#define xTimerStopFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_STOP_FROM_ISR, 0, ( pxHigherPriorityTaskWoken ), 0U )
-
-/**
- * BaseType_t xTimerChangePeriodFromISR( TimerHandle_t xTimer,
- * TickType_t xNewPeriod,
- * BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerChangePeriod() that can be called from an interrupt
- * service routine.
- *
- * @param xTimer The handle of the timer that is having its period changed.
- *
- * @param xNewPeriod The new period for xTimer. Timer periods are specified in
- * tick periods, so the constant portTICK_PERIOD_MS can be used to convert a time
- * that has been specified in milliseconds. For example, if the timer must
- * expire after 100 ticks, then xNewPeriod should be set to 100. Alternatively,
- * if the timer must expire after 500ms, then xNewPeriod can be set to
- * ( 500 / portTICK_PERIOD_MS ) provided configTICK_RATE_HZ is less than
- * or equal to 1000.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue. Calling xTimerChangePeriodFromISR() writes a message to the
- * timer command queue, so has the potential to transition the timer service/
- * daemon task out of the Blocked state. If calling xTimerChangePeriodFromISR()
- * causes the timer service/daemon task to leave the Blocked state, and the
- * timer service/daemon task has a priority equal to or greater than the
- * currently executing task (the task that was interrupted), then
- * *pxHigherPriorityTaskWoken will get set to pdTRUE internally within the
- * xTimerChangePeriodFromISR() function. If xTimerChangePeriodFromISR() sets
- * this value to pdTRUE then a context switch should be performed before the
- * interrupt exits.
- *
- * @return pdFAIL will be returned if the command to change the timers period
- * could not be sent to the timer command queue. pdPASS will be returned if the
- * command was successfully sent to the timer command queue. When the command
- * is actually processed will depend on the priority of the timer service/daemon
- * task relative to other tasks in the system. The timer service/daemon task
- * priority is set by the configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xTimer has already been created and started. When
- * // an interrupt occurs, the period of xTimer should be changed to 500ms.
- *
- * // The interrupt service routine that changes the period of xTimer.
- * void vAnExampleInterruptServiceRoutine( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- * // The interrupt has occurred - change the period of xTimer to 500ms.
- * // xHigherPriorityTaskWoken was set to pdFALSE where it was defined
- * // (within this function). As this is an interrupt service routine, only
- * // FreeRTOS API functions that end in "FromISR" can be used.
- * if( xTimerChangePeriodFromISR( xTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- * {
- * // The command to change the timers period was not executed
- * // successfully. Take appropriate action here.
- * }
- *
- * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- * // should be performed. The syntax required to perform a context switch
- * // from inside an ISR varies from port to port, and from compiler to
- * // compiler. Inspect the demos for the port you are using to find the
- * // actual syntax required.
- * if( xHigherPriorityTaskWoken != pdFALSE )
- * {
- * // Call the interrupt safe yield function here (actual function
- * // depends on the FreeRTOS port being used).
- * }
- * }
- * @endverbatim
- */
-#define xTimerChangePeriodFromISR( xTimer, xNewPeriod, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_CHANGE_PERIOD_FROM_ISR, ( xNewPeriod ), ( pxHigherPriorityTaskWoken ), 0U )
-
-/**
- * BaseType_t xTimerResetFromISR( TimerHandle_t xTimer,
- * BaseType_t *pxHigherPriorityTaskWoken );
- *
- * A version of xTimerReset() that can be called from an interrupt service
- * routine.
- *
- * @param xTimer The handle of the timer that is to be started, reset, or
- * restarted.
- *
- * @param pxHigherPriorityTaskWoken The timer service/daemon task spends most
- * of its time in the Blocked state, waiting for messages to arrive on the timer
- * command queue. Calling xTimerResetFromISR() writes a message to the timer
- * command queue, so has the potential to transition the timer service/daemon
- * task out of the Blocked state. If calling xTimerResetFromISR() causes the
- * timer service/daemon task to leave the Blocked state, and the timer service/
- * daemon task has a priority equal to or greater than the currently executing
- * task (the task that was interrupted), then *pxHigherPriorityTaskWoken will
- * get set to pdTRUE internally within the xTimerResetFromISR() function. If
- * xTimerResetFromISR() sets this value to pdTRUE then a context switch should
- * be performed before the interrupt exits.
- *
- * @return pdFAIL will be returned if the reset command could not be sent to
- * the timer command queue. pdPASS will be returned if the command was
- * successfully sent to the timer command queue. When the command is actually
- * processed will depend on the priority of the timer service/daemon task
- * relative to other tasks in the system, although the timers expiry time is
- * relative to when xTimerResetFromISR() is actually called. The timer service/daemon
- * task priority is set by the configTIMER_TASK_PRIORITY configuration constant.
- *
- * Example usage:
- * @verbatim
- * // This scenario assumes xBacklightTimer has already been created. When a
- * // key is pressed, an LCD back-light is switched on. If 5 seconds pass
- * // without a key being pressed, then the LCD back-light is switched off. In
- * // this case, the timer is a one-shot timer, and unlike the example given for
- * // the xTimerReset() function, the key press event handler is an interrupt
- * // service routine.
- *
- * // The callback function assigned to the one-shot timer. In this case the
- * // parameter is not used.
- * void vBacklightTimerCallback( TimerHandle_t pxTimer )
- * {
- * // The timer expired, therefore 5 seconds must have passed since a key
- * // was pressed. Switch off the LCD back-light.
- * vSetBacklightState( BACKLIGHT_OFF );
- * }
- *
- * // The key press interrupt service routine.
- * void vKeyPressEventInterruptHandler( void )
- * {
- * BaseType_t xHigherPriorityTaskWoken = pdFALSE;
- *
- * // Ensure the LCD back-light is on, then reset the timer that is
- * // responsible for turning the back-light off after 5 seconds of
- * // key inactivity. This is an interrupt service routine so can only
- * // call FreeRTOS API functions that end in "FromISR".
- * vSetBacklightState( BACKLIGHT_ON );
- *
- * // xTimerStartFromISR() or xTimerResetFromISR() could be called here
- * // as both cause the timer to re-calculate its expiry time.
- * // xHigherPriorityTaskWoken was initialised to pdFALSE when it was
- * // declared (in this function).
- * if( xTimerResetFromISR( xBacklightTimer, &xHigherPriorityTaskWoken ) != pdPASS )
- * {
- * // The reset command was not executed successfully. Take appropriate
- * // action here.
- * }
- *
- * // Perform the rest of the key processing here.
- *
- * // If xHigherPriorityTaskWoken equals pdTRUE, then a context switch
- * // should be performed. The syntax required to perform a context switch
- * // from inside an ISR varies from port to port, and from compiler to
- * // compiler. Inspect the demos for the port you are using to find the
- * // actual syntax required.
- * if( xHigherPriorityTaskWoken != pdFALSE )
- * {
- * // Call the interrupt safe yield function here (actual function
- * // depends on the FreeRTOS port being used).
- * }
- * }
- * @endverbatim
- */
-#define xTimerResetFromISR( xTimer, pxHigherPriorityTaskWoken ) xTimerGenericCommand( ( xTimer ), tmrCOMMAND_RESET_FROM_ISR, ( xTaskGetTickCountFromISR() ), ( pxHigherPriorityTaskWoken ), 0U )
-
-
-/**
- * BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend,
- * void *pvParameter1,
- * uint32_t ulParameter2,
- * BaseType_t *pxHigherPriorityTaskWoken );
- *
- *
- * Used from application interrupt service routines to defer the execution of a
- * function to the RTOS daemon task (the timer service task, hence this function
- * is implemented in timers.c and is prefixed with 'Timer').
- *
- * Ideally an interrupt service routine (ISR) is kept as short as possible, but
- * sometimes an ISR either has a lot of processing to do, or needs to perform
- * processing that is not deterministic. In these cases
- * xTimerPendFunctionCallFromISR() can be used to defer processing of a function
- * to the RTOS daemon task.
- *
- * A mechanism is provided that allows the interrupt to return directly to the
- * task that will subsequently execute the pended callback function. This
- * allows the callback function to execute contiguously in time with the
- * interrupt - just as if the callback had executed in the interrupt itself.
- *
- * @param xFunctionToPend The function to execute from the timer service/
- * daemon task. The function must conform to the PendedFunction_t
- * prototype.
- *
- * @param pvParameter1 The value of the callback function's first parameter.
- * The parameter has a void * type to allow it to be used to pass any type.
- * For example, unsigned longs can be cast to a void *, or the void * can be
- * used to point to a structure.
- *
- * @param ulParameter2 The value of the callback function's second parameter.
- *
- * @param pxHigherPriorityTaskWoken As mentioned above, calling this function
- * will result in a message being sent to the timer daemon task. If the
- * priority of the timer daemon task (which is set using
- * configTIMER_TASK_PRIORITY in FreeRTOSConfig.h) is higher than the priority of
- * the currently running task (the task the interrupt interrupted) then
- * *pxHigherPriorityTaskWoken will be set to pdTRUE within
- * xTimerPendFunctionCallFromISR(), indicating that a context switch should be
- * requested before the interrupt exits. For that reason
- * *pxHigherPriorityTaskWoken must be initialised to pdFALSE. See the
- * example code below.
- *
- * @return pdPASS is returned if the message was successfully sent to the
- * timer daemon task, otherwise pdFALSE is returned.
- *
- * Example usage:
- * @verbatim
- *
- * // The callback function that will execute in the context of the daemon task.
- * // Note callback functions must all use this same prototype.
- * void vProcessInterface( void *pvParameter1, uint32_t ulParameter2 )
- * {
- * BaseType_t xInterfaceToService;
- *
- * // The interface that requires servicing is passed in the second
- * // parameter. The first parameter is not used in this case.
- * xInterfaceToService = ( BaseType_t ) ulParameter2;
- *
- * // ...Perform the processing here...
- * }
- *
- * // An ISR that receives data packets from multiple interfaces
- * void vAnISR( void )
- * {
- * BaseType_t xInterfaceToService, xHigherPriorityTaskWoken;
- *
- * // Query the hardware to determine which interface needs processing.
- * xInterfaceToService = prvCheckInterfaces();
- *
- * // The actual processing is to be deferred to a task. Request the
- * // vProcessInterface() callback function is executed, passing in the
- * // number of the interface that needs processing. The interface to
- * // service is passed in the second parameter. The first parameter is
- * // not used in this case.
- * xHigherPriorityTaskWoken = pdFALSE;
- * xTimerPendFunctionCallFromISR( vProcessInterface, NULL, ( uint32_t ) xInterfaceToService, &xHigherPriorityTaskWoken );
- *
- * // If xHigherPriorityTaskWoken is now set to pdTRUE then a context
- * // switch should be requested. The macro used is port specific and will
- * // be either portYIELD_FROM_ISR() or portEND_SWITCHING_ISR() - refer to
- * // the documentation page for the port being used.
- * portYIELD_FROM_ISR( xHigherPriorityTaskWoken );
- *
- * }
- * @endverbatim
- */
-BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken ) PRIVILEGED_FUNCTION;
-
- /**
- * BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend,
- * void *pvParameter1,
- * uint32_t ulParameter2,
- * TickType_t xTicksToWait );
- *
- *
- * Used to defer the execution of a function to the RTOS daemon task (the timer
- * service task, hence this function is implemented in timers.c and is prefixed
- * with 'Timer').
- *
- * @param xFunctionToPend The function to execute from the timer service/
- * daemon task. The function must conform to the PendedFunction_t
- * prototype.
- *
- * @param pvParameter1 The value of the callback function's first parameter.
- * The parameter has a void * type to allow it to be used to pass any type.
- * For example, unsigned longs can be cast to a void *, or the void * can be
- * used to point to a structure.
- *
- * @param ulParameter2 The value of the callback function's second parameter.
- *
- * @param xTicksToWait Calling this function will result in a message being
- * sent to the timer daemon task on a queue. xTicksToWait is the amount of
- * time the calling task should remain in the Blocked state (so not using any
- * processing time) for space to become available on the timer queue if the
- * queue is found to be full.
- *
- * @return pdPASS is returned if the message was successfully sent to the
- * timer daemon task, otherwise pdFALSE is returned.
- *
- */
-BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-/**
- * const char * const pcTimerGetName( TimerHandle_t xTimer );
- *
- * Returns the name that was assigned to a timer when the timer was created.
- *
- * @param xTimer The handle of the timer being queried.
- *
- * @return The name assigned to the timer specified by the xTimer parameter.
- */
-const char * pcTimerGetName( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
-/**
- * void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload );
- *
- * Updates a timer to be either an auto-reload timer, in which case the timer
- * automatically resets itself each time it expires, or a one-shot timer, in
- * which case the timer will only expire once unless it is manually restarted.
- *
- * @param xTimer The handle of the timer being updated.
- *
- * @param uxAutoReload If uxAutoReload is set to pdTRUE then the timer will
- * expire repeatedly with a frequency set by the timer's period (see the
- * xTimerPeriodInTicks parameter of the xTimerCreate() API function). If
- * uxAutoReload is set to pdFALSE then the timer will be a one-shot timer and
- * enter the dormant state after it expires.
- */
-void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload ) PRIVILEGED_FUNCTION;
-
-/**
-* UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer );
-*
-* Queries a timer to determine if it is an auto-reload timer, in which case the timer
-* automatically resets itself each time it expires, or a one-shot timer, in
-* which case the timer will only expire once unless it is manually restarted.
-*
-* @param xTimer The handle of the timer being queried.
-*
-* @return If the timer is an auto-reload timer then pdTRUE is returned, otherwise
-* pdFALSE is returned.
-*/
-UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/**
- * TickType_t xTimerGetPeriod( TimerHandle_t xTimer );
- *
- * Returns the period of a timer.
- *
- * @param xTimer The handle of the timer being queried.
- *
- * @return The period of the timer in ticks.
- */
-TickType_t xTimerGetPeriod( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/**
-* TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer );
-*
-* Returns the time in ticks at which the timer will expire. If this is less
-* than the current tick count then the expiry time has overflowed from the
-* current time.
-*
-* @param xTimer The handle of the timer being queried.
-*
-* @return If the timer is running then the time in ticks at which the timer
-* will next expire is returned. If the timer is not running then the return
-* value is undefined.
-*/
-TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-
-/*
- * Functions beyond this part are not part of the public API and are intended
- * for use by the kernel only.
- */
-BaseType_t xTimerCreateTimerTask( void ) PRIVILEGED_FUNCTION;
-BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait ) PRIVILEGED_FUNCTION;
-
-#if( configUSE_TRACE_FACILITY == 1 )
- void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber ) PRIVILEGED_FUNCTION;
- UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer ) PRIVILEGED_FUNCTION;
-#endif
-
-#ifdef __cplusplus
-}
-#endif
-#endif /* TIMERS_H */
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/list.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/list.c
deleted file mode 100644
index 86b3eced2e14195cbe7868568b3c5d81b706d484..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/list.c
+++ /dev/null
@@ -1,198 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-#include <stdlib.h>
-#include "FreeRTOS.h"
-#include "list.h"
-
-/*-----------------------------------------------------------
- * PUBLIC LIST API documented in list.h
- *----------------------------------------------------------*/
-
-void vListInitialise( List_t * const pxList )
-{
- /* The list structure contains a list item which is used to mark the
- end of the list. To initialise the list the list end is inserted
- as the only list entry. */
- pxList->pxIndex = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
-
- /* The list end value is the highest possible value in the list to
- ensure it remains at the end of the list. */
- pxList->xListEnd.xItemValue = portMAX_DELAY;
-
- /* The list end next and previous pointers point to itself so we know
- when the list is empty. */
- pxList->xListEnd.pxNext = ( ListItem_t * ) &( pxList->xListEnd ); /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
- pxList->xListEnd.pxPrevious = ( ListItem_t * ) &( pxList->xListEnd );/*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. */
-
- pxList->uxNumberOfItems = ( UBaseType_t ) 0U;
-
- /* Write known values into the list if
- configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
- listSET_LIST_INTEGRITY_CHECK_1_VALUE( pxList );
- listSET_LIST_INTEGRITY_CHECK_2_VALUE( pxList );
-}
-/*-----------------------------------------------------------*/
-
-void vListInitialiseItem( ListItem_t * const pxItem )
-{
- /* Make sure the list item is not recorded as being on a list. */
- pxItem->pxContainer = NULL;
-
- /* Write known values into the list item if
- configUSE_LIST_DATA_INTEGRITY_CHECK_BYTES is set to 1. */
- listSET_FIRST_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
- listSET_SECOND_LIST_ITEM_INTEGRITY_CHECK_VALUE( pxItem );
-}
-/*-----------------------------------------------------------*/
-
-void vListInsertEnd( List_t * const pxList, ListItem_t * const pxNewListItem )
-{
-ListItem_t * const pxIndex = pxList->pxIndex;
-
- /* Only effective when configASSERT() is also defined, these tests may catch
- the list data structures being overwritten in memory. They will not catch
- data errors caused by incorrect configuration or use of FreeRTOS. */
- listTEST_LIST_INTEGRITY( pxList );
- listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
-
- /* Insert a new list item into pxList, but rather than sort the list,
- makes the new list item the last item to be removed by a call to
- listGET_OWNER_OF_NEXT_ENTRY(). */
- pxNewListItem->pxNext = pxIndex;
- pxNewListItem->pxPrevious = pxIndex->pxPrevious;
-
- /* Only used during decision coverage testing. */
- mtCOVERAGE_TEST_DELAY();
-
- pxIndex->pxPrevious->pxNext = pxNewListItem;
- pxIndex->pxPrevious = pxNewListItem;
-
- /* Remember which list the item is in. */
- pxNewListItem->pxContainer = pxList;
-
- ( pxList->uxNumberOfItems )++;
-}
-/*-----------------------------------------------------------*/
-
-void vListInsert( List_t * const pxList, ListItem_t * const pxNewListItem )
-{
-ListItem_t *pxIterator;
-const TickType_t xValueOfInsertion = pxNewListItem->xItemValue;
-
- /* Only effective when configASSERT() is also defined, these tests may catch
- the list data structures being overwritten in memory. They will not catch
- data errors caused by incorrect configuration or use of FreeRTOS. */
- listTEST_LIST_INTEGRITY( pxList );
- listTEST_LIST_ITEM_INTEGRITY( pxNewListItem );
-
- /* Insert the new list item into the list, sorted in xItemValue order.
-
- If the list already contains a list item with the same item value then the
- new list item should be placed after it. This ensures that TCBs which are
- stored in ready lists (all of which have the same xItemValue value) get a
- share of the CPU. However, if the xItemValue is the same as the back marker
- the iteration loop below will not end. Therefore the value is checked
- first, and the algorithm slightly modified if necessary. */
- if( xValueOfInsertion == portMAX_DELAY )
- {
- pxIterator = pxList->xListEnd.pxPrevious;
- }
- else
- {
- /* *** NOTE ***********************************************************
- If you find your application is crashing here then likely causes are
- listed below. In addition see https://www.freertos.org/FAQHelp.html for
- more tips, and ensure configASSERT() is defined!
- https://www.freertos.org/a00110.html#configASSERT
-
- 1) Stack overflow -
- see https://www.freertos.org/Stacks-and-stack-overflow-checking.html
- 2) Incorrect interrupt priority assignment, especially on Cortex-M
- parts where numerically high priority values denote low actual
- interrupt priorities, which can seem counter intuitive. See
- https://www.freertos.org/RTOS-Cortex-M3-M4.html and the definition
- of configMAX_SYSCALL_INTERRUPT_PRIORITY on
- https://www.freertos.org/a00110.html
- 3) Calling an API function from within a critical section or when
- the scheduler is suspended, or calling an API function that does
- not end in "FromISR" from an interrupt.
- 4) Using a queue or semaphore before it has been initialised or
- before the scheduler has been started (are interrupts firing
- before vTaskStartScheduler() has been called?).
- **********************************************************************/
-
- for( pxIterator = ( ListItem_t * ) &( pxList->xListEnd ); pxIterator->pxNext->xItemValue <= xValueOfInsertion; pxIterator = pxIterator->pxNext ) /*lint !e826 !e740 !e9087 The mini list structure is used as the list end to save RAM. This is checked and valid. *//*lint !e440 The iterator moves to a different value, not xValueOfInsertion. */
- {
- /* There is nothing to do here, just iterating to the wanted
- insertion position. */
- }
- }
-
- pxNewListItem->pxNext = pxIterator->pxNext;
- pxNewListItem->pxNext->pxPrevious = pxNewListItem;
- pxNewListItem->pxPrevious = pxIterator;
- pxIterator->pxNext = pxNewListItem;
-
- /* Remember which list the item is in. This allows fast removal of the
- item later. */
- pxNewListItem->pxContainer = pxList;
-
- ( pxList->uxNumberOfItems )++;
-}
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxListRemove( ListItem_t * const pxItemToRemove )
-{
-/* The list item knows which list it is in. Obtain the list from the list
-item. */
-List_t * const pxList = pxItemToRemove->pxContainer;
-
- pxItemToRemove->pxNext->pxPrevious = pxItemToRemove->pxPrevious;
- pxItemToRemove->pxPrevious->pxNext = pxItemToRemove->pxNext;
-
- /* Only used during decision coverage testing. */
- mtCOVERAGE_TEST_DELAY();
-
- /* Make sure the index is left pointing to a valid item. */
- if( pxList->pxIndex == pxItemToRemove )
- {
- pxList->pxIndex = pxItemToRemove->pxPrevious;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- pxItemToRemove->pxContainer = NULL;
- ( pxList->uxNumberOfItems )--;
-
- return pxList->uxNumberOfItems;
-}
-/*-----------------------------------------------------------*/
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/port.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/port.c
deleted file mode 100644
index d2b964f018acb1ee9dcfbcc1778a9435605c82bc..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/port.c
+++ /dev/null
@@ -1,517 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/* Standard includes. */
-#include <stdlib.h>
-
-/* Scheduler includes. */
-#include "FreeRTOS.h"
-#include "task.h"
-
-#ifndef configINTERRUPT_CONTROLLER_BASE_ADDRESS
- #error configINTERRUPT_CONTROLLER_BASE_ADDRESS must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
-#endif
-
-#ifndef configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET
- #error configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
-#endif
-
-#ifndef configUNIQUE_INTERRUPT_PRIORITIES
- #error configUNIQUE_INTERRUPT_PRIORITIES must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
-#endif
-
-#ifndef configSETUP_TICK_INTERRUPT
- #error configSETUP_TICK_INTERRUPT() must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
-#endif /* configSETUP_TICK_INTERRUPT */
-
-#ifndef configMAX_API_CALL_INTERRUPT_PRIORITY
- #error configMAX_API_CALL_INTERRUPT_PRIORITY must be defined. See http://www.freertos.org/Using-FreeRTOS-on-Cortex-A-Embedded-Processors.html
-#endif
-
-#if configMAX_API_CALL_INTERRUPT_PRIORITY == 0
- #error configMAX_API_CALL_INTERRUPT_PRIORITY must not be set to 0
-#endif
-
-#if configMAX_API_CALL_INTERRUPT_PRIORITY > configUNIQUE_INTERRUPT_PRIORITIES
- #error configMAX_API_CALL_INTERRUPT_PRIORITY must be less than or equal to configUNIQUE_INTERRUPT_PRIORITIES as the lower the numeric priority value the higher the logical interrupt priority
-#endif
-
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
- /* Check the configuration. */
- #if( configMAX_PRIORITIES > 32 )
- #error configUSE_PORT_OPTIMISED_TASK_SELECTION can only be set to 1 when configMAX_PRIORITIES is less than or equal to 32. It is very rare that a system requires more than 10 to 15 difference priorities as tasks that share a priority will time slice.
- #endif
-#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
-
-/* In case security extensions are implemented. */
-#if configMAX_API_CALL_INTERRUPT_PRIORITY <= ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
- #error configMAX_API_CALL_INTERRUPT_PRIORITY must be greater than ( configUNIQUE_INTERRUPT_PRIORITIES / 2 )
-#endif
-
-/* Some vendor specific files default configCLEAR_TICK_INTERRUPT() in
-portmacro.h. */
-#ifndef configCLEAR_TICK_INTERRUPT
- #define configCLEAR_TICK_INTERRUPT()
-#endif
-
-/* A critical section is exited when the critical section nesting count reaches
-this value. */
-#define portNO_CRITICAL_NESTING ( ( size_t ) 0 )
-
-/* In all GICs 255 can be written to the priority mask register to unmask all
-(but the lowest) interrupt priority. */
-#define portUNMASK_VALUE ( 0xFFUL )
-
-/* Tasks are not created with a floating point context, but can be given a
-floating point context after they have been created. A variable is stored as
-part of the tasks context that holds portNO_FLOATING_POINT_CONTEXT if the task
-does not have an FPU context, or any other value if the task does have an FPU
-context. */
-#define portNO_FLOATING_POINT_CONTEXT ( ( StackType_t ) 0 )
-
-/* Constants required to setup the initial task context. */
-#define portSP_ELx ( ( StackType_t ) 0x01 )
-#define portSP_EL0 ( ( StackType_t ) 0x00 )
-
-#if defined( GUEST )
- #define portEL1 ( ( StackType_t ) 0x04 )
- #define portINITIAL_PSTATE ( portEL1 | portSP_EL0 )
-#else
- #define portEL3 ( ( StackType_t ) 0x0c )
- /* At the time of writing, the BSP only supports EL3. */
- #define portINITIAL_PSTATE ( portEL3 | portSP_EL0 )
-#endif
-
-
-/* Used by portASSERT_IF_INTERRUPT_PRIORITY_INVALID() when ensuring the binary
-point is zero. */
-#define portBINARY_POINT_BITS ( ( uint8_t ) 0x03 )
-
-/* Masks all bits in the APSR other than the mode bits. */
-#define portAPSR_MODE_BITS_MASK ( 0x0C )
-
-/* The I bit in the DAIF bits. */
-#define portDAIF_I ( 0x80 )
-
-/* Macro to unmask all interrupt priorities. */
-#define portCLEAR_INTERRUPT_MASK() \
-{ \
- portDISABLE_INTERRUPTS(); \
- portICCPMR_PRIORITY_MASK_REGISTER = portUNMASK_VALUE; \
- __asm volatile ( "DSB SY \n" \
- "ISB SY \n" ); \
- portENABLE_INTERRUPTS(); \
-}
-
-/* Hardware specifics used when sanity checking the configuration. */
-#define portINTERRUPT_PRIORITY_REGISTER_OFFSET 0x400UL
-#define portMAX_8_BIT_VALUE ( ( uint8_t ) 0xff )
-#define portBIT_0_SET ( ( uint8_t ) 0x01 )
-
-/*-----------------------------------------------------------*/
-
-/*
- * Starts the first task executing. This function is necessarily written in
- * assembly code so is implemented in portASM.s.
- */
-extern void vPortRestoreTaskContext( void );
-
-/*-----------------------------------------------------------*/
-
-/* A variable is used to keep track of the critical section nesting. This
-variable has to be stored as part of the task context and must be initialised to
-a non zero value to ensure interrupts don't inadvertently become unmasked before
-the scheduler starts. As it is stored as part of the task context it will
-automatically be set to 0 when the first task is started. */
-volatile uint64_t ullCriticalNesting = 9999ULL;
-
-/* Saved as part of the task context. If ullPortTaskHasFPUContext is non-zero
-then floating point context must be saved and restored for the task. */
-uint64_t ullPortTaskHasFPUContext = pdFALSE;
-
-/* Set to 1 to pend a context switch from an ISR. */
-uint64_t ullPortYieldRequired = pdFALSE;
-
-/* Counts the interrupt nesting depth. A context switch is only performed if
-if the nesting depth is 0. */
-uint64_t ullPortInterruptNesting = 0;
-
-/* Used in the ASM code. */
-__attribute__(( used )) const uint64_t ullICCEOIR = portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS;
-__attribute__(( used )) const uint64_t ullICCIAR = portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS;
-__attribute__(( used )) const uint64_t ullICCPMR = portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS;
-__attribute__(( used )) const uint64_t ullMaxAPIPriorityMask = ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
-
-/*-----------------------------------------------------------*/
-
-/*
- * See header file for description.
- */
-StackType_t *pxPortInitialiseStack( StackType_t *pxTopOfStack, TaskFunction_t pxCode, void *pvParameters )
-{
- /* Setup the initial stack of the task. The stack is set exactly as
- expected by the portRESTORE_CONTEXT() macro. */
-
- /* First all the general purpose registers. */
- pxTopOfStack--;
- *pxTopOfStack = 0x0101010101010101ULL; /* R1 */
- pxTopOfStack--;
- *pxTopOfStack = ( StackType_t ) pvParameters; /* R0 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0303030303030303ULL; /* R3 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0202020202020202ULL; /* R2 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0505050505050505ULL; /* R5 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0404040404040404ULL; /* R4 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0707070707070707ULL; /* R7 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0606060606060606ULL; /* R6 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0909090909090909ULL; /* R9 */
- pxTopOfStack--;
- *pxTopOfStack = 0x0808080808080808ULL; /* R8 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1111111111111111ULL; /* R11 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1010101010101010ULL; /* R10 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1313131313131313ULL; /* R13 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1212121212121212ULL; /* R12 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1515151515151515ULL; /* R15 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1414141414141414ULL; /* R14 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1717171717171717ULL; /* R17 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1616161616161616ULL; /* R16 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1919191919191919ULL; /* R19 */
- pxTopOfStack--;
- *pxTopOfStack = 0x1818181818181818ULL; /* R18 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2121212121212121ULL; /* R21 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2020202020202020ULL; /* R20 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2323232323232323ULL; /* R23 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2222222222222222ULL; /* R22 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2525252525252525ULL; /* R25 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2424242424242424ULL; /* R24 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2727272727272727ULL; /* R27 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2626262626262626ULL; /* R26 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2929292929292929ULL; /* R29 */
- pxTopOfStack--;
- *pxTopOfStack = 0x2828282828282828ULL; /* R28 */
- pxTopOfStack--;
- *pxTopOfStack = ( StackType_t ) 0x00; /* XZR - has no effect, used so there are an even number of registers. */
- pxTopOfStack--;
- *pxTopOfStack = ( StackType_t ) 0x00; /* R30 - procedure call link register. */
- pxTopOfStack--;
-
- *pxTopOfStack = portINITIAL_PSTATE;
- pxTopOfStack--;
-
- *pxTopOfStack = ( StackType_t ) pxCode; /* Exception return address. */
- pxTopOfStack--;
-
- /* The task will start with a critical nesting count of 0 as interrupts are
- enabled. */
- *pxTopOfStack = portNO_CRITICAL_NESTING;
- pxTopOfStack--;
-
- /* The task will start without a floating point context. A task that uses
- the floating point hardware must call vPortTaskUsesFPU() before executing
- any floating point instructions. */
- *pxTopOfStack = portNO_FLOATING_POINT_CONTEXT;
-
- return pxTopOfStack;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xPortStartScheduler( void )
-{
-uint32_t ulAPSR;
-
- #if( configASSERT_DEFINED == 1 )
- {
- volatile uint32_t ulOriginalPriority;
- volatile uint8_t * const pucFirstUserPriorityRegister = ( volatile uint8_t * const ) ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + portINTERRUPT_PRIORITY_REGISTER_OFFSET );
- volatile uint8_t ucMaxPriorityValue;
-
- /* Determine how many priority bits are implemented in the GIC.
-
- Save the interrupt priority value that is about to be clobbered. */
- ulOriginalPriority = *pucFirstUserPriorityRegister;
-
- /* Determine the number of priority bits available. First write to
- all possible bits. */
- *pucFirstUserPriorityRegister = portMAX_8_BIT_VALUE;
-
- /* Read the value back to see how many bits stuck. */
- ucMaxPriorityValue = *pucFirstUserPriorityRegister;
-
- /* Shift to the least significant bits. */
- while( ( ucMaxPriorityValue & portBIT_0_SET ) != portBIT_0_SET )
- {
- ucMaxPriorityValue >>= ( uint8_t ) 0x01;
- }
-
- /* Sanity check configUNIQUE_INTERRUPT_PRIORITIES matches the read
- value. */
-
- configASSERT( ucMaxPriorityValue >= portLOWEST_INTERRUPT_PRIORITY );
-
-
- /* Restore the clobbered interrupt priority register to its original
- value. */
- *pucFirstUserPriorityRegister = ulOriginalPriority;
- }
- #endif /* conifgASSERT_DEFINED */
-
-
- /* At the time of writing, the BSP only supports EL3. */
- __asm volatile ( "MRS %0, CurrentEL" : "=r" ( ulAPSR ) );
- ulAPSR &= portAPSR_MODE_BITS_MASK;
-
-#if defined( GUEST )
- #warning Building for execution as a guest under XEN. THIS IS NOT A FULLY TESTED PATH.
- configASSERT( ulAPSR == portEL1 );
- if( ulAPSR == portEL1 )
-#else
- configASSERT( ulAPSR == portEL3 );
- if( ulAPSR == portEL3 )
-#endif
- {
- /* Only continue if the binary point value is set to its lowest possible
- setting. See the comments in vPortValidateInterruptPriority() below for
- more information. */
- configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
-
- if( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE )
- {
- /* Interrupts are turned off in the CPU itself to ensure a tick does
- not execute while the scheduler is being started. Interrupts are
- automatically turned back on in the CPU when the first task starts
- executing. */
- portDISABLE_INTERRUPTS();
-
- /* Start the timer that generates the tick ISR. */
- configSETUP_TICK_INTERRUPT();
-
- /* Start the first task executing. */
- vPortRestoreTaskContext();
- }
- }
-
- return 0;
-}
-/*-----------------------------------------------------------*/
-
-void vPortEndScheduler( void )
-{
- /* Not implemented in ports where there is nothing to return to.
- Artificially force an assert. */
- configASSERT( ullCriticalNesting == 1000ULL );
-}
-/*-----------------------------------------------------------*/
-
-void vPortEnterCritical( void )
-{
- /* Mask interrupts up to the max syscall interrupt priority. */
- uxPortSetInterruptMask();
-
- /* Now interrupts are disabled ullCriticalNesting can be accessed
- directly. Increment ullCriticalNesting to keep a count of how many times
- portENTER_CRITICAL() has been called. */
- ullCriticalNesting++;
-
- /* This is not the interrupt safe version of the enter critical function so
- assert() if it is being called from an interrupt context. Only API
- functions that end in "FromISR" can be used in an interrupt. Only assert if
- the critical nesting count is 1 to protect against recursive calls if the
- assert function also uses a critical section. */
- if( ullCriticalNesting == 1ULL )
- {
- configASSERT( ullPortInterruptNesting == 0 );
- }
-}
-/*-----------------------------------------------------------*/
-
-void vPortExitCritical( void )
-{
- if( ullCriticalNesting > portNO_CRITICAL_NESTING )
- {
- /* Decrement the nesting count as the critical section is being
- exited. */
- ullCriticalNesting--;
-
- /* If the nesting level has reached zero then all interrupt
- priorities must be re-enabled. */
- if( ullCriticalNesting == portNO_CRITICAL_NESTING )
- {
- /* Critical nesting has reached zero so all interrupt priorities
- should be unmasked. */
- portCLEAR_INTERRUPT_MASK();
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-void FreeRTOS_Tick_Handler( void )
-{
- /* Must be the lowest possible priority. */
- #if !defined( QEMU )
- {
- configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER == ( uint32_t ) ( portLOWEST_USABLE_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
- }
- #endif
-
- /* Interrupts should not be enabled before this point. */
- #if( configASSERT_DEFINED == 1 )
- {
- uint32_t ulMaskBits;
-
- __asm volatile( "mrs %0, daif" : "=r"( ulMaskBits ) :: "memory" );
- configASSERT( ( ulMaskBits & portDAIF_I ) != 0 );
- }
- #endif /* configASSERT_DEFINED */
-
- /* Set interrupt mask before altering scheduler structures. The tick
- handler runs at the lowest priority, so interrupts cannot already be masked,
- so there is no need to save and restore the current mask value. It is
- necessary to turn off interrupts in the CPU itself while the ICCPMR is being
- updated. */
- portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
- __asm volatile ( "dsb sy \n"
- "isb sy \n" ::: "memory" );
-
- /* Ok to enable interrupts after the interrupt source has been cleared. */
- configCLEAR_TICK_INTERRUPT();
- portENABLE_INTERRUPTS();
-
- /* Increment the RTOS tick. */
- if( xTaskIncrementTick() != pdFALSE )
- {
- ullPortYieldRequired = pdTRUE;
- }
-
- /* Ensure all interrupt priorities are active again. */
- portCLEAR_INTERRUPT_MASK();
-}
-/*-----------------------------------------------------------*/
-
-void vPortTaskUsesFPU( void )
-{
- /* A task is registering the fact that it needs an FPU context. Set the
- FPU flag (which is saved as part of the task context). */
- ullPortTaskHasFPUContext = pdTRUE;
-
- /* Consider initialising the FPSR here - but probably not necessary in
- AArch64. */
-}
-/*-----------------------------------------------------------*/
-
-void vPortClearInterruptMask( UBaseType_t uxNewMaskValue )
-{
- if( uxNewMaskValue == pdFALSE )
- {
- portCLEAR_INTERRUPT_MASK();
- }
-}
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxPortSetInterruptMask( void )
-{
-uint32_t ulReturn;
-
- /* Interrupt in the CPU must be turned off while the ICCPMR is being
- updated. */
- portDISABLE_INTERRUPTS();
- if( portICCPMR_PRIORITY_MASK_REGISTER == ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) )
- {
- /* Interrupts were already masked. */
- ulReturn = pdTRUE;
- }
- else
- {
- ulReturn = pdFALSE;
- portICCPMR_PRIORITY_MASK_REGISTER = ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT );
- __asm volatile ( "dsb sy \n"
- "isb sy \n" ::: "memory" );
- }
- portENABLE_INTERRUPTS();
-
- return ulReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if( configASSERT_DEFINED == 1 )
-
- void vPortValidateInterruptPriority( void )
- {
- /* The following assertion will fail if a service routine (ISR) for
- an interrupt that has been assigned a priority above
- configMAX_SYSCALL_INTERRUPT_PRIORITY calls an ISR safe FreeRTOS API
- function. ISR safe FreeRTOS API functions must *only* be called
- from interrupts that have been assigned a priority at or below
- configMAX_SYSCALL_INTERRUPT_PRIORITY.
-
- Numerically low interrupt priority numbers represent logically high
- interrupt priorities, therefore the priority of the interrupt must
- be set to a value equal to or numerically *higher* than
- configMAX_SYSCALL_INTERRUPT_PRIORITY.
-
- FreeRTOS maintains separate thread and ISR API functions to ensure
- interrupt entry is as fast and simple as possible. */
- configASSERT( portICCRPR_RUNNING_PRIORITY_REGISTER >= ( uint32_t ) ( configMAX_API_CALL_INTERRUPT_PRIORITY << portPRIORITY_SHIFT ) );
-
- /* Priority grouping: The interrupt controller (GIC) allows the bits
- that define each interrupt's priority to be split between bits that
- define the interrupt's pre-emption priority bits and bits that define
- the interrupt's sub-priority. For simplicity all bits must be defined
- to be pre-emption priority bits. The following assertion will fail if
- this is not the case (if some bits represent a sub-priority).
-
- The priority grouping is configured by the GIC's binary point register
- (ICCBPR). Writting 0 to ICCBPR will ensure it is set to its lowest
- possible value (which may be above 0). */
- configASSERT( ( portICCBPR_BINARY_POINT_REGISTER & portBINARY_POINT_BITS ) <= portMAX_BINARY_POINT_VALUE );
- }
-
-#endif /* configASSERT_DEFINED */
-/*-----------------------------------------------------------*/
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/portASM.S b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/portASM.S
deleted file mode 100644
index f6aa78c959e512b3818765d891b02e264e5956e8..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/portASM.S
+++ /dev/null
@@ -1,432 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
- .text
-
- /* Variables and functions. */
- .extern ullMaxAPIPriorityMask
- .extern pxCurrentTCB
- .extern vTaskSwitchContext
- .extern vApplicationIRQHandler
- .extern ullPortInterruptNesting
- .extern ullPortTaskHasFPUContext
- .extern ullCriticalNesting
- .extern ullPortYieldRequired
- .extern ullICCEOIR
- .extern ullICCIAR
- .extern _freertos_vector_table
-
- .global FreeRTOS_IRQ_Handler
- .global FreeRTOS_SWI_Handler
- .global vPortRestoreTaskContext
-
-
-.macro portSAVE_CONTEXT
-
- /* Switch to use the EL0 stack pointer. */
- MSR SPSEL, #0
-
- /* Save the entire context. */
- STP X0, X1, [SP, #-0x10]!
- STP X2, X3, [SP, #-0x10]!
- STP X4, X5, [SP, #-0x10]!
- STP X6, X7, [SP, #-0x10]!
- STP X8, X9, [SP, #-0x10]!
- STP X10, X11, [SP, #-0x10]!
- STP X12, X13, [SP, #-0x10]!
- STP X14, X15, [SP, #-0x10]!
- STP X16, X17, [SP, #-0x10]!
- STP X18, X19, [SP, #-0x10]!
- STP X20, X21, [SP, #-0x10]!
- STP X22, X23, [SP, #-0x10]!
- STP X24, X25, [SP, #-0x10]!
- STP X26, X27, [SP, #-0x10]!
- STP X28, X29, [SP, #-0x10]!
- STP X30, XZR, [SP, #-0x10]!
-
- /* Save the SPSR. */
-#if defined( GUEST )
- MRS X3, SPSR_EL1
- MRS X2, ELR_EL1
-#else
-# MRS X3, SPSR_EL3
- /* Save the ELR. */
-# MRS X2, ELR_EL3
-#endif
-
- STP X2, X3, [SP, #-0x10]!
-
- /* Save the critical section nesting depth. */
- LDR X0, ullCriticalNestingConst
- LDR X3, [X0]
-
- /* Save the FPU context indicator. */
- LDR X0, ullPortTaskHasFPUContextConst
- LDR X2, [X0]
-
- /* Save the FPU context, if any (32 128-bit registers). */
- CMP X2, #0
- B.EQ 1f
- STP Q0, Q1, [SP,#-0x20]!
- STP Q2, Q3, [SP,#-0x20]!
- STP Q4, Q5, [SP,#-0x20]!
- STP Q6, Q7, [SP,#-0x20]!
- STP Q8, Q9, [SP,#-0x20]!
- STP Q10, Q11, [SP,#-0x20]!
- STP Q12, Q13, [SP,#-0x20]!
- STP Q14, Q15, [SP,#-0x20]!
- STP Q16, Q17, [SP,#-0x20]!
- STP Q18, Q19, [SP,#-0x20]!
- STP Q20, Q21, [SP,#-0x20]!
- STP Q22, Q23, [SP,#-0x20]!
- STP Q24, Q25, [SP,#-0x20]!
- STP Q26, Q27, [SP,#-0x20]!
- STP Q28, Q29, [SP,#-0x20]!
- STP Q30, Q31, [SP,#-0x20]!
-
-1:
- /* Store the critical nesting count and FPU context indicator. */
- STP X2, X3, [SP, #-0x10]!
-
- LDR X0, pxCurrentTCBConst
- LDR X1, [X0]
- MOV X0, SP /* Move SP into X0 for saving. */
- STR X0, [X1]
-
- /* Switch to use the ELx stack pointer. */
- MSR SPSEL, #1
-
- .endm
-
-; /**********************************************************************/
-
-.macro portRESTORE_CONTEXT
-
- /* Switch to use the EL0 stack pointer. */
- MSR SPSEL, #0
-
- /* Set the SP to point to the stack of the task being restored. */
- LDR X0, pxCurrentTCBConst
- LDR X1, [X0]
- LDR X0, [X1]
- MOV SP, X0
-
- LDP X2, X3, [SP], #0x10 /* Critical nesting and FPU context. */
-
- /* Set the PMR register to be correct for the current critical nesting
- depth. */
- LDR X0, ullCriticalNestingConst /* X0 holds the address of ullCriticalNesting. */
- MOV X1, #255 /* X1 holds the unmask value. */
- LDR X4, ullICCPMRConst /* X4 holds the address of the ICCPMR constant. */
- CMP X3, #0
- LDR X5, [X4] /* X5 holds the address of the ICCPMR register. */
- B.EQ 1f
- LDR X6, ullMaxAPIPriorityMaskConst
- LDR X1, [X6] /* X1 holds the mask value. */
-1:
- STR W1, [X5] /* Write the mask value to ICCPMR. */
- DSB SY /* _RB_Barriers probably not required here. */
- ISB SY
- STR X3, [X0] /* Restore the task's critical nesting count. */
-
- /* Restore the FPU context indicator. */
- LDR X0, ullPortTaskHasFPUContextConst
- STR X2, [X0]
-
- /* Restore the FPU context, if any. */
- CMP X2, #0
- B.EQ 1f
- LDP Q30, Q31, [SP], #0x20
- LDP Q28, Q29, [SP], #0x20
- LDP Q26, Q27, [SP], #0x20
- LDP Q24, Q25, [SP], #0x20
- LDP Q22, Q23, [SP], #0x20
- LDP Q20, Q21, [SP], #0x20
- LDP Q18, Q19, [SP], #0x20
- LDP Q16, Q17, [SP], #0x20
- LDP Q14, Q15, [SP], #0x20
- LDP Q12, Q13, [SP], #0x20
- LDP Q10, Q11, [SP], #0x20
- LDP Q8, Q9, [SP], #0x20
- LDP Q6, Q7, [SP], #0x20
- LDP Q4, Q5, [SP], #0x20
- LDP Q2, Q3, [SP], #0x20
- LDP Q0, Q1, [SP], #0x20
-1:
- LDP X2, X3, [SP], #0x10 /* SPSR and ELR. */
-
-#if defined( GUEST )
- /* Restore the SPSR. */
- MSR SPSR_EL1, X3
- /* Restore the ELR. */
- MSR ELR_EL1, X2
-#else
- /* Restore the SPSR. */
-# MSR SPSR_EL3, X3 /*_RB_ Assumes started in EL3. */
- /* Restore the ELR. */
-# MSR ELR_EL3, X2
-#endif
-
- LDP X30, XZR, [SP], #0x10
- LDP X28, X29, [SP], #0x10
- LDP X26, X27, [SP], #0x10
- LDP X24, X25, [SP], #0x10
- LDP X22, X23, [SP], #0x10
- LDP X20, X21, [SP], #0x10
- LDP X18, X19, [SP], #0x10
- LDP X16, X17, [SP], #0x10
- LDP X14, X15, [SP], #0x10
- LDP X12, X13, [SP], #0x10
- LDP X10, X11, [SP], #0x10
- LDP X8, X9, [SP], #0x10
- LDP X6, X7, [SP], #0x10
- LDP X4, X5, [SP], #0x10
- LDP X2, X3, [SP], #0x10
- LDP X0, X1, [SP], #0x10
-
- /* Switch to use the ELx stack pointer. _RB_ Might not be required. */
- MSR SPSEL, #1
-
- ERET
-
- .endm
-
-
-/******************************************************************************
- * FreeRTOS_SWI_Handler handler is used to perform a context switch.
- *****************************************************************************/
-.align 8
-.type FreeRTOS_SWI_Handler, %function
-FreeRTOS_SWI_Handler:
- /* Save the context of the current task and select a new task to run. */
- portSAVE_CONTEXT
-#if defined( GUEST )
- MRS X0, ESR_EL1
-#else
-# MRS X0, ESR_EL3
-#endif
-
- LSR X1, X0, #26
-
-#if defined( GUEST )
- CMP X1, #0x15 /* 0x15 = SVC instruction. */
-#else
-# CMP X1, #0x17 /* 0x17 = SMC instruction. */
-#endif
- B.NE FreeRTOS_Abort
- BL vTaskSwitchContext
-
- portRESTORE_CONTEXT
-
-FreeRTOS_Abort:
- /* Full ESR is in X0, exception class code is in X1. */
- B .
-
-/******************************************************************************
- * vPortRestoreTaskContext is used to start the scheduler.
- *****************************************************************************/
-.align 8
-.type vPortRestoreTaskContext, %function
-vPortRestoreTaskContext:
-.set freertos_vector_base, _freertos_vector_table
-
- /* Install the FreeRTOS interrupt handlers. */
- LDR X1, =freertos_vector_base
-#if defined( GUEST )
- MSR VBAR_EL1, X1
-#else
-# MSR VBAR_EL3, X1
-#endif
- DSB SY
- ISB SY
-
- /* Start the first task. */
- portRESTORE_CONTEXT
-
-
-/******************************************************************************
- * FreeRTOS_IRQ_Handler handles IRQ entry and exit.
- *****************************************************************************/
-.align 8
-.type FreeRTOS_IRQ_Handler, %function
-FreeRTOS_IRQ_Handler:
- /* Save volatile registers. */
- STP X0, X1, [SP, #-0x10]!
- STP X2, X3, [SP, #-0x10]!
- STP X4, X5, [SP, #-0x10]!
- STP X6, X7, [SP, #-0x10]!
- STP X8, X9, [SP, #-0x10]!
- STP X10, X11, [SP, #-0x10]!
- STP X12, X13, [SP, #-0x10]!
- STP X14, X15, [SP, #-0x10]!
- STP X16, X17, [SP, #-0x10]!
- STP X18, X19, [SP, #-0x10]!
- STP X29, X30, [SP, #-0x10]!
-
- /* Save the SPSR and ELR. */
-#if defined( GUEST )
- MRS X3, SPSR_EL1
- MRS X2, ELR_EL1
-#else
-# MRS X3, SPSR_EL3
-# MRS X2, ELR_EL3
-#endif
- STP X2, X3, [SP, #-0x10]!
-
- /* Increment the interrupt nesting counter. */
- LDR X5, ullPortInterruptNestingConst
- LDR X1, [X5] /* Old nesting count in X1. */
- ADD X6, X1, #1
- STR X6, [X5] /* Address of nesting count variable in X5. */
-
- /* Maintain the interrupt nesting information across the function call. */
- STP X1, X5, [SP, #-0x10]!
-
- /* Read value from the interrupt acknowledge register, which is stored in W0
- for future parameter and interrupt clearing use. */
- LDR X2, ullICCIARConst
- LDR X3, [X2]
- LDR W0, [X3] /* ICCIAR in W0 as parameter. */
-
- /* Maintain the ICCIAR value across the function call. */
- STP X0, X1, [SP, #-0x10]!
