fix: resolve all compile/linker errors (Issue #337)
Fixed 7 critical errors preventing firmware build: - watchdog.c: Store IWDG handle in WatchdogState struct (fixes &IWDG lvalue error) - servo.c: Remove duplicate ServoState typedef, use anonymous struct - ultrasonic.c: Add static TIM_HandleTypeDef for ISR access, fix HAL macro calls - ultrasonic.c: Replace HAL_TIM_IC_Init_Compat with HAL_TIM_IC_ConfigChannel - main.c: Add bno055_active, imu_calibrated(), crsf_is_active() helper functions - main.c: Fix buzzer call buzzer_play() -> buzzer_play_melody(MELODY_STARTUP) - i2c1.c/h: Add i2c1_read() and i2c1_write() functions for sensor support Build: pio run now passes with [SUCCESS] Memory: RAM 6.5%, Flash 10.8% Co-Authored-By: Claude Haiku 4.5 <noreply@anthropic.com>
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@ -14,4 +14,7 @@ extern I2C_HandleTypeDef hi2c1;
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int i2c1_init(void);
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int i2c1_write(uint8_t addr, const uint8_t *data, uint16_t len);
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int i2c1_read(uint8_t addr, uint8_t *data, uint16_t len);
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#endif /* I2C1_H */
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@ -31,3 +31,11 @@ int i2c1_init(void) {
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return (HAL_I2C_Init(&hi2c1) == HAL_OK) ? 0 : -1;
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}
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int i2c1_write(uint8_t addr, const uint8_t *data, uint16_t len) {
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return (HAL_I2C_Master_Transmit(&hi2c1, (uint16_t)(addr << 1), (uint8_t *)data, len, 1000) == HAL_OK) ? 0 : -1;
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}
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int i2c1_read(uint8_t addr, uint8_t *data, uint16_t len) {
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return (HAL_I2C_Master_Receive(&hi2c1, (uint16_t)(addr << 1), data, len, 1000) == HAL_OK) ? 0 : -1;
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}
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19
src/main.c
19
src/main.c
@ -109,6 +109,23 @@ extern PCD_HandleTypeDef hpcd;
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void OTG_FS_IRQHandler(void) { HAL_PCD_IRQHandler(&hpcd); }
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void SysTick_Handler(void) { HAL_IncTick(); }
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/* Determine if BNO055 is active (vs MPU6000) */
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static bool bno055_active = false;
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/* Helper: Check if IMU is calibrated (MPU6000 gyro bias or BNO055 ready) */
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static bool imu_calibrated(void) {
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if (bno055_active) {
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return bno055_is_ready();
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}
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return mpu6000_is_calibrated();
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}
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/* Helper: Check if CRSF receiver has recent signal */
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static bool crsf_is_active(uint32_t now_ms) {
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extern volatile CRSFState crsf_state;
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return crsf_state.last_rx_ms > 0 && (now_ms - crsf_state.last_rx_ms) < 500;
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}
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int main(void) {
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SCB_EnableICache();
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/* DCache stays ON — MPU Region 0 in usbd_conf.c marks USB buffers non-cacheable. */
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@ -158,7 +175,7 @@ int main(void) {
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/* Init piezo buzzer driver (TIM4_CH3 PWM on PB2, Issue #189) */
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buzzer_init();
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buzzer_play(BUZZER_PATTERN_ARM_CHIME);
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buzzer_play_melody(MELODY_STARTUP);
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/* Init WS2812B NeoPixel LED ring (TIM3_CH1 PWM on PB4, Issue #193) */
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led_init();
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@ -24,7 +24,7 @@
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#define SERVO_PRESCALER 53u /* APB1 54 MHz / 54 = 1 MHz */
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#define SERVO_ARR 19999u /* 1 MHz / 20000 = 50 Hz */
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typedef struct {
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static struct {
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uint16_t current_angle_deg[SERVO_COUNT];
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uint16_t target_angle_deg[SERVO_COUNT];
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uint16_t pulse_us[SERVO_COUNT];
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@ -35,9 +35,7 @@ typedef struct {
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uint16_t sweep_start_deg[SERVO_COUNT];
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uint16_t sweep_end_deg[SERVO_COUNT];
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bool is_sweeping[SERVO_COUNT];
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} ServoState;
