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format code properly

Browse source 
match the comment from pullrequest about spacing
remains : some hand alignment for comment and wrong /** */ usage.
This commit is contained in:
treymarc 2014-05-08 00:36:19 +00:00
parent ac4835ef67
commit 1f293795e7
26 changed files with 99 additions and 109 deletions
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23
src/board.h
View file

@ -142,8 +142,7 @@ enum {
TEMP_UPDATED = 1 << 3 TEMP_UPDATED = 1 << 3
}; };
typedef struct sensor_data_t typedef struct sensor_data_t {
{
int16_t gyro[3]; int16_t gyro[3];
int16_t acc[3]; int16_t acc[3];
int16_t mag[3]; int16_t mag[3];
@ -151,24 +150,22 @@ typedef struct sensor_data_t
int updated; int updated;
} sensor_data_t; } sensor_data_t;
typedef void (* sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype typedef void (*sensorInitFuncPtr)(sensor_align_e align); // sensor init prototype
typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef void (* baroOpFuncPtr)(void); // baro start operation typedef void (*baroOpFuncPtr)(void); // baro start operation
typedef void (* baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature) typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef void (* serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app typedef void (*serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app
typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data typedef uint16_t (*rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
typedef void (* pidControllerFuncPtr)(void); // pid controller function prototype typedef void (*pidControllerFuncPtr)(void); // pid controller function prototype
typedef struct sensor_t typedef struct sensor_t {
{
sensorInitFuncPtr init; // initialize function sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function sensorReadFuncPtr read; // read 3 axis data function
sensorReadFuncPtr temperature; // read temperature if available sensorReadFuncPtr temperature; // read temperature if available
float scale; // scalefactor (currently used for gyro only, todo for accel) float scale; // scalefactor (currently used for gyro only, todo for accel)
} sensor_t; } sensor_t;
typedef struct baro_t typedef struct baro_t {
{
uint16_t ut_delay; uint16_t ut_delay;
uint16_t up_delay; uint16_t up_delay;
baroOpFuncPtr start_ut; baroOpFuncPtr start_ut;

4
src/buzzer.c
View file

@ -78,7 +78,7 @@ void beep_code(char first, char second, char third, char pause)
patternChar[1] = second; patternChar[1] = second;
patternChar[2] = third; patternChar[2] = third;
patternChar[3] = pause; patternChar[3] = pause;
switch(patternChar[icnt]) { switch (patternChar[icnt]) {
case 'M': case 'M':
Duration = 100; Duration = 100;
break; break;
@ -121,7 +121,7 @@ static void beep(uint16_t pulse)
buzzerIsOn = 0; buzzerIsOn = 0;
BEEP_OFF; BEEP_OFF;
buzzerLastToggleTime = millis(); buzzerLastToggleTime = millis();
if (toggleBeep >0) if (toggleBeep > 0)
toggleBeep--; toggleBeep--;
beepDone = 1; beepDone = 1;
} }

6
src/cli.c
View file

@ -297,7 +297,7 @@ static float _atof(const char *p)
float sign, value, scale; float sign, value, scale;
// Skip leading white space, if any. // Skip leading white space, if any.
while (white_space(*p) ) { while (white_space(*p)) {
p += 1; p += 1;
} }
@ -352,7 +352,7 @@ static float _atof(const char *p)
expon = expon * 10 + (*p - '0'); expon = expon * 10 + (*p - '0');
p += 1; p += 1;
} }
if (expon > 308) if (expon > 308)
expon = 308; expon = 308;
// Calculate scaling factor. // Calculate scaling factor.
@ -381,7 +381,7 @@ static char *ftoa(float x, char *floatString)
else else
x -= 0.0005f; x -= 0.0005f;
value = (int32_t) (x * 1000.0f); // Convert float * 1000 to an integer value = (int32_t)(x * 1000.0f); // Convert float * 1000 to an integer
itoa(abs(value), intString1, 10); // Create string from abs of integer value itoa(abs(value), intString1, 10); // Create string from abs of integer value

10
src/config.c
View file

@ -65,14 +65,14 @@ void readEEPROM(void)
// Copy current profile // Copy current profile
if (mcfg.current_profile > 2) // sanity check if (mcfg.current_profile > 2) // sanity check
mcfg.current_profile = 0; mcfg.current_profile = 0;
memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t)); memcpy(&cfg, &mcfg.profile[mcfg.current_profile], sizeof(config_t));
} }
void activateConfig(void) void activateConfig(void)
{ {
uint8_t i; uint8_t i;
for (i = 0; i < PITCH_LOOKUP_LENGTH; i++) for (i = 0; i < PITCH_LOOKUP_LENGTH; i++)
lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t) cfg.rcRate8 / 2500; lookupPitchRollRC[i] = (2500 + cfg.rcExpo8 * (i * i - 25)) * i * (int32_t)cfg.rcRate8 / 2500;
for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) { for (i = 0; i < THROTTLE_LOOKUP_LENGTH; i++) {
int16_t tmp = 10 * i - cfg.thrMid8; int16_t tmp = 10 * i - cfg.thrMid8;
@ -81,8 +81,8 @@ void activateConfig(void)
y = 100 - cfg.thrMid8; y = 100 - cfg.thrMid8;
if (tmp < 0) if (tmp < 0)
y = cfg.thrMid8; y = cfg.thrMid8;
lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t) cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10; lookupThrottleRC[i] = 10 * cfg.thrMid8 + tmp * (100 - cfg.thrExpo8 + (int32_t)cfg.thrExpo8 * (tmp * tmp) / (y * y)) / 10;
lookupThrottleRC[i] = mcfg.minthrottle + (int32_t) (mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE] lookupThrottleRC[i] = mcfg.minthrottle + (int32_t)(mcfg.maxthrottle - mcfg.minthrottle) * lookupThrottleRC[i] / 1000; // [MINTHROTTLE;MAXTHROTTLE]
} }
setPIDController(cfg.pidController); setPIDController(cfg.pidController);
@ -128,7 +128,7 @@ retry:
if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) { if (FLASH_ErasePage(FLASH_WRITE_ADDR) == FLASH_COMPLETE) {
for (i = 0; i < sizeof(master_t); i += 4) { for (i = 0; i < sizeof(master_t); i += 4) {
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *) ((char *)&mcfg + i)); status = FLASH_ProgramWord(FLASH_WRITE_ADDR + i, *(uint32_t *)((char *)&mcfg + i));
if (status != FLASH_COMPLETE) { if (status != FLASH_COMPLETE) {
FLASH_Lock(); FLASH_Lock();
tries++; tries++;

