From e1166b065a5bc29db28a26888f3f992f53b01997 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 18:08:10 +0800
Subject: [PATCH 01/14] seperate toolchain and workspace path part of Makefile

---
 program/Makefile               | 86 +++-------------------------------
 program/makefiles/toolchain.mk | 64 +++++++++++++++++++++++++
 program/makefiles/workspace.mk | 19 ++++++++
 3 files changed, 90 insertions(+), 79 deletions(-)
 create mode 100644 program/makefiles/toolchain.mk
 create mode 100644 program/makefiles/workspace.mk

diff --git a/program/Makefile b/program/Makefile
index 353003b3..bbd2b48e 100644
--- a/program/Makefile
+++ b/program/Makefile
@@ -3,87 +3,15 @@ PROJECT=firmware
 EXECUTABLE=$(PROJECT).elf
 BIN_IMAGE=$(PROJECT).bin
 TEST_EXE=run_test
+export WORKSPACE_DIR=./
 #============================================================================#
-HOST_CC=gcc
-#Cross Compiler
-CC=arm-none-eabi-gcc
-OBJCOPY=arm-none-eabi-objcopy
-GDB=arm-none-eabi-gdb
-LD=arm-none-eabi-gcc
-CMSIS=./lib/CMSIS
-ST=./lib/STM32F4xx_StdPeriph_Driver
-EXTERNAL_DEVICE=./ext_device
-MCU_PERIPH=./mcu_periph
-ESTIMATOR=./estimator
-ACTUATORS=./actuators
-COMMON=./common
-RADIO_CONTROLLER=./radio_controller
-CONTROLLER =./controller
-MAVLINK=./mavlink
-FREERTOS=./lib/FreeRTOS
-MAVLINK_LIB=./lib/mavlink
-TEST=./test
+include ./makefiles/toolchain.mk
+include ./makefiles/workspace.mk
 #============================================================================#
-BOARD_CONFIG=./vertigo_v2_config.h
-DEBUG_CONFIG=./debug_config.h
-CFLAGS_INCLUDE=-I./ \
-	-I$(TEST) \
-	-I$(ACTUATORS) \
-	-I$(CONTROLLER) \
-	-I$(MCU_PERIPH) \
-	-I$(EXTERNAL_DEVICE) \
-	-I$(ESTIMATOR)\
-	-I$(COMMON)\
-	-I$(RADIO_CONTROLLER) \
-	-I$(FREERTOS)/Source/include \
-	-I$(FREERTOS)/Source/portable/GCC/ARM_CM4F \
-	-I$(CMSIS) \
-	-I$(ST)/inc \
-	-I$(MAVLINK) \
-	-I$(MAVLINK_LIB) \
-	-I$(MAVLINK_LIB)/common
-CFLAGS_DEFINE= \
-        -D USE_STDPERIPH_DRIVER \
-        -D __FPU_PRESENT=1 \
-        -D ARM_MATH_CM4 \
-        -D __FPU_USED=1 \
-        -include $(BOARD_CONFIG) \
-        -include $(DEBUG_CONFIG) \
-		-U printf -D printf=printf_base
-
-        #__CC_ARM
-CFLAGS_OPTIMIZE= \
-	-O2
-CFLAGS_NEW_LIB_NANO= \
-	--specs=nano.specs --specs=nosys.specs  -u _printf_float
-CFLAGS_WARNING= \
-	-Wall \
-	-Wextra \
-	-Wdouble-promotion \
-	-Wshadow \
-	-Werror=array-bounds \
-	-Wfatal-errors \
-	-Wmissing-prototypes \
-	-Wbad-function-cast  \
-	-Wstrict-prototypes \
-	-Wmissing-parameter-type
-
-ARCH_FLAGS=-mlittle-endian -mthumb -mcpu=cortex-m4 \
-	-mfpu=fpv4-sp-d16 -mfloat-abi=hard
-
-CFLAGS=-g $(ARCH_FLAGS)\
-	${CFLAGS_INCLUDE} ${CFLAGS_DEFINE} \
-	${CFLAGS_WARNING}
-
-
-LDFLAGS +=$(CFLAGS_NEW_LIB_NANO) --static -Wl,--gc-sections
-
-LDFLAGS +=-T STM32F427VI_FLASH.ld
-LDLIBS +=-Wl,--start-group -lm -Wl,--end-group
 
 #============================================================================#
 
-STARTUP=./startup_stm32f427xx.o
+STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
 EXTERNAL_DEVICE_SRC = $(EXTERNAL_DEVICE)/AT24C04C.o \
 			$(EXTERNAL_DEVICE)/mpu9250.o \
 			$(EXTERNAL_DEVICE)/hmc5983.o \
@@ -131,7 +59,7 @@ MAVLINK_SRC=$(MAVLINK)/communication.o \
 	$(MAVLINK)/command_parser.o \
 	$(MAVLINK)/global.o 
 
-OBJS=	./system_stm32f4xx.o \
+OBJS=	$(WORKSPACE_DIR)system_stm32f4xx.o \
 	$(CMSIS)/FastMathFunctions/arm_cos_f32.o \
 	$(CMSIS)/FastMathFunctions/arm_sin_f32.o \
         $(ST)/src/misc.o \
@@ -144,8 +72,8 @@ OBJS=	./system_stm32f4xx.o \
         $(ST)/src/stm32f4xx_spi.o \
         $(ST)/src/stm32f4xx_i2c.o \
         $(ST)/src/stm32f4xx_sdio.o \
-        ./interrupt.o \
-        ./main.o \
+        $(WORKSPACE_DIR)/interrupt.o \
+        $(WORKSPACE_DIR)/main.o \
         $(STARTUP) \
         $(EXTERNAL_DEVICE_SRC) $(MCU_PERIPH_SRC) \
 	$(ESTIMATOR_SRC) $(ACTUATORS_SRC) $(RADIO_CONTROLLER_SRC) \
diff --git a/program/makefiles/toolchain.mk b/program/makefiles/toolchain.mk
new file mode 100644
index 00000000..3828087a
--- /dev/null
+++ b/program/makefiles/toolchain.mk
@@ -0,0 +1,64 @@
+HOST_CC=gcc
+CC=arm-none-eabi-gcc
+OBJCOPY=arm-none-eabi-objcopy
+GDB=arm-none-eabi-gdb
+LD=arm-none-eabi-gcc
+AR =arm-none-eabi-ar
+RANLIB =arm-none-eabi-ranlib
+
+CFLAGS_OPTIMIZE= \
+	-O2
+CFLAGS_NEW_LIB_NANO= \
+	--specs=nano.specs --specs=nosys.specs  -u _printf_float
+CFLAGS_WARNING= \
+	-Wall \
+	-Wextra \
+	-Wdouble-promotion \
+	-Wshadow \
+	-Werror=array-bounds \
+	-Wfatal-errors \
+	-Wmissing-prototypes \
+	-Wbad-function-cast  \
+	-Wstrict-prototypes \
+	-Wmissing-parameter-type
+
+ARCH_FLAGS=-mlittle-endian -mthumb -mcpu=cortex-m4 \
+	-mfpu=fpv4-sp-d16 -mfloat-abi=hard
+
+LDFLAGS =$(CFLAGS_NEW_LIB_NANO) --static -Wl,--gc-sections \
+	-T ./STM32F427VI_FLASH.ld
+
+LDLIBS =-Wl,--start-group -lm -Wl,--end-group
+
+CFLAGS_INCLUDE=-I$(WORKSPACE_DIR)/ \
+	-I$(TEST) \
+	-I$(ACTUATORS) \
+	-I$(CONTROLLER) \
+	-I$(MCU_PERIPH) \
+	-I$(EXTERNAL_DEVICE) \
+	-I$(ESTIMATOR)\
+	-I$(COMMON)\
+	-I$(RADIO_CONTROLLER) \
+	-I$(FREERTOS)/Source/include \
+	-I$(FREERTOS)/Source/portable/GCC/ARM_CM4F \
+	-I$(CMSIS) \
+	-I$(ST)/inc \
+	-I$(MAVLINK) \
+	-I$(MAVLINK_LIB) \
+	-I$(MAVLINK_LIB)/common
+	
+CFLAGS_DEFINE= \
+        -D USE_STDPERIPH_DRIVER \
+        -D __FPU_PRESENT=1 \
+        -D ARM_MATH_CM4 \
+        -D __FPU_USED=1 \
+        -include $(BOARD_CONFIG) \
+        -include $(DEBUG_CONFIG) \
+		-U printf -D printf=printf_base
+
+        #__CC_ARM
+
+
+CFLAGS=-g $(ARCH_FLAGS)\
+	${CFLAGS_INCLUDE} ${CFLAGS_DEFINE} \
+	${CFLAGS_WARNING}
\ No newline at end of file
diff --git a/program/makefiles/workspace.mk b/program/makefiles/workspace.mk
new file mode 100644
index 00000000..f6686017
--- /dev/null
+++ b/program/makefiles/workspace.mk
@@ -0,0 +1,19 @@
+#export abs path
+
+export CMSIS=$(abspath $(WORKSPACE_DIR)/lib/CMSIS)/
+export ST=$(abspath $(WORKSPACE_DIR)/lib/STM32F4xx_StdPeriph_Driver)/
+export EXTERNAL_DEVICE=$(abspath $(WORKSPACE_DIR)/ext_device)/
+export MCU_PERIPH=$(abspath $(WORKSPACE_DIR)/mcu_periph)/
+export ESTIMATOR=$(abspath $(WORKSPACE_DIR)/estimator)/
+export ACTUATORS=$(abspath $(WORKSPACE_DIR)/actuators)/
+export COMMON=$(abspath $(WORKSPACE_DIR)/common)/
+export RADIO_CONTROLLER=$(abspath $(WORKSPACE_DIR)/radio_controller)/
+export CONTROLLER =$(abspath $(WORKSPACE_DIR)/controller)/
+export MAVLINK=$(abspath $(WORKSPACE_DIR)/mavlink)/
+export FREERTOS=$(abspath $(WORKSPACE_DIR)/lib/FreeRTOS)/
+export MAVLINK_LIB=$(abspath $(WORKSPACE_DIR)/lib/mavlink)/
+export TEST=$(abspath $(WORKSPACE_DIR)/test)/
+
+#inclue dir
+BOARD_CONFIG=$(WORKSPACE_DIR)/vertigo_v2_config.h
+DEBUG_CONFIG=$(WORKSPACE_DIR)/debug_config.h

From 69711a04a8faa7b0d035f4872d27ccc3de72c633 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 18:17:46 +0800
Subject: [PATCH 02/14] Seperate rules

---
 program/Makefile           | 9 +--------
 program/makefiles/rules.mk | 8 ++++++++
 2 files changed, 9 insertions(+), 8 deletions(-)
 create mode 100644 program/makefiles/rules.mk

diff --git a/program/Makefile b/program/Makefile
index bbd2b48e..2b844033 100644
--- a/program/Makefile
+++ b/program/Makefile
@@ -7,6 +7,7 @@ export WORKSPACE_DIR=./
 #============================================================================#
 include ./makefiles/toolchain.mk
 include ./makefiles/workspace.mk
+include ./makefiles/rules.mk
 #============================================================================#
 
 #============================================================================#
@@ -93,14 +94,6 @@ $(EXECUTABLE): $(OBJS)
 	@$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $@ 
 	@echo 'LD $(EXECUTABLE)'
 
-%.o: %.c
-	@$(CC) $(CFLAGS) -c $< -o $@
-	@echo 'CC $<'
-
-%.o: %.s
-	@$(CC) $(CFLAGS) -c $< -o $@
-	@echo 'CC $<'
-
 PC_SIM:$(TEST_EXE)
 
 $(TEST_EXE):$(HOST_SRC)
diff --git a/program/makefiles/rules.mk b/program/makefiles/rules.mk
new file mode 100644
index 00000000..79b1208a
--- /dev/null
+++ b/program/makefiles/rules.mk
@@ -0,0 +1,8 @@
+#makefile rules
+%.o: %.c
+	@$(CC) $(CFLAGS) -c $< -o $@
+	@echo 'CC $<'
+
+%.o: %.s
+	@$(CC) $(CFLAGS) -c $< -o $@
+	@echo 'CC $<'
\ No newline at end of file

From 959198db5a8ce1c78a8d6eaba5bfb47af1f4b978 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 18:35:11 +0800
Subject: [PATCH 03/14] Let estimator part to be a static lib

---
 program/Makefile                 |   3 ---
 program/estimator/Makefile       |  20 ++++++++++++++++++++
 program/estimator/libestimator.a | Bin 0 -> 20562 bytes
 program/makefiles/toolchain.mk   |   2 +-
 4 files changed, 21 insertions(+), 4 deletions(-)
 create mode 100644 program/estimator/Makefile
 create mode 100644 program/estimator/libestimator.a

diff --git a/program/Makefile b/program/Makefile
index 2b844033..9ff01605 100644
--- a/program/Makefile
+++ b/program/Makefile
@@ -28,9 +28,6 @@ MCU_PERIPH_SRC =  \
 	$(MCU_PERIPH)/usart.o \
 	$(MCU_PERIPH)/input_capture.o \
 	$(MCU_PERIPH)/system_time.o
-ESTIMATOR_SRC =	$(ESTIMATOR)/attitude_estimator.o \
-	$(ESTIMATOR)/vertical_estimator.o \
-	$(ESTIMATOR)/estimator.o 
 