-
- /* Call the C handler. */
- BL vApplicationIRQHandler
-
- /* Disable interrupts. */
- MSR DAIFSET, #2
- DSB SY
- ISB SY
-
- /* Restore the ICCIAR value. */
- LDP X0, X1, [SP], #0x10
-
- /* End IRQ processing by writing ICCIAR to the EOI register. */
- LDR X4, ullICCEOIRConst
- LDR X4, [X4]
- STR W0, [X4]
-
- /* Restore the critical nesting count. */
- LDP X1, X5, [SP], #0x10
- STR X1, [X5]
-
- /* Has interrupt nesting unwound? */
- CMP X1, #0
- B.NE Exit_IRQ_No_Context_Switch
-
- /* Is a context switch required? */
- LDR X0, ullPortYieldRequiredConst
- LDR X1, [X0]
- CMP X1, #0
- B.EQ Exit_IRQ_No_Context_Switch
-
- /* Reset ullPortYieldRequired to 0. */
- MOV X2, #0
- STR X2, [X0]
-
- /* Restore volatile registers. */
- LDP X4, X5, [SP], #0x10 /* SPSR and ELR. */
-#if defined( GUEST )
- MSR SPSR_EL1, X5
- MSR ELR_EL1, X4
-#else
-# MSR SPSR_EL3, X5 /*_RB_ Assumes started in EL3. */
-# MSR ELR_EL3, X4
-#endif
- DSB SY
- ISB SY
-
- LDP X29, X30, [SP], #0x10
- LDP X18, X19, [SP], #0x10
- LDP X16, X17, [SP], #0x10
- LDP X14, X15, [SP], #0x10
- LDP X12, X13, [SP], #0x10
- LDP X10, X11, [SP], #0x10
- LDP X8, X9, [SP], #0x10
- LDP X6, X7, [SP], #0x10
- LDP X4, X5, [SP], #0x10
- LDP X2, X3, [SP], #0x10
- LDP X0, X1, [SP], #0x10
-
- /* Save the context of the current task and select a new task to run. */
- portSAVE_CONTEXT
- BL vTaskSwitchContext
- portRESTORE_CONTEXT
-
-Exit_IRQ_No_Context_Switch:
- /* Restore volatile registers. */
- LDP X4, X5, [SP], #0x10 /* SPSR and ELR. */
-#if defined( GUEST )
- MSR SPSR_EL1, X5
- MSR ELR_EL1, X4
-#else
-# MSR SPSR_EL3, X5 /*_RB_ Assumes started in EL3. */
-# MSR ELR_EL3, X4
-#endif
- DSB SY
- ISB SY
-
- LDP X29, X30, [SP], #0x10
- LDP X18, X19, [SP], #0x10
- LDP X16, X17, [SP], #0x10
- LDP X14, X15, [SP], #0x10
- LDP X12, X13, [SP], #0x10
- LDP X10, X11, [SP], #0x10
- LDP X8, X9, [SP], #0x10
- LDP X6, X7, [SP], #0x10
- LDP X4, X5, [SP], #0x10
- LDP X2, X3, [SP], #0x10
- LDP X0, X1, [SP], #0x10
-
- ERET
-
-
-
-
-.align 8
-pxCurrentTCBConst: .dword pxCurrentTCB
-ullCriticalNestingConst: .dword ullCriticalNesting
-ullPortTaskHasFPUContextConst: .dword ullPortTaskHasFPUContext
-ullICCPMRConst: .dword ullICCPMR
-ullMaxAPIPriorityMaskConst: .dword ullMaxAPIPriorityMask
-vApplicationIRQHandlerConst: .word vApplicationIRQHandler
-
-.align 8
-ullPortInterruptNestingConst: .dword ullPortInterruptNesting
-ullPortYieldRequiredConst: .dword ullPortYieldRequired
-ullICCIARConst: .dword ullICCIAR
-ullICCEOIRConst: .dword ullICCEOIR
-
-
-
-.end
-
-
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/portmacro.h b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/portmacro.h
deleted file mode 100644
index c16449976e58f8624adad6185250550be92d7c32..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/GCC/ARM_CA72_64_BIT/portmacro.h
+++ /dev/null
@@ -1,211 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#ifndef PORTMACRO_H
-#define PORTMACRO_H
-
-#ifdef __cplusplus
- extern "C" {
-#endif
-
-/*-----------------------------------------------------------
- * Port specific definitions.
- *
- * The settings in this file configure FreeRTOS correctly for the given hardware
- * and compiler.
- *
- * These settings should not be altered.
- *-----------------------------------------------------------
- */
-
-/* Type definitions. */
-#define portCHAR char
-#define portFLOAT float
-#define portDOUBLE double
-#define portLONG long
-#define portSHORT short
-#define portSTACK_TYPE size_t
-#define portBASE_TYPE long
-
-typedef portSTACK_TYPE StackType_t;
-typedef portBASE_TYPE BaseType_t;
-typedef uint64_t UBaseType_t;
-
-typedef uint64_t TickType_t;
-#define portMAX_DELAY ( ( TickType_t ) 0xffffffffffffffff )
-
-/* 32-bit tick type on a 32-bit architecture, so reads of the tick count do
-not need to be guarded with a critical section. */
-#define portTICK_TYPE_IS_ATOMIC 1
-
-/*-----------------------------------------------------------*/
-
-/* Hardware specifics. */
-#define portSTACK_GROWTH ( -1 )
-#define portTICK_PERIOD_MS ( ( TickType_t ) 1000 / configTICK_RATE_HZ )
-#define portBYTE_ALIGNMENT 16
-#define portPOINTER_SIZE_TYPE uint64_t
-
-/*-----------------------------------------------------------*/
-
-/* Task utilities. */
-
-/* Called at the end of an ISR that can cause a context switch. */
-#define portEND_SWITCHING_ISR( xSwitchRequired )\
-{ \
-extern uint64_t ullPortYieldRequired; \
- \
- if( xSwitchRequired != pdFALSE ) \
- { \
- ullPortYieldRequired = pdTRUE; \
- } \
-}
-
-#define portYIELD_FROM_ISR( x ) portEND_SWITCHING_ISR( x )
-#if defined( GUEST )
- #define portYIELD() __asm volatile ( "SVC 0" ::: "memory" )
-#else
- #define portYIELD() __asm volatile ( "SMC 0" ::: "memory" )
-#endif
-/*-----------------------------------------------------------
- * Critical section control
- *----------------------------------------------------------*/
-
-extern void vPortEnterCritical( void );
-extern void vPortExitCritical( void );
-extern UBaseType_t uxPortSetInterruptMask( void );
-extern void vPortClearInterruptMask( UBaseType_t uxNewMaskValue );
-extern void vPortInstallFreeRTOSVectorTable( void );
-
-#define portDISABLE_INTERRUPTS() \
- __asm volatile ( "MSR DAIFSET, #2" ::: "memory" ); \
- __asm volatile ( "DSB SY" ); \
- __asm volatile ( "ISB SY" );
-
-#define portENABLE_INTERRUPTS() \
- __asm volatile ( "MSR DAIFCLR, #2" ::: "memory" ); \
- __asm volatile ( "DSB SY" ); \
- __asm volatile ( "ISB SY" );
-
-
-/* These macros do not globally disable/enable interrupts. They do mask off
-interrupts that have a priority below configMAX_API_CALL_INTERRUPT_PRIORITY. */
-#define portENTER_CRITICAL() vPortEnterCritical();
-#define portEXIT_CRITICAL() vPortExitCritical();
-#define portSET_INTERRUPT_MASK_FROM_ISR() uxPortSetInterruptMask()
-#define portCLEAR_INTERRUPT_MASK_FROM_ISR(x) vPortClearInterruptMask(x)
-
-/*-----------------------------------------------------------*/
-
-/* Task function macros as described on the FreeRTOS.org WEB site. These are
-not required for this port but included in case common demo code that uses these
-macros is used. */
-#define portTASK_FUNCTION_PROTO( vFunction, pvParameters ) void vFunction( void *pvParameters )
-#define portTASK_FUNCTION( vFunction, pvParameters ) void vFunction( void *pvParameters )
-
-/* Prototype of the FreeRTOS tick handler. This must be installed as the
-handler for whichever peripheral is used to generate the RTOS tick. */
-void FreeRTOS_Tick_Handler( void );
-
-/* Any task that uses the floating point unit MUST call vPortTaskUsesFPU()
-before any floating point instructions are executed. */
-void vPortTaskUsesFPU( void );
-#define portTASK_USES_FLOATING_POINT() vPortTaskUsesFPU()
-
-#define portLOWEST_INTERRUPT_PRIORITY ( ( ( uint32_t ) configUNIQUE_INTERRUPT_PRIORITIES ) - 1UL )
-#define portLOWEST_USABLE_INTERRUPT_PRIORITY ( portLOWEST_INTERRUPT_PRIORITY - 1UL )
-
-/* Architecture specific optimisations. */
-#ifndef configUSE_PORT_OPTIMISED_TASK_SELECTION
- #define configUSE_PORT_OPTIMISED_TASK_SELECTION 1
-#endif
-
-#if configUSE_PORT_OPTIMISED_TASK_SELECTION == 1
-
- /* Store/clear the ready priorities in a bit map. */
- #define portRECORD_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) |= ( 1UL << ( uxPriority ) )
- #define portRESET_READY_PRIORITY( uxPriority, uxReadyPriorities ) ( uxReadyPriorities ) &= ~( 1UL << ( uxPriority ) )
-
- /*-----------------------------------------------------------*/
-
- #define portGET_HIGHEST_PRIORITY( uxTopPriority, uxReadyPriorities ) uxTopPriority = ( 31 - __builtin_clz( uxReadyPriorities ) )
-
-#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
-
-#ifdef configASSERT
- void vPortValidateInterruptPriority( void );
- #define portASSERT_IF_INTERRUPT_PRIORITY_INVALID() vPortValidateInterruptPriority()
-#endif /* configASSERT */
-
-#define portNOP() __asm volatile( "NOP" )
-#define portINLINE __inline
-
-#ifdef __cplusplus
- } /* extern C */
-#endif
-
-
-/* The number of bits to shift for an interrupt priority is dependent on the
-number of bits implemented by the interrupt controller. */
-#if configUNIQUE_INTERRUPT_PRIORITIES == 16
- #define portPRIORITY_SHIFT 4
- #define portMAX_BINARY_POINT_VALUE 3
-#elif configUNIQUE_INTERRUPT_PRIORITIES == 32
- #define portPRIORITY_SHIFT 3
- #define portMAX_BINARY_POINT_VALUE 2
-#elif configUNIQUE_INTERRUPT_PRIORITIES == 64
- #define portPRIORITY_SHIFT 2
- #define portMAX_BINARY_POINT_VALUE 1
-#elif configUNIQUE_INTERRUPT_PRIORITIES == 128
- #define portPRIORITY_SHIFT 1
- #define portMAX_BINARY_POINT_VALUE 0
-#elif configUNIQUE_INTERRUPT_PRIORITIES == 256
- #define portPRIORITY_SHIFT 0
- #define portMAX_BINARY_POINT_VALUE 0
-#else
- #error Invalid configUNIQUE_INTERRUPT_PRIORITIES setting. configUNIQUE_INTERRUPT_PRIORITIES must be set to the number of unique priorities implemented by the target hardware
-#endif
-
-/* Interrupt controller access addresses. */
-#define portICCPMR_PRIORITY_MASK_OFFSET ( 0x04 )
-#define portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET ( 0x0C )
-#define portICCEOIR_END_OF_INTERRUPT_OFFSET ( 0x10 )
-#define portICCBPR_BINARY_POINT_OFFSET ( 0x08 )
-#define portICCRPR_RUNNING_PRIORITY_OFFSET ( 0x14 )
-
-#define portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS ( configINTERRUPT_CONTROLLER_BASE_ADDRESS + configINTERRUPT_CONTROLLER_CPU_INTERFACE_OFFSET )
-#define portICCPMR_PRIORITY_MASK_REGISTER ( *( ( volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET ) ) )
-#define portICCIAR_INTERRUPT_ACKNOWLEDGE_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCIAR_INTERRUPT_ACKNOWLEDGE_OFFSET )
-#define portICCEOIR_END_OF_INTERRUPT_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCEOIR_END_OF_INTERRUPT_OFFSET )
-#define portICCPMR_PRIORITY_MASK_REGISTER_ADDRESS ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCPMR_PRIORITY_MASK_OFFSET )
-#define portICCBPR_BINARY_POINT_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCBPR_BINARY_POINT_OFFSET ) ) )
-#define portICCRPR_RUNNING_PRIORITY_REGISTER ( *( ( const volatile uint32_t * ) ( portINTERRUPT_CONTROLLER_CPU_INTERFACE_ADDRESS + portICCRPR_RUNNING_PRIORITY_OFFSET ) ) )
-
-#define portMEMORY_BARRIER() __asm volatile( "" ::: "memory" )
-
-#endif /* PORTMACRO_H */
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/ReadMe.url b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/ReadMe.url
deleted file mode 100644
index b04bfe3e50b37de1f517d3c474cee64d98af4f31..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/ReadMe.url
+++ /dev/null
@@ -1,5 +0,0 @@
-[{000214A0-0000-0000-C000-000000000046}]
-Prop3=19,2
-[InternetShortcut]
-URL=http://www.freertos.org/a00111.html
-IDList=
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_1.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_1.c
deleted file mode 100644
index 89e86dd769ec7efa12c1356ed129b3573705c091..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_1.c
+++ /dev/null
@@ -1,146 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-/*
- * The simplest possible implementation of pvPortMalloc(). Note that this
- * implementation does NOT allow allocated memory to be freed again.
- *
- * See heap_2.c, heap_3.c and heap_4.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
- #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* A few bytes might be lost to byte aligning the heap start address. */
-#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
-
-/* Allocate the memory for the heap. */
-#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
- /* The application writer has already defined the array used for the RTOS
- heap - probably so it can be placed in a special segment or address. */
- extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#else
- static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#endif /* configAPPLICATION_ALLOCATED_HEAP */
-
-/* Index into the ucHeap array. */
-static size_t xNextFreeByte = ( size_t ) 0;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn = NULL;
-static uint8_t *pucAlignedHeap = NULL;
-
- /* Ensure that blocks are always aligned to the required number of bytes. */
- #if( portBYTE_ALIGNMENT != 1 )
- {
- if( xWantedSize & portBYTE_ALIGNMENT_MASK )
- {
- /* Byte alignment required. */
- xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
- }
- }
- #endif
-
- vTaskSuspendAll();
- {
- if( pucAlignedHeap == NULL )
- {
- /* Ensure the heap starts on a correctly aligned boundary. */
- pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
- }
-
- /* Check there is enough room left for the allocation. */
- if( ( ( xNextFreeByte + xWantedSize ) < configADJUSTED_HEAP_SIZE ) &&
- ( ( xNextFreeByte + xWantedSize ) > xNextFreeByte ) )/* Check for overflow. */
- {
- /* Return the next free byte then increment the index past this
- block. */
- pvReturn = pucAlignedHeap + xNextFreeByte;
- xNextFreeByte += xWantedSize;
- }
-
- traceMALLOC( pvReturn, xWantedSize );
- }
- ( void ) xTaskResumeAll();
-
- #if( configUSE_MALLOC_FAILED_HOOK == 1 )
- {
- if( pvReturn == NULL )
- {
- extern void vApplicationMallocFailedHook( void );
- vApplicationMallocFailedHook();
- }
- }
- #endif
-
- return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
- /* Memory cannot be freed using this scheme. See heap_2.c, heap_3.c and
- heap_4.c for alternative implementations, and the memory management pages of
- http://www.FreeRTOS.org for more information. */
- ( void ) pv;
-
- /* Force an assert as it is invalid to call this function. */
- configASSERT( pv == NULL );
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
- /* Only required when static memory is not cleared. */
- xNextFreeByte = ( size_t ) 0;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
- return ( configADJUSTED_HEAP_SIZE - xNextFreeByte );
-}
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_2.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_2.c
deleted file mode 100644
index 561425506d1452e5ca2dbdcca63912bb988a2873..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_2.c
+++ /dev/null
@@ -1,272 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * A sample implementation of pvPortMalloc() and vPortFree() that permits
- * allocated blocks to be freed, but does not combine adjacent free blocks
- * into a single larger block (and so will fragment memory). See heap_4.c for
- * an equivalent that does combine adjacent blocks into single larger blocks.
- *
- * See heap_1.c, heap_3.c and heap_4.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
- #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* A few bytes might be lost to byte aligning the heap start address. */
-#define configADJUSTED_HEAP_SIZE ( configTOTAL_HEAP_SIZE - portBYTE_ALIGNMENT )
-
-/*
- * Initialises the heap structures before their first use.
- */
-static void prvHeapInit( void );
-
-/* Allocate the memory for the heap. */
-#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
- /* The application writer has already defined the array used for the RTOS
- heap - probably so it can be placed in a special segment or address. */
- extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#else
- static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#endif /* configAPPLICATION_ALLOCATED_HEAP */
-
-
-/* Define the linked list structure. This is used to link free blocks in order
-of their size. */
-typedef struct A_BLOCK_LINK
-{
- struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
- size_t xBlockSize; /*<< The size of the free block. */
-} BlockLink_t;
-
-
-static const uint16_t heapSTRUCT_SIZE = ( ( sizeof ( BlockLink_t ) + ( portBYTE_ALIGNMENT - 1 ) ) & ~portBYTE_ALIGNMENT_MASK );
-#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( heapSTRUCT_SIZE * 2 ) )
-
-/* Create a couple of list links to mark the start and end of the list. */
-static BlockLink_t xStart, xEnd;
-
-/* Keeps track of the number of free bytes remaining, but says nothing about
-fragmentation. */
-static size_t xFreeBytesRemaining = configADJUSTED_HEAP_SIZE;
-
-/* STATIC FUNCTIONS ARE DEFINED AS MACROS TO MINIMIZE THE FUNCTION CALL DEPTH. */
-
-/*
- * Insert a block into the list of free blocks - which is ordered by size of
- * the block. Small blocks at the start of the list and large blocks at the end
- * of the list.
- */
-#define prvInsertBlockIntoFreeList( pxBlockToInsert ) \
-{ \
-BlockLink_t *pxIterator; \
-size_t xBlockSize; \
- \
- xBlockSize = pxBlockToInsert->xBlockSize; \
- \
- /* Iterate through the list until a block is found that has a larger size */ \
- /* than the block we are inserting. */ \
- for( pxIterator = &xStart; pxIterator->pxNextFreeBlock->xBlockSize < xBlockSize; pxIterator = pxIterator->pxNextFreeBlock ) \
- { \
- /* There is nothing to do here - just iterate to the correct position. */ \
- } \
- \
- /* Update the list to include the block being inserted in the correct */ \
- /* position. */ \
- pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock; \
- pxIterator->pxNextFreeBlock = pxBlockToInsert; \
-}
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-static BaseType_t xHeapHasBeenInitialised = pdFALSE;
-void *pvReturn = NULL;
-
- vTaskSuspendAll();
- {
- /* If this is the first call to malloc then the heap will require
- initialisation to setup the list of free blocks. */
- if( xHeapHasBeenInitialised == pdFALSE )
- {
- prvHeapInit();
- xHeapHasBeenInitialised = pdTRUE;
- }
-
- /* The wanted size is increased so it can contain a BlockLink_t
- structure in addition to the requested amount of bytes. */
- if( xWantedSize > 0 )
- {
- xWantedSize += heapSTRUCT_SIZE;
-
- /* Ensure that blocks are always aligned to the required number of bytes. */
- if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0 )
- {
- /* Byte alignment required. */
- xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
- }
- }
-
- if( ( xWantedSize > 0 ) && ( xWantedSize < configADJUSTED_HEAP_SIZE ) )
- {
- /* Blocks are stored in byte order - traverse the list from the start
- (smallest) block until one of adequate size is found. */
- pxPreviousBlock = &xStart;
- pxBlock = xStart.pxNextFreeBlock;
- while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
- {
- pxPreviousBlock = pxBlock;
- pxBlock = pxBlock->pxNextFreeBlock;
- }
-
- /* If we found the end marker then a block of adequate size was not found. */
- if( pxBlock != &xEnd )
- {
- /* Return the memory space - jumping over the BlockLink_t structure
- at its start. */
- pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + heapSTRUCT_SIZE );
-
- /* This block is being returned for use so must be taken out of the
- list of free blocks. */
- pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
- /* If the block is larger than required it can be split into two. */
- if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
- {
- /* This block is to be split into two. Create a new block
- following the number of bytes requested. The void cast is
- used to prevent byte alignment warnings from the compiler. */
- pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
-
- /* Calculate the sizes of two blocks split from the single
- block. */
- pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
- pxBlock->xBlockSize = xWantedSize;
-
- /* Insert the new block into the list of free blocks. */
- prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
- }
-
- xFreeBytesRemaining -= pxBlock->xBlockSize;
- }
- }
-
- traceMALLOC( pvReturn, xWantedSize );
- }
- ( void ) xTaskResumeAll();
-
- #if( configUSE_MALLOC_FAILED_HOOK == 1 )
- {
- if( pvReturn == NULL )
- {
- extern void vApplicationMallocFailedHook( void );
- vApplicationMallocFailedHook();
- }
- }
- #endif
-
- return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-uint8_t *puc = ( uint8_t * ) pv;
-BlockLink_t *pxLink;
-
- if( pv != NULL )
- {
- /* The memory being freed will have an BlockLink_t structure immediately
- before it. */
- puc -= heapSTRUCT_SIZE;
-
- /* This unexpected casting is to keep some compilers from issuing
- byte alignment warnings. */
- pxLink = ( void * ) puc;
-
- vTaskSuspendAll();
- {
- /* Add this block to the list of free blocks. */
- prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
- xFreeBytesRemaining += pxLink->xBlockSize;
- traceFREE( pv, pxLink->xBlockSize );
- }
- ( void ) xTaskResumeAll();
- }
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
- return xFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
- /* This just exists to keep the linker quiet. */
-}
-/*-----------------------------------------------------------*/
-
-static void prvHeapInit( void )
-{
-BlockLink_t *pxFirstFreeBlock;
-uint8_t *pucAlignedHeap;
-
- /* Ensure the heap starts on a correctly aligned boundary. */
- pucAlignedHeap = ( uint8_t * ) ( ( ( portPOINTER_SIZE_TYPE ) &ucHeap[ portBYTE_ALIGNMENT ] ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) );
-
- /* xStart is used to hold a pointer to the first item in the list of free
- blocks. The void cast is used to prevent compiler warnings. */
- xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
- xStart.xBlockSize = ( size_t ) 0;
-
- /* xEnd is used to mark the end of the list of free blocks. */
- xEnd.xBlockSize = configADJUSTED_HEAP_SIZE;
- xEnd.pxNextFreeBlock = NULL;
-
- /* To start with there is a single free block that is sized to take up the
- entire heap space. */
- pxFirstFreeBlock = ( void * ) pucAlignedHeap;
- pxFirstFreeBlock->xBlockSize = configADJUSTED_HEAP_SIZE;
- pxFirstFreeBlock->pxNextFreeBlock = &xEnd;
-}
-/*-----------------------------------------------------------*/
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_3.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_3.c
deleted file mode 100644
index c81924bc49fa9351babe4bc23dd3118c8ba52ba9..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_3.c
+++ /dev/null
@@ -1,97 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-
-/*
- * Implementation of pvPortMalloc() and vPortFree() that relies on the
- * compilers own malloc() and free() implementations.
- *
- * This file can only be used if the linker is configured to to generate
- * a heap memory area.
- *
- * See heap_1.c, heap_2.c and heap_4.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
- #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-void *pvReturn;
-
- vTaskSuspendAll();
- {
- pvReturn = malloc( xWantedSize );
- traceMALLOC( pvReturn, xWantedSize );
- }
- ( void ) xTaskResumeAll();
-
- #if( configUSE_MALLOC_FAILED_HOOK == 1 )
- {
- if( pvReturn == NULL )
- {
- extern void vApplicationMallocFailedHook( void );
- vApplicationMallocFailedHook();
- }
- }
- #endif
-
- return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
- if( pv )
- {
- vTaskSuspendAll();
- {
- free( pv );
- traceFREE( pv, 0 );
- }
- ( void ) xTaskResumeAll();
- }
-}
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_4.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_4.c
deleted file mode 100644
index 911d4f9a597e5a1a36a3eaee211f0d2a16ba637b..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_4.c
+++ /dev/null
@@ -1,492 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * A sample implementation of pvPortMalloc() and vPortFree() that combines
- * (coalescences) adjacent memory blocks as they are freed, and in so doing
- * limits memory fragmentation.
- *
- * See heap_1.c, heap_2.c and heap_3.c for alternative implementations, and the
- * memory management pages of http://www.FreeRTOS.org for more information.
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
- #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* Block sizes must not get too small. */
-#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) )
-
-/* Assumes 8bit bytes! */
-#define heapBITS_PER_BYTE ( ( size_t ) 8 )
-
-/* Allocate the memory for the heap. */
-#if( configAPPLICATION_ALLOCATED_HEAP == 1 )
- /* The application writer has already defined the array used for the RTOS
- heap - probably so it can be placed in a special segment or address. */
- extern uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#else
- static uint8_t ucHeap[ configTOTAL_HEAP_SIZE ];
-#endif /* configAPPLICATION_ALLOCATED_HEAP */
-
-/* Define the linked list structure. This is used to link free blocks in order
-of their memory address. */
-typedef struct A_BLOCK_LINK
-{
- struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
- size_t xBlockSize; /*<< The size of the free block. */
-} BlockLink_t;
-
-/*-----------------------------------------------------------*/
-
-/*
- * Inserts a block of memory that is being freed into the correct position in
- * the list of free memory blocks. The block being freed will be merged with
- * the block in front it and/or the block behind it if the memory blocks are
- * adjacent to each other.
- */
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert );
-
-/*
- * Called automatically to setup the required heap structures the first time
- * pvPortMalloc() is called.
- */
-static void prvHeapInit( void );
-
-/*-----------------------------------------------------------*/
-
-/* The size of the structure placed at the beginning of each allocated memory
-block must by correctly byte aligned. */
-static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
-
-/* Create a couple of list links to mark the start and end of the list. */
-static BlockLink_t xStart, *pxEnd = NULL;
-
-/* Keeps track of the number of calls to allocate and free memory as well as the
-number of free bytes remaining, but says nothing about fragmentation. */
-static size_t xFreeBytesRemaining = 0U;
-static size_t xMinimumEverFreeBytesRemaining = 0U;
-static size_t xNumberOfSuccessfulAllocations = 0;
-static size_t xNumberOfSuccessfulFrees = 0;
-
-/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize
-member of an BlockLink_t structure is set then the block belongs to the
-application. When the bit is free the block is still part of the free heap
-space. */
-static size_t xBlockAllocatedBit = 0;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-void *pvReturn = NULL;
-
- vTaskSuspendAll();
- {
- /* If this is the first call to malloc then the heap will require
- initialisation to setup the list of free blocks. */
- if( pxEnd == NULL )
- {
- prvHeapInit();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Check the requested block size is not so large that the top bit is
- set. The top bit of the block size member of the BlockLink_t structure
- is used to determine who owns the block - the application or the
- kernel, so it must be free. */
- if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
- {
- /* The wanted size is increased so it can contain a BlockLink_t
- structure in addition to the requested amount of bytes. */
- if( xWantedSize > 0 )
- {
- xWantedSize += xHeapStructSize;
-
- /* Ensure that blocks are always aligned to the required number
- of bytes. */
- if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
- {
- /* Byte alignment required. */
- xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
- configASSERT( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) == 0 );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
- {
- /* Traverse the list from the start (lowest address) block until
- one of adequate size is found. */
- pxPreviousBlock = &xStart;
- pxBlock = xStart.pxNextFreeBlock;
- while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
- {
- pxPreviousBlock = pxBlock;
- pxBlock = pxBlock->pxNextFreeBlock;
- }
-
- /* If the end marker was reached then a block of adequate size
- was not found. */
- if( pxBlock != pxEnd )
- {
- /* Return the memory space pointed to - jumping over the
- BlockLink_t structure at its start. */
- pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
-
- /* This block is being returned for use so must be taken out
- of the list of free blocks. */
- pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
- /* If the block is larger than required it can be split into
- two. */
- if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
- {
- /* This block is to be split into two. Create a new
- block following the number of bytes requested. The void
- cast is used to prevent byte alignment warnings from the
- compiler. */
- pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
- configASSERT( ( ( ( size_t ) pxNewBlockLink ) & portBYTE_ALIGNMENT_MASK ) == 0 );
-
- /* Calculate the sizes of two blocks split from the
- single block. */
- pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
- pxBlock->xBlockSize = xWantedSize;
-
- /* Insert the new block into the list of free blocks. */
- prvInsertBlockIntoFreeList( pxNewBlockLink );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xFreeBytesRemaining -= pxBlock->xBlockSize;
-
- if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
- {
- xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* The block is being returned - it is allocated and owned
- by the application and has no "next" block. */
- pxBlock->xBlockSize |= xBlockAllocatedBit;
- pxBlock->pxNextFreeBlock = NULL;
- xNumberOfSuccessfulAllocations++;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- traceMALLOC( pvReturn, xWantedSize );
- }
- ( void ) xTaskResumeAll();
-
- #if( configUSE_MALLOC_FAILED_HOOK == 1 )
- {
- if( pvReturn == NULL )
- {
- extern void vApplicationMallocFailedHook( void );
- vApplicationMallocFailedHook();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif
-
- configASSERT( ( ( ( size_t ) pvReturn ) & ( size_t ) portBYTE_ALIGNMENT_MASK ) == 0 );
- return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-uint8_t *puc = ( uint8_t * ) pv;
-BlockLink_t *pxLink;
-
- if( pv != NULL )
- {
- /* The memory being freed will have an BlockLink_t structure immediately
- before it. */
- puc -= xHeapStructSize;
-
- /* This casting is to keep the compiler from issuing warnings. */
- pxLink = ( void * ) puc;
-
- /* Check the block is actually allocated. */
- configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
- configASSERT( pxLink->pxNextFreeBlock == NULL );
-
- if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
- {
- if( pxLink->pxNextFreeBlock == NULL )
- {
- /* The block is being returned to the heap - it is no longer
- allocated. */
- pxLink->xBlockSize &= ~xBlockAllocatedBit;
-
- vTaskSuspendAll();
- {
- /* Add this block to the list of free blocks. */
- xFreeBytesRemaining += pxLink->xBlockSize;
- traceFREE( pv, pxLink->xBlockSize );
- prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
- xNumberOfSuccessfulFrees++;
- }
- ( void ) xTaskResumeAll();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
- return xFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetMinimumEverFreeHeapSize( void )
-{
- return xMinimumEverFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-void vPortInitialiseBlocks( void )
-{
- /* This just exists to keep the linker quiet. */
-}
-/*-----------------------------------------------------------*/
-
-static void prvHeapInit( void )
-{
-BlockLink_t *pxFirstFreeBlock;
-uint8_t *pucAlignedHeap;
-size_t uxAddress;
-size_t xTotalHeapSize = configTOTAL_HEAP_SIZE;
-
- /* Ensure the heap starts on a correctly aligned boundary. */
- uxAddress = ( size_t ) ucHeap;
-
- if( ( uxAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
- {
- uxAddress += ( portBYTE_ALIGNMENT - 1 );
- uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
- xTotalHeapSize -= uxAddress - ( size_t ) ucHeap;
- }
-
- pucAlignedHeap = ( uint8_t * ) uxAddress;
-
- /* xStart is used to hold a pointer to the first item in the list of free
- blocks. The void cast is used to prevent compiler warnings. */
- xStart.pxNextFreeBlock = ( void * ) pucAlignedHeap;
- xStart.xBlockSize = ( size_t ) 0;
-
- /* pxEnd is used to mark the end of the list of free blocks and is inserted
- at the end of the heap space. */
- uxAddress = ( ( size_t ) pucAlignedHeap ) + xTotalHeapSize;
- uxAddress -= xHeapStructSize;
- uxAddress &= ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
- pxEnd = ( void * ) uxAddress;
- pxEnd->xBlockSize = 0;
- pxEnd->pxNextFreeBlock = NULL;
-
- /* To start with there is a single free block that is sized to take up the
- entire heap space, minus the space taken by pxEnd. */
- pxFirstFreeBlock = ( void * ) pucAlignedHeap;
- pxFirstFreeBlock->xBlockSize = uxAddress - ( size_t ) pxFirstFreeBlock;
- pxFirstFreeBlock->pxNextFreeBlock = pxEnd;
-
- /* Only one block exists - and it covers the entire usable heap space. */
- xMinimumEverFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
- xFreeBytesRemaining = pxFirstFreeBlock->xBlockSize;
-
- /* Work out the position of the top bit in a size_t variable. */
- xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
-}
-/*-----------------------------------------------------------*/
-
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
-{
-BlockLink_t *pxIterator;
-uint8_t *puc;
-
- /* Iterate through the list until a block is found that has a higher address
- than the block being inserted. */
- for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
- {
- /* Nothing to do here, just iterate to the right position. */
- }
-
- /* Do the block being inserted, and the block it is being inserted after
- make a contiguous block of memory? */
- puc = ( uint8_t * ) pxIterator;
- if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
- {
- pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
- pxBlockToInsert = pxIterator;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Do the block being inserted, and the block it is being inserted before
- make a contiguous block of memory? */
- puc = ( uint8_t * ) pxBlockToInsert;
- if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
- {
- if( pxIterator->pxNextFreeBlock != pxEnd )
- {
- /* Form one big block from the two blocks. */
- pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
- pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
- }
- else
- {
- pxBlockToInsert->pxNextFreeBlock = pxEnd;
- }
- }
- else
- {
- pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
- }
-
- /* If the block being inserted plugged a gab, so was merged with the block
- before and the block after, then it's pxNextFreeBlock pointer will have
- already been set, and should not be set here as that would make it point
- to itself. */
- if( pxIterator != pxBlockToInsert )
- {
- pxIterator->pxNextFreeBlock = pxBlockToInsert;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-}
-/*-----------------------------------------------------------*/
-
-void vPortGetHeapStats( HeapStats_t *pxHeapStats )
-{
-BlockLink_t *pxBlock;
-size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */
-
- vTaskSuspendAll();
- {
- pxBlock = xStart.pxNextFreeBlock;
-
- /* pxBlock will be NULL if the heap has not been initialised. The heap
- is initialised automatically when the first allocation is made. */
- if( pxBlock != NULL )
- {
- do
- {
- /* Increment the number of blocks and record the largest block seen
- so far. */
- xBlocks++;
-
- if( pxBlock->xBlockSize > xMaxSize )
- {
- xMaxSize = pxBlock->xBlockSize;
- }
-
- if( pxBlock->xBlockSize < xMinSize )
- {
- xMinSize = pxBlock->xBlockSize;
- }
-
- /* Move to the next block in the chain until the last block is
- reached. */
- pxBlock = pxBlock->pxNextFreeBlock;
- } while( pxBlock != pxEnd );
- }
- }
- xTaskResumeAll();
-
- pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
- pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
- pxHeapStats->xNumberOfFreeBlocks = xBlocks;
-
- taskENTER_CRITICAL();
- {
- pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
- pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
- pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
- pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
- }
- taskEXIT_CRITICAL();
-}
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_5.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_5.c
deleted file mode 100644
index 196021b3fa84797ce2db2b33451c2c53fa138b67..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/portable/MemMang/heap_5.c
+++ /dev/null
@@ -1,547 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/*
- * A sample implementation of pvPortMalloc() that allows the heap to be defined
- * across multiple non-contigous blocks and combines (coalescences) adjacent
- * memory blocks as they are freed.
- *
- * See heap_1.c, heap_2.c, heap_3.c and heap_4.c for alternative
- * implementations, and the memory management pages of http://www.FreeRTOS.org
- * for more information.
- *
- * Usage notes:
- *
- * vPortDefineHeapRegions() ***must*** be called before pvPortMalloc().
- * pvPortMalloc() will be called if any task objects (tasks, queues, event
- * groups, etc.) are created, therefore vPortDefineHeapRegions() ***must*** be
- * called before any other objects are defined.
- *
- * vPortDefineHeapRegions() takes a single parameter. The parameter is an array
- * of HeapRegion_t structures. HeapRegion_t is defined in portable.h as
- *
- * typedef struct HeapRegion
- * {
- * uint8_t *pucStartAddress; << Start address of a block of memory that will be part of the heap.
- * size_t xSizeInBytes; << Size of the block of memory.
- * } HeapRegion_t;
- *
- * The array is terminated using a NULL zero sized region definition, and the
- * memory regions defined in the array ***must*** appear in address order from
- * low address to high address. So the following is a valid example of how
- * to use the function.
- *
- * HeapRegion_t xHeapRegions[] =
- * {
- * { ( uint8_t * ) 0x80000000UL, 0x10000 }, << Defines a block of 0x10000 bytes starting at address 0x80000000
- * { ( uint8_t * ) 0x90000000UL, 0xa0000 }, << Defines a block of 0xa0000 bytes starting at address of 0x90000000
- * { NULL, 0 } << Terminates the array.
- * };
- *
- * vPortDefineHeapRegions( xHeapRegions ); << Pass the array into vPortDefineHeapRegions().
- *
- * Note 0x80000000 is the lower address so appears in the array first.
- *
- */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 0 )
- #error This file must not be used if configSUPPORT_DYNAMIC_ALLOCATION is 0
-#endif
-
-/* Block sizes must not get too small. */
-#define heapMINIMUM_BLOCK_SIZE ( ( size_t ) ( xHeapStructSize << 1 ) )
-
-/* Assumes 8bit bytes! */
-#define heapBITS_PER_BYTE ( ( size_t ) 8 )
-
-/* Define the linked list structure. This is used to link free blocks in order
-of their memory address. */
-typedef struct A_BLOCK_LINK
-{
- struct A_BLOCK_LINK *pxNextFreeBlock; /*<< The next free block in the list. */
- size_t xBlockSize; /*<< The size of the free block. */
-} BlockLink_t;
-
-/*-----------------------------------------------------------*/
-
-/*
- * Inserts a block of memory that is being freed into the correct position in
- * the list of free memory blocks. The block being freed will be merged with
- * the block in front it and/or the block behind it if the memory blocks are
- * adjacent to each other.
- */
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert );
-
-/*-----------------------------------------------------------*/
-
-/* The size of the structure placed at the beginning of each allocated memory
-block must by correctly byte aligned. */
-static const size_t xHeapStructSize = ( sizeof( BlockLink_t ) + ( ( size_t ) ( portBYTE_ALIGNMENT - 1 ) ) ) & ~( ( size_t ) portBYTE_ALIGNMENT_MASK );
-
-/* Create a couple of list links to mark the start and end of the list. */
-static BlockLink_t xStart, *pxEnd = NULL;
-
-/* Keeps track of the number of calls to allocate and free memory as well as the
-number of free bytes remaining, but says nothing about fragmentation. */
-static size_t xFreeBytesRemaining = 0U;
-static size_t xMinimumEverFreeBytesRemaining = 0U;
-static size_t xNumberOfSuccessfulAllocations = 0;
-static size_t xNumberOfSuccessfulFrees = 0;
-
-/* Gets set to the top bit of an size_t type. When this bit in the xBlockSize
-member of an BlockLink_t structure is set then the block belongs to the
-application. When the bit is free the block is still part of the free heap
-space. */
-static size_t xBlockAllocatedBit = 0;
-
-/*-----------------------------------------------------------*/
-
-void *pvPortMalloc( size_t xWantedSize )
-{
-BlockLink_t *pxBlock, *pxPreviousBlock, *pxNewBlockLink;
-void *pvReturn = NULL;
-
- /* The heap must be initialised before the first call to
- prvPortMalloc(). */
- configASSERT( pxEnd );
-
- vTaskSuspendAll();
- {
- /* Check the requested block size is not so large that the top bit is
- set. The top bit of the block size member of the BlockLink_t structure
- is used to determine who owns the block - the application or the
- kernel, so it must be free. */
- if( ( xWantedSize & xBlockAllocatedBit ) == 0 )
- {
- /* The wanted size is increased so it can contain a BlockLink_t
- structure in addition to the requested amount of bytes. */
- if( xWantedSize > 0 )
- {
- xWantedSize += xHeapStructSize;
-
- /* Ensure that blocks are always aligned to the required number
- of bytes. */
- if( ( xWantedSize & portBYTE_ALIGNMENT_MASK ) != 0x00 )
- {
- /* Byte alignment required. */
- xWantedSize += ( portBYTE_ALIGNMENT - ( xWantedSize & portBYTE_ALIGNMENT_MASK ) );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( ( xWantedSize > 0 ) && ( xWantedSize <= xFreeBytesRemaining ) )
- {
- /* Traverse the list from the start (lowest address) block until
- one of adequate size is found. */
- pxPreviousBlock = &xStart;
- pxBlock = xStart.pxNextFreeBlock;
- while( ( pxBlock->xBlockSize < xWantedSize ) && ( pxBlock->pxNextFreeBlock != NULL ) )
- {
- pxPreviousBlock = pxBlock;
- pxBlock = pxBlock->pxNextFreeBlock;
- }
-
- /* If the end marker was reached then a block of adequate size
- was not found. */
- if( pxBlock != pxEnd )
- {
- /* Return the memory space pointed to - jumping over the
- BlockLink_t structure at its start. */
- pvReturn = ( void * ) ( ( ( uint8_t * ) pxPreviousBlock->pxNextFreeBlock ) + xHeapStructSize );
-
- /* This block is being returned for use so must be taken out
- of the list of free blocks. */
- pxPreviousBlock->pxNextFreeBlock = pxBlock->pxNextFreeBlock;
-
- /* If the block is larger than required it can be split into
- two. */
- if( ( pxBlock->xBlockSize - xWantedSize ) > heapMINIMUM_BLOCK_SIZE )
- {
- /* This block is to be split into two. Create a new
- block following the number of bytes requested. The void
- cast is used to prevent byte alignment warnings from the
- compiler. */
- pxNewBlockLink = ( void * ) ( ( ( uint8_t * ) pxBlock ) + xWantedSize );
-
- /* Calculate the sizes of two blocks split from the
- single block. */
- pxNewBlockLink->xBlockSize = pxBlock->xBlockSize - xWantedSize;
- pxBlock->xBlockSize = xWantedSize;
-
- /* Insert the new block into the list of free blocks. */
- prvInsertBlockIntoFreeList( ( pxNewBlockLink ) );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xFreeBytesRemaining -= pxBlock->xBlockSize;
-
- if( xFreeBytesRemaining < xMinimumEverFreeBytesRemaining )
- {
- xMinimumEverFreeBytesRemaining = xFreeBytesRemaining;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* The block is being returned - it is allocated and owned
- by the application and has no "next" block. */
- pxBlock->xBlockSize |= xBlockAllocatedBit;
- pxBlock->pxNextFreeBlock = NULL;
- xNumberOfSuccessfulAllocations++;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- traceMALLOC( pvReturn, xWantedSize );
- }
- ( void ) xTaskResumeAll();
-
- #if( configUSE_MALLOC_FAILED_HOOK == 1 )
- {
- if( pvReturn == NULL )
- {
- extern void vApplicationMallocFailedHook( void );
- vApplicationMallocFailedHook();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif
-
- return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vPortFree( void *pv )
-{
-uint8_t *puc = ( uint8_t * ) pv;
-BlockLink_t *pxLink;
-
- if( pv != NULL )
- {
- /* The memory being freed will have an BlockLink_t structure immediately
- before it. */
- puc -= xHeapStructSize;
-
- /* This casting is to keep the compiler from issuing warnings. */
- pxLink = ( void * ) puc;
-
- /* Check the block is actually allocated. */
- configASSERT( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 );
- configASSERT( pxLink->pxNextFreeBlock == NULL );
-
- if( ( pxLink->xBlockSize & xBlockAllocatedBit ) != 0 )
- {
- if( pxLink->pxNextFreeBlock == NULL )
- {
- /* The block is being returned to the heap - it is no longer
- allocated. */
- pxLink->xBlockSize &= ~xBlockAllocatedBit;
-
- vTaskSuspendAll();
- {
- /* Add this block to the list of free blocks. */
- xFreeBytesRemaining += pxLink->xBlockSize;
- traceFREE( pv, pxLink->xBlockSize );
- prvInsertBlockIntoFreeList( ( ( BlockLink_t * ) pxLink ) );
- xNumberOfSuccessfulFrees++;
- }
- ( void ) xTaskResumeAll();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetFreeHeapSize( void )
-{
- return xFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-size_t xPortGetMinimumEverFreeHeapSize( void )
-{
- return xMinimumEverFreeBytesRemaining;
-}
-/*-----------------------------------------------------------*/
-
-static void prvInsertBlockIntoFreeList( BlockLink_t *pxBlockToInsert )
-{
-BlockLink_t *pxIterator;
-uint8_t *puc;
-
- /* Iterate through the list until a block is found that has a higher address
- than the block being inserted. */
- for( pxIterator = &xStart; pxIterator->pxNextFreeBlock < pxBlockToInsert; pxIterator = pxIterator->pxNextFreeBlock )
- {
- /* Nothing to do here, just iterate to the right position. */
- }
-
- /* Do the block being inserted, and the block it is being inserted after
- make a contiguous block of memory? */
- puc = ( uint8_t * ) pxIterator;
- if( ( puc + pxIterator->xBlockSize ) == ( uint8_t * ) pxBlockToInsert )
- {
- pxIterator->xBlockSize += pxBlockToInsert->xBlockSize;
- pxBlockToInsert = pxIterator;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Do the block being inserted, and the block it is being inserted before
- make a contiguous block of memory? */
- puc = ( uint8_t * ) pxBlockToInsert;
- if( ( puc + pxBlockToInsert->xBlockSize ) == ( uint8_t * ) pxIterator->pxNextFreeBlock )
- {
- if( pxIterator->pxNextFreeBlock != pxEnd )
- {
- /* Form one big block from the two blocks. */
- pxBlockToInsert->xBlockSize += pxIterator->pxNextFreeBlock->xBlockSize;
- pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock->pxNextFreeBlock;
- }
- else
- {
- pxBlockToInsert->pxNextFreeBlock = pxEnd;
- }
- }
- else
- {
- pxBlockToInsert->pxNextFreeBlock = pxIterator->pxNextFreeBlock;
- }
-
- /* If the block being inserted plugged a gab, so was merged with the block
- before and the block after, then it's pxNextFreeBlock pointer will have
- already been set, and should not be set here as that would make it point
- to itself. */
- if( pxIterator != pxBlockToInsert )
- {
- pxIterator->pxNextFreeBlock = pxBlockToInsert;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-}
-/*-----------------------------------------------------------*/
-
-void vPortDefineHeapRegions( const HeapRegion_t * const pxHeapRegions )
-{
-BlockLink_t *pxFirstFreeBlockInRegion = NULL, *pxPreviousFreeBlock;
-size_t xAlignedHeap;
-size_t xTotalRegionSize, xTotalHeapSize = 0;
-BaseType_t xDefinedRegions = 0;
-size_t xAddress;
-const HeapRegion_t *pxHeapRegion;
-
- /* Can only call once! */
- configASSERT( pxEnd == NULL );
-
- pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] );
-
- while( pxHeapRegion->xSizeInBytes > 0 )
- {
- xTotalRegionSize = pxHeapRegion->xSizeInBytes;
-
- /* Ensure the heap region starts on a correctly aligned boundary. */
- xAddress = ( size_t ) pxHeapRegion->pucStartAddress;
- if( ( xAddress & portBYTE_ALIGNMENT_MASK ) != 0 )
- {
- xAddress += ( portBYTE_ALIGNMENT - 1 );
- xAddress &= ~portBYTE_ALIGNMENT_MASK;
-
- /* Adjust the size for the bytes lost to alignment. */
- xTotalRegionSize -= xAddress - ( size_t ) pxHeapRegion->pucStartAddress;
- }
-
- xAlignedHeap = xAddress;
-
- /* Set xStart if it has not already been set. */
- if( xDefinedRegions == 0 )
- {
- /* xStart is used to hold a pointer to the first item in the list of
- free blocks. The void cast is used to prevent compiler warnings. */
- xStart.pxNextFreeBlock = ( BlockLink_t * ) xAlignedHeap;
- xStart.xBlockSize = ( size_t ) 0;
- }
- else
- {
- /* Should only get here if one region has already been added to the
- heap. */
- configASSERT( pxEnd != NULL );
-
- /* Check blocks are passed in with increasing start addresses. */
- configASSERT( xAddress > ( size_t ) pxEnd );
- }
-
- /* Remember the location of the end marker in the previous region, if
- any. */
- pxPreviousFreeBlock = pxEnd;
-
- /* pxEnd is used to mark the end of the list of free blocks and is
- inserted at the end of the region space. */
- xAddress = xAlignedHeap + xTotalRegionSize;
- xAddress -= xHeapStructSize;
- xAddress &= ~portBYTE_ALIGNMENT_MASK;
- pxEnd = ( BlockLink_t * ) xAddress;
- pxEnd->xBlockSize = 0;
- pxEnd->pxNextFreeBlock = NULL;
-
- /* To start with there is a single free block in this region that is
- sized to take up the entire heap region minus the space taken by the
- free block structure. */
- pxFirstFreeBlockInRegion = ( BlockLink_t * ) xAlignedHeap;
- pxFirstFreeBlockInRegion->xBlockSize = xAddress - ( size_t ) pxFirstFreeBlockInRegion;
- pxFirstFreeBlockInRegion->pxNextFreeBlock = pxEnd;
-
- /* If this is not the first region that makes up the entire heap space
- then link the previous region to this region. */
- if( pxPreviousFreeBlock != NULL )
- {
- pxPreviousFreeBlock->pxNextFreeBlock = pxFirstFreeBlockInRegion;
- }
-
- xTotalHeapSize += pxFirstFreeBlockInRegion->xBlockSize;
-
- /* Move onto the next HeapRegion_t structure. */
- xDefinedRegions++;
- pxHeapRegion = &( pxHeapRegions[ xDefinedRegions ] );
- }
-
- xMinimumEverFreeBytesRemaining = xTotalHeapSize;
- xFreeBytesRemaining = xTotalHeapSize;
-
- /* Check something was actually defined before it is accessed. */
- configASSERT( xTotalHeapSize );
-
- /* Work out the position of the top bit in a size_t variable. */
- xBlockAllocatedBit = ( ( size_t ) 1 ) << ( ( sizeof( size_t ) * heapBITS_PER_BYTE ) - 1 );
-}
-/*-----------------------------------------------------------*/
-
-void vPortGetHeapStats( HeapStats_t *pxHeapStats )
-{
-BlockLink_t *pxBlock;
-size_t xBlocks = 0, xMaxSize = 0, xMinSize = portMAX_DELAY; /* portMAX_DELAY used as a portable way of getting the maximum value. */
-
- vTaskSuspendAll();
- {
- pxBlock = xStart.pxNextFreeBlock;
-
- /* pxBlock will be NULL if the heap has not been initialised. The heap
- is initialised automatically when the first allocation is made. */
- if( pxBlock != NULL )
- {
- do
- {
- /* Increment the number of blocks and record the largest block seen
- so far. */
- xBlocks++;
-
- if( pxBlock->xBlockSize > xMaxSize )
- {
- xMaxSize = pxBlock->xBlockSize;
- }
-
- /* Heap five will have a zero sized block at the end of each
- each region - the block is only used to link to the next
- heap region so it not a real block. */
- if( pxBlock->xBlockSize != 0 )
- {
- if( pxBlock->xBlockSize < xMinSize )
- {
- xMinSize = pxBlock->xBlockSize;
- }
- }
-
- /* Move to the next block in the chain until the last block is
- reached. */
- pxBlock = pxBlock->pxNextFreeBlock;
- } while( pxBlock != pxEnd );
- }
- }
- xTaskResumeAll();
-
- pxHeapStats->xSizeOfLargestFreeBlockInBytes = xMaxSize;
- pxHeapStats->xSizeOfSmallestFreeBlockInBytes = xMinSize;
- pxHeapStats->xNumberOfFreeBlocks = xBlocks;
-
- taskENTER_CRITICAL();
- {
- pxHeapStats->xAvailableHeapSpaceInBytes = xFreeBytesRemaining;
- pxHeapStats->xNumberOfSuccessfulAllocations = xNumberOfSuccessfulAllocations;
- pxHeapStats->xNumberOfSuccessfulFrees = xNumberOfSuccessfulFrees;
- pxHeapStats->xMinimumEverFreeBytesRemaining = xMinimumEverFreeBytesRemaining;
- }
- taskEXIT_CRITICAL();
-}
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/queue.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/queue.c
deleted file mode 100644
index 474fd34628b02b0183973f3cd5b47bd3a2929d15..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/queue.c
+++ /dev/null
@@ -1,2945 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-#include <stdlib.h>
-#include <string.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-
-#if ( configUSE_CO_ROUTINES == 1 )
- #include "croutine.h"
-#endif
-
-/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
-
-
-/* Constants used with the cRxLock and cTxLock structure members. */
-#define queueUNLOCKED ( ( int8_t ) -1 )
-#define queueLOCKED_UNMODIFIED ( ( int8_t ) 0 )
-
-/* When the Queue_t structure is used to represent a base queue its pcHead and
-pcTail members are used as pointers into the queue storage area. When the
-Queue_t structure is used to represent a mutex pcHead and pcTail pointers are
-not necessary, and the pcHead pointer is set to NULL to indicate that the
-structure instead holds a pointer to the mutex holder (if any). Map alternative
-names to the pcHead and structure member to ensure the readability of the code
-is maintained. The QueuePointers_t and SemaphoreData_t types are used to form
-a union as their usage is mutually exclusive dependent on what the queue is
-being used for. */
-#define uxQueueType pcHead
-#define queueQUEUE_IS_MUTEX NULL
-
-typedef struct QueuePointers
-{
- int8_t *pcTail; /*< Points to the byte at the end of the queue storage area. Once more byte is allocated than necessary to store the queue items, this is used as a marker. */
- int8_t *pcReadFrom; /*< Points to the last place that a queued item was read from when the structure is used as a queue. */
-} QueuePointers_t;
-
-typedef struct SemaphoreData
-{
- TaskHandle_t xMutexHolder; /*< The handle of the task that holds the mutex. */
- UBaseType_t uxRecursiveCallCount;/*< Maintains a count of the number of times a recursive mutex has been recursively 'taken' when the structure is used as a mutex. */
-} SemaphoreData_t;
-
-/* Semaphores do not actually store or copy data, so have an item size of
-zero. */
-#define queueSEMAPHORE_QUEUE_ITEM_LENGTH ( ( UBaseType_t ) 0 )
-#define queueMUTEX_GIVE_BLOCK_TIME ( ( TickType_t ) 0U )
-
-#if( configUSE_PREEMPTION == 0 )
- /* If the cooperative scheduler is being used then a yield should not be
- performed just because a higher priority task has been woken. */
- #define queueYIELD_IF_USING_PREEMPTION()
-#else
- #define queueYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
-#endif
-
-/*
- * Definition of the queue used by the scheduler.