2
src/drv_adxl345.c
View file

@ -60,7 +60,7 @@ bool adxl345Detect(drv_adxl345_config_t *init, sensor_t *acc)
static void adxl345Init(sensor_align_e align) static void adxl345Init(sensor_align_e align)
{ {
if (useFifo) { if (useFifo) {
uint8_t fifoDepth = 16; uint8_t fifoDepth = 16;
i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS); i2cWrite(ADXL345_ADDRESS, ADXL345_POWER_CTL, ADXL345_POWER_MEAS);
i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G); i2cWrite(ADXL345_ADDRESS, ADXL345_DATA_FORMAT, ADXL345_FULL_RANGE | ADXL345_RANGE_8G);

8
src/drv_bmp085.c
View file

@ -30,7 +30,7 @@ typedef struct {
int16_t md; int16_t md;
} bmp085_smd500_calibration_param_t; } bmp085_smd500_calibration_param_t;
typedef struct { typedef struct {
bmp085_smd500_calibration_param_t cal_param; bmp085_smd500_calibration_param_t cal_param;
uint8_t mode; uint8_t mode;
uint8_t chip_id, ml_version, al_version; uint8_t chip_id, ml_version, al_version;
@ -189,9 +189,9 @@ static int32_t bmp085_get_pressure(uint32_t up)
// *****calculate B4************ // *****calculate B4************
x1 = (bmp085.cal_param.ac3 * b6) >> 13; x1 = (bmp085.cal_param.ac3 * b6) >> 13;
x2 = (bmp085.cal_param.b1 * ((b6 * b6) >> 12) ) >> 16; x2 = (bmp085.cal_param.b1 * ((b6 * b6) >> 12)) >> 16;
x3 = ((x1 + x2) + 2) >> 2; x3 = ((x1 + x2) + 2) >> 2;
b4 = (bmp085.cal_param.ac4 * (uint32_t) (x3 + 32768)) >> 15; b4 = (bmp085.cal_param.ac4 * (uint32_t)(x3 + 32768)) >> 15;
b7 = ((uint32_t)(up - b3) * (50000 >> bmp085.oversampling_setting)); b7 = ((uint32_t)(up - b3) * (50000 >> bmp085.oversampling_setting));
if (b7 < 0x80000000) { if (b7 < 0x80000000) {
@ -249,7 +249,7 @@ static void bmp085_get_up(void)
convOverrun++; convOverrun++;
i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data); i2cRead(BMP085_I2C_ADDR, BMP085_ADC_OUT_MSB_REG, 3, data);
bmp085_up = (((uint32_t) data[0] << 16) | ((uint32_t) data[1] << 8) | (uint32_t) data[2]) >> (8 - bmp085.oversampling_setting); bmp085_up = (((uint32_t)data[0] << 16) | ((uint32_t)data[1] << 8) | (uint32_t)data[2]) >> (8 - bmp085.oversampling_setting);
} }
static void bmp085_calculate(int32_t *pressure, int32_t *temperature) static void bmp085_calculate(int32_t *pressure, int32_t *temperature)

2
src/drv_gpio.c
View file

@ -71,7 +71,7 @@ void gpioPinRemapConfig(uint32_t remap, bool enable)
} }
if (enable) if (enable)
tmpreg |= (tmp << ((remap >> 0x15)*0x10)); tmpreg |= (tmp << ((remap >> 0x15) * 0x10));
if ((remap & 0x80000000) == 0x80000000) if ((remap & 0x80000000) == 0x80000000)
AFIO->MAPR2 = tmpreg; AFIO->MAPR2 = tmpreg;

12
src/drv_gpio.h
View file

@ -1,7 +1,6 @@
#pragma once #pragma once
typedef enum typedef enum {
{
Mode_AIN = 0x0, Mode_AIN = 0x0,
Mode_IN_FLOATING = 0x04, Mode_IN_FLOATING = 0x04,
Mode_IPD = 0x28, Mode_IPD = 0x28,
@ -12,15 +11,13 @@ typedef enum
Mode_AF_PP = 0x18 Mode_AF_PP = 0x18
} GPIO_Mode; } GPIO_Mode;
typedef enum typedef enum {
{
Speed_10MHz = 1, Speed_10MHz = 1,
Speed_2MHz, Speed_2MHz,
Speed_50MHz Speed_50MHz
} GPIO_Speed; } GPIO_Speed;
typedef enum typedef enum {
{
Pin_0 = 0x0001, Pin_0 = 0x0001,
Pin_1 = 0x0002, Pin_1 = 0x0002,
Pin_2 = 0x0004, Pin_2 = 0x0004,
@ -40,8 +37,7 @@ typedef enum
Pin_All = 0xFFFF Pin_All = 0xFFFF
} GPIO_Pin; } GPIO_Pin;
typedef struct typedef struct {
{
uint16_t pin; uint16_t pin;
GPIO_Mode mode; GPIO_Mode mode;
GPIO_Speed speed; GPIO_Speed speed;