 ACTUATORS_SRC = $(ACTUATORS)/pwm.o
 RADIO_CONTROLLER_SRC = $(RADIO_CONTROLLER)/radio_control.o \
diff --git a/program/estimator/Makefile b/program/estimator/Makefile
new file mode 100644
index 00000000..be5c01ca
--- /dev/null
+++ b/program/estimator/Makefile
@@ -0,0 +1,20 @@
+export WORKSPACE_DIR=../
+include $(WORKSPACE_DIR)/makefiles/toolchain.mk
+include $(WORKSPACE_DIR)/makefiles/workspace.mk
+include $(WORKSPACE_DIR)/makefiles/rules.mk
+
+LIB_ESTIMATOR=libestimator.a
+
+ESTIMATOR_SRC = $(WORKSPACE_DIR)/estimator/
+
+ESTIMATOR_OBJS=	$(ESTIMATOR_SRC)/attitude_estimator.o \
+	$(ESTIMATOR_SRC)/vertical_estimator.o \
+	$(ESTIMATOR_SRC)/estimator.o
+
+all: $(LIB_ESTIMATOR)
+
+$(LIB_ESTIMATOR): $(ESTIMATOR_OBJS)
+	$(AR) -r $(LIB_ESTIMATOR) $(ESTIMATOR_OBJS)
+	$(RANLIB) $(LIB_ESTIMATOR)
+clean: 
+	rm -rf $(LIB_ESTIMATOR)
\ No newline at end of file
diff --git a/program/estimator/libestimator.a b/program/estimator/libestimator.a
new file mode 100644
index 0000000000000000000000000000000000000000..de4cadca2d9c8aae6aed871f88c4877c5041f32b
GIT binary patch
literal 20562
zcmd^H3wRvWb-p|M)aqfaB-^rVU~Ozr0PA7Pwrpdt`~p{gD7Fbk5LPSgO1rM4U3OQN
zy`qs5Amq`c2uOIuUrAz0k`@}b32}%ZNkbB#p$$ozDoG)R7DCe?7YZp9rJ?_S=gjP^
zECYqKU(#M{=0A^n&wbA9opWZq@cd||CvicrF<hLQTbi3zty;Na<?3*_NvoXaaJXf8
zs}$%8Dy6EGGP+Mb&iuAg|DB_)N~yN0cs7?Dh~`q6NG_A?>x*Y1z5UTX70u<6xuIA*
zQqU&{levOC8z0QZRU#gZB?tQ=CTABKO2?wPxGIz_vb{f^$t8QD{nKr~E7BR+5Y40_
z{b>a{7TLOEw@pOinM^8EVEa>peYtpMU?%w<$anVkX5%@XUmJ4f)0K2&;`<BcwDpLV
z^+i%<S-YKP?@rO1<RJ28<B?1%7tJM8gL)iOgQ<adE^{!F&cxAE)i{01ix<F2TuX~3
z>I&MUYB!)E)fluJS0rsT7migp>|9yRO-<0+=anl_M{7%~EUm8K=;m!(TrL+Dn3-Iv
zUKKc{9-E`(-WCn@sz!y>p)X!{RDJ%HuKT*KpL7L}olyCSNmqW=iN5?);s=u|fA)#9
z^W&uUQQmvvGx=dij-KcX)~tG9%e!CkjHE9r*vNOS?V3vLd|nxKf}Mi5ca4kO#7@n>
zXV>jrBO*7kQ}dLs6}gF>ny1{;t`^m$3$?4Su{($ET{>xe_*Ur)+wtA@srcWvkK-7L
zqebqu`aBgQJ+99q`n*=3r+T!!=fU=o9&;4R^ADk?4^5Wkzt%q0t+o0*qR(sfc`B;q
z`aBZNC&m+%Tjp)KWpZxtwU>9j_WX(U`H{qf7{!r9-D%?q&+>wHqpfv8>wY0%j3)vP
z{c>AxXnh&<Wul)0>u1_}x7JreU+K_S+j@`I*Faz6(7SED7y6rY8?E^s!F;>+>9d~k
zRTu|yhL#yctKhYlfBo9^lQpt(YGll+#pc9hb-quJVx^Y2u(~YCEG;n{k_xP}n<m|m
zl<9RhF<C05gIeR6K~thN-WfE3{94_wwYoPGlL5QkYxSH^uJV6@l};Vkxz4HAH*>gj
zd7jzxiOFD5c~kC^@<F@2VV5@?^|O45l<$L_Yr<?D<yPIrW#=cRqH7bEC&qF9L}Dar
zuFBc^+MJm5%LvVe<;tR#seExxpCjk2qMWX2IlXqyk|+P@8^1h%?y>K+DwW^7;?<9y
z|5QVK!^C7oQF&(%%{zrT*5)|!Ucr@Pj-Ni;rFs7_S5B3zoGMv4A$wdxdhQEj#kEtA
znX|*yQ;?bMkr~tWta^^(N{mc4Yl~CGv;QH^gEgD>OzfMvy}Y6yMxTo9US!*K<-2fK
zeBe3b!-pPFUpsW~hwS?i?-QrKbBrfGksRsf>i6p_t#IEB=xfexkK998tK(Rae!cQW
zK)Lm-QD){<j=Z$S-dU@R`8`-Me#z5^`<pMncHc;JV$z#`;Y6SA*~Fwz&kjfJ_++`=
zJ462_82MkG_&V}dzFP9bDOfj<$E#O8N7l&KV+0O8aAaG2gHm7Ic<A11?J-!})tca}
zw<hjOzM3?tV*V9qzLFTxxhl1tC%j5|^zW6&m31rSssi^_`BnR*PivIn^7##=+-F1X
zUa$&6!xi`#nL9wcmu#iP@P1T-|9WOk!j^j#Het%}cwf@s_dsR@ygw!v@JCRQ$Ky>7
z=8(nT4$d8<=$!MQcdsP5;sTOKVb9ZcscB;y!24;Od|eRNc>Vtl+8^!dQQiPa6{v>X
zTSD6BAHYV<8zfy8pjmI}EjU-H5`qsM2;Kw2P;MIYmfc5b8&37!Sv#OL?N*W$yCKqL
zrrj#iwWi(bD?u+-B?KN~*YJ40g|hB8oV+z5D16VMrdIEqZ-F+=&vi7r*3s;FX0u0F
zw2oEP1is2v&L<rXETVh?>GPDEM!lz{!T3IeQ<<;C1xa8Z^7w*mj|%L^fci>Fd;ABZ
z!^&4iI-uMv;46O&XH4p!p_mcy)a#k@yoai1QM$}uyA2xu0p*{k&G`>1f1PP8ul)1H
z6tnslEJRM<5frWUpME!+aVLwOq00rjnI)`C28Kv4)MW#H(u+u!1s))MCh5vRiu7XA
zHOft+{w0^fT<PZ_cljx2+JwV(cnXTLRDTQ#lEzrBY%o4-bLsNWF`F)AjP<Ju4~x%w
zgjv0`aILno6MZjl25ERn!b*8gXSqak>GF$+UX$xDM@Dd$Yh401Iq(&pI4oCqIA)d2
zAdR|*k?lrIf$Q*J;cVKkqkZ?-;Zd`KI+}Ek-8yR4AneVfW)*d;!aa7wXlOfIa~j)@
zUW8V#X5kW{0HwmkLhohH)6JY+q1zqY6`=~YTXcIvPdRjZLVM9fLr<77))BguIfdI6
zTI1j@uIg2Wo<L)4Q&kKXvYtU>Y<=iDX47-%9=m@u^bXqB)94=i@@Qy<gZ<)YsLjD1
z9SvQ|PAp-w-D7u;hGGu(v!kJ_9PFK=s`5Lm>B=j3AA`nq_##l|_+Dww-xcQYUTMzQ
z-tt-+xRTk7u|1(Lv+gc)jB=qbQzu+H)X1?Fu0J%J6-CXQiO?kuE{3`0O0T?(1%|tD
z+guN|>+mtVEyLDY(yM3KY)iVlmbDL?tEazwjxNqZ##q8^wd7Rg|H=A>AJ94v>f_z3
z!o%B0^#z!&z-N44M2?#E5R`cS5TqBzkX#|xl8Wk5cg6gQkgLj9ITvOYtJ2a7Ai@C8
zQSOR0rE5#K;+fea@&F32P?Y$pUG9p~Qf6?0^_MGmz|7rRiaNncVX`GI*Vbxg3ob<A
zMo3B<P@MVCp0~A{wXd(eWy3sXDf8Nvj9SbWSg}O5Vip?6`e!w`E}UnXC^AravgYHa
z=}=3Nttzn6W}2=Rt#@nnh4apzhY>4ezi=LNs0BDMEl3zwN!BkR*>=vE`a7-^*HlHh
z!XqJQg~QdDz*B8wZ+9w_%r;&%6pi7T7mkDBROa`y>1a>9aUhi%T-qIvW*P?$MtYN(
zf#GN--k8p$`ZCdh#-7x`Kx$AmG&DBa53P-=aVVQ<jAjOw4yFd<OXJb*WMgu$rystD
z#(`*0A~_g;oh<5YHff+|D3Xq6lIg_TwbY;NZrr$i_txF)pHkh?Y_bPK&<`I)LxQ6>
z!()68Cn6Gy_eO{MbCKM^bUcf^SlHPdyec`+n4;vs5C~itGZ;wFfIXJT2DT@aiAQ<{
zTEO8#g&DXuhSD^~A0g#M7NzFx4_x3e+y`^}+uOI<f9tNhv2Xmw#%mhKZhGXImtK7F
zC1X+bHDhBpKJv(So(a_O?`P}QT^MM`zh|ks<Bm@Swi)NmNhZb;>jLWnoq>hTf#z#J
zJv_XwbKMn5!;QtWCo>d}>{7eoAL;K`yWkxeimUC>zP+ZyBpy@P#YD1jlEhUmK9IJ%
zsdhx#@{vCFKLT%3G?G)<WIoPOV)@JL@*5-RWUeQnbOpO3{Po|c&)7DJ;aI#63pE;3
z*+eRn3v*Kj>jz;y5&_e^62_zb=|oiZr-swfY!*(iR5XWHo2E^!*x5w~R9K&AZhyQ7
zH7t)sdSS|zvhCtb!s1W&#|Pqrxi($VV7w3RqWy5N4fV$}XvYxDw6YzR=k0a9PVg(m
zl0CV2EYfyBIhcb^CU3SRmKy5D=-P&JYG^Q<>>G^7!aa#-M(Gw5yRCA1h!4Eoi^5)-
zn7TrJeFrlsM>G5M^r~3AACpYoUI%@dgYHzA(RhEvnxnpGa!@Z1bcgFFW~~zrdnP(;
z+TBG`Cf@Ehrwop}h^gFYE>1ld&@5kuY2Xq)px7K)L-z35ox;+AN7OW<mo@7}Lz3MY
zct2w@^VWJOt{XXvTCHS~P;IAFdr~*eyNPtOFrDIT)hk&y{h}S0gg1s;8d@7#!poYP
zTbfoZTN$p;#QWpXZ2TSJ%iDHsZ;TIg$78X0Y-vlRbt&3A*pmpuA)3s>gBf1d+`N26
z>$}5C2l|t_TtDv0gRx|E5PU8%G|&y~Ne`{VjV2dAuymjWd@uOk^!}Em+4Ry_^GZs1
z0WHPdd>xipEWET&Sqr@Q{@-}=xHk0gwxuu1t$Vgdb{*I-)Z2?|q-X?j{T{&eTeu2~
zwB}{2F50+pO}L)pu_u-4&xU(bnJ{`E-YmTjcVtpM@oYAg$-d(^Fkq^!75COCf5Vik
zfj8TY<``{n!83?|dx;VBRe5S$vt4uDwXS)tI@f&n0@vxjMXoYrehtZ`jH@fk$`ya8
zt+WY5TZQL(S6fAGTe;uXQGV?-T^Kx*wI6S*2wZP`)U~0a(%a!_t4OmvHvml5o>KC(
zRWwm+ZV;%q_Ib8m*A7KP_TWG++6~NQOiWl57Fh!pMNT#FmaQ7Pvsu+ZVJzM~)Q1bE
zHwBfZqut%~z&o^2EW^HdQGtH`{7V7Up&Gb{z&%toU>X~+bTY~Ap<Hp9UhFmE?7*8$
zXCNPUIN}XZ^lv*iMEDKXX+F*+LK6a~VT^zXqv-O?hrOj*BD}dlRqF37!;mwvE~ayF
zF#j9nV|%PJAho@xuph9JrE7w~*}eqYw-?6QK4!Ptw;r@r2Bf+di*K1jV3E6~<$D%S
zYGD?TWaZld-dXS0!+2DHjP<gAR=u1Ps|-lx#|C|;-i?qe=%S#V_8tqHc4&{`FU#Il
zplOf&W_lMYy_!l%)bY4l(8~Ay8l_m)N>;w>Ai!{?E%`<~5v{fuAoDTZhQp%CUyXcs
zlaORJ;bY*P{rFK>sSe24k6AdZeuO|<YXGFGpQF@WBqUjN5go&&p2zk+3;`Y_6pCnj
z7y@0V(_SSm_?IEKl4Z~0Ep*B~>V?-VIT1TKCkx(L1N9!=hC(KnLi2Q~O+W+G*}!kw
z8C*I)?^9+n^|jXEAwT<co`Yxkz4o<a>Uobc)AaT^E)ZmJo10%NGkC7dLUQYs<>bqB
zdpVwF;*1rNThE}A*KQ13;8qpt9B^zEkC6Je*V=%aaa@a|3ewAfkKmx+gnR<Dm00hf
z#Q@3YaJ(Dcq91_y-#1PFLGV$G$9f?3w@uT3X&V3CY5Y&8@r50Rz2m_z^I~pqoqOcP
zvBDF`TZ$oPugc_lQCW1b_oR4obZ{9}5{s6d&Omx-^|BRBkqm;*5pzq(CkMTERF<+Q
z#kee<s;vE6VxVWm>el5EF=DYN<<o1_z~WnvYb%IFoX7kS|B+ay)H#>~@@t6TYcb|Q
zTw`hC>BvvSkIErpSg8*Y7b^8}B7WEb%D}ykzxf6(eqR4X+(tCQG~CTfp@=dt@%18K
zDyUsl$bX^m+XQzD?iGv+_6ueO^MW4`{D|PKf=2|83VucK`-1->=*K!_yQ>7x5!@gc
z73>w%o-O46pzxm(yhrdp!EXzGPw)xBp9^wqSnn*sIfADNE)vv^MC98md`vJcc(vdM
z1aB7nq~JY*+Jy!?-yn};Qsj8N)$IrnA)71w62awyZGzo`2_o_j3;%w>j|tu>_yxhg
z68x^<6N0}G{0~7t)~8-af@cag3u?C~`q3vmUFOVxo#4%aM+E;;@Ed{;6VdJo;hzzF
zQP73!LC=feX@chpt`^)OxQ7UPJ;GllI4bxN!A}T&PVk$8j|o0b#PzDLE8K>8ucY0l
zxL$zxxmN~$B)O+1-y}TuRpj;c1AT|^Y0>k3OZ^SP-z<FNvSndsdZTwNR<*P=nfc%N
z9gAOabAas{+r}&ZH}{UkHHf1f=vqDF`x45S`F#n>%L?yl+<T)V7Weh``HAUoK)h%7
zc+dC@Z$KQw8xY6Z$8n5wAG^46A)|KgE$ZCG-!rM&Eks5~$8~gdJn`9!=WV%T@*czy
z4{7<G?TmRJY3G{;jM?%HljD<j>DVI6xDZ>UZVC}f*S_PEpR%KvX1vza-qg;R{V>Y@
z=ZR<Yb5Go`ruvs3A3f^{Q~TkQv|oUB?oY0hT1$1Llr^Y*h>;@>TAJSvTh?1GW=-xV
z54P7OrV@1+>G_GZF~&^IIR9EuX0(+uL&u1n(bicycFngGDs@fF??Nqws5_&#Q;9YE
zZtuDU6yxa}hhE)ob4230<nhUvM(a(8sPydY{FQnf->rKzu3N^@=+sh<f=fq-U3!cd
z+x5Rt>)x&BVmIdEE5GI(?bNw<XdA~Tcj%h7+cmUn?G~-wOetpLB0FBZUTfEB?RqK0
zcZE2Ety;QHOWB(V#EuzJKR&ry&+|iw6Z>DNaj!&sZka4WdosE`%e2jAX-|`sX_PYl
z{OMXVG3nP)=J`7JxWu*1H!oh+vl+x}KD%#9kBW0nIVPQn1?_cRm6+Mtz>9TkSzn@f
zzv1q0o!!cJ9fA`_)~bN9UZcuyN>yF6nt2}l<$^Xmk#8{bo9E$2&t0a%`Ay{31utbF
zSOq7}JfArC*gISQ=FvyjnX)6}KgRtPe@Grz6!&`9$3dQj8xzy7AYeiaI|Y%OKcaRF
zdrIE{y<O1j4ZQm-^B(8_CbM3OqIL{B$8t|GW2?UJdHnk4E#U2<jews)m_j)FMwWjC
z<t3bb2YAoQ%`E;;By~93eTd|SB&3Ld4*|Si#>vOiaUA{!adIi|rvcu3a0=9Wf8ZWM
zeI<9|<o%)huOU<=%gOw`W;`XY!lrjZGl7ypYJQ}dvf$QDyOj6GnyC!#B=Zx^)ReTM
z?cRTIv(DO*KW3T7HB(n|2{ljXYzu;ITTtewx&dM3<?a|U9_Wv|e-0?yhf}?8)`KWt
zj!mcXRgzQ{BWRH?M7pdTu59J2B3)Z?Ih4NYAAnx0d;}i4&j!ZB!(Eb_Hhnek2Z`YH
zPhkkbY5j8@@ca;}vJgZFGxI6AVge`s88o6QxFz$4NqZ_-n|~qc0HQUZ7m+TjSVQ@l
zq$?}FLHT0RHOft+{w1$66QgxyfpYGE$~#qH7IT1#sX!%34@l4<(g>w9cc8ixnP)A5
z#O2r7QDPGg*I_oW(u_}&L}a<rj8B_fI&_9zi1Fzv4~th{jFT~o7ECL%P)Ud{Ul_AU
z!b)f^X365xD97g3JjpEe+{5OO&2_jAnL@lyjCz*SVc8lQ5EfzCV{BDDGrGqRmi<$0
zA*|V>qqF~&>^W=`>YUSd;D9pDHM#VhwtRu>pIyT|=b5^W*<m!nXfU~pXRjjHXmXoo
zm$1erlS|CrNnNwaZJUGG@-mZ-&0%bLxyf|RUcyeSG`TBgKg>eH?VYXnl)~-7Q2Yc<
zsq%1r%smU8E%}V^Y2>ec1md8FZ-JO$(%KqYsiRF1e2^`h?-2Zgf&~u2AF!9FIRx*a
zjnf^1PBv7pNHO|Z+R)2S1kbUEUV|birO_n?8*ejyYlUR}R!BBb?b7jFFQc#}62L_;
zlmXnJgm;B4mDn&?Tm;3D;PT=~Fs>^reoI3L+gd@}X>s4m;<#_9IPP0z#eJ(!j_yj}
zxaMSy#C>NM0=W$1&H?L)`_2`u9rvv*WPhEwul4JJX;LdWdFr1yLI3yTzJ+M*Z!Um*
zin#9#FKWN3xNkN$uzXo>%Yg%C^cS%uGoo8?#^`YG4CbeYf$@BVc*?26z{8z70^IJd
z+`E6>?_bb(U2^E2`+xE?{7SiePy3z;4DY%ia7AFz#=ykUJHGR?XFeZT_?^E#64=-7
zuK7J<1wy<Rb!^=k*@L+3rg*Ov=$+|Z{z%VICIjca<5hg~)%;>P0)dgfNEFejj2RIw
z1Z^2$n;r|cz7#-MaInwu=Kr)X(+uO(gE+AnC^DnQ<`)MMGd`;WOA?ebgR?reX4mHU
zV8B%Cc$NL_07BRLg8;<0X9_Iu+;dsSW=6%G@#T}7Xhs+dF)oHJJ1*(K=0?lN+6|%v
zlWctuVaGo=?B2EOVzqteCe(MzptBh;x0hD2AJ1-=9g%Ls>k0@u?=OVpbnLV*f>%Fs
ziJ1e+Z}UR4+jep&nSsTk$tg68BSf{H96eNpZ$FBn#O4|+iXqMv6}CrPPrur^yJPca
zYc`4s+hb<WLs2Lb`zn6jVqOWd;_M=_!hdH1x^}~h1JuP_r|z$LZOLWDmAUOy5!`JX
z+jpJx_0I23Ko>u#WjNkSOm`E?NxZkx8LzeWx^_Ia!;IJde~8CAH!9e5>NGtbdkBv6
zE@<dN!!AZYGY5c6gvb6^rzRM%Y*1j)=YnQ_D_;u~VenS6^3gX(`&MGUCoCm|maYkO
ziIoZXB-;1S*krMN_(`_gw;r@r2BZq1&_0L2B6m&8HxevvpOtTVJoaJ4CMr>u^|F6#
zDlv}3Dg#n|0`}IReO9t`Q3#y<_z~=}Jnf-~ZSN}3EW>^?{SX(xzG>q^{na>}`7VSH
znq{p-9gpj9U@p>@{3!Bihl&W8hv_yP7ES&+<V%o{WHn)WJoZWSgKcF$7~QkR1;y<(
z08;HihPy~evg#r_hD$Ag4>}A19w+ocdmML;owcSws`IgZZ?lYmcaT)u$tnMzipScO
zq4$ih7Lr@@x7rPNwub%T3NEDIrugb6G|P&wvW1)ndIq@ONn1SQtJd{E{U3nmJ=@ZA
zy>R|4o-QgrM_c>@pfQy;|0rlIDVu*1G?SU%t$q&rgE;7~VEbO7QWEQ_a11f|`e{7g
zF`WM0?0+vFdvbYme~C@aZ}WGz`tf2HV!c}j(?hvU2o!JNhsd#P^RkweItbjhX`>m&
z<=bm&d&l0D&CM$!ees-r3ozPmhL1Va-^an&?Bm3+Qcn{XD#dkf%vS1tBHo*Mn2787
zQ6k<ce~gI9ew>K=_|rs8_H)EKrRWPa@PnjdP;e1&9WlnsdkGPyHKM4FDWOVbz*|=@
z@}+`n1lt6+2<{f#E6BA>yL2EDhXu8d20ZVbl;0$HtKbpAKNq}D@Y{kf3i77J^5uec
zg1m20&JS~lmkW*vUN3lu;4#6!7yJjoe-_kEH`w`i;kCyaJio`HeSYmkJVWqY!Bv7A
z1v>;U7u4=8l+!U?;2%?t;}OwoUn}HKi~L2AyEu=K>rWMc3&=xvuE^I2ZWY`s*e5t9
zc!%IUg5!dZ2tF_PYr!(yBv|j+g3ARjB;p5UlkgoxEG9axnLkRzI_(ucL&SO=7XBI{
z*6jy`*D+o!!rO%Z6C&2{p9=paBG&P^@DCBO&L0*2M?_p7dY$9PpZ6(_&-0u=p!PFD
zh$=PTL<G-06ZPAK?-1U8s>3JkjFG-kEOmLS^=14U$5IdT=8mlv>$YR5_rA}LgEC%t
zeDVw(C$hfCWPEF_jzNy-c;fNNxijkd)ik4J#}S?Db9~WhmFHL4rrtlJ-jfgL7!tmX
zz5fdsI}9t5$Ms3jE;>oMz?p6~0X{k3%@AX`U?8n;6tiRuFF%Yk4F3(_++m7VUCOh^
zJ4%Je|5b7U?-k?%{wu&0A~|Q#Xe&?Vhl%YZ+w?Sf{JUAg6<AIPc+SyAJ@3-iJRgA2
z`xxk2&*`&3`}9`ujJqL0I0Pq8n6yWSdprwC2YkH!c@~i_^BpC9Ch1Dwdr2=QU8CGI
z>RF;g9DfMXyB^ldyd@p1B#)Cf$c)OzJ+ilyv?suq{=H?S5vO1QZ#kn4CC!lVnl=a0
zb@(F?2CvsblJN8gpV8b+noFxv59=xQuuEk}pz?jj$D3dIOQ8Lp_u_22vfrxby4ca|
zEA}k=&F_-<<&on<q>@uQg@eTo=2FYSTsGYuT>hrq!Pa6!Cl%L(p~5^*cLx`H)?Vl9
zod1OncnXeO?S3uXPkI!Ze$ux!xT@@LYp^T|*-!O}j+Q$<slkN`carT(^>V1pPikr|
ze-WR|7+yF;3m<cc52@g1)E}u7JUikEc~k#~i1`sp!5LWOZ?YNfh%^0})_Zd^ef&`5
zjk4U3rWa7xVB4byZN?8oruh=>p)B?t7O$1UcVF1K7FD5}ZG9nNH5{K#pnC1vvp@YQ
z^q(y=-KPZyu^wKXg<4I>5Ia9W`7QlG;y30Y{oQesmErPn`pB@=uoLe_wy#Tj!XWs6
z@a=)~E^O`#l$!4Ais9KIjNzc~0{1z+f8cg!iSYU-5A?%0oQZjvru({1m9GVPtuidf
zeB9Gp$s(H|aQcX@Mf>(b$@cLc$$qeX>v33RK&nyPkiSMklBL@P-lD0x038aGkYwq0
zfOppWIQGPqkg;CYXVn`AZIuD3u7thw9RiDtLg%#i9PH5!?dc5;ko;9RScd&(x*ZiA
zLSL*z9gnL8t$cO<H|Oj6F!HUojEN1hw>fC?-$XvkHhF8k(0AeN$4icJc|Bj(OR#qr
z4M}1jn23(<sr&JayB<P3n%F)PjyvnL)*eXpD_r1xBqUk(EZ#z={H^%9u-qKUrQ39a
zEpb|B`}D82t$i!LEB2L#nK+__^k%*d;JC3>Jos$@_tvC&?bA2JS4FJEdM>vZpsv^c
zxiwuti%<Cy{+rrb;PdN9PYPeXE?=fdXOn}P*8Z#@7XSIEH;6{_;ekBYHF^CUhzo-E
zaRX~Y`#XTz-vQ)?pU-^@iMW93C7<?pK(GBBz&4RzEVx~;Q!px+5KIZuXUBTqC-@P;
z+XX)*_*ucv3w}v(T<{^m9|-bYG1~ow;LCz;mnp9l3=5tosCUgM_fFyUGZ*-7@)!sG
m4m^1MWCpxl^4%r)mqbjk9#>q8oNJa_D&=d)W3gM$*Z&1$_L3I>