- * Items are queued by copy, not reference. See the following link for the
- * rationale: https://www.freertos.org/Embedded-RTOS-Queues.html
- */
-typedef struct QueueDefinition /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-{
- int8_t *pcHead; /*< Points to the beginning of the queue storage area. */
- int8_t *pcWriteTo; /*< Points to the free next place in the storage area. */
-
- union
- {
- QueuePointers_t xQueue; /*< Data required exclusively when this structure is used as a queue. */
- SemaphoreData_t xSemaphore; /*< Data required exclusively when this structure is used as a semaphore. */
- } u;
-
- List_t xTasksWaitingToSend; /*< List of tasks that are blocked waiting to post onto this queue. Stored in priority order. */
- List_t xTasksWaitingToReceive; /*< List of tasks that are blocked waiting to read from this queue. Stored in priority order. */
-
- volatile UBaseType_t uxMessagesWaiting;/*< The number of items currently in the queue. */
- UBaseType_t uxLength; /*< The length of the queue defined as the number of items it will hold, not the number of bytes. */
- UBaseType_t uxItemSize; /*< The size of each items that the queue will hold. */
-
- volatile int8_t cRxLock; /*< Stores the number of items received from the queue (removed from the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
- volatile int8_t cTxLock; /*< Stores the number of items transmitted to the queue (added to the queue) while the queue was locked. Set to queueUNLOCKED when the queue is not locked. */
-
- #if( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
- uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the memory used by the queue was statically allocated to ensure no attempt is made to free the memory. */
- #endif
-
- #if ( configUSE_QUEUE_SETS == 1 )
- struct QueueDefinition *pxQueueSetContainer;
- #endif
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxQueueNumber;
- uint8_t ucQueueType;
- #endif
-
-} xQUEUE;
-
-/* The old xQUEUE name is maintained above then typedefed to the new Queue_t
-name below to enable the use of older kernel aware debuggers. */
-typedef xQUEUE Queue_t;
-
-/*-----------------------------------------------------------*/
-
-/*
- * The queue registry is just a means for kernel aware debuggers to locate
- * queue structures. It has no other purpose so is an optional component.
- */
-#if ( configQUEUE_REGISTRY_SIZE > 0 )
-
- /* The type stored within the queue registry array. This allows a name
- to be assigned to each queue making kernel aware debugging a little
- more user friendly. */
- typedef struct QUEUE_REGISTRY_ITEM
- {
- const char *pcQueueName; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- QueueHandle_t xHandle;
- } xQueueRegistryItem;
-
- /* The old xQueueRegistryItem name is maintained above then typedefed to the
- new xQueueRegistryItem name below to enable the use of older kernel aware
- debuggers. */
- typedef xQueueRegistryItem QueueRegistryItem_t;
-
- /* The queue registry is simply an array of QueueRegistryItem_t structures.
- The pcQueueName member of a structure being NULL is indicative of the
- array position being vacant. */
- PRIVILEGED_DATA QueueRegistryItem_t xQueueRegistry[ configQUEUE_REGISTRY_SIZE ];
-
-#endif /* configQUEUE_REGISTRY_SIZE */
-
-/*
- * Unlocks a queue locked by a call to prvLockQueue. Locking a queue does not
- * prevent an ISR from adding or removing items to the queue, but does prevent
- * an ISR from removing tasks from the queue event lists. If an ISR finds a
- * queue is locked it will instead increment the appropriate queue lock count
- * to indicate that a task may require unblocking. When the queue in unlocked
- * these lock counts are inspected, and the appropriate action taken.
- */
-static void prvUnlockQueue( Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Uses a critical section to determine if there is any data in a queue.
- *
- * @return pdTRUE if the queue contains no items, otherwise pdFALSE.
- */
-static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Uses a critical section to determine if there is any space in a queue.
- *
- * @return pdTRUE if there is no space, otherwise pdFALSE;
- */
-static BaseType_t prvIsQueueFull( const Queue_t *pxQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Copies an item into the queue, either at the front of the queue or the
- * back of the queue.
- */
-static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition ) PRIVILEGED_FUNCTION;
-
-/*
- * Copies an item out of a queue.
- */
-static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer ) PRIVILEGED_FUNCTION;
-
-#if ( configUSE_QUEUE_SETS == 1 )
- /*
- * Checks to see if a queue is a member of a queue set, and if so, notifies
- * the queue set that the queue contains data.
- */
- static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
-#endif
-
-/*
- * Called after a Queue_t structure has been allocated either statically or
- * dynamically to fill in the structure's members.
- */
-static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
-
-/*
- * Mutexes are a special type of queue. When a mutex is created, first the
- * queue is created, then prvInitialiseMutex() is called to configure the queue
- * as a mutex.
- */
-#if( configUSE_MUTEXES == 1 )
- static void prvInitialiseMutex( Queue_t *pxNewQueue ) PRIVILEGED_FUNCTION;
-#endif
-
-#if( configUSE_MUTEXES == 1 )
- /*
- * If a task waiting for a mutex causes the mutex holder to inherit a
- * priority, but the waiting task times out, then the holder should
- * disinherit the priority - but only down to the highest priority of any
- * other tasks that are waiting for the same mutex. This function returns
- * that priority.
- */
- static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue ) PRIVILEGED_FUNCTION;
-#endif
-/*-----------------------------------------------------------*/
-
-/*
- * Macro to mark a queue as locked. Locking a queue prevents an ISR from
- * accessing the queue event lists.
- */
-#define prvLockQueue( pxQueue ) \
- taskENTER_CRITICAL(); \
- { \
- if( ( pxQueue )->cRxLock == queueUNLOCKED ) \
- { \
- ( pxQueue )->cRxLock = queueLOCKED_UNMODIFIED; \
- } \
- if( ( pxQueue )->cTxLock == queueUNLOCKED ) \
- { \
- ( pxQueue )->cTxLock = queueLOCKED_UNMODIFIED; \
- } \
- } \
- taskEXIT_CRITICAL()
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueGenericReset( QueueHandle_t xQueue, BaseType_t xNewQueue )
-{
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
-
- taskENTER_CRITICAL();
- {
- pxQueue->u.xQueue.pcTail = pxQueue->pcHead + ( pxQueue->uxLength * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
- pxQueue->uxMessagesWaiting = ( UBaseType_t ) 0U;
- pxQueue->pcWriteTo = pxQueue->pcHead;
- pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead + ( ( pxQueue->uxLength - 1U ) * pxQueue->uxItemSize ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
- pxQueue->cRxLock = queueUNLOCKED;
- pxQueue->cTxLock = queueUNLOCKED;
-
- if( xNewQueue == pdFALSE )
- {
- /* If there are tasks blocked waiting to read from the queue, then
- the tasks will remain blocked as after this function exits the queue
- will still be empty. If there are tasks blocked waiting to write to
- the queue, then one should be unblocked as after this function exits
- it will be possible to write to it. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* Ensure the event queues start in the correct state. */
- vListInitialise( &( pxQueue->xTasksWaitingToSend ) );
- vListInitialise( &( pxQueue->xTasksWaitingToReceive ) );
- }
- }
- taskEXIT_CRITICAL();
-
- /* A value is returned for calling semantic consistency with previous
- versions. */
- return pdPASS;
-}
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- QueueHandle_t xQueueGenericCreateStatic( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, StaticQueue_t *pxStaticQueue, const uint8_t ucQueueType )
- {
- Queue_t *pxNewQueue;
-
- configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
-
- /* The StaticQueue_t structure and the queue storage area must be
- supplied. */
- configASSERT( pxStaticQueue != NULL );
-
- /* A queue storage area should be provided if the item size is not 0, and
- should not be provided if the item size is 0. */
- configASSERT( !( ( pucQueueStorage != NULL ) && ( uxItemSize == 0 ) ) );
- configASSERT( !( ( pucQueueStorage == NULL ) && ( uxItemSize != 0 ) ) );
-
- #if( configASSERT_DEFINED == 1 )
- {
- /* Sanity check that the size of the structure used to declare a
- variable of type StaticQueue_t or StaticSemaphore_t equals the size of
- the real queue and semaphore structures. */
- volatile size_t xSize = sizeof( StaticQueue_t );
- configASSERT( xSize == sizeof( Queue_t ) );
- ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
- }
- #endif /* configASSERT_DEFINED */
-
- /* The address of a statically allocated queue was passed in, use it.
- The address of a statically allocated storage area was also passed in
- but is already set. */
- pxNewQueue = ( Queue_t * ) pxStaticQueue; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
-
- if( pxNewQueue != NULL )
- {
- #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- {
- /* Queues can be allocated wither statically or dynamically, so
- note this queue was allocated statically in case the queue is
- later deleted. */
- pxNewQueue->ucStaticallyAllocated = pdTRUE;
- }
- #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-
- prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
- }
- else
- {
- traceQUEUE_CREATE_FAILED( ucQueueType );
- mtCOVERAGE_TEST_MARKER();
- }
-
- return pxNewQueue;
- }
-
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- QueueHandle_t xQueueGenericCreate( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, const uint8_t ucQueueType )
- {
- Queue_t *pxNewQueue;
- size_t xQueueSizeInBytes;
- uint8_t *pucQueueStorage;
-
- configASSERT( uxQueueLength > ( UBaseType_t ) 0 );
-
- /* Allocate enough space to hold the maximum number of items that
- can be in the queue at any time. It is valid for uxItemSize to be
- zero in the case the queue is used as a semaphore. */
- xQueueSizeInBytes = ( size_t ) ( uxQueueLength * uxItemSize ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-
- /* Allocate the queue and storage area. Justification for MISRA
- deviation as follows: pvPortMalloc() always ensures returned memory
- blocks are aligned per the requirements of the MCU stack. In this case
- pvPortMalloc() must return a pointer that is guaranteed to meet the
- alignment requirements of the Queue_t structure - which in this case
- is an int8_t *. Therefore, whenever the stack alignment requirements
- are greater than or equal to the pointer to char requirements the cast
- is safe. In other cases alignment requirements are not strict (one or
- two bytes). */
- pxNewQueue = ( Queue_t * ) pvPortMalloc( sizeof( Queue_t ) + xQueueSizeInBytes ); /*lint !e9087 !e9079 see comment above. */
-
- if( pxNewQueue != NULL )
- {
- /* Jump past the queue structure to find the location of the queue
- storage area. */
- pucQueueStorage = ( uint8_t * ) pxNewQueue;
- pucQueueStorage += sizeof( Queue_t ); /*lint !e9016 Pointer arithmetic allowed on char types, especially when it assists conveying intent. */
-
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
- {
- /* Queues can be created either statically or dynamically, so
- note this task was created dynamically in case it is later
- deleted. */
- pxNewQueue->ucStaticallyAllocated = pdFALSE;
- }
- #endif /* configSUPPORT_STATIC_ALLOCATION */
-
- prvInitialiseNewQueue( uxQueueLength, uxItemSize, pucQueueStorage, ucQueueType, pxNewQueue );
- }
- else
- {
- traceQUEUE_CREATE_FAILED( ucQueueType );
- mtCOVERAGE_TEST_MARKER();
- }
-
- return pxNewQueue;
- }
-
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseNewQueue( const UBaseType_t uxQueueLength, const UBaseType_t uxItemSize, uint8_t *pucQueueStorage, const uint8_t ucQueueType, Queue_t *pxNewQueue )
-{
- /* Remove compiler warnings about unused parameters should
- configUSE_TRACE_FACILITY not be set to 1. */
- ( void ) ucQueueType;
-
- if( uxItemSize == ( UBaseType_t ) 0 )
- {
- /* No RAM was allocated for the queue storage area, but PC head cannot
- be set to NULL because NULL is used as a key to say the queue is used as
- a mutex. Therefore just set pcHead to point to the queue as a benign
- value that is known to be within the memory map. */
- pxNewQueue->pcHead = ( int8_t * ) pxNewQueue;
- }
- else
- {
- /* Set the head to the start of the queue storage area. */
- pxNewQueue->pcHead = ( int8_t * ) pucQueueStorage;
- }
-
- /* Initialise the queue members as described where the queue type is
- defined. */
- pxNewQueue->uxLength = uxQueueLength;
- pxNewQueue->uxItemSize = uxItemSize;
- ( void ) xQueueGenericReset( pxNewQueue, pdTRUE );
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- {
- pxNewQueue->ucQueueType = ucQueueType;
- }
- #endif /* configUSE_TRACE_FACILITY */
-
- #if( configUSE_QUEUE_SETS == 1 )
- {
- pxNewQueue->pxQueueSetContainer = NULL;
- }
- #endif /* configUSE_QUEUE_SETS */
-
- traceQUEUE_CREATE( pxNewQueue );
-}
-/*-----------------------------------------------------------*/
-
-#if( configUSE_MUTEXES == 1 )
-
- static void prvInitialiseMutex( Queue_t *pxNewQueue )
- {
- if( pxNewQueue != NULL )
- {
- /* The queue create function will set all the queue structure members
- correctly for a generic queue, but this function is creating a
- mutex. Overwrite those members that need to be set differently -
- in particular the information required for priority inheritance. */
- pxNewQueue->u.xSemaphore.xMutexHolder = NULL;
- pxNewQueue->uxQueueType = queueQUEUE_IS_MUTEX;
-
- /* In case this is a recursive mutex. */
- pxNewQueue->u.xSemaphore.uxRecursiveCallCount = 0;
-
- traceCREATE_MUTEX( pxNewQueue );
-
- /* Start with the semaphore in the expected state. */
- ( void ) xQueueGenericSend( pxNewQueue, NULL, ( TickType_t ) 0U, queueSEND_TO_BACK );
- }
- else
- {
- traceCREATE_MUTEX_FAILED();
- }
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
- QueueHandle_t xQueueCreateMutex( const uint8_t ucQueueType )
- {
- QueueHandle_t xNewQueue;
- const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
-
- xNewQueue = xQueueGenericCreate( uxMutexLength, uxMutexSize, ucQueueType );
- prvInitialiseMutex( ( Queue_t * ) xNewQueue );
-
- return xNewQueue;
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if( ( configUSE_MUTEXES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-
- QueueHandle_t xQueueCreateMutexStatic( const uint8_t ucQueueType, StaticQueue_t *pxStaticQueue )
- {
- QueueHandle_t xNewQueue;
- const UBaseType_t uxMutexLength = ( UBaseType_t ) 1, uxMutexSize = ( UBaseType_t ) 0;
-
- /* Prevent compiler warnings about unused parameters if
- configUSE_TRACE_FACILITY does not equal 1. */
- ( void ) ucQueueType;
-
- xNewQueue = xQueueGenericCreateStatic( uxMutexLength, uxMutexSize, NULL, pxStaticQueue, ucQueueType );
- prvInitialiseMutex( ( Queue_t * ) xNewQueue );
-
- return xNewQueue;
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
-
- TaskHandle_t xQueueGetMutexHolder( QueueHandle_t xSemaphore )
- {
- TaskHandle_t pxReturn;
- Queue_t * const pxSemaphore = ( Queue_t * ) xSemaphore;
-
- /* This function is called by xSemaphoreGetMutexHolder(), and should not
- be called directly. Note: This is a good way of determining if the
- calling task is the mutex holder, but not a good way of determining the
- identity of the mutex holder, as the holder may change between the
- following critical section exiting and the function returning. */
- taskENTER_CRITICAL();
- {
- if( pxSemaphore->uxQueueType == queueQUEUE_IS_MUTEX )
- {
- pxReturn = pxSemaphore->u.xSemaphore.xMutexHolder;
- }
- else
- {
- pxReturn = NULL;
- }
- }
- taskEXIT_CRITICAL();
-
- return pxReturn;
- } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_MUTEXES == 1 ) && ( INCLUDE_xSemaphoreGetMutexHolder == 1 ) )
-
- TaskHandle_t xQueueGetMutexHolderFromISR( QueueHandle_t xSemaphore )
- {
- TaskHandle_t pxReturn;
-
- configASSERT( xSemaphore );
-
- /* Mutexes cannot be used in interrupt service routines, so the mutex
- holder should not change in an ISR, and therefore a critical section is
- not required here. */
- if( ( ( Queue_t * ) xSemaphore )->uxQueueType == queueQUEUE_IS_MUTEX )
- {
- pxReturn = ( ( Queue_t * ) xSemaphore )->u.xSemaphore.xMutexHolder;
- }
- else
- {
- pxReturn = NULL;
- }
-
- return pxReturn;
- } /*lint !e818 xSemaphore cannot be a pointer to const because it is a typedef. */
-
-#endif
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_RECURSIVE_MUTEXES == 1 )
-
- BaseType_t xQueueGiveMutexRecursive( QueueHandle_t xMutex )
- {
- BaseType_t xReturn;
- Queue_t * const pxMutex = ( Queue_t * ) xMutex;
-
- configASSERT( pxMutex );
-
- /* If this is the task that holds the mutex then xMutexHolder will not
- change outside of this task. If this task does not hold the mutex then
- pxMutexHolder can never coincidentally equal the tasks handle, and as
- this is the only condition we are interested in it does not matter if
- pxMutexHolder is accessed simultaneously by another task. Therefore no
- mutual exclusion is required to test the pxMutexHolder variable. */
- if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
- {
- traceGIVE_MUTEX_RECURSIVE( pxMutex );
-
- /* uxRecursiveCallCount cannot be zero if xMutexHolder is equal to
- the task handle, therefore no underflow check is required. Also,
- uxRecursiveCallCount is only modified by the mutex holder, and as
- there can only be one, no mutual exclusion is required to modify the
- uxRecursiveCallCount member. */
- ( pxMutex->u.xSemaphore.uxRecursiveCallCount )--;
-
- /* Has the recursive call count unwound to 0? */
- if( pxMutex->u.xSemaphore.uxRecursiveCallCount == ( UBaseType_t ) 0 )
- {
- /* Return the mutex. This will automatically unblock any other
- task that might be waiting to access the mutex. */
- ( void ) xQueueGenericSend( pxMutex, NULL, queueMUTEX_GIVE_BLOCK_TIME, queueSEND_TO_BACK );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xReturn = pdPASS;
- }
- else
- {
- /* The mutex cannot be given because the calling task is not the
- holder. */
- xReturn = pdFAIL;
-
- traceGIVE_MUTEX_RECURSIVE_FAILED( pxMutex );
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_RECURSIVE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_RECURSIVE_MUTEXES == 1 )
-
- BaseType_t xQueueTakeMutexRecursive( QueueHandle_t xMutex, TickType_t xTicksToWait )
- {
- BaseType_t xReturn;
- Queue_t * const pxMutex = ( Queue_t * ) xMutex;
-
- configASSERT( pxMutex );
-
- /* Comments regarding mutual exclusion as per those within
- xQueueGiveMutexRecursive(). */
-
- traceTAKE_MUTEX_RECURSIVE( pxMutex );
-
- if( pxMutex->u.xSemaphore.xMutexHolder == xTaskGetCurrentTaskHandle() )
- {
- ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
- xReturn = pdPASS;
- }
- else
- {
- xReturn = xQueueSemaphoreTake( pxMutex, xTicksToWait );
-
- /* pdPASS will only be returned if the mutex was successfully
- obtained. The calling task may have entered the Blocked state
- before reaching here. */
- if( xReturn != pdFAIL )
- {
- ( pxMutex->u.xSemaphore.uxRecursiveCallCount )++;
- }
- else
- {
- traceTAKE_MUTEX_RECURSIVE_FAILED( pxMutex );
- }
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_RECURSIVE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-
- QueueHandle_t xQueueCreateCountingSemaphoreStatic( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount, StaticQueue_t *pxStaticQueue )
- {
- QueueHandle_t xHandle;
-
- configASSERT( uxMaxCount != 0 );
- configASSERT( uxInitialCount <= uxMaxCount );
-
- xHandle = xQueueGenericCreateStatic( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, NULL, pxStaticQueue, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
-
- if( xHandle != NULL )
- {
- ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
-
- traceCREATE_COUNTING_SEMAPHORE();
- }
- else
- {
- traceCREATE_COUNTING_SEMAPHORE_FAILED();
- }
-
- return xHandle;
- }
-
-#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-#if( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
- QueueHandle_t xQueueCreateCountingSemaphore( const UBaseType_t uxMaxCount, const UBaseType_t uxInitialCount )
- {
- QueueHandle_t xHandle;
-
- configASSERT( uxMaxCount != 0 );
- configASSERT( uxInitialCount <= uxMaxCount );
-
- xHandle = xQueueGenericCreate( uxMaxCount, queueSEMAPHORE_QUEUE_ITEM_LENGTH, queueQUEUE_TYPE_COUNTING_SEMAPHORE );
-
- if( xHandle != NULL )
- {
- ( ( Queue_t * ) xHandle )->uxMessagesWaiting = uxInitialCount;
-
- traceCREATE_COUNTING_SEMAPHORE();
- }
- else
- {
- traceCREATE_COUNTING_SEMAPHORE_FAILED();
- }
-
- return xHandle;
- }
-
-#endif /* ( ( configUSE_COUNTING_SEMAPHORES == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueGenericSend( QueueHandle_t xQueue, const void * const pvItemToQueue, TickType_t xTicksToWait, const BaseType_t xCopyPosition )
-{
-BaseType_t xEntryTimeSet = pdFALSE, xYieldRequired;
-TimeOut_t xTimeOut;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
- configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
- #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- {
- configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
- }
- #endif
-
-
- /*lint -save -e904 This function relaxes the coding standard somewhat to
- allow return statements within the function itself. This is done in the
- interest of execution time efficiency. */
- for( ;; )
- {
- taskENTER_CRITICAL();
- {
- /* Is there room on the queue now? The running task must be the
- highest priority task wanting to access the queue. If the head item
- in the queue is to be overwritten then it does not matter if the
- queue is full. */
- if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
- {
- traceQUEUE_SEND( pxQueue );
-
- #if ( configUSE_QUEUE_SETS == 1 )
- {
- const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
-
- if( pxQueue->pxQueueSetContainer != NULL )
- {
- if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
- {
- /* Do not notify the queue set as an existing item
- was overwritten in the queue so the number of items
- in the queue has not changed. */
- mtCOVERAGE_TEST_MARKER();
- }
- else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
- {
- /* The queue is a member of a queue set, and posting
- to the queue set caused a higher priority task to
- unblock. A context switch is required. */
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* If there was a task waiting for data to arrive on the
- queue then unblock it now. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The unblocked task has a priority higher than
- our own so yield immediately. Yes it is ok to
- do this from within the critical section - the
- kernel takes care of that. */
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else if( xYieldRequired != pdFALSE )
- {
- /* This path is a special case that will only get
- executed if the task was holding multiple mutexes
- and the mutexes were given back in an order that is
- different to that in which they were taken. */
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- #else /* configUSE_QUEUE_SETS */
- {
- xYieldRequired = prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
-
- /* If there was a task waiting for data to arrive on the
- queue then unblock it now. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The unblocked task has a priority higher than
- our own so yield immediately. Yes it is ok to do
- this from within the critical section - the kernel
- takes care of that. */
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else if( xYieldRequired != pdFALSE )
- {
- /* This path is a special case that will only get
- executed if the task was holding multiple mutexes and
- the mutexes were given back in an order that is
- different to that in which they were taken. */
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_QUEUE_SETS */
-
- taskEXIT_CRITICAL();
- return pdPASS;
- }
- else
- {
- if( xTicksToWait == ( TickType_t ) 0 )
- {
- /* The queue was full and no block time is specified (or
- the block time has expired) so leave now. */
- taskEXIT_CRITICAL();
-
- /* Return to the original privilege level before exiting
- the function. */
- traceQUEUE_SEND_FAILED( pxQueue );
- return errQUEUE_FULL;
- }
- else if( xEntryTimeSet == pdFALSE )
- {
- /* The queue was full and a block time was specified so
- configure the timeout structure. */
- vTaskInternalSetTimeOutState( &xTimeOut );
- xEntryTimeSet = pdTRUE;
- }
- else
- {
- /* Entry time was already set. */
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- taskEXIT_CRITICAL();
-
- /* Interrupts and other tasks can send to and receive from the queue
- now the critical section has been exited. */
-
- vTaskSuspendAll();
- prvLockQueue( pxQueue );
-
- /* Update the timeout state to see if it has expired yet. */
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
- {
- if( prvIsQueueFull( pxQueue ) != pdFALSE )
- {
- traceBLOCKING_ON_QUEUE_SEND( pxQueue );
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToSend ), xTicksToWait );
-
- /* Unlocking the queue means queue events can effect the
- event list. It is possible that interrupts occurring now
- remove this task from the event list again - but as the
- scheduler is suspended the task will go onto the pending
- ready last instead of the actual ready list. */
- prvUnlockQueue( pxQueue );
-
- /* Resuming the scheduler will move tasks from the pending
- ready list into the ready list - so it is feasible that this
- task is already in a ready list before it yields - in which
- case the yield will not cause a context switch unless there
- is also a higher priority task in the pending ready list. */
- if( xTaskResumeAll() == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- }
- else
- {
- /* Try again. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
- }
- }
- else
- {
- /* The timeout has expired. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
-
- traceQUEUE_SEND_FAILED( pxQueue );
- return errQUEUE_FULL;
- }
- } /*lint -restore */
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueGenericSendFromISR( QueueHandle_t xQueue, const void * const pvItemToQueue, BaseType_t * const pxHigherPriorityTaskWoken, const BaseType_t xCopyPosition )
-{
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- configASSERT( !( ( pvItemToQueue == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
- configASSERT( !( ( xCopyPosition == queueOVERWRITE ) && ( pxQueue->uxLength != 1 ) ) );
-
- /* RTOS ports that support interrupt nesting have the concept of a maximum
- system call (or maximum API call) interrupt priority. Interrupts that are
- above the maximum system call priority are kept permanently enabled, even
- when the RTOS kernel is in a critical section, but cannot make any calls to
- FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
- then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has been
- assigned a priority above the configured maximum system call priority.
- Only FreeRTOS functions that end in FromISR can be called from interrupts
- that have been assigned a priority at or (logically) below the maximum
- system call interrupt priority. FreeRTOS maintains a separate interrupt
- safe API to ensure interrupt entry is as fast and as simple as possible.
- More information (albeit Cortex-M specific) is provided on the following
- link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- /* Similar to xQueueGenericSend, except without blocking if there is no room
- in the queue. Also don't directly wake a task that was blocked on a queue
- read, instead return a flag to say whether a context switch is required or
- not (i.e. has a task with a higher priority than us been woken by this
- post). */
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- if( ( pxQueue->uxMessagesWaiting < pxQueue->uxLength ) || ( xCopyPosition == queueOVERWRITE ) )
- {
- const int8_t cTxLock = pxQueue->cTxLock;
- const UBaseType_t uxPreviousMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- traceQUEUE_SEND_FROM_ISR( pxQueue );
-
- /* Semaphores use xQueueGiveFromISR(), so pxQueue will not be a
- semaphore or mutex. That means prvCopyDataToQueue() cannot result
- in a task disinheriting a priority and prvCopyDataToQueue() can be
- called here even though the disinherit function does not check if
- the scheduler is suspended before accessing the ready lists. */
- ( void ) prvCopyDataToQueue( pxQueue, pvItemToQueue, xCopyPosition );
-
- /* The event list is not altered if the queue is locked. This will
- be done when the queue is unlocked later. */
- if( cTxLock == queueUNLOCKED )
- {
- #if ( configUSE_QUEUE_SETS == 1 )
- {
- if( pxQueue->pxQueueSetContainer != NULL )
- {
- if( ( xCopyPosition == queueOVERWRITE ) && ( uxPreviousMessagesWaiting != ( UBaseType_t ) 0 ) )
- {
- /* Do not notify the queue set as an existing item
- was overwritten in the queue so the number of items
- in the queue has not changed. */
- mtCOVERAGE_TEST_MARKER();
- }
- else if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
- {
- /* The queue is a member of a queue set, and posting
- to the queue set caused a higher priority task to
- unblock. A context switch is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority so
- record that a context switch is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- #else /* configUSE_QUEUE_SETS */
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority so record that a
- context switch is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Not used in this path. */
- ( void ) uxPreviousMessagesWaiting;
- }
- #endif /* configUSE_QUEUE_SETS */
- }
- else
- {
- /* Increment the lock count so the task that unlocks the queue
- knows that data was posted while it was locked. */
- pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
- }
-
- xReturn = pdPASS;
- }
- else
- {
- traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
- xReturn = errQUEUE_FULL;
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueGiveFromISR( QueueHandle_t xQueue, BaseType_t * const pxHigherPriorityTaskWoken )
-{
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-Queue_t * const pxQueue = xQueue;
-
- /* Similar to xQueueGenericSendFromISR() but used with semaphores where the
- item size is 0. Don't directly wake a task that was blocked on a queue
- read, instead return a flag to say whether a context switch is required or
- not (i.e. has a task with a higher priority than us been woken by this
- post). */
-
- configASSERT( pxQueue );
-
- /* xQueueGenericSendFromISR() should be used instead of xQueueGiveFromISR()
- if the item size is not 0. */
- configASSERT( pxQueue->uxItemSize == 0 );
-
- /* Normally a mutex would not be given from an interrupt, especially if
- there is a mutex holder, as priority inheritance makes no sense for an
- interrupts, only tasks. */
- configASSERT( !( ( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX ) && ( pxQueue->u.xSemaphore.xMutexHolder != NULL ) ) );
-
- /* RTOS ports that support interrupt nesting have the concept of a maximum
- system call (or maximum API call) interrupt priority. Interrupts that are
- above the maximum system call priority are kept permanently enabled, even
- when the RTOS kernel is in a critical section, but cannot make any calls to
- FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
- then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has been
- assigned a priority above the configured maximum system call priority.
- Only FreeRTOS functions that end in FromISR can be called from interrupts
- that have been assigned a priority at or (logically) below the maximum
- system call interrupt priority. FreeRTOS maintains a separate interrupt
- safe API to ensure interrupt entry is as fast and as simple as possible.
- More information (albeit Cortex-M specific) is provided on the following
- link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- /* When the queue is used to implement a semaphore no data is ever
- moved through the queue but it is still valid to see if the queue 'has
- space'. */
- if( uxMessagesWaiting < pxQueue->uxLength )
- {
- const int8_t cTxLock = pxQueue->cTxLock;
-
- traceQUEUE_SEND_FROM_ISR( pxQueue );
-
- /* A task can only have an inherited priority if it is a mutex
- holder - and if there is a mutex holder then the mutex cannot be
- given from an ISR. As this is the ISR version of the function it
- can be assumed there is no mutex holder and no need to determine if
- priority disinheritance is needed. Simply increase the count of
- messages (semaphores) available. */
- pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
-
- /* The event list is not altered if the queue is locked. This will
- be done when the queue is unlocked later. */
- if( cTxLock == queueUNLOCKED )
- {
- #if ( configUSE_QUEUE_SETS == 1 )
- {
- if( pxQueue->pxQueueSetContainer != NULL )
- {
- if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
- {
- /* The semaphore is a member of a queue set, and
- posting to the queue set caused a higher priority
- task to unblock. A context switch is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority so
- record that a context switch is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- #else /* configUSE_QUEUE_SETS */
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority so record that a
- context switch is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_QUEUE_SETS */
- }
- else
- {
- /* Increment the lock count so the task that unlocks the queue
- knows that data was posted while it was locked. */
- pxQueue->cTxLock = ( int8_t ) ( cTxLock + 1 );
- }
-
- xReturn = pdPASS;
- }
- else
- {
- traceQUEUE_SEND_FROM_ISR_FAILED( pxQueue );
- xReturn = errQUEUE_FULL;
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueReceive( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
-{
-BaseType_t xEntryTimeSet = pdFALSE;
-TimeOut_t xTimeOut;
-Queue_t * const pxQueue = xQueue;
-
- /* Check the pointer is not NULL. */
- configASSERT( ( pxQueue ) );
-
- /* The buffer into which data is received can only be NULL if the data size
- is zero (so no data is copied into the buffer. */
- configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
-
- /* Cannot block if the scheduler is suspended. */
- #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- {
- configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
- }
- #endif
-
-
- /*lint -save -e904 This function relaxes the coding standard somewhat to
- allow return statements within the function itself. This is done in the
- interest of execution time efficiency. */
- for( ;; )
- {
- taskENTER_CRITICAL();
- {
- const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- /* Is there data in the queue now? To be running the calling task
- must be the highest priority task wanting to access the queue. */
- if( uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- /* Data available, remove one item. */
- prvCopyDataFromQueue( pxQueue, pvBuffer );
- traceQUEUE_RECEIVE( pxQueue );
- pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
-
- /* There is now space in the queue, were any tasks waiting to
- post to the queue? If so, unblock the highest priority waiting
- task. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- taskEXIT_CRITICAL();
- return pdPASS;
- }
- else
- {
- if( xTicksToWait == ( TickType_t ) 0 )
- {
- /* The queue was empty and no block time is specified (or
- the block time has expired) so leave now. */
- taskEXIT_CRITICAL();
- traceQUEUE_RECEIVE_FAILED( pxQueue );
- return errQUEUE_EMPTY;
- }
- else if( xEntryTimeSet == pdFALSE )
- {
- /* The queue was empty and a block time was specified so
- configure the timeout structure. */
- vTaskInternalSetTimeOutState( &xTimeOut );
- xEntryTimeSet = pdTRUE;
- }
- else
- {
- /* Entry time was already set. */
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- taskEXIT_CRITICAL();
-
- /* Interrupts and other tasks can send to and receive from the queue
- now the critical section has been exited. */
-
- vTaskSuspendAll();
- prvLockQueue( pxQueue );
-
- /* Update the timeout state to see if it has expired yet. */
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
- {
- /* The timeout has not expired. If the queue is still empty place
- the task on the list of tasks waiting to receive from the queue. */
- if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
- {
- traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
- prvUnlockQueue( pxQueue );
- if( xTaskResumeAll() == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* The queue contains data again. Loop back to try and read the
- data. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
- }
- }
- else
- {
- /* Timed out. If there is no data in the queue exit, otherwise loop
- back and attempt to read the data. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
-
- if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
- {
- traceQUEUE_RECEIVE_FAILED( pxQueue );
- return errQUEUE_EMPTY;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- } /*lint -restore */
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueSemaphoreTake( QueueHandle_t xQueue, TickType_t xTicksToWait )
-{
-BaseType_t xEntryTimeSet = pdFALSE;
-TimeOut_t xTimeOut;
-Queue_t * const pxQueue = xQueue;
-
-#if( configUSE_MUTEXES == 1 )
- BaseType_t xInheritanceOccurred = pdFALSE;
-#endif
-
- /* Check the queue pointer is not NULL. */
- configASSERT( ( pxQueue ) );
-
- /* Check this really is a semaphore, in which case the item size will be
- 0. */
- configASSERT( pxQueue->uxItemSize == 0 );
-
- /* Cannot block if the scheduler is suspended. */
- #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- {
- configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
- }
- #endif
-
-
- /*lint -save -e904 This function relaxes the coding standard somewhat to allow return
- statements within the function itself. This is done in the interest
- of execution time efficiency. */
- for( ;; )
- {
- taskENTER_CRITICAL();
- {
- /* Semaphores are queues with an item size of 0, and where the
- number of messages in the queue is the semaphore's count value. */
- const UBaseType_t uxSemaphoreCount = pxQueue->uxMessagesWaiting;
-
- /* Is there data in the queue now? To be running the calling task
- must be the highest priority task wanting to access the queue. */
- if( uxSemaphoreCount > ( UBaseType_t ) 0 )
- {
- traceQUEUE_RECEIVE( pxQueue );
-
- /* Semaphores are queues with a data size of zero and where the
- messages waiting is the semaphore's count. Reduce the count. */
- pxQueue->uxMessagesWaiting = uxSemaphoreCount - ( UBaseType_t ) 1;
-
- #if ( configUSE_MUTEXES == 1 )
- {
- if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
- {
- /* Record the information required to implement
- priority inheritance should it become necessary. */
- pxQueue->u.xSemaphore.xMutexHolder = pvTaskIncrementMutexHeldCount();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_MUTEXES */
-
- /* Check to see if other tasks are blocked waiting to give the
- semaphore, and if so, unblock the highest priority such task. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- taskEXIT_CRITICAL();
- return pdPASS;
- }
- else
- {
- if( xTicksToWait == ( TickType_t ) 0 )
- {
- /* For inheritance to have occurred there must have been an
- initial timeout, and an adjusted timeout cannot become 0, as
- if it were 0 the function would have exited. */
- #if( configUSE_MUTEXES == 1 )
- {
- configASSERT( xInheritanceOccurred == pdFALSE );
- }
- #endif /* configUSE_MUTEXES */
-
- /* The semaphore count was 0 and no block time is specified
- (or the block time has expired) so exit now. */
- taskEXIT_CRITICAL();
- traceQUEUE_RECEIVE_FAILED( pxQueue );
- return errQUEUE_EMPTY;
- }
- else if( xEntryTimeSet == pdFALSE )
- {
- /* The semaphore count was 0 and a block time was specified
- so configure the timeout structure ready to block. */
- vTaskInternalSetTimeOutState( &xTimeOut );
- xEntryTimeSet = pdTRUE;
- }
- else
- {
- /* Entry time was already set. */
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- taskEXIT_CRITICAL();
-
- /* Interrupts and other tasks can give to and take from the semaphore
- now the critical section has been exited. */
-
- vTaskSuspendAll();
- prvLockQueue( pxQueue );
-
- /* Update the timeout state to see if it has expired yet. */
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
- {
- /* A block time is specified and not expired. If the semaphore
- count is 0 then enter the Blocked state to wait for a semaphore to
- become available. As semaphores are implemented with queues the
- queue being empty is equivalent to the semaphore count being 0. */
- if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
- {
- traceBLOCKING_ON_QUEUE_RECEIVE( pxQueue );
-
- #if ( configUSE_MUTEXES == 1 )
- {
- if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
- {
- taskENTER_CRITICAL();
- {
- xInheritanceOccurred = xTaskPriorityInherit( pxQueue->u.xSemaphore.xMutexHolder );
- }
- taskEXIT_CRITICAL();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif
-
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
- prvUnlockQueue( pxQueue );
- if( xTaskResumeAll() == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* There was no timeout and the semaphore count was not 0, so
- attempt to take the semaphore again. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
- }
- }
- else
- {
- /* Timed out. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
-
- /* If the semaphore count is 0 exit now as the timeout has
- expired. Otherwise return to attempt to take the semaphore that is
- known to be available. As semaphores are implemented by queues the
- queue being empty is equivalent to the semaphore count being 0. */
- if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
- {
- #if ( configUSE_MUTEXES == 1 )
- {
- /* xInheritanceOccurred could only have be set if
- pxQueue->uxQueueType == queueQUEUE_IS_MUTEX so no need to
- test the mutex type again to check it is actually a mutex. */
- if( xInheritanceOccurred != pdFALSE )
- {
- taskENTER_CRITICAL();
- {
- UBaseType_t uxHighestWaitingPriority;
-
- /* This task blocking on the mutex caused another
- task to inherit this task's priority. Now this task
- has timed out the priority should be disinherited
- again, but only as low as the next highest priority
- task that is waiting for the same mutex. */
- uxHighestWaitingPriority = prvGetDisinheritPriorityAfterTimeout( pxQueue );
- vTaskPriorityDisinheritAfterTimeout( pxQueue->u.xSemaphore.xMutexHolder, uxHighestWaitingPriority );
- }
- taskEXIT_CRITICAL();
- }
- }
- #endif /* configUSE_MUTEXES */
-
- traceQUEUE_RECEIVE_FAILED( pxQueue );
- return errQUEUE_EMPTY;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- } /*lint -restore */
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueuePeek( QueueHandle_t xQueue, void * const pvBuffer, TickType_t xTicksToWait )
-{
-BaseType_t xEntryTimeSet = pdFALSE;
-TimeOut_t xTimeOut;
-int8_t *pcOriginalReadPosition;
-Queue_t * const pxQueue = xQueue;
-
- /* Check the pointer is not NULL. */
- configASSERT( ( pxQueue ) );
-
- /* The buffer into which data is received can only be NULL if the data size
- is zero (so no data is copied into the buffer. */
- configASSERT( !( ( ( pvBuffer ) == NULL ) && ( ( pxQueue )->uxItemSize != ( UBaseType_t ) 0U ) ) );
-
- /* Cannot block if the scheduler is suspended. */
- #if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
- {
- configASSERT( !( ( xTaskGetSchedulerState() == taskSCHEDULER_SUSPENDED ) && ( xTicksToWait != 0 ) ) );
- }
- #endif
-
-
- /*lint -save -e904 This function relaxes the coding standard somewhat to
- allow return statements within the function itself. This is done in the
- interest of execution time efficiency. */
- for( ;; )
- {
- taskENTER_CRITICAL();
- {
- const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- /* Is there data in the queue now? To be running the calling task
- must be the highest priority task wanting to access the queue. */
- if( uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- /* Remember the read position so it can be reset after the data
- is read from the queue as this function is only peeking the
- data, not removing it. */
- pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
-
- prvCopyDataFromQueue( pxQueue, pvBuffer );
- traceQUEUE_PEEK( pxQueue );
-
- /* The data is not being removed, so reset the read pointer. */
- pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
-
- /* The data is being left in the queue, so see if there are
- any other tasks waiting for the data. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority than this task. */
- queueYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- taskEXIT_CRITICAL();
- return pdPASS;
- }
- else
- {
- if( xTicksToWait == ( TickType_t ) 0 )
- {
- /* The queue was empty and no block time is specified (or
- the block time has expired) so leave now. */
- taskEXIT_CRITICAL();
- traceQUEUE_PEEK_FAILED( pxQueue );
- return errQUEUE_EMPTY;
- }
- else if( xEntryTimeSet == pdFALSE )
- {
- /* The queue was empty and a block time was specified so
- configure the timeout structure ready to enter the blocked
- state. */
- vTaskInternalSetTimeOutState( &xTimeOut );
- xEntryTimeSet = pdTRUE;
- }
- else
- {
- /* Entry time was already set. */
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- taskEXIT_CRITICAL();
-
- /* Interrupts and other tasks can send to and receive from the queue
- now the critical section has been exited. */
-
- vTaskSuspendAll();
- prvLockQueue( pxQueue );
-
- /* Update the timeout state to see if it has expired yet. */
- if( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE )
- {
- /* Timeout has not expired yet, check to see if there is data in the
- queue now, and if not enter the Blocked state to wait for data. */
- if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
- {
- traceBLOCKING_ON_QUEUE_PEEK( pxQueue );
- vTaskPlaceOnEventList( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait );
- prvUnlockQueue( pxQueue );
- if( xTaskResumeAll() == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* There is data in the queue now, so don't enter the blocked
- state, instead return to try and obtain the data. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
- }
- }
- else
- {
- /* The timeout has expired. If there is still no data in the queue
- exit, otherwise go back and try to read the data again. */
- prvUnlockQueue( pxQueue );
- ( void ) xTaskResumeAll();
-
- if( prvIsQueueEmpty( pxQueue ) != pdFALSE )
- {
- traceQUEUE_PEEK_FAILED( pxQueue );
- return errQUEUE_EMPTY;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- } /*lint -restore */
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueReceiveFromISR( QueueHandle_t xQueue, void * const pvBuffer, BaseType_t * const pxHigherPriorityTaskWoken )
-{
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
-
- /* RTOS ports that support interrupt nesting have the concept of a maximum
- system call (or maximum API call) interrupt priority. Interrupts that are
- above the maximum system call priority are kept permanently enabled, even
- when the RTOS kernel is in a critical section, but cannot make any calls to
- FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
- then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has been
- assigned a priority above the configured maximum system call priority.
- Only FreeRTOS functions that end in FromISR can be called from interrupts
- that have been assigned a priority at or (logically) below the maximum
- system call interrupt priority. FreeRTOS maintains a separate interrupt
- safe API to ensure interrupt entry is as fast and as simple as possible.
- More information (albeit Cortex-M specific) is provided on the following
- link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- const UBaseType_t uxMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- /* Cannot block in an ISR, so check there is data available. */
- if( uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- const int8_t cRxLock = pxQueue->cRxLock;
-
- traceQUEUE_RECEIVE_FROM_ISR( pxQueue );
-
- prvCopyDataFromQueue( pxQueue, pvBuffer );
- pxQueue->uxMessagesWaiting = uxMessagesWaiting - ( UBaseType_t ) 1;
-
- /* If the queue is locked the event list will not be modified.
- Instead update the lock count so the task that unlocks the queue
- will know that an ISR has removed data while the queue was
- locked. */
- if( cRxLock == queueUNLOCKED )
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority than us so
- force a context switch. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* Increment the lock count so the task that unlocks the queue
- knows that data was removed while it was locked. */
- pxQueue->cRxLock = ( int8_t ) ( cRxLock + 1 );
- }
-
- xReturn = pdPASS;
- }
- else
- {
- xReturn = pdFAIL;
- traceQUEUE_RECEIVE_FROM_ISR_FAILED( pxQueue );
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueuePeekFromISR( QueueHandle_t xQueue, void * const pvBuffer )
-{
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-int8_t *pcOriginalReadPosition;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- configASSERT( !( ( pvBuffer == NULL ) && ( pxQueue->uxItemSize != ( UBaseType_t ) 0U ) ) );
- configASSERT( pxQueue->uxItemSize != 0 ); /* Can't peek a semaphore. */
-
- /* RTOS ports that support interrupt nesting have the concept of a maximum
- system call (or maximum API call) interrupt priority. Interrupts that are
- above the maximum system call priority are kept permanently enabled, even
- when the RTOS kernel is in a critical section, but cannot make any calls to
- FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
- then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has been
- assigned a priority above the configured maximum system call priority.
- Only FreeRTOS functions that end in FromISR can be called from interrupts
- that have been assigned a priority at or (logically) below the maximum
- system call interrupt priority. FreeRTOS maintains a separate interrupt
- safe API to ensure interrupt entry is as fast and as simple as possible.