2
src/drv_hcsr04.c
View file

@ -61,7 +61,7 @@ void hcsr04_init(sonar_config_t config)
// enable AFIO for EXTI support - already done is drv_system.c // enable AFIO for EXTI support - already done is drv_system.c
// RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE); // RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO | RCC_APB2Periph, ENABLE);
switch(config) { switch (config) {
case sonar_pwm56: case sonar_pwm56:
trigger_pin = Pin_8; // PWM5 (PB8) - 5v tolerant trigger_pin = Pin_8; // PWM5 (PB8) - 5v tolerant
echo_pin = Pin_9; // PWM6 (PB9) - 5v tolerant echo_pin = Pin_9; // PWM6 (PB9) - 5v tolerant

8
src/drv_ms5611.c
View file

@ -156,11 +156,11 @@ static void ms5611_calculate(int32_t *pressure, int32_t *temperature)
{ {
uint32_t press; uint32_t press;
int64_t temp; int64_t temp;
int64_t delt; int64_t delt;
int32_t dT = (int64_t)ms5611_ut - ((uint64_t)ms5611_c[5] * 256); int32_t dT = (int64_t)ms5611_ut - ((uint64_t)ms5611_c[5] * 256);
int64_t off = ((int64_t)ms5611_c[2] << 16) + (((int64_t)ms5611_c[4] * dT) >> 7); int64_t off = ((int64_t)ms5611_c[2] << 16) + (((int64_t)ms5611_c[4] * dT) >> 7);
int64_t sens = ((int64_t)ms5611_c[1] << 15) + (((int64_t)ms5611_c[3] * dT) >> 8); int64_t sens = ((int64_t)ms5611_c[1] << 15) + (((int64_t)ms5611_c[3] * dT) >> 8);
temp = 2000 + ((dT * (int64_t)ms5611_c[6]) >> 23); temp = 2000 + ((dT * (int64_t)ms5611_c[6]) >> 23);
if (temp < 2000) { // temperature lower than 20degC if (temp < 2000) { // temperature lower than 20degC
delt = temp - 2000; delt = temp - 2000;
@ -170,11 +170,11 @@ static void ms5611_calculate(int32_t *pressure, int32_t *temperature)
if (temp < -1500) { // temperature lower than -15degC if (temp < -1500) { // temperature lower than -15degC
delt = temp + 1500; delt = temp + 1500;
delt = delt * delt; delt = delt * delt;
off -= 7 * delt; off -= 7 * delt;
sens -= (11 * delt) >> 1; sens -= (11 * delt) >> 1;
} }
} }
press = ((((int64_t)ms5611_up * sens ) >> 21) - off) >> 15; press = ((((int64_t)ms5611_up * sens) >> 21) - off) >> 15;
if (pressure) if (pressure)
*pressure = press; *pressure = press;

10
src/drv_pwm.c
View file

@ -51,7 +51,7 @@ enum {
TYPE_S = 0x80 TYPE_S = 0x80
}; };
typedef void (* pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors typedef void (*pwmWriteFuncPtr)(uint8_t index, uint16_t value); // function pointer used to write motors
static pwmPortData_t pwmPorts[MAX_PORTS]; static pwmPortData_t pwmPorts[MAX_PORTS];
static uint16_t captures[MAX_INPUTS]; static uint16_t captures[MAX_INPUTS];
@ -60,7 +60,7 @@ static pwmPortData_t *servos[MAX_SERVOS];
static pwmWriteFuncPtr pwmWritePtr = NULL; static pwmWriteFuncPtr pwmWritePtr = NULL;
static uint8_t numMotors = 0; static uint8_t numMotors = 0;
static uint8_t numServos = 0; static uint8_t numServos = 0;
static uint8_t numInputs = 0; static uint8_t numInputs = 0;
static uint16_t failsafeThreshold = 985; static uint16_t failsafeThreshold = 985;
// external vars (ugh) // external vars (ugh)
extern int16_t failsafeCnt; extern int16_t failsafeCnt;
@ -143,7 +143,7 @@ static const uint8_t * const hardwareMaps[] = {
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value) static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
{ {
TIM_OCInitTypeDef TIM_OCInitStructure; TIM_OCInitTypeDef TIM_OCInitStructure;
TIM_OCStructInit(&TIM_OCInitStructure); TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2; TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
@ -175,7 +175,7 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value)
void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity) void pwmICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
{ {
TIM_ICInitTypeDef TIM_ICInitStructure; TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = channel; TIM_ICInitStructure.TIM_Channel = channel;
@ -245,7 +245,7 @@ static pwmPortData_t *pwmInConfig(uint8_t port, timerCCCallbackPtr callback, uin
static void failsafeCheck(uint8_t channel, uint16_t pulse) static void failsafeCheck(uint8_t channel, uint16_t pulse)
{ {
static uint8_t goodPulses; static uint8_t goodPulses;
if (channel < 4 && pulse > failsafeThreshold) if (channel < 4 && pulse > failsafeThreshold)
goodPulses |= (1 << channel); // if signal is valid - mark channel as OK goodPulses |= (1 << channel); // if signal is valid - mark channel as OK
if (goodPulses == 0x0F) { // If first four chanells have good pulses, clear FailSafe counter if (goodPulses == 0x0F) { // If first four chanells have good pulses, clear FailSafe counter