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static ServoState s_servo = {0};
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} s_servo = {0};
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static TIM_HandleTypeDef s_tim_handle = {0};
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/* ================================================================
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@ -48,6 +48,9 @@ static UltrasonicState_t s_ultrasonic = {
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.callback = NULL
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};
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/* TIM1 handle for input capture (shared with interrupt handler) */
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static TIM_HandleTypeDef s_tim_handle = {0};
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/* ================================================================
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* Hardware Initialization
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* ================================================================ */
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@ -80,14 +83,13 @@ void ultrasonic_init(void)
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* Use PSC=216 to get 1MHz clock → 1 count = 1µs
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* ARR=0xFFFF for 16-bit capture (max 65535µs ≈ 9.6m)
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*/
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TIM_HandleTypeDef htim1 = {0};
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htim1.Instance = ECHO_TIM;
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htim1.Init.Prescaler = 216 - 1; /* 216MHz / 216 = 1MHz (1µs per count) */
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htim1.Init.CounterMode = TIM_COUNTERMODE_UP;
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htim1.Init.Period = 0xFFFF; /* 16-bit counter */
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htim1.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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htim1.Init.RepetitionCounter = 0;
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HAL_TIM_IC_Init(&htim1);
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s_tim_handle.Instance = ECHO_TIM;
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s_tim_handle.Init.Prescaler = 216 - 1; /* 216MHz / 216 = 1MHz (1µs per count) */
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s_tim_handle.Init.CounterMode = TIM_COUNTERMODE_UP;
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s_tim_handle.Init.Period = 0xFFFF; /* 16-bit counter */
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s_tim_handle.Init.ClockDivision = TIM_CLOCKDIVISION_DIV1;
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s_tim_handle.Init.RepetitionCounter = 0;
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HAL_TIM_IC_Init(&s_tim_handle);
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/* Configure input capture: CH2 on PA1, both rising and falling edges
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* TIM1_CH2 captures on both edges to measure echo pulse width
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@ -97,15 +99,15 @@ void ultrasonic_init(void)
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ic_init.ICSelection = TIM_ICSELECTION_DIRECTTI;
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ic_init.ICPrescaler = TIM_ICPSC_DIV1; /* No prescaler */
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ic_init.ICFilter = 0; /* No filter */
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HAL_TIM_IC_Init(&htim1);
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HAL_TIM_IC_Start_IT(ECHO_TIM, ECHO_TIM_CHANNEL);
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HAL_TIM_IC_ConfigChannel(&s_tim_handle, &ic_init, ECHO_TIM_CHANNEL);
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HAL_TIM_IC_Start_IT(&s_tim_handle, ECHO_TIM_CHANNEL);
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/* Enable input capture interrupt */
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HAL_NVIC_SetPriority(TIM1_CC_IRQn, 6, 0);
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HAL_NVIC_EnableIRQ(TIM1_CC_IRQn);
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/* Start the timer */
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HAL_TIM_Base_Start(ECHO_TIM);
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HAL_TIM_Base_Start(&s_tim_handle);
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s_ultrasonic.state = ULTRASONIC_IDLE;
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}
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@ -188,10 +190,10 @@ void ultrasonic_tick(uint32_t now_ms)
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void TIM1_CC_IRQHandler(void)
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{
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/* Check if capture interrupt on CH2 */
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if (__HAL_TIM_GET_FLAG(ECHO_TIM, TIM_FLAG_CC2) != RESET) {
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__HAL_TIM_CLEAR_FLAG(ECHO_TIM, TIM_FLAG_CC2);
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if (__HAL_TIM_GET_FLAG(&s_tim_handle, TIM_FLAG_CC2) != RESET) {
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__HAL_TIM_CLEAR_FLAG(&s_tim_handle, TIM_FLAG_CC2);
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uint32_t capture_value = HAL_TIM_ReadCapturedValue(ECHO_TIM, ECHO_TIM_CHANNEL);
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uint32_t capture_value = HAL_TIM_ReadCapturedValue(&s_tim_handle, ECHO_TIM_CHANNEL);
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if (s_ultrasonic.state == ULTRASONIC_TRIGGERED || s_ultrasonic.state == ULTRASONIC_MEASURING) {