literal 0
HcmV?d00001

diff --git a/program/makefiles/toolchain.mk b/program/makefiles/toolchain.mk
index 3828087a..136cdfff 100644
--- a/program/makefiles/toolchain.mk
+++ b/program/makefiles/toolchain.mk
@@ -28,7 +28,7 @@ ARCH_FLAGS=-mlittle-endian -mthumb -mcpu=cortex-m4 \
 LDFLAGS =$(CFLAGS_NEW_LIB_NANO) --static -Wl,--gc-sections \
 	-T ./STM32F427VI_FLASH.ld
 
-LDLIBS =-Wl,--start-group -lm -Wl,--end-group
+LDLIBS = -Wl,--start-group -lm  -L$(ESTIMATOR) -lestimator -Wl,--end-group
 
 CFLAGS_INCLUDE=-I$(WORKSPACE_DIR)/ \
 	-I$(TEST) \

From 448134d282e7fef2ed0e57cbb6d51dd9a329a1e6 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 18:43:56 +0800
Subject: [PATCH 04/14] Delete private source code`

---
 program/estimator/Makefile             |  20 ----
 program/estimator/attitude_estimator.c | 134 ----------------------
 program/estimator/estimator.c          |  11 --
 program/estimator/vertical_estimator.c | 147 -------------------------
 4 files changed, 312 deletions(-)
 delete mode 100644 program/estimator/Makefile
 delete mode 100644 program/estimator/attitude_estimator.c
 delete mode 100644 program/estimator/estimator.c
 delete mode 100644 program/estimator/vertical_estimator.c