8
src/drv_pwm_fy90q.c
View file

@ -48,7 +48,7 @@ static struct PWM_State {
uint16_t capture; uint16_t capture;
} Inputs[8] = { { 0, } }; } Inputs[8] = { { 0, } };
static TIM_ICInitTypeDef TIM_ICInitStructure = { 0, }; static TIM_ICInitTypeDef TIM_ICInitStructure = { 0, };
static bool usePPMFlag = false; static bool usePPMFlag = false;
static uint8_t numOutputChannels = 0; static uint8_t numOutputChannels = 0;
@ -165,11 +165,11 @@ static void pwmIRQHandler(TIM_TypeDef *tim)
static void pwmInitializeInput(bool usePPM) static void pwmInitializeInput(bool usePPM)
{ {
GPIO_InitTypeDef GPIO_InitStructure = { 0, }; GPIO_InitTypeDef GPIO_InitStructure = { 0, };
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, }; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, };
NVIC_InitTypeDef NVIC_InitStructure = { 0, }; NVIC_InitTypeDef NVIC_InitStructure = { 0, };
uint8_t i; uint8_t i;
// Input pins // Input pins
if (usePPM) { if (usePPM) {
// Configure TIM2_CH1 for PPM input // Configure TIM2_CH1 for PPM input
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
@ -253,7 +253,7 @@ static void pwmInitializeInput(bool usePPM)
bool pwmInit(drv_pwm_config_t *init) bool pwmInit(drv_pwm_config_t *init)
{ {
GPIO_InitTypeDef GPIO_InitStructure = { 0, }; GPIO_InitTypeDef GPIO_InitStructure = { 0, };
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, }; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, };
TIM_OCInitTypeDef TIM_OCInitStructure = { 0, }; TIM_OCInitTypeDef TIM_OCInitStructure = { 0, };
uint8_t i; uint8_t i;

14
src/drv_serial.h
View file

@ -1,16 +1,16 @@
#pragma once #pragma once
typedef enum portMode_t { typedef enum portMode_t {
MODE_RX = 1 << 0, MODE_RX = 1 << 0,
MODE_TX = 1 << 1, MODE_TX = 1 << 1,
MODE_RXTX = MODE_RX | MODE_TX, MODE_RXTX = MODE_RX | MODE_TX,
MODE_SBUS = 1 << 2, MODE_SBUS = 1 << 2,
} portMode_t; } portMode_t;
typedef struct serialPort { typedef struct serialPort {
const struct serialPortVTable *vTable; const struct serialPortVTable *vTable;
portMode_t mode; portMode_t mode;
uint32_t baudRate; uint32_t baudRate;
@ -29,14 +29,14 @@ typedef struct serialPort {
struct serialPortVTable { struct serialPortVTable {
void (*serialWrite)(serialPort_t *instance, uint8_t ch); void (*serialWrite)(serialPort_t *instance, uint8_t ch);
uint8_t (*serialTotalBytesWaiting)(serialPort_t *instance); uint8_t (*serialTotalBytesWaiting)(serialPort_t *instance);
uint8_t (*serialRead)(serialPort_t *instance); uint8_t (*serialRead)(serialPort_t *instance);
// Specified baud rate may not be allowed by an implementation, use serialGetBaudRate to determine actual baud rate in use. // Specified baud rate may not be allowed by an implementation, use serialGetBaudRate to determine actual baud rate in use.
void (*serialSetBaudRate)(serialPort_t *instance, uint32_t baudRate); void (*serialSetBaudRate)(serialPort_t *instance, uint32_t baudRate);
bool (*isSerialTransmitBufferEmpty)(serialPort_t *instance); bool (*isSerialTransmitBufferEmpty)(serialPort_t *instance);
void (*setMode)(serialPort_t *instance, portMode_t mode); void (*setMode)(serialPort_t *instance, portMode_t mode);

4
src/drv_softserial.c
View file

@ -96,7 +96,7 @@ void serialTimerTxConfig(const timerHardware_t *timerHardwarePtr, uint8_t refere
void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity) void serialICConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t polarity)
{ {
TIM_ICInitTypeDef TIM_ICInitStructure; TIM_ICInitTypeDef TIM_ICInitStructure;
TIM_ICStructInit(&TIM_ICInitStructure); TIM_ICStructInit(&TIM_ICInitStructure);
TIM_ICInitStructure.TIM_Channel = channel; TIM_ICInitStructure.TIM_Channel = channel;
@ -253,7 +253,7 @@ void applyChangedBits(softSerial_t *softSerial)
{ {
if (softSerial->rxEdge == TRAILING) { if (softSerial->rxEdge == TRAILING) {
uint8_t bitToSet; uint8_t bitToSet;
for (bitToSet = softSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < softSerial->rxBitIndex ; bitToSet++) { for (bitToSet = softSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < softSerial->rxBitIndex; bitToSet++) {
softSerial->internalRxBuffer |= 1 << bitToSet; softSerial->internalRxBuffer |= 1 << bitToSet;
} }
} }

