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‎extras/PlatformIO_madflight/.gitignore‎

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.pio
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.vscode/.browse.c_cpp.db*
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.vscode/c_cpp_properties.json
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.vscode/launch.json
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.vscode/ipch

‎extras/PlatformIO_madflight/.vscode/extensions.json‎

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{
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// See http://go.microsoft.com/fwlink/?LinkId=827846
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// for the documentation about the extensions.json format
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"recommendations": [
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"platformio.platformio-ide"
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],
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"unwantedRecommendations": [
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"ms-vscode.cpptools-extension-pack"
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]
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}

‎extras/PlatformIO_madflight/include/README‎

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This directory is intended for project header files.
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A header file is a file containing C declarations and macro definitions
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to be shared between several project source files. You request the use of a
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header file in your project source file (C, C++, etc) located in `src` folder
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by including it, with the C preprocessing directive `#include'.
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```src/main.c
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#include "header.h"
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int main (void)
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{
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...
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}
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```
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Including a header file produces the same results as copying the header file
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into each source file that needs it. Such copying would be time-consuming
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and error-prone. With a header file, the related declarations appear
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in only one place. If they need to be changed, they can be changed in one
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place, and programs that include the header file will automatically use the
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new version when next recompiled. The header file eliminates the labor of
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finding and changing all the copies as well as the risk that a failure to
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find one copy will result in inconsistencies within a program.
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In C, the convention is to give header files names that end with `.h'.
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Read more about using header files in official GCC documentation:
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* Include Syntax
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* Include Operation
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* Once-Only Headers
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* Computed Includes
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https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

‎extras/PlatformIO_madflight/lib/README‎

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This directory is intended for project specific (private) libraries.
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PlatformIO will compile them to static libraries and link into the executable file.
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The source code of each library should be placed in a separate directory
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("lib/your_library_name/[Code]").
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For example, see the structure of the following example libraries `Foo` and `Bar`:
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|--lib
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| |
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| |--Bar
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| | |--docs
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| | |--examples
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| | |--src
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| | |- Bar.c
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| | |- Bar.h
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| | |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
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| |
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| |--Foo
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| | |- Foo.c
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| | |- Foo.h
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| |
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| |- README --> THIS FILE
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|
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|- platformio.ini
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|--src
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|- main.c
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Example contents of `src/main.c` using Foo and Bar:
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```
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#include <Foo.h>
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#include <Bar.h>
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int main (void)
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{
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...
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}
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```
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The PlatformIO Library Dependency Finder will find automatically dependent
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libraries by scanning project source files.
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More information about PlatformIO Library Dependency Finder
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- https://docs.platformio.org/page/librarymanager/ldf.html

‎extras/PlatformIO_madflight/platformio.ini‎

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; PlatformIO Project Configuration File
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;
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; Build options: build flags, source filter
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; Upload options: custom upload port, speed and extra flags
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; Library options: dependencies, extra library storages
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; Advanced options: extra scripting
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;
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; Please visit documentation for the other options and examples
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; https://docs.platformio.org/page/projectconf.html
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;
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;
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; MADFLIGHT NOTES
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; ===============
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;
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; For the latest madflight release version use
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; lib_deps = qqqlab/madflight
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;
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; For the latest madflight development version use
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; lib_deps = https://github.com/qqqlab/madflight.git
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;
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; For a particular madflight branch/tag use
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; lib_deps = https://github.com/qqqlab/madflight.git#v2.0.1
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;
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; RP2040/RP2350 is not merged into mainline PlatformIO, see
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; https://arduino-pico.readthedocs.io/en/latest/platformio.html
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; on Windows you need to enable long path names, see above link for instructions
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[platformio]
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default_envs = esp32s3
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[env]
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lib_deps = qqqlab/madflight ; Include madflight library
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monitor_speed = 115200 ; Default monitor speed for madflight
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[env:esp32]
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board = esp32dev
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platform = espressif32
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framework = arduino
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[env:esp32s3]
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board = lolin_s3_mini
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platform = espressif32
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framework = arduino
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build_flags =
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-DCONFIG_IDF_TARGET_ESP32S3
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-DARDUINO_USB_MODE=1
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-DARDUINO_USB_CDC_ON_BOOT=1
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[env:rp2040]
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board = pico
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platform = https://github.com/maxgerhardt/platform-raspberrypi.git
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framework = arduino
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board_build.core = earlephilhower
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[env:rp2350A]
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board = rpipico2
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platform = https://github.com/maxgerhardt/platform-raspberrypi.git
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framework = arduino
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board_build.core = earlephilhower
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[env:rp2350B]
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board = solderparty_rp2350_stamp_xl
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platform = https://github.com/maxgerhardt/platform-raspberrypi.git
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framework = arduino
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board_build.core = earlephilhower
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[env:stm32f411]
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board = blackpill_f411ce
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platform = ststm32
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framework = arduino
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[env:stm32h743]
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board = weact_mini_h743vitx
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platform = ststm32
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framework = arduino