diff --git a/program/estimator/Makefile b/program/estimator/Makefile
deleted file mode 100644
index be5c01ca..00000000
--- a/program/estimator/Makefile
+++ /dev/null
@@ -1,20 +0,0 @@
-export WORKSPACE_DIR=../
-include $(WORKSPACE_DIR)/makefiles/toolchain.mk
-include $(WORKSPACE_DIR)/makefiles/workspace.mk
-include $(WORKSPACE_DIR)/makefiles/rules.mk
-
-LIB_ESTIMATOR=libestimator.a
-
-ESTIMATOR_SRC = $(WORKSPACE_DIR)/estimator/
-
-ESTIMATOR_OBJS=	$(ESTIMATOR_SRC)/attitude_estimator.o \
-	$(ESTIMATOR_SRC)/vertical_estimator.o \
-	$(ESTIMATOR_SRC)/estimator.o
-
-all: $(LIB_ESTIMATOR)
-
-$(LIB_ESTIMATOR): $(ESTIMATOR_OBJS)
-	$(AR) -r $(LIB_ESTIMATOR) $(ESTIMATOR_OBJS)
-	$(RANLIB) $(LIB_ESTIMATOR)
-clean: 
-	rm -rf $(LIB_ESTIMATOR)
\ No newline at end of file
diff --git a/program/estimator/attitude_estimator.c b/program/estimator/attitude_estimator.c
deleted file mode 100644
index 8c38ba14..00000000
--- a/program/estimator/attitude_estimator.c
+++ /dev/null
@@ -1,134 +0,0 @@
-#include "attitude_estimator.h"
-#include <math.h>
-#include "basic_filter.h"
-
-void attitude_estimator_init(attitude_t* attitude,imu_data_t* imu_raw_data, imu_data_t *imu_filtered_data,vector3d_f_t* True_R){
-
-	attitude->roll=0.0;
-	attitude->pitch=0.0;
-	attitude->yaw=0.0;
-
-	imu_raw_data->acc[0]=0.0;
-	imu_raw_data->acc[1]=0.0;
-	imu_raw_data->acc[2]=1.0;
-
-	imu_filtered_data->acc[0] =0.0;
-	imu_filtered_data->acc[1] =0.0;
-	imu_filtered_data->acc[2] =1.0;
-
-	True_R->x =0.0;
-	True_R->y =0.0;
-	True_R->z =1.0;
-	
-	estimator_trigger_flag=0;
-}
-
-void attitude_sense(attitude_t *attitude, imu_data_t *imu_raw_data, imu_data_t *imu_filtered_data, vector3d_f_t *True_R)
-{
-
-	float accel_lowpass_gain = 0.03f, gyro_lowpass_gain =0.03f,complementAlpha = 0.0001f;
-	float R_raw = 0.0f, inv_R_raw = 0.0f, R_true = 0.0f, inv_R_true = 0.0f;
-	float N_Ax_g = 0.0f, N_Ay_g = 0.0f, N_Az_g = 0.0f;
-
-	float f=4000.0f;
-	float dt=1.0f/f;
-	float degtorad=0.01745329251994329f;
-	float delta_gyroX=0.0f,delta_gyroY=0.0f,delta_gyroZ=0.0f;
-	float predicted_Ax=0.0f,predicted_Ay=0.0f,predicted_Az=0.0f;
-
-
-	imu_filtered_data->acc[0] = lowpass_float(&imu_filtered_data->acc[0], &imu_raw_data->acc[0], accel_lowpass_gain);
-	imu_filtered_data->acc[1] = lowpass_float(&imu_filtered_data->acc[1], &imu_raw_data->acc[1], accel_lowpass_gain);
-	imu_filtered_data->acc[2] = lowpass_float(&imu_filtered_data->acc[2], &imu_raw_data->acc[2], accel_lowpass_gain);
-	
-	imu_filtered_data->gyro[0] = lowpass_float(&imu_filtered_data->gyro[0], &imu_raw_data->gyro[0], gyro_lowpass_gain);
-	imu_filtered_data->gyro[1] = lowpass_float(&imu_filtered_data->gyro[1], &imu_raw_data->gyro[1], gyro_lowpass_gain);
-	imu_filtered_data->gyro[2] = lowpass_float(&imu_filtered_data->gyro[2], &imu_raw_data->gyro[2], gyro_lowpass_gain);
-
-	R_raw = sqrtf(imu_filtered_data->acc[0] * imu_filtered_data->acc[0] + imu_filtered_data->acc[1] * imu_filtered_data->acc[1] + imu_filtered_data->acc[2] * imu_filtered_data->acc[2]);
-	inv_R_raw = 1.0f / R_raw;
-	N_Ax_g = imu_filtered_data->acc[0] * inv_R_raw;
-	N_Ay_g = imu_filtered_data->acc[1] * inv_R_raw;
-	N_Az_g = imu_filtered_data->acc[2] * inv_R_raw;
-
-	delta_gyroX = imu_raw_data->gyro[0] * dt * degtorad;
-	delta_gyroY = imu_raw_data->gyro[1] * dt * degtorad;
-	delta_gyroZ = imu_raw_data->gyro[2] * dt * degtorad;
-
-
-	(True_R->x) = (True_R->x) + (True_R->y) * delta_gyroZ;
-	(True_R->y) =  - (True_R->x) * delta_gyroZ + (True_R->y);
-
-	(True_R->y) = (True_R->y) + (True_R->z) * delta_gyroX;
-	(True_R->z) =  - (True_R->y) * delta_gyroX + (True_R->z) ;
-
-	(True_R->x) = (True_R->x) - (True_R->z) * delta_gyroY ;
-	(True_R->z) = (True_R->x) * delta_gyroY + (True_R->z);
-
-	predicted_Ax = (True_R->x);
-	predicted_Ay = (True_R->y);
-	predicted_Az = (True_R->z);
-
-
-	(True_R->x) = (1.0f - complementAlpha) * (predicted_Ax) + complementAlpha * (N_Ax_g);
-	(True_R->y) = (1.0f - complementAlpha) * (predicted_Ay) + complementAlpha * (N_Ay_g);
-	(True_R->z) = (1.0f - complementAlpha) * (predicted_Az) + complementAlpha * (N_Az_g);
-
-
-	R_true = sqrtf((True_R->x)*(True_R->x) + (True_R->y)*(True_R->y) + (True_R->z)*(True_R->z));
-	inv_R_true = 1.0f/R_true;
-	(True_R->x) =(True_R->x) *inv_R_true;
-	(True_R->y) =(True_R->y) *inv_R_true;
-	(True_R->z) =(True_R->z) *inv_R_true;
-
-
-	attitude->roll=atanf(True_R->y/True_R->z)*57.2957795130823f;
-
-	attitude->pitch=atanf(-True_R->x/sqrtf(True_R->y*True_R->y+True_R->z*True_R->z))*57.2957795130823f;
-
-
-
-}
-
-
-void heading_sense(attitude_t *attitude,imu_data_t *imu_raw_data,euler_trigonometry_t* negative_euler){
-
-float MagXx=0.0f,MagYx=0.0f,MagZx=0.0f;
-float MagX_rotated=0.0f,MagY_rotated=0.0f;//,MagZ_rotated=0.0f;
-
-	MagXx = imu_raw_data->mag[0];
-	MagYx = imu_raw_data->mag[1]*(negative_euler -> C_roll)+imu_raw_data->mag[2]*(negative_euler -> S_roll);
-	MagZx = -imu_raw_data->mag[1]*(negative_euler -> S_roll)+imu_raw_data->mag[2]*(negative_euler -> C_roll);
-
-	MagX_rotated=MagXx*(negative_euler -> C_pitch)-MagZx*(negative_euler -> S_pitch);
-	MagY_rotated=MagYx;
-	//MagZ_rotated=MagXx*(negative_euler -> S_pitch)+MagZx*(negative_euler -> C_pitch);
-
-	attitude -> yaw = atan2f(-MagY_rotated,MagX_rotated)*57.32484076433121f;
-
-	
-	if((attitude -> yaw) <0.0f){
-
-		(attitude -> yaw) += 360.0f;
-	}
-
-
-}
-
-
-void attitude_update(attitude_t *attitude, imu_data_t *imu_filtered_data, vector3d_f_t *predicted_g_data,imu_unscaled_data_t *imu_unscaled_data,imu_data_t *imu_raw_data,imu_calibrated_offset_t *imu_offset){
-
-
-		imu_update(imu_unscaled_data);
-		imu_scale_data(imu_unscaled_data, imu_raw_data, imu_offset);
-		#ifdef USE_MAGNETIC_HEADING
-			magnetometer_update(imu_unscaled_data);
-			magnetometer_scale_data(imu_unscaled_data,imu_raw_data,imu_offset);
-		#endif 
-
-
-		attitude_sense(attitude, imu_raw_data, imu_filtered_data, predicted_g_data);
-
-
-}
-
diff --git a/program/estimator/estimator.c b/program/estimator/estimator.c
deleted file mode 100644
index f266c335..00000000
--- a/program/estimator/estimator.c
+++ /dev/null
@@ -1,11 +0,0 @@
-#include "estimator.h"
-
-void inverse_rotation_trigonometry_precal(attitude_t* attitude,euler_trigonometry_t* negative_euler){
-
-		/* all global variable */
-		negative_euler -> C_roll = arm_cos_f32(attitude->roll * (-0.01745329252392f));
-		negative_euler -> S_roll = arm_sin_f32(attitude->roll * (-0.01745329252392f));
-
-		negative_euler -> C_pitch = arm_cos_f32(attitude->pitch * (-0.01745329252392f));
-		negative_euler -> S_pitch = arm_sin_f32(attitude->pitch * (-0.01745329252392f));
-}
\ No newline at end of file
diff --git a/program/estimator/vertical_estimator.c b/program/estimator/vertical_estimator.c
deleted file mode 100644
index 99a7eddd..00000000
--- a/program/estimator/vertical_estimator.c
+++ /dev/null
@@ -1,147 +0,0 @@
-//vertical_estimator.c
-
-#include "vertical_estimator.h"
-
-
-
-//#define VZD_DEBUGGING
-
-#ifdef VZD_DEBUGGING
-#include <stdio.h>
-#include "usart.h"
-	uint8_t _buff_push[100];
-#endif
-
-void vertical_estimator_init(vertical_data_t* raw_data,vertical_data_t* filtered_data){
-
-	raw_data->Z =0.0;
-	raw_data->Zd =0.0;
-	raw_data->Zdd =0.0;
-
-	filtered_data->Z=0.0;
-	filtered_data->Zd=0.0;
-	filtered_data->Zdd=0.0;
-}
-
-	float V_Z_Baro_lp = 0.0f;
-	float V_Zd_INS=0.0;
-	float V_Zd_INS_error=0.0;
-	float V_Zd_INS_longterm_error=0.0;
-	float V_Zd_INS_longTermOffset=0.0;
-	float V_Zdd_INS_error=0.0;
-	//float V_Zd_INS_beforeCorrection;
-
-	float V_Zd_Baro_Prev=0.0;
-	float V_Zd_INS_error_Prev=0.0;
-
-	float g_offset =-0.005f;
-
-
-void vertical_sense(vertical_data_t* vertical_filtered_data,vertical_data_t* vertical_raw_data,imu_data_t* imu_raw_data, euler_trigonometry_t* negative_euler){
-
-	float estAlt_prev= V_Z_Baro_lp;
-	float Axx=0.0,Azx=0.0; //,Ayx=0.0
-	float Az_rotated;//Ax_rotated=0.0,Ay_rotated,
-
-	float V_Zd_INS_current_error;
-	float V_Zdd_INS_current_error;
-	float g_earth = 1.0f;
-	float del_g_adder;
-	float f=4000.0f;
-	float dt=1.0f/f;
-
-
-	float Z_INS_Alpha=0.00004f,Zd_INS_Alpha=0.0001f,Zdd_INS_error_Alpha=0.005f;
-	/* Update barometer data */
-
-		if(!ADS1246_DRDY_PIN_STATE()){
-		vertical_raw_data->Z = barometer_read_altitude() ;
-		V_Z_Baro_lp= lowpass_float(&V_Z_Baro_lp, &vertical_raw_data->Z, 0.005f);
-
-		vertical_raw_data->Zd = (V_Z_Baro_lp- estAlt_prev)*1000.0f; // Have to define it somewhere;
-
-		}
-
-		vertical_filtered_data->Z += vertical_filtered_data->Zd*CONTROL_DT;
-
-		if (abs((int32_t)((vertical_filtered_data->Z) - V_Z_Baro_lp))<(int32_t)300){
-		vertical_filtered_data->Z = V_Z_Baro_lp * Z_INS_Alpha + vertical_filtered_data->Z  * (1.0f-  Z_INS_Alpha);
-		}else{
-		
-		vertical_filtered_data->Z = V_Z_Baro_lp ;
-		
-
-		}
-
-
-		/* S/(negative_euler -> C_roll)/pitch will now be calculated from estimator.c precal function*/
-
-		Axx = imu_raw_data->acc[0];
-		//Ayx = imu_raw_data->acc[1]*(negative_euler -> C_roll)+imu_raw_data->acc[2]*(negative_euler -> S_roll);
-		Azx = -imu_raw_data->acc[1]*(negative_euler -> S_roll)+imu_raw_data->acc[2]*(negative_euler -> C_roll);
-
-		//Ax_rotated=Axx*(negative_euler -> C_pitch)-Azx*(negative_euler -> S_pitch);
-		//Ay_rotated=Ayx;
-		Az_rotated=Axx*(negative_euler -> S_pitch)+Azx*(negative_euler -> C_pitch);
-
-		vertical_filtered_data->Zdd = Az_rotated;
-
-		/* Rotation matrix */
-
-
-		/* Starting main algorithm */
-
-		V_Zd_INS+=(Az_rotated-g_earth-g_offset )*9.81f*100.0f*dt;
-		V_Zd_INS_error = V_Zd_INS-vertical_raw_data->Zd ;
-
-
-		/* estimate longterm error haven't been corrected */
-		V_Zd_INS_current_error = vertical_filtered_data->Zd - vertical_raw_data->Zd;
-		V_Zd_INS_longterm_error = lowpass_float(&V_Zd_INS_longterm_error,&V_Zd_INS_current_error,0.00000001f); // may not be long term enough for new one
-
-		/* apply longterm error correction */
-		V_Zd_INS_longTermOffset+=V_Zd_INS_longterm_error*1.0f*1000.5f;
-		/* substract applied longterm error from bank */
-		V_Zd_INS_longterm_error-=V_Zd_INS_longterm_error*0.210f;
-		vertical_filtered_data->Zd =V_Zd_INS-V_Zd_INS_longTermOffset;
-
-		/* estimate the stray acceleration with lowpass filter */
-		V_Zdd_INS_current_error = (V_Zd_INS_error-V_Zd_INS_error_Prev)*f*0.01f;
-		V_Zdd_INS_error = lowpass_float(&V_Zdd_INS_error,&V_Zdd_INS_current_error,Zdd_INS_error_Alpha);
-		
-		/* calibrating earth's gravity offset */
-		del_g_adder=0.00005f*V_Zdd_INS_error*0.1f;
-
-		g_offset+=del_g_adder;
-
-
-		/* complementary filter for integrity */
-		//V_Zd_INS_beforeCorrection=V_Zd_INS;
-		vertical_filtered_data->Zd = vertical_raw_data->Zd * Zd_INS_Alpha+(1.0f-Zd_INS_Alpha)*vertical_filtered_data->Zd;
-
-		/* memory storage for next iteration */
-		//V_Zd_INS_correctionOffset=V_Zd_INS-V_Zd_INS_beforeCorrection;
-		V_Zd_Baro_Prev=vertical_raw_data->Zd;
-		V_Zd_INS_error_Prev=V_Zd_INS_error;
-
-#ifdef VZD_DEBUGGING
-
-		if (DMA_GetFlagStatus(DMA1_Stream6, DMA_FLAG_TCIF6) != RESET) {
-
-			_buff_push[7] = 0;_buff_push[8] = 0;_buff_push[9] = 0;_buff_push[10] = 0;_buff_push[11] = 0;_buff_push[12] = 0;	_buff_push[13] = 0;
-
-			sprintf((char *)_buff_push, "%ld,%ld,%ld,%ld,%d,100000000000,\r\n",
-				(int32_t)(V_Z_Baro_lp* 1.0f),
-				(int32_t)(vertical_filtered_data->Z* 1.0f),
-				(int32_t)(vertical_filtered_data->Zd * 1.0f),
-				(int32_t)(g_offset * 100000.0f),
-				(int16_t)(V_Zd_INS * 1.0f));
-
-			usart2_dma_send(_buff_push);
-
-
-		}	
-#endif
-}
-
-