2
src/drv_system.c
View file

@ -10,7 +10,7 @@ void SetSysClock(bool overclock);
void systemBeep(bool onoff); void systemBeep(bool onoff);
static void beepRev4(bool onoff); static void beepRev4(bool onoff);
static void beepRev5(bool onoff); static void beepRev5(bool onoff);
void (* systemBeepPtr)(bool onoff) = NULL; void (*systemBeepPtr)(bool onoff) = NULL;
#endif #endif
static void cycleCounterInit(void) static void cycleCounterInit(void)

2
src/drv_timer.c
View file

@ -147,7 +147,7 @@ void timerNVICConfigure(uint8_t irq)
void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz) void configTimeBase(TIM_TypeDef *tim, uint16_t period, uint8_t mhz)
{ {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure); TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Period = period - 1; // AKA TIMx_ARR TIM_TimeBaseStructure.TIM_Period = period - 1; // AKA TIMx_ARR

20
src/drv_uart.c
View file

@ -18,14 +18,14 @@ uartPort_t *serialUSART1(uint32_t baudRate, portMode_t mode)
s = &uartPort1; s = &uartPort1;
s->port.vTable = uartVTable; s->port.vTable = uartVTable;
s->port.baudRate = baudRate; s->port.baudRate = baudRate;
s->port.rxBuffer = rx1Buffer; s->port.rxBuffer = rx1Buffer;
s->port.txBuffer = tx1Buffer; s->port.txBuffer = tx1Buffer;
s->port.rxBufferSize = UART1_RX_BUFFER_SIZE; s->port.rxBufferSize = UART1_RX_BUFFER_SIZE;
s->port.txBufferSize = UART1_TX_BUFFER_SIZE; s->port.txBufferSize = UART1_TX_BUFFER_SIZE;
s->rxDMAChannel = DMA1_Channel5; s->rxDMAChannel = DMA1_Channel5;
s->txDMAChannel = DMA1_Channel4; s->txDMAChannel = DMA1_Channel4;
@ -63,14 +63,14 @@ uartPort_t *serialUSART2(uint32_t baudRate, portMode_t mode)
s = &uartPort2; s = &uartPort2;
s->port.vTable = uartVTable; s->port.vTable = uartVTable;
s->port.baudRate = baudRate; s->port.baudRate = baudRate;
s->port.rxBufferSize = UART2_RX_BUFFER_SIZE; s->port.rxBufferSize = UART2_RX_BUFFER_SIZE;
s->port.txBufferSize = UART2_TX_BUFFER_SIZE; s->port.txBufferSize = UART2_TX_BUFFER_SIZE;
s->port.rxBuffer = rx2Buffer; s->port.rxBuffer = rx2Buffer;
s->port.txBuffer = tx2Buffer; s->port.txBuffer = tx2Buffer;
s->USARTx = USART2; s->USARTx = USART2;
RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE); RCC_APB1PeriphClockCmd(RCC_APB1Periph_USART2, ENABLE);
@ -100,7 +100,7 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
{ {
DMA_InitTypeDef DMA_InitStructure; DMA_InitTypeDef DMA_InitStructure;
USART_InitTypeDef USART_InitStructure; USART_InitTypeDef USART_InitStructure;
uartPort_t *s = NULL; uartPort_t *s = NULL;
if (USARTx == USART1) if (USARTx == USART1)
@ -109,7 +109,7 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
s = serialUSART2(baudRate, mode); s = serialUSART2(baudRate, mode);
s->USARTx = USARTx; s->USARTx = USARTx;
// common serial initialisation code should move to serialPort::init() // common serial initialisation code should move to serialPort::init()
s->port.rxBufferHead = s->port.rxBufferTail = 0; s->port.rxBufferHead = s->port.rxBufferTail = 0;
s->port.txBufferHead = s->port.txBufferTail = 0; s->port.txBufferHead = s->port.txBufferTail = 0;
@ -185,7 +185,7 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr callback,
void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate) void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
{ {
USART_InitTypeDef USART_InitStructure; USART_InitTypeDef USART_InitStructure;
uartPort_t *s = (uartPort_t *)instance; uartPort_t *s = (uartPort_t *)instance;
USART_InitStructure.USART_BaudRate = baudRate; USART_InitStructure.USART_BaudRate = baudRate;
USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_WordLength = USART_WordLength_8b;
@ -198,7 +198,7 @@ void uartSetBaudRate(serialPort_t *instance, uint32_t baudRate)
if (s->port.mode & MODE_TX) if (s->port.mode & MODE_TX)
USART_InitStructure.USART_Mode |= USART_Mode_Tx; USART_InitStructure.USART_Mode |= USART_Mode_Tx;
USART_Init(s->USARTx, &USART_InitStructure); USART_Init(s->USARTx, &USART_InitStructure);
s->port.baudRate = baudRate; s->port.baudRate = baudRate;
} }

2
src/drv_uart.h
View file

@ -12,7 +12,7 @@
// FIXME this is a uart_t really. Move the generic properties into a separate structure (serialPort_t) and update the code to use it // FIXME this is a uart_t really. Move the generic properties into a separate structure (serialPort_t) and update the code to use it
typedef struct { typedef struct {
serialPort_t port; serialPort_t port;
// FIXME these are uart specific and do not belong in here // FIXME these are uart specific and do not belong in here
DMA_Channel_TypeDef *rxDMAChannel; DMA_Channel_TypeDef *rxDMAChannel;
DMA_Channel_TypeDef *txDMAChannel; DMA_Channel_TypeDef *txDMAChannel;

