Betaflight kompilieren - Anleitung?

Kolbi · Apr 16, 2017

Hi,

Ich finde keine Anleitung wie man Betaflight aus der Source kompiliert. Hab ein paar Änderungen vorgenommen, damit der Buzzer-Port als Schaltausgang via AUX dauerhaft aktiv bleibt statt zu blinken, um FPV/Leds zu schalten.

Wie mache ich jetzt eine HEX-Datei daraus?

Lg

Scavanger · Apr 16, 2017

https://github.com/cleanflight/cleanflight/blob/master/docs/development/Building in Windows.md

Kolbi · Apr 16, 2017

Danke, aber mir ist nicht ganz klar wie ich diese Version auswähle: https://github.com/betaflight/betaflight/releases/tag/v2.9.1

Welche Möglichkeiten zum Kompilieren gibt es noch? Habe irgendwo vom Programm Eclipse gelesen.

Lg

Scavanger · Apr 16, 2017

Nach

Code:

git clone http://...

noch

Code:

git checkout tags/v2.9.1

eingeben, damit wählt du die gewünschte Version aus. "git clone" lädt das gesamte Repro herunter.

Kolbi · Apr 16, 2017

Na dass kann ja was werden, ganz schön umständlich, hoffe ich bekomme das irgendwann hin...

Falls jemand bereits alles installiert hat und sich in der Zwischenzeit erbarmen würde mir die Hex zu kompilieren, würd ich mich sehr freuen. Brauche Betaflight Naze 2.91 mit folgender Datei in src/main/io/

beeper.c

Inhalt:

Code:

/*
 * This file is part of Cleanflight.
 *
 * Cleanflight 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.
 *
 * Cleanflight 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 Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "stdbool.h"
#include "stdint.h"
#include "stdlib.h"

#include <platform.h>
#include "build_config.h"

#include "io/rc_controls.h"

#include "drivers/gpio.h"
#include "drivers/sound_beeper.h"
#include "drivers/system.h"
#include "sensors/battery.h"
#include "sensors/sensors.h"

#include "io/statusindicator.h"
#include "io/vtx.h"

#ifdef GPS
#include "io/gps.h"
#endif

#include "config/runtime_config.h"
#include "config/config.h"

#include "io/beeper.h"

#if FLASH_SIZE > 64
#define BEEPER_NAMES
#endif

#define MAX_MULTI_BEEPS 20   //size limit for 'beep_multiBeeps[]'

#define BEEPER_COMMAND_REPEAT 0xFE
#define BEEPER_COMMAND_STOP   0xFF

#ifdef BEEPER
/* Beeper Sound Sequences: (Square wave generation)
 * Sequence must end with 0xFF or 0xFE. 0xFE repeats the sequence from
 * start when 0xFF stops the sound when it's completed.
 *
 * "Sound" Sequences are made so that 1st, 3rd, 5th.. are the delays how
 * long the beeper is on and 2nd, 4th, 6th.. are the delays how long beeper
 * is off. Delays are in milliseconds/10 (i.e., 5 => 50ms).
 */
// short fast beep
static const uint8_t beep_shortBeep[] = {
    100, 0, BEEPER_COMMAND_STOP
};
// arming beep
static const uint8_t beep_armingBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// armed beep (first pause, then short beep)
static const uint8_t beep_armedBeep[] = {
    0, 0 BEEPER_COMMAND_STOP
};
// disarming beeps
static const uint8_t beep_disarmBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// beeps while stick held in disarm position (after pause)
static const uint8_t beep_disarmRepeatBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// Long beep and pause after that
static const uint8_t beep_lowBatteryBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// critical battery beep
static const uint8_t beep_critBatteryBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};

// transmitter-signal-lost tone
static const uint8_t beep_txLostBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// SOS morse code:
static const uint8_t beep_sos[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// Arming when GPS is fixed
static const uint8_t beep_armedGpsFix[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// Ready beeps. When gps has fix and copter is ready to fly.
static const uint8_t beep_readyBeep[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// 2 fast short beeps
static const uint8_t beep_2shortBeeps[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// 2 longer beeps
static const uint8_t beep_2longerBeeps[] = {
    0, 0, BEEPER_COMMAND_STOP
};
// 3 beeps
static const uint8_t beep_gyroCalibrated[] = {
    0, 0, BEEPER_COMMAND_STOP
};