- More information (albeit Cortex-M specific) is provided on the following
- link: http://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- /* Cannot block in an ISR, so check there is data available. */
- if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- traceQUEUE_PEEK_FROM_ISR( pxQueue );
-
- /* Remember the read position so it can be reset as nothing is
- actually being removed from the queue. */
- pcOriginalReadPosition = pxQueue->u.xQueue.pcReadFrom;
- prvCopyDataFromQueue( pxQueue, pvBuffer );
- pxQueue->u.xQueue.pcReadFrom = pcOriginalReadPosition;
-
- xReturn = pdPASS;
- }
- else
- {
- xReturn = pdFAIL;
- traceQUEUE_PEEK_FROM_ISR_FAILED( pxQueue );
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxQueueMessagesWaiting( const QueueHandle_t xQueue )
-{
-UBaseType_t uxReturn;
-
- configASSERT( xQueue );
-
- taskENTER_CRITICAL();
- {
- uxReturn = ( ( Queue_t * ) xQueue )->uxMessagesWaiting;
- }
- taskEXIT_CRITICAL();
-
- return uxReturn;
-} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxQueueSpacesAvailable( const QueueHandle_t xQueue )
-{
-UBaseType_t uxReturn;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
-
- taskENTER_CRITICAL();
- {
- uxReturn = pxQueue->uxLength - pxQueue->uxMessagesWaiting;
- }
- taskEXIT_CRITICAL();
-
- return uxReturn;
-} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxQueueMessagesWaitingFromISR( const QueueHandle_t xQueue )
-{
-UBaseType_t uxReturn;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- uxReturn = pxQueue->uxMessagesWaiting;
-
- return uxReturn;
-} /*lint !e818 Pointer cannot be declared const as xQueue is a typedef not pointer. */
-/*-----------------------------------------------------------*/
-
-void vQueueDelete( QueueHandle_t xQueue )
-{
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- traceQUEUE_DELETE( pxQueue );
-
- #if ( configQUEUE_REGISTRY_SIZE > 0 )
- {
- vQueueUnregisterQueue( pxQueue );
- }
- #endif
-
- #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) )
- {
- /* The queue can only have been allocated dynamically - free it
- again. */
- vPortFree( pxQueue );
- }
- #elif( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
- {
- /* The queue could have been allocated statically or dynamically, so
- check before attempting to free the memory. */
- if( pxQueue->ucStaticallyAllocated == ( uint8_t ) pdFALSE )
- {
- vPortFree( pxQueue );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #else
- {
- /* The queue must have been statically allocated, so is not going to be
- deleted. Avoid compiler warnings about the unused parameter. */
- ( void ) pxQueue;
- }
- #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- UBaseType_t uxQueueGetQueueNumber( QueueHandle_t xQueue )
- {
- return ( ( Queue_t * ) xQueue )->uxQueueNumber;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vQueueSetQueueNumber( QueueHandle_t xQueue, UBaseType_t uxQueueNumber )
- {
- ( ( Queue_t * ) xQueue )->uxQueueNumber = uxQueueNumber;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- uint8_t ucQueueGetQueueType( QueueHandle_t xQueue )
- {
- return ( ( Queue_t * ) xQueue )->ucQueueType;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_MUTEXES == 1 )
-
- static UBaseType_t prvGetDisinheritPriorityAfterTimeout( const Queue_t * const pxQueue )
- {
- UBaseType_t uxHighestPriorityOfWaitingTasks;
-
- /* If a task waiting for a mutex causes the mutex holder to inherit a
- priority, but the waiting task times out, then the holder should
- disinherit the priority - but only down to the highest priority of any
- other tasks that are waiting for the same mutex. For this purpose,
- return the priority of the highest priority task that is waiting for the
- mutex. */
- if( listCURRENT_LIST_LENGTH( &( pxQueue->xTasksWaitingToReceive ) ) > 0U )
- {
- uxHighestPriorityOfWaitingTasks = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) listGET_ITEM_VALUE_OF_HEAD_ENTRY( &( pxQueue->xTasksWaitingToReceive ) );
- }
- else
- {
- uxHighestPriorityOfWaitingTasks = tskIDLE_PRIORITY;
- }
-
- return uxHighestPriorityOfWaitingTasks;
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-static BaseType_t prvCopyDataToQueue( Queue_t * const pxQueue, const void *pvItemToQueue, const BaseType_t xPosition )
-{
-BaseType_t xReturn = pdFALSE;
-UBaseType_t uxMessagesWaiting;
-
- /* This function is called from a critical section. */
-
- uxMessagesWaiting = pxQueue->uxMessagesWaiting;
-
- if( pxQueue->uxItemSize == ( UBaseType_t ) 0 )
- {
- #if ( configUSE_MUTEXES == 1 )
- {
- if( pxQueue->uxQueueType == queueQUEUE_IS_MUTEX )
- {
- /* The mutex is no longer being held. */
- xReturn = xTaskPriorityDisinherit( pxQueue->u.xSemaphore.xMutexHolder );
- pxQueue->u.xSemaphore.xMutexHolder = NULL;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_MUTEXES */
- }
- else if( xPosition == queueSEND_TO_BACK )
- {
- ( void ) memcpy( ( void * ) pxQueue->pcWriteTo, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports, plus previous logic ensures a null pointer can only be passed to memcpy() if the copy size is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
- pxQueue->pcWriteTo += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
- if( pxQueue->pcWriteTo >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
- {
- pxQueue->pcWriteTo = pxQueue->pcHead;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- ( void ) memcpy( ( void * ) pxQueue->u.xQueue.pcReadFrom, pvItemToQueue, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e9087 !e418 MISRA exception as the casts are only redundant for some ports. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. Assert checks null pointer only used when length is 0. */
- pxQueue->u.xQueue.pcReadFrom -= pxQueue->uxItemSize;
- if( pxQueue->u.xQueue.pcReadFrom < pxQueue->pcHead ) /*lint !e946 MISRA exception justified as comparison of pointers is the cleanest solution. */
- {
- pxQueue->u.xQueue.pcReadFrom = ( pxQueue->u.xQueue.pcTail - pxQueue->uxItemSize );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( xPosition == queueOVERWRITE )
- {
- if( uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- /* An item is not being added but overwritten, so subtract
- one from the recorded number of items in the queue so when
- one is added again below the number of recorded items remains
- correct. */
- --uxMessagesWaiting;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- pxQueue->uxMessagesWaiting = uxMessagesWaiting + ( UBaseType_t ) 1;
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-static void prvCopyDataFromQueue( Queue_t * const pxQueue, void * const pvBuffer )
-{
- if( pxQueue->uxItemSize != ( UBaseType_t ) 0 )
- {
- pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize; /*lint !e9016 Pointer arithmetic on char types ok, especially in this use case where it is the clearest way of conveying intent. */
- if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail ) /*lint !e946 MISRA exception justified as use of the relational operator is the cleanest solutions. */
- {
- pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( size_t ) pxQueue->uxItemSize ); /*lint !e961 !e418 !e9087 MISRA exception as the casts are only redundant for some ports. Also previous logic ensures a null pointer can only be passed to memcpy() when the count is 0. Cast to void required by function signature and safe as no alignment requirement and copy length specified in bytes. */
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvUnlockQueue( Queue_t * const pxQueue )
-{
- /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. */
-
- /* The lock counts contains the number of extra data items placed or
- removed from the queue while the queue was locked. When a queue is
- locked items can be added or removed, but the event lists cannot be
- updated. */
- taskENTER_CRITICAL();
- {
- int8_t cTxLock = pxQueue->cTxLock;
-
- /* See if data was added to the queue while it was locked. */
- while( cTxLock > queueLOCKED_UNMODIFIED )
- {
- /* Data was posted while the queue was locked. Are any tasks
- blocked waiting for data to become available? */
- #if ( configUSE_QUEUE_SETS == 1 )
- {
- if( pxQueue->pxQueueSetContainer != NULL )
- {
- if( prvNotifyQueueSetContainer( pxQueue ) != pdFALSE )
- {
- /* The queue is a member of a queue set, and posting to
- the queue set caused a higher priority task to unblock.
- A context switch is required. */
- vTaskMissedYield();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* Tasks that are removed from the event list will get
- added to the pending ready list as the scheduler is still
- suspended. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority so record that a
- context switch is required. */
- vTaskMissedYield();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- break;
- }
- }
- }
- #else /* configUSE_QUEUE_SETS */
- {
- /* Tasks that are removed from the event list will get added to
- the pending ready list as the scheduler is still suspended. */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority so record that
- a context switch is required. */
- vTaskMissedYield();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- break;
- }
- }
- #endif /* configUSE_QUEUE_SETS */
-
- --cTxLock;
- }
-
- pxQueue->cTxLock = queueUNLOCKED;
- }
- taskEXIT_CRITICAL();
-
- /* Do the same for the Rx lock. */
- taskENTER_CRITICAL();
- {
- int8_t cRxLock = pxQueue->cRxLock;
-
- while( cRxLock > queueLOCKED_UNMODIFIED )
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- vTaskMissedYield();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- --cRxLock;
- }
- else
- {
- break;
- }
- }
-
- pxQueue->cRxLock = queueUNLOCKED;
- }
- taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-static BaseType_t prvIsQueueEmpty( const Queue_t *pxQueue )
-{
-BaseType_t xReturn;
-
- taskENTER_CRITICAL();
- {
- if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueIsQueueEmptyFromISR( const QueueHandle_t xQueue )
-{
-BaseType_t xReturn;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
-/*-----------------------------------------------------------*/
-
-static BaseType_t prvIsQueueFull( const Queue_t *pxQueue )
-{
-BaseType_t xReturn;
-
- taskENTER_CRITICAL();
- {
- if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xQueueIsQueueFullFromISR( const QueueHandle_t xQueue )
-{
-BaseType_t xReturn;
-Queue_t * const pxQueue = xQueue;
-
- configASSERT( pxQueue );
- if( pxQueue->uxMessagesWaiting == pxQueue->uxLength )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-} /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_CO_ROUTINES == 1 )
-
- BaseType_t xQueueCRSend( QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait )
- {
- BaseType_t xReturn;
- Queue_t * const pxQueue = xQueue;
-
- /* If the queue is already full we may have to block. A critical section
- is required to prevent an interrupt removing something from the queue
- between the check to see if the queue is full and blocking on the queue. */
- portDISABLE_INTERRUPTS();
- {
- if( prvIsQueueFull( pxQueue ) != pdFALSE )
- {
- /* The queue is full - do we want to block or just leave without
- posting? */
- if( xTicksToWait > ( TickType_t ) 0 )
- {
- /* As this is called from a coroutine we cannot block directly, but
- return indicating that we need to block. */
- vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToSend ) );
- portENABLE_INTERRUPTS();
- return errQUEUE_BLOCKED;
- }
- else
- {
- portENABLE_INTERRUPTS();
- return errQUEUE_FULL;
- }
- }
- }
- portENABLE_INTERRUPTS();
-
- portDISABLE_INTERRUPTS();
- {
- if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
- {
- /* There is room in the queue, copy the data into the queue. */
- prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
- xReturn = pdPASS;
-
- /* Were any co-routines waiting for data to become available? */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- /* In this instance the co-routine could be placed directly
- into the ready list as we are within a critical section.
- Instead the same pending ready list mechanism is used as if
- the event were caused from within an interrupt. */
- if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The co-routine waiting has a higher priority so record
- that a yield might be appropriate. */
- xReturn = errQUEUE_YIELD;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- xReturn = errQUEUE_FULL;
- }
- }
- portENABLE_INTERRUPTS();
-
- return xReturn;
- }
-
-#endif /* configUSE_CO_ROUTINES */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_CO_ROUTINES == 1 )
-
- BaseType_t xQueueCRReceive( QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait )
- {
- BaseType_t xReturn;
- Queue_t * const pxQueue = xQueue;
-
- /* If the queue is already empty we may have to block. A critical section
- is required to prevent an interrupt adding something to the queue
- between the check to see if the queue is empty and blocking on the queue. */
- portDISABLE_INTERRUPTS();
- {
- if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0 )
- {
- /* There are no messages in the queue, do we want to block or just
- leave with nothing? */
- if( xTicksToWait > ( TickType_t ) 0 )
- {
- /* As this is a co-routine we cannot block directly, but return
- indicating that we need to block. */
- vCoRoutineAddToDelayedList( xTicksToWait, &( pxQueue->xTasksWaitingToReceive ) );
- portENABLE_INTERRUPTS();
- return errQUEUE_BLOCKED;
- }
- else
- {
- portENABLE_INTERRUPTS();
- return errQUEUE_FULL;
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- portENABLE_INTERRUPTS();
-
- portDISABLE_INTERRUPTS();
- {
- if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- /* Data is available from the queue. */
- pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
- if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
- {
- pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- --( pxQueue->uxMessagesWaiting );
- ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
- xReturn = pdPASS;
-
- /* Were any co-routines waiting for space to become available? */
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- /* In this instance the co-routine could be placed directly
- into the ready list as we are within a critical section.
- Instead the same pending ready list mechanism is used as if
- the event were caused from within an interrupt. */
- if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- xReturn = errQUEUE_YIELD;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- xReturn = pdFAIL;
- }
- }
- portENABLE_INTERRUPTS();
-
- return xReturn;
- }
-
-#endif /* configUSE_CO_ROUTINES */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_CO_ROUTINES == 1 )
-
- BaseType_t xQueueCRSendFromISR( QueueHandle_t xQueue, const void *pvItemToQueue, BaseType_t xCoRoutinePreviouslyWoken )
- {
- Queue_t * const pxQueue = xQueue;
-
- /* Cannot block within an ISR so if there is no space on the queue then
- exit without doing anything. */
- if( pxQueue->uxMessagesWaiting < pxQueue->uxLength )
- {
- prvCopyDataToQueue( pxQueue, pvItemToQueue, queueSEND_TO_BACK );
-
- /* We only want to wake one co-routine per ISR, so check that a
- co-routine has not already been woken. */
- if( xCoRoutinePreviouslyWoken == pdFALSE )
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- return pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xCoRoutinePreviouslyWoken;
- }
-
-#endif /* configUSE_CO_ROUTINES */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_CO_ROUTINES == 1 )
-
- BaseType_t xQueueCRReceiveFromISR( QueueHandle_t xQueue, void *pvBuffer, BaseType_t *pxCoRoutineWoken )
- {
- BaseType_t xReturn;
- Queue_t * const pxQueue = xQueue;
-
- /* We cannot block from an ISR, so check there is data available. If
- not then just leave without doing anything. */
- if( pxQueue->uxMessagesWaiting > ( UBaseType_t ) 0 )
- {
- /* Copy the data from the queue. */
- pxQueue->u.xQueue.pcReadFrom += pxQueue->uxItemSize;
- if( pxQueue->u.xQueue.pcReadFrom >= pxQueue->u.xQueue.pcTail )
- {
- pxQueue->u.xQueue.pcReadFrom = pxQueue->pcHead;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- --( pxQueue->uxMessagesWaiting );
- ( void ) memcpy( ( void * ) pvBuffer, ( void * ) pxQueue->u.xQueue.pcReadFrom, ( unsigned ) pxQueue->uxItemSize );
-
- if( ( *pxCoRoutineWoken ) == pdFALSE )
- {
- if( listLIST_IS_EMPTY( &( pxQueue->xTasksWaitingToSend ) ) == pdFALSE )
- {
- if( xCoRoutineRemoveFromEventList( &( pxQueue->xTasksWaitingToSend ) ) != pdFALSE )
- {
- *pxCoRoutineWoken = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xReturn = pdPASS;
- }
- else
- {
- xReturn = pdFAIL;
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_CO_ROUTINES */
-/*-----------------------------------------------------------*/
-
-#if ( configQUEUE_REGISTRY_SIZE > 0 )
-
- void vQueueAddToRegistry( QueueHandle_t xQueue, const char *pcQueueName ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- {
- UBaseType_t ux;
-
- /* See if there is an empty space in the registry. A NULL name denotes
- a free slot. */
- for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
- {
- if( xQueueRegistry[ ux ].pcQueueName == NULL )
- {
- /* Store the information on this queue. */
- xQueueRegistry[ ux ].pcQueueName = pcQueueName;
- xQueueRegistry[ ux ].xHandle = xQueue;
-
- traceQUEUE_REGISTRY_ADD( xQueue, pcQueueName );
- break;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
-
-#endif /* configQUEUE_REGISTRY_SIZE */
-/*-----------------------------------------------------------*/
-
-#if ( configQUEUE_REGISTRY_SIZE > 0 )
-
- const char *pcQueueGetName( QueueHandle_t xQueue ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- {
- UBaseType_t ux;
- const char *pcReturn = NULL; /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
- /* Note there is nothing here to protect against another task adding or
- removing entries from the registry while it is being searched. */
- for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
- {
- if( xQueueRegistry[ ux ].xHandle == xQueue )
- {
- pcReturn = xQueueRegistry[ ux ].pcQueueName;
- break;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- return pcReturn;
- } /*lint !e818 xQueue cannot be a pointer to const because it is a typedef. */
-
-#endif /* configQUEUE_REGISTRY_SIZE */
-/*-----------------------------------------------------------*/
-
-#if ( configQUEUE_REGISTRY_SIZE > 0 )
-
- void vQueueUnregisterQueue( QueueHandle_t xQueue )
- {
- UBaseType_t ux;
-
- /* See if the handle of the queue being unregistered in actually in the
- registry. */
- for( ux = ( UBaseType_t ) 0U; ux < ( UBaseType_t ) configQUEUE_REGISTRY_SIZE; ux++ )
- {
- if( xQueueRegistry[ ux ].xHandle == xQueue )
- {
- /* Set the name to NULL to show that this slot if free again. */
- xQueueRegistry[ ux ].pcQueueName = NULL;
-
- /* Set the handle to NULL to ensure the same queue handle cannot
- appear in the registry twice if it is added, removed, then
- added again. */
- xQueueRegistry[ ux ].xHandle = ( QueueHandle_t ) 0;
- break;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- } /*lint !e818 xQueue could not be pointer to const because it is a typedef. */
-
-#endif /* configQUEUE_REGISTRY_SIZE */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TIMERS == 1 )
-
- void vQueueWaitForMessageRestricted( QueueHandle_t xQueue, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
- {
- Queue_t * const pxQueue = xQueue;
-
- /* This function should not be called by application code hence the
- 'Restricted' in its name. It is not part of the public API. It is
- designed for use by kernel code, and has special calling requirements.
- It can result in vListInsert() being called on a list that can only
- possibly ever have one item in it, so the list will be fast, but even
- so it should be called with the scheduler locked and not from a critical
- section. */
-
- /* Only do anything if there are no messages in the queue. This function
- will not actually cause the task to block, just place it on a blocked
- list. It will not block until the scheduler is unlocked - at which
- time a yield will be performed. If an item is added to the queue while
- the queue is locked, and the calling task blocks on the queue, then the
- calling task will be immediately unblocked when the queue is unlocked. */
- prvLockQueue( pxQueue );
- if( pxQueue->uxMessagesWaiting == ( UBaseType_t ) 0U )
- {
- /* There is nothing in the queue, block for the specified period. */
- vTaskPlaceOnEventListRestricted( &( pxQueue->xTasksWaitingToReceive ), xTicksToWait, xWaitIndefinitely );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- prvUnlockQueue( pxQueue );
- }
-
-#endif /* configUSE_TIMERS */
-/*-----------------------------------------------------------*/
-
-#if( ( configUSE_QUEUE_SETS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
- QueueSetHandle_t xQueueCreateSet( const UBaseType_t uxEventQueueLength )
- {
- QueueSetHandle_t pxQueue;
-
- pxQueue = xQueueGenericCreate( uxEventQueueLength, ( UBaseType_t ) sizeof( Queue_t * ), queueQUEUE_TYPE_SET );
-
- return pxQueue;
- }
-
-#endif /* configUSE_QUEUE_SETS */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_QUEUE_SETS == 1 )
-
- BaseType_t xQueueAddToSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
- {
- BaseType_t xReturn;
-
- taskENTER_CRITICAL();
- {
- if( ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer != NULL )
- {
- /* Cannot add a queue/semaphore to more than one queue set. */
- xReturn = pdFAIL;
- }
- else if( ( ( Queue_t * ) xQueueOrSemaphore )->uxMessagesWaiting != ( UBaseType_t ) 0 )
- {
- /* Cannot add a queue/semaphore to a queue set if there are already
- items in the queue/semaphore. */
- xReturn = pdFAIL;
- }
- else
- {
- ( ( Queue_t * ) xQueueOrSemaphore )->pxQueueSetContainer = xQueueSet;
- xReturn = pdPASS;
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
- }
-
-#endif /* configUSE_QUEUE_SETS */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_QUEUE_SETS == 1 )
-
- BaseType_t xQueueRemoveFromSet( QueueSetMemberHandle_t xQueueOrSemaphore, QueueSetHandle_t xQueueSet )
- {
- BaseType_t xReturn;
- Queue_t * const pxQueueOrSemaphore = ( Queue_t * ) xQueueOrSemaphore;
-
- if( pxQueueOrSemaphore->pxQueueSetContainer != xQueueSet )
- {
- /* The queue was not a member of the set. */
- xReturn = pdFAIL;
- }
- else if( pxQueueOrSemaphore->uxMessagesWaiting != ( UBaseType_t ) 0 )
- {
- /* It is dangerous to remove a queue from a set when the queue is
- not empty because the queue set will still hold pending events for
- the queue. */
- xReturn = pdFAIL;
- }
- else
- {
- taskENTER_CRITICAL();
- {
- /* The queue is no longer contained in the set. */
- pxQueueOrSemaphore->pxQueueSetContainer = NULL;
- }
- taskEXIT_CRITICAL();
- xReturn = pdPASS;
- }
-
- return xReturn;
- } /*lint !e818 xQueueSet could not be declared as pointing to const as it is a typedef. */
-
-#endif /* configUSE_QUEUE_SETS */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_QUEUE_SETS == 1 )
-
- QueueSetMemberHandle_t xQueueSelectFromSet( QueueSetHandle_t xQueueSet, TickType_t const xTicksToWait )
- {
- QueueSetMemberHandle_t xReturn = NULL;
-
- ( void ) xQueueReceive( ( QueueHandle_t ) xQueueSet, &xReturn, xTicksToWait ); /*lint !e961 Casting from one typedef to another is not redundant. */
- return xReturn;
- }
-
-#endif /* configUSE_QUEUE_SETS */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_QUEUE_SETS == 1 )
-
- QueueSetMemberHandle_t xQueueSelectFromSetFromISR( QueueSetHandle_t xQueueSet )
- {
- QueueSetMemberHandle_t xReturn = NULL;
-
- ( void ) xQueueReceiveFromISR( ( QueueHandle_t ) xQueueSet, &xReturn, NULL ); /*lint !e961 Casting from one typedef to another is not redundant. */
- return xReturn;
- }
-
-#endif /* configUSE_QUEUE_SETS */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_QUEUE_SETS == 1 )
-
- static BaseType_t prvNotifyQueueSetContainer( const Queue_t * const pxQueue )
- {
- Queue_t *pxQueueSetContainer = pxQueue->pxQueueSetContainer;
- BaseType_t xReturn = pdFALSE;
-
- /* This function must be called form a critical section. */
-
- configASSERT( pxQueueSetContainer );
- configASSERT( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength );
-
- if( pxQueueSetContainer->uxMessagesWaiting < pxQueueSetContainer->uxLength )
- {
- const int8_t cTxLock = pxQueueSetContainer->cTxLock;
-
- traceQUEUE_SEND( pxQueueSetContainer );
-
- /* The data copied is the handle of the queue that contains data. */
- xReturn = prvCopyDataToQueue( pxQueueSetContainer, &pxQueue, queueSEND_TO_BACK );
-
- if( cTxLock == queueUNLOCKED )
- {
- if( listLIST_IS_EMPTY( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) == pdFALSE )
- {
- if( xTaskRemoveFromEventList( &( pxQueueSetContainer->xTasksWaitingToReceive ) ) != pdFALSE )
- {
- /* The task waiting has a higher priority. */
- xReturn = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- pxQueueSetContainer->cTxLock = ( int8_t ) ( cTxLock + 1 );
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_QUEUE_SETS */
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/stream_buffer.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/stream_buffer.c
deleted file mode 100644
index ec7b3e36559e9f81eaa9cfd9022f554f8264e20d..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/stream_buffer.c
+++ /dev/null
@@ -1,1263 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/* Standard includes. */
-#include <stdint.h>
-#include <string.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/* FreeRTOS includes. */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "stream_buffer.h"
-
-#if( configUSE_TASK_NOTIFICATIONS != 1 )
- #error configUSE_TASK_NOTIFICATIONS must be set to 1 to build stream_buffer.c
-#endif
-
-/* Lint e961, e9021 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
-
-/* If the user has not provided application specific Rx notification macros,
-or #defined the notification macros away, them provide default implementations
-that uses task notifications. */
-/*lint -save -e9026 Function like macros allowed and needed here so they can be overidden. */
-#ifndef sbRECEIVE_COMPLETED
- #define sbRECEIVE_COMPLETED( pxStreamBuffer ) \
- vTaskSuspendAll(); \
- { \
- if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \
- { \
- ( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToSend, \
- ( uint32_t ) 0, \
- eNoAction ); \
- ( pxStreamBuffer )->xTaskWaitingToSend = NULL; \
- } \
- } \
- ( void ) xTaskResumeAll();
-#endif /* sbRECEIVE_COMPLETED */
-
-#ifndef sbRECEIVE_COMPLETED_FROM_ISR
- #define sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, \
- pxHigherPriorityTaskWoken ) \
- { \
- UBaseType_t uxSavedInterruptStatus; \
- \
- uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR(); \
- { \
- if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL ) \
- { \
- ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend, \
- ( uint32_t ) 0, \
- eNoAction, \
- pxHigherPriorityTaskWoken ); \
- ( pxStreamBuffer )->xTaskWaitingToSend = NULL; \
- } \
- } \
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
- }
-#endif /* sbRECEIVE_COMPLETED_FROM_ISR */
-
-/* If the user has not provided an application specific Tx notification macro,
-or #defined the notification macro away, them provide a default implementation
-that uses task notifications. */
-#ifndef sbSEND_COMPLETED
- #define sbSEND_COMPLETED( pxStreamBuffer ) \
- vTaskSuspendAll(); \
- { \
- if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \
- { \
- ( void ) xTaskNotify( ( pxStreamBuffer )->xTaskWaitingToReceive, \
- ( uint32_t ) 0, \
- eNoAction ); \
- ( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \
- } \
- } \
- ( void ) xTaskResumeAll();
-#endif /* sbSEND_COMPLETED */
-
-#ifndef sbSEND_COMPLETE_FROM_ISR
- #define sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken ) \
- { \
- UBaseType_t uxSavedInterruptStatus; \
- \
- uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR(); \
- { \
- if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL ) \
- { \
- ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive, \
- ( uint32_t ) 0, \
- eNoAction, \
- pxHigherPriorityTaskWoken ); \
- ( pxStreamBuffer )->xTaskWaitingToReceive = NULL; \
- } \
- } \
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus ); \
- }
-#endif /* sbSEND_COMPLETE_FROM_ISR */
-/*lint -restore (9026) */
-
-/* The number of bytes used to hold the length of a message in the buffer. */
-#define sbBYTES_TO_STORE_MESSAGE_LENGTH ( sizeof( configMESSAGE_BUFFER_LENGTH_TYPE ) )
-
-/* Bits stored in the ucFlags field of the stream buffer. */
-#define sbFLAGS_IS_MESSAGE_BUFFER ( ( uint8_t ) 1 ) /* Set if the stream buffer was created as a message buffer, in which case it holds discrete messages rather than a stream. */
-#define sbFLAGS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 2 ) /* Set if the stream buffer was created using statically allocated memory. */
-
-/*-----------------------------------------------------------*/
-
-/* Structure that hold state information on the buffer. */
-typedef struct StreamBufferDef_t /*lint !e9058 Style convention uses tag. */
-{
- volatile size_t xTail; /* Index to the next item to read within the buffer. */
- volatile size_t xHead; /* Index to the next item to write within the buffer. */
- size_t xLength; /* The length of the buffer pointed to by pucBuffer. */
- size_t xTriggerLevelBytes; /* The number of bytes that must be in the stream buffer before a task that is waiting for data is unblocked. */
- volatile TaskHandle_t xTaskWaitingToReceive; /* Holds the handle of a task waiting for data, or NULL if no tasks are waiting. */
- volatile TaskHandle_t xTaskWaitingToSend; /* Holds the handle of a task waiting to send data to a message buffer that is full. */
- uint8_t *pucBuffer; /* Points to the buffer itself - that is - the RAM that stores the data passed through the buffer. */
- uint8_t ucFlags;
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxStreamBufferNumber; /* Used for tracing purposes. */
- #endif
-} StreamBuffer_t;
-
-/*
- * The number of bytes available to be read from the buffer.
- */
-static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer ) PRIVILEGED_FUNCTION;
-
-/*
- * Add xCount bytes from pucData into the pxStreamBuffer message buffer.
- * Returns the number of bytes written, which will either equal xCount in the
- * success case, or 0 if there was not enough space in the buffer (in which case
- * no data is written into the buffer).
- */
-static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, const uint8_t *pucData, size_t xCount ) PRIVILEGED_FUNCTION;
-
-/*
- * If the stream buffer is being used as a message buffer, then reads an entire
- * message out of the buffer. If the stream buffer is being used as a stream
- * buffer then read as many bytes as possible from the buffer.
- * prvReadBytesFromBuffer() is called to actually extract the bytes from the
- * buffer's data storage area.
- */
-static size_t prvReadMessageFromBuffer( StreamBuffer_t *pxStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- size_t xBytesAvailable,
- size_t xBytesToStoreMessageLength ) PRIVILEGED_FUNCTION;
-
-/*
- * If the stream buffer is being used as a message buffer, then writes an entire
- * message to the buffer. If the stream buffer is being used as a stream
- * buffer then write as many bytes as possible to the buffer.
- * prvWriteBytestoBuffer() is called to actually send the bytes to the buffer's
- * data storage area.
- */
-static size_t prvWriteMessageToBuffer( StreamBuffer_t * const pxStreamBuffer,
- const void * pvTxData,
- size_t xDataLengthBytes,
- size_t xSpace,
- size_t xRequiredSpace ) PRIVILEGED_FUNCTION;
-
-/*
- * Read xMaxCount bytes from the pxStreamBuffer message buffer and write them
- * to pucData.
- */
-static size_t prvReadBytesFromBuffer( StreamBuffer_t *pxStreamBuffer,
- uint8_t *pucData,
- size_t xMaxCount,
- size_t xBytesAvailable ) PRIVILEGED_FUNCTION;
-
-/*
- * Called by both pxStreamBufferCreate() and pxStreamBufferCreateStatic() to
- * initialise the members of the newly created stream buffer structure.
- */
-static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
- uint8_t * const pucBuffer,
- size_t xBufferSizeBytes,
- size_t xTriggerLevelBytes,
- uint8_t ucFlags ) PRIVILEGED_FUNCTION;
-
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- StreamBufferHandle_t xStreamBufferGenericCreate( size_t xBufferSizeBytes, size_t xTriggerLevelBytes, BaseType_t xIsMessageBuffer )
- {
- uint8_t *pucAllocatedMemory;
- uint8_t ucFlags;
-
- /* In case the stream buffer is going to be used as a message buffer
- (that is, it will hold discrete messages with a little meta data that
- says how big the next message is) check the buffer will be large enough
- to hold at least one message. */
- if( xIsMessageBuffer == pdTRUE )
- {
- /* Is a message buffer but not statically allocated. */
- ucFlags = sbFLAGS_IS_MESSAGE_BUFFER;
- configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
- }
- else
- {
- /* Not a message buffer and not statically allocated. */
- ucFlags = 0;
- configASSERT( xBufferSizeBytes > 0 );
- }
- configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
-
- /* A trigger level of 0 would cause a waiting task to unblock even when
- the buffer was empty. */
- if( xTriggerLevelBytes == ( size_t ) 0 )
- {
- xTriggerLevelBytes = ( size_t ) 1;
- }
-
- /* A stream buffer requires a StreamBuffer_t structure and a buffer.
- Both are allocated in a single call to pvPortMalloc(). The
- StreamBuffer_t structure is placed at the start of the allocated memory
- and the buffer follows immediately after. The requested size is
- incremented so the free space is returned as the user would expect -
- this is a quirk of the implementation that means otherwise the free
- space would be reported as one byte smaller than would be logically
- expected. */
- xBufferSizeBytes++;
- pucAllocatedMemory = ( uint8_t * ) pvPortMalloc( xBufferSizeBytes + sizeof( StreamBuffer_t ) ); /*lint !e9079 malloc() only returns void*. */
-
- if( pucAllocatedMemory != NULL )
- {
- prvInitialiseNewStreamBuffer( ( StreamBuffer_t * ) pucAllocatedMemory, /* Structure at the start of the allocated memory. */ /*lint !e9087 Safe cast as allocated memory is aligned. */ /*lint !e826 Area is not too small and alignment is guaranteed provided malloc() behaves as expected and returns aligned buffer. */
- pucAllocatedMemory + sizeof( StreamBuffer_t ), /* Storage area follows. */ /*lint !e9016 Indexing past structure valid for uint8_t pointer, also storage area has no alignment requirement. */
- xBufferSizeBytes,
- xTriggerLevelBytes,
- ucFlags );
-
- traceSTREAM_BUFFER_CREATE( ( ( StreamBuffer_t * ) pucAllocatedMemory ), xIsMessageBuffer );
- }
- else
- {
- traceSTREAM_BUFFER_CREATE_FAILED( xIsMessageBuffer );
- }
-
- return ( StreamBufferHandle_t ) pucAllocatedMemory; /*lint !e9087 !e826 Safe cast as allocated memory is aligned. */
- }
-
-#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- StreamBufferHandle_t xStreamBufferGenericCreateStatic( size_t xBufferSizeBytes,
- size_t xTriggerLevelBytes,
- BaseType_t xIsMessageBuffer,
- uint8_t * const pucStreamBufferStorageArea,
- StaticStreamBuffer_t * const pxStaticStreamBuffer )
- {
- StreamBuffer_t * const pxStreamBuffer = ( StreamBuffer_t * ) pxStaticStreamBuffer; /*lint !e740 !e9087 Safe cast as StaticStreamBuffer_t is opaque Streambuffer_t. */
- StreamBufferHandle_t xReturn;
- uint8_t ucFlags;
-
- configASSERT( pucStreamBufferStorageArea );
- configASSERT( pxStaticStreamBuffer );
- configASSERT( xTriggerLevelBytes <= xBufferSizeBytes );
-
- /* A trigger level of 0 would cause a waiting task to unblock even when
- the buffer was empty. */
- if( xTriggerLevelBytes == ( size_t ) 0 )
- {
- xTriggerLevelBytes = ( size_t ) 1;
- }
-
- if( xIsMessageBuffer != pdFALSE )
- {
- /* Statically allocated message buffer. */
- ucFlags = sbFLAGS_IS_MESSAGE_BUFFER | sbFLAGS_IS_STATICALLY_ALLOCATED;
- }
- else
- {
- /* Statically allocated stream buffer. */
- ucFlags = sbFLAGS_IS_STATICALLY_ALLOCATED;
- }
-
- /* In case the stream buffer is going to be used as a message buffer
- (that is, it will hold discrete messages with a little meta data that
- says how big the next message is) check the buffer will be large enough
- to hold at least one message. */
- configASSERT( xBufferSizeBytes > sbBYTES_TO_STORE_MESSAGE_LENGTH );
-
- #if( configASSERT_DEFINED == 1 )
- {
- /* Sanity check that the size of the structure used to declare a
- variable of type StaticStreamBuffer_t equals the size of the real
- message buffer structure. */
- volatile size_t xSize = sizeof( StaticStreamBuffer_t );
- configASSERT( xSize == sizeof( StreamBuffer_t ) );
- } /*lint !e529 xSize is referenced is configASSERT() is defined. */
- #endif /* configASSERT_DEFINED */
-
- if( ( pucStreamBufferStorageArea != NULL ) && ( pxStaticStreamBuffer != NULL ) )
- {
- prvInitialiseNewStreamBuffer( pxStreamBuffer,
- pucStreamBufferStorageArea,
- xBufferSizeBytes,
- xTriggerLevelBytes,
- ucFlags );
-
- /* Remember this was statically allocated in case it is ever deleted
- again. */
- pxStreamBuffer->ucFlags |= sbFLAGS_IS_STATICALLY_ALLOCATED;
-
- traceSTREAM_BUFFER_CREATE( pxStreamBuffer, xIsMessageBuffer );
-
- xReturn = ( StreamBufferHandle_t ) pxStaticStreamBuffer; /*lint !e9087 Data hiding requires cast to opaque type. */
- }
- else
- {
- xReturn = NULL;
- traceSTREAM_BUFFER_CREATE_STATIC_FAILED( xReturn, xIsMessageBuffer );
- }
-
- return xReturn;
- }
-
-#endif /* ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
-/*-----------------------------------------------------------*/
-
-void vStreamBufferDelete( StreamBufferHandle_t xStreamBuffer )
-{
-StreamBuffer_t * pxStreamBuffer = xStreamBuffer;
-
- configASSERT( pxStreamBuffer );
-
- traceSTREAM_BUFFER_DELETE( xStreamBuffer );
-
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) pdFALSE )
- {
- #if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- {
- /* Both the structure and the buffer were allocated using a single call
- to pvPortMalloc(), hence only one call to vPortFree() is required. */
- vPortFree( ( void * ) pxStreamBuffer ); /*lint !e9087 Standard free() semantics require void *, plus pxStreamBuffer was allocated by pvPortMalloc(). */
- }
- #else
- {
- /* Should not be possible to get here, ucFlags must be corrupt.
- Force an assert. */
- configASSERT( xStreamBuffer == ( StreamBufferHandle_t ) ~0 );
- }
- #endif
- }
- else
- {
- /* The structure and buffer were not allocated dynamically and cannot be
- freed - just scrub the structure so future use will assert. */
- ( void ) memset( pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) );
- }
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xStreamBufferReset( StreamBufferHandle_t xStreamBuffer )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn = pdFAIL;
-
-#if( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxStreamBufferNumber;
-#endif
-
- configASSERT( pxStreamBuffer );
-
- #if( configUSE_TRACE_FACILITY == 1 )
- {
- /* Store the stream buffer number so it can be restored after the
- reset. */
- uxStreamBufferNumber = pxStreamBuffer->uxStreamBufferNumber;
- }
- #endif
-
- /* Can only reset a message buffer if there are no tasks blocked on it. */
- taskENTER_CRITICAL();
- {
- if( pxStreamBuffer->xTaskWaitingToReceive == NULL )
- {
- if( pxStreamBuffer->xTaskWaitingToSend == NULL )
- {
- prvInitialiseNewStreamBuffer( pxStreamBuffer,
- pxStreamBuffer->pucBuffer,
- pxStreamBuffer->xLength,
- pxStreamBuffer->xTriggerLevelBytes,
- pxStreamBuffer->ucFlags );
- xReturn = pdPASS;
-
- #if( configUSE_TRACE_FACILITY == 1 )
- {
- pxStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber;
- }
- #endif
-
- traceSTREAM_BUFFER_RESET( xStreamBuffer );
- }
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xStreamBufferSetTriggerLevel( StreamBufferHandle_t xStreamBuffer, size_t xTriggerLevel )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-
- configASSERT( pxStreamBuffer );
-
- /* It is not valid for the trigger level to be 0. */
- if( xTriggerLevel == ( size_t ) 0 )
- {
- xTriggerLevel = ( size_t ) 1;
- }
-
- /* The trigger level is the number of bytes that must be in the stream
- buffer before a task that is waiting for data is unblocked. */
- if( xTriggerLevel <= pxStreamBuffer->xLength )
- {
- pxStreamBuffer->xTriggerLevelBytes = xTriggerLevel;
- xReturn = pdPASS;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferSpacesAvailable( StreamBufferHandle_t xStreamBuffer )
-{
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xSpace;
-
- configASSERT( pxStreamBuffer );
-
- xSpace = pxStreamBuffer->xLength + pxStreamBuffer->xTail;
- xSpace -= pxStreamBuffer->xHead;
- xSpace -= ( size_t ) 1;
-
- if( xSpace >= pxStreamBuffer->xLength )
- {
- xSpace -= pxStreamBuffer->xLength;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xSpace;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferBytesAvailable( StreamBufferHandle_t xStreamBuffer )
-{
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn;
-
- configASSERT( pxStreamBuffer );
-
- xReturn = prvBytesInBuffer( pxStreamBuffer );
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferSend( StreamBufferHandle_t xStreamBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- TickType_t xTicksToWait )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn, xSpace = 0;
-size_t xRequiredSpace = xDataLengthBytes;
-TimeOut_t xTimeOut;
-
- configASSERT( pvTxData );
- configASSERT( pxStreamBuffer );
-
- /* This send function is used to write to both message buffers and stream
- buffers. If this is a message buffer then the space needed must be
- increased by the amount of bytes needed to store the length of the
- message. */
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
- {
- xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
-
- /* Overflow? */
- configASSERT( xRequiredSpace > xDataLengthBytes );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( xTicksToWait != ( TickType_t ) 0 )
- {
- vTaskSetTimeOutState( &xTimeOut );
-
- do
- {
- /* Wait until the required number of bytes are free in the message
- buffer. */
- taskENTER_CRITICAL();
- {
- xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
-
- if( xSpace < xRequiredSpace )
- {
- /* Clear notification state as going to wait for space. */
- ( void ) xTaskNotifyStateClear( NULL );
-
- /* Should only be one writer. */
- configASSERT( pxStreamBuffer->xTaskWaitingToSend == NULL );
- pxStreamBuffer->xTaskWaitingToSend = xTaskGetCurrentTaskHandle();
- }
- else
- {
- taskEXIT_CRITICAL();
- break;
- }
- }
- taskEXIT_CRITICAL();
-
- traceBLOCKING_ON_STREAM_BUFFER_SEND( xStreamBuffer );
- ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
- pxStreamBuffer->xTaskWaitingToSend = NULL;
-
- } while( xTaskCheckForTimeOut( &xTimeOut, &xTicksToWait ) == pdFALSE );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( xSpace == ( size_t ) 0 )
- {
- xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace );
-
- if( xReturn > ( size_t ) 0 )
- {
- traceSTREAM_BUFFER_SEND( xStreamBuffer, xReturn );
-
- /* Was a task waiting for the data? */
- if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
- {
- sbSEND_COMPLETED( pxStreamBuffer );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- traceSTREAM_BUFFER_SEND_FAILED( xStreamBuffer );
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferSendFromISR( StreamBufferHandle_t xStreamBuffer,
- const void *pvTxData,
- size_t xDataLengthBytes,
- BaseType_t * const pxHigherPriorityTaskWoken )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn, xSpace;
-size_t xRequiredSpace = xDataLengthBytes;
-
- configASSERT( pvTxData );
- configASSERT( pxStreamBuffer );
-
- /* This send function is used to write to both message buffers and stream
- buffers. If this is a message buffer then the space needed must be
- increased by the amount of bytes needed to store the length of the
- message. */
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
- {
- xRequiredSpace += sbBYTES_TO_STORE_MESSAGE_LENGTH;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xSpace = xStreamBufferSpacesAvailable( pxStreamBuffer );
- xReturn = prvWriteMessageToBuffer( pxStreamBuffer, pvTxData, xDataLengthBytes, xSpace, xRequiredSpace );
-
- if( xReturn > ( size_t ) 0 )
- {
- /* Was a task waiting for the data? */
- if( prvBytesInBuffer( pxStreamBuffer ) >= pxStreamBuffer->xTriggerLevelBytes )
- {
- sbSEND_COMPLETE_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- traceSTREAM_BUFFER_SEND_FROM_ISR( xStreamBuffer, xReturn );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-static size_t prvWriteMessageToBuffer( StreamBuffer_t * const pxStreamBuffer,
- const void * pvTxData,
- size_t xDataLengthBytes,
- size_t xSpace,
- size_t xRequiredSpace )
-{
- BaseType_t xShouldWrite;
- size_t xReturn;
-
- if( xSpace == ( size_t ) 0 )
- {
- /* Doesn't matter if this is a stream buffer or a message buffer, there
- is no space to write. */
- xShouldWrite = pdFALSE;
- }
- else if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) == ( uint8_t ) 0 )
- {
- /* This is a stream buffer, as opposed to a message buffer, so writing a
- stream of bytes rather than discrete messages. Write as many bytes as
- possible. */
- xShouldWrite = pdTRUE;
- xDataLengthBytes = configMIN( xDataLengthBytes, xSpace );
- }
- else if( xSpace >= xRequiredSpace )
- {
- /* This is a message buffer, as opposed to a stream buffer, and there
- is enough space to write both the message length and the message itself
- into the buffer. Start by writing the length of the data, the data
- itself will be written later in this function. */
- xShouldWrite = pdTRUE;
- ( void ) prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) &( xDataLengthBytes ), sbBYTES_TO_STORE_MESSAGE_LENGTH );
- }
- else
- {
- /* There is space available, but not enough space. */
- xShouldWrite = pdFALSE;
- }
-
- if( xShouldWrite != pdFALSE )
- {
- /* Writes the data itself. */
- xReturn = prvWriteBytesToBuffer( pxStreamBuffer, ( const uint8_t * ) pvTxData, xDataLengthBytes ); /*lint !e9079 Storage buffer is implemented as uint8_t for ease of sizing, alighment and access. */
- }
- else
- {
- xReturn = 0;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferReceive( StreamBufferHandle_t xStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- TickType_t xTicksToWait )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
-
- configASSERT( pvRxData );
- configASSERT( pxStreamBuffer );
-
- /* This receive function is used by both message buffers, which store
- discrete messages, and stream buffers, which store a continuous stream of
- bytes. Discrete messages include an additional
- sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the
- message. */
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
- {
- xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
- }
- else
- {
- xBytesToStoreMessageLength = 0;
- }
-
- if( xTicksToWait != ( TickType_t ) 0 )
- {
- /* Checking if there is data and clearing the notification state must be
- performed atomically. */
- taskENTER_CRITICAL();
- {
- xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
-
- /* If this function was invoked by a message buffer read then
- xBytesToStoreMessageLength holds the number of bytes used to hold
- the length of the next discrete message. If this function was
- invoked by a stream buffer read then xBytesToStoreMessageLength will
- be 0. */
- if( xBytesAvailable <= xBytesToStoreMessageLength )
- {
- /* Clear notification state as going to wait for data. */
- ( void ) xTaskNotifyStateClear( NULL );
-
- /* Should only be one reader. */
- configASSERT( pxStreamBuffer->xTaskWaitingToReceive == NULL );
- pxStreamBuffer->xTaskWaitingToReceive = xTaskGetCurrentTaskHandle();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- if( xBytesAvailable <= xBytesToStoreMessageLength )
- {
- /* Wait for data to be available. */
- traceBLOCKING_ON_STREAM_BUFFER_RECEIVE( xStreamBuffer );
- ( void ) xTaskNotifyWait( ( uint32_t ) 0, ( uint32_t ) 0, NULL, xTicksToWait );
- pxStreamBuffer->xTaskWaitingToReceive = NULL;
-
- /* Recheck the data available after blocking. */
- xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
- }
-
- /* Whether receiving a discrete message (where xBytesToStoreMessageLength
- holds the number of bytes used to store the message length) or a stream of
- bytes (where xBytesToStoreMessageLength is zero), the number of bytes
- available must be greater than xBytesToStoreMessageLength to be able to
- read bytes from the buffer. */
- if( xBytesAvailable > xBytesToStoreMessageLength )
- {
- xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable, xBytesToStoreMessageLength );
-
- /* Was a task waiting for space in the buffer? */
- if( xReceivedLength != ( size_t ) 0 )
- {
- traceSTREAM_BUFFER_RECEIVE( xStreamBuffer, xReceivedLength );
- sbRECEIVE_COMPLETED( pxStreamBuffer );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- traceSTREAM_BUFFER_RECEIVE_FAILED( xStreamBuffer );
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xReceivedLength;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferNextMessageLengthBytes( StreamBufferHandle_t xStreamBuffer )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReturn, xBytesAvailable, xOriginalTail;
-configMESSAGE_BUFFER_LENGTH_TYPE xTempReturn;
-
- configASSERT( pxStreamBuffer );
-
- /* Ensure the stream buffer is being used as a message buffer. */
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
- {
- xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
- if( xBytesAvailable > sbBYTES_TO_STORE_MESSAGE_LENGTH )
- {
- /* The number of bytes available is greater than the number of bytes
- required to hold the length of the next message, so another message
- is available. Return its length without removing the length bytes
- from the buffer. A copy of the tail is stored so the buffer can be
- returned to its prior state as the message is not actually being
- removed from the buffer. */
- xOriginalTail = pxStreamBuffer->xTail;
- ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempReturn, sbBYTES_TO_STORE_MESSAGE_LENGTH, xBytesAvailable );
- xReturn = ( size_t ) xTempReturn;
- pxStreamBuffer->xTail = xOriginalTail;
- }
- else
- {
- /* The minimum amount of bytes in a message buffer is
- ( sbBYTES_TO_STORE_MESSAGE_LENGTH + 1 ), so if xBytesAvailable is
- less than sbBYTES_TO_STORE_MESSAGE_LENGTH the only other valid
- value is 0. */
- configASSERT( xBytesAvailable == 0 );
- xReturn = 0;
- }
- }
- else
- {
- xReturn = 0;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-size_t xStreamBufferReceiveFromISR( StreamBufferHandle_t xStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- BaseType_t * const pxHigherPriorityTaskWoken )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-size_t xReceivedLength = 0, xBytesAvailable, xBytesToStoreMessageLength;
-
- configASSERT( pvRxData );
- configASSERT( pxStreamBuffer );
-
- /* This receive function is used by both message buffers, which store
- discrete messages, and stream buffers, which store a continuous stream of
- bytes. Discrete messages include an additional
- sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the
- message. */
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
- {
- xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
- }
- else
- {
- xBytesToStoreMessageLength = 0;
- }
-
- xBytesAvailable = prvBytesInBuffer( pxStreamBuffer );
-
- /* Whether receiving a discrete message (where xBytesToStoreMessageLength
- holds the number of bytes used to store the message length) or a stream of
- bytes (where xBytesToStoreMessageLength is zero), the number of bytes
- available must be greater than xBytesToStoreMessageLength to be able to
- read bytes from the buffer. */
- if( xBytesAvailable > xBytesToStoreMessageLength )
- {
- xReceivedLength = prvReadMessageFromBuffer( pxStreamBuffer, pvRxData, xBufferLengthBytes, xBytesAvailable, xBytesToStoreMessageLength );
-
- /* Was a task waiting for space in the buffer? */
- if( xReceivedLength != ( size_t ) 0 )
- {
- sbRECEIVE_COMPLETED_FROM_ISR( pxStreamBuffer, pxHigherPriorityTaskWoken );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- traceSTREAM_BUFFER_RECEIVE_FROM_ISR( xStreamBuffer, xReceivedLength );
-
- return xReceivedLength;
-}
-/*-----------------------------------------------------------*/
-
-static size_t prvReadMessageFromBuffer( StreamBuffer_t *pxStreamBuffer,
- void *pvRxData,
- size_t xBufferLengthBytes,
- size_t xBytesAvailable,
- size_t xBytesToStoreMessageLength )
-{
-size_t xOriginalTail, xReceivedLength, xNextMessageLength;
-configMESSAGE_BUFFER_LENGTH_TYPE xTempNextMessageLength;
-
- if( xBytesToStoreMessageLength != ( size_t ) 0 )
- {
- /* A discrete message is being received. First receive the length
- of the message. A copy of the tail is stored so the buffer can be
- returned to its prior state if the length of the message is too
- large for the provided buffer. */
- xOriginalTail = pxStreamBuffer->xTail;
- ( void ) prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) &xTempNextMessageLength, xBytesToStoreMessageLength, xBytesAvailable );
- xNextMessageLength = ( size_t ) xTempNextMessageLength;
-
- /* Reduce the number of bytes available by the number of bytes just
- read out. */
- xBytesAvailable -= xBytesToStoreMessageLength;
-
- /* Check there is enough space in the buffer provided by the
- user. */
- if( xNextMessageLength > xBufferLengthBytes )
- {
- /* The user has provided insufficient space to read the message
- so return the buffer to its previous state (so the length of
- the message is in the buffer again). */
- pxStreamBuffer->xTail = xOriginalTail;
- xNextMessageLength = 0;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* A stream of bytes is being received (as opposed to a discrete
- message), so read as many bytes as possible. */
- xNextMessageLength = xBufferLengthBytes;
- }
-
- /* Read the actual data. */
- xReceivedLength = prvReadBytesFromBuffer( pxStreamBuffer, ( uint8_t * ) pvRxData, xNextMessageLength, xBytesAvailable ); /*lint !e9079 Data storage area is implemented as uint8_t array for ease of sizing, indexing and alignment. */
-
- return xReceivedLength;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xStreamBufferIsEmpty( StreamBufferHandle_t xStreamBuffer )
-{
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-size_t xTail;
-
- configASSERT( pxStreamBuffer );
-
- /* True if no bytes are available. */
- xTail = pxStreamBuffer->xTail;
- if( pxStreamBuffer->xHead == xTail )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xStreamBufferIsFull( StreamBufferHandle_t xStreamBuffer )
-{
-BaseType_t xReturn;
-size_t xBytesToStoreMessageLength;
-const StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-
- configASSERT( pxStreamBuffer );
-
- /* This generic version of the receive function is used by both message
- buffers, which store discrete messages, and stream buffers, which store a
- continuous stream of bytes. Discrete messages include an additional
- sbBYTES_TO_STORE_MESSAGE_LENGTH bytes that hold the length of the message. */
- if( ( pxStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER ) != ( uint8_t ) 0 )
- {
- xBytesToStoreMessageLength = sbBYTES_TO_STORE_MESSAGE_LENGTH;
- }
- else
- {
- xBytesToStoreMessageLength = 0;
- }
-
- /* True if the available space equals zero. */
- if( xStreamBufferSpacesAvailable( xStreamBuffer ) <= xBytesToStoreMessageLength )
- {
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xStreamBufferSendCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-
- configASSERT( pxStreamBuffer );
-
- uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR();
- {
- if( ( pxStreamBuffer )->xTaskWaitingToReceive != NULL )
- {
- ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToReceive,
- ( uint32_t ) 0,
- eNoAction,
- pxHigherPriorityTaskWoken );
- ( pxStreamBuffer )->xTaskWaitingToReceive = NULL;
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xStreamBufferReceiveCompletedFromISR( StreamBufferHandle_t xStreamBuffer, BaseType_t *pxHigherPriorityTaskWoken )
-{
-StreamBuffer_t * const pxStreamBuffer = xStreamBuffer;
-BaseType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-
- configASSERT( pxStreamBuffer );
-
- uxSavedInterruptStatus = ( UBaseType_t ) portSET_INTERRUPT_MASK_FROM_ISR();
- {
- if( ( pxStreamBuffer )->xTaskWaitingToSend != NULL )
- {
- ( void ) xTaskNotifyFromISR( ( pxStreamBuffer )->xTaskWaitingToSend,
- ( uint32_t ) 0,
- eNoAction,
- pxHigherPriorityTaskWoken );
- ( pxStreamBuffer )->xTaskWaitingToSend = NULL;
- xReturn = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-static size_t prvWriteBytesToBuffer( StreamBuffer_t * const pxStreamBuffer, const uint8_t *pucData, size_t xCount )
-{
-size_t xNextHead, xFirstLength;
-
- configASSERT( xCount > ( size_t ) 0 );
-
- xNextHead = pxStreamBuffer->xHead;
-
- /* Calculate the number of bytes that can be added in the first write -
- which may be less than the total number of bytes that need to be added if
- the buffer will wrap back to the beginning. */
- xFirstLength = configMIN( pxStreamBuffer->xLength - xNextHead, xCount );
-
- /* Write as many bytes as can be written in the first write. */
- configASSERT( ( xNextHead + xFirstLength ) <= pxStreamBuffer->xLength );
- ( void ) memcpy( ( void* ) ( &( pxStreamBuffer->pucBuffer[ xNextHead ] ) ), ( const void * ) pucData, xFirstLength ); /*lint !e9087 memcpy() requires void *. */
-
- /* If the number of bytes written was less than the number that could be
- written in the first write... */
- if( xCount > xFirstLength )
- {
- /* ...then write the remaining bytes to the start of the buffer. */
- configASSERT( ( xCount - xFirstLength ) <= pxStreamBuffer->xLength );
- ( void ) memcpy( ( void * ) pxStreamBuffer->pucBuffer, ( const void * ) &( pucData[ xFirstLength ] ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- xNextHead += xCount;
- if( xNextHead >= pxStreamBuffer->xLength )
- {
- xNextHead -= pxStreamBuffer->xLength;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- pxStreamBuffer->xHead = xNextHead;
-
- return xCount;
-}
-/*-----------------------------------------------------------*/
-
-static size_t prvReadBytesFromBuffer( StreamBuffer_t *pxStreamBuffer, uint8_t *pucData, size_t xMaxCount, size_t xBytesAvailable )
-{
-size_t xCount, xFirstLength, xNextTail;
-
- /* Use the minimum of the wanted bytes and the available bytes. */
- xCount = configMIN( xBytesAvailable, xMaxCount );
-
- if( xCount > ( size_t ) 0 )
- {
- xNextTail = pxStreamBuffer->xTail;
-
- /* Calculate the number of bytes that can be read - which may be
- less than the number wanted if the data wraps around to the start of
- the buffer. */
- xFirstLength = configMIN( pxStreamBuffer->xLength - xNextTail, xCount );
-
- /* Obtain the number of bytes it is possible to obtain in the first
- read. Asserts check bounds of read and write. */
- configASSERT( xFirstLength <= xMaxCount );
- configASSERT( ( xNextTail + xFirstLength ) <= pxStreamBuffer->xLength );
- ( void ) memcpy( ( void * ) pucData, ( const void * ) &( pxStreamBuffer->pucBuffer[ xNextTail ] ), xFirstLength ); /*lint !e9087 memcpy() requires void *. */
-
- /* If the total number of wanted bytes is greater than the number
- that could be read in the first read... */
- if( xCount > xFirstLength )
- {
- /*...then read the remaining bytes from the start of the buffer. */
- configASSERT( xCount <= xMaxCount );
- ( void ) memcpy( ( void * ) &( pucData[ xFirstLength ] ), ( void * ) ( pxStreamBuffer->pucBuffer ), xCount - xFirstLength ); /*lint !e9087 memcpy() requires void *. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Move the tail pointer to effectively remove the data read from
- the buffer. */
- xNextTail += xCount;
-
- if( xNextTail >= pxStreamBuffer->xLength )
- {
- xNextTail -= pxStreamBuffer->xLength;
- }
-
- pxStreamBuffer->xTail = xNextTail;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xCount;
-}
-/*-----------------------------------------------------------*/
-
-static size_t prvBytesInBuffer( const StreamBuffer_t * const pxStreamBuffer )
-{
-/* Returns the distance between xTail and xHead. */
-size_t xCount;
-
- xCount = pxStreamBuffer->xLength + pxStreamBuffer->xHead;
- xCount -= pxStreamBuffer->xTail;
- if ( xCount >= pxStreamBuffer->xLength )
- {
- xCount -= pxStreamBuffer->xLength;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xCount;
-}
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseNewStreamBuffer( StreamBuffer_t * const pxStreamBuffer,
- uint8_t * const pucBuffer,
- size_t xBufferSizeBytes,
- size_t xTriggerLevelBytes,
- uint8_t ucFlags )
-{
- /* Assert here is deliberately writing to the entire buffer to ensure it can
- be written to without generating exceptions, and is setting the buffer to a
- known value to assist in development/debugging. */
- #if( configASSERT_DEFINED == 1 )
- {
- /* The value written just has to be identifiable when looking at the
- memory. Don't use 0xA5 as that is the stack fill value and could
- result in confusion as to what is actually being observed. */
- const BaseType_t xWriteValue = 0x55;
- configASSERT( memset( pucBuffer, ( int ) xWriteValue, xBufferSizeBytes ) == pucBuffer );
- } /*lint !e529 !e438 xWriteValue is only used if configASSERT() is defined. */
- #endif
-
- ( void ) memset( ( void * ) pxStreamBuffer, 0x00, sizeof( StreamBuffer_t ) ); /*lint !e9087 memset() requires void *. */
- pxStreamBuffer->pucBuffer = pucBuffer;
- pxStreamBuffer->xLength = xBufferSizeBytes;
- pxStreamBuffer->xTriggerLevelBytes = xTriggerLevelBytes;
- pxStreamBuffer->ucFlags = ucFlags;
-}
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- UBaseType_t uxStreamBufferGetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer )
- {
- return xStreamBuffer->uxStreamBufferNumber;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vStreamBufferSetStreamBufferNumber( StreamBufferHandle_t xStreamBuffer, UBaseType_t uxStreamBufferNumber )
- {
- xStreamBuffer->uxStreamBufferNumber = uxStreamBufferNumber;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- uint8_t ucStreamBufferGetStreamBufferType( StreamBufferHandle_t xStreamBuffer )
- {
- return ( xStreamBuffer->ucFlags & sbFLAGS_IS_MESSAGE_BUFFER );
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/tasks.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/tasks.c
deleted file mode 100644
index f426a6faa516818acb21b2cbe8874841dfd3507b..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/tasks.c
+++ /dev/null
@@ -1,5310 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/* Standard includes. */
-#include <stdlib.h>
-#include <string.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-/* FreeRTOS includes. */
-#include "FreeRTOS.h"
-#include "task.h"
-#include "timers.h"
-#include "stack_macros.h"
-
-/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e961 !e750 !e9021. */
-
-/* Set configUSE_STATS_FORMATTING_FUNCTIONS to 2 to include the stats formatting
-functions but without including stdio.h here. */
-#if ( configUSE_STATS_FORMATTING_FUNCTIONS == 1 )
- /* At the bottom of this file are two optional functions that can be used
- to generate human readable text from the raw data generated by the
- uxTaskGetSystemState() function. Note the formatting functions are provided
- for convenience only, and are NOT considered part of the kernel. */
- #include <stdio.h>
-#endif /* configUSE_STATS_FORMATTING_FUNCTIONS == 1 ) */
-
-#if( configUSE_PREEMPTION == 0 )
- /* If the cooperative scheduler is being used then a yield should not be
- performed just because a higher priority task has been woken. */
- #define taskYIELD_IF_USING_PREEMPTION()
-#else
- #define taskYIELD_IF_USING_PREEMPTION() portYIELD_WITHIN_API()
-#endif
-
-/* Values that can be assigned to the ucNotifyState member of the TCB. */
-#define taskNOT_WAITING_NOTIFICATION ( ( uint8_t ) 0 )
-#define taskWAITING_NOTIFICATION ( ( uint8_t ) 1 )
-#define taskNOTIFICATION_RECEIVED ( ( uint8_t ) 2 )
-
-/*
- * The value used to fill the stack of a task when the task is created. This
- * is used purely for checking the high water mark for tasks.