From 129619841eac79186ee601ec03a876f190164c46 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 23:35:24 +0800
Subject: [PATCH 05/14] unify formate, clean some path variable

---
 program/Makefile                 |  57 ++++++++++++++++---------------
 program/estimator/Makefile       |  12 +++----
 program/estimator/libestimator.a | Bin 20562 -> 20562 bytes
 program/makefiles/rules.mk       |   1 +
 program/makefiles/toolchain.mk   |  10 +++---
 program/makefiles/workspace.mk   |  29 ++++++++--------
 6 files changed, 57 insertions(+), 52 deletions(-)

diff --git a/program/Makefile b/program/Makefile
index 9ff01605..44e8eb70 100644
--- a/program/Makefile
+++ b/program/Makefile
@@ -2,16 +2,15 @@
 PROJECT=firmware
 EXECUTABLE=$(PROJECT).elf
 BIN_IMAGE=$(PROJECT).bin
-TEST_EXE=run_test
+
 export WORKSPACE_DIR=./
-#============================================================================#
+#
+#include .mk
 include ./makefiles/toolchain.mk
 include ./makefiles/workspace.mk
 include ./makefiles/rules.mk
-#============================================================================#
-
-#============================================================================#
-
+#
+#object file dir
 STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
 EXTERNAL_DEVICE_SRC = $(EXTERNAL_DEVICE)/AT24C04C.o \
 			$(EXTERNAL_DEVICE)/mpu9250.o \
@@ -30,18 +29,20 @@ MCU_PERIPH_SRC =  \
 	$(MCU_PERIPH)/system_time.o
 
 ACTUATORS_SRC = $(ACTUATORS)/pwm.o
+
 RADIO_CONTROLLER_SRC = $(RADIO_CONTROLLER)/radio_control.o \
 	$(RADIO_CONTROLLER)/pwm_decoder.o
+
 COMMON_SRC =$(COMMON)/test_common.o \
 	$(COMMON)/memory.o \
 	$(COMMON)/io.o \
 	$(COMMON)/std.o
 
 CONTROLLER_SRC = $(CONTROLLER)/attitude_stabilizer.o \
-				 $(CONTROLLER)/vertical_stabilizer.o \
-				 $(CONTROLLER)/navigation.o \
-				 $(CONTROLLER)/flight_controller.o \
-				 $(CONTROLLER)/controller.o
+		$(CONTROLLER)/vertical_stabilizer.o \
+		$(CONTROLLER)/navigation.o \
+		$(CONTROLLER)/flight_controller.o \
+		$(CONTROLLER)/controller.o
 
 FREERTOS_SRC=$(FREERTOS)/Source/croutine.o \
 	$(FREERTOS)/Source/list.o \
@@ -55,7 +56,7 @@ MAVLINK_SRC=$(MAVLINK)/communication.o \
 	$(MAVLINK)/mission.o \
 	$(MAVLINK)/parameter.o \
 	$(MAVLINK)/command_parser.o \
-	$(MAVLINK)/global.o 
+	$(MAVLINK)/global.o
 
 OBJS=	$(WORKSPACE_DIR)system_stm32f4xx.o \
 	$(CMSIS)/FastMathFunctions/arm_cos_f32.o \
@@ -77,10 +78,11 @@ OBJS=	$(WORKSPACE_DIR)system_stm32f4xx.o \
 	$(ESTIMATOR_SRC) $(ACTUATORS_SRC) $(RADIO_CONTROLLER_SRC) \
 	$(COMMON_SRC) $(CONTROLLER_SRC) $(FREERTOS_SRC) \
 	$(MAVLINK_SRC)
-	
 
 
-#Make all
+
+#
+#make target
 all:$(BIN_IMAGE)
 
 $(BIN_IMAGE):$(EXECUTABLE)
@@ -88,41 +90,43 @@ $(BIN_IMAGE):$(EXECUTABLE)
 	@echo 'OBJCOPY $(BIN_IMAGE)'
 
 $(EXECUTABLE): $(OBJS)
-	@$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $@ 
+	@$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $@
 	@echo 'LD $(EXECUTABLE)'
 
-PC_SIM:$(TEST_EXE)
-
-$(TEST_EXE):$(HOST_SRC)
-	$(HOST_CC) $(HOST_CFLAG) $^ -o $@
-#Make clean
 clean:
 	rm -rf $(STARTUP_OBJ)
 	rm -rf $(EXECUTABLE)
 	rm -rf $(BIN_IMAGE)
 	rm -f $(OBJS)
 
-#Make flash
+#
+#upload firmware through st-flash
 flash:
 	st-flash write $(BIN_IMAGE) 0x8000000
 
-#Make openocd
+#
+#create gdb server through openocd
 openocd: flash
 	openocd -f ../debug/openocd.cfg
 
-#Make cgdb
+#
+#execute cgdb 
 cgdb:
 	cgdb -d $(GDB) -x ./st_util_init.gdb
 
-#Make gdbtui
+#
+#execute gdbtui
 gdbtui:
 	$(GDB) -tui -x ./st_util_init.gdb
-#Make gdbauto
-gdbauto: cgdb
 
+#
+#upload firmware through black magic probe
 flash_bmp:
 	$(GDB) firmware.elf -x ./gdb_black_magic.gdb
-cgdb_bmp: 
+#
+#execute and connect to black magic gdb server, no needs to open a
+#local sever in PC
+cgdb_bmp:
 	cgdb -d $(GDB) firmware.elf -x ./bmp_gdbinit.gdb
 flash_openocd:
 	openocd -f interface/stlink-v2.cfg \
@@ -136,6 +140,5 @@ flash_openocd:
 #automatically formate
 astyle: 
 	astyle -r --exclude=lib  *.c *.h
-#============================================================================#
 
 .PHONY:all clean flash openocd gdbauto gdbtui cgdb astyle
diff --git a/program/estimator/Makefile b/program/estimator/Makefile
index be5c01ca..4be77d8e 100644
--- a/program/estimator/Makefile
+++ b/program/estimator/Makefile
@@ -1,20 +1,20 @@
-export WORKSPACE_DIR=../
+export WORKSPACE_DIR=..
+#
+#include makefiles
 include $(WORKSPACE_DIR)/makefiles/toolchain.mk
 include $(WORKSPACE_DIR)/makefiles/workspace.mk
 include $(WORKSPACE_DIR)/makefiles/rules.mk
 
 LIB_ESTIMATOR=libestimator.a
-
-ESTIMATOR_SRC = $(WORKSPACE_DIR)/estimator/
-
+ESTIMATOR_SRC = $(WORKSPACE_DIR)/estimator
 ESTIMATOR_OBJS=	$(ESTIMATOR_SRC)/attitude_estimator.o \
 	$(ESTIMATOR_SRC)/vertical_estimator.o \
 	$(ESTIMATOR_SRC)/estimator.o
-
+#make target
 all: $(LIB_ESTIMATOR)
 
 $(LIB_ESTIMATOR): $(ESTIMATOR_OBJS)
 	$(AR) -r $(LIB_ESTIMATOR) $(ESTIMATOR_OBJS)
 	$(RANLIB) $(LIB_ESTIMATOR)
-clean: 
+clean:
 	rm -rf $(LIB_ESTIMATOR)
\ No newline at end of file
diff --git a/program/estimator/libestimator.a b/program/estimator/libestimator.a
index de4cadca2d9c8aae6aed871f88c4877c5041f32b..728ec4e24c6c66c89c5e5c725b8b7b786d8e9f9b 100644
GIT binary patch
delta 59
zcmcb#fbr4-#tE{lmZnA~<{OnlnSd-qbMwg$l*KkrV)9gka5q0tb_c0}$v8O*@B;uO
Cw-I~*

delta 59
zcmcb#fbr4-#tE{l=4Pg5mK&8qnINpm50u3=Ph#>^gm5=MP<Dr^0n0c!3h)B}Cg2f{

diff --git a/program/makefiles/rules.mk b/program/makefiles/rules.mk
index 79b1208a..1f963aba 100644
--- a/program/makefiles/rules.mk
+++ b/program/makefiles/rules.mk
@@ -1,3 +1,4 @@
+#
 #makefile rules
 %.o: %.c
 	@$(CC) $(CFLAGS) -c $< -o $@
diff --git a/program/makefiles/toolchain.mk b/program/makefiles/toolchain.mk
index 136cdfff..a9d821e4 100644
--- a/program/makefiles/toolchain.mk
+++ b/program/makefiles/toolchain.mk
@@ -1,3 +1,4 @@
+
 HOST_CC=gcc
 CC=arm-none-eabi-gcc
 OBJCOPY=arm-none-eabi-objcopy
@@ -8,8 +9,10 @@ RANLIB =arm-none-eabi-ranlib
 
 CFLAGS_OPTIMIZE= \
 	-O2
+
 CFLAGS_NEW_LIB_NANO= \
 	--specs=nano.specs --specs=nosys.specs  -u _printf_float
+
 CFLAGS_WARNING= \
 	-Wall \
 	-Wextra \
@@ -46,7 +49,7 @@ CFLAGS_INCLUDE=-I$(WORKSPACE_DIR)/ \
 	-I$(MAVLINK) \
 	-I$(MAVLINK_LIB) \
 	-I$(MAVLINK_LIB)/common
-	
+
 CFLAGS_DEFINE= \
         -D USE_STDPERIPH_DRIVER \
         -D __FPU_PRESENT=1 \
@@ -54,10 +57,7 @@ CFLAGS_DEFINE= \
         -D __FPU_USED=1 \
         -include $(BOARD_CONFIG) \
         -include $(DEBUG_CONFIG) \
-		-U printf -D printf=printf_base
-
-        #__CC_ARM
-
+	-U printf -D printf=printf_base
 
 CFLAGS=-g $(ARCH_FLAGS)\
 	${CFLAGS_INCLUDE} ${CFLAGS_DEFINE} \
diff --git a/program/makefiles/workspace.mk b/program/makefiles/workspace.mk
index f6686017..080617d9 100644
--- a/program/makefiles/workspace.mk
+++ b/program/makefiles/workspace.mk
@@ -1,19 +1,20 @@
+#
 #export abs path
+export CMSIS=$(abspath $(WORKSPACE_DIR)/lib/CMSIS)
+export ST=$(abspath $(WORKSPACE_DIR)/lib/STM32F4xx_StdPeriph_Driver)
+export EXTERNAL_DEVICE=$(abspath $(WORKSPACE_DIR)/ext_device)
+export MCU_PERIPH=$(abspath $(WORKSPACE_DIR)/mcu_periph)
+export ESTIMATOR=$(abspath $(WORKSPACE_DIR)/estimator)
+export ACTUATORS=$(abspath $(WORKSPACE_DIR)/actuators)
+export COMMON=$(abspath $(WORKSPACE_DIR)/common)
+export RADIO_CONTROLLER=$(abspath $(WORKSPACE_DIR)/radio_controller)
+export CONTROLLER =$(abspath $(WORKSPACE_DIR)/controller)
+export MAVLINK=$(abspath $(WORKSPACE_DIR)/mavlink)
+export FREERTOS=$(abspath $(WORKSPACE_DIR)/lib/FreeRTOS)
+export MAVLINK_LIB=$(abspath $(WORKSPACE_DIR)/lib/mavlink)
+export TEST=$(abspath $(WORKSPACE_DIR)/test)
 
-export CMSIS=$(abspath $(WORKSPACE_DIR)/lib/CMSIS)/
-export ST=$(abspath $(WORKSPACE_DIR)/lib/STM32F4xx_StdPeriph_Driver)/
-export EXTERNAL_DEVICE=$(abspath $(WORKSPACE_DIR)/ext_device)/
-export MCU_PERIPH=$(abspath $(WORKSPACE_DIR)/mcu_periph)/
-export ESTIMATOR=$(abspath $(WORKSPACE_DIR)/estimator)/
-export ACTUATORS=$(abspath $(WORKSPACE_DIR)/actuators)/
-export COMMON=$(abspath $(WORKSPACE_DIR)/common)/
-export RADIO_CONTROLLER=$(abspath $(WORKSPACE_DIR)/radio_controller)/
-export CONTROLLER =$(abspath $(WORKSPACE_DIR)/controller)/
-export MAVLINK=$(abspath $(WORKSPACE_DIR)/mavlink)/
-export FREERTOS=$(abspath $(WORKSPACE_DIR)/lib/FreeRTOS)/
-export MAVLINK_LIB=$(abspath $(WORKSPACE_DIR)/lib/mavlink)/
-export TEST=$(abspath $(WORKSPACE_DIR)/test)/
-
+#
 #inclue dir
 BOARD_CONFIG=$(WORKSPACE_DIR)/vertigo_v2_config.h
 DEBUG_CONFIG=$(WORKSPACE_DIR)/debug_config.h

From 48362370c928f23d15803be9dd7c29c9d16631ef Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 23:38:33 +0800
Subject: [PATCH 06/14] move primary makefile to the root of dir not finished

---
 program/Makefile => Makefile | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename program/Makefile => Makefile (100%)

diff --git a/program/Makefile b/Makefile
similarity index 100%
rename from program/Makefile
rename to Makefile

From 90b23d3d37758b085c0ff52bf3bf1cd0747414a1 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Mon, 15 Sep 2014 23:46:13 +0800
Subject: [PATCH 07/14] fix some path error

---
 Makefile                       | 11 ++++++-----
 program/makefiles/toolchain.mk |  2 +-
 2 files changed, 7 insertions(+), 6 deletions(-)

diff --git a/Makefile b/Makefile
index 44e8eb70..bbd514b9 100644
--- a/Makefile
+++ b/Makefile
@@ -3,12 +3,13 @@ PROJECT=firmware
 EXECUTABLE=$(PROJECT).elf
 BIN_IMAGE=$(PROJECT).bin
 
-export WORKSPACE_DIR=./
+export WORKSPACE_DIR=./program
+
 #
 #include .mk
-include ./makefiles/toolchain.mk
-include ./makefiles/workspace.mk
-include ./makefiles/rules.mk
+include $(WORKSPACE_DIR)/makefiles/toolchain.mk
+include $(WORKSPACE_DIR)/makefiles/workspace.mk
+include $(WORKSPACE_DIR)/makefiles/rules.mk
 #
 #object file dir
 STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
@@ -58,7 +59,7 @@ MAVLINK_SRC=$(MAVLINK)/communication.o \
 	$(MAVLINK)/command_parser.o \
 	$(MAVLINK)/global.o
 
