Enabled warnings used for FMU.

CMakeLists.txt

@@ -1,41 +1,44 @@
 cmake_minimum_required(VERSION 2.8)
-option(HOST_TEST "do host based testing (no cross-compiling)" OFF)
 
+# toolchain
+#-----------------------------------------------------
+option(HOST_TEST "do host based testing (no cross-compiling)" OFF)
 if (NOT HOST_TEST)
     set(CMAKE_TOOLCHAIN_FILE cmake/Toolchain-arm-none-eabi.cmake)
 endif()
 
 project(px4flow C ASM)
 
+# config
+#-----------------------------------------------------
 set(JTAGCONFIG ${CMAKE_SOURCE_DIR}/olimex-jtag-tiny.cfg)
-#set(JTAGCONFIG	${CMAKE_SOURCE_DIR}/olimex-arm-usb-tiny-h.cfg)
+#set(JTAGCONFIG ${CMAKE_SOURCE_DIR}/olimex-arm-usb-tiny-h.cfg)
 set(BOARDCONFIG ${CMAKE_SOURCE_DIR}/stm32f4x.cfg)
 
+# dependencies/ programs
+#-----------------------------------------------------
 find_program(OPENOCD openocd HINT ../../sat/bin/)
 
+# testing
+#-----------------------------------------------------
 enable_testing()
 
+# packaging
+#-----------------------------------------------------
 set(CPACK_PACKAGE_CONTACT "px4users@googlegroups.com")
 set(CPACK_INCLUDE_TOPLEVEL_DIRECTORY 0)
 set(CPACK_PACKAGE_VERSION_MAJOR "0") 
 set(CPACK_PACKAGE_VERSION_MINOR "0") 
 set(CPACK_PACKAGE_VERSION_PATCH "0") 
 include(CPack)
 
-message(STATUS "building for: ${CMAKE_SYSTEM_NAME}")
-
-if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")
-    # and linker script if compiling for board
-    foreach(ARG in EXE TEST)
-        set(CMAKE_${ARG}_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T${CMAKE_SOURCE_DIR}/stm32f4.ld")
-    endforeach()
-    set(COMMON_FLAGS "-mthumb -mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16 -Wall -Wextra -MD")
-else()
-    set(COMMON_FLAGS "")
-endif()
-set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${COMMON_FLAGS} --std=gnu99 -Wall")
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${COMMON_FLAGS}")
-add_definitions(-DMAVLINK_SEND_UART_BYTES=mavlink_send_uart_bytes)
+# functions
+#-----------------------------------------------------
+function(join VARNAME)
+    string (REGEX REPLACE "([^\\]|^);" "\\1 " _TMP_STR "${${VARNAME}}")
+    string (REGEX REPLACE "[\\](.)" "\\1" _TMP_STR "${_TMP_STR}") #fixes escaping
+    set(${VARNAME} "${_TMP_STR}" PARENT_SCOPE)
+endfunction()
 
 macro(generate_firmware NAME)
     add_custom_target(firmware_${NAME} ALL DEPENDS ${NAME}.px4)
@@ -46,6 +49,103 @@ macro(generate_firmware NAME)
         DEPENDS ${NAME})
 endmacro()
 
+# flags
+#-----------------------------------------------------
+if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")
+    # board CORTEXM44
+    set(CPU_FLAGS
+        -mcpu=cortex-m4
+        -mthumb
+        -march=armv7e-m
+        -mfpu=fpv4-sp-d16
+        -mfloat-abi=hard
+        )
+else()
+    set(CPU_FLAGS)
+endif()
+set(OPT_FLAGS
+    -O3
+    -g
+    -fno-strict-aliasing
+    -fno-strength-reduce
+    -fomit-frame-pointer
+    -funsafe-math-optimizations
+    -fno-builtin-printf
+    -ffunction-sections
+    -fdata-sections
+    )
+set(C_FLAGS
+    -std=gnu99
+    -fno-common
+    )
+set(CXX_FLAGS
+    -fno-exceptions
+    -fno-rtti
+    -std=gnu++0x
+    -fno-threadsafe-statics
+    )
+set(WARNINGS
+    -Wall
+    -Wextra
+    -Wdouble-promotion
+    -Wshadow
+    -Wfloat-equal
+    -Wframe-larger-than=1024
+    -Wpointer-arith
+    -Wlogical-op
+    -Wmissing-declarations
+    -Wpacked
+    -Wno-unused-parameter
+    -Werror=format-security
+    -Werror=array-bounds
+    -Wfatal-errors
+    -Wformat=1
+    -Werror=unused-but-set-variable
+    -Werror=unused-variable
+    -Werror=double-promotion
+    -Werror=reorder
+    #-Wcast-qual  - generates spurious noreturn attribute warnings, try again later
+    #-Wconversion - would be nice, but too many "risky-but-safe" conversions in the code
+    #-Wcast-align - would help catch bad casts in some cases, but generates too many false positives
+    )
+set(C_WARNINGS
+    -Wbad-function-cast
+    -Wstrict-prototypes
+    -Wold-style-declaration
+    -Wmissing-parameter-type
+    -Wmissing-prototypes
+    -Wnested-externs
+    )
+set(CXX_WARNINGS
+    -Wno-missing-field-initializers
+    )
+set(LD_FLAGS
+    -Wl,--warn-common
+    -Wl,--gc-sections
+    )
+set(CMAKE_C_FLAGS
+    ${CPU_FLAGS}
+    ${C_FLAGS}
+    ${WARNINGS}
+    ${C_WARNINGS}
+    ${OPT_FLAGS}
+    )
+join(CMAKE_C_FLAGS)
+set(CMAKE_CXX_FLAGS
+    ${CPU_FLAGS}
+    ${CXX_FLAGS}
+    ${WARNINGS}
+    ${CXX_WARNINGS}
+    ${OPT_FLAGS}
+    )
+join(CMAKE_CXX_FLAGS)
+set(CMAKE_EXE_LINKER_FLAGS ${LD_FLAGS})
+join(CMAKE_EXE_LINKER_FLAGS)
+
+message(STATUS "cflags: ${CMAKE_C_FLAGS}")
+
+add_definitions(-DMAVLINK_SEND_UART_BYTES=mavlink_send_uart_bytes)
+
 include_directories(
     inc lib
     lib/STM32F4xx_StdPeriph_Driver/inc
@@ -59,6 +159,27 @@ include_directories(
 
