Merge pull request #715 from concatime/cmsis-5

vendor: Upgrade CMSIS from 4.5.0 to 5.7.0

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "vendor/CMSIS"]
 	path = vendor/CMSIS
-	url = https://github.com/ARM-software/CMSIS.git
+	url = https://github.com/ARM-software/CMSIS_5.git
 [submodule "vendor/FreeRTOS"]
 	path = vendor/FreeRTOS
 	url = https://github.com/FreeRTOS/FreeRTOS-Kernel.git

Makefile

@@ -284,24 +284,25 @@ SIZE = $(CROSS_COMPILE)size
 OBJCOPY = $(CROSS_COMPILE)objcopy
 GDB = $(CROSS_COMPILE)gdb
 
-INCLUDES += -I$(FREERTOS)/include -I$(PORT) -I$(CRAZYFLIE_BASE)/src
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/config -I$(CRAZYFLIE_BASE)/src/hal/interface
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/modules/interface -I$(CRAZYFLIE_BASE)/src/modules/interface/lighthouse -I$(CRAZYFLIE_BASE)/src/modules/interface/kalman_core
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface -I$(CRAZYFLIE_BASE)/src/drivers/interface -I$(CRAZYFLIE_BASE)/src/platform
-INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Include -I$(CRAZYFLIE_BASE)/src/drivers/bosch/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Core/Include -I$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Include
+INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/libdw1000/inc
+INCLUDES += -I$(FREERTOS)/include -I$(PORT)
 
-INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/config
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/platform
+
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/deck/interface -I$(CRAZYFLIE_BASE)/src/deck/drivers/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/drivers/interface -I$(CRAZYFLIE_BASE)/src/drivers/bosch/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/hal/interface
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/modules/interface -I$(CRAZYFLIE_BASE)/src/modules/interface/kalman_core -I$(CRAZYFLIE_BASE)/src/modules/interface/lighthouse
+INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface -I$(CRAZYFLIE_BASE)/src/utils/interface/kve -I$(CRAZYFLIE_BASE)/src/utils/interface/lighthouse -I$(CRAZYFLIE_BASE)/src/utils/interface/tdoa
+
+INCLUDES += -I$(LIB)/FatFS
 INCLUDES += -I$(LIB)/CMSIS/STM32F4xx/Include
 INCLUDES += -I$(LIB)/STM32_USB_Device_Library/Core/inc
 INCLUDES += -I$(LIB)/STM32_USB_OTG_Driver/inc
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/deck/interface -I$(CRAZYFLIE_BASE)/src/deck/drivers/interface
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/clockCorrection
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/tdoa
-INCLUDES += -I$(CRAZYFLIE_BASE)/src/utils/interface/lighthouse
-INCLUDES += -I$(CRAZYFLIE_BASE)/vendor/libdw1000/inc
-INCLUDES += -I$(LIB)/FatFS
-INCLUDES += -I$(LIB)/vl53l1
-INCLUDES += -I$(LIB)/vl53l1/core/inc
+INCLUDES += -I$(LIB)/STM32F4xx_StdPeriph_Driver/inc
+INCLUDES += -I$(LIB)/vl53l1 -I$(LIB)/vl53l1/core/inc
 
 CFLAGS += -g3
 ifeq ($(DEBUG), 1)

test/deck/drivers/src/test_lps_twr_tag.c

@@ -17,8 +17,8 @@
 // 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( float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
-void arm_mean_f32( float32_t * pSrc, uint32_t blockSize, float32_t * pResult) { *pResult = 0.0; }
+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"
 

tools/make/cmsis_dsp/Makefile

@@ -2,8 +2,9 @@ include obj.mk
 
 BIN=$(PROJ_ROOT)/bin/vendor
 PROJ_BIN=$(PROJ_ROOT)/bin
-DSP_SRC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP_Lib/Source
-DSP_INC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Include
+CMSIS_INC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/Core/Include
+DSP_INC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Include
+DSP_SRC=$(CRAZYFLIE_BASE)/vendor/CMSIS/CMSIS/DSP/Source
 
 VPATH += $(BIN)
 VPATH += $(DSP_SRC)/BasicMathFunctions/
@@ -20,18 +21,13 @@ VPATH += $(DSP_SRC)/TransformFunctions/
 
 LIB=$(PROJ_BIN)/libarm_math.a
 
-CSFLAGS = -O2 -I$(DSP_INC) -std=c11 -DARM_MATH_CM4 -D__FPU_PRESENT=1 -D__TARGET_FPU_VFP  -mfloat-abi=hard -mfpu=fpv4-sp-d16
-CSFLAGS += -mcpu=cortex-m4 -mthumb -ffunction-sections -fdata-sections
-CFLAGS=$(CSFLAGS) -include stdint.h
+CFLAGS = -O2 -I$(CMSIS_INC) -I$(DSP_INC) -std=c11
+CFLAGS += -mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16
+CFLAGS += -DARM_MATH_CM4 -D__FPU_PRESENT=1 -ffunction-sections -fdata-sections
 
 CROSS_COMPILE     ?= arm-none-eabi-
-AS = $(CROSS_COMPILE)as
 CC = $(CROSS_COMPILE)gcc
-LD = $(CROSS_COMPILE)gcc
 AR = $(CROSS_COMPILE)ar
-SIZE = $(CROSS_COMPILE)size
-OBJCOPY = $(CROSS_COMPILE)objcopy
-GDB = $(CROSS_COMPILE)gdb
 
 all: $(LIB)