-OBJS=	$(WORKSPACE_DIR)system_stm32f4xx.o \
+OBJS=	$(WORKSPACE_DIR)/system_stm32f4xx.o \
 	$(CMSIS)/FastMathFunctions/arm_cos_f32.o \
 	$(CMSIS)/FastMathFunctions/arm_sin_f32.o \
         $(ST)/src/misc.o \
diff --git a/program/makefiles/toolchain.mk b/program/makefiles/toolchain.mk
index a9d821e4..ed2bb82d 100644
--- a/program/makefiles/toolchain.mk
+++ b/program/makefiles/toolchain.mk
@@ -29,7 +29,7 @@ ARCH_FLAGS=-mlittle-endian -mthumb -mcpu=cortex-m4 \
 	-mfpu=fpv4-sp-d16 -mfloat-abi=hard
 
 LDFLAGS =$(CFLAGS_NEW_LIB_NANO) --static -Wl,--gc-sections \
-	-T ./STM32F427VI_FLASH.ld
+	-T $(WORKSPACE_DIR)/STM32F427VI_FLASH.ld
 
 LDLIBS = -Wl,--start-group -lm  -L$(ESTIMATOR) -lestimator -Wl,--end-group
 

From fb5fee77b5a858e0f855206ea8175f10af04624e Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Tue, 16 Sep 2014 13:52:22 +0800
Subject: [PATCH 08/14] change target name, let making .bin and .elf be a rule

---
 Makefile                   | 30 ++++++++++--------------------
 program/makefiles/rules.mk | 12 +++++++++++-
 2 files changed, 21 insertions(+), 21 deletions(-)

diff --git a/Makefile b/Makefile
index bbd514b9..86371094 100644
--- a/Makefile
+++ b/Makefile
@@ -1,15 +1,13 @@
-#Output files
-PROJECT=firmware
-EXECUTABLE=$(PROJECT).elf
-BIN_IMAGE=$(PROJECT).bin
-
 export WORKSPACE_DIR=./program
 
+#Primary firmware target
+export FIRMWARE=./firmware
+
 #
 #include .mk
 include $(WORKSPACE_DIR)/makefiles/toolchain.mk
 include $(WORKSPACE_DIR)/makefiles/workspace.mk
-include $(WORKSPACE_DIR)/makefiles/rules.mk
+
 #
 #object file dir
 STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
@@ -80,30 +78,22 @@ OBJS=	$(WORKSPACE_DIR)/system_stm32f4xx.o \
 	$(COMMON_SRC) $(CONTROLLER_SRC) $(FREERTOS_SRC) \
 	$(MAVLINK_SRC)
 
-
+include $(WORKSPACE_DIR)/makefiles/rules.mk
 
 #
 #make target
-all:$(BIN_IMAGE)
-
-$(BIN_IMAGE):$(EXECUTABLE)
-	@$(OBJCOPY) -O binary $^ $@
-	@echo 'OBJCOPY $(BIN_IMAGE)'
-
-$(EXECUTABLE): $(OBJS)
-	@$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $@
-	@echo 'LD $(EXECUTABLE)'
+all: $(FIRMWARE).bin $(FIRMWARE).elf
 
 clean:
 	rm -rf $(STARTUP_OBJ)
-	rm -rf $(EXECUTABLE)
-	rm -rf $(BIN_IMAGE)
+	rm -rf $(FIRMWARE).elf
+	rm -rf $(FIRMWARE).bin
 	rm -f $(OBJS)
 
 #
 #upload firmware through st-flash
 flash:
-	st-flash write $(BIN_IMAGE) 0x8000000
+	st-flash write $(FIRMWARE).bin 0x8000000
 
 #
 #create gdb server through openocd
@@ -136,7 +126,7 @@ flash_openocd:
 	-c "reset init" \
 	-c "halt" \
 	-c "flash write_image erase $(PROJECT).elf" \
-	-c "verify_image $(PROJECT).elf" \
+	-c "verify_image $(FIRMWARE).elf" \
 	-c "reset run" -c shutdown
 #automatically formate
 astyle: 
diff --git a/program/makefiles/rules.mk b/program/makefiles/rules.mk
index 1f963aba..48d2b947 100644
--- a/program/makefiles/rules.mk
+++ b/program/makefiles/rules.mk
@@ -1,9 +1,19 @@
 #
 #makefile rules
+%.bin: %.elf
+	@$(OBJCOPY) -O binary $^ $@
+	@echo 'OBJCOPY $<'
+
+%.elf: $(OBJS)
+	@$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $@
+	@echo 'LD $^'
+
 %.o: %.c
 	@$(CC) $(CFLAGS) -c $< -o $@
 	@echo 'CC $<'
 
 %.o: %.s
 	@$(CC) $(CFLAGS) -c $< -o $@
-	@echo 'CC $<'
\ No newline at end of file
+	@echo 'CC $<'
+
+.PRECIOUS: $(OBJS) %.bin %.elf
\ No newline at end of file

From 26f44dcaf61a8580e292e0b35b9f26291fc25631 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Wed, 17 Sep 2014 16:15:38 +0800
Subject: [PATCH 09/14] move object file list to board.mk

---
 Makefile                                 | 66 +----------------------
 program/board/vertigo-v2/board_config.mk | 68 ++++++++++++++++++++++++
 2 files changed, 69 insertions(+), 65 deletions(-)

diff --git a/Makefile b/Makefile
index 86371094..be35b6f5 100644
--- a/Makefile
+++ b/Makefile
@@ -10,73 +10,9 @@ include $(WORKSPACE_DIR)/makefiles/workspace.mk
 
 #
 #object file dir
-STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
-EXTERNAL_DEVICE_SRC = $(EXTERNAL_DEVICE)/AT24C04C.o \
-			$(EXTERNAL_DEVICE)/mpu9250.o \
-			$(EXTERNAL_DEVICE)/hmc5983.o \
-			$(EXTERNAL_DEVICE)/lea6h_ubx.o \
-			$(EXTERNAL_DEVICE)/ADS1246_MPX6115A.o
+include $(WORKSPACE_DIR)/board/vertigo-v2/board_config.mk
 
-MCU_PERIPH_SRC =  \
-	$(MCU_PERIPH)/i2c.o \
-	$(MCU_PERIPH)/spi.o \
-	$(MCU_PERIPH)/gpio.o \
-	$(MCU_PERIPH)/tim.o \
-	$(MCU_PERIPH)/led.o \
-	$(MCU_PERIPH)/usart.o \
-	$(MCU_PERIPH)/input_capture.o \
-	$(MCU_PERIPH)/system_time.o
 
-ACTUATORS_SRC = $(ACTUATORS)/pwm.o
-
-RADIO_CONTROLLER_SRC = $(RADIO_CONTROLLER)/radio_control.o \
-	$(RADIO_CONTROLLER)/pwm_decoder.o
-
-COMMON_SRC =$(COMMON)/test_common.o \
-	$(COMMON)/memory.o \
-	$(COMMON)/io.o \
-	$(COMMON)/std.o
-
-CONTROLLER_SRC = $(CONTROLLER)/attitude_stabilizer.o \
-		$(CONTROLLER)/vertical_stabilizer.o \
-		$(CONTROLLER)/navigation.o \
-		$(CONTROLLER)/flight_controller.o \
-		$(CONTROLLER)/controller.o
-
-FREERTOS_SRC=$(FREERTOS)/Source/croutine.o \
-	$(FREERTOS)/Source/list.o \
-	$(FREERTOS)/Source/queue.o \
-	$(FREERTOS)/Source/tasks.o \
-	$(FREERTOS)/Source/timers.o \
-	$(FREERTOS)/Source/portable/MemMang/heap_1.o \
-	$(FREERTOS)/Source/portable/GCC/ARM_CM4F/port.o
-
-MAVLINK_SRC=$(MAVLINK)/communication.o \
-	$(MAVLINK)/mission.o \
-	$(MAVLINK)/parameter.o \
-	$(MAVLINK)/command_parser.o \
-	$(MAVLINK)/global.o
-
-OBJS=	$(WORKSPACE_DIR)/system_stm32f4xx.o \
-	$(CMSIS)/FastMathFunctions/arm_cos_f32.o \
-	$(CMSIS)/FastMathFunctions/arm_sin_f32.o \
-        $(ST)/src/misc.o \
-        $(ST)/src/stm32f4xx_rcc.o \
-        $(ST)/src/stm32f4xx_dma.o \
-        $(ST)/src/stm32f4xx_flash.o \
-        $(ST)/src/stm32f4xx_gpio.o \
-        $(ST)/src/stm32f4xx_usart.o \
-        $(ST)/src/stm32f4xx_tim.o \
-        $(ST)/src/stm32f4xx_spi.o \
-        $(ST)/src/stm32f4xx_i2c.o \
-        $(ST)/src/stm32f4xx_sdio.o \
-        $(WORKSPACE_DIR)/interrupt.o \
-        $(WORKSPACE_DIR)/main.o \
-        $(STARTUP) \
-        $(EXTERNAL_DEVICE_SRC) $(MCU_PERIPH_SRC) \
-	$(ESTIMATOR_SRC) $(ACTUATORS_SRC) $(RADIO_CONTROLLER_SRC) \
-	$(COMMON_SRC) $(CONTROLLER_SRC) $(FREERTOS_SRC) \
-	$(MAVLINK_SRC)
 
 include $(WORKSPACE_DIR)/makefiles/rules.mk
 
diff --git a/program/board/vertigo-v2/board_config.mk b/program/board/vertigo-v2/board_config.mk
index 9105a388..711ba0b2 100644
--- a/program/board/vertigo-v2/board_config.mk
+++ b/program/board/vertigo-v2/board_config.mk
@@ -1 +1,69 @@
 TARGET_BOARD='Vertigo v2.0'
+
+STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
+EXTERNAL_DEVICE_SRC = $(EXTERNAL_DEVICE)/AT24C04C.o \
+			$(EXTERNAL_DEVICE)/mpu9250.o \
+			$(EXTERNAL_DEVICE)/hmc5983.o \
+			$(EXTERNAL_DEVICE)/lea6h_ubx.o \
+			$(EXTERNAL_DEVICE)/ADS1246_MPX6115A.o
+
+MCU_PERIPH_SRC =  \
+	$(MCU_PERIPH)/i2c.o \
+	$(MCU_PERIPH)/spi.o \
+	$(MCU_PERIPH)/gpio.o \
+	$(MCU_PERIPH)/tim.o \
+	$(MCU_PERIPH)/led.o \
+	$(MCU_PERIPH)/usart.o \
+	$(MCU_PERIPH)/input_capture.o \
+	$(MCU_PERIPH)/system_time.o
+
+ACTUATORS_SRC = $(ACTUATORS)/pwm.o
+
+RADIO_CONTROLLER_SRC = $(RADIO_CONTROLLER)/radio_control.o \
+	$(RADIO_CONTROLLER)/pwm_decoder.o
+
+COMMON_SRC =$(COMMON)/test_common.o \
+	$(COMMON)/memory.o \
+	$(COMMON)/io.o \
+	$(COMMON)/std.o
+
+CONTROLLER_SRC = $(CONTROLLER)/attitude_stabilizer.o \
+		$(CONTROLLER)/vertical_stabilizer.o \
+		$(CONTROLLER)/navigation.o \
+		$(CONTROLLER)/flight_controller.o \
+		$(CONTROLLER)/controller.o
+
+FREERTOS_SRC=$(FREERTOS)/Source/croutine.o \
+	$(FREERTOS)/Source/list.o \
+	$(FREERTOS)/Source/queue.o \
+	$(FREERTOS)/Source/tasks.o \
+	$(FREERTOS)/Source/timers.o \
+	$(FREERTOS)/Source/portable/MemMang/heap_1.o \
+	$(FREERTOS)/Source/portable/GCC/ARM_CM4F/port.o
+
+MAVLINK_SRC=$(MAVLINK)/communication.o \
+	$(MAVLINK)/mission.o \
+	$(MAVLINK)/parameter.o \
+	$(MAVLINK)/command_parser.o \
+	$(MAVLINK)/global.o
+
+OBJS=	$(WORKSPACE_DIR)/system_stm32f4xx.o \
+	$(CMSIS)/FastMathFunctions/arm_cos_f32.o \
+	$(CMSIS)/FastMathFunctions/arm_sin_f32.o \
+        $(ST)/src/misc.o \
+        $(ST)/src/stm32f4xx_rcc.o \
+        $(ST)/src/stm32f4xx_dma.o \
+        $(ST)/src/stm32f4xx_flash.o \
+        $(ST)/src/stm32f4xx_gpio.o \
+        $(ST)/src/stm32f4xx_usart.o \
+        $(ST)/src/stm32f4xx_tim.o \
+        $(ST)/src/stm32f4xx_spi.o \
+        $(ST)/src/stm32f4xx_i2c.o \
+        $(ST)/src/stm32f4xx_sdio.o \
+        $(WORKSPACE_DIR)/interrupt.o \
+        $(WORKSPACE_DIR)/main.o \
+        $(STARTUP) \
+        $(EXTERNAL_DEVICE_SRC) $(MCU_PERIPH_SRC) \
+	$(ESTIMATOR_SRC) $(ACTUATORS_SRC) $(RADIO_CONTROLLER_SRC) \
+	$(COMMON_SRC) $(CONTROLLER_SRC) $(FREERTOS_SRC) \
+	$(MAVLINK_SRC)
\ No newline at end of file

From 1a38e0e635785bb60620185cf4dc8e6070519655 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Wed, 17 Sep 2014 16:26:36 +0800
Subject: [PATCH 10/14] make obj list with src list

---
 Makefile                                 |   2 +-
 program/board/vertigo-v2/board_config.mk | 135 +++++++++++++----------
 2 files changed, 77 insertions(+), 60 deletions(-)

diff --git a/Makefile b/Makefile
index be35b6f5..fe0565c4 100644
--- a/Makefile
+++ b/Makefile
@@ -12,7 +12,7 @@ include $(WORKSPACE_DIR)/makefiles/workspace.mk
 #object file dir
 include $(WORKSPACE_DIR)/board/vertigo-v2/board_config.mk
 
-
+OBJS = $(sort $(patsubst %c, %o, $(SRCS) ))
 
 include $(WORKSPACE_DIR)/makefiles/rules.mk
 
diff --git a/program/board/vertigo-v2/board_config.mk b/program/board/vertigo-v2/board_config.mk
index 711ba0b2..615152d9 100644
--- a/program/board/vertigo-v2/board_config.mk
+++ b/program/board/vertigo-v2/board_config.mk
@@ -1,69 +1,86 @@
 TARGET_BOARD='Vertigo v2.0'
 