// array used for variable # of beeps (reporting GPS sat count, etc)
static uint8_t beep_multiBeeps[MAX_MULTI_BEEPS + 2];

#define BEEPER_CONFIRMATION_BEEP_DURATION 2
#define BEEPER_CONFIRMATION_BEEP_GAP_DURATION 20


// Beeper off = 0 Beeper on = 1
static uint8_t beeperIsOn = 0;

// Place in current sequence
static uint16_t beeperPos = 0;
// Time when beeper routine must act next time
static uint32_t beeperNextToggleTime = 0;
// Time of last arming beep in microseconds (for blackbox)
static uint32_t armingBeepTimeMicros = 0;

static void beeperProcessCommand(void);

typedef struct beeperTableEntry_s {
    uint8_t mode;
    uint8_t priority; // 0 = Highest
    const uint8_t *sequence;
#ifdef BEEPER_NAMES
    const char *name;
#endif
} beeperTableEntry_t;

#ifdef BEEPER_NAMES
#define BEEPER_ENTRY(a,b,c,d) a,b,c,d
#else
#define BEEPER_ENTRY(a,b,c,d) a,b,c
#endif

/*static*/ const beeperTableEntry_t beeperTable[] = {
    { BEEPER_ENTRY(BEEPER_GYRO_CALIBRATED,       0, beep_gyroCalibrated,   "GYRO_CALIBRATED") },
    { BEEPER_ENTRY(BEEPER_RX_LOST,               1, beep_txLostBeep,       "RX_LOST") },
    { BEEPER_ENTRY(BEEPER_RX_LOST_LANDING,       2, beep_sos,              "RX_LOST_LANDING") },
    { BEEPER_ENTRY(BEEPER_DISARMING,             3, beep_disarmBeep,       "DISARMING") },
    { BEEPER_ENTRY(BEEPER_ARMING,                4, beep_armingBeep,       "ARMING")  },
    { BEEPER_ENTRY(BEEPER_ARMING_GPS_FIX,        5, beep_armedGpsFix,      "ARMING_GPS_FIX") },
    { BEEPER_ENTRY(BEEPER_BAT_CRIT_LOW,          6, beep_critBatteryBeep,  "BAT_CRIT_LOW") },
    { BEEPER_ENTRY(BEEPER_BAT_LOW,               7, beep_lowBatteryBeep,   "BAT_LOW") },
    { BEEPER_ENTRY(BEEPER_GPS_STATUS,            8, beep_multiBeeps,       "GPS_STATUS") },
    { BEEPER_ENTRY(BEEPER_RX_SET,                9, beep_shortBeep,        "RX_SET") },
    { BEEPER_ENTRY(BEEPER_ACC_CALIBRATION,       10, beep_2shortBeeps,     "ACC_CALIBRATION") },
    { BEEPER_ENTRY(BEEPER_ACC_CALIBRATION_FAIL,  11, beep_2longerBeeps,    "ACC_CALIBRATION_FAIL") },
    { BEEPER_ENTRY(BEEPER_READY_BEEP,            12, beep_readyBeep,       "READY_BEEP") },
    { BEEPER_ENTRY(BEEPER_MULTI_BEEPS,           13, beep_multiBeeps,      "MULTI_BEEPS") }, // FIXME having this listed makes no sense since the beep array will not be initialised.
    { BEEPER_ENTRY(BEEPER_DISARM_REPEAT,         14, beep_disarmRepeatBeep, "DISARM_REPEAT") },
    { BEEPER_ENTRY(BEEPER_ARMED,                 15, beep_armedBeep,       "ARMED") },
    { BEEPER_ENTRY(BEEPER_SYSTEM_INIT,           16, NULL,                 "SYSTEM_INIT") },
    { BEEPER_ENTRY(BEEPER_USB,                   17, NULL,                 "ON_USB") },

    { BEEPER_ENTRY(BEEPER_ALL,                   18, NULL,      		   "ALL") },
    { BEEPER_ENTRY(BEEPER_PREFERENCE,            19, NULL,                 "PREFERRED") },
};

static const beeperTableEntry_t *currentBeeperEntry = NULL;