- */
-#define tskSTACK_FILL_BYTE ( 0xa5U )
-
-/* Bits used to recored how a task's stack and TCB were allocated. */
-#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 0 )
-#define tskSTATICALLY_ALLOCATED_STACK_ONLY ( ( uint8_t ) 1 )
-#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB ( ( uint8_t ) 2 )
-
-/* If any of the following are set then task stacks are filled with a known
-value so the high water mark can be determined. If none of the following are
-set then don't fill the stack so there is no unnecessary dependency on memset. */
-#if( ( configCHECK_FOR_STACK_OVERFLOW > 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
- #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 1
-#else
- #define tskSET_NEW_STACKS_TO_KNOWN_VALUE 0
-#endif
-
-/*
- * Macros used by vListTask to indicate which state a task is in.
- */
-#define tskRUNNING_CHAR ( 'X' )
-#define tskBLOCKED_CHAR ( 'B' )
-#define tskREADY_CHAR ( 'R' )
-#define tskDELETED_CHAR ( 'D' )
-#define tskSUSPENDED_CHAR ( 'S' )
-
-/*
- * Some kernel aware debuggers require the data the debugger needs access to be
- * global, rather than file scope.
- */
-#ifdef portREMOVE_STATIC_QUALIFIER
- #define static
-#endif
-
-/* The name allocated to the Idle task. This can be overridden by defining
-configIDLE_TASK_NAME in FreeRTOSConfig.h. */
-#ifndef configIDLE_TASK_NAME
- #define configIDLE_TASK_NAME "IDLE"
-#endif
-
-#if ( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
-
- /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 0 then task selection is
- performed in a generic way that is not optimised to any particular
- microcontroller architecture. */
-
- /* uxTopReadyPriority holds the priority of the highest priority ready
- state task. */
- #define taskRECORD_READY_PRIORITY( uxPriority ) \
- { \
- if( ( uxPriority ) > uxTopReadyPriority ) \
- { \
- uxTopReadyPriority = ( uxPriority ); \
- } \
- } /* taskRECORD_READY_PRIORITY */
-
- /*-----------------------------------------------------------*/
-
- #define taskSELECT_HIGHEST_PRIORITY_TASK() \
- { \
- UBaseType_t uxTopPriority = uxTopReadyPriority; \
- \
- /* Find the highest priority queue that contains ready tasks. */ \
- while( listLIST_IS_EMPTY( &( pxReadyTasksLists[ uxTopPriority ] ) ) ) \
- { \
- configASSERT( uxTopPriority ); \
- --uxTopPriority; \
- } \
- \
- /* listGET_OWNER_OF_NEXT_ENTRY indexes through the list, so the tasks of \
- the same priority get an equal share of the processor time. */ \
- listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
- uxTopReadyPriority = uxTopPriority; \
- } /* taskSELECT_HIGHEST_PRIORITY_TASK */
-
- /*-----------------------------------------------------------*/
-
- /* Define away taskRESET_READY_PRIORITY() and portRESET_READY_PRIORITY() as
- they are only required when a port optimised method of task selection is
- being used. */
- #define taskRESET_READY_PRIORITY( uxPriority )
- #define portRESET_READY_PRIORITY( uxPriority, uxTopReadyPriority )
-
-#else /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
-
- /* If configUSE_PORT_OPTIMISED_TASK_SELECTION is 1 then task selection is
- performed in a way that is tailored to the particular microcontroller
- architecture being used. */
-
- /* A port optimised version is provided. Call the port defined macros. */
- #define taskRECORD_READY_PRIORITY( uxPriority ) portRECORD_READY_PRIORITY( uxPriority, uxTopReadyPriority )
-
- /*-----------------------------------------------------------*/
-
- #define taskSELECT_HIGHEST_PRIORITY_TASK() \
- { \
- UBaseType_t uxTopPriority; \
- \
- /* Find the highest priority list that contains ready tasks. */ \
- portGET_HIGHEST_PRIORITY( uxTopPriority, uxTopReadyPriority ); \
- configASSERT( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ uxTopPriority ] ) ) > 0 ); \
- listGET_OWNER_OF_NEXT_ENTRY( pxCurrentTCB, &( pxReadyTasksLists[ uxTopPriority ] ) ); \
- } /* taskSELECT_HIGHEST_PRIORITY_TASK() */
-
- /*-----------------------------------------------------------*/
-
- /* A port optimised version is provided, call it only if the TCB being reset
- is being referenced from a ready list. If it is referenced from a delayed
- or suspended list then it won't be in a ready list. */
- #define taskRESET_READY_PRIORITY( uxPriority ) \
- { \
- if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ ( uxPriority ) ] ) ) == ( UBaseType_t ) 0 ) \
- { \
- portRESET_READY_PRIORITY( ( uxPriority ), ( uxTopReadyPriority ) ); \
- } \
- }
-
-#endif /* configUSE_PORT_OPTIMISED_TASK_SELECTION */
-
-/*-----------------------------------------------------------*/
-
-/* pxDelayedTaskList and pxOverflowDelayedTaskList are switched when the tick
-count overflows. */
-#define taskSWITCH_DELAYED_LISTS() \
-{ \
- List_t *pxTemp; \
- \
- /* The delayed tasks list should be empty when the lists are switched. */ \
- configASSERT( ( listLIST_IS_EMPTY( pxDelayedTaskList ) ) ); \
- \
- pxTemp = pxDelayedTaskList; \
- pxDelayedTaskList = pxOverflowDelayedTaskList; \
- pxOverflowDelayedTaskList = pxTemp; \
- xNumOfOverflows++; \
- prvResetNextTaskUnblockTime(); \
-}
-
-/*-----------------------------------------------------------*/
-
-/*
- * Place the task represented by pxTCB into the appropriate ready list for
- * the task. It is inserted at the end of the list.
- */
-#define prvAddTaskToReadyList( pxTCB ) \
- traceMOVED_TASK_TO_READY_STATE( pxTCB ); \
- taskRECORD_READY_PRIORITY( ( pxTCB )->uxPriority ); \
- vListInsertEnd( &( pxReadyTasksLists[ ( pxTCB )->uxPriority ] ), &( ( pxTCB )->xStateListItem ) ); \
- tracePOST_MOVED_TASK_TO_READY_STATE( pxTCB )
-/*-----------------------------------------------------------*/
-
-/*
- * Several functions take an TaskHandle_t parameter that can optionally be NULL,
- * where NULL is used to indicate that the handle of the currently executing
- * task should be used in place of the parameter. This macro simply checks to
- * see if the parameter is NULL and returns a pointer to the appropriate TCB.
- */
-#define prvGetTCBFromHandle( pxHandle ) ( ( ( pxHandle ) == NULL ) ? pxCurrentTCB : ( pxHandle ) )
-
-/* The item value of the event list item is normally used to hold the priority
-of the task to which it belongs (coded to allow it to be held in reverse
-priority order). However, it is occasionally borrowed for other purposes. It
-is important its value is not updated due to a task priority change while it is
-being used for another purpose. The following bit definition is used to inform
-the scheduler that the value should not be changed - in which case it is the
-responsibility of whichever module is using the value to ensure it gets set back
-to its original value when it is released. */
-#if( configUSE_16_BIT_TICKS == 1 )
- #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x8000U
-#else
- #define taskEVENT_LIST_ITEM_VALUE_IN_USE 0x80000000UL
-#endif
-
-/*
- * Task control block. A task control block (TCB) is allocated for each task,
- * and stores task state information, including a pointer to the task's context
- * (the task's run time environment, including register values)
- */
-typedef struct tskTaskControlBlock /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-{
- volatile StackType_t *pxTopOfStack; /*< Points to the location of the last item placed on the tasks stack. THIS MUST BE THE FIRST MEMBER OF THE TCB STRUCT. */
-
- #if ( portUSING_MPU_WRAPPERS == 1 )
- xMPU_SETTINGS xMPUSettings; /*< The MPU settings are defined as part of the port layer. THIS MUST BE THE SECOND MEMBER OF THE TCB STRUCT. */
- #endif
-
- ListItem_t xStateListItem; /*< The list that the state list item of a task is reference from denotes the state of that task (Ready, Blocked, Suspended ). */
- ListItem_t xEventListItem; /*< Used to reference a task from an event list. */
- UBaseType_t uxPriority; /*< The priority of the task. 0 is the lowest priority. */
- StackType_t *pxStack; /*< Points to the start of the stack. */
- char pcTaskName[ configMAX_TASK_NAME_LEN ];/*< Descriptive name given to the task when created. Facilitates debugging only. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-
- #if ( ( portSTACK_GROWTH > 0 ) || ( configRECORD_STACK_HIGH_ADDRESS == 1 ) )
- StackType_t *pxEndOfStack; /*< Points to the highest valid address for the stack. */
- #endif
-
- #if ( portCRITICAL_NESTING_IN_TCB == 1 )
- UBaseType_t uxCriticalNesting; /*< Holds the critical section nesting depth for ports that do not maintain their own count in the port layer. */
- #endif
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxTCBNumber; /*< Stores a number that increments each time a TCB is created. It allows debuggers to determine when a task has been deleted and then recreated. */
- UBaseType_t uxTaskNumber; /*< Stores a number specifically for use by third party trace code. */
- #endif
-
- #if ( configUSE_MUTEXES == 1 )
- UBaseType_t uxBasePriority; /*< The priority last assigned to the task - used by the priority inheritance mechanism. */
- UBaseType_t uxMutexesHeld;
- #endif
-
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )
- TaskHookFunction_t pxTaskTag;
- #endif
-
- #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS > 0 )
- void *pvThreadLocalStoragePointers[ configNUM_THREAD_LOCAL_STORAGE_POINTERS ];
- #endif
-
- #if( configGENERATE_RUN_TIME_STATS == 1 )
- uint32_t ulRunTimeCounter; /*< Stores the amount of time the task has spent in the Running state. */
- #endif
-
- #if ( configUSE_NEWLIB_REENTRANT == 1 )
- /* Allocate a Newlib reent structure that is specific to this task.
- Note Newlib support has been included by popular demand, but is not
- used by the FreeRTOS maintainers themselves. FreeRTOS is not
- responsible for resulting newlib operation. User must be familiar with
- newlib and must provide system-wide implementations of the necessary
- stubs. Be warned that (at the time of writing) the current newlib design
- implements a system-wide malloc() that must be provided with locks.
-
- See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
- for additional information. */
- struct _reent xNewLib_reent;
- #endif
-
- #if( configUSE_TASK_NOTIFICATIONS == 1 )
- volatile uint32_t ulNotifiedValue;
- volatile uint8_t ucNotifyState;
- #endif
-
- /* See the comments in FreeRTOS.h with the definition of
- tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE. */
- #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
- uint8_t ucStaticallyAllocated; /*< Set to pdTRUE if the task is a statically allocated to ensure no attempt is made to free the memory. */
- #endif
-
- #if( INCLUDE_xTaskAbortDelay == 1 )
- uint8_t ucDelayAborted;
- #endif
-
- #if( configUSE_POSIX_ERRNO == 1 )
- int iTaskErrno;
- #endif
-
-} tskTCB;
-
-/* The old tskTCB name is maintained above then typedefed to the new TCB_t name
-below to enable the use of older kernel aware debuggers. */
-typedef tskTCB TCB_t;
-
-/*lint -save -e956 A manual analysis and inspection has been used to determine
-which static variables must be declared volatile. */
-PRIVILEGED_DATA TCB_t * volatile pxCurrentTCB = NULL;
-
-/* Lists for ready and blocked tasks. --------------------
-xDelayedTaskList1 and xDelayedTaskList2 could be move to function scople but
-doing so breaks some kernel aware debuggers and debuggers that rely on removing
-the static qualifier. */
-PRIVILEGED_DATA static List_t pxReadyTasksLists[ configMAX_PRIORITIES ];/*< Prioritised ready tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList1; /*< Delayed tasks. */
-PRIVILEGED_DATA static List_t xDelayedTaskList2; /*< Delayed tasks (two lists are used - one for delays that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t * volatile pxDelayedTaskList; /*< Points to the delayed task list currently being used. */
-PRIVILEGED_DATA static List_t * volatile pxOverflowDelayedTaskList; /*< Points to the delayed task list currently being used to hold tasks that have overflowed the current tick count. */
-PRIVILEGED_DATA static List_t xPendingReadyList; /*< Tasks that have been readied while the scheduler was suspended. They will be moved to the ready list when the scheduler is resumed. */
-
-#if( INCLUDE_vTaskDelete == 1 )
-
- PRIVILEGED_DATA static List_t xTasksWaitingTermination; /*< Tasks that have been deleted - but their memory not yet freed. */
- PRIVILEGED_DATA static volatile UBaseType_t uxDeletedTasksWaitingCleanUp = ( UBaseType_t ) 0U;
-
-#endif
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- PRIVILEGED_DATA static List_t xSuspendedTaskList; /*< Tasks that are currently suspended. */
-
-#endif
-
-/* Global POSIX errno. Its value is changed upon context switching to match
-the errno of the currently running task. */
-#if ( configUSE_POSIX_ERRNO == 1 )
- int FreeRTOS_errno = 0;
-#endif
-
-/* Other file private variables. --------------------------------*/
-PRIVILEGED_DATA static volatile UBaseType_t uxCurrentNumberOfTasks = ( UBaseType_t ) 0U;
-PRIVILEGED_DATA static volatile TickType_t xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
-PRIVILEGED_DATA static volatile UBaseType_t uxTopReadyPriority = tskIDLE_PRIORITY;
-PRIVILEGED_DATA static volatile BaseType_t xSchedulerRunning = pdFALSE;
-PRIVILEGED_DATA static volatile TickType_t xPendedTicks = ( TickType_t ) 0U;
-PRIVILEGED_DATA static volatile BaseType_t xYieldPending = pdFALSE;
-PRIVILEGED_DATA static volatile BaseType_t xNumOfOverflows = ( BaseType_t ) 0;
-PRIVILEGED_DATA static UBaseType_t uxTaskNumber = ( UBaseType_t ) 0U;
-PRIVILEGED_DATA static volatile TickType_t xNextTaskUnblockTime = ( TickType_t ) 0U; /* Initialised to portMAX_DELAY before the scheduler starts. */
-PRIVILEGED_DATA static TaskHandle_t xIdleTaskHandle = NULL; /*< Holds the handle of the idle task. The idle task is created automatically when the scheduler is started. */
-
-/* Context switches are held pending while the scheduler is suspended. Also,
-interrupts must not manipulate the xStateListItem of a TCB, or any of the
-lists the xStateListItem can be referenced from, if the scheduler is suspended.
-If an interrupt needs to unblock a task while the scheduler is suspended then it
-moves the task's event list item into the xPendingReadyList, ready for the
-kernel to move the task from the pending ready list into the real ready list
-when the scheduler is unsuspended. The pending ready list itself can only be
-accessed from a critical section. */
-PRIVILEGED_DATA static volatile UBaseType_t uxSchedulerSuspended = ( UBaseType_t ) pdFALSE;
-
-#if ( configGENERATE_RUN_TIME_STATS == 1 )
-
- /* Do not move these variables to function scope as doing so prevents the
- code working with debuggers that need to remove the static qualifier. */
- PRIVILEGED_DATA static uint32_t ulTaskSwitchedInTime = 0UL; /*< Holds the value of a timer/counter the last time a task was switched in. */
- PRIVILEGED_DATA static uint32_t ulTotalRunTime = 0UL; /*< Holds the total amount of execution time as defined by the run time counter clock. */
-
-#endif
-
-/*lint -restore */
-
-/*-----------------------------------------------------------*/
-
-/* Callback function prototypes. --------------------------*/
-#if( configCHECK_FOR_STACK_OVERFLOW > 0 )
-
- extern void vApplicationStackOverflowHook( TaskHandle_t xTask, char *pcTaskName );
-
-#endif
-
-#if( configUSE_TICK_HOOK > 0 )
-
- extern void vApplicationTickHook( void ); /*lint !e526 Symbol not defined as it is an application callback. */
-
-#endif
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- extern void vApplicationGetIdleTaskMemory( StaticTask_t **ppxIdleTaskTCBBuffer, StackType_t **ppxIdleTaskStackBuffer, uint32_t *pulIdleTaskStackSize ); /*lint !e526 Symbol not defined as it is an application callback. */
-
-#endif
-
-/* File private functions. --------------------------------*/
-
-/**
- * Utility task that simply returns pdTRUE if the task referenced by xTask is
- * currently in the Suspended state, or pdFALSE if the task referenced by xTask
- * is in any other state.
- */
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask ) PRIVILEGED_FUNCTION;
-
-#endif /* INCLUDE_vTaskSuspend */
-
-/*
- * Utility to ready all the lists used by the scheduler. This is called
- * automatically upon the creation of the first task.
- */
-static void prvInitialiseTaskLists( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The idle task, which as all tasks is implemented as a never ending loop.
- * The idle task is automatically created and added to the ready lists upon
- * creation of the first user task.
- *
- * The portTASK_FUNCTION_PROTO() macro is used to allow port/compiler specific
- * language extensions. The equivalent prototype for this function is:
- *
- * void prvIdleTask( void *pvParameters );
- *
- */
-static portTASK_FUNCTION_PROTO( prvIdleTask, pvParameters );
-
-/*
- * Utility to free all memory allocated by the scheduler to hold a TCB,
- * including the stack pointed to by the TCB.
- *
- * This does not free memory allocated by the task itself (i.e. memory
- * allocated by calls to pvPortMalloc from within the tasks application code).
- */
-#if ( INCLUDE_vTaskDelete == 1 )
-
- static void prvDeleteTCB( TCB_t *pxTCB ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Used only by the idle task. This checks to see if anything has been placed
- * in the list of tasks waiting to be deleted. If so the task is cleaned up
- * and its TCB deleted.
- */
-static void prvCheckTasksWaitingTermination( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The currently executing task is entering the Blocked state. Add the task to
- * either the current or the overflow delayed task list.
- */
-static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely ) PRIVILEGED_FUNCTION;
-
-/*
- * Fills an TaskStatus_t structure with information on each task that is
- * referenced from the pxList list (which may be a ready list, a delayed list,
- * a suspended list, etc.).
- *
- * THIS FUNCTION IS INTENDED FOR DEBUGGING ONLY, AND SHOULD NOT BE CALLED FROM
- * NORMAL APPLICATION CODE.
- */
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Searches pxList for a task with name pcNameToQuery - returning a handle to
- * the task if it is found, or NULL if the task is not found.
- */
-#if ( INCLUDE_xTaskGetHandle == 1 )
-
- static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * When a task is created, the stack of the task is filled with a known value.
- * This function determines the 'high water mark' of the task stack by
- * determining how much of the stack remains at the original preset value.
- */
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
-
- static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Return the amount of time, in ticks, that will pass before the kernel will
- * next move a task from the Blocked state to the Running state.
- *
- * This conditional compilation should use inequality to 0, not equality to 1.
- * This is to ensure portSUPPRESS_TICKS_AND_SLEEP() can be called when user
- * defined low power mode implementations require configUSE_TICKLESS_IDLE to be
- * set to a value other than 1.
- */
-#if ( configUSE_TICKLESS_IDLE != 0 )
-
- static TickType_t prvGetExpectedIdleTime( void ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Set xNextTaskUnblockTime to the time at which the next Blocked state task
- * will exit the Blocked state.
- */
-static void prvResetNextTaskUnblockTime( void );
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
-
- /*
- * Helper function used to pad task names with spaces when printing out
- * human readable tables of task information.
- */
- static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*
- * Called after a Task_t structure has been allocated either statically or
- * dynamically to fill in the structure's members.
- */
-static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
- const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const uint32_t ulStackDepth,
- void * const pvParameters,
- UBaseType_t uxPriority,
- TaskHandle_t * const pxCreatedTask,
- TCB_t *pxNewTCB,
- const MemoryRegion_t * const xRegions ) PRIVILEGED_FUNCTION;
-
-/*
- * Called after a new task has been created and initialised to place the task
- * under the control of the scheduler.
- */
-static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB ) PRIVILEGED_FUNCTION;
-
-/*
- * freertos_tasks_c_additions_init() should only be called if the user definable
- * macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is the only macro
- * called by the function.
- */
-#ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
-
- static void freertos_tasks_c_additions_init( void ) PRIVILEGED_FUNCTION;
-
-#endif
-
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- TaskHandle_t xTaskCreateStatic( TaskFunction_t pxTaskCode,
- const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const uint32_t ulStackDepth,
- void * const pvParameters,
- UBaseType_t uxPriority,
- StackType_t * const puxStackBuffer,
- StaticTask_t * const pxTaskBuffer )
- {
- TCB_t *pxNewTCB;
- TaskHandle_t xReturn;
-
- configASSERT( puxStackBuffer != NULL );
- configASSERT( pxTaskBuffer != NULL );
-
- #if( configASSERT_DEFINED == 1 )
- {
- /* Sanity check that the size of the structure used to declare a
- variable of type StaticTask_t equals the size of the real task
- structure. */
- volatile size_t xSize = sizeof( StaticTask_t );
- configASSERT( xSize == sizeof( TCB_t ) );
- ( void ) xSize; /* Prevent lint warning when configASSERT() is not used. */
- }
- #endif /* configASSERT_DEFINED */
-
-
- if( ( pxTaskBuffer != NULL ) && ( puxStackBuffer != NULL ) )
- {
- /* The memory used for the task's TCB and stack are passed into this
- function - use them. */
- pxNewTCB = ( TCB_t * ) pxTaskBuffer; /*lint !e740 !e9087 Unusual cast is ok as the structures are designed to have the same alignment, and the size is checked by an assert. */
- pxNewTCB->pxStack = ( StackType_t * ) puxStackBuffer;
-
- #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
- {
- /* Tasks can be created statically or dynamically, so note this
- task was created statically in case the task is later deleted. */
- pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
- }
- #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
-
- prvInitialiseNewTask( pxTaskCode, pcName, ulStackDepth, pvParameters, uxPriority, &xReturn, pxNewTCB, NULL );
- prvAddNewTaskToReadyList( pxNewTCB );
- }
- else
- {
- xReturn = NULL;
- }
-
- return xReturn;
- }
-
-#endif /* SUPPORT_STATIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) )
-
- BaseType_t xTaskCreateRestrictedStatic( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
- {
- TCB_t *pxNewTCB;
- BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-
- configASSERT( pxTaskDefinition->puxStackBuffer != NULL );
- configASSERT( pxTaskDefinition->pxTaskBuffer != NULL );
-
- if( ( pxTaskDefinition->puxStackBuffer != NULL ) && ( pxTaskDefinition->pxTaskBuffer != NULL ) )
- {
- /* Allocate space for the TCB. Where the memory comes from depends
- on the implementation of the port malloc function and whether or
- not static allocation is being used. */
- pxNewTCB = ( TCB_t * ) pxTaskDefinition->pxTaskBuffer;
-
- /* Store the stack location in the TCB. */
- pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
-
- #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
- {
- /* Tasks can be created statically or dynamically, so note this
- task was created statically in case the task is later deleted. */
- pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_AND_TCB;
- }
- #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
-
- prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
- pxTaskDefinition->pcName,
- ( uint32_t ) pxTaskDefinition->usStackDepth,
- pxTaskDefinition->pvParameters,
- pxTaskDefinition->uxPriority,
- pxCreatedTask, pxNewTCB,
- pxTaskDefinition->xRegions );
-
- prvAddNewTaskToReadyList( pxNewTCB );
- xReturn = pdPASS;
- }
-
- return xReturn;
- }
-
-#endif /* ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) */
-/*-----------------------------------------------------------*/
-
-#if( ( portUSING_MPU_WRAPPERS == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
- BaseType_t xTaskCreateRestricted( const TaskParameters_t * const pxTaskDefinition, TaskHandle_t *pxCreatedTask )
- {
- TCB_t *pxNewTCB;
- BaseType_t xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
-
- configASSERT( pxTaskDefinition->puxStackBuffer );
-
- if( pxTaskDefinition->puxStackBuffer != NULL )
- {
- /* Allocate space for the TCB. Where the memory comes from depends
- on the implementation of the port malloc function and whether or
- not static allocation is being used. */
- pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
-
- if( pxNewTCB != NULL )
- {
- /* Store the stack location in the TCB. */
- pxNewTCB->pxStack = pxTaskDefinition->puxStackBuffer;
-
- #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 )
- {
- /* Tasks can be created statically or dynamically, so note
- this task had a statically allocated stack in case it is
- later deleted. The TCB was allocated dynamically. */
- pxNewTCB->ucStaticallyAllocated = tskSTATICALLY_ALLOCATED_STACK_ONLY;
- }
- #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
-
- prvInitialiseNewTask( pxTaskDefinition->pvTaskCode,
- pxTaskDefinition->pcName,
- ( uint32_t ) pxTaskDefinition->usStackDepth,
- pxTaskDefinition->pvParameters,
- pxTaskDefinition->uxPriority,
- pxCreatedTask, pxNewTCB,
- pxTaskDefinition->xRegions );
-
- prvAddNewTaskToReadyList( pxNewTCB );
- xReturn = pdPASS;
- }
- }
-
- return xReturn;
- }
-
-#endif /* portUSING_MPU_WRAPPERS */
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- BaseType_t xTaskCreate( TaskFunction_t pxTaskCode,
- const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const configSTACK_DEPTH_TYPE usStackDepth,
- void * const pvParameters,
- UBaseType_t uxPriority,
- TaskHandle_t * const pxCreatedTask )
- {
- TCB_t *pxNewTCB;
- BaseType_t xReturn;
-
- /* If the stack grows down then allocate the stack then the TCB so the stack
- does not grow into the TCB. Likewise if the stack grows up then allocate
- the TCB then the stack. */
- #if( portSTACK_GROWTH > 0 )
- {
- /* Allocate space for the TCB. Where the memory comes from depends on
- the implementation of the port malloc function and whether or not static
- allocation is being used. */
- pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) );
-
- if( pxNewTCB != NULL )
- {
- /* Allocate space for the stack used by the task being created.
- The base of the stack memory stored in the TCB so the task can
- be deleted later if required. */
- pxNewTCB->pxStack = ( StackType_t * ) pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-
- if( pxNewTCB->pxStack == NULL )
- {
- /* Could not allocate the stack. Delete the allocated TCB. */
- vPortFree( pxNewTCB );
- pxNewTCB = NULL;
- }
- }
- }
- #else /* portSTACK_GROWTH */
- {
- StackType_t *pxStack;
-
- /* Allocate space for the stack used by the task being created. */
- pxStack = pvPortMalloc( ( ( ( size_t ) usStackDepth ) * sizeof( StackType_t ) ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation is the stack. */
-
- if( pxStack != NULL )
- {
- /* Allocate space for the TCB. */
- pxNewTCB = ( TCB_t * ) pvPortMalloc( sizeof( TCB_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of TCB_t is always a pointer to the task's stack. */
-
- if( pxNewTCB != NULL )
- {
- /* Store the stack location in the TCB. */
- pxNewTCB->pxStack = pxStack;
- }
- else
- {
- /* The stack cannot be used as the TCB was not created. Free
- it again. */
- vPortFree( pxStack );
- }
- }
- else
- {
- pxNewTCB = NULL;
- }
- }
- #endif /* portSTACK_GROWTH */
-
- if( pxNewTCB != NULL )
- {
- #if( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e9029 !e731 Macro has been consolidated for readability reasons. */
- {
- /* Tasks can be created statically or dynamically, so note this
- task was created dynamically in case it is later deleted. */
- pxNewTCB->ucStaticallyAllocated = tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB;
- }
- #endif /* tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE */
-
- prvInitialiseNewTask( pxTaskCode, pcName, ( uint32_t ) usStackDepth, pvParameters, uxPriority, pxCreatedTask, pxNewTCB, NULL );
- prvAddNewTaskToReadyList( pxNewTCB );
- xReturn = pdPASS;
- }
- else
- {
- xReturn = errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY;
- }
-
- return xReturn;
- }
-
-#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseNewTask( TaskFunction_t pxTaskCode,
- const char * const pcName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const uint32_t ulStackDepth,
- void * const pvParameters,
- UBaseType_t uxPriority,
- TaskHandle_t * const pxCreatedTask,
- TCB_t *pxNewTCB,
- const MemoryRegion_t * const xRegions )
-{
-StackType_t *pxTopOfStack;
-UBaseType_t x;
-
- #if( portUSING_MPU_WRAPPERS == 1 )
- /* Should the task be created in privileged mode? */
- BaseType_t xRunPrivileged;
- if( ( uxPriority & portPRIVILEGE_BIT ) != 0U )
- {
- xRunPrivileged = pdTRUE;
- }
- else
- {
- xRunPrivileged = pdFALSE;
- }
- uxPriority &= ~portPRIVILEGE_BIT;
- #endif /* portUSING_MPU_WRAPPERS == 1 */
-
- /* Avoid dependency on memset() if it is not required. */
- #if( tskSET_NEW_STACKS_TO_KNOWN_VALUE == 1 )
- {
- /* Fill the stack with a known value to assist debugging. */
- ( void ) memset( pxNewTCB->pxStack, ( int ) tskSTACK_FILL_BYTE, ( size_t ) ulStackDepth * sizeof( StackType_t ) );
- }
- #endif /* tskSET_NEW_STACKS_TO_KNOWN_VALUE */
-
- /* Calculate the top of stack address. This depends on whether the stack
- grows from high memory to low (as per the 80x86) or vice versa.
- portSTACK_GROWTH is used to make the result positive or negative as required
- by the port. */
- #if( portSTACK_GROWTH < 0 )
- {
- pxTopOfStack = &( pxNewTCB->pxStack[ ulStackDepth - ( uint32_t ) 1 ] );
- pxTopOfStack = ( StackType_t * ) ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack ) & ( ~( ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) ) ); /*lint !e923 !e9033 !e9078 MISRA exception. Avoiding casts between pointers and integers is not practical. Size differences accounted for using portPOINTER_SIZE_TYPE type. Checked by assert(). */
-
- /* Check the alignment of the calculated top of stack is correct. */
- configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxTopOfStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
-
- #if( configRECORD_STACK_HIGH_ADDRESS == 1 )
- {
- /* Also record the stack's high address, which may assist
- debugging. */
- pxNewTCB->pxEndOfStack = pxTopOfStack;
- }
- #endif /* configRECORD_STACK_HIGH_ADDRESS */
- }
- #else /* portSTACK_GROWTH */
- {
- pxTopOfStack = pxNewTCB->pxStack;
-
- /* Check the alignment of the stack buffer is correct. */
- configASSERT( ( ( ( portPOINTER_SIZE_TYPE ) pxNewTCB->pxStack & ( portPOINTER_SIZE_TYPE ) portBYTE_ALIGNMENT_MASK ) == 0UL ) );
-
- /* The other extreme of the stack space is required if stack checking is
- performed. */
- pxNewTCB->pxEndOfStack = pxNewTCB->pxStack + ( ulStackDepth - ( uint32_t ) 1 );
- }
- #endif /* portSTACK_GROWTH */
-
- /* Store the task name in the TCB. */
- if( pcName != NULL )
- {
- for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
- {
- pxNewTCB->pcTaskName[ x ] = pcName[ x ];
-
- /* Don't copy all configMAX_TASK_NAME_LEN if the string is shorter than
- configMAX_TASK_NAME_LEN characters just in case the memory after the
- string is not accessible (extremely unlikely). */
- if( pcName[ x ] == ( char ) 0x00 )
- {
- break;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- /* Ensure the name string is terminated in the case that the string length
- was greater or equal to configMAX_TASK_NAME_LEN. */
- pxNewTCB->pcTaskName[ configMAX_TASK_NAME_LEN - 1 ] = '\0';
- }
- else
- {
- /* The task has not been given a name, so just ensure there is a NULL
- terminator when it is read out. */
- pxNewTCB->pcTaskName[ 0 ] = 0x00;
- }
-
- /* This is used as an array index so must ensure it's not too large. First
- remove the privilege bit if one is present. */
- if( uxPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
- {
- uxPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- pxNewTCB->uxPriority = uxPriority;
- #if ( configUSE_MUTEXES == 1 )
- {
- pxNewTCB->uxBasePriority = uxPriority;
- pxNewTCB->uxMutexesHeld = 0;
- }
- #endif /* configUSE_MUTEXES */
-
- vListInitialiseItem( &( pxNewTCB->xStateListItem ) );
- vListInitialiseItem( &( pxNewTCB->xEventListItem ) );
-
- /* Set the pxNewTCB as a link back from the ListItem_t. This is so we can get
- back to the containing TCB from a generic item in a list. */
- listSET_LIST_ITEM_OWNER( &( pxNewTCB->xStateListItem ), pxNewTCB );
-
- /* Event lists are always in priority order. */
- listSET_LIST_ITEM_VALUE( &( pxNewTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- listSET_LIST_ITEM_OWNER( &( pxNewTCB->xEventListItem ), pxNewTCB );
-
- #if ( portCRITICAL_NESTING_IN_TCB == 1 )
- {
- pxNewTCB->uxCriticalNesting = ( UBaseType_t ) 0U;
- }
- #endif /* portCRITICAL_NESTING_IN_TCB */
-
- #if ( configUSE_APPLICATION_TASK_TAG == 1 )
- {
- pxNewTCB->pxTaskTag = NULL;
- }
- #endif /* configUSE_APPLICATION_TASK_TAG */
-
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- {
- pxNewTCB->ulRunTimeCounter = 0UL;
- }
- #endif /* configGENERATE_RUN_TIME_STATS */
-
- #if ( portUSING_MPU_WRAPPERS == 1 )
- {
- vPortStoreTaskMPUSettings( &( pxNewTCB->xMPUSettings ), xRegions, pxNewTCB->pxStack, ulStackDepth );
- }
- #else
- {
- /* Avoid compiler warning about unreferenced parameter. */
- ( void ) xRegions;
- }
- #endif
-
- #if( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
- {
- for( x = 0; x < ( UBaseType_t ) configNUM_THREAD_LOCAL_STORAGE_POINTERS; x++ )
- {
- pxNewTCB->pvThreadLocalStoragePointers[ x ] = NULL;
- }
- }
- #endif
-
- #if ( configUSE_TASK_NOTIFICATIONS == 1 )
- {
- pxNewTCB->ulNotifiedValue = 0;
- pxNewTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
- }
- #endif
-
- #if ( configUSE_NEWLIB_REENTRANT == 1 )
- {
- /* Initialise this task's Newlib reent structure.
- See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
- for additional information. */
- _REENT_INIT_PTR( ( &( pxNewTCB->xNewLib_reent ) ) );
- }
- #endif
-
- #if( INCLUDE_xTaskAbortDelay == 1 )
- {
- pxNewTCB->ucDelayAborted = pdFALSE;
- }
- #endif
-
- /* Initialize the TCB stack to look as if the task was already running,
- but had been interrupted by the scheduler. The return address is set
- to the start of the task function. Once the stack has been initialised
- the top of stack variable is updated. */
- #if( portUSING_MPU_WRAPPERS == 1 )
- {
- /* If the port has capability to detect stack overflow,
- pass the stack end address to the stack initialization
- function as well. */
- #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
- {
- #if( portSTACK_GROWTH < 0 )
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters, xRunPrivileged );
- }
- #else /* portSTACK_GROWTH */
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters, xRunPrivileged );
- }
- #endif /* portSTACK_GROWTH */
- }
- #else /* portHAS_STACK_OVERFLOW_CHECKING */
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters, xRunPrivileged );
- }
- #endif /* portHAS_STACK_OVERFLOW_CHECKING */
- }
- #else /* portUSING_MPU_WRAPPERS */
- {
- /* If the port has capability to detect stack overflow,
- pass the stack end address to the stack initialization
- function as well. */
- #if( portHAS_STACK_OVERFLOW_CHECKING == 1 )
- {
- #if( portSTACK_GROWTH < 0 )
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxStack, pxTaskCode, pvParameters );
- }
- #else /* portSTACK_GROWTH */
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxNewTCB->pxEndOfStack, pxTaskCode, pvParameters );
- }
- #endif /* portSTACK_GROWTH */
- }
- #else /* portHAS_STACK_OVERFLOW_CHECKING */
- {
- pxNewTCB->pxTopOfStack = pxPortInitialiseStack( pxTopOfStack, pxTaskCode, pvParameters );
- }
- #endif /* portHAS_STACK_OVERFLOW_CHECKING */
- }
- #endif /* portUSING_MPU_WRAPPERS */
-
- if( pxCreatedTask != NULL )
- {
- /* Pass the handle out in an anonymous way. The handle can be used to
- change the created task's priority, delete the created task, etc.*/
- *pxCreatedTask = ( TaskHandle_t ) pxNewTCB;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvAddNewTaskToReadyList( TCB_t *pxNewTCB )
-{
- /* Ensure interrupts don't access the task lists while the lists are being
- updated. */
- taskENTER_CRITICAL();
- {
- uxCurrentNumberOfTasks++;
- if( pxCurrentTCB == NULL )
- {
- /* There are no other tasks, or all the other tasks are in
- the suspended state - make this the current task. */
- pxCurrentTCB = pxNewTCB;
-
- if( uxCurrentNumberOfTasks == ( UBaseType_t ) 1 )
- {
- /* This is the first task to be created so do the preliminary
- initialisation required. We will not recover if this call
- fails, but we will report the failure. */
- prvInitialiseTaskLists();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* If the scheduler is not already running, make this task the
- current task if it is the highest priority task to be created
- so far. */
- if( xSchedulerRunning == pdFALSE )
- {
- if( pxCurrentTCB->uxPriority <= pxNewTCB->uxPriority )
- {
- pxCurrentTCB = pxNewTCB;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- uxTaskNumber++;
-
- #if ( configUSE_TRACE_FACILITY == 1 )
- {
- /* Add a counter into the TCB for tracing only. */
- pxNewTCB->uxTCBNumber = uxTaskNumber;
- }
- #endif /* configUSE_TRACE_FACILITY */
- traceTASK_CREATE( pxNewTCB );
-
- prvAddTaskToReadyList( pxNewTCB );
-
- portSETUP_TCB( pxNewTCB );
- }
- taskEXIT_CRITICAL();
-
- if( xSchedulerRunning != pdFALSE )
- {
- /* If the created task is of a higher priority than the current task
- then it should run now. */
- if( pxCurrentTCB->uxPriority < pxNewTCB->uxPriority )
- {
- taskYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-}
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelete == 1 )
-
- void vTaskDelete( TaskHandle_t xTaskToDelete )
- {
- TCB_t *pxTCB;
-
- taskENTER_CRITICAL();
- {
- /* If null is passed in here then it is the calling task that is
- being deleted. */
- pxTCB = prvGetTCBFromHandle( xTaskToDelete );
-
- /* Remove task from the ready/delayed list. */
- if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- taskRESET_READY_PRIORITY( pxTCB->uxPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Is the task waiting on an event also? */
- if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
- {
- ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Increment the uxTaskNumber also so kernel aware debuggers can
- detect that the task lists need re-generating. This is done before
- portPRE_TASK_DELETE_HOOK() as in the Windows port that macro will
- not return. */
- uxTaskNumber++;
-
- if( pxTCB == pxCurrentTCB )
- {
- /* A task is deleting itself. This cannot complete within the
- task itself, as a context switch to another task is required.
- Place the task in the termination list. The idle task will
- check the termination list and free up any memory allocated by
- the scheduler for the TCB and stack of the deleted task. */
- vListInsertEnd( &xTasksWaitingTermination, &( pxTCB->xStateListItem ) );
-
- /* Increment the ucTasksDeleted variable so the idle task knows
- there is a task that has been deleted and that it should therefore
- check the xTasksWaitingTermination list. */
- ++uxDeletedTasksWaitingCleanUp;
-
- /* Call the delete hook before portPRE_TASK_DELETE_HOOK() as
- portPRE_TASK_DELETE_HOOK() does not return in the Win32 port. */
- traceTASK_DELETE( pxTCB );
-
- /* The pre-delete hook is primarily for the Windows simulator,
- in which Windows specific clean up operations are performed,
- after which it is not possible to yield away from this task -
- hence xYieldPending is used to latch that a context switch is
- required. */
- portPRE_TASK_DELETE_HOOK( pxTCB, &xYieldPending );
- }
- else
- {
- --uxCurrentNumberOfTasks;
- traceTASK_DELETE( pxTCB );
- prvDeleteTCB( pxTCB );
-
- /* Reset the next expected unblock time in case it referred to
- the task that has just been deleted. */
- prvResetNextTaskUnblockTime();
- }
- }
- taskEXIT_CRITICAL();
-
- /* Force a reschedule if it is the currently running task that has just
- been deleted. */
- if( xSchedulerRunning != pdFALSE )
- {
- if( pxTCB == pxCurrentTCB )
- {
- configASSERT( uxSchedulerSuspended == 0 );
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
-
-#endif /* INCLUDE_vTaskDelete */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelayUntil == 1 )
-
- void vTaskDelayUntil( TickType_t * const pxPreviousWakeTime, const TickType_t xTimeIncrement )
- {
- TickType_t xTimeToWake;
- BaseType_t xAlreadyYielded, xShouldDelay = pdFALSE;
-
- configASSERT( pxPreviousWakeTime );
- configASSERT( ( xTimeIncrement > 0U ) );
- configASSERT( uxSchedulerSuspended == 0 );
-
- vTaskSuspendAll();
- {
- /* Minor optimisation. The tick count cannot change in this
- block. */
- const TickType_t xConstTickCount = xTickCount;
-
- /* Generate the tick time at which the task wants to wake. */
- xTimeToWake = *pxPreviousWakeTime + xTimeIncrement;
-
- if( xConstTickCount < *pxPreviousWakeTime )
- {
- /* The tick count has overflowed since this function was
- lasted called. In this case the only time we should ever
- actually delay is if the wake time has also overflowed,
- and the wake time is greater than the tick time. When this
- is the case it is as if neither time had overflowed. */
- if( ( xTimeToWake < *pxPreviousWakeTime ) && ( xTimeToWake > xConstTickCount ) )
- {
- xShouldDelay = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* The tick time has not overflowed. In this case we will
- delay if either the wake time has overflowed, and/or the
- tick time is less than the wake time. */
- if( ( xTimeToWake < *pxPreviousWakeTime ) || ( xTimeToWake > xConstTickCount ) )
- {
- xShouldDelay = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- /* Update the wake time ready for the next call. */
- *pxPreviousWakeTime = xTimeToWake;
-
- if( xShouldDelay != pdFALSE )
- {
- traceTASK_DELAY_UNTIL( xTimeToWake );
-
- /* prvAddCurrentTaskToDelayedList() needs the block time, not
- the time to wake, so subtract the current tick count. */
- prvAddCurrentTaskToDelayedList( xTimeToWake - xConstTickCount, pdFALSE );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- xAlreadyYielded = xTaskResumeAll();
-
- /* Force a reschedule if xTaskResumeAll has not already done so, we may
- have put ourselves to sleep. */
- if( xAlreadyYielded == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* INCLUDE_vTaskDelayUntil */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelay == 1 )
-
- void vTaskDelay( const TickType_t xTicksToDelay )
- {
- BaseType_t xAlreadyYielded = pdFALSE;
-
- /* A delay time of zero just forces a reschedule. */
- if( xTicksToDelay > ( TickType_t ) 0U )
- {
- configASSERT( uxSchedulerSuspended == 0 );
- vTaskSuspendAll();
- {
- traceTASK_DELAY();
-
- /* A task that is removed from the event list while the
- scheduler is suspended will not get placed in the ready
- list or removed from the blocked list until the scheduler
- is resumed.