28
src/gps.c
View file

@ -57,10 +57,10 @@ typedef struct gpsData_t {
int errors; // gps error counter - crc error/lost of data/sync etc. reset on each reinit. int errors; // gps error counter - crc error/lost of data/sync etc. reset on each reinit.
uint32_t lastMessage; // last time valid GPS data was received (millis) uint32_t lastMessage; // last time valid GPS data was received (millis)
uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta. uint32_t lastLastMessage; // last-last valid GPS message. Used to calculate delta.
uint32_t state_position; // incremental variable for loops uint32_t state_position; // incremental variable for loops
uint32_t state_ts; // timestamp for last state_position increment uint32_t state_ts; // timestamp for last state_position increment
} gpsData_t; } gpsData_t;
gpsData_t gpsData; gpsData_t gpsData;
@ -436,7 +436,7 @@ static void gpsNewData(uint16_t c)
#endif #endif
// dTnav calculation // dTnav calculation
// Time for calculating x,y speed and navigation pids // Time for calculating x,y speed and navigation pids
dTnav = (float) (millis() - nav_loopTimer) / 1000.0f; dTnav = (float)(millis() - nav_loopTimer) / 1000.0f;
nav_loopTimer = millis(); nav_loopTimer = millis();
// prevent runup from bad GPS // prevent runup from bad GPS
dTnav = min(dTnav, 1.0f); dTnav = min(dTnav, 1.0f);
@ -612,7 +612,7 @@ static bool check_missed_wp(void)
static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing) static void GPS_distance_cm_bearing(int32_t * lat1, int32_t * lon1, int32_t * lat2, int32_t * lon2, uint32_t * dist, int32_t * bearing)
{ {
float dLat = *lat2 - *lat1; // difference of latitude in 1/10 000 000 degrees float dLat = *lat2 - *lat1; // difference of latitude in 1/10 000 000 degrees
float dLon = (float) (*lon2 - *lon1) * GPS_scaleLonDown; float dLon = (float)(*lon2 - *lon1) * GPS_scaleLonDown;
*dist = sqrtf(sq(dLat) + sq(dLon)) * 1.113195f; *dist = sqrtf(sq(dLat) + sq(dLon)) * 1.113195f;
*bearing = 9000.0f + atan2f(-dLat, dLon) * 5729.57795f; // Convert the output radians to 100xdeg *bearing = 9000.0f + atan2f(-dLat, dLon) * 5729.57795f; // Convert the output radians to 100xdeg
@ -644,8 +644,8 @@ static void GPS_calc_velocity(void)
if (init) { if (init) {
float tmp = 1.0f / dTnav; float tmp = 1.0f / dTnav;
actual_speed[GPS_X] = (float) (GPS_coord[LON] - last[LON]) * GPS_scaleLonDown * tmp; actual_speed[GPS_X] = (float)(GPS_coord[LON] - last[LON]) * GPS_scaleLonDown * tmp;
actual_speed[GPS_Y] = (float) (GPS_coord[LAT] - last[LAT]) * tmp; actual_speed[GPS_Y] = (float)(GPS_coord[LAT] - last[LAT]) * tmp;
actual_speed[GPS_X] = (actual_speed[GPS_X] + speed_old[GPS_X]) / 2; actual_speed[GPS_X] = (actual_speed[GPS_X] + speed_old[GPS_X]) / 2;
actual_speed[GPS_Y] = (actual_speed[GPS_Y] + speed_old[GPS_Y]) / 2; actual_speed[GPS_Y] = (actual_speed[GPS_Y] + speed_old[GPS_Y]) / 2;
@ -670,7 +670,7 @@ static void GPS_calc_velocity(void)
// //
static void GPS_calc_location_error(int32_t *target_lat, int32_t *target_lng, int32_t *gps_lat, int32_t *gps_lng) static void GPS_calc_location_error(int32_t *target_lat, int32_t *target_lng, int32_t *gps_lat, int32_t *gps_lng)
{ {
error[LON] = (float) (*target_lng - *gps_lng) * GPS_scaleLonDown; // X Error error[LON] = (float)(*target_lng - *gps_lng) * GPS_scaleLonDown; // X Error
error[LAT] = *target_lat - *gps_lat; // Y Error error[LAT] = *target_lat - *gps_lat; // Y Error
} }
@ -698,7 +698,7 @@ static void GPS_calc_poshold(void)
d = 0; d = 0;
#endif #endif
nav[axis] +=d; nav[axis] += d;
nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX); nav[axis] = constrain(nav[axis], -NAV_BANK_MAX, NAV_BANK_MAX);
navPID[axis].integrator = poshold_ratePID[axis].integrator; navPID[axis].integrator = poshold_ratePID[axis].integrator;
} }
@ -774,7 +774,7 @@ static int16_t GPS_calc_desired_speed(int16_t max_speed, bool _slow)
// limit the ramp up of the speed // limit the ramp up of the speed
// waypoint_speed_gov is reset to 0 at each new WP command // waypoint_speed_gov is reset to 0 at each new WP command
if (max_speed > waypoint_speed_gov) { if (max_speed > waypoint_speed_gov) {
waypoint_speed_gov += (int) (100.0f * dTnav); // increase at .5/ms waypoint_speed_gov += (int)(100.0f * dTnav); // increase at .5/ms
max_speed = waypoint_speed_gov; max_speed = waypoint_speed_gov;
} }
return max_speed; return max_speed;
@ -898,7 +898,7 @@ static uint32_t grab_fields(char *src, uint8_t mult)
tmp *= 10; tmp *= 10;
if (src[i] >= '0' && src[i] <= '9') if (src[i] >= '0' && src[i] <= '9')
tmp += src[i] - '0'; tmp += src[i] - '0';
if (i >= 15) if (i >= 15)
return 0; // out of bounds return 0; // out of bounds
} }
return tmp; return tmp;
@ -1056,8 +1056,7 @@ typedef struct {
uint32_t heading_accuracy; uint32_t heading_accuracy;
} ubx_nav_velned; } ubx_nav_velned;
typedef struct typedef struct {
{
uint8_t chn; // Channel number, 255 for SVx not assigned to channel uint8_t chn; // Channel number, 255 for SVx not assigned to channel
uint8_t svid; // Satellite ID uint8_t svid; // Satellite ID
uint8_t flags; // Bitmask uint8_t flags; // Bitmask
@ -1068,8 +1067,7 @@ typedef struct
int32_t prRes; // Pseudo range residual in centimetres int32_t prRes; // Pseudo range residual in centimetres
} ubx_nav_svinfo_channel; } ubx_nav_svinfo_channel;
typedef struct typedef struct {
{
uint32_t time; // GPS Millisecond time of week uint32_t time; // GPS Millisecond time of week
uint8_t numCh; // Number of channels uint8_t numCh; // Number of channels
uint8_t globalFlags; // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6 uint8_t globalFlags; // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6
@ -1180,7 +1178,7 @@ static bool gpsNewFrameUBLOX(uint8_t data)
case 5: case 5:
_step++; _step++;
_ck_b += (_ck_a += data); // checksum byte _ck_b += (_ck_a += data); // checksum byte
_payload_length += (uint16_t) (data << 8); _payload_length += (uint16_t)(data << 8);
if (_payload_length > 512) { if (_payload_length > 512) {
_payload_length = 0; _payload_length = 0;
_step = 0; _step = 0;