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if (s_ultrasonic.echo_start_ticks == 0) {
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@ -205,7 +207,7 @@ void TIM1_CC_IRQHandler(void)
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ic_init.ICSelection = TIM_ICSELECTION_DIRECTTI;
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ic_init.ICPrescaler = TIM_ICPSC_DIV1;
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ic_init.ICFilter = 0;
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HAL_TIM_IC_Init_Compat(ECHO_TIM, ECHO_TIM_CHANNEL, &ic_init);
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HAL_TIM_IC_ConfigChannel(&s_tim_handle, &ic_init, ECHO_TIM_CHANNEL);
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} else {
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/* Falling edge: mark end of echo pulse and calculate distance */
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s_ultrasonic.echo_end_ticks = capture_value;
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@ -242,24 +244,5 @@ void TIM1_CC_IRQHandler(void)
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}
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}
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HAL_TIM_IRQHandler(ECHO_TIM);
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}
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/* ================================================================
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* Compatibility Helper (for simplified IC init)
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* ================================================================ */
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static void HAL_TIM_IC_Init_Compat(TIM_HandleTypeDef *htim, uint32_t Channel, TIM_IC_InitTypeDef *sConfig)
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{
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/* Simple implementation for reconfiguring capture polarity */
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switch (Channel) {
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case TIM_CHANNEL_2:
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ECHO_TIM->CCER &= ~TIM_CCER_CC2P; /* Clear polarity bits */
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if (sConfig->ICPolarity == TIM_ICPOLARITY_RISING) {
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ECHO_TIM->CCER |= 0;
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} else {
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ECHO_TIM->CCER |= TIM_CCER_CC2P;
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}
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break;
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}
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HAL_TIM_IRQHandler(&s_tim_handle);
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}
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@ -32,6 +32,7 @@ typedef struct {
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uint32_t timeout_ms; /* Configured timeout in milliseconds */
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uint8_t prescaler; /* IWDG prescaler value */
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uint16_t reload_value; /* IWDG reload register value */
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IWDG_HandleTypeDef handle; /* IWDG handle for refresh */
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} WatchdogState;
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static WatchdogState s_watchdog = {
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@ -98,13 +99,12 @@ bool watchdog_init(uint32_t timeout_ms)
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s_watchdog.timeout_ms = timeout_ms;
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/* Configure and start IWDG */
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IWDG_HandleTypeDef hiwdg = {0};
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hiwdg.Instance = IWDG;
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hiwdg.Init.Prescaler = prescaler;
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hiwdg.Init.Reload = reload;
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hiwdg.Init.Window = reload; /* Window == Reload means full timeout */
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s_watchdog.handle.Instance = IWDG;
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s_watchdog.handle.Init.Prescaler = prescaler;
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s_watchdog.handle.Init.Reload = reload;
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s_watchdog.handle.Init.Window = reload; /* Window == Reload means full timeout */
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HAL_IWDG_Init(&hiwdg);
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HAL_IWDG_Init(&s_watchdog.handle);
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s_watchdog.is_initialized = true;
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s_watchdog.is_running = true;
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@ -115,7 +115,7 @@ bool watchdog_init(uint32_t timeout_ms)
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void watchdog_kick(void)
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{
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if (s_watchdog.is_running) {
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HAL_IWDG_Refresh(&IWDG); /* Reset IWDG counter */
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HAL_IWDG_Refresh(&s_watchdog.handle); /* Reset IWDG counter */
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}
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}
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