-STARTUP=$(WORKSPACE_DIR)/startup_stm32f427xx.o
-EXTERNAL_DEVICE_SRC = $(EXTERNAL_DEVICE)/AT24C04C.o \
-			$(EXTERNAL_DEVICE)/mpu9250.o \
-			$(EXTERNAL_DEVICE)/hmc5983.o \
-			$(EXTERNAL_DEVICE)/lea6h_ubx.o \
-			$(EXTERNAL_DEVICE)/ADS1246_MPX6115A.o
+STARTUP_SRCS=$(WORKSPACE_DIR)/startup_stm32f427xx.c
+EXTERNAL_DEVICE_SRCS = $(EXTERNAL_DEVICE)/AT24C04C.c \
+			$(EXTERNAL_DEVICE)/mpu9250.c \
+			$(EXTERNAL_DEVICE)/hmc5983.c \
+			$(EXTERNAL_DEVICE)/lea6h_ubx.c \
+			$(EXTERNAL_DEVICE)/ADS1246_MPX6115A.c
 
-MCU_PERIPH_SRC =  \
-	$(MCU_PERIPH)/i2c.o \
-	$(MCU_PERIPH)/spi.o \
-	$(MCU_PERIPH)/gpio.o \
-	$(MCU_PERIPH)/tim.o \
-	$(MCU_PERIPH)/led.o \
-	$(MCU_PERIPH)/usart.o \
-	$(MCU_PERIPH)/input_capture.o \
-	$(MCU_PERIPH)/system_time.o
+MCU_PERIPH_SRCS =  \
+	$(MCU_PERIPH)/i2c.c \
+	$(MCU_PERIPH)/spi.c \
+	$(MCU_PERIPH)/gpio.c \
+	$(MCU_PERIPH)/tim.c \
+	$(MCU_PERIPH)/led.c \
+	$(MCU_PERIPH)/usart.c \
+	$(MCU_PERIPH)/input_capture.c \
+	$(MCU_PERIPH)/system_time.c
 
-ACTUATORS_SRC = $(ACTUATORS)/pwm.o
+ACTUATORS_SRCS = $(ACTUATORS)/pwm.c
 
-RADIO_CONTROLLER_SRC = $(RADIO_CONTROLLER)/radio_control.o \
-	$(RADIO_CONTROLLER)/pwm_decoder.o
+RADIO_CONTROLLER_SRCS = $(RADIO_CONTROLLER)/radio_control.c \
+	$(RADIO_CONTROLLER)/pwm_decoder.c
 
-COMMON_SRC =$(COMMON)/test_common.o \
-	$(COMMON)/memory.o \
-	$(COMMON)/io.o \
-	$(COMMON)/std.o
+COMMON_SRCS =$(COMMON)/test_common.c \
+	$(COMMON)/memory.c \
+	$(COMMON)/io.c \
+	$(COMMON)/std.c
 
-CONTROLLER_SRC = $(CONTROLLER)/attitude_stabilizer.o \
-		$(CONTROLLER)/vertical_stabilizer.o \
-		$(CONTROLLER)/navigation.o \
-		$(CONTROLLER)/flight_controller.o \
-		$(CONTROLLER)/controller.o
+CONTROLLER_SRCS = $(CONTROLLER)/attitude_stabilizer.c \
+		$(CONTROLLER)/vertical_stabilizer.c \
+		$(CONTROLLER)/navigation.c \
+		$(CONTROLLER)/flight_controller.c \
+		$(CONTROLLER)/controller.c
 
-FREERTOS_SRC=$(FREERTOS)/Source/croutine.o \
-	$(FREERTOS)/Source/list.o \
-	$(FREERTOS)/Source/queue.o \
-	$(FREERTOS)/Source/tasks.o \
-	$(FREERTOS)/Source/timers.o \
-	$(FREERTOS)/Source/portable/MemMang/heap_1.o \
-	$(FREERTOS)/Source/portable/GCC/ARM_CM4F/port.o
+FREERTOS_SRCS=$(FREERTOS)/Source/croutine.c \
+	$(FREERTOS)/Source/list.c \
+	$(FREERTOS)/Source/queue.c \
+	$(FREERTOS)/Source/tasks.c \
+	$(FREERTOS)/Source/timers.c \
+	$(FREERTOS)/Source/portable/MemMang/heap_1.c \
+	$(FREERTOS)/Source/portable/GCC/ARM_CM4F/port.c
 
-MAVLINK_SRC=$(MAVLINK)/communication.o \
-	$(MAVLINK)/mission.o \
-	$(MAVLINK)/parameter.o \
-	$(MAVLINK)/command_parser.o \
-	$(MAVLINK)/global.o
+MAVLINK_SRCS=$(MAVLINK)/communication.c \
+	$(MAVLINK)/mission.c \
+	$(MAVLINK)/parameter.c \
+	$(MAVLINK)/command_parser.c \
+	$(MAVLINK)/global.c
 
-OBJS=	$(WORKSPACE_DIR)/system_stm32f4xx.o \
-	$(CMSIS)/FastMathFunctions/arm_cos_f32.o \
-	$(CMSIS)/FastMathFunctions/arm_sin_f32.o \
-        $(ST)/src/misc.o \
-        $(ST)/src/stm32f4xx_rcc.o \
-        $(ST)/src/stm32f4xx_dma.o \
-        $(ST)/src/stm32f4xx_flash.o \
-        $(ST)/src/stm32f4xx_gpio.o \
-        $(ST)/src/stm32f4xx_usart.o \
-        $(ST)/src/stm32f4xx_tim.o \
-        $(ST)/src/stm32f4xx_spi.o \
-        $(ST)/src/stm32f4xx_i2c.o \
-        $(ST)/src/stm32f4xx_sdio.o \
-        $(WORKSPACE_DIR)/interrupt.o \
-        $(WORKSPACE_DIR)/main.o \
-        $(STARTUP) \
-        $(EXTERNAL_DEVICE_SRC) $(MCU_PERIPH_SRC) \
-	$(ESTIMATOR_SRC) $(ACTUATORS_SRC) $(RADIO_CONTROLLER_SRC) \
-	$(COMMON_SRC) $(CONTROLLER_SRC) $(FREERTOS_SRC) \
-	$(MAVLINK_SRC)
\ No newline at end of file
+CMSIS_SRCS= \
+	$(CMSIS)/FastMathFunctions/arm_cos_f32.c \
+	$(CMSIS)/FastMathFunctions/arm_sin_f32.c
+
+STMF4_STD_DRIVER_SRCS= \
+	$(WORKSPACE_DIR)/system_stm32f4xx.c \
+        $(ST)/src/misc.c \
+        $(ST)/src/stm32f4xx_rcc.c \
+        $(ST)/src/stm32f4xx_dma.c \
+        $(ST)/src/stm32f4xx_flash.c \
+        $(ST)/src/stm32f4xx_gpio.c \
+        $(ST)/src/stm32f4xx_usart.c \
+        $(ST)/src/stm32f4xx_tim.c \
+        $(ST)/src/stm32f4xx_spi.c \
+        $(ST)/src/stm32f4xx_i2c.c \
+        $(ST)/src/stm32f4xx_sdio.c
+
+BASIC_SRCS= \
+        $(WORKSPACE_DIR)/interrupt.c \
+        $(WORKSPACE_DIR)/main.c \
+
+
+#
+#generate the source file list
+#
+SRCS += $(STARTUP_SRCS)
+SRCS += $(EXTERNAL_DEVICE_SRCS)
+SRCS += $(MCU_PERIPH_SRCS)
+SRCS += $(ACTUATORS_SRCS)
+SRCS += $(RADIO_CONTROLLER_SRCS)
+SRCS += $(COMMON_SRCS)
+SRCS += $(CONTROLLER_SRCS)
+SRCS += $(FREERTOS_SRCS)
+SRCS += $(MAVLINK_SRCS)
+SRCS += $(CMSIS_SRCS)
+SRCS += $(STMF4_STD_DRIVER_SRCS)
+SRCS += $(BASIC_SRCS)

From 5bf429fd22db1ed7208b3a21f63df4c531910519 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Sun, 21 Sep 2014 01:58:10 +0800
Subject: [PATCH 11/14] objs will rebuild when any related .h file changes

---
 Makefile                       | 6 ++++--
 program/makefiles/rules.mk     | 3 +++
 program/makefiles/toolchain.mk | 2 +-
 3 files changed, 8 insertions(+), 3 deletions(-)

diff --git a/Makefile b/Makefile
index fe0565c4..8ad9e712 100644
--- a/Makefile
+++ b/Makefile
@@ -14,18 +14,20 @@ include $(WORKSPACE_DIR)/board/vertigo-v2/board_config.mk
 
 OBJS = $(sort $(patsubst %c, %o, $(SRCS) ))
 
-include $(WORKSPACE_DIR)/makefiles/rules.mk
+
 
 #
 #make target
 all: $(FIRMWARE).bin $(FIRMWARE).elf
 
+include $(WORKSPACE_DIR)/makefiles/rules.mk
+
 clean:
 	rm -rf $(STARTUP_OBJ)
 	rm -rf $(FIRMWARE).elf
 	rm -rf $(FIRMWARE).bin
 	rm -f $(OBJS)
-
+	rm -f $(DEPS)
 #
 #upload firmware through st-flash
 flash:
diff --git a/program/makefiles/rules.mk b/program/makefiles/rules.mk
index 48d2b947..3fd5005a 100644
--- a/program/makefiles/rules.mk
+++ b/program/makefiles/rules.mk
@@ -8,6 +8,9 @@
 	@$(LD) $(LDFLAGS) $(ARCH_FLAGS) $(OBJS) $(LDLIBS) -o $@
 	@echo 'LD $^'
 
+DEPS = $(OBJS:.o=.d)
+-include $(DEPS)
+
 %.o: %.c
 	@$(CC) $(CFLAGS) -c $< -o $@
 	@echo 'CC $<'
diff --git a/program/makefiles/toolchain.mk b/program/makefiles/toolchain.mk
index ed2bb82d..d96a4c24 100644
--- a/program/makefiles/toolchain.mk
+++ b/program/makefiles/toolchain.mk
@@ -61,4 +61,4 @@ CFLAGS_DEFINE= \
 
 CFLAGS=-g $(ARCH_FLAGS)\
 	${CFLAGS_INCLUDE} ${CFLAGS_DEFINE} \
-	${CFLAGS_WARNING}
\ No newline at end of file
+	${CFLAGS_WARNING} -MMD -MP
\ No newline at end of file

From 756313716874ab5ea666f5b9720dec5b90bc08ec Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Sun, 21 Sep 2014 10:19:11 +0800
Subject: [PATCH 12/14] Do not track *.d files

---
 .gitignore | 1 +
 1 file changed, 1 insertion(+)

diff --git a/.gitignore b/.gitignore
index 4a11d007..5acf36fb 100644
--- a/.gitignore
+++ b/.gitignore
@@ -1,5 +1,6 @@
 .tags*
 *.o
+*.d
 cscope*
 *.bin
 *.elf

From 2fa520d5837f6c3b529658ae82b560f97e7eba48 Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Thu, 18 Dec 2014 05:22:29 +0800
Subject: [PATCH 13/14] Revert "Delete private source code`"

This reverts commit 448134d282e7fef2ed0e57cbb6d51dd9a329a1e6.
We can keep it public now.
---
 program/estimator/Makefile             |  20 ++++
 program/estimator/attitude_estimator.c | 134 ++++++++++++++++++++++
 program/estimator/estimator.c          |  11 ++
 program/estimator/vertical_estimator.c | 147 +++++++++++++++++++++++++
 4 files changed, 312 insertions(+)
 create mode 100644 program/estimator/Makefile
 create mode 100644 program/estimator/attitude_estimator.c
 create mode 100644 program/estimator/estimator.c
 create mode 100644 program/estimator/vertical_estimator.c