6
src/imu.c
View file

@ -391,7 +391,7 @@ int getEstimatedAltitude(void)
// set vario // set vario
vario = applyDeadband(vel_tmp, 5); vario = applyDeadband(vel_tmp, 5);
if (abs(angle[ROLL]) < 800 && abs(angle[PITCH]) < 800) { // only calculate pid if the copters thrust is facing downwards(<80deg) if (abs(angle[ROLL]) < 800 && abs(angle[PITCH]) < 800) { // only calculate pid if the copters thrust is facing downwards(<80deg)
// Altitude P-Controller // Altitude P-Controller
error = constrain(AltHold - EstAlt, -500, 500); error = constrain(AltHold - EstAlt, -500, 500);
@ -410,11 +410,11 @@ int getEstimatedAltitude(void)
// D // D
BaroPID -= constrain(cfg.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150); BaroPID -= constrain(cfg.D8[PIDVEL] * (accZ_tmp + accZ_old) / 64, -150, 150);
} else { } else {
BaroPID = 0; BaroPID = 0;
} }
accZ_old = accZ_tmp; accZ_old = accZ_tmp;
return 1; return 1;

2
src/mixer.c
View file

@ -430,7 +430,7 @@ void mixTable(void)
break; break;
case MULTITYPE_DUALCOPTER: case MULTITYPE_DUALCOPTER:
for (i = 4; i < 6; i++ ) { for (i = 4; i < 6; i++) {
servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction servo[i] = axisPID[5 - i] * servoDirection(i, 1); // mix and setup direction
servo[i] += servoMiddle(i); servo[i] += servoMiddle(i);
} }

6
src/mw.c
View file

@ -363,9 +363,9 @@ static void pidRewrite(void)
} }
if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand) if (axis == 2) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5); AngleRateTmp = (((int32_t)(cfg.yawRate + 27) * rcCommand[2]) >> 5);
} else { } else {
if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID if (!f.ANGLE_MODE) { //control is GYRO based (ACRO and HORIZON - direct sticks control is applied to rate PID
AngleRateTmp = ((int32_t) (cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4; AngleRateTmp = ((int32_t)(cfg.rollPitchRate + 27) * rcCommand[axis]) >> 4;
if (f.HORIZON_MODE) { if (f.HORIZON_MODE) {
// mix up angle error to desired AngleRateTmp to add a little auto-level feel // mix up angle error to desired AngleRateTmp to add a little auto-level feel
AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8; AngleRateTmp += (errorAngle * cfg.I8[PIDLEVEL]) >> 8;
@ -625,7 +625,7 @@ void loop(void)
if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored if (rcOptions[BOXCALIB]) { // Use the Calib Option to activate : Calib = TRUE Meausrement started, Land and Calib = 0 measurement stored
if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone) if (!AccInflightCalibrationActive && !AccInflightCalibrationMeasurementDone)
InflightcalibratingA = 50; InflightcalibratingA = 50;
AccInflightCalibrationActive = true; AccInflightCalibrationActive = true;
} else if (AccInflightCalibrationMeasurementDone && !f.ARMED) { } else if (AccInflightCalibrationMeasurementDone && !f.ARMED) {
AccInflightCalibrationMeasurementDone = false; AccInflightCalibrationMeasurementDone = false;
AccInflightCalibrationSavetoEEProm = true; AccInflightCalibrationSavetoEEProm = true;