 # source
 #-----------------------------------------------------
+set(PERIPH_SRC
+    lib/startup_stm32f4xx.s
+    lib/STM32F4xx_StdPeriph_Driver/src/misc.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
+    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
+    lib/STM32_USB_OTG_Driver/src/usb_core.c
+    lib/STM32_USB_OTG_Driver/src/usb_dcd_int.c
+    lib/STM32_USB_OTG_Driver/src/usb_dcd.c
+    lib/STM32_USB_Device_Library/Core/src/usbd_core.c
+    lib/STM32_USB_Device_Library/Core/src/usbd_req.c
+    lib/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
+    lib/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c
+    )
+
 set(PX4FLOW_HDRS
     inc/communication.h
     inc/dcmi.h
@@ -83,25 +204,8 @@ set(PX4FLOW_HDRS
     inc/usbd_desc.h
     inc/utils.h
     )
+
 set(PX4FLOW_SRC
-    lib/startup_stm32f4xx.s
-    lib/STM32F4xx_StdPeriph_Driver/src/misc.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c
-    lib/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c
-    lib/STM32_USB_OTG_Driver/src/usb_core.c
-    lib/STM32_USB_OTG_Driver/src/usb_dcd_int.c
-    lib/STM32_USB_OTG_Driver/src/usb_dcd.c
-    lib/STM32_USB_Device_Library/Core/src/usbd_core.c
-    lib/STM32_USB_Device_Library/Core/src/usbd_req.c
-    lib/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
-    lib/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c
     src/communication.c
     src/dcmi.c
     src/debug.c
@@ -130,9 +234,21 @@ set(PX4FLOW_SRC
 # building
 #-----------------------------------------------------
 if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")
+
+    # periph lib
+    add_library(periph STATIC ${PERIPH_SRC})
+    set_target_properties(periph PROPERTIES
+        LINK_FLAGS ""
+        #COMPILE_FLAGS "-Werror"
+    )
+
     # board executable
     add_executable(px4flow ${PX4FLOW_SRC} ${PX4FLOW_HDRS})
-    target_link_libraries(px4flow nosys m)
+    target_link_libraries(px4flow periph nosys m)
+    set_target_properties(px4flow PROPERTIES
+        LINK_FLAGS "-T${CMAKE_SOURCE_DIR}/stm32f4.ld"
+        #COMPILE_FLAGS "-Werror"
+    )
     generate_firmware(px4flow)
 else()
     # host based testing
@@ -142,6 +258,9 @@ else()
         inc/sonar_mode_filter.h
         unittests/tests.c
         )
+    #set_target_properties(sonar_mode_filter PROPERTIES
+    #    COMPILE_FLAGS "-Werror"
+    #)
     add_test(sonar_mode_filter sonar_mode_filter)
 endif()
 

inc/gyro.h

@@ -151,13 +151,13 @@ void gyro_read(float* x_rate, float* y_rate, float* z_rate, int16_t* gyro_temp);
 
 /* Low layer functions */
 void spi_config(void);
-void l3gd20_config();
+void l3gd20_config(void);
 uint8_t l3gd20_ReadByte(void);
 uint8_t l3gd20_SendByte(uint8_t byte);
 uint16_t l3gd20_SendHalfWord(uint16_t HalfWord);
 void l3gd20_WriteEnable(void);
 void l3gd20_WaitForWriteEnd(void);
-uint8_t getGyroRange();
-int getGyroScalingFactor();
+uint8_t getGyroRange(void);
+int getGyroScalingFactor(void);
 