-
- This task cannot be in an event list as it is the currently
- executing task. */
- prvAddCurrentTaskToDelayedList( xTicksToDelay, pdFALSE );
- }
- xAlreadyYielded = xTaskResumeAll();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Force a reschedule if xTaskResumeAll has not already done so, we may
- have put ourselves to sleep. */
- if( xAlreadyYielded == pdFALSE )
- {
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* INCLUDE_vTaskDelay */
-/*-----------------------------------------------------------*/
-
-#if( ( INCLUDE_eTaskGetState == 1 ) || ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_xTaskAbortDelay == 1 ) )
-
- eTaskState eTaskGetState( TaskHandle_t xTask )
- {
- eTaskState eReturn;
- List_t const * pxStateList, *pxDelayedList, *pxOverflowedDelayedList;
- const TCB_t * const pxTCB = xTask;
-
- configASSERT( pxTCB );
-
- if( pxTCB == pxCurrentTCB )
- {
- /* The task calling this function is querying its own state. */
- eReturn = eRunning;
- }
- else
- {
- taskENTER_CRITICAL();
- {
- pxStateList = listLIST_ITEM_CONTAINER( &( pxTCB->xStateListItem ) );
- pxDelayedList = pxDelayedTaskList;
- pxOverflowedDelayedList = pxOverflowDelayedTaskList;
- }
- taskEXIT_CRITICAL();
-
- if( ( pxStateList == pxDelayedList ) || ( pxStateList == pxOverflowedDelayedList ) )
- {
- /* The task being queried is referenced from one of the Blocked
- lists. */
- eReturn = eBlocked;
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- else if( pxStateList == &xSuspendedTaskList )
- {
- /* The task being queried is referenced from the suspended
- list. Is it genuinely suspended or is it blocked
- indefinitely? */
- if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL )
- {
- #if( configUSE_TASK_NOTIFICATIONS == 1 )
- {
- /* The task does not appear on the event list item of
- and of the RTOS objects, but could still be in the
- blocked state if it is waiting on its notification
- rather than waiting on an object. */
- if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
- {
- eReturn = eBlocked;
- }
- else
- {
- eReturn = eSuspended;
- }
- }
- #else
- {
- eReturn = eSuspended;
- }
- #endif
- }
- else
- {
- eReturn = eBlocked;
- }
- }
- #endif
-
- #if ( INCLUDE_vTaskDelete == 1 )
- else if( ( pxStateList == &xTasksWaitingTermination ) || ( pxStateList == NULL ) )
- {
- /* The task being queried is referenced from the deleted
- tasks list, or it is not referenced from any lists at
- all. */
- eReturn = eDeleted;
- }
- #endif
-
- else /*lint !e525 Negative indentation is intended to make use of pre-processor clearer. */
- {
- /* If the task is not in any other state, it must be in the
- Ready (including pending ready) state. */
- eReturn = eReady;
- }
- }
-
- return eReturn;
- } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
-
-#endif /* INCLUDE_eTaskGetState */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskPriorityGet == 1 )
-
- UBaseType_t uxTaskPriorityGet( const TaskHandle_t xTask )
- {
- TCB_t const *pxTCB;
- UBaseType_t uxReturn;
-
- taskENTER_CRITICAL();
- {
- /* If null is passed in here then it is the priority of the task
- that called uxTaskPriorityGet() that is being queried. */
- pxTCB = prvGetTCBFromHandle( xTask );
- uxReturn = pxTCB->uxPriority;
- }
- taskEXIT_CRITICAL();
-
- return uxReturn;
- }
-
-#endif /* INCLUDE_uxTaskPriorityGet */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskPriorityGet == 1 )
-
- UBaseType_t uxTaskPriorityGetFromISR( const TaskHandle_t xTask )
- {
- TCB_t const *pxTCB;
- UBaseType_t uxReturn, uxSavedInterruptState;
-
- /* RTOS ports that support interrupt nesting have the concept of a
- maximum system call (or maximum API call) interrupt priority.
- Interrupts that are above the maximum system call priority are keep
- permanently enabled, even when the RTOS kernel is in a critical section,
- but cannot make any calls to FreeRTOS API functions. If configASSERT()
- is defined in FreeRTOSConfig.h then
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has
- been assigned a priority above the configured maximum system call
- priority. Only FreeRTOS functions that end in FromISR can be called
- from interrupts that have been assigned a priority at or (logically)
- below the maximum system call interrupt priority. FreeRTOS maintains a
- separate interrupt safe API to ensure interrupt entry is as fast and as
- simple as possible. More information (albeit Cortex-M specific) is
- provided on the following link:
- https://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- uxSavedInterruptState = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- /* If null is passed in here then it is the priority of the calling
- task that is being queried. */
- pxTCB = prvGetTCBFromHandle( xTask );
- uxReturn = pxTCB->uxPriority;
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptState );
-
- return uxReturn;
- }
-
-#endif /* INCLUDE_uxTaskPriorityGet */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskPrioritySet == 1 )
-
- void vTaskPrioritySet( TaskHandle_t xTask, UBaseType_t uxNewPriority )
- {
- TCB_t *pxTCB;
- UBaseType_t uxCurrentBasePriority, uxPriorityUsedOnEntry;
- BaseType_t xYieldRequired = pdFALSE;
-
- configASSERT( ( uxNewPriority < configMAX_PRIORITIES ) );
-
- /* Ensure the new priority is valid. */
- if( uxNewPriority >= ( UBaseType_t ) configMAX_PRIORITIES )
- {
- uxNewPriority = ( UBaseType_t ) configMAX_PRIORITIES - ( UBaseType_t ) 1U;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- taskENTER_CRITICAL();
- {
- /* If null is passed in here then it is the priority of the calling
- task that is being changed. */
- pxTCB = prvGetTCBFromHandle( xTask );
-
- traceTASK_PRIORITY_SET( pxTCB, uxNewPriority );
-
- #if ( configUSE_MUTEXES == 1 )
- {
- uxCurrentBasePriority = pxTCB->uxBasePriority;
- }
- #else
- {
- uxCurrentBasePriority = pxTCB->uxPriority;
- }
- #endif
-
- if( uxCurrentBasePriority != uxNewPriority )
- {
- /* The priority change may have readied a task of higher
- priority than the calling task. */
- if( uxNewPriority > uxCurrentBasePriority )
- {
- if( pxTCB != pxCurrentTCB )
- {
- /* The priority of a task other than the currently
- running task is being raised. Is the priority being
- raised above that of the running task? */
- if( uxNewPriority >= pxCurrentTCB->uxPriority )
- {
- xYieldRequired = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- /* The priority of the running task is being raised,
- but the running task must already be the highest
- priority task able to run so no yield is required. */
- }
- }
- else if( pxTCB == pxCurrentTCB )
- {
- /* Setting the priority of the running task down means
- there may now be another task of higher priority that
- is ready to execute. */
- xYieldRequired = pdTRUE;
- }
- else
- {
- /* Setting the priority of any other task down does not
- require a yield as the running task must be above the
- new priority of the task being modified. */
- }
-
- /* Remember the ready list the task might be referenced from
- before its uxPriority member is changed so the
- taskRESET_READY_PRIORITY() macro can function correctly. */
- uxPriorityUsedOnEntry = pxTCB->uxPriority;
-
- #if ( configUSE_MUTEXES == 1 )
- {
- /* Only change the priority being used if the task is not
- currently using an inherited priority. */
- if( pxTCB->uxBasePriority == pxTCB->uxPriority )
- {
- pxTCB->uxPriority = uxNewPriority;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* The base priority gets set whatever. */
- pxTCB->uxBasePriority = uxNewPriority;
- }
- #else
- {
- pxTCB->uxPriority = uxNewPriority;
- }
- #endif
-
- /* Only reset the event list item value if the value is not
- being used for anything else. */
- if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
- {
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxNewPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* If the task is in the blocked or suspended list we need do
- nothing more than change its priority variable. However, if
- the task is in a ready list it needs to be removed and placed
- in the list appropriate to its new priority. */
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
- {
- /* The task is currently in its ready list - remove before
- adding it to it's new ready list. As we are in a critical
- section we can do this even if the scheduler is suspended. */
- if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* It is known that the task is in its ready list so
- there is no need to check again and the port level
- reset macro can be called directly. */
- portRESET_READY_PRIORITY( uxPriorityUsedOnEntry, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- prvAddTaskToReadyList( pxTCB );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( xYieldRequired != pdFALSE )
- {
- taskYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Remove compiler warning about unused variables when the port
- optimised task selection is not being used. */
- ( void ) uxPriorityUsedOnEntry;
- }
- }
- taskEXIT_CRITICAL();
- }
-
-#endif /* INCLUDE_vTaskPrioritySet */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- void vTaskSuspend( TaskHandle_t xTaskToSuspend )
- {
- TCB_t *pxTCB;
-
- taskENTER_CRITICAL();
- {
- /* If null is passed in here then it is the running task that is
- being suspended. */
- pxTCB = prvGetTCBFromHandle( xTaskToSuspend );
-
- traceTASK_SUSPEND( pxTCB );
-
- /* Remove task from the ready/delayed list and place in the
- suspended list. */
- if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- taskRESET_READY_PRIORITY( pxTCB->uxPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Is the task waiting on an event also? */
- if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
- {
- ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- vListInsertEnd( &xSuspendedTaskList, &( pxTCB->xStateListItem ) );
-
- #if( configUSE_TASK_NOTIFICATIONS == 1 )
- {
- if( pxTCB->ucNotifyState == taskWAITING_NOTIFICATION )
- {
- /* The task was blocked to wait for a notification, but is
- now suspended, so no notification was received. */
- pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
- }
- }
- #endif
- }
- taskEXIT_CRITICAL();
-
- if( xSchedulerRunning != pdFALSE )
- {
- /* Reset the next expected unblock time in case it referred to the
- task that is now in the Suspended state. */
- taskENTER_CRITICAL();
- {
- prvResetNextTaskUnblockTime();
- }
- taskEXIT_CRITICAL();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( pxTCB == pxCurrentTCB )
- {
- if( xSchedulerRunning != pdFALSE )
- {
- /* The current task has just been suspended. */
- configASSERT( uxSchedulerSuspended == 0 );
- portYIELD_WITHIN_API();
- }
- else
- {
- /* The scheduler is not running, but the task that was pointed
- to by pxCurrentTCB has just been suspended and pxCurrentTCB
- must be adjusted to point to a different task. */
- if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == uxCurrentNumberOfTasks ) /*lint !e931 Right has no side effect, just volatile. */
- {
- /* No other tasks are ready, so set pxCurrentTCB back to
- NULL so when the next task is created pxCurrentTCB will
- be set to point to it no matter what its relative priority
- is. */
- pxCurrentTCB = NULL;
- }
- else
- {
- vTaskSwitchContext();
- }
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* INCLUDE_vTaskSuspend */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- static BaseType_t prvTaskIsTaskSuspended( const TaskHandle_t xTask )
- {
- BaseType_t xReturn = pdFALSE;
- const TCB_t * const pxTCB = xTask;
-
- /* Accesses xPendingReadyList so must be called from a critical
- section. */
-
- /* It does not make sense to check if the calling task is suspended. */
- configASSERT( xTask );
-
- /* Is the task being resumed actually in the suspended list? */
- if( listIS_CONTAINED_WITHIN( &xSuspendedTaskList, &( pxTCB->xStateListItem ) ) != pdFALSE )
- {
- /* Has the task already been resumed from within an ISR? */
- if( listIS_CONTAINED_WITHIN( &xPendingReadyList, &( pxTCB->xEventListItem ) ) == pdFALSE )
- {
- /* Is it in the suspended list because it is in the Suspended
- state, or because is is blocked with no timeout? */
- if( listIS_CONTAINED_WITHIN( NULL, &( pxTCB->xEventListItem ) ) != pdFALSE ) /*lint !e961. The cast is only redundant when NULL is used. */
- {
- xReturn = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xReturn;
- } /*lint !e818 xTask cannot be a pointer to const because it is a typedef. */
-
-#endif /* INCLUDE_vTaskSuspend */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskSuspend == 1 )
-
- void vTaskResume( TaskHandle_t xTaskToResume )
- {
- TCB_t * const pxTCB = xTaskToResume;
-
- /* It does not make sense to resume the calling task. */
- configASSERT( xTaskToResume );
-
- /* The parameter cannot be NULL as it is impossible to resume the
- currently executing task. */
- if( ( pxTCB != pxCurrentTCB ) && ( pxTCB != NULL ) )
- {
- taskENTER_CRITICAL();
- {
- if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
- {
- traceTASK_RESUME( pxTCB );
-
- /* The ready list can be accessed even if the scheduler is
- suspended because this is inside a critical section. */
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxTCB );
-
- /* A higher priority task may have just been resumed. */
- if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- /* This yield may not cause the task just resumed to run,
- but will leave the lists in the correct state for the
- next yield. */
- taskYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* INCLUDE_vTaskSuspend */
-
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) )
-
- BaseType_t xTaskResumeFromISR( TaskHandle_t xTaskToResume )
- {
- BaseType_t xYieldRequired = pdFALSE;
- TCB_t * const pxTCB = xTaskToResume;
- UBaseType_t uxSavedInterruptStatus;
-
- configASSERT( xTaskToResume );
-
- /* RTOS ports that support interrupt nesting have the concept of a
- maximum system call (or maximum API call) interrupt priority.
- Interrupts that are above the maximum system call priority are keep
- permanently enabled, even when the RTOS kernel is in a critical section,
- but cannot make any calls to FreeRTOS API functions. If configASSERT()
- is defined in FreeRTOSConfig.h then
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has
- been assigned a priority above the configured maximum system call
- priority. Only FreeRTOS functions that end in FromISR can be called
- from interrupts that have been assigned a priority at or (logically)
- below the maximum system call interrupt priority. FreeRTOS maintains a
- separate interrupt safe API to ensure interrupt entry is as fast and as
- simple as possible. More information (albeit Cortex-M specific) is
- provided on the following link:
- https://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- if( prvTaskIsTaskSuspended( pxTCB ) != pdFALSE )
- {
- traceTASK_RESUME_FROM_ISR( pxTCB );
-
- /* Check the ready lists can be accessed. */
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- /* Ready lists can be accessed so move the task from the
- suspended list to the ready list directly. */
- if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- xYieldRequired = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxTCB );
- }
- else
- {
- /* The delayed or ready lists cannot be accessed so the task
- is held in the pending ready list until the scheduler is
- unsuspended. */
- vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xYieldRequired;
- }
-
-#endif /* ( ( INCLUDE_xTaskResumeFromISR == 1 ) && ( INCLUDE_vTaskSuspend == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-void vTaskStartScheduler( void )
-{
-BaseType_t xReturn;
-
- /* Add the idle task at the lowest priority. */
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
- {
- StaticTask_t *pxIdleTaskTCBBuffer = NULL;
- StackType_t *pxIdleTaskStackBuffer = NULL;
- uint32_t ulIdleTaskStackSize;
-
- /* The Idle task is created using user provided RAM - obtain the
- address of the RAM then create the idle task. */
- vApplicationGetIdleTaskMemory( &pxIdleTaskTCBBuffer, &pxIdleTaskStackBuffer, &ulIdleTaskStackSize );
- xIdleTaskHandle = xTaskCreateStatic( prvIdleTask,
- configIDLE_TASK_NAME,
- ulIdleTaskStackSize,
- ( void * ) NULL, /*lint !e961. The cast is not redundant for all compilers. */
- portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
- pxIdleTaskStackBuffer,
- pxIdleTaskTCBBuffer ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
-
- if( xIdleTaskHandle != NULL )
- {
- xReturn = pdPASS;
- }
- else
- {
- xReturn = pdFAIL;
- }
- }
- #else
- {
- /* The Idle task is being created using dynamically allocated RAM. */
- xReturn = xTaskCreate( prvIdleTask,
- configIDLE_TASK_NAME,
- configMINIMAL_STACK_SIZE,
- ( void * ) NULL,
- portPRIVILEGE_BIT, /* In effect ( tskIDLE_PRIORITY | portPRIVILEGE_BIT ), but tskIDLE_PRIORITY is zero. */
- &xIdleTaskHandle ); /*lint !e961 MISRA exception, justified as it is not a redundant explicit cast to all supported compilers. */
- }
- #endif /* configSUPPORT_STATIC_ALLOCATION */
-
- #if ( configUSE_TIMERS == 1 )
- {
- if( xReturn == pdPASS )
- {
- xReturn = xTimerCreateTimerTask();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_TIMERS */
-
- if( xReturn == pdPASS )
- {
- /* freertos_tasks_c_additions_init() should only be called if the user
- definable macro FREERTOS_TASKS_C_ADDITIONS_INIT() is defined, as that is
- the only macro called by the function. */
- #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
- {
- freertos_tasks_c_additions_init();
- }
- #endif
-
- /* Interrupts are turned off here, to ensure a tick does not occur
- before or during the call to xPortStartScheduler(). The stacks of
- the created tasks contain a status word with interrupts switched on
- so interrupts will automatically get re-enabled when the first task
- starts to run. */
- portDISABLE_INTERRUPTS();
-
- #if ( configUSE_NEWLIB_REENTRANT == 1 )
- {
- /* Switch Newlib's _impure_ptr variable to point to the _reent
- structure specific to the task that will run first.
- See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
- for additional information. */
- _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
- }
- #endif /* configUSE_NEWLIB_REENTRANT */
-
- xNextTaskUnblockTime = portMAX_DELAY;
- xSchedulerRunning = pdTRUE;
- xTickCount = ( TickType_t ) configINITIAL_TICK_COUNT;
-
- /* If configGENERATE_RUN_TIME_STATS is defined then the following
- macro must be defined to configure the timer/counter used to generate
- the run time counter time base. NOTE: If configGENERATE_RUN_TIME_STATS
- is set to 0 and the following line fails to build then ensure you do not
- have portCONFIGURE_TIMER_FOR_RUN_TIME_STATS() defined in your
- FreeRTOSConfig.h file. */
- portCONFIGURE_TIMER_FOR_RUN_TIME_STATS();
-
- traceTASK_SWITCHED_IN();
-
- /* Setting up the timer tick is hardware specific and thus in the
- portable interface. */
- if( xPortStartScheduler() != pdFALSE )
- {
- /* Should not reach here as if the scheduler is running the
- function will not return. */
- }
- else
- {
- /* Should only reach here if a task calls xTaskEndScheduler(). */
- }
- }
- else
- {
- /* This line will only be reached if the kernel could not be started,
- because there was not enough FreeRTOS heap to create the idle task
- or the timer task. */
- configASSERT( xReturn != errCOULD_NOT_ALLOCATE_REQUIRED_MEMORY );
- }
-
- /* Prevent compiler warnings if INCLUDE_xTaskGetIdleTaskHandle is set to 0,
- meaning xIdleTaskHandle is not used anywhere else. */
- ( void ) xIdleTaskHandle;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskEndScheduler( void )
-{
- /* Stop the scheduler interrupts and call the portable scheduler end
- routine so the original ISRs can be restored if necessary. The port
- layer must ensure interrupts enable bit is left in the correct state. */
- portDISABLE_INTERRUPTS();
- xSchedulerRunning = pdFALSE;
- vPortEndScheduler();
-}
-/*----------------------------------------------------------*/
-
-void vTaskSuspendAll( void )
-{
- /* A critical section is not required as the variable is of type
- BaseType_t. Please read Richard Barry's reply in the following link to a
- post in the FreeRTOS support forum before reporting this as a bug! -
- http://goo.gl/wu4acr */
-
- /* portSOFRWARE_BARRIER() is only implemented for emulated/simulated ports that
- do not otherwise exhibit real time behaviour. */
- portSOFTWARE_BARRIER();
-
- /* The scheduler is suspended if uxSchedulerSuspended is non-zero. An increment
- is used to allow calls to vTaskSuspendAll() to nest. */
- ++uxSchedulerSuspended;
-
- /* Enforces ordering for ports and optimised compilers that may otherwise place
- the above increment elsewhere. */
- portMEMORY_BARRIER();
-}
-/*----------------------------------------------------------*/
-
-#if ( configUSE_TICKLESS_IDLE != 0 )
-
- static TickType_t prvGetExpectedIdleTime( void )
- {
- TickType_t xReturn;
- UBaseType_t uxHigherPriorityReadyTasks = pdFALSE;
-
- /* uxHigherPriorityReadyTasks takes care of the case where
- configUSE_PREEMPTION is 0, so there may be tasks above the idle priority
- task that are in the Ready state, even though the idle task is
- running. */
- #if( configUSE_PORT_OPTIMISED_TASK_SELECTION == 0 )
- {
- if( uxTopReadyPriority > tskIDLE_PRIORITY )
- {
- uxHigherPriorityReadyTasks = pdTRUE;
- }
- }
- #else
- {
- const UBaseType_t uxLeastSignificantBit = ( UBaseType_t ) 0x01;
-
- /* When port optimised task selection is used the uxTopReadyPriority
- variable is used as a bit map. If bits other than the least
- significant bit are set then there are tasks that have a priority
- above the idle priority that are in the Ready state. This takes
- care of the case where the co-operative scheduler is in use. */
- if( uxTopReadyPriority > uxLeastSignificantBit )
- {
- uxHigherPriorityReadyTasks = pdTRUE;
- }
- }
- #endif
-
- if( pxCurrentTCB->uxPriority > tskIDLE_PRIORITY )
- {
- xReturn = 0;
- }
- else if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > 1 )
- {
- /* There are other idle priority tasks in the ready state. If
- time slicing is used then the very next tick interrupt must be
- processed. */
- xReturn = 0;
- }
- else if( uxHigherPriorityReadyTasks != pdFALSE )
- {
- /* There are tasks in the Ready state that have a priority above the
- idle priority. This path can only be reached if
- configUSE_PREEMPTION is 0. */
- xReturn = 0;
- }
- else
- {
- xReturn = xNextTaskUnblockTime - xTickCount;
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_TICKLESS_IDLE */
-/*----------------------------------------------------------*/
-
-BaseType_t xTaskResumeAll( void )
-{
-TCB_t *pxTCB = NULL;
-BaseType_t xAlreadyYielded = pdFALSE;
-
- /* If uxSchedulerSuspended is zero then this function does not match a
- previous call to vTaskSuspendAll(). */
- configASSERT( uxSchedulerSuspended );
-
- /* It is possible that an ISR caused a task to be removed from an event
- list while the scheduler was suspended. If this was the case then the
- removed task will have been added to the xPendingReadyList. Once the
- scheduler has been resumed it is safe to move all the pending ready
- tasks from this list into their appropriate ready list. */
- taskENTER_CRITICAL();
- {
- --uxSchedulerSuspended;
-
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- if( uxCurrentNumberOfTasks > ( UBaseType_t ) 0U )
- {
- /* Move any readied tasks from the pending list into the
- appropriate ready list. */
- while( listLIST_IS_EMPTY( &xPendingReadyList ) == pdFALSE )
- {
- pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xPendingReadyList ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxTCB );
-
- /* If the moved task has a priority higher than the current
- task then a yield must be performed. */
- if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- xYieldPending = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- if( pxTCB != NULL )
- {
- /* A task was unblocked while the scheduler was suspended,
- which may have prevented the next unblock time from being
- re-calculated, in which case re-calculate it now. Mainly
- important for low power tickless implementations, where
- this can prevent an unnecessary exit from low power
- state. */
- prvResetNextTaskUnblockTime();
- }
-
- /* If any ticks occurred while the scheduler was suspended then
- they should be processed now. This ensures the tick count does
- not slip, and that any delayed tasks are resumed at the correct
- time. */
- {
- TickType_t xPendedCounts = xPendedTicks; /* Non-volatile copy. */
-
- if( xPendedCounts > ( TickType_t ) 0U )
- {
- do
- {
- if( xTaskIncrementTick() != pdFALSE )
- {
- xYieldPending = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- --xPendedCounts;
- } while( xPendedCounts > ( TickType_t ) 0U );
-
- xPendedTicks = 0;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- if( xYieldPending != pdFALSE )
- {
- #if( configUSE_PREEMPTION != 0 )
- {
- xAlreadyYielded = pdTRUE;
- }
- #endif
- taskYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- return xAlreadyYielded;
-}
-/*-----------------------------------------------------------*/
-
-TickType_t xTaskGetTickCount( void )
-{
-TickType_t xTicks;
-
- /* Critical section required if running on a 16 bit processor. */
- portTICK_TYPE_ENTER_CRITICAL();
- {
- xTicks = xTickCount;
- }
- portTICK_TYPE_EXIT_CRITICAL();
-
- return xTicks;
-}
-/*-----------------------------------------------------------*/
-
-TickType_t xTaskGetTickCountFromISR( void )
-{
-TickType_t xReturn;
-UBaseType_t uxSavedInterruptStatus;
-
- /* RTOS ports that support interrupt nesting have the concept of a maximum
- system call (or maximum API call) interrupt priority. Interrupts that are
- above the maximum system call priority are kept permanently enabled, even
- when the RTOS kernel is in a critical section, but cannot make any calls to
- FreeRTOS API functions. If configASSERT() is defined in FreeRTOSConfig.h
- then portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has been
- assigned a priority above the configured maximum system call priority.
- Only FreeRTOS functions that end in FromISR can be called from interrupts
- that have been assigned a priority at or (logically) below the maximum
- system call interrupt priority. FreeRTOS maintains a separate interrupt
- safe API to ensure interrupt entry is as fast and as simple as possible.
- More information (albeit Cortex-M specific) is provided on the following
- link: https://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- uxSavedInterruptStatus = portTICK_TYPE_SET_INTERRUPT_MASK_FROM_ISR();
- {
- xReturn = xTickCount;
- }
- portTICK_TYPE_CLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxTaskGetNumberOfTasks( void )
-{
- /* A critical section is not required because the variables are of type
- BaseType_t. */
- return uxCurrentNumberOfTasks;
-}
-/*-----------------------------------------------------------*/
-
-char *pcTaskGetName( TaskHandle_t xTaskToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-{
-TCB_t *pxTCB;
-
- /* If null is passed in here then the name of the calling task is being
- queried. */
- pxTCB = prvGetTCBFromHandle( xTaskToQuery );
- configASSERT( pxTCB );
- return &( pxTCB->pcTaskName[ 0 ] );
-}
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetHandle == 1 )
-
- static TCB_t *prvSearchForNameWithinSingleList( List_t *pxList, const char pcNameToQuery[] )
- {
- TCB_t *pxNextTCB, *pxFirstTCB, *pxReturn = NULL;
- UBaseType_t x;
- char cNextChar;
- BaseType_t xBreakLoop;
-
- /* This function is called with the scheduler suspended. */
-
- if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-
- do
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-
- /* Check each character in the name looking for a match or
- mismatch. */
- xBreakLoop = pdFALSE;
- for( x = ( UBaseType_t ) 0; x < ( UBaseType_t ) configMAX_TASK_NAME_LEN; x++ )
- {
- cNextChar = pxNextTCB->pcTaskName[ x ];
-
- if( cNextChar != pcNameToQuery[ x ] )
- {
- /* Characters didn't match. */
- xBreakLoop = pdTRUE;
- }
- else if( cNextChar == ( char ) 0x00 )
- {
- /* Both strings terminated, a match must have been
- found. */
- pxReturn = pxNextTCB;
- xBreakLoop = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- if( xBreakLoop != pdFALSE )
- {
- break;
- }
- }
-
- if( pxReturn != NULL )
- {
- /* The handle has been found. */
- break;
- }
-
- } while( pxNextTCB != pxFirstTCB );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return pxReturn;
- }
-
-#endif /* INCLUDE_xTaskGetHandle */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetHandle == 1 )
-
- TaskHandle_t xTaskGetHandle( const char *pcNameToQuery ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- {
- UBaseType_t uxQueue = configMAX_PRIORITIES;
- TCB_t* pxTCB;
-
- /* Task names will be truncated to configMAX_TASK_NAME_LEN - 1 bytes. */
- configASSERT( strlen( pcNameToQuery ) < configMAX_TASK_NAME_LEN );
-
- vTaskSuspendAll();
- {
- /* Search the ready lists. */
- do
- {
- uxQueue--;
- pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) &( pxReadyTasksLists[ uxQueue ] ), pcNameToQuery );
-
- if( pxTCB != NULL )
- {
- /* Found the handle. */
- break;
- }
-
- } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-
- /* Search the delayed lists. */
- if( pxTCB == NULL )
- {
- pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxDelayedTaskList, pcNameToQuery );
- }
-
- if( pxTCB == NULL )
- {
- pxTCB = prvSearchForNameWithinSingleList( ( List_t * ) pxOverflowDelayedTaskList, pcNameToQuery );
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( pxTCB == NULL )
- {
- /* Search the suspended list. */
- pxTCB = prvSearchForNameWithinSingleList( &xSuspendedTaskList, pcNameToQuery );
- }
- }
- #endif
-
- #if( INCLUDE_vTaskDelete == 1 )
- {
- if( pxTCB == NULL )
- {
- /* Search the deleted list. */
- pxTCB = prvSearchForNameWithinSingleList( &xTasksWaitingTermination, pcNameToQuery );
- }
- }
- #endif
- }
- ( void ) xTaskResumeAll();
-
- return pxTCB;
- }
-
-#endif /* INCLUDE_xTaskGetHandle */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- UBaseType_t uxTaskGetSystemState( TaskStatus_t * const pxTaskStatusArray, const UBaseType_t uxArraySize, uint32_t * const pulTotalRunTime )
- {
- UBaseType_t uxTask = 0, uxQueue = configMAX_PRIORITIES;
-
- vTaskSuspendAll();
- {
- /* Is there a space in the array for each task in the system? */
- if( uxArraySize >= uxCurrentNumberOfTasks )
- {
- /* Fill in an TaskStatus_t structure with information on each
- task in the Ready state. */
- do
- {
- uxQueue--;
- uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &( pxReadyTasksLists[ uxQueue ] ), eReady );
-
- } while( uxQueue > ( UBaseType_t ) tskIDLE_PRIORITY ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-
- /* Fill in an TaskStatus_t structure with information on each
- task in the Blocked state. */
- uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxDelayedTaskList, eBlocked );
- uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), ( List_t * ) pxOverflowDelayedTaskList, eBlocked );
-
- #if( INCLUDE_vTaskDelete == 1 )
- {
- /* Fill in an TaskStatus_t structure with information on
- each task that has been deleted but not yet cleaned up. */
- uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xTasksWaitingTermination, eDeleted );
- }
- #endif
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- /* Fill in an TaskStatus_t structure with information on
- each task in the Suspended state. */
- uxTask += prvListTasksWithinSingleList( &( pxTaskStatusArray[ uxTask ] ), &xSuspendedTaskList, eSuspended );
- }
- #endif
-
- #if ( configGENERATE_RUN_TIME_STATS == 1)
- {
- if( pulTotalRunTime != NULL )
- {
- #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
- portALT_GET_RUN_TIME_COUNTER_VALUE( ( *pulTotalRunTime ) );
- #else
- *pulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
- #endif
- }
- }
- #else
- {
- if( pulTotalRunTime != NULL )
- {
- *pulTotalRunTime = 0;
- }
- }
- #endif
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- ( void ) xTaskResumeAll();
-
- return uxTask;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskGetIdleTaskHandle == 1 )
-
- TaskHandle_t xTaskGetIdleTaskHandle( void )
- {
- /* If xTaskGetIdleTaskHandle() is called before the scheduler has been
- started, then xIdleTaskHandle will be NULL. */
- configASSERT( ( xIdleTaskHandle != NULL ) );
- return xIdleTaskHandle;
- }
-
-#endif /* INCLUDE_xTaskGetIdleTaskHandle */
-/*----------------------------------------------------------*/
-
-/* This conditional compilation should use inequality to 0, not equality to 1.
-This is to ensure vTaskStepTick() is available when user defined low power mode
-implementations require configUSE_TICKLESS_IDLE to be set to a value other than
-1. */
-#if ( configUSE_TICKLESS_IDLE != 0 )
-
- void vTaskStepTick( const TickType_t xTicksToJump )
- {
- /* Correct the tick count value after a period during which the tick
- was suppressed. Note this does *not* call the tick hook function for
- each stepped tick. */
- configASSERT( ( xTickCount + xTicksToJump ) <= xNextTaskUnblockTime );
- xTickCount += xTicksToJump;
- traceINCREASE_TICK_COUNT( xTicksToJump );
- }
-
-#endif /* configUSE_TICKLESS_IDLE */
-/*----------------------------------------------------------*/
-
-BaseType_t xTaskCatchUpTicks( TickType_t xTicksToCatchUp )
-{
-BaseType_t xYieldRequired = pdFALSE;
-
- /* Must not be called with the scheduler suspended as the implementation
- relies on xPendedTicks being wound down to 0 in xTaskResumeAll(). */
- configASSERT( uxSchedulerSuspended == 0 );
-
- /* Use xPendedTicks to mimic xTicksToCatchUp number of ticks occurring when
- the scheduler is suspended so the ticks are executed in xTaskResumeAll(). */
- vTaskSuspendAll();
- xPendedTicks += xTicksToCatchUp;
- xYieldRequired = xTaskResumeAll();
-
- return xYieldRequired;
-}
-/*----------------------------------------------------------*/
-
-#if ( INCLUDE_xTaskAbortDelay == 1 )
-
- BaseType_t xTaskAbortDelay( TaskHandle_t xTask )
- {
- TCB_t *pxTCB = xTask;
- BaseType_t xReturn;
-
- configASSERT( pxTCB );
-
- vTaskSuspendAll();
- {
- /* A task can only be prematurely removed from the Blocked state if
- it is actually in the Blocked state. */
- if( eTaskGetState( xTask ) == eBlocked )
- {
- xReturn = pdPASS;
-
- /* Remove the reference to the task from the blocked list. An
- interrupt won't touch the xStateListItem because the
- scheduler is suspended. */
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-
- /* Is the task waiting on an event also? If so remove it from
- the event list too. Interrupts can touch the event list item,
- even though the scheduler is suspended, so a critical section
- is used. */
- taskENTER_CRITICAL();
- {
- if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
- {
- ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
-
- /* This lets the task know it was forcibly removed from the
- blocked state so it should not re-evaluate its block time and
- then block again. */
- pxTCB->ucDelayAborted = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- /* Place the unblocked task into the appropriate ready list. */
- prvAddTaskToReadyList( pxTCB );
-
- /* A task being unblocked cannot cause an immediate context
- switch if preemption is turned off. */
- #if ( configUSE_PREEMPTION == 1 )
- {
- /* Preemption is on, but a context switch should only be
- performed if the unblocked task has a priority that is
- equal to or higher than the currently executing task. */
- if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
- {
- /* Pend the yield to be performed when the scheduler
- is unsuspended. */
- xYieldPending = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_PREEMPTION */
- }
- else
- {
- xReturn = pdFAIL;
- }
- }
- ( void ) xTaskResumeAll();
-
- return xReturn;
- }
-
-#endif /* INCLUDE_xTaskAbortDelay */
-/*----------------------------------------------------------*/
-
-BaseType_t xTaskIncrementTick( void )
-{
-TCB_t * pxTCB;
-TickType_t xItemValue;
-BaseType_t xSwitchRequired = pdFALSE;
-
- /* Called by the portable layer each time a tick interrupt occurs.
- Increments the tick then checks to see if the new tick value will cause any
- tasks to be unblocked. */
- traceTASK_INCREMENT_TICK( xTickCount );
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- /* Minor optimisation. The tick count cannot change in this
- block. */
- const TickType_t xConstTickCount = xTickCount + ( TickType_t ) 1;
-
- /* Increment the RTOS tick, switching the delayed and overflowed
- delayed lists if it wraps to 0. */
- xTickCount = xConstTickCount;
-
- if( xConstTickCount == ( TickType_t ) 0U ) /*lint !e774 'if' does not always evaluate to false as it is looking for an overflow. */
- {
- taskSWITCH_DELAYED_LISTS();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* See if this tick has made a timeout expire. Tasks are stored in
- the queue in the order of their wake time - meaning once one task
- has been found whose block time has not expired there is no need to
- look any further down the list. */
- if( xConstTickCount >= xNextTaskUnblockTime )
- {
- for( ;; )
- {
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
- {
- /* The delayed list is empty. Set xNextTaskUnblockTime
- to the maximum possible value so it is extremely
- unlikely that the
- if( xTickCount >= xNextTaskUnblockTime ) test will pass
- next time through. */
- xNextTaskUnblockTime = portMAX_DELAY; /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- break;
- }
- else
- {
- /* The delayed list is not empty, get the value of the
- item at the head of the delayed list. This is the time
- at which the task at the head of the delayed list must
- be removed from the Blocked state. */
- pxTCB = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- xItemValue = listGET_LIST_ITEM_VALUE( &( pxTCB->xStateListItem ) );
-
- if( xConstTickCount < xItemValue )
- {
- /* It is not time to unblock this item yet, but the
- item value is the time at which the task at the head
- of the blocked list must be removed from the Blocked
- state - so record the item value in
- xNextTaskUnblockTime. */
- xNextTaskUnblockTime = xItemValue;
- break; /*lint !e9011 Code structure here is deedmed easier to understand with multiple breaks. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* It is time to remove the item from the Blocked state. */
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
-
- /* Is the task waiting on an event also? If so remove
- it from the event list. */
- if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
- {
- ( void ) uxListRemove( &( pxTCB->xEventListItem ) );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Place the unblocked task into the appropriate ready
- list. */
- prvAddTaskToReadyList( pxTCB );
-
- /* A task being unblocked cannot cause an immediate
- context switch if preemption is turned off. */
- #if ( configUSE_PREEMPTION == 1 )
- {
- /* Preemption is on, but a context switch should
- only be performed if the unblocked task has a
- priority that is equal to or higher than the
- currently executing task. */
- if( pxTCB->uxPriority >= pxCurrentTCB->uxPriority )
- {
- xSwitchRequired = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_PREEMPTION */
- }
- }
- }
-
- /* Tasks of equal priority to the currently running task will share
- processing time (time slice) if preemption is on, and the application
- writer has not explicitly turned time slicing off. */
- #if ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) )
- {
- if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ pxCurrentTCB->uxPriority ] ) ) > ( UBaseType_t ) 1 )
- {
- xSwitchRequired = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configUSE_TIME_SLICING == 1 ) ) */
-
- #if ( configUSE_TICK_HOOK == 1 )
- {
- /* Guard against the tick hook being called when the pended tick
- count is being unwound (when the scheduler is being unlocked). */
- if( xPendedTicks == ( TickType_t ) 0 )
- {
- vApplicationTickHook();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_TICK_HOOK */
-
- #if ( configUSE_PREEMPTION == 1 )
- {
- if( xYieldPending != pdFALSE )
- {
- xSwitchRequired = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_PREEMPTION */
- }
- else
- {
- ++xPendedTicks;
-
- /* The tick hook gets called at regular intervals, even if the
- scheduler is locked. */
- #if ( configUSE_TICK_HOOK == 1 )
- {
- vApplicationTickHook();
- }
- #endif
- }
-
- return xSwitchRequired;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- void vTaskSetApplicationTaskTag( TaskHandle_t xTask, TaskHookFunction_t pxHookFunction )
- {
- TCB_t *xTCB;
-
- /* If xTask is NULL then it is the task hook of the calling task that is
- getting set. */
- if( xTask == NULL )
- {
- xTCB = ( TCB_t * ) pxCurrentTCB;
- }
- else
- {
- xTCB = xTask;
- }
-
- /* Save the hook function in the TCB. A critical section is required as
- the value can be accessed from an interrupt. */
- taskENTER_CRITICAL();
- {
- xTCB->pxTaskTag = pxHookFunction;
- }
- taskEXIT_CRITICAL();
- }
-
-#endif /* configUSE_APPLICATION_TASK_TAG */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- TaskHookFunction_t xTaskGetApplicationTaskTag( TaskHandle_t xTask )
- {
- TCB_t *pxTCB;
- TaskHookFunction_t xReturn;
-
- /* If xTask is NULL then set the calling task's hook. */
- pxTCB = prvGetTCBFromHandle( xTask );
-
- /* Save the hook function in the TCB. A critical section is required as
- the value can be accessed from an interrupt. */
- taskENTER_CRITICAL();
- {
- xReturn = pxTCB->pxTaskTag;
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
- }
-
-#endif /* configUSE_APPLICATION_TASK_TAG */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- TaskHookFunction_t xTaskGetApplicationTaskTagFromISR( TaskHandle_t xTask )
- {
- TCB_t *pxTCB;
- TaskHookFunction_t xReturn;
- UBaseType_t uxSavedInterruptStatus;
-
- /* If xTask is NULL then set the calling task's hook. */
- pxTCB = prvGetTCBFromHandle( xTask );
-
- /* Save the hook function in the TCB. A critical section is required as
- the value can be accessed from an interrupt. */
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- xReturn = pxTCB->pxTaskTag;
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
- }
-
-#endif /* configUSE_APPLICATION_TASK_TAG */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_APPLICATION_TASK_TAG == 1 )
-
- BaseType_t xTaskCallApplicationTaskHook( TaskHandle_t xTask, void *pvParameter )
- {
- TCB_t *xTCB;
- BaseType_t xReturn;
-
- /* If xTask is NULL then we are calling our own task hook. */
- if( xTask == NULL )
- {
- xTCB = pxCurrentTCB;
- }
- else
- {
- xTCB = xTask;
- }
-
- if( xTCB->pxTaskTag != NULL )
- {
- xReturn = xTCB->pxTaskTag( pvParameter );
- }
- else
- {
- xReturn = pdFAIL;
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_APPLICATION_TASK_TAG */
-/*-----------------------------------------------------------*/
-
-void vTaskSwitchContext( void )
-{
- if( uxSchedulerSuspended != ( UBaseType_t ) pdFALSE )
- {
- /* The scheduler is currently suspended - do not allow a context
- switch. */
- xYieldPending = pdTRUE;
- }
- else
- {
- xYieldPending = pdFALSE;
- traceTASK_SWITCHED_OUT();
-
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- {
- #ifdef portALT_GET_RUN_TIME_COUNTER_VALUE
- portALT_GET_RUN_TIME_COUNTER_VALUE( ulTotalRunTime );
- #else
- ulTotalRunTime = portGET_RUN_TIME_COUNTER_VALUE();
- #endif
-
- /* Add the amount of time the task has been running to the
- accumulated time so far. The time the task started running was
- stored in ulTaskSwitchedInTime. Note that there is no overflow
- protection here so count values are only valid until the timer
- overflows. The guard against negative values is to protect
- against suspect run time stat counter implementations - which
- are provided by the application, not the kernel. */
- if( ulTotalRunTime > ulTaskSwitchedInTime )
- {
- pxCurrentTCB->ulRunTimeCounter += ( ulTotalRunTime - ulTaskSwitchedInTime );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- ulTaskSwitchedInTime = ulTotalRunTime;
- }
- #endif /* configGENERATE_RUN_TIME_STATS */
-
- /* Check for stack overflow, if configured. */
- taskCHECK_FOR_STACK_OVERFLOW();
-
- /* Before the currently running task is switched out, save its errno. */
- #if( configUSE_POSIX_ERRNO == 1 )
- {
- pxCurrentTCB->iTaskErrno = FreeRTOS_errno;
- }
- #endif
-
- /* Select a new task to run using either the generic C or port
- optimised asm code. */
- taskSELECT_HIGHEST_PRIORITY_TASK(); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- traceTASK_SWITCHED_IN();
-
- /* After the new task is switched in, update the global errno. */
- #if( configUSE_POSIX_ERRNO == 1 )
- {
- FreeRTOS_errno = pxCurrentTCB->iTaskErrno;
- }
- #endif
-
- #if ( configUSE_NEWLIB_REENTRANT == 1 )
- {
- /* Switch Newlib's _impure_ptr variable to point to the _reent
- structure specific to this task.
- See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
- for additional information. */
- _impure_ptr = &( pxCurrentTCB->xNewLib_reent );
- }
- #endif /* configUSE_NEWLIB_REENTRANT */
- }
-}
-/*-----------------------------------------------------------*/
-
-void vTaskPlaceOnEventList( List_t * const pxEventList, const TickType_t xTicksToWait )
-{
- configASSERT( pxEventList );
-
- /* THIS FUNCTION MUST BE CALLED WITH EITHER INTERRUPTS DISABLED OR THE
- SCHEDULER SUSPENDED AND THE QUEUE BEING ACCESSED LOCKED. */
-
- /* Place the event list item of the TCB in the appropriate event list.
- This is placed in the list in priority order so the highest priority task
- is the first to be woken by the event. The queue that contains the event
- list is locked, preventing simultaneous access from interrupts. */
- vListInsert( pxEventList, &( pxCurrentTCB->xEventListItem ) );
-
- prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
-}
-/*-----------------------------------------------------------*/
-
-void vTaskPlaceOnUnorderedEventList( List_t * pxEventList, const TickType_t xItemValue, const TickType_t xTicksToWait )
-{
- configASSERT( pxEventList );
-
- /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
- the event groups implementation. */
- configASSERT( uxSchedulerSuspended != 0 );
-
- /* Store the item value in the event list item. It is safe to access the
- event list item here as interrupts won't access the event list item of a
- task that is not in the Blocked state. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
-
- /* Place the event list item of the TCB at the end of the appropriate event
- list. It is safe to access the event list here because it is part of an
- event group implementation - and interrupts don't access event groups
- directly (instead they access them indirectly by pending function calls to
- the task level). */
- vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
-
- prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
-}
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TIMERS == 1 )
-
- void vTaskPlaceOnEventListRestricted( List_t * const pxEventList, TickType_t xTicksToWait, const BaseType_t xWaitIndefinitely )
- {
- configASSERT( pxEventList );
-
- /* This function should not be called by application code hence the
- 'Restricted' in its name. It is not part of the public API. It is
- designed for use by kernel code, and has special calling requirements -
- it should be called with the scheduler suspended. */
-
-
- /* Place the event list item of the TCB in the appropriate event list.
- In this case it is assume that this is the only task that is going to
- be waiting on this event list, so the faster vListInsertEnd() function
- can be used in place of vListInsert. */
- vListInsertEnd( pxEventList, &( pxCurrentTCB->xEventListItem ) );
-
- /* If the task should block indefinitely then set the block time to a
- value that will be recognised as an indefinite delay inside the
- prvAddCurrentTaskToDelayedList() function. */
- if( xWaitIndefinitely != pdFALSE )
- {
- xTicksToWait = portMAX_DELAY;
- }
-
- traceTASK_DELAY_UNTIL( ( xTickCount + xTicksToWait ) );
- prvAddCurrentTaskToDelayedList( xTicksToWait, xWaitIndefinitely );
- }
-
-#endif /* configUSE_TIMERS */
-/*-----------------------------------------------------------*/
-
-BaseType_t xTaskRemoveFromEventList( const List_t * const pxEventList )
-{
-TCB_t *pxUnblockedTCB;
-BaseType_t xReturn;
-
- /* THIS FUNCTION MUST BE CALLED FROM A CRITICAL SECTION. It can also be
- called from a critical section within an ISR. */
-
- /* The event list is sorted in priority order, so the first in the list can
- be removed as it is known to be the highest priority. Remove the TCB from
- the delayed list, and add it to the ready list.
-
- If an event is for a queue that is locked then this function will never
- get called - the lock count on the queue will get modified instead. This
- means exclusive access to the event list is guaranteed here.