#define BEEPER_TABLE_ENTRY_COUNT (sizeof(beeperTable) / sizeof(beeperTableEntry_t))

/*
 * Called to activate/deactivate beeper, using the given "BEEPER_..." value.
 * This function returns immediately (does not block).
 */
void beeper(beeperMode_e mode)
{
    if (mode == BEEPER_SILENCE || ((getBeeperOffMask() & (1 << (BEEPER_USB-1))) && (feature(FEATURE_VBAT) && (batteryCellCount < 2)))) {
        beeperSilence();
        return;
    }

    const beeperTableEntry_t *selectedCandidate = NULL;
    for (uint32_t i = 0; i < BEEPER_TABLE_ENTRY_COUNT; i++) {
        const beeperTableEntry_t *candidate = &beeperTable[i];
        if (candidate->mode != mode) {
            continue;
        }

        if (!currentBeeperEntry) {
            selectedCandidate = candidate;
            break;
        }

        if (candidate->priority < currentBeeperEntry->priority) {
            selectedCandidate = candidate;
        }

        break;
    }

    if (!selectedCandidate) {
        return;
    }

    currentBeeperEntry = selectedCandidate;

    beeperPos = 0;
    beeperNextToggleTime = 0;
}

void beeperSilence(void)
{
    BEEP_OFF;
    warningLedDisable();
    warningLedRefresh();


    beeperIsOn = 0;

    beeperNextToggleTime = 0;
    beeperPos = 0;

    currentBeeperEntry = NULL;
}
/*
 * Emits the given number of 20ms beeps (with 200ms spacing).
 * This function returns immediately (does not block).
 */
void beeperConfirmationBeeps(uint8_t beepCount)
{
    int i;
    int cLimit;

    i = 0;
    cLimit = beepCount * 2;
    if(cLimit > MAX_MULTI_BEEPS)
        cLimit = MAX_MULTI_BEEPS;  //stay within array size
    do {
        beep_multiBeeps[i++] = BEEPER_CONFIRMATION_BEEP_DURATION;       // 20ms beep
        beep_multiBeeps[i++] = BEEPER_CONFIRMATION_BEEP_GAP_DURATION;   // 200ms pause
    } while (i < cLimit);
    beep_multiBeeps[i] = BEEPER_COMMAND_STOP;     //sequence end
    beeper(BEEPER_MULTI_BEEPS);    //initiate sequence
}

#ifdef GPS
void beeperGpsStatus(void)
{
    // if GPS fix then beep out number of satellites
    if (STATE(GPS_FIX) && GPS_numSat >= 5) {
        uint8_t i = 0;
        do {
            beep_multiBeeps[i++] = 5;
            beep_multiBeeps[i++] = 10;
        } while (i < MAX_MULTI_BEEPS && GPS_numSat > i / 2);

        beep_multiBeeps[i-1] = 50; // extend last pause
        beep_multiBeeps[i] = BEEPER_COMMAND_STOP;

        beeper(BEEPER_MULTI_BEEPS);    //initiate sequence
    } else {
        beeper(BEEPER_RX_SET);
    }
}
#endif

/*
 * Beeper handler function to be called periodically in loop. Updates beeper
 * state via time schedule.
 */
void beeperUpdate(void)
{
    // If beeper option from AUX switch has been selected
    if (IS_RC_MODE_ACTIVE(BOXBEEPERON)) {
#ifdef GPS
        if (feature(FEATURE_GPS)) {
            beeperGpsStatus();
        } else {
            beeper(BEEPER_RX_SET);
        }
#else
        beeper(BEEPER_RX_SET);
#endif
    }