‎extras/PlatformIO_madflight/src/madflight_config.h‎

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/*========================================================================================================================
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MADFLIGHT CONFIG
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==========================================================================================================================
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The configuration is loaded from two strings: first from madflight_board in from the board header in /brd/, and then from
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madflight_config in this file. If the same setting occurs more than once, the last one is applied.
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The strings are multi-line raw strings in with a key-value list. Anything after '#' or '/' is ignored as comment.
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You have 3 options to setup the flight controller:
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1) Default - Keep #define MF_BOARD "brd/default.h", this defines the default pinout as shown on https://madflight.com
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for the supported processor families. Now edit madflight_config below, and uncomment and configure imu_gizmo,
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imu_bus_type, rcl_gizmo, and other lines as needed. (Do not change the pin_xxx_yyy and xxx_yyy_bus settings.)
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2) BetaFlight - Change "brd/default.h" to the BetaFlight flight controller you want to use, for example:
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#define MF_BOARD "brd/betaflight/MTKS-MATEKH743.h". See library/madflight/src for all available boards. Edit
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madflight_config to fine-tune the configuration.
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3) Bare Metal - Comment out "#define MF_BOARD", and set the full configuration in madflight_config below.
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Pins and spi/i2c/serial busses use zero-based numbering, i.e. "gps_ser_bus 0" connects the GPS to the first serial bus
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with pins pin_ser0_tx and pin_ser0_rx. Pins use GPIO numbers, not physical pin numbers. Use -1 to disable a pin or bus.
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You can also modify the configuration from the CLI, for example "set imu_gizmo MPU6500" or "set imu_spi_bus 1", then
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use "save" to save the config to eeprom and reboot to use the new config.
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If things do not work as expected, have a good look at the startup messages!
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========================================================================================================================*/
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//define the board header to use, or comment out for none
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#define MF_BOARD "brd/default.h"
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const char madflight_config[] = R""(
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//--- IMU --- Inertial Measurement Unit (use spi -OR- i2c bus)
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//imu_gizmo NONE // options: NONE, BMI270, MPU6000, MPU6050, MPU6500, MPU9150, MPU9250, ICM45686, ICM42688
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//imu_bus_type SPI // options: SPI, I2C (not all combinations of gizmo and bus_type are supported)
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//imu_align CW0 // options: CW0, CW90, CW180, CW270, CW0FLIP, CW90FLIP, CW180FLIP, CW270FLIP
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//imu_spi_bus -1 //spi
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//pin_imu_cs -1 //spi
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//pin_imu_int -1 //spi and i2c
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//imu_i2c_bus -1 //i2c
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//imu_i2c_adr 0 //i2c: enter decimal i2c address, not hex (use 0 for default i2c address)
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// IMPORTANT: the IMU sensor should be the ONLY sensor on the selected bus
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//--- RCL --- Remote Controller Link (use serial bus -OR- ppm pin)
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//rcl_gizmo NONE // options: NONE, MAVLINK, CRSF, SBUS, DSM, PPM
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//rcl_num_ch 8 // number of channels
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//rcl_deadband 0 // center stick deadband
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//rcl_ser_bus -1
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//pin_rcl_ppm -1
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//--- BAR --- Barometer
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//bar_gizmo NONE // options: NONE, BMP390, BMP388, BMP280, MS5611, HP203B
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//bar_i2c_adr 0
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//bar_i2c_bus -1
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//--- MAG --- Magnetometer
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//mag_gizmo NONE // options: NONE, QMC5883, QMC6309, RM3100
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//mag_i2c_adr 0
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//mag_i2c_bus -1
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//--- BAT --- Battery Monitor (use i2c bus -OR- adc pins)
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//bat_gizmo NONE // options: NONE, ADC, INA226, INA228
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//bat_i2c_adr 0
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//bat_i2c_bus -1
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//pin_bat_i -1
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//pin_bat_v -1
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//bat_cal_v 1 //adc voltage scale, value is: actual_voltage_in_v / adc_reading
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//bat_cal_i, 1 //adc current scale, value is: actual_current_in_a / adc_reading; for ina226/228: rshunt value in ohm
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//--- GPS ---
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//gps_gizmo NONE // options: NONE, UBLOX
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//gps_baud 0 // use 0 for auto baud
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//gps_ser_bus -1
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//--- BBX --- Black Box Data Logger (use spi -OR- mmc)
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//bbx_gizmo NONE // options: NONE, SDSPI, SDMMC
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//pin_bbx_cs -1 // spi
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//bbx_spi_bus -1 // spi
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//pin_mmc_dat -1 // mmc
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//pin_mmc_clk -1 // mmc
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//pin_mmc_cmd -1 // mmc
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//--- RDR --- Radar (use serial bus -OR- trig+echo pins)
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//rdr_gizmo NONE // options: NONE, LD2411S, LD2413, USD1, SR04
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//rdr_baud 0
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//rdr_ser_bus -1
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//pin_rdr_trig -1
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//pin_rdr_echo -1
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//--- LED ---
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//led_on LOW_IS_ON // options: LOW_IS_ON, HIGH_IS_ON
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//pin_led -1
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//--- AHR --- AHRS (keep MAHONY, unless you want to experiment)
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//ahr_gizmo MAHONY // options: MAHONY, MAHONY_BF, MADGWICK, VQF
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//--- Serial bus 0 ---
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//pin_ser0_rx -1
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//pin_ser0_tx -1
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//--- Serial bus 1 ---
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//pin_ser1_rx -1
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//pin_ser1_tx -1
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//--- SPI bus 0 ---
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//pin_spi0_miso -1
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//pin_spi0_mosi -1
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//pin_spi0_sclk -1
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//--- SPI bus 1 ---
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//pin_spi1_miso -1
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//pin_spi1_mosi -1
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//pin_spi1_sclk -1
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//--- I2C Bus 0 ---
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//pin_i2c0_sda -1
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//pin_i2c0_scl -1
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//--- I2C Bus 1 ---
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//pin_i2c1_sda -1
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//pin_i2c1_scl -1
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//--- OUT Pins ---
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//pin_out0 -1
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//pin_out1 -1
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//pin_out2 -1
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//pin_out3 -1
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//pin_out4 -1
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//pin_out5 -1
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//pin_out6 -1
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//pin_out7 -1
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//pin_out8 -1
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//pin_out9 -1
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//pin_out10 -1
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//pin_out11 -1
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//pin_out12 -1
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//pin_out13 -1
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//pin_out14 -1
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//pin_out15 -1
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)""; // End of madflight_config
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//========================================================================================================================//
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// COMPILER OPTIONS //
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//========================================================================================================================//
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// Reset config eeprom to defaults (uncomment this, upload, execute, then comment out, and upload again)
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//#define MF_CONFIG_CLEAR
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// Uncomment to print additional debug information and reduce startup delay
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//#define MF_DEBUG
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// Uncomment to enable Lua Scripting
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//#define MF_LUA_ENABLE 1