-
- This function assumes that a check has already been made to ensure that
- pxEventList is not empty. */
- pxUnblockedTCB = listGET_OWNER_OF_HEAD_ENTRY( pxEventList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- configASSERT( pxUnblockedTCB );
- ( void ) uxListRemove( &( pxUnblockedTCB->xEventListItem ) );
-
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxUnblockedTCB );
-
- #if( configUSE_TICKLESS_IDLE != 0 )
- {
- /* If a task is blocked on a kernel object then xNextTaskUnblockTime
- might be set to the blocked task's time out time. If the task is
- unblocked for a reason other than a timeout xNextTaskUnblockTime is
- normally left unchanged, because it is automatically reset to a new
- value when the tick count equals xNextTaskUnblockTime. However if
- tickless idling is used it might be more important to enter sleep mode
- at the earliest possible time - so reset xNextTaskUnblockTime here to
- ensure it is updated at the earliest possible time. */
- prvResetNextTaskUnblockTime();
- }
- #endif
- }
- else
- {
- /* The delayed and ready lists cannot be accessed, so hold this task
- pending until the scheduler is resumed. */
- vListInsertEnd( &( xPendingReadyList ), &( pxUnblockedTCB->xEventListItem ) );
- }
-
- if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
- {
- /* Return true if the task removed from the event list has a higher
- priority than the calling task. This allows the calling task to know if
- it should force a context switch now. */
- xReturn = pdTRUE;
-
- /* Mark that a yield is pending in case the user is not using the
- "xHigherPriorityTaskWoken" parameter to an ISR safe FreeRTOS function. */
- xYieldPending = pdTRUE;
- }
- else
- {
- xReturn = pdFALSE;
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskRemoveFromUnorderedEventList( ListItem_t * pxEventListItem, const TickType_t xItemValue )
-{
-TCB_t *pxUnblockedTCB;
-
- /* THIS FUNCTION MUST BE CALLED WITH THE SCHEDULER SUSPENDED. It is used by
- the event flags implementation. */
- configASSERT( uxSchedulerSuspended != pdFALSE );
-
- /* Store the new item value in the event list. */
- listSET_LIST_ITEM_VALUE( pxEventListItem, xItemValue | taskEVENT_LIST_ITEM_VALUE_IN_USE );
-
- /* Remove the event list form the event flag. Interrupts do not access
- event flags. */
- pxUnblockedTCB = listGET_LIST_ITEM_OWNER( pxEventListItem ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- configASSERT( pxUnblockedTCB );
- ( void ) uxListRemove( pxEventListItem );
-
- #if( configUSE_TICKLESS_IDLE != 0 )
- {
- /* If a task is blocked on a kernel object then xNextTaskUnblockTime
- might be set to the blocked task's time out time. If the task is
- unblocked for a reason other than a timeout xNextTaskUnblockTime is
- normally left unchanged, because it is automatically reset to a new
- value when the tick count equals xNextTaskUnblockTime. However if
- tickless idling is used it might be more important to enter sleep mode
- at the earliest possible time - so reset xNextTaskUnblockTime here to
- ensure it is updated at the earliest possible time. */
- prvResetNextTaskUnblockTime();
- }
- #endif
-
- /* Remove the task from the delayed list and add it to the ready list. The
- scheduler is suspended so interrupts will not be accessing the ready
- lists. */
- ( void ) uxListRemove( &( pxUnblockedTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxUnblockedTCB );
-
- if( pxUnblockedTCB->uxPriority > pxCurrentTCB->uxPriority )
- {
- /* The unblocked task has a priority above that of the calling task, so
- a context switch is required. This function is called with the
- scheduler suspended so xYieldPending is set so the context switch
- occurs immediately that the scheduler is resumed (unsuspended). */
- xYieldPending = pdTRUE;
- }
-}
-/*-----------------------------------------------------------*/
-
-void vTaskSetTimeOutState( TimeOut_t * const pxTimeOut )
-{
- configASSERT( pxTimeOut );
- taskENTER_CRITICAL();
- {
- pxTimeOut->xOverflowCount = xNumOfOverflows;
- pxTimeOut->xTimeOnEntering = xTickCount;
- }
- taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-void vTaskInternalSetTimeOutState( TimeOut_t * const pxTimeOut )
-{
- /* For internal use only as it does not use a critical section. */
- pxTimeOut->xOverflowCount = xNumOfOverflows;
- pxTimeOut->xTimeOnEntering = xTickCount;
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xTaskCheckForTimeOut( TimeOut_t * const pxTimeOut, TickType_t * const pxTicksToWait )
-{
-BaseType_t xReturn;
-
- configASSERT( pxTimeOut );
- configASSERT( pxTicksToWait );
-
- taskENTER_CRITICAL();
- {
- /* Minor optimisation. The tick count cannot change in this block. */
- const TickType_t xConstTickCount = xTickCount;
- const TickType_t xElapsedTime = xConstTickCount - pxTimeOut->xTimeOnEntering;
-
- #if( INCLUDE_xTaskAbortDelay == 1 )
- if( pxCurrentTCB->ucDelayAborted != ( uint8_t ) pdFALSE )
- {
- /* The delay was aborted, which is not the same as a time out,
- but has the same result. */
- pxCurrentTCB->ucDelayAborted = pdFALSE;
- xReturn = pdTRUE;
- }
- else
- #endif
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- if( *pxTicksToWait == portMAX_DELAY )
- {
- /* If INCLUDE_vTaskSuspend is set to 1 and the block time
- specified is the maximum block time then the task should block
- indefinitely, and therefore never time out. */
- xReturn = pdFALSE;
- }
- else
- #endif
-
- if( ( xNumOfOverflows != pxTimeOut->xOverflowCount ) && ( xConstTickCount >= pxTimeOut->xTimeOnEntering ) ) /*lint !e525 Indentation preferred as is to make code within pre-processor directives clearer. */
- {
- /* The tick count is greater than the time at which
- vTaskSetTimeout() was called, but has also overflowed since
- vTaskSetTimeOut() was called. It must have wrapped all the way
- around and gone past again. This passed since vTaskSetTimeout()
- was called. */
- xReturn = pdTRUE;
- }
- else if( xElapsedTime < *pxTicksToWait ) /*lint !e961 Explicit casting is only redundant with some compilers, whereas others require it to prevent integer conversion errors. */
- {
- /* Not a genuine timeout. Adjust parameters for time remaining. */
- *pxTicksToWait -= xElapsedTime;
- vTaskInternalSetTimeOutState( pxTimeOut );
- xReturn = pdFALSE;
- }
- else
- {
- *pxTicksToWait = 0;
- xReturn = pdTRUE;
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTaskMissedYield( void )
-{
- xYieldPending = pdTRUE;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- UBaseType_t uxTaskGetTaskNumber( TaskHandle_t xTask )
- {
- UBaseType_t uxReturn;
- TCB_t const *pxTCB;
-
- if( xTask != NULL )
- {
- pxTCB = xTask;
- uxReturn = pxTCB->uxTaskNumber;
- }
- else
- {
- uxReturn = 0U;
- }
-
- return uxReturn;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vTaskSetTaskNumber( TaskHandle_t xTask, const UBaseType_t uxHandle )
- {
- TCB_t * pxTCB;
-
- if( xTask != NULL )
- {
- pxTCB = xTask;
- pxTCB->uxTaskNumber = uxHandle;
- }
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-
-/*
- * -----------------------------------------------------------
- * The Idle task.
- * ----------------------------------------------------------
- *
- * The portTASK_FUNCTION() macro is used to allow port/compiler specific
- * language extensions. The equivalent prototype for this function is:
- *
- * void prvIdleTask( void *pvParameters );
- *
- */
-static portTASK_FUNCTION( prvIdleTask, pvParameters )
-{
- /* Stop warnings. */
- ( void ) pvParameters;
-
- /** THIS IS THE RTOS IDLE TASK - WHICH IS CREATED AUTOMATICALLY WHEN THE
- SCHEDULER IS STARTED. **/
-
- /* In case a task that has a secure context deletes itself, in which case
- the idle task is responsible for deleting the task's secure context, if
- any. */
- portALLOCATE_SECURE_CONTEXT( configMINIMAL_SECURE_STACK_SIZE );
-
- for( ;; )
- {
- /* See if any tasks have deleted themselves - if so then the idle task
- is responsible for freeing the deleted task's TCB and stack. */
- prvCheckTasksWaitingTermination();
-
- #if ( configUSE_PREEMPTION == 0 )
- {
- /* If we are not using preemption we keep forcing a task switch to
- see if any other task has become available. If we are using
- preemption we don't need to do this as any task becoming available
- will automatically get the processor anyway. */
- taskYIELD();
- }
- #endif /* configUSE_PREEMPTION */
-
- #if ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) )
- {
- /* When using preemption tasks of equal priority will be
- timesliced. If a task that is sharing the idle priority is ready
- to run then the idle task should yield before the end of the
- timeslice.
-
- A critical region is not required here as we are just reading from
- the list, and an occasional incorrect value will not matter. If
- the ready list at the idle priority contains more than one task
- then a task other than the idle task is ready to execute. */
- if( listCURRENT_LIST_LENGTH( &( pxReadyTasksLists[ tskIDLE_PRIORITY ] ) ) > ( UBaseType_t ) 1 )
- {
- taskYIELD();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* ( ( configUSE_PREEMPTION == 1 ) && ( configIDLE_SHOULD_YIELD == 1 ) ) */
-
- #if ( configUSE_IDLE_HOOK == 1 )
- {
- extern void vApplicationIdleHook( void );
-
- /* Call the user defined function from within the idle task. This
- allows the application designer to add background functionality
- without the overhead of a separate task.
- NOTE: vApplicationIdleHook() MUST NOT, UNDER ANY CIRCUMSTANCES,
- CALL A FUNCTION THAT MIGHT BLOCK. */
- vApplicationIdleHook();
- }
- #endif /* configUSE_IDLE_HOOK */
-
- /* This conditional compilation should use inequality to 0, not equality
- to 1. This is to ensure portSUPPRESS_TICKS_AND_SLEEP() is called when
- user defined low power mode implementations require
- configUSE_TICKLESS_IDLE to be set to a value other than 1. */
- #if ( configUSE_TICKLESS_IDLE != 0 )
- {
- TickType_t xExpectedIdleTime;
-
- /* It is not desirable to suspend then resume the scheduler on
- each iteration of the idle task. Therefore, a preliminary
- test of the expected idle time is performed without the
- scheduler suspended. The result here is not necessarily
- valid. */
- xExpectedIdleTime = prvGetExpectedIdleTime();
-
- if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
- {
- vTaskSuspendAll();
- {
- /* Now the scheduler is suspended, the expected idle
- time can be sampled again, and this time its value can
- be used. */
- configASSERT( xNextTaskUnblockTime >= xTickCount );
- xExpectedIdleTime = prvGetExpectedIdleTime();
-
- /* Define the following macro to set xExpectedIdleTime to 0
- if the application does not want
- portSUPPRESS_TICKS_AND_SLEEP() to be called. */
- configPRE_SUPPRESS_TICKS_AND_SLEEP_PROCESSING( xExpectedIdleTime );
-
- if( xExpectedIdleTime >= configEXPECTED_IDLE_TIME_BEFORE_SLEEP )
- {
- traceLOW_POWER_IDLE_BEGIN();
- portSUPPRESS_TICKS_AND_SLEEP( xExpectedIdleTime );
- traceLOW_POWER_IDLE_END();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- ( void ) xTaskResumeAll();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configUSE_TICKLESS_IDLE */
- }
-}
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TICKLESS_IDLE != 0 )
-
- eSleepModeStatus eTaskConfirmSleepModeStatus( void )
- {
- /* The idle task exists in addition to the application tasks. */
- const UBaseType_t uxNonApplicationTasks = 1;
- eSleepModeStatus eReturn = eStandardSleep;
-
- /* This function must be called from a critical section. */
-
- if( listCURRENT_LIST_LENGTH( &xPendingReadyList ) != 0 )
- {
- /* A task was made ready while the scheduler was suspended. */
- eReturn = eAbortSleep;
- }
- else if( xYieldPending != pdFALSE )
- {
- /* A yield was pended while the scheduler was suspended. */
- eReturn = eAbortSleep;
- }
- else
- {
- /* If all the tasks are in the suspended list (which might mean they
- have an infinite block time rather than actually being suspended)
- then it is safe to turn all clocks off and just wait for external
- interrupts. */
- if( listCURRENT_LIST_LENGTH( &xSuspendedTaskList ) == ( uxCurrentNumberOfTasks - uxNonApplicationTasks ) )
- {
- eReturn = eNoTasksWaitingTimeout;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- return eReturn;
- }
-
-#endif /* configUSE_TICKLESS_IDLE */
-/*-----------------------------------------------------------*/
-
-#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
-
- void vTaskSetThreadLocalStoragePointer( TaskHandle_t xTaskToSet, BaseType_t xIndex, void *pvValue )
- {
- TCB_t *pxTCB;
-
- if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
- {
- pxTCB = prvGetTCBFromHandle( xTaskToSet );
- configASSERT( pxTCB != NULL );
- pxTCB->pvThreadLocalStoragePointers[ xIndex ] = pvValue;
- }
- }
-
-#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
-/*-----------------------------------------------------------*/
-
-#if ( configNUM_THREAD_LOCAL_STORAGE_POINTERS != 0 )
-
- void *pvTaskGetThreadLocalStoragePointer( TaskHandle_t xTaskToQuery, BaseType_t xIndex )
- {
- void *pvReturn = NULL;
- TCB_t *pxTCB;
-
- if( xIndex < configNUM_THREAD_LOCAL_STORAGE_POINTERS )
- {
- pxTCB = prvGetTCBFromHandle( xTaskToQuery );
- pvReturn = pxTCB->pvThreadLocalStoragePointers[ xIndex ];
- }
- else
- {
- pvReturn = NULL;
- }
-
- return pvReturn;
- }
-
-#endif /* configNUM_THREAD_LOCAL_STORAGE_POINTERS */
-/*-----------------------------------------------------------*/
-
-#if ( portUSING_MPU_WRAPPERS == 1 )
-
- void vTaskAllocateMPURegions( TaskHandle_t xTaskToModify, const MemoryRegion_t * const xRegions )
- {
- TCB_t *pxTCB;
-
- /* If null is passed in here then we are modifying the MPU settings of
- the calling task. */
- pxTCB = prvGetTCBFromHandle( xTaskToModify );
-
- vPortStoreTaskMPUSettings( &( pxTCB->xMPUSettings ), xRegions, NULL, 0 );
- }
-
-#endif /* portUSING_MPU_WRAPPERS */
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseTaskLists( void )
-{
-UBaseType_t uxPriority;
-
- for( uxPriority = ( UBaseType_t ) 0U; uxPriority < ( UBaseType_t ) configMAX_PRIORITIES; uxPriority++ )
- {
- vListInitialise( &( pxReadyTasksLists[ uxPriority ] ) );
- }
-
- vListInitialise( &xDelayedTaskList1 );
- vListInitialise( &xDelayedTaskList2 );
- vListInitialise( &xPendingReadyList );
-
- #if ( INCLUDE_vTaskDelete == 1 )
- {
- vListInitialise( &xTasksWaitingTermination );
- }
- #endif /* INCLUDE_vTaskDelete */
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- vListInitialise( &xSuspendedTaskList );
- }
- #endif /* INCLUDE_vTaskSuspend */
-
- /* Start with pxDelayedTaskList using list1 and the pxOverflowDelayedTaskList
- using list2. */
- pxDelayedTaskList = &xDelayedTaskList1;
- pxOverflowDelayedTaskList = &xDelayedTaskList2;
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckTasksWaitingTermination( void )
-{
-
- /** THIS FUNCTION IS CALLED FROM THE RTOS IDLE TASK **/
-
- #if ( INCLUDE_vTaskDelete == 1 )
- {
- TCB_t *pxTCB;
-
- /* uxDeletedTasksWaitingCleanUp is used to prevent taskENTER_CRITICAL()
- being called too often in the idle task. */
- while( uxDeletedTasksWaitingCleanUp > ( UBaseType_t ) 0U )
- {
- taskENTER_CRITICAL();
- {
- pxTCB = listGET_OWNER_OF_HEAD_ENTRY( ( &xTasksWaitingTermination ) ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- --uxCurrentNumberOfTasks;
- --uxDeletedTasksWaitingCleanUp;
- }
- taskEXIT_CRITICAL();
-
- prvDeleteTCB( pxTCB );
- }
- }
- #endif /* INCLUDE_vTaskDelete */
-}
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TRACE_FACILITY == 1 )
-
- void vTaskGetInfo( TaskHandle_t xTask, TaskStatus_t *pxTaskStatus, BaseType_t xGetFreeStackSpace, eTaskState eState )
- {
- TCB_t *pxTCB;
-
- /* xTask is NULL then get the state of the calling task. */
- pxTCB = prvGetTCBFromHandle( xTask );
-
- pxTaskStatus->xHandle = ( TaskHandle_t ) pxTCB;
- pxTaskStatus->pcTaskName = ( const char * ) &( pxTCB->pcTaskName [ 0 ] );
- pxTaskStatus->uxCurrentPriority = pxTCB->uxPriority;
- pxTaskStatus->pxStackBase = pxTCB->pxStack;
- pxTaskStatus->xTaskNumber = pxTCB->uxTCBNumber;
-
- #if ( configUSE_MUTEXES == 1 )
- {
- pxTaskStatus->uxBasePriority = pxTCB->uxBasePriority;
- }
- #else
- {
- pxTaskStatus->uxBasePriority = 0;
- }
- #endif
-
- #if ( configGENERATE_RUN_TIME_STATS == 1 )
- {
- pxTaskStatus->ulRunTimeCounter = pxTCB->ulRunTimeCounter;
- }
- #else
- {
- pxTaskStatus->ulRunTimeCounter = 0;
- }
- #endif
-
- /* Obtaining the task state is a little fiddly, so is only done if the
- value of eState passed into this function is eInvalid - otherwise the
- state is just set to whatever is passed in. */
- if( eState != eInvalid )
- {
- if( pxTCB == pxCurrentTCB )
- {
- pxTaskStatus->eCurrentState = eRunning;
- }
- else
- {
- pxTaskStatus->eCurrentState = eState;
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- /* If the task is in the suspended list then there is a
- chance it is actually just blocked indefinitely - so really
- it should be reported as being in the Blocked state. */
- if( eState == eSuspended )
- {
- vTaskSuspendAll();
- {
- if( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) != NULL )
- {
- pxTaskStatus->eCurrentState = eBlocked;
- }
- }
- ( void ) xTaskResumeAll();
- }
- }
- #endif /* INCLUDE_vTaskSuspend */
- }
- }
- else
- {
- pxTaskStatus->eCurrentState = eTaskGetState( pxTCB );
- }
-
- /* Obtaining the stack space takes some time, so the xGetFreeStackSpace
- parameter is provided to allow it to be skipped. */
- if( xGetFreeStackSpace != pdFALSE )
- {
- #if ( portSTACK_GROWTH > 0 )
- {
- pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxEndOfStack );
- }
- #else
- {
- pxTaskStatus->usStackHighWaterMark = prvTaskCheckFreeStackSpace( ( uint8_t * ) pxTCB->pxStack );
- }
- #endif
- }
- else
- {
- pxTaskStatus->usStackHighWaterMark = 0;
- }
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- static UBaseType_t prvListTasksWithinSingleList( TaskStatus_t *pxTaskStatusArray, List_t *pxList, eTaskState eState )
- {
- configLIST_VOLATILE TCB_t *pxNextTCB, *pxFirstTCB;
- UBaseType_t uxTask = 0;
-
- if( listCURRENT_LIST_LENGTH( pxList ) > ( UBaseType_t ) 0 )
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxFirstTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-
- /* Populate an TaskStatus_t structure within the
- pxTaskStatusArray array for each task that is referenced from
- pxList. See the definition of TaskStatus_t in task.h for the
- meaning of each TaskStatus_t structure member. */
- do
- {
- listGET_OWNER_OF_NEXT_ENTRY( pxNextTCB, pxList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- vTaskGetInfo( ( TaskHandle_t ) pxNextTCB, &( pxTaskStatusArray[ uxTask ] ), pdTRUE, eState );
- uxTask++;
- } while( pxNextTCB != pxFirstTCB );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return uxTask;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) )
-
- static configSTACK_DEPTH_TYPE prvTaskCheckFreeStackSpace( const uint8_t * pucStackByte )
- {
- uint32_t ulCount = 0U;
-
- while( *pucStackByte == ( uint8_t ) tskSTACK_FILL_BYTE )
- {
- pucStackByte -= portSTACK_GROWTH;
- ulCount++;
- }
-
- ulCount /= ( uint32_t ) sizeof( StackType_t ); /*lint !e961 Casting is not redundant on smaller architectures. */
-
- return ( configSTACK_DEPTH_TYPE ) ulCount;
- }
-
-#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark == 1 ) || ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskGetStackHighWaterMark2 == 1 )
-
- /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are the
- same except for their return type. Using configSTACK_DEPTH_TYPE allows the
- user to determine the return type. It gets around the problem of the value
- overflowing on 8-bit types without breaking backward compatibility for
- applications that expect an 8-bit return type. */
- configSTACK_DEPTH_TYPE uxTaskGetStackHighWaterMark2( TaskHandle_t xTask )
- {
- TCB_t *pxTCB;
- uint8_t *pucEndOfStack;
- configSTACK_DEPTH_TYPE uxReturn;
-
- /* uxTaskGetStackHighWaterMark() and uxTaskGetStackHighWaterMark2() are
- the same except for their return type. Using configSTACK_DEPTH_TYPE
- allows the user to determine the return type. It gets around the
- problem of the value overflowing on 8-bit types without breaking
- backward compatibility for applications that expect an 8-bit return
- type. */
-
- pxTCB = prvGetTCBFromHandle( xTask );
-
- #if portSTACK_GROWTH < 0
- {
- pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
- }
- #else
- {
- pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
- }
- #endif
-
- uxReturn = prvTaskCheckFreeStackSpace( pucEndOfStack );
-
- return uxReturn;
- }
-
-#endif /* INCLUDE_uxTaskGetStackHighWaterMark2 */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_uxTaskGetStackHighWaterMark == 1 )
-
- UBaseType_t uxTaskGetStackHighWaterMark( TaskHandle_t xTask )
- {
- TCB_t *pxTCB;
- uint8_t *pucEndOfStack;
- UBaseType_t uxReturn;
-
- pxTCB = prvGetTCBFromHandle( xTask );
-
- #if portSTACK_GROWTH < 0
- {
- pucEndOfStack = ( uint8_t * ) pxTCB->pxStack;
- }
- #else
- {
- pucEndOfStack = ( uint8_t * ) pxTCB->pxEndOfStack;
- }
- #endif
-
- uxReturn = ( UBaseType_t ) prvTaskCheckFreeStackSpace( pucEndOfStack );
-
- return uxReturn;
- }
-
-#endif /* INCLUDE_uxTaskGetStackHighWaterMark */
-/*-----------------------------------------------------------*/
-
-#if ( INCLUDE_vTaskDelete == 1 )
-
- static void prvDeleteTCB( TCB_t *pxTCB )
- {
- /* This call is required specifically for the TriCore port. It must be
- above the vPortFree() calls. The call is also used by ports/demos that
- want to allocate and clean RAM statically. */
- portCLEAN_UP_TCB( pxTCB );
-
- /* Free up the memory allocated by the scheduler for the task. It is up
- to the task to free any memory allocated at the application level.
- See the third party link http://www.nadler.com/embedded/newlibAndFreeRTOS.html
- for additional information. */
- #if ( configUSE_NEWLIB_REENTRANT == 1 )
- {
- _reclaim_reent( &( pxTCB->xNewLib_reent ) );
- }
- #endif /* configUSE_NEWLIB_REENTRANT */
-
- #if( ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) && ( configSUPPORT_STATIC_ALLOCATION == 0 ) && ( portUSING_MPU_WRAPPERS == 0 ) )
- {
- /* The task can only have been allocated dynamically - free both
- the stack and TCB. */
- vPortFree( pxTCB->pxStack );
- vPortFree( pxTCB );
- }
- #elif( tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE != 0 ) /*lint !e731 !e9029 Macro has been consolidated for readability reasons. */
- {
- /* The task could have been allocated statically or dynamically, so
- check what was statically allocated before trying to free the
- memory. */
- if( pxTCB->ucStaticallyAllocated == tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB )
- {
- /* Both the stack and TCB were allocated dynamically, so both
- must be freed. */
- vPortFree( pxTCB->pxStack );
- vPortFree( pxTCB );
- }
- else if( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_ONLY )
- {
- /* Only the stack was statically allocated, so the TCB is the
- only memory that must be freed. */
- vPortFree( pxTCB );
- }
- else
- {
- /* Neither the stack nor the TCB were allocated dynamically, so
- nothing needs to be freed. */
- configASSERT( pxTCB->ucStaticallyAllocated == tskSTATICALLY_ALLOCATED_STACK_AND_TCB );
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
- }
-
-#endif /* INCLUDE_vTaskDelete */
-/*-----------------------------------------------------------*/
-
-static void prvResetNextTaskUnblockTime( void )
-{
-TCB_t *pxTCB;
-
- if( listLIST_IS_EMPTY( pxDelayedTaskList ) != pdFALSE )
- {
- /* The new current delayed list is empty. Set xNextTaskUnblockTime to
- the maximum possible value so it is extremely unlikely that the
- if( xTickCount >= xNextTaskUnblockTime ) test will pass until
- there is an item in the delayed list. */
- xNextTaskUnblockTime = portMAX_DELAY;
- }
- else
- {
- /* The new current delayed list is not empty, get the value of
- the item at the head of the delayed list. This is the time at
- which the task at the head of the delayed list should be removed
- from the Blocked state. */
- ( pxTCB ) = listGET_OWNER_OF_HEAD_ENTRY( pxDelayedTaskList ); /*lint !e9079 void * is used as this macro is used with timers and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- xNextTaskUnblockTime = listGET_LIST_ITEM_VALUE( &( ( pxTCB )->xStateListItem ) );
- }
-}
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) )
-
- TaskHandle_t xTaskGetCurrentTaskHandle( void )
- {
- TaskHandle_t xReturn;
-
- /* A critical section is not required as this is not called from
- an interrupt and the current TCB will always be the same for any
- individual execution thread. */
- xReturn = pxCurrentTCB;
-
- return xReturn;
- }
-
-#endif /* ( ( INCLUDE_xTaskGetCurrentTaskHandle == 1 ) || ( configUSE_MUTEXES == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-#if ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) )
-
- BaseType_t xTaskGetSchedulerState( void )
- {
- BaseType_t xReturn;
-
- if( xSchedulerRunning == pdFALSE )
- {
- xReturn = taskSCHEDULER_NOT_STARTED;
- }
- else
- {
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- xReturn = taskSCHEDULER_RUNNING;
- }
- else
- {
- xReturn = taskSCHEDULER_SUSPENDED;
- }
- }
-
- return xReturn;
- }
-
-#endif /* ( ( INCLUDE_xTaskGetSchedulerState == 1 ) || ( configUSE_TIMERS == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
- BaseType_t xTaskPriorityInherit( TaskHandle_t const pxMutexHolder )
- {
- TCB_t * const pxMutexHolderTCB = pxMutexHolder;
- BaseType_t xReturn = pdFALSE;
-
- /* If the mutex was given back by an interrupt while the queue was
- locked then the mutex holder might now be NULL. _RB_ Is this still
- needed as interrupts can no longer use mutexes? */
- if( pxMutexHolder != NULL )
- {
- /* If the holder of the mutex has a priority below the priority of
- the task attempting to obtain the mutex then it will temporarily
- inherit the priority of the task attempting to obtain the mutex. */
- if( pxMutexHolderTCB->uxPriority < pxCurrentTCB->uxPriority )
- {
- /* Adjust the mutex holder state to account for its new
- priority. Only reset the event list item value if the value is
- not being used for anything else. */
- if( ( listGET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
- {
- listSET_LIST_ITEM_VALUE( &( pxMutexHolderTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* If the task being modified is in the ready state it will need
- to be moved into a new list. */
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ pxMutexHolderTCB->uxPriority ] ), &( pxMutexHolderTCB->xStateListItem ) ) != pdFALSE )
- {
- if( uxListRemove( &( pxMutexHolderTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* It is known that the task is in its ready list so
- there is no need to check again and the port level
- reset macro can be called directly. */
- portRESET_READY_PRIORITY( pxMutexHolderTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Inherit the priority before being moved into the new list. */
- pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
- prvAddTaskToReadyList( pxMutexHolderTCB );
- }
- else
- {
- /* Just inherit the priority. */
- pxMutexHolderTCB->uxPriority = pxCurrentTCB->uxPriority;
- }
-
- traceTASK_PRIORITY_INHERIT( pxMutexHolderTCB, pxCurrentTCB->uxPriority );
-
- /* Inheritance occurred. */
- xReturn = pdTRUE;
- }
- else
- {
- if( pxMutexHolderTCB->uxBasePriority < pxCurrentTCB->uxPriority )
- {
- /* The base priority of the mutex holder is lower than the
- priority of the task attempting to take the mutex, but the
- current priority of the mutex holder is not lower than the
- priority of the task attempting to take the mutex.
- Therefore the mutex holder must have already inherited a
- priority, but inheritance would have occurred if that had
- not been the case. */
- xReturn = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
- BaseType_t xTaskPriorityDisinherit( TaskHandle_t const pxMutexHolder )
- {
- TCB_t * const pxTCB = pxMutexHolder;
- BaseType_t xReturn = pdFALSE;
-
- if( pxMutexHolder != NULL )
- {
- /* A task can only have an inherited priority if it holds the mutex.
- If the mutex is held by a task then it cannot be given from an
- interrupt, and if a mutex is given by the holding task then it must
- be the running state task. */
- configASSERT( pxTCB == pxCurrentTCB );
- configASSERT( pxTCB->uxMutexesHeld );
- ( pxTCB->uxMutexesHeld )--;
-
- /* Has the holder of the mutex inherited the priority of another
- task? */
- if( pxTCB->uxPriority != pxTCB->uxBasePriority )
- {
- /* Only disinherit if no other mutexes are held. */
- if( pxTCB->uxMutexesHeld == ( UBaseType_t ) 0 )
- {
- /* A task can only have an inherited priority if it holds
- the mutex. If the mutex is held by a task then it cannot be
- given from an interrupt, and if a mutex is given by the
- holding task then it must be the running state task. Remove
- the holding task from the ready/delayed list. */
- if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- taskRESET_READY_PRIORITY( pxTCB->uxPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Disinherit the priority before adding the task into the
- new ready list. */
- traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
- pxTCB->uxPriority = pxTCB->uxBasePriority;
-
- /* Reset the event list item value. It cannot be in use for
- any other purpose if this task is running, and it must be
- running to give back the mutex. */
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxTCB->uxPriority ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- prvAddTaskToReadyList( pxTCB );
-
- /* Return true to indicate that a context switch is required.
- This is only actually required in the corner case whereby
- multiple mutexes were held and the mutexes were given back
- in an order different to that in which they were taken.
- If a context switch did not occur when the first mutex was
- returned, even if a task was waiting on it, then a context
- switch should occur when the last mutex is returned whether
- a task is waiting on it or not. */
- xReturn = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xReturn;
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
- void vTaskPriorityDisinheritAfterTimeout( TaskHandle_t const pxMutexHolder, UBaseType_t uxHighestPriorityWaitingTask )
- {
- TCB_t * const pxTCB = pxMutexHolder;
- UBaseType_t uxPriorityUsedOnEntry, uxPriorityToUse;
- const UBaseType_t uxOnlyOneMutexHeld = ( UBaseType_t ) 1;
-
- if( pxMutexHolder != NULL )
- {
- /* If pxMutexHolder is not NULL then the holder must hold at least
- one mutex. */
- configASSERT( pxTCB->uxMutexesHeld );
-
- /* Determine the priority to which the priority of the task that
- holds the mutex should be set. This will be the greater of the
- holding task's base priority and the priority of the highest
- priority task that is waiting to obtain the mutex. */
- if( pxTCB->uxBasePriority < uxHighestPriorityWaitingTask )
- {
- uxPriorityToUse = uxHighestPriorityWaitingTask;
- }
- else
- {
- uxPriorityToUse = pxTCB->uxBasePriority;
- }
-
- /* Does the priority need to change? */
- if( pxTCB->uxPriority != uxPriorityToUse )
- {
- /* Only disinherit if no other mutexes are held. This is a
- simplification in the priority inheritance implementation. If
- the task that holds the mutex is also holding other mutexes then
- the other mutexes may have caused the priority inheritance. */
- if( pxTCB->uxMutexesHeld == uxOnlyOneMutexHeld )
- {
- /* If a task has timed out because it already holds the
- mutex it was trying to obtain then it cannot of inherited
- its own priority. */
- configASSERT( pxTCB != pxCurrentTCB );
-
- /* Disinherit the priority, remembering the previous
- priority to facilitate determining the subject task's
- state. */
- traceTASK_PRIORITY_DISINHERIT( pxTCB, pxTCB->uxBasePriority );
- uxPriorityUsedOnEntry = pxTCB->uxPriority;
- pxTCB->uxPriority = uxPriorityToUse;
-
- /* Only reset the event list item value if the value is not
- being used for anything else. */
- if( ( listGET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ) ) & taskEVENT_LIST_ITEM_VALUE_IN_USE ) == 0UL )
- {
- listSET_LIST_ITEM_VALUE( &( pxTCB->xEventListItem ), ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) uxPriorityToUse ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* If the running task is not the task that holds the mutex
- then the task that holds the mutex could be in either the
- Ready, Blocked or Suspended states. Only remove the task
- from its current state list if it is in the Ready state as
- the task's priority is going to change and there is one
- Ready list per priority. */
- if( listIS_CONTAINED_WITHIN( &( pxReadyTasksLists[ uxPriorityUsedOnEntry ] ), &( pxTCB->xStateListItem ) ) != pdFALSE )
- {
- if( uxListRemove( &( pxTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* It is known that the task is in its ready list so
- there is no need to check again and the port level
- reset macro can be called directly. */
- portRESET_READY_PRIORITY( pxTCB->uxPriority, uxTopReadyPriority );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- prvAddTaskToReadyList( pxTCB );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-
- void vTaskEnterCritical( void )
- {
- portDISABLE_INTERRUPTS();
-
- if( xSchedulerRunning != pdFALSE )
- {
- ( pxCurrentTCB->uxCriticalNesting )++;
-
- /* This is not the interrupt safe version of the enter critical
- function so assert() if it is being called from an interrupt
- context. Only API functions that end in "FromISR" can be used in an
- interrupt. Only assert if the critical nesting count is 1 to
- protect against recursive calls if the assert function also uses a
- critical section. */
- if( pxCurrentTCB->uxCriticalNesting == 1 )
- {
- portASSERT_IF_IN_ISR();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* portCRITICAL_NESTING_IN_TCB */
-/*-----------------------------------------------------------*/
-
-#if ( portCRITICAL_NESTING_IN_TCB == 1 )
-
- void vTaskExitCritical( void )
- {
- if( xSchedulerRunning != pdFALSE )
- {
- if( pxCurrentTCB->uxCriticalNesting > 0U )
- {
- ( pxCurrentTCB->uxCriticalNesting )--;
-
- if( pxCurrentTCB->uxCriticalNesting == 0U )
- {
- portENABLE_INTERRUPTS();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* portCRITICAL_NESTING_IN_TCB */
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) )
-
- static char *prvWriteNameToBuffer( char *pcBuffer, const char *pcTaskName )
- {
- size_t x;
-
- /* Start by copying the entire string. */
- strcpy( pcBuffer, pcTaskName );
-
- /* Pad the end of the string with spaces to ensure columns line up when
- printed out. */
- for( x = strlen( pcBuffer ); x < ( size_t ) ( configMAX_TASK_NAME_LEN - 1 ); x++ )
- {
- pcBuffer[ x ] = ' ';
- }
-
- /* Terminate. */
- pcBuffer[ x ] = ( char ) 0x00;
-
- /* Return the new end of string. */
- return &( pcBuffer[ x ] );
- }
-
-#endif /* ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) */
-/*-----------------------------------------------------------*/
-
-#if ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
- void vTaskList( char * pcWriteBuffer )
- {
- TaskStatus_t *pxTaskStatusArray;
- UBaseType_t uxArraySize, x;
- char cStatus;
-
- /*
- * PLEASE NOTE:
- *
- * This function is provided for convenience only, and is used by many
- * of the demo applications. Do not consider it to be part of the
- * scheduler.
- *
- * vTaskList() calls uxTaskGetSystemState(), then formats part of the
- * uxTaskGetSystemState() output into a human readable table that
- * displays task names, states and stack usage.
- *
- * vTaskList() has a dependency on the sprintf() C library function that
- * might bloat the code size, use a lot of stack, and provide different
- * results on different platforms. An alternative, tiny, third party,
- * and limited functionality implementation of sprintf() is provided in
- * many of the FreeRTOS/Demo sub-directories in a file called
- * printf-stdarg.c (note printf-stdarg.c does not provide a full
- * snprintf() implementation!).
- *
- * It is recommended that production systems call uxTaskGetSystemState()
- * directly to get access to raw stats data, rather than indirectly
- * through a call to vTaskList().
- */
-
-
- /* Make sure the write buffer does not contain a string. */
- *pcWriteBuffer = ( char ) 0x00;
-
- /* Take a snapshot of the number of tasks in case it changes while this
- function is executing. */
- uxArraySize = uxCurrentNumberOfTasks;
-
- /* Allocate an array index for each task. NOTE! if
- configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
- equate to NULL. */
- pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
-
- if( pxTaskStatusArray != NULL )
- {
- /* Generate the (binary) data. */
- uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, NULL );
-
- /* Create a human readable table from the binary data. */
- for( x = 0; x < uxArraySize; x++ )
- {
- switch( pxTaskStatusArray[ x ].eCurrentState )
- {
- case eRunning: cStatus = tskRUNNING_CHAR;
- break;
-
- case eReady: cStatus = tskREADY_CHAR;
- break;
-
- case eBlocked: cStatus = tskBLOCKED_CHAR;
- break;
-
- case eSuspended: cStatus = tskSUSPENDED_CHAR;
- break;
-
- case eDeleted: cStatus = tskDELETED_CHAR;
- break;
-
- case eInvalid: /* Fall through. */
- default: /* Should not get here, but it is included
- to prevent static checking errors. */
- cStatus = ( char ) 0x00;
- break;
- }
-
- /* Write the task name to the string, padding with spaces so it
- can be printed in tabular form more easily. */
- pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
-
- /* Write the rest of the string. */
- sprintf( pcWriteBuffer, "\t%c\t%u\t%u\t%u\r\n", cStatus, ( unsigned int ) pxTaskStatusArray[ x ].uxCurrentPriority, ( unsigned int ) pxTaskStatusArray[ x ].usStackHighWaterMark, ( unsigned int ) pxTaskStatusArray[ x ].xTaskNumber ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
- pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
- }
-
- /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
- is 0 then vPortFree() will be #defined to nothing. */
- vPortFree( pxTaskStatusArray );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* ( ( configUSE_TRACE_FACILITY == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) ) */
-/*----------------------------------------------------------*/
-
-#if ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-
- void vTaskGetRunTimeStats( char *pcWriteBuffer )
- {
- TaskStatus_t *pxTaskStatusArray;
- UBaseType_t uxArraySize, x;
- uint32_t ulTotalTime, ulStatsAsPercentage;
-
- #if( configUSE_TRACE_FACILITY != 1 )
- {
- #error configUSE_TRACE_FACILITY must also be set to 1 in FreeRTOSConfig.h to use vTaskGetRunTimeStats().
- }
- #endif
-
- /*
- * PLEASE NOTE:
- *
- * This function is provided for convenience only, and is used by many
- * of the demo applications. Do not consider it to be part of the
- * scheduler.
- *
- * vTaskGetRunTimeStats() calls uxTaskGetSystemState(), then formats part
- * of the uxTaskGetSystemState() output into a human readable table that
- * displays the amount of time each task has spent in the Running state
- * in both absolute and percentage terms.
- *
- * vTaskGetRunTimeStats() has a dependency on the sprintf() C library
- * function that might bloat the code size, use a lot of stack, and
- * provide different results on different platforms. An alternative,
- * tiny, third party, and limited functionality implementation of
- * sprintf() is provided in many of the FreeRTOS/Demo sub-directories in
- * a file called printf-stdarg.c (note printf-stdarg.c does not provide
- * a full snprintf() implementation!).
- *
- * It is recommended that production systems call uxTaskGetSystemState()
- * directly to get access to raw stats data, rather than indirectly
- * through a call to vTaskGetRunTimeStats().
- */
-
- /* Make sure the write buffer does not contain a string. */
- *pcWriteBuffer = ( char ) 0x00;
-
- /* Take a snapshot of the number of tasks in case it changes while this
- function is executing. */
- uxArraySize = uxCurrentNumberOfTasks;
-
- /* Allocate an array index for each task. NOTE! If
- configSUPPORT_DYNAMIC_ALLOCATION is set to 0 then pvPortMalloc() will
- equate to NULL. */
- pxTaskStatusArray = pvPortMalloc( uxCurrentNumberOfTasks * sizeof( TaskStatus_t ) ); /*lint !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack and this allocation allocates a struct that has the alignment requirements of a pointer. */
-
- if( pxTaskStatusArray != NULL )
- {
- /* Generate the (binary) data. */
- uxArraySize = uxTaskGetSystemState( pxTaskStatusArray, uxArraySize, &ulTotalTime );
-
- /* For percentage calculations. */
- ulTotalTime /= 100UL;
-
- /* Avoid divide by zero errors. */
- if( ulTotalTime > 0UL )
- {
- /* Create a human readable table from the binary data. */
- for( x = 0; x < uxArraySize; x++ )
- {
- /* What percentage of the total run time has the task used?
- This will always be rounded down to the nearest integer.
- ulTotalRunTimeDiv100 has already been divided by 100. */
- ulStatsAsPercentage = pxTaskStatusArray[ x ].ulRunTimeCounter / ulTotalTime;
-
- /* Write the task name to the string, padding with
- spaces so it can be printed in tabular form more
- easily. */
- pcWriteBuffer = prvWriteNameToBuffer( pcWriteBuffer, pxTaskStatusArray[ x ].pcTaskName );
-
- if( ulStatsAsPercentage > 0UL )
- {
- #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
- {
- sprintf( pcWriteBuffer, "\t%lu\t\t%lu%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter, ulStatsAsPercentage );
- }
- #else
- {
- /* sizeof( int ) == sizeof( long ) so a smaller
- printf() library can be used. */
- sprintf( pcWriteBuffer, "\t%u\t\t%u%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter, ( unsigned int ) ulStatsAsPercentage ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
- }
- #endif
- }
- else
- {
- /* If the percentage is zero here then the task has
- consumed less than 1% of the total run time. */
- #ifdef portLU_PRINTF_SPECIFIER_REQUIRED
- {
- sprintf( pcWriteBuffer, "\t%lu\t\t<1%%\r\n", pxTaskStatusArray[ x ].ulRunTimeCounter );
- }
- #else
- {
- /* sizeof( int ) == sizeof( long ) so a smaller
- printf() library can be used. */
- sprintf( pcWriteBuffer, "\t%u\t\t<1%%\r\n", ( unsigned int ) pxTaskStatusArray[ x ].ulRunTimeCounter ); /*lint !e586 sprintf() allowed as this is compiled with many compilers and this is a utility function only - not part of the core kernel implementation. */
- }
- #endif
- }
-
- pcWriteBuffer += strlen( pcWriteBuffer ); /*lint !e9016 Pointer arithmetic ok on char pointers especially as in this case where it best denotes the intent of the code. */
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Free the array again. NOTE! If configSUPPORT_DYNAMIC_ALLOCATION
- is 0 then vPortFree() will be #defined to nothing. */
- vPortFree( pxTaskStatusArray );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
-#endif /* ( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( configUSE_STATS_FORMATTING_FUNCTIONS > 0 ) && ( configSUPPORT_STATIC_ALLOCATION == 1 ) ) */
-/*-----------------------------------------------------------*/
-
-TickType_t uxTaskResetEventItemValue( void )
-{
-TickType_t uxReturn;
-
- uxReturn = listGET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ) );
-
- /* Reset the event list item to its normal value - so it can be used with
- queues and semaphores. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xEventListItem ), ( ( TickType_t ) configMAX_PRIORITIES - ( TickType_t ) pxCurrentTCB->uxPriority ) ); /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
-
- return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_MUTEXES == 1 )
-
- TaskHandle_t pvTaskIncrementMutexHeldCount( void )
- {
- /* If xSemaphoreCreateMutex() is called before any tasks have been created
- then pxCurrentTCB will be NULL. */
- if( pxCurrentTCB != NULL )
- {
- ( pxCurrentTCB->uxMutexesHeld )++;
- }
-
- return pxCurrentTCB;
- }
-
-#endif /* configUSE_MUTEXES */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- uint32_t ulTaskNotifyTake( BaseType_t xClearCountOnExit, TickType_t xTicksToWait )
- {
- uint32_t ulReturn;
-
- taskENTER_CRITICAL();
- {
- /* Only block if the notification count is not already non-zero. */
- if( pxCurrentTCB->ulNotifiedValue == 0UL )
- {
- /* Mark this task as waiting for a notification. */
- pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
-
- if( xTicksToWait > ( TickType_t ) 0 )
- {
- prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
- traceTASK_NOTIFY_TAKE_BLOCK();
-
- /* All ports are written to allow a yield in a critical
- section (some will yield immediately, others wait until the
- critical section exits) - but it is not something that
- application code should ever do. */
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- taskENTER_CRITICAL();
- {
- traceTASK_NOTIFY_TAKE();
- ulReturn = pxCurrentTCB->ulNotifiedValue;
-
- if( ulReturn != 0UL )
- {
- if( xClearCountOnExit != pdFALSE )
- {
- pxCurrentTCB->ulNotifiedValue = 0UL;
- }
- else
- {
- pxCurrentTCB->ulNotifiedValue = ulReturn - ( uint32_t ) 1;
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
- }
- taskEXIT_CRITICAL();
-
- return ulReturn;
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- BaseType_t xTaskNotifyWait( uint32_t ulBitsToClearOnEntry, uint32_t ulBitsToClearOnExit, uint32_t *pulNotificationValue, TickType_t xTicksToWait )
- {
- BaseType_t xReturn;
-
- taskENTER_CRITICAL();
- {
- /* Only block if a notification is not already pending. */
- if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
- {
- /* Clear bits in the task's notification value as bits may get
- set by the notifying task or interrupt. This can be used to
- clear the value to zero. */
- pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnEntry;
-
- /* Mark this task as waiting for a notification. */
- pxCurrentTCB->ucNotifyState = taskWAITING_NOTIFICATION;
-
- if( xTicksToWait > ( TickType_t ) 0 )
- {
- prvAddCurrentTaskToDelayedList( xTicksToWait, pdTRUE );
- traceTASK_NOTIFY_WAIT_BLOCK();
-
- /* All ports are written to allow a yield in a critical
- section (some will yield immediately, others wait until the
- critical section exits) - but it is not something that
- application code should ever do. */
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- taskENTER_CRITICAL();
- {
- traceTASK_NOTIFY_WAIT();
-
- if( pulNotificationValue != NULL )
- {
- /* Output the current notification value, which may or may not
- have changed. */
- *pulNotificationValue = pxCurrentTCB->ulNotifiedValue;
- }
-
- /* If ucNotifyValue is set then either the task never entered the
- blocked state (because a notification was already pending) or the
- task unblocked because of a notification. Otherwise the task
- unblocked because of a timeout. */
- if( pxCurrentTCB->ucNotifyState != taskNOTIFICATION_RECEIVED )
- {
- /* A notification was not received. */
- xReturn = pdFALSE;
- }
- else
- {
- /* A notification was already pending or a notification was
- received while the task was waiting. */
- pxCurrentTCB->ulNotifiedValue &= ~ulBitsToClearOnExit;
- xReturn = pdTRUE;
- }
-
- pxCurrentTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- BaseType_t xTaskGenericNotify( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue )
- {
- TCB_t * pxTCB;
- BaseType_t xReturn = pdPASS;
- uint8_t ucOriginalNotifyState;
-
- configASSERT( xTaskToNotify );
- pxTCB = xTaskToNotify;
-
- taskENTER_CRITICAL();
- {
- if( pulPreviousNotificationValue != NULL )
- {
- *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
- }
-
- ucOriginalNotifyState = pxTCB->ucNotifyState;
-
- pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
-
- switch( eAction )
- {
- case eSetBits :
- pxTCB->ulNotifiedValue |= ulValue;
- break;
-
- case eIncrement :
- ( pxTCB->ulNotifiedValue )++;
- break;
-
- case eSetValueWithOverwrite :
- pxTCB->ulNotifiedValue = ulValue;
- break;
-
- case eSetValueWithoutOverwrite :
- if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
- {
- pxTCB->ulNotifiedValue = ulValue;
- }
- else
- {
- /* The value could not be written to the task. */
- xReturn = pdFAIL;
- }
- break;
-
- case eNoAction:
- /* The task is being notified without its notify value being
- updated. */
- break;
-
- default:
- /* Should not get here if all enums are handled.
- Artificially force an assert by testing a value the
- compiler can't assume is const. */
- configASSERT( pxTCB->ulNotifiedValue == ~0UL );
-
- break;
- }
-
- traceTASK_NOTIFY();
-
- /* If the task is in the blocked state specifically to wait for a
- notification then unblock it now. */
- if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
- {
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxTCB );
-
- /* The task should not have been on an event list. */
- configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
-
- #if( configUSE_TICKLESS_IDLE != 0 )
- {
- /* If a task is blocked waiting for a notification then
- xNextTaskUnblockTime might be set to the blocked task's time
- out time. If the task is unblocked for a reason other than
- a timeout xNextTaskUnblockTime is normally left unchanged,
- because it will automatically get reset to a new value when
- the tick count equals xNextTaskUnblockTime. However if
- tickless idling is used it might be more important to enter
- sleep mode at the earliest possible time - so reset
- xNextTaskUnblockTime here to ensure it is updated at the
- earliest possible time. */
- prvResetNextTaskUnblockTime();
- }
- #endif
-
- if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
- {
- /* The notified task has a priority above the currently
- executing task so a yield is required. */
- taskYIELD_IF_USING_PREEMPTION();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- BaseType_t xTaskGenericNotifyFromISR( TaskHandle_t xTaskToNotify, uint32_t ulValue, eNotifyAction eAction, uint32_t *pulPreviousNotificationValue, BaseType_t *pxHigherPriorityTaskWoken )
- {
- TCB_t * pxTCB;
- uint8_t ucOriginalNotifyState;
- BaseType_t xReturn = pdPASS;
- UBaseType_t uxSavedInterruptStatus;
-
- configASSERT( xTaskToNotify );
-
- /* RTOS ports that support interrupt nesting have the concept of a
- maximum system call (or maximum API call) interrupt priority.
- Interrupts that are above the maximum system call priority are keep
- permanently enabled, even when the RTOS kernel is in a critical section,
- but cannot make any calls to FreeRTOS API functions. If configASSERT()
- is defined in FreeRTOSConfig.h then
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has
- been assigned a priority above the configured maximum system call
- priority. Only FreeRTOS functions that end in FromISR can be called
- from interrupts that have been assigned a priority at or (logically)
- below the maximum system call interrupt priority. FreeRTOS maintains a
- separate interrupt safe API to ensure interrupt entry is as fast and as
- simple as possible. More information (albeit Cortex-M specific) is
- provided on the following link:
- http://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- pxTCB = xTaskToNotify;
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- if( pulPreviousNotificationValue != NULL )
- {
- *pulPreviousNotificationValue = pxTCB->ulNotifiedValue;
- }
-
- ucOriginalNotifyState = pxTCB->ucNotifyState;
- pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
-
- switch( eAction )
- {
- case eSetBits :
- pxTCB->ulNotifiedValue |= ulValue;
- break;
-
- case eIncrement :
- ( pxTCB->ulNotifiedValue )++;
- break;
-
- case eSetValueWithOverwrite :
- pxTCB->ulNotifiedValue = ulValue;
- break;
-
- case eSetValueWithoutOverwrite :
- if( ucOriginalNotifyState != taskNOTIFICATION_RECEIVED )
- {
- pxTCB->ulNotifiedValue = ulValue;
- }
- else
- {
- /* The value could not be written to the task. */
- xReturn = pdFAIL;
- }
- break;
-
- case eNoAction :
- /* The task is being notified without its notify value being
- updated. */
- break;
-
- default:
- /* Should not get here if all enums are handled.