 #endif /* SPI_L3GD20_H_ */

inc/i2c.h

@@ -37,9 +37,9 @@
  * @brief  Configures I2C1 for communication as a slave (default behaviour for STM32F)
  */
 
-void i2c_init();
+void i2c_init(void);
 void update_TX_buffer(float pixel_flow_x, float pixel_flow_y, float flow_comp_m_x, float flow_comp_m_y, uint8_t qual,
         float ground_distance, float x_rate, float y_rate, float z_rate, int16_t gyro_temp);
-char i2c_get_ownaddress1();
+char i2c_get_ownaddress1(void);
 #endif /* I2C_H_ */
 

inc/settings.h

@@ -98,7 +98,7 @@ typedef struct
 
 } SysState_TypeDef;
 
-enum
+enum global_param_id_t
 {
 	PARAM_SYSTEM_ID = 0,
 	PARAM_COMPONENT_ID,
@@ -146,7 +146,7 @@ enum
 
 	ONBOARD_PARAM_COUNT
 
-} global_param_id;
+};
 
 struct global_struct
 {
@@ -157,7 +157,9 @@ struct global_struct
 
 };
 
-struct global_struct global_data;
+/* global declarations */
+extern enum global_param_id_t global_param_id;
+extern struct global_struct global_data;
 
 /******************************************************************
   * ALL SETTINGS FUNCTIONS

inc/sonar.h

@@ -63,11 +63,11 @@ bool sonar_read(float* sonar_value_filtered, float* sonar_value_raw);
 /**
   * @brief Get the timestamp of the new sonar value when available to the main code
   */
-uint32_t get_sonar_measure_time();
+uint32_t get_sonar_measure_time(void);
 
 /**
   * @brief Get the timestamp of the new sonar value when the interrupt is triggered
   */
-uint32_t get_sonar_measure_time_interrupt();
+uint32_t get_sonar_measure_time_interrupt(void);
 
 #endif /* SONAR_H_ */

inc/usart.h

@@ -39,7 +39,7 @@
 /**
   * @brief  Configures USART2 and USART3 for communication
   */
-void usart_init();
+void usart_init(void);
 
 /**
   * @brief  Pop one byte from ringbuffer of USART2

src/communication.c

@@ -47,8 +47,8 @@
 #include "debug.h"
 #include "communication.h"
 
-extern uint32_t get_boot_time_us();
-extern void buffer_reset();
+extern uint32_t get_boot_time_us(void);
+extern void buffer_reset(void);
 extern void systemreset(bool to_bootloader);
 
 mavlink_system_t mavlink_system;

src/flow.c

@@ -55,6 +55,8 @@
 
 #define sign(x) (( x > 0 ) - ( x < 0 ))
 
+uint8_t compute_flow(uint8_t *image1, uint8_t *image2, float x_rate, float y_rate, float z_rate, float *pixel_flow_x, float *pixel_flow_y);
+
 // compliments of Adam Williams
 #define ABSDIFF(frame1, frame2) \
 ({ \

src/i2c.c

@@ -44,6 +44,11 @@
 #include "mavlink_bridge_header.h"
 #include <mavlink.h>
 
+/* prototypes */
+void I2C1_EV_IRQHandler(void);
+void I2C1_ER_IRQHandler(void);
+char readI2CAddressOffset(void);
+
 static char offset = 0;
 uint8_t dataRX = 0;
 uint8_t txDataFrame1[2][I2C_FRAME_SIZE];
@@ -337,7 +342,7 @@ void update_TX_buffer(float pixel_flow_x, float pixel_flow_y,
 
 }
 
-char readI2CAddressOffset() {
+char readI2CAddressOffset(void) {
 	//read 3bit address offset of 7 bit address
 	offset = 0x00;
 	offset = GPIO_ReadInputData(GPIOC ) >> 13; //bit 0
@@ -347,6 +352,6 @@ char readI2CAddressOffset() {
 	return offset;
 }
 
-char i2c_get_ownaddress1() {
+char i2c_get_ownaddress1(void) {
 	return (I2C1_OWNADDRESS_1_BASE + readI2CAddressOffset()) << 1; //add offset to base and shift 1 bit to generate valid 7 bit address
 }

src/main.c

@@ -68,6 +68,11 @@
 #define SCB_CPACR (*((uint32_t*) (((0xE000E000UL) + 0x0D00UL) + 0x088)))
 #endif
 
+
+/* prototypes */
+void delay(unsigned msec);
+void buffer_reset(void);
+
 __ALIGN_BEGIN USB_OTG_CORE_HANDLE  USB_OTG_dev __ALIGN_END;
 
 /* fast image buffers for calculations */