‎extras/PlatformIO_madflight/src/madflight_hello_world.cpp‎

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/*#########################################################################################################################
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"Hello World" for madflight library
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Upload, connect Serial Monitor at 115200 baud and send 'help' to see available commands
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See http://madflight.com for detailed description
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MIT license
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Copyright (c) 2023-2025 https://madflight.com
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##########################################################################################################################*/
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#include <Arduino.h>
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#include "madflight_config.h" //Edit this header file to setup the pins, hardware, radio, etc. for madflight
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#include <madflight.h>
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void setup() {
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//setup madflight components: Serial.begin(115200), imu, rcin, led, etc. See src/madflight/interface.h for full interface description of each component.
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madflight_setup();
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}
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void loop() {
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rcl.update(); // get rc radio commands
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bar.update(); // barometer
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mag.update(); // magnetometer
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gps.update(); // gps
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bat.update(); // battery consumption
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rdr.update(); // radar
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cli.update(); // process CLI commands
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}
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//This is __MAIN__ function of this program. It is called when new IMU data is available.
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void imu_loop() {
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//toggle led on every 1000 samples (normally 1 second)
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if(imu.update_cnt % 1000 == 0) led.toggle();
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ahr.update(); //Sensor fusion: update ahr.roll, ahr.pitch, and ahr.yaw angle estimates (degrees) from IMU data
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}

‎extras/PlatformIO_madflight/test/README‎

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This directory is intended for PlatformIO Test Runner and project tests.
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Unit Testing is a software testing method by which individual units of
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source code, sets of one or more MCU program modules together with associated
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control data, usage procedures, and operating procedures, are tested to
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determine whether they are fit for use. Unit testing finds problems early
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in the development cycle.
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More information about PlatformIO Unit Testing:
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- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html

‎src/bbx/BbxGizmoSdspi+Sdmmc_ESP32.h‎

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Serial.print("UNKNOWN");
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}
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Serial.println();
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Serial.printf("SectorSize: %d\n", _BB_SDFS.sectorSize());
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//Serial.printf("SectorSize: %d\n", _BB_SDFS.sectorSize()); //'class fs::SDMMCFS' has no member named 'sectorSize'
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Serial.printf("CardSize: %lluMB\n", _BB_SDFS.cardSize() / (1024 * 1024));
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Serial.printf("used: %lluMB\n", _BB_SDFS.usedBytes()/ (1024 * 1024));
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Serial.printf("free: %lluMB\n", (_BB_SDFS.totalBytes() - _BB_SDFS.usedBytes()) / (1024 * 1024));

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