- Artificially force an assert by testing a value the
- compiler can't assume is const. */
- configASSERT( pxTCB->ulNotifiedValue == ~0UL );
- break;
- }
-
- traceTASK_NOTIFY_FROM_ISR();
-
- /* If the task is in the blocked state specifically to wait for a
- notification then unblock it now. */
- if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
- {
- /* The task should not have been on an event list. */
- configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
-
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxTCB );
- }
- else
- {
- /* The delayed and ready lists cannot be accessed, so hold
- this task pending until the scheduler is resumed. */
- vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
- }
-
- if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
- {
- /* The notified task has a priority above the currently
- executing task so a yield is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
-
- /* Mark that a yield is pending in case the user is not
- using the "xHigherPriorityTaskWoken" parameter to an ISR
- safe FreeRTOS function. */
- xYieldPending = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
-
- return xReturn;
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- void vTaskNotifyGiveFromISR( TaskHandle_t xTaskToNotify, BaseType_t *pxHigherPriorityTaskWoken )
- {
- TCB_t * pxTCB;
- uint8_t ucOriginalNotifyState;
- UBaseType_t uxSavedInterruptStatus;
-
- configASSERT( xTaskToNotify );
-
- /* RTOS ports that support interrupt nesting have the concept of a
- maximum system call (or maximum API call) interrupt priority.
- Interrupts that are above the maximum system call priority are keep
- permanently enabled, even when the RTOS kernel is in a critical section,
- but cannot make any calls to FreeRTOS API functions. If configASSERT()
- is defined in FreeRTOSConfig.h then
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID() will result in an assertion
- failure if a FreeRTOS API function is called from an interrupt that has
- been assigned a priority above the configured maximum system call
- priority. Only FreeRTOS functions that end in FromISR can be called
- from interrupts that have been assigned a priority at or (logically)
- below the maximum system call interrupt priority. FreeRTOS maintains a
- separate interrupt safe API to ensure interrupt entry is as fast and as
- simple as possible. More information (albeit Cortex-M specific) is
- provided on the following link:
- http://www.freertos.org/RTOS-Cortex-M3-M4.html */
- portASSERT_IF_INTERRUPT_PRIORITY_INVALID();
-
- pxTCB = xTaskToNotify;
-
- uxSavedInterruptStatus = portSET_INTERRUPT_MASK_FROM_ISR();
- {
- ucOriginalNotifyState = pxTCB->ucNotifyState;
- pxTCB->ucNotifyState = taskNOTIFICATION_RECEIVED;
-
- /* 'Giving' is equivalent to incrementing a count in a counting
- semaphore. */
- ( pxTCB->ulNotifiedValue )++;
-
- traceTASK_NOTIFY_GIVE_FROM_ISR();
-
- /* If the task is in the blocked state specifically to wait for a
- notification then unblock it now. */
- if( ucOriginalNotifyState == taskWAITING_NOTIFICATION )
- {
- /* The task should not have been on an event list. */
- configASSERT( listLIST_ITEM_CONTAINER( &( pxTCB->xEventListItem ) ) == NULL );
-
- if( uxSchedulerSuspended == ( UBaseType_t ) pdFALSE )
- {
- ( void ) uxListRemove( &( pxTCB->xStateListItem ) );
- prvAddTaskToReadyList( pxTCB );
- }
- else
- {
- /* The delayed and ready lists cannot be accessed, so hold
- this task pending until the scheduler is resumed. */
- vListInsertEnd( &( xPendingReadyList ), &( pxTCB->xEventListItem ) );
- }
-
- if( pxTCB->uxPriority > pxCurrentTCB->uxPriority )
- {
- /* The notified task has a priority above the currently
- executing task so a yield is required. */
- if( pxHigherPriorityTaskWoken != NULL )
- {
- *pxHigherPriorityTaskWoken = pdTRUE;
- }
-
- /* Mark that a yield is pending in case the user is not
- using the "xHigherPriorityTaskWoken" parameter in an ISR
- safe FreeRTOS function. */
- xYieldPending = pdTRUE;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- portCLEAR_INTERRUPT_MASK_FROM_ISR( uxSavedInterruptStatus );
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- BaseType_t xTaskNotifyStateClear( TaskHandle_t xTask )
- {
- TCB_t *pxTCB;
- BaseType_t xReturn;
-
- /* If null is passed in here then it is the calling task that is having
- its notification state cleared. */
- pxTCB = prvGetTCBFromHandle( xTask );
-
- taskENTER_CRITICAL();
- {
- if( pxTCB->ucNotifyState == taskNOTIFICATION_RECEIVED )
- {
- pxTCB->ucNotifyState = taskNOT_WAITING_NOTIFICATION;
- xReturn = pdPASS;
- }
- else
- {
- xReturn = pdFAIL;
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( configUSE_TASK_NOTIFICATIONS == 1 )
-
- uint32_t ulTaskNotifyValueClear( TaskHandle_t xTask, uint32_t ulBitsToClear )
- {
- TCB_t *pxTCB;
- uint32_t ulReturn;
-
- /* If null is passed in here then it is the calling task that is having
- its notification state cleared. */
- pxTCB = prvGetTCBFromHandle( xTask );
-
- taskENTER_CRITICAL();
- {
- /* Return the notification as it was before the bits were cleared,
- then clear the bit mask. */
- ulReturn = pxCurrentTCB->ulNotifiedValue;
- pxTCB->ulNotifiedValue &= ~ulBitsToClear;
- }
- taskEXIT_CRITICAL();
-
- return ulReturn;
- }
-
-#endif /* configUSE_TASK_NOTIFICATIONS */
-/*-----------------------------------------------------------*/
-
-#if( ( configGENERATE_RUN_TIME_STATS == 1 ) && ( INCLUDE_xTaskGetIdleTaskHandle == 1 ) )
-
- uint32_t ulTaskGetIdleRunTimeCounter( void )
- {
- return xIdleTaskHandle->ulRunTimeCounter;
- }
-
-#endif
-/*-----------------------------------------------------------*/
-
-static void prvAddCurrentTaskToDelayedList( TickType_t xTicksToWait, const BaseType_t xCanBlockIndefinitely )
-{
-TickType_t xTimeToWake;
-const TickType_t xConstTickCount = xTickCount;
-
- #if( INCLUDE_xTaskAbortDelay == 1 )
- {
- /* About to enter a delayed list, so ensure the ucDelayAborted flag is
- reset to pdFALSE so it can be detected as having been set to pdTRUE
- when the task leaves the Blocked state. */
- pxCurrentTCB->ucDelayAborted = pdFALSE;
- }
- #endif
-
- /* Remove the task from the ready list before adding it to the blocked list
- as the same list item is used for both lists. */
- if( uxListRemove( &( pxCurrentTCB->xStateListItem ) ) == ( UBaseType_t ) 0 )
- {
- /* The current task must be in a ready list, so there is no need to
- check, and the port reset macro can be called directly. */
- portRESET_READY_PRIORITY( pxCurrentTCB->uxPriority, uxTopReadyPriority ); /*lint !e931 pxCurrentTCB cannot change as it is the calling task. pxCurrentTCB->uxPriority and uxTopReadyPriority cannot change as called with scheduler suspended or in a critical section. */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- #if ( INCLUDE_vTaskSuspend == 1 )
- {
- if( ( xTicksToWait == portMAX_DELAY ) && ( xCanBlockIndefinitely != pdFALSE ) )
- {
- /* Add the task to the suspended task list instead of a delayed task
- list to ensure it is not woken by a timing event. It will block
- indefinitely. */
- vListInsertEnd( &xSuspendedTaskList, &( pxCurrentTCB->xStateListItem ) );
- }
- else
- {
- /* Calculate the time at which the task should be woken if the event
- does not occur. This may overflow but this doesn't matter, the
- kernel will manage it correctly. */
- xTimeToWake = xConstTickCount + xTicksToWait;
-
- /* The list item will be inserted in wake time order. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
-
- if( xTimeToWake < xConstTickCount )
- {
- /* Wake time has overflowed. Place this item in the overflow
- list. */
- vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so the current block list
- is used. */
- vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
-
- /* If the task entering the blocked state was placed at the
- head of the list of blocked tasks then xNextTaskUnblockTime
- needs to be updated too. */
- if( xTimeToWake < xNextTaskUnblockTime )
- {
- xNextTaskUnblockTime = xTimeToWake;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- }
- #else /* INCLUDE_vTaskSuspend */
- {
- /* Calculate the time at which the task should be woken if the event
- does not occur. This may overflow but this doesn't matter, the kernel
- will manage it correctly. */
- xTimeToWake = xConstTickCount + xTicksToWait;
-
- /* The list item will be inserted in wake time order. */
- listSET_LIST_ITEM_VALUE( &( pxCurrentTCB->xStateListItem ), xTimeToWake );
-
- if( xTimeToWake < xConstTickCount )
- {
- /* Wake time has overflowed. Place this item in the overflow list. */
- vListInsert( pxOverflowDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
- }
- else
- {
- /* The wake time has not overflowed, so the current block list is used. */
- vListInsert( pxDelayedTaskList, &( pxCurrentTCB->xStateListItem ) );
-
- /* If the task entering the blocked state was placed at the head of the
- list of blocked tasks then xNextTaskUnblockTime needs to be updated
- too. */
- if( xTimeToWake < xNextTaskUnblockTime )
- {
- xNextTaskUnblockTime = xTimeToWake;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- /* Avoid compiler warning when INCLUDE_vTaskSuspend is not 1. */
- ( void ) xCanBlockIndefinitely;
- }
- #endif /* INCLUDE_vTaskSuspend */
-}
-
-/* Code below here allows additional code to be inserted into this source file,
-especially where access to file scope functions and data is needed (for example
-when performing module tests). */
-
-#ifdef FREERTOS_MODULE_TEST
- #include "tasks_test_access_functions.h"
-#endif
-
-
-#if( configINCLUDE_FREERTOS_TASK_C_ADDITIONS_H == 1 )
-
- #include "freertos_tasks_c_additions.h"
-
- #ifdef FREERTOS_TASKS_C_ADDITIONS_INIT
- static void freertos_tasks_c_additions_init( void )
- {
- FREERTOS_TASKS_C_ADDITIONS_INIT();
- }
- #endif
-
-#endif
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/timers.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/timers.c
deleted file mode 100644
index bfcc4eaffc69d6d3009d5eb9b23d09e2ce3282f5..0000000000000000000000000000000000000000
--- a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/vendor/FreeRTOS/timers.c
+++ /dev/null
@@ -1,1127 +0,0 @@
-/*
- * FreeRTOS Kernel V10.3.0
- * Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
- *
- * Permission is hereby granted, free of charge, to any person obtaining a copy of
- * this software and associated documentation files (the "Software"), to deal in
- * the Software without restriction, including without limitation the rights to
- * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
- * the Software, and to permit persons to whom the Software is furnished to do so,
- * subject to the following conditions:
- *
- * The above copyright notice and this permission notice shall be included in all
- * copies or substantial portions of the Software.
- *
- * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
- * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
- * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
- * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
- * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
- * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
- *
- * http://www.FreeRTOS.org
- * http://aws.amazon.com/freertos
- *
- * 1 tab == 4 spaces!
- */
-
-/* Standard includes. */
-#include <stdlib.h>
-
-/* Defining MPU_WRAPPERS_INCLUDED_FROM_API_FILE prevents task.h from redefining
-all the API functions to use the MPU wrappers. That should only be done when
-task.h is included from an application file. */
-#define MPU_WRAPPERS_INCLUDED_FROM_API_FILE
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-#include "timers.h"
-
-#if ( INCLUDE_xTimerPendFunctionCall == 1 ) && ( configUSE_TIMERS == 0 )
- #error configUSE_TIMERS must be set to 1 to make the xTimerPendFunctionCall() function available.
-#endif
-
-/* Lint e9021, e961 and e750 are suppressed as a MISRA exception justified
-because the MPU ports require MPU_WRAPPERS_INCLUDED_FROM_API_FILE to be defined
-for the header files above, but not in this file, in order to generate the
-correct privileged Vs unprivileged linkage and placement. */
-#undef MPU_WRAPPERS_INCLUDED_FROM_API_FILE /*lint !e9021 !e961 !e750. */
-
-
-/* This entire source file will be skipped if the application is not configured
-to include software timer functionality. This #if is closed at the very bottom
-of this file. If you want to include software timer functionality then ensure
-configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
-#if ( configUSE_TIMERS == 1 )
-
-/* Misc definitions. */
-#define tmrNO_DELAY ( TickType_t ) 0U
-
-/* The name assigned to the timer service task. This can be overridden by
-defining trmTIMER_SERVICE_TASK_NAME in FreeRTOSConfig.h. */
-#ifndef configTIMER_SERVICE_TASK_NAME
- #define configTIMER_SERVICE_TASK_NAME "Tmr Svc"
-#endif
-
-/* Bit definitions used in the ucStatus member of a timer structure. */
-#define tmrSTATUS_IS_ACTIVE ( ( uint8_t ) 0x01 )
-#define tmrSTATUS_IS_STATICALLY_ALLOCATED ( ( uint8_t ) 0x02 )
-#define tmrSTATUS_IS_AUTORELOAD ( ( uint8_t ) 0x04 )
-
-/* The definition of the timers themselves. */
-typedef struct tmrTimerControl /* The old naming convention is used to prevent breaking kernel aware debuggers. */
-{
- const char *pcTimerName; /*<< Text name. This is not used by the kernel, it is included simply to make debugging easier. */ /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- ListItem_t xTimerListItem; /*<< Standard linked list item as used by all kernel features for event management. */
- TickType_t xTimerPeriodInTicks;/*<< How quickly and often the timer expires. */
- void *pvTimerID; /*<< An ID to identify the timer. This allows the timer to be identified when the same callback is used for multiple timers. */
- TimerCallbackFunction_t pxCallbackFunction; /*<< The function that will be called when the timer expires. */
- #if( configUSE_TRACE_FACILITY == 1 )
- UBaseType_t uxTimerNumber; /*<< An ID assigned by trace tools such as FreeRTOS+Trace */
- #endif
- uint8_t ucStatus; /*<< Holds bits to say if the timer was statically allocated or not, and if it is active or not. */
-} xTIMER;
-
-/* The old xTIMER name is maintained above then typedefed to the new Timer_t
-name below to enable the use of older kernel aware debuggers. */
-typedef xTIMER Timer_t;
-
-/* The definition of messages that can be sent and received on the timer queue.
-Two types of message can be queued - messages that manipulate a software timer,
-and messages that request the execution of a non-timer related callback. The
-two message types are defined in two separate structures, xTimerParametersType
-and xCallbackParametersType respectively. */
-typedef struct tmrTimerParameters
-{
- TickType_t xMessageValue; /*<< An optional value used by a subset of commands, for example, when changing the period of a timer. */
- Timer_t * pxTimer; /*<< The timer to which the command will be applied. */
-} TimerParameter_t;
-
-
-typedef struct tmrCallbackParameters
-{
- PendedFunction_t pxCallbackFunction; /* << The callback function to execute. */
- void *pvParameter1; /* << The value that will be used as the callback functions first parameter. */
- uint32_t ulParameter2; /* << The value that will be used as the callback functions second parameter. */
-} CallbackParameters_t;
-
-/* The structure that contains the two message types, along with an identifier
-that is used to determine which message type is valid. */
-typedef struct tmrTimerQueueMessage
-{
- BaseType_t xMessageID; /*<< The command being sent to the timer service task. */
- union
- {
- TimerParameter_t xTimerParameters;
-
- /* Don't include xCallbackParameters if it is not going to be used as
- it makes the structure (and therefore the timer queue) larger. */
- #if ( INCLUDE_xTimerPendFunctionCall == 1 )
- CallbackParameters_t xCallbackParameters;
- #endif /* INCLUDE_xTimerPendFunctionCall */
- } u;
-} DaemonTaskMessage_t;
-
-/*lint -save -e956 A manual analysis and inspection has been used to determine
-which static variables must be declared volatile. */
-
-/* The list in which active timers are stored. Timers are referenced in expire
-time order, with the nearest expiry time at the front of the list. Only the
-timer service task is allowed to access these lists.
-xActiveTimerList1 and xActiveTimerList2 could be at function scope but that
-breaks some kernel aware debuggers, and debuggers that reply on removing the
-static qualifier. */
-PRIVILEGED_DATA static List_t xActiveTimerList1;
-PRIVILEGED_DATA static List_t xActiveTimerList2;
-PRIVILEGED_DATA static List_t *pxCurrentTimerList;
-PRIVILEGED_DATA static List_t *pxOverflowTimerList;
-
-/* A queue that is used to send commands to the timer service task. */
-PRIVILEGED_DATA static QueueHandle_t xTimerQueue = NULL;
-PRIVILEGED_DATA static TaskHandle_t xTimerTaskHandle = NULL;
-
-/*lint -restore */
-
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- /* If static allocation is supported then the application must provide the
- following callback function - which enables the application to optionally
- provide the memory that will be used by the timer task as the task's stack
- and TCB. */
- extern void vApplicationGetTimerTaskMemory( StaticTask_t **ppxTimerTaskTCBBuffer, StackType_t **ppxTimerTaskStackBuffer, uint32_t *pulTimerTaskStackSize );
-
-#endif
-
-/*
- * Initialise the infrastructure used by the timer service task if it has not
- * been initialised already.
- */
-static void prvCheckForValidListAndQueue( void ) PRIVILEGED_FUNCTION;
-
-/*
- * The timer service task (daemon). Timer functionality is controlled by this
- * task. Other tasks communicate with the timer service task using the
- * xTimerQueue queue.
- */
-static portTASK_FUNCTION_PROTO( prvTimerTask, pvParameters ) PRIVILEGED_FUNCTION;
-
-/*
- * Called by the timer service task to interpret and process a command it
- * received on the timer queue.
- */
-static void prvProcessReceivedCommands( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Insert the timer into either xActiveTimerList1, or xActiveTimerList2,
- * depending on if the expire time causes a timer counter overflow.
- */
-static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime ) PRIVILEGED_FUNCTION;
-
-/*
- * An active timer has reached its expire time. Reload the timer if it is an
- * auto-reload timer, then call its callback.
- */
-static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow ) PRIVILEGED_FUNCTION;
-
-/*
- * The tick count has overflowed. Switch the timer lists after ensuring the
- * current timer list does not still reference some timers.
- */
-static void prvSwitchTimerLists( void ) PRIVILEGED_FUNCTION;
-
-/*
- * Obtain the current tick count, setting *pxTimerListsWereSwitched to pdTRUE
- * if a tick count overflow occurred since prvSampleTimeNow() was last called.
- */
-static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched ) PRIVILEGED_FUNCTION;
-
-/*
- * If the timer list contains any active timers then return the expire time of
- * the timer that will expire first and set *pxListWasEmpty to false. If the
- * timer list does not contain any timers then return 0 and set *pxListWasEmpty
- * to pdTRUE.
- */
-static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty ) PRIVILEGED_FUNCTION;
-
-/*
- * If a timer has expired, process it. Otherwise, block the timer service task
- * until either a timer does expire or a command is received.
- */
-static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty ) PRIVILEGED_FUNCTION;
-
-/*
- * Called after a Timer_t structure has been allocated either statically or
- * dynamically to fill in the structure's members.
- */
-static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const TickType_t xTimerPeriodInTicks,
- const UBaseType_t uxAutoReload,
- void * const pvTimerID,
- TimerCallbackFunction_t pxCallbackFunction,
- Timer_t *pxNewTimer ) PRIVILEGED_FUNCTION;
-/*-----------------------------------------------------------*/
-
-BaseType_t xTimerCreateTimerTask( void )
-{
-BaseType_t xReturn = pdFAIL;
-
- /* This function is called when the scheduler is started if
- configUSE_TIMERS is set to 1. Check that the infrastructure used by the
- timer service task has been created/initialised. If timers have already
- been created then the initialisation will already have been performed. */
- prvCheckForValidListAndQueue();
-
- if( xTimerQueue != NULL )
- {
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
- {
- StaticTask_t *pxTimerTaskTCBBuffer = NULL;
- StackType_t *pxTimerTaskStackBuffer = NULL;
- uint32_t ulTimerTaskStackSize;
-
- vApplicationGetTimerTaskMemory( &pxTimerTaskTCBBuffer, &pxTimerTaskStackBuffer, &ulTimerTaskStackSize );
- xTimerTaskHandle = xTaskCreateStatic( prvTimerTask,
- configTIMER_SERVICE_TASK_NAME,
- ulTimerTaskStackSize,
- NULL,
- ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
- pxTimerTaskStackBuffer,
- pxTimerTaskTCBBuffer );
-
- if( xTimerTaskHandle != NULL )
- {
- xReturn = pdPASS;
- }
- }
- #else
- {
- xReturn = xTaskCreate( prvTimerTask,
- configTIMER_SERVICE_TASK_NAME,
- configTIMER_TASK_STACK_DEPTH,
- NULL,
- ( ( UBaseType_t ) configTIMER_TASK_PRIORITY ) | portPRIVILEGE_BIT,
- &xTimerTaskHandle );
- }
- #endif /* configSUPPORT_STATIC_ALLOCATION */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- configASSERT( xReturn );
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
-
- TimerHandle_t xTimerCreate( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const TickType_t xTimerPeriodInTicks,
- const UBaseType_t uxAutoReload,
- void * const pvTimerID,
- TimerCallbackFunction_t pxCallbackFunction )
- {
- Timer_t *pxNewTimer;
-
- pxNewTimer = ( Timer_t * ) pvPortMalloc( sizeof( Timer_t ) ); /*lint !e9087 !e9079 All values returned by pvPortMalloc() have at least the alignment required by the MCU's stack, and the first member of Timer_t is always a pointer to the timer's mame. */
-
- if( pxNewTimer != NULL )
- {
- /* Status is thus far zero as the timer is not created statically
- and has not been started. The auto-reload bit may get set in
- prvInitialiseNewTimer. */
- pxNewTimer->ucStatus = 0x00;
- prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
- }
-
- return pxNewTimer;
- }
-
-#endif /* configSUPPORT_DYNAMIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-#if( configSUPPORT_STATIC_ALLOCATION == 1 )
-
- TimerHandle_t xTimerCreateStatic( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const TickType_t xTimerPeriodInTicks,
- const UBaseType_t uxAutoReload,
- void * const pvTimerID,
- TimerCallbackFunction_t pxCallbackFunction,
- StaticTimer_t *pxTimerBuffer )
- {
- Timer_t *pxNewTimer;
-
- #if( configASSERT_DEFINED == 1 )
- {
- /* Sanity check that the size of the structure used to declare a
- variable of type StaticTimer_t equals the size of the real timer
- structure. */
- volatile size_t xSize = sizeof( StaticTimer_t );
- configASSERT( xSize == sizeof( Timer_t ) );
- ( void ) xSize; /* Keeps lint quiet when configASSERT() is not defined. */
- }
- #endif /* configASSERT_DEFINED */
-
- /* A pointer to a StaticTimer_t structure MUST be provided, use it. */
- configASSERT( pxTimerBuffer );
- pxNewTimer = ( Timer_t * ) pxTimerBuffer; /*lint !e740 !e9087 StaticTimer_t is a pointer to a Timer_t, so guaranteed to be aligned and sized correctly (checked by an assert()), so this is safe. */
-
- if( pxNewTimer != NULL )
- {
- /* Timers can be created statically or dynamically so note this
- timer was created statically in case it is later deleted. The
- auto-reload bit may get set in prvInitialiseNewTimer(). */
- pxNewTimer->ucStatus = tmrSTATUS_IS_STATICALLY_ALLOCATED;
-
- prvInitialiseNewTimer( pcTimerName, xTimerPeriodInTicks, uxAutoReload, pvTimerID, pxCallbackFunction, pxNewTimer );
- }
-
- return pxNewTimer;
- }
-
-#endif /* configSUPPORT_STATIC_ALLOCATION */
-/*-----------------------------------------------------------*/
-
-static void prvInitialiseNewTimer( const char * const pcTimerName, /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
- const TickType_t xTimerPeriodInTicks,
- const UBaseType_t uxAutoReload,
- void * const pvTimerID,
- TimerCallbackFunction_t pxCallbackFunction,
- Timer_t *pxNewTimer )
-{
- /* 0 is not a valid value for xTimerPeriodInTicks. */
- configASSERT( ( xTimerPeriodInTicks > 0 ) );
-
- if( pxNewTimer != NULL )
- {
- /* Ensure the infrastructure used by the timer service task has been
- created/initialised. */
- prvCheckForValidListAndQueue();
-
- /* Initialise the timer structure members using the function
- parameters. */
- pxNewTimer->pcTimerName = pcTimerName;
- pxNewTimer->xTimerPeriodInTicks = xTimerPeriodInTicks;
- pxNewTimer->pvTimerID = pvTimerID;
- pxNewTimer->pxCallbackFunction = pxCallbackFunction;
- vListInitialiseItem( &( pxNewTimer->xTimerListItem ) );
- if( uxAutoReload != pdFALSE )
- {
- pxNewTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
- }
- traceTIMER_CREATE( pxNewTimer );
- }
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xTimerGenericCommand( TimerHandle_t xTimer, const BaseType_t xCommandID, const TickType_t xOptionalValue, BaseType_t * const pxHigherPriorityTaskWoken, const TickType_t xTicksToWait )
-{
-BaseType_t xReturn = pdFAIL;
-DaemonTaskMessage_t xMessage;
-
- configASSERT( xTimer );
-
- /* Send a message to the timer service task to perform a particular action
- on a particular timer definition. */
- if( xTimerQueue != NULL )
- {
- /* Send a command to the timer service task to start the xTimer timer. */
- xMessage.xMessageID = xCommandID;
- xMessage.u.xTimerParameters.xMessageValue = xOptionalValue;
- xMessage.u.xTimerParameters.pxTimer = xTimer;
-
- if( xCommandID < tmrFIRST_FROM_ISR_COMMAND )
- {
- if( xTaskGetSchedulerState() == taskSCHEDULER_RUNNING )
- {
- xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
- }
- else
- {
- xReturn = xQueueSendToBack( xTimerQueue, &xMessage, tmrNO_DELAY );
- }
- }
- else
- {
- xReturn = xQueueSendToBackFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
- }
-
- traceTIMER_COMMAND_SEND( xTimer, xCommandID, xOptionalValue, xReturn );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-TaskHandle_t xTimerGetTimerDaemonTaskHandle( void )
-{
- /* If xTimerGetTimerDaemonTaskHandle() is called before the scheduler has been
- started, then xTimerTaskHandle will be NULL. */
- configASSERT( ( xTimerTaskHandle != NULL ) );
- return xTimerTaskHandle;
-}
-/*-----------------------------------------------------------*/
-
-TickType_t xTimerGetPeriod( TimerHandle_t xTimer )
-{
-Timer_t *pxTimer = xTimer;
-
- configASSERT( xTimer );
- return pxTimer->xTimerPeriodInTicks;
-}
-/*-----------------------------------------------------------*/
-
-void vTimerSetReloadMode( TimerHandle_t xTimer, const UBaseType_t uxAutoReload )
-{
-Timer_t * pxTimer = xTimer;
-
- configASSERT( xTimer );
- taskENTER_CRITICAL();
- {
- if( uxAutoReload != pdFALSE )
- {
- pxTimer->ucStatus |= tmrSTATUS_IS_AUTORELOAD;
- }
- else
- {
- pxTimer->ucStatus &= ~tmrSTATUS_IS_AUTORELOAD;
- }
- }
- taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-UBaseType_t uxTimerGetReloadMode( TimerHandle_t xTimer )
-{
-Timer_t * pxTimer = xTimer;
-UBaseType_t uxReturn;
-
- configASSERT( xTimer );
- taskENTER_CRITICAL();
- {
- if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) == 0 )
- {
- /* Not an auto-reload timer. */
- uxReturn = ( UBaseType_t ) pdFALSE;
- }
- else
- {
- /* Is an auto-reload timer. */
- uxReturn = ( UBaseType_t ) pdTRUE;
- }
- }
- taskEXIT_CRITICAL();
-
- return uxReturn;
-}
-/*-----------------------------------------------------------*/
-
-TickType_t xTimerGetExpiryTime( TimerHandle_t xTimer )
-{
-Timer_t * pxTimer = xTimer;
-TickType_t xReturn;
-
- configASSERT( xTimer );
- xReturn = listGET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ) );
- return xReturn;
-}
-/*-----------------------------------------------------------*/
-
-const char * pcTimerGetName( TimerHandle_t xTimer ) /*lint !e971 Unqualified char types are allowed for strings and single characters only. */
-{
-Timer_t *pxTimer = xTimer;
-
- configASSERT( xTimer );
- return pxTimer->pcTimerName;
-}
-/*-----------------------------------------------------------*/
-
-static void prvProcessExpiredTimer( const TickType_t xNextExpireTime, const TickType_t xTimeNow )
-{
-BaseType_t xResult;
-Timer_t * const pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
-
- /* Remove the timer from the list of active timers. A check has already
- been performed to ensure the list is not empty. */
- ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
- traceTIMER_EXPIRED( pxTimer );
-
- /* If the timer is an auto-reload timer then calculate the next
- expiry time and re-insert the timer in the list of active timers. */
- if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
- {
- /* The timer is inserted into a list using a time relative to anything
- other than the current time. It will therefore be inserted into the
- correct list relative to the time this task thinks it is now. */
- if( prvInsertTimerInActiveList( pxTimer, ( xNextExpireTime + pxTimer->xTimerPeriodInTicks ), xTimeNow, xNextExpireTime ) != pdFALSE )
- {
- /* The timer expired before it was added to the active timer
- list. Reload it now. */
- xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
- configASSERT( xResult );
- ( void ) xResult;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
- mtCOVERAGE_TEST_MARKER();
- }
-
- /* Call the timer callback. */
- pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
-}
-/*-----------------------------------------------------------*/
-
-static portTASK_FUNCTION( prvTimerTask, pvParameters )
-{
-TickType_t xNextExpireTime;
-BaseType_t xListWasEmpty;
-
- /* Just to avoid compiler warnings. */
- ( void ) pvParameters;
-
- #if( configUSE_DAEMON_TASK_STARTUP_HOOK == 1 )
- {
- extern void vApplicationDaemonTaskStartupHook( void );
-
- /* Allow the application writer to execute some code in the context of
- this task at the point the task starts executing. This is useful if the
- application includes initialisation code that would benefit from
- executing after the scheduler has been started. */
- vApplicationDaemonTaskStartupHook();
- }
- #endif /* configUSE_DAEMON_TASK_STARTUP_HOOK */
-
- for( ;; )
- {
- /* Query the timers list to see if it contains any timers, and if so,
- obtain the time at which the next timer will expire. */
- xNextExpireTime = prvGetNextExpireTime( &xListWasEmpty );
-
- /* If a timer has expired, process it. Otherwise, block this task
- until either a timer does expire, or a command is received. */
- prvProcessTimerOrBlockTask( xNextExpireTime, xListWasEmpty );
-
- /* Empty the command queue. */
- prvProcessReceivedCommands();
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvProcessTimerOrBlockTask( const TickType_t xNextExpireTime, BaseType_t xListWasEmpty )
-{
-TickType_t xTimeNow;
-BaseType_t xTimerListsWereSwitched;
-
- vTaskSuspendAll();
- {
- /* Obtain the time now to make an assessment as to whether the timer
- has expired or not. If obtaining the time causes the lists to switch
- then don't process this timer as any timers that remained in the list
- when the lists were switched will have been processed within the
- prvSampleTimeNow() function. */
- xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
- if( xTimerListsWereSwitched == pdFALSE )
- {
- /* The tick count has not overflowed, has the timer expired? */
- if( ( xListWasEmpty == pdFALSE ) && ( xNextExpireTime <= xTimeNow ) )
- {
- ( void ) xTaskResumeAll();
- prvProcessExpiredTimer( xNextExpireTime, xTimeNow );
- }
- else
- {
- /* The tick count has not overflowed, and the next expire
- time has not been reached yet. This task should therefore
- block to wait for the next expire time or a command to be
- received - whichever comes first. The following line cannot
- be reached unless xNextExpireTime > xTimeNow, except in the
- case when the current timer list is empty. */
- if( xListWasEmpty != pdFALSE )
- {
- /* The current timer list is empty - is the overflow list
- also empty? */
- xListWasEmpty = listLIST_IS_EMPTY( pxOverflowTimerList );
- }
-
- vQueueWaitForMessageRestricted( xTimerQueue, ( xNextExpireTime - xTimeNow ), xListWasEmpty );
-
- if( xTaskResumeAll() == pdFALSE )
- {
- /* Yield to wait for either a command to arrive, or the
- block time to expire. If a command arrived between the
- critical section being exited and this yield then the yield
- will not cause the task to block. */
- portYIELD_WITHIN_API();
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- }
- else
- {
- ( void ) xTaskResumeAll();
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-static TickType_t prvGetNextExpireTime( BaseType_t * const pxListWasEmpty )
-{
-TickType_t xNextExpireTime;
-
- /* Timers are listed in expiry time order, with the head of the list
- referencing the task that will expire first. Obtain the time at which
- the timer with the nearest expiry time will expire. If there are no
- active timers then just set the next expire time to 0. That will cause
- this task to unblock when the tick count overflows, at which point the
- timer lists will be switched and the next expiry time can be
- re-assessed. */
- *pxListWasEmpty = listLIST_IS_EMPTY( pxCurrentTimerList );
- if( *pxListWasEmpty == pdFALSE )
- {
- xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
- }
- else
- {
- /* Ensure the task unblocks when the tick count rolls over. */
- xNextExpireTime = ( TickType_t ) 0U;
- }
-
- return xNextExpireTime;
-}
-/*-----------------------------------------------------------*/
-
-static TickType_t prvSampleTimeNow( BaseType_t * const pxTimerListsWereSwitched )
-{
-TickType_t xTimeNow;
-PRIVILEGED_DATA static TickType_t xLastTime = ( TickType_t ) 0U; /*lint !e956 Variable is only accessible to one task. */
-
- xTimeNow = xTaskGetTickCount();
-
- if( xTimeNow < xLastTime )
- {
- prvSwitchTimerLists();
- *pxTimerListsWereSwitched = pdTRUE;
- }
- else
- {
- *pxTimerListsWereSwitched = pdFALSE;
- }
-
- xLastTime = xTimeNow;
-
- return xTimeNow;
-}
-/*-----------------------------------------------------------*/
-
-static BaseType_t prvInsertTimerInActiveList( Timer_t * const pxTimer, const TickType_t xNextExpiryTime, const TickType_t xTimeNow, const TickType_t xCommandTime )
-{
-BaseType_t xProcessTimerNow = pdFALSE;
-
- listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xNextExpiryTime );
- listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
-
- if( xNextExpiryTime <= xTimeNow )
- {
- /* Has the expiry time elapsed between the command to start/reset a
- timer was issued, and the time the command was processed? */
- if( ( ( TickType_t ) ( xTimeNow - xCommandTime ) ) >= pxTimer->xTimerPeriodInTicks ) /*lint !e961 MISRA exception as the casts are only redundant for some ports. */
- {
- /* The time between a command being issued and the command being
- processed actually exceeds the timers period. */
- xProcessTimerNow = pdTRUE;
- }
- else
- {
- vListInsert( pxOverflowTimerList, &( pxTimer->xTimerListItem ) );
- }
- }
- else
- {
- if( ( xTimeNow < xCommandTime ) && ( xNextExpiryTime >= xCommandTime ) )
- {
- /* If, since the command was issued, the tick count has overflowed
- but the expiry time has not, then the timer must have already passed
- its expiry time and should be processed immediately. */
- xProcessTimerNow = pdTRUE;
- }
- else
- {
- vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
- }
- }
-
- return xProcessTimerNow;
-}
-/*-----------------------------------------------------------*/
-
-static void prvProcessReceivedCommands( void )
-{
-DaemonTaskMessage_t xMessage;
-Timer_t *pxTimer;
-BaseType_t xTimerListsWereSwitched, xResult;
-TickType_t xTimeNow;
-
- while( xQueueReceive( xTimerQueue, &xMessage, tmrNO_DELAY ) != pdFAIL ) /*lint !e603 xMessage does not have to be initialised as it is passed out, not in, and it is not used unless xQueueReceive() returns pdTRUE. */
- {
- #if ( INCLUDE_xTimerPendFunctionCall == 1 )
- {
- /* Negative commands are pended function calls rather than timer
- commands. */
- if( xMessage.xMessageID < ( BaseType_t ) 0 )
- {
- const CallbackParameters_t * const pxCallback = &( xMessage.u.xCallbackParameters );
-
- /* The timer uses the xCallbackParameters member to request a
- callback be executed. Check the callback is not NULL. */
- configASSERT( pxCallback );
-
- /* Call the function. */
- pxCallback->pxCallbackFunction( pxCallback->pvParameter1, pxCallback->ulParameter2 );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* INCLUDE_xTimerPendFunctionCall */
-
- /* Commands that are positive are timer commands rather than pended
- function calls. */
- if( xMessage.xMessageID >= ( BaseType_t ) 0 )
- {
- /* The messages uses the xTimerParameters member to work on a
- software timer. */
- pxTimer = xMessage.u.xTimerParameters.pxTimer;
-
- if( listIS_CONTAINED_WITHIN( NULL, &( pxTimer->xTimerListItem ) ) == pdFALSE ) /*lint !e961. The cast is only redundant when NULL is passed into the macro. */
- {
- /* The timer is in a list, remove it. */
- ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
-
- traceTIMER_COMMAND_RECEIVED( pxTimer, xMessage.xMessageID, xMessage.u.xTimerParameters.xMessageValue );
-
- /* In this case the xTimerListsWereSwitched parameter is not used, but
- it must be present in the function call. prvSampleTimeNow() must be
- called after the message is received from xTimerQueue so there is no
- possibility of a higher priority task adding a message to the message
- queue with a time that is ahead of the timer daemon task (because it
- pre-empted the timer daemon task after the xTimeNow value was set). */
- xTimeNow = prvSampleTimeNow( &xTimerListsWereSwitched );
-
- switch( xMessage.xMessageID )
- {
- case tmrCOMMAND_START :
- case tmrCOMMAND_START_FROM_ISR :
- case tmrCOMMAND_RESET :
- case tmrCOMMAND_RESET_FROM_ISR :
- case tmrCOMMAND_START_DONT_TRACE :
- /* Start or restart a timer. */
- pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
- if( prvInsertTimerInActiveList( pxTimer, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, xTimeNow, xMessage.u.xTimerParameters.xMessageValue ) != pdFALSE )
- {
- /* The timer expired before it was added to the active
- timer list. Process it now. */
- pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
- traceTIMER_EXPIRED( pxTimer );
-
- if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
- {
- xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xMessage.u.xTimerParameters.xMessageValue + pxTimer->xTimerPeriodInTicks, NULL, tmrNO_DELAY );
- configASSERT( xResult );
- ( void ) xResult;
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- break;
-
- case tmrCOMMAND_STOP :
- case tmrCOMMAND_STOP_FROM_ISR :
- /* The timer has already been removed from the active list. */
- pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
- break;
-
- case tmrCOMMAND_CHANGE_PERIOD :
- case tmrCOMMAND_CHANGE_PERIOD_FROM_ISR :
- pxTimer->ucStatus |= tmrSTATUS_IS_ACTIVE;
- pxTimer->xTimerPeriodInTicks = xMessage.u.xTimerParameters.xMessageValue;
- configASSERT( ( pxTimer->xTimerPeriodInTicks > 0 ) );
-
- /* The new period does not really have a reference, and can
- be longer or shorter than the old one. The command time is
- therefore set to the current time, and as the period cannot
- be zero the next expiry time can only be in the future,
- meaning (unlike for the xTimerStart() case above) there is
- no fail case that needs to be handled here. */
- ( void ) prvInsertTimerInActiveList( pxTimer, ( xTimeNow + pxTimer->xTimerPeriodInTicks ), xTimeNow, xTimeNow );
- break;
-
- case tmrCOMMAND_DELETE :
- #if ( configSUPPORT_DYNAMIC_ALLOCATION == 1 )
- {
- /* The timer has already been removed from the active list,
- just free up the memory if the memory was dynamically
- allocated. */
- if( ( pxTimer->ucStatus & tmrSTATUS_IS_STATICALLY_ALLOCATED ) == ( uint8_t ) 0 )
- {
- vPortFree( pxTimer );
- }
- else
- {
- pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
- }
- }
- #else
- {
- /* If dynamic allocation is not enabled, the memory
- could not have been dynamically allocated. So there is
- no need to free the memory - just mark the timer as
- "not active". */
- pxTimer->ucStatus &= ~tmrSTATUS_IS_ACTIVE;
- }
- #endif /* configSUPPORT_DYNAMIC_ALLOCATION */
- break;
-
- default :
- /* Don't expect to get here. */
- break;
- }
- }
- }
-}
-/*-----------------------------------------------------------*/
-
-static void prvSwitchTimerLists( void )
-{
-TickType_t xNextExpireTime, xReloadTime;
-List_t *pxTemp;
-Timer_t *pxTimer;
-BaseType_t xResult;
-
- /* The tick count has overflowed. The timer lists must be switched.
- If there are any timers still referenced from the current timer list
- then they must have expired and should be processed before the lists
- are switched. */
- while( listLIST_IS_EMPTY( pxCurrentTimerList ) == pdFALSE )
- {
- xNextExpireTime = listGET_ITEM_VALUE_OF_HEAD_ENTRY( pxCurrentTimerList );
-
- /* Remove the timer from the list. */
- pxTimer = ( Timer_t * ) listGET_OWNER_OF_HEAD_ENTRY( pxCurrentTimerList ); /*lint !e9087 !e9079 void * is used as this macro is used with tasks and co-routines too. Alignment is known to be fine as the type of the pointer stored and retrieved is the same. */
- ( void ) uxListRemove( &( pxTimer->xTimerListItem ) );
- traceTIMER_EXPIRED( pxTimer );
-
- /* Execute its callback, then send a command to restart the timer if
- it is an auto-reload timer. It cannot be restarted here as the lists
- have not yet been switched. */
- pxTimer->pxCallbackFunction( ( TimerHandle_t ) pxTimer );
-
- if( ( pxTimer->ucStatus & tmrSTATUS_IS_AUTORELOAD ) != 0 )
- {
- /* Calculate the reload value, and if the reload value results in
- the timer going into the same timer list then it has already expired
- and the timer should be re-inserted into the current list so it is
- processed again within this loop. Otherwise a command should be sent
- to restart the timer to ensure it is only inserted into a list after
- the lists have been swapped. */
- xReloadTime = ( xNextExpireTime + pxTimer->xTimerPeriodInTicks );
- if( xReloadTime > xNextExpireTime )
- {
- listSET_LIST_ITEM_VALUE( &( pxTimer->xTimerListItem ), xReloadTime );
- listSET_LIST_ITEM_OWNER( &( pxTimer->xTimerListItem ), pxTimer );
- vListInsert( pxCurrentTimerList, &( pxTimer->xTimerListItem ) );
- }
- else
- {
- xResult = xTimerGenericCommand( pxTimer, tmrCOMMAND_START_DONT_TRACE, xNextExpireTime, NULL, tmrNO_DELAY );
- configASSERT( xResult );
- ( void ) xResult;
- }
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
-
- pxTemp = pxCurrentTimerList;
- pxCurrentTimerList = pxOverflowTimerList;
- pxOverflowTimerList = pxTemp;
-}
-/*-----------------------------------------------------------*/
-
-static void prvCheckForValidListAndQueue( void )
-{
- /* Check that the list from which active timers are referenced, and the
- queue used to communicate with the timer service, have been
- initialised. */
- taskENTER_CRITICAL();
- {
- if( xTimerQueue == NULL )
- {
- vListInitialise( &xActiveTimerList1 );
- vListInitialise( &xActiveTimerList2 );
- pxCurrentTimerList = &xActiveTimerList1;
- pxOverflowTimerList = &xActiveTimerList2;
-
- #if( configSUPPORT_STATIC_ALLOCATION == 1 )
- {
- /* The timer queue is allocated statically in case
- configSUPPORT_DYNAMIC_ALLOCATION is 0. */
- static StaticQueue_t xStaticTimerQueue; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
- static uint8_t ucStaticTimerQueueStorage[ ( size_t ) configTIMER_QUEUE_LENGTH * sizeof( DaemonTaskMessage_t ) ]; /*lint !e956 Ok to declare in this manner to prevent additional conditional compilation guards in other locations. */
-
- xTimerQueue = xQueueCreateStatic( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, ( UBaseType_t ) sizeof( DaemonTaskMessage_t ), &( ucStaticTimerQueueStorage[ 0 ] ), &xStaticTimerQueue );
- }
- #else
- {
- xTimerQueue = xQueueCreate( ( UBaseType_t ) configTIMER_QUEUE_LENGTH, sizeof( DaemonTaskMessage_t ) );
- }
- #endif
-
- #if ( configQUEUE_REGISTRY_SIZE > 0 )
- {
- if( xTimerQueue != NULL )
- {
- vQueueAddToRegistry( xTimerQueue, "TmrQ" );
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- #endif /* configQUEUE_REGISTRY_SIZE */
- }
- else
- {
- mtCOVERAGE_TEST_MARKER();
- }
- }
- taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-BaseType_t xTimerIsTimerActive( TimerHandle_t xTimer )
-{
-BaseType_t xReturn;
-Timer_t *pxTimer = xTimer;
-
- configASSERT( xTimer );
-
- /* Is the timer in the list of active timers? */
- taskENTER_CRITICAL();
- {
- if( ( pxTimer->ucStatus & tmrSTATUS_IS_ACTIVE ) == 0 )
- {
- xReturn = pdFALSE;
- }
- else
- {
- xReturn = pdTRUE;
- }
- }
- taskEXIT_CRITICAL();
-
- return xReturn;
-} /*lint !e818 Can't be pointer to const due to the typedef. */
-/*-----------------------------------------------------------*/
-
-void *pvTimerGetTimerID( const TimerHandle_t xTimer )
-{
-Timer_t * const pxTimer = xTimer;
-void *pvReturn;
-
- configASSERT( xTimer );
-
- taskENTER_CRITICAL();
- {
- pvReturn = pxTimer->pvTimerID;
- }
- taskEXIT_CRITICAL();
-
- return pvReturn;
-}
-/*-----------------------------------------------------------*/
-
-void vTimerSetTimerID( TimerHandle_t xTimer, void *pvNewID )
-{
-Timer_t * const pxTimer = xTimer;
-
- configASSERT( xTimer );
-
- taskENTER_CRITICAL();
- {
- pxTimer->pvTimerID = pvNewID;
- }
- taskEXIT_CRITICAL();
-}
-/*-----------------------------------------------------------*/
-
-#if( INCLUDE_xTimerPendFunctionCall == 1 )
-
- BaseType_t xTimerPendFunctionCallFromISR( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, BaseType_t *pxHigherPriorityTaskWoken )
- {
- DaemonTaskMessage_t xMessage;
- BaseType_t xReturn;
-
- /* Complete the message with the function parameters and post it to the
- daemon task. */
- xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK_FROM_ISR;
- xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
- xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
- xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
-
- xReturn = xQueueSendFromISR( xTimerQueue, &xMessage, pxHigherPriorityTaskWoken );
-
- tracePEND_FUNC_CALL_FROM_ISR( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
-
- return xReturn;
- }
-
-#endif /* INCLUDE_xTimerPendFunctionCall */
-/*-----------------------------------------------------------*/
-
-#if( INCLUDE_xTimerPendFunctionCall == 1 )
-
- BaseType_t xTimerPendFunctionCall( PendedFunction_t xFunctionToPend, void *pvParameter1, uint32_t ulParameter2, TickType_t xTicksToWait )
- {
- DaemonTaskMessage_t xMessage;
- BaseType_t xReturn;
-
- /* This function can only be called after a timer has been created or
- after the scheduler has been started because, until then, the timer
- queue does not exist. */
- configASSERT( xTimerQueue );
-
- /* Complete the message with the function parameters and post it to the
- daemon task. */
- xMessage.xMessageID = tmrCOMMAND_EXECUTE_CALLBACK;
- xMessage.u.xCallbackParameters.pxCallbackFunction = xFunctionToPend;
- xMessage.u.xCallbackParameters.pvParameter1 = pvParameter1;
- xMessage.u.xCallbackParameters.ulParameter2 = ulParameter2;
-
- xReturn = xQueueSendToBack( xTimerQueue, &xMessage, xTicksToWait );
-
- tracePEND_FUNC_CALL( xFunctionToPend, pvParameter1, ulParameter2, xReturn );
-
- return xReturn;
- }
-
-#endif /* INCLUDE_xTimerPendFunctionCall */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- UBaseType_t uxTimerGetTimerNumber( TimerHandle_t xTimer )
- {
- return ( ( Timer_t * ) xTimer )->uxTimerNumber;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-#if ( configUSE_TRACE_FACILITY == 1 )
-
- void vTimerSetTimerNumber( TimerHandle_t xTimer, UBaseType_t uxTimerNumber )
- {
- ( ( Timer_t * ) xTimer )->uxTimerNumber = uxTimerNumber;
- }
-
-#endif /* configUSE_TRACE_FACILITY */
-/*-----------------------------------------------------------*/
-
-/* This entire source file will be skipped if the application is not configured
-to include software timer functionality. If you want to include software timer
-functionality then ensure configUSE_TIMERS is set to 1 in FreeRTOSConfig.h. */
-#endif /* configUSE_TIMERS == 1 */
-
-
-
diff --git a/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/version.c b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/version.c
new file mode 100644
index 0000000000000000000000000000000000000000..61cab783402ea3bb45872fde41dcf2e03d2cdfe6
--- /dev/null
+++ b/uboot-compiler/bm_crazyflie_bitcraze/FreeRTOS/Demo/CORTEX_A72_64-bit_Raspberrypi4/version.c
@@ -0,0 +1,66 @@
+/* This file is automatically generated by .//tools/make/versionTemplate.py!
+ * Do not edit manually, any manual change will be overwritten.
+ */
+/**
+ * || ____ _ __
+ * +------+ / __ )(_) /_______________ _____ ___
+ * | 0xBC | / __ / / __/ ___/ ___/ __ `/_ / / _ \
+ * +------+ / /_/ / / /_/ /__/ / / /_/ / / /_/ __/
+ * || || /_____/_/\__/\___/_/ \__,_/ /___/\___/
+ *
+ * Crazyflie control firmware
+ *
+ * Copyright (C) 2011-2012 Bitcraze AB
+ *
+ * This program is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, in version 3.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * version.tmpl - version of the build
+ */
+#include <stdint.h>
+#include <stdbool.h>
+
+#include "config.h"
+#include "param.h"
+
+const char * V_SLOCAL_REVISION="204";
+const char * V_SREVISION="e842863a15bf";
+const char * V_STAG="2020-team-final-state +204";
+const char * V_BRANCH="uboot-cf";
+const bool V_MODIFIED=true;
+const bool V_PRODUCTION_RELEASE=false;
+
+/* Version recoverable from the ground */
+const uint32_t V_REVISION_0=0xe842863a;
+const uint16_t V_REVISION_1=0x15bf;
+
+/**
+ * Read-only parameters that describe the current quad firmware.
+ */
+PARAM_GROUP_START(firmware)
+
+/**
+ * @brief Byte `0 - 7` of firmware revision
+ */
+PARAM_ADD_CORE(PARAM_UINT32 | PARAM_RONLY, revision0, &V_REVISION_0)
+
+/**
+ * @brief Byte `8 - 11` of firmware revision
+ */
+PARAM_ADD_CORE(PARAM_UINT16 | PARAM_RONLY, revision1, &V_REVISION_1)
+
+/**
+ * @brief Nonzero if firmware has local changes
+ */
+PARAM_ADD_CORE(PARAM_UINT8 | PARAM_RONLY, modified, &V_MODIFIED)
+
+PARAM_GROUP_STOP(firmware)