    // Beeper routine doesn't need to update if there aren't any sounds ongoing
    if (currentBeeperEntry == NULL) {
        return;
    }

    uint32_t now = millis();
    if (beeperNextToggleTime > now) {
        return;
    }

    if (!beeperIsOn) {
        beeperIsOn = 1;
        if (currentBeeperEntry->sequence[beeperPos] != 0) {
        	if (!(getBeeperOffMask() & (1 << (currentBeeperEntry->mode - 1))))
                BEEP_ON;
            warningLedEnable();
            warningLedRefresh();
            // if this was arming beep then mark time (for blackbox)
            if (
                beeperPos == 0
                && (currentBeeperEntry->mode == BEEPER_ARMING || currentBeeperEntry->mode == BEEPER_ARMING_GPS_FIX)
            ) {
                armingBeepTimeMicros = micros();
            }
        }
    } else {
        beeperIsOn = 0;
        if (currentBeeperEntry->sequence[beeperPos] != 0) {
            BEEP_OFF;
            warningLedDisable();
            warningLedRefresh();
        }
    }

    beeperProcessCommand();
}

/*
 * Calculates array position when next to change beeper state is due.
 */
static void beeperProcessCommand(void)
{
    if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_REPEAT) {
        beeperPos = 0;
    } else if (currentBeeperEntry->sequence[beeperPos] == BEEPER_COMMAND_STOP) {
        beeperSilence();
    } else {
        // Otherwise advance the sequence and calculate next toggle time
        beeperNextToggleTime = millis() + 10 * currentBeeperEntry->sequence[beeperPos];
        beeperPos++;
    }
}

/*
 * Returns the time that the last arming beep occurred (in system-uptime
 * microseconds).  This is fetched and logged by blackbox.
 */
uint32_t getArmingBeepTimeMicros(void)
{
    return armingBeepTimeMicros;
}

/*
 * Returns the 'beeperMode_e' value for the given beeper-table index,
 * or BEEPER_SILENCE if none.
 */
beeperMode_e beeperModeForTableIndex(int idx)
{
    return (idx >= 0 && idx < (int)BEEPER_TABLE_ENTRY_COUNT) ? beeperTable[idx].mode : BEEPER_SILENCE;
}

/*
 * Returns the name for the given beeper-table index, or NULL if none.
 */
const char *beeperNameForTableIndex(int idx)
{
#ifndef BEEPER_NAMES
    UNUSED(idx);
    return NULL;
#else
    return (idx >= 0 && idx < (int)BEEPER_TABLE_ENTRY_COUNT) ? beeperTable[idx].name : NULL;
#endif
}

/*
 * Returns the number of entries in the beeper-sounds table.
 */
int beeperTableEntryCount(void)
{
    return (int)BEEPER_TABLE_ENTRY_COUNT;
}

/*
 * Returns true if the beeper is on, false otherwise
 */
bool isBeeperOn(void) {
    return beeperIsOn;
}

#else

// Stub out beeper functions if #BEEPER not defined
void beeper(beeperMode_e mode) {UNUSED(mode);}
void beeperSilence(void) {}
void beeperConfirmationBeeps(uint8_t beepCount) {UNUSED(beepCount);}
void beeperUpdate(void) {}
uint32_t getArmingBeepTimeMicros(void) {return 0;}
beeperMode_e beeperModeForTableIndex(int idx) {UNUSED(idx); return BEEPER_SILENCE;}
const char *beeperNameForTableIndex(int idx) {UNUSED(idx); return NULL;}
int beeperTableEntryCount(void) {return 0;}
bool isBeeperOn(void) {return false;}

#endif

Lg

Scavanger · Apr 16, 2017

Kein Ding, bitte:

Anhang anzeigen betaflight_2.9.1_NAZE.hex.zip

Gezippt, das Forum mag keine HEX Dateien.

Hab auch ein vergessenes Komma korrigiert.

<

Kolbi · Apr 16, 2017

Danke Scavanger, echt fein von dir!

Werds gleich mal flashen sobald der Rahmen geklebt ist (Hängende Kabel treffen hab ich schonmal perfekt geübt) und berichten ob der Buzzer Ausgang nun tut wie ich mir das vorstelle.

Lg

Kolbi · Apr 16, 2017

Getestet, und funktioniert einigermaßen

Leider gibt es nochimmer einen kurzen Ausschaltimpuls, das FPV System stürzt dadurch im Sekundentakt kurz ab, aber für LED´s funktioniert der Hack gut. Muss mir den Code genauer angucken und irgendwie ändern dass er bei 0 für Off-Zeit gar nicht abschaltet.

Lg!

Betaflight kompilieren - Anleitung?

Kolbi

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Scavanger

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Kolbi

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Scavanger

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Kolbi

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Scavanger

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Kolbi

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Kolbi

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