diff --git a/program/estimator/Makefile b/program/estimator/Makefile
new file mode 100644
index 00000000..be5c01ca
--- /dev/null
+++ b/program/estimator/Makefile
@@ -0,0 +1,20 @@
+export WORKSPACE_DIR=../
+include $(WORKSPACE_DIR)/makefiles/toolchain.mk
+include $(WORKSPACE_DIR)/makefiles/workspace.mk
+include $(WORKSPACE_DIR)/makefiles/rules.mk
+
+LIB_ESTIMATOR=libestimator.a
+
+ESTIMATOR_SRC = $(WORKSPACE_DIR)/estimator/
+
+ESTIMATOR_OBJS=	$(ESTIMATOR_SRC)/attitude_estimator.o \
+	$(ESTIMATOR_SRC)/vertical_estimator.o \
+	$(ESTIMATOR_SRC)/estimator.o
+
+all: $(LIB_ESTIMATOR)
+
+$(LIB_ESTIMATOR): $(ESTIMATOR_OBJS)
+	$(AR) -r $(LIB_ESTIMATOR) $(ESTIMATOR_OBJS)
+	$(RANLIB) $(LIB_ESTIMATOR)
+clean: 
+	rm -rf $(LIB_ESTIMATOR)
\ No newline at end of file
diff --git a/program/estimator/attitude_estimator.c b/program/estimator/attitude_estimator.c
new file mode 100644
index 00000000..8c38ba14
--- /dev/null
+++ b/program/estimator/attitude_estimator.c
@@ -0,0 +1,134 @@
+#include "attitude_estimator.h"
+#include <math.h>
+#include "basic_filter.h"
+
+void attitude_estimator_init(attitude_t* attitude,imu_data_t* imu_raw_data, imu_data_t *imu_filtered_data,vector3d_f_t* True_R){
+
+	attitude->roll=0.0;
+	attitude->pitch=0.0;
+	attitude->yaw=0.0;
+
+	imu_raw_data->acc[0]=0.0;
+	imu_raw_data->acc[1]=0.0;
+	imu_raw_data->acc[2]=1.0;
+
+	imu_filtered_data->acc[0] =0.0;
+	imu_filtered_data->acc[1] =0.0;
+	imu_filtered_data->acc[2] =1.0;
+
+	True_R->x =0.0;
+	True_R->y =0.0;
+	True_R->z =1.0;
+	
+	estimator_trigger_flag=0;
+}
+
+void attitude_sense(attitude_t *attitude, imu_data_t *imu_raw_data, imu_data_t *imu_filtered_data, vector3d_f_t *True_R)
+{
+
+	float accel_lowpass_gain = 0.03f, gyro_lowpass_gain =0.03f,complementAlpha = 0.0001f;
+	float R_raw = 0.0f, inv_R_raw = 0.0f, R_true = 0.0f, inv_R_true = 0.0f;
+	float N_Ax_g = 0.0f, N_Ay_g = 0.0f, N_Az_g = 0.0f;
+
+	float f=4000.0f;
+	float dt=1.0f/f;
+	float degtorad=0.01745329251994329f;
+	float delta_gyroX=0.0f,delta_gyroY=0.0f,delta_gyroZ=0.0f;
+	float predicted_Ax=0.0f,predicted_Ay=0.0f,predicted_Az=0.0f;
+
+
+	imu_filtered_data->acc[0] = lowpass_float(&imu_filtered_data->acc[0], &imu_raw_data->acc[0], accel_lowpass_gain);
+	imu_filtered_data->acc[1] = lowpass_float(&imu_filtered_data->acc[1], &imu_raw_data->acc[1], accel_lowpass_gain);
+	imu_filtered_data->acc[2] = lowpass_float(&imu_filtered_data->acc[2], &imu_raw_data->acc[2], accel_lowpass_gain);
+	
+	imu_filtered_data->gyro[0] = lowpass_float(&imu_filtered_data->gyro[0], &imu_raw_data->gyro[0], gyro_lowpass_gain);
+	imu_filtered_data->gyro[1] = lowpass_float(&imu_filtered_data->gyro[1], &imu_raw_data->gyro[1], gyro_lowpass_gain);
+	imu_filtered_data->gyro[2] = lowpass_float(&imu_filtered_data->gyro[2], &imu_raw_data->gyro[2], gyro_lowpass_gain);
+
+	R_raw = sqrtf(imu_filtered_data->acc[0] * imu_filtered_data->acc[0] + imu_filtered_data->acc[1] * imu_filtered_data->acc[1] + imu_filtered_data->acc[2] * imu_filtered_data->acc[2]);
+	inv_R_raw = 1.0f / R_raw;
+	N_Ax_g = imu_filtered_data->acc[0] * inv_R_raw;
+	N_Ay_g = imu_filtered_data->acc[1] * inv_R_raw;
+	N_Az_g = imu_filtered_data->acc[2] * inv_R_raw;
+
+	delta_gyroX = imu_raw_data->gyro[0] * dt * degtorad;
+	delta_gyroY = imu_raw_data->gyro[1] * dt * degtorad;
+	delta_gyroZ = imu_raw_data->gyro[2] * dt * degtorad;
+
+
+	(True_R->x) = (True_R->x) + (True_R->y) * delta_gyroZ;
+	(True_R->y) =  - (True_R->x) * delta_gyroZ + (True_R->y);
+
+	(True_R->y) = (True_R->y) + (True_R->z) * delta_gyroX;
+	(True_R->z) =  - (True_R->y) * delta_gyroX + (True_R->z) ;
+
+	(True_R->x) = (True_R->x) - (True_R->z) * delta_gyroY ;
+	(True_R->z) = (True_R->x) * delta_gyroY + (True_R->z);
+
+	predicted_Ax = (True_R->x);
+	predicted_Ay = (True_R->y);
+	predicted_Az = (True_R->z);
+
+
+	(True_R->x) = (1.0f - complementAlpha) * (predicted_Ax) + complementAlpha * (N_Ax_g);
+	(True_R->y) = (1.0f - complementAlpha) * (predicted_Ay) + complementAlpha * (N_Ay_g);
+	(True_R->z) = (1.0f - complementAlpha) * (predicted_Az) + complementAlpha * (N_Az_g);
+
+
+	R_true = sqrtf((True_R->x)*(True_R->x) + (True_R->y)*(True_R->y) + (True_R->z)*(True_R->z));
+	inv_R_true = 1.0f/R_true;
+	(True_R->x) =(True_R->x) *inv_R_true;
+	(True_R->y) =(True_R->y) *inv_R_true;
+	(True_R->z) =(True_R->z) *inv_R_true;
+
+
+	attitude->roll=atanf(True_R->y/True_R->z)*57.2957795130823f;
+
+	attitude->pitch=atanf(-True_R->x/sqrtf(True_R->y*True_R->y+True_R->z*True_R->z))*57.2957795130823f;
+
+
+
+}
+
+
+void heading_sense(attitude_t *attitude,imu_data_t *imu_raw_data,euler_trigonometry_t* negative_euler){
+
+float MagXx=0.0f,MagYx=0.0f,MagZx=0.0f;
+float MagX_rotated=0.0f,MagY_rotated=0.0f;//,MagZ_rotated=0.0f;
+
+	MagXx = imu_raw_data->mag[0];
+	MagYx = imu_raw_data->mag[1]*(negative_euler -> C_roll)+imu_raw_data->mag[2]*(negative_euler -> S_roll);
+	MagZx = -imu_raw_data->mag[1]*(negative_euler -> S_roll)+imu_raw_data->mag[2]*(negative_euler -> C_roll);
+
+	MagX_rotated=MagXx*(negative_euler -> C_pitch)-MagZx*(negative_euler -> S_pitch);
+	MagY_rotated=MagYx;
+	//MagZ_rotated=MagXx*(negative_euler -> S_pitch)+MagZx*(negative_euler -> C_pitch);
+
+	attitude -> yaw = atan2f(-MagY_rotated,MagX_rotated)*57.32484076433121f;
+
+	
+	if((attitude -> yaw) <0.0f){
+
+		(attitude -> yaw) += 360.0f;
+	}
+
+
+}
+
+
+void attitude_update(attitude_t *attitude, imu_data_t *imu_filtered_data, vector3d_f_t *predicted_g_data,imu_unscaled_data_t *imu_unscaled_data,imu_data_t *imu_raw_data,imu_calibrated_offset_t *imu_offset){
+
+
+		imu_update(imu_unscaled_data);
+		imu_scale_data(imu_unscaled_data, imu_raw_data, imu_offset);
+		#ifdef USE_MAGNETIC_HEADING
+			magnetometer_update(imu_unscaled_data);
+			magnetometer_scale_data(imu_unscaled_data,imu_raw_data,imu_offset);
+		#endif 
+
+
+		attitude_sense(attitude, imu_raw_data, imu_filtered_data, predicted_g_data);
+
+
+}
+
diff --git a/program/estimator/estimator.c b/program/estimator/estimator.c
new file mode 100644
index 00000000..f266c335
--- /dev/null
+++ b/program/estimator/estimator.c
@@ -0,0 +1,11 @@
+#include "estimator.h"
+
+void inverse_rotation_trigonometry_precal(attitude_t* attitude,euler_trigonometry_t* negative_euler){
+
+		/* all global variable */
+		negative_euler -> C_roll = arm_cos_f32(attitude->roll * (-0.01745329252392f));
+		negative_euler -> S_roll = arm_sin_f32(attitude->roll * (-0.01745329252392f));
+
+		negative_euler -> C_pitch = arm_cos_f32(attitude->pitch * (-0.01745329252392f));
+		negative_euler -> S_pitch = arm_sin_f32(attitude->pitch * (-0.01745329252392f));
+}
\ No newline at end of file
diff --git a/program/estimator/vertical_estimator.c b/program/estimator/vertical_estimator.c
new file mode 100644
index 00000000..99a7eddd
--- /dev/null
+++ b/program/estimator/vertical_estimator.c
@@ -0,0 +1,147 @@
+//vertical_estimator.c
+
+#include "vertical_estimator.h"
+
+
+
+//#define VZD_DEBUGGING
+
+#ifdef VZD_DEBUGGING
+#include <stdio.h>
+#include "usart.h"
+	uint8_t _buff_push[100];
+#endif
+
+void vertical_estimator_init(vertical_data_t* raw_data,vertical_data_t* filtered_data){
+
+	raw_data->Z =0.0;
+	raw_data->Zd =0.0;
+	raw_data->Zdd =0.0;
+
+	filtered_data->Z=0.0;
+	filtered_data->Zd=0.0;
+	filtered_data->Zdd=0.0;
+}
+
+	float V_Z_Baro_lp = 0.0f;
+	float V_Zd_INS=0.0;
+	float V_Zd_INS_error=0.0;
+	float V_Zd_INS_longterm_error=0.0;
+	float V_Zd_INS_longTermOffset=0.0;
+	float V_Zdd_INS_error=0.0;
+	//float V_Zd_INS_beforeCorrection;
+
+	float V_Zd_Baro_Prev=0.0;
+	float V_Zd_INS_error_Prev=0.0;
+
+	float g_offset =-0.005f;
+
+
+void vertical_sense(vertical_data_t* vertical_filtered_data,vertical_data_t* vertical_raw_data,imu_data_t* imu_raw_data, euler_trigonometry_t* negative_euler){
+
+	float estAlt_prev= V_Z_Baro_lp;
+	float Axx=0.0,Azx=0.0; //,Ayx=0.0
+	float Az_rotated;//Ax_rotated=0.0,Ay_rotated,
+
+	float V_Zd_INS_current_error;
+	float V_Zdd_INS_current_error;
+	float g_earth = 1.0f;
+	float del_g_adder;
+	float f=4000.0f;
+	float dt=1.0f/f;
+
+
+	float Z_INS_Alpha=0.00004f,Zd_INS_Alpha=0.0001f,Zdd_INS_error_Alpha=0.005f;
+	/* Update barometer data */
+
+		if(!ADS1246_DRDY_PIN_STATE()){
+		vertical_raw_data->Z = barometer_read_altitude() ;
+		V_Z_Baro_lp= lowpass_float(&V_Z_Baro_lp, &vertical_raw_data->Z, 0.005f);
+
+		vertical_raw_data->Zd = (V_Z_Baro_lp- estAlt_prev)*1000.0f; // Have to define it somewhere;
+
+		}
+
+		vertical_filtered_data->Z += vertical_filtered_data->Zd*CONTROL_DT;
+
+		if (abs((int32_t)((vertical_filtered_data->Z) - V_Z_Baro_lp))<(int32_t)300){
+		vertical_filtered_data->Z = V_Z_Baro_lp * Z_INS_Alpha + vertical_filtered_data->Z  * (1.0f-  Z_INS_Alpha);
+		}else{
+		
+		vertical_filtered_data->Z = V_Z_Baro_lp ;
+		
+
+		}
+
+
+		/* S/(negative_euler -> C_roll)/pitch will now be calculated from estimator.c precal function*/
+
+		Axx = imu_raw_data->acc[0];
+		//Ayx = imu_raw_data->acc[1]*(negative_euler -> C_roll)+imu_raw_data->acc[2]*(negative_euler -> S_roll);
+		Azx = -imu_raw_data->acc[1]*(negative_euler -> S_roll)+imu_raw_data->acc[2]*(negative_euler -> C_roll);
+
+		//Ax_rotated=Axx*(negative_euler -> C_pitch)-Azx*(negative_euler -> S_pitch);
+		//Ay_rotated=Ayx;
+		Az_rotated=Axx*(negative_euler -> S_pitch)+Azx*(negative_euler -> C_pitch);
+
+		vertical_filtered_data->Zdd = Az_rotated;
+
+		/* Rotation matrix */
+
+
+		/* Starting main algorithm */
+
+		V_Zd_INS+=(Az_rotated-g_earth-g_offset )*9.81f*100.0f*dt;
+		V_Zd_INS_error = V_Zd_INS-vertical_raw_data->Zd ;
+
+
+		/* estimate longterm error haven't been corrected */
+		V_Zd_INS_current_error = vertical_filtered_data->Zd - vertical_raw_data->Zd;
+		V_Zd_INS_longterm_error = lowpass_float(&V_Zd_INS_longterm_error,&V_Zd_INS_current_error,0.00000001f); // may not be long term enough for new one
+
+		/* apply longterm error correction */
+		V_Zd_INS_longTermOffset+=V_Zd_INS_longterm_error*1.0f*1000.5f;
+		/* substract applied longterm error from bank */
+		V_Zd_INS_longterm_error-=V_Zd_INS_longterm_error*0.210f;
+		vertical_filtered_data->Zd =V_Zd_INS-V_Zd_INS_longTermOffset;
+
+		/* estimate the stray acceleration with lowpass filter */
+		V_Zdd_INS_current_error = (V_Zd_INS_error-V_Zd_INS_error_Prev)*f*0.01f;
+		V_Zdd_INS_error = lowpass_float(&V_Zdd_INS_error,&V_Zdd_INS_current_error,Zdd_INS_error_Alpha);
+		
+		/* calibrating earth's gravity offset */
+		del_g_adder=0.00005f*V_Zdd_INS_error*0.1f;
+
+		g_offset+=del_g_adder;
+
+
+		/* complementary filter for integrity */
+		//V_Zd_INS_beforeCorrection=V_Zd_INS;
+		vertical_filtered_data->Zd = vertical_raw_data->Zd * Zd_INS_Alpha+(1.0f-Zd_INS_Alpha)*vertical_filtered_data->Zd;
+
+		/* memory storage for next iteration */
+		//V_Zd_INS_correctionOffset=V_Zd_INS-V_Zd_INS_beforeCorrection;
+		V_Zd_Baro_Prev=vertical_raw_data->Zd;
+		V_Zd_INS_error_Prev=V_Zd_INS_error;
+
+#ifdef VZD_DEBUGGING
+
+		if (DMA_GetFlagStatus(DMA1_Stream6, DMA_FLAG_TCIF6) != RESET) {
+
+			_buff_push[7] = 0;_buff_push[8] = 0;_buff_push[9] = 0;_buff_push[10] = 0;_buff_push[11] = 0;_buff_push[12] = 0;	_buff_push[13] = 0;
+
+			sprintf((char *)_buff_push, "%ld,%ld,%ld,%ld,%d,100000000000,\r\n",
+				(int32_t)(V_Z_Baro_lp* 1.0f),
+				(int32_t)(vertical_filtered_data->Z* 1.0f),
+				(int32_t)(vertical_filtered_data->Zd * 1.0f),
+				(int32_t)(g_offset * 100000.0f),
+				(int16_t)(V_Zd_INS * 1.0f));
+
+			usart2_dma_send(_buff_push);
+
+
+		}	
+#endif
+}
+
+

From c3a580149bb4c826798799b05fa6c957d8fd95ae Mon Sep 17 00:00:00 2001
From: fboris <fantasyboris@gmail.com>
Date: Sun, 21 Dec 2014 12:38:00 +0800
Subject: [PATCH 14/14] fix travis ci srcipt

---
 .travis.yml | 1 -
 1 file changed, 1 deletion(-)

diff --git a/.travis.yml b/.travis.yml
index dc1239a0..bea8a8b8 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -9,6 +9,5 @@ before_install:
   - sudo apt-get install gcc-arm-none-eabi
 
 script:
-  - cd program/
   - make 
   - arm-none-eabi-size firmware.elf