8
src/sbus.c
View file

@ -28,8 +28,7 @@ void sbusInit(rcReadRawDataPtr *callback)
core.numRCChannels = SBUS_MAX_CHANNEL; core.numRCChannels = SBUS_MAX_CHANNEL;
} }
struct sbus_dat struct sbus_dat {
{
unsigned int chan0 : 11; unsigned int chan0 : 11;
unsigned int chan1 : 11; unsigned int chan1 : 11;
unsigned int chan2 : 11; unsigned int chan2 : 11;
@ -44,8 +43,7 @@ struct sbus_dat
unsigned int chan11 : 11; unsigned int chan11 : 11;
} __attribute__ ((__packed__)); } __attribute__ ((__packed__));
typedef union typedef union {
{
uint8_t in[SBUS_FRAME_SIZE]; uint8_t in[SBUS_FRAME_SIZE];
struct sbus_dat msg; struct sbus_dat msg;
} sbus_msg; } sbus_msg;
@ -57,7 +55,7 @@ static void sbusDataReceive(uint16_t c)
{ {
uint32_t sbusTime; uint32_t sbusTime;
static uint32_t sbusTimeLast; static uint32_t sbusTimeLast;
static uint8_t sbusFramePosition; static uint8_t sbusFramePosition;
sbusTime = micros(); sbusTime = micros();
if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing if ((sbusTime - sbusTimeLast) > 2500) // sbus2 fast timing

4
src/serial.c
View file

@ -158,14 +158,14 @@ uint8_t read8(void)
uint16_t read16(void) uint16_t read16(void)
{ {
uint16_t t = read8(); uint16_t t = read8();
t += (uint16_t) read8() << 8; t += (uint16_t)read8() << 8;
return t; return t;
} }
uint32_t read32(void) uint32_t read32(void)
{ {
uint32_t t = read16(); uint32_t t = read16();
t += (uint32_t) read16() << 16; t += (uint32_t)read16() << 16;
return t; return t;
} }

6
src/sumd.c
View file

@ -31,17 +31,17 @@ static void sumdDataReceive(uint16_t c)
static uint8_t sumdIndex; static uint8_t sumdIndex;
sumdTime = micros(); sumdTime = micros();
if ((sumdTime - sumdTimeLast) > 4000) if ((sumdTime - sumdTimeLast) > 4000)
sumdIndex = 0; sumdIndex = 0;
sumdTimeLast = sumdTime; sumdTimeLast = sumdTime;
if (sumdIndex == 0) { if (sumdIndex == 0) {
if (c != SUMD_SYNCBYTE) if (c != SUMD_SYNCBYTE)
return; return;
else else
sumdFrameDone = false; // lazy main loop didnt fetch the stuff sumdFrameDone = false; // lazy main loop didnt fetch the stuff
} }
if (sumdIndex == 2) if (sumdIndex == 2)
sumdSize = (uint8_t)c; sumdSize = (uint8_t)c;
if (sumdIndex < SUMD_BUFFSIZE) if (sumdIndex < SUMD_BUFFSIZE)
sumd[sumdIndex] = (uint8_t)c; sumd[sumdIndex] = (uint8_t)c;

9
src/telemetry_hott.c
View file

@ -88,13 +88,13 @@ void hottV4FormatAndSendGPSResponse(void)
void hottV4GPSUpdate(void) void hottV4GPSUpdate(void)
{ {
// Number of Satelites // Number of Satelites
HoTTV4GPSModule.GPSNumSat=GPS_numSat; HoTTV4GPSModule.GPSNumSat = GPS_numSat;
if (f.GPS_FIX > 0) { if (f.GPS_FIX > 0) {
// GPS fix // GPS fix
HoTTV4GPSModule.GPS_fix = 0x66; // Displays a 'f' for fix HoTTV4GPSModule.GPS_fix = 0x66; // Displays a 'f' for fix
// latitude // latitude
HoTTV4GPSModule.LatitudeNS=(GPS_coord[LAT]<0); HoTTV4GPSModule.LatitudeNS = (GPS_coord[LAT] < 0);
uint8_t deg = GPS_coord[LAT] / 100000; uint8_t deg = GPS_coord[LAT] / 100000;
uint32_t sec = (GPS_coord[LAT] - (deg * 100000)) * 6; uint32_t sec = (GPS_coord[LAT] - (deg * 100000)) * 6;
uint8_t min = sec / 10000; uint8_t min = sec / 10000;
@ -106,7 +106,7 @@ void hottV4GPSUpdate(void)
HoTTV4GPSModule.LatitudeSecHigh = sec >> 8; HoTTV4GPSModule.LatitudeSecHigh = sec >> 8;
// longitude // longitude
HoTTV4GPSModule.longitudeEW=(GPS_coord[LON]<0); HoTTV4GPSModule.longitudeEW = (GPS_coord[LON] < 0);
deg = GPS_coord[LON] / 100000; deg = GPS_coord[LON] / 100000;
sec = (GPS_coord[LON] - (deg * 100000)) * 6; sec = (GPS_coord[LON] - (deg * 100000)) * 6;
min = sec / 10000; min = sec / 10000;
@ -265,7 +265,8 @@ void handleHoTTTelemetry(void)
switch (c) { switch (c) {
case 0x8A: case 0x8A:
if (sensors(SENSOR_GPS)) hottV4FormatAndSendGPSResponse(); if (sensors(SENSOR_GPS))
hottV4FormatAndSendGPSResponse();
break; break;
case 0x8E: case 0x8E:
hottV4FormatAndSendEAMResponse(); hottV4FormatAndSendEAMResponse();