mirror of
https://github.com/betaflight/betaflight.git
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trailing whitespace removal (#14026)
trailing space removal Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
nerdCopter
GitHub
parent
0de6278433
commit
493b9bf819
78 changed files with 371 additions and 371 deletions
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@ -20,21 +20,21 @@
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/**
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* Read internal and external analog channels
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*
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*
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* Internal channels provide temperature and the internal voltage reference
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* External channels are for vbat, rssi, current and a generic 'external' inputs
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*
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* The ADC is free running and so doesn't require a timer. Samples are moved from
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*
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* The ADC is free running and so doesn't require a timer. Samples are moved from
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* the ADC output register to a buffer by DMA
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*
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*
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* The sample rate is kept low to reduce impact on the DMA controller, and the lowest
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* priority is set for the DMA transfer. It's also recommended to use the highest numbered
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* DMA channel on the dma controller for ADC, since that is the lowest priority channel
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* for transfers at the same DMA priority.
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*
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*
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* Sample rate is set between 1 and 2kHz by using a long input sampling time and reasonably
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* high hardware oversampling.
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*
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*
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* Note that only ADC1 is used, although the code contains remnants of support for all
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* three ADC.
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*/
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@ -123,12 +123,12 @@ static volatile DMA_DATA uint32_t adcConversionBuffer[ADC_CHANNEL_COUNT];
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/**
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* Initialise the specified ADC to read multiple channels in repeat mode
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*
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*
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* Sets 12 bit resolution, right aligned
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*
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*
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* @param dev Specifies the ADC device to use
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* @param channelCount how many channels to repeat over
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*
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*
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*/
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void adcInitDevice(const adc_type *dev, const int channelCount)
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{
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@ -146,7 +146,7 @@ void adcInitDevice(const adc_type *dev, const int channelCount)
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/**
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* Find a given pin (defined by ioTag) in the map
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*
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*
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* @param tag the ioTag to search for
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* @return the index in adcTagMap corresponding to the given ioTag or -1 if not found
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*/
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@ -164,12 +164,12 @@ int adcFindTagMapEntry(const ioTag_t tag)
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* Setup the scaling offsets and factors used in adc.c
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* @see src/main/drivers/adc.c
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* @see src/main/drivers/adc_impl.h
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*
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*
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* There are a number of global calibration/scaling factors used in src/main/drivers/adc.c that need to
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* be set to appropriate values if we want to re-use existing code, e.g. adcInternalComputeTemperature
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* (the alternative would be to duplicate the code into ST and AT specific versions).
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* This is made a little confusing since the implementation based on ST datasheets approaches the calculation with
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* different formula and express the scaling factors in different units compared to the AT datasheets.
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* different formula and express the scaling factors in different units compared to the AT datasheets.
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* The constants are defined in src/main/drivers/adc_impl.h. It seems clearest to use the units from
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* the datasheet when defining those values, so here we have to convert to what's expected in
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* adcInternalComputeTemperature.
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@ -196,36 +196,36 @@ void setScalingFactors(void)
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/**
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* Setup the ADC so that it's running in the background and ready to
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* provide channel data
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*
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*
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* Notes:
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* This code only uses ADC1 despite appearances to the contrary, and has not been tested with the other ADCs
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*
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*
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* From the RM:
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* ADCCLK must be less than 80 MHz, while the ADCCLK frequency must be lower than PCLK2
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*
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*
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* PCLK2 looks like it's running at 144Mhz, but should be confirmed
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*
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*
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* With HCLK of 288, a divider of 4 gives an ADCCLK of 72MHz
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*
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* sample time is
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*
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* sample time is
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* ADC_SAMPLE + nbits + 0.5 ADCCLK periods
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*
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*
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* So with 12bit samples and ADC_SAMPLE_92_5 that's 105 clks.
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*
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* We're using HCLK/4, so 288/4 = 72MHz, each tick is 14ns. Add 5 clks for the interval between conversions,
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*
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* We're using HCLK/4, so 288/4 = 72MHz, each tick is 14ns. Add 5 clks for the interval between conversions,
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* 110 clks total is 1.54us per channel.
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*
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*
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* Max 6 channels is a total of 9.24us, or a basic sample rate of 108kHz per channel
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*
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*
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* If we use 64x oversampling we'll get an effective rate of 1.7kHz per channel which should still be plenty.
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*
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*
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* (RM and DS mention fast and slow channels, but don't give details on how this affects the above.
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* It's not relevant to our use case, so ignore the difference for now)
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*
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*
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* Called from fc/init.c
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*
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*
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* @param config - defines the channels to use for each external input (vbat, rssi, current, external) and also has calibration values for the temperature sensor
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*
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*
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*/
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void adcInit(const adcConfig_t *config)
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{
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@ -276,7 +276,7 @@ void adcInit(const adcConfig_t *config)
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// Since ADC1 can do all channels this will only ever return adc1 and is unnecessary
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// Find an ADC instance that can be used for the given TagMap index.
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// Find an ADC instance that can be used for the given TagMap index.
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// for (dev = 0; dev < ADCDEV_COUNT; dev++) {
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// #ifndef USE_DMA_SPEC
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// if (!adcDevice[dev].ADCx || !adcDevice[dev].dmaResource) {
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@ -459,13 +459,13 @@ uint16_t adcInternalRead(int channel)
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/**
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* Read the internal Vref and return raw value
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*
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*
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* The internal Vref is 1.2V and can be used to calculate the external Vref+
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* External Vref+ determines the scale for the raw ADC readings but since it
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* is often directly connected to Vdd (approx 3.3V) it isn't accurately controlled.
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* Calculating the actual value of Vref+ by using measurements of the known 1.2V
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* internal reference can improve overall accuracy.
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*
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*
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* @return the raw ADC reading for the internal voltage reference
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* @see adcInternalCompensateVref in src/main/drivers/adc.c
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*/
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@ -478,7 +478,7 @@ uint16_t adcInternalReadVrefint(void)
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/**
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* Read the internal temperature sensor
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*
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*
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* @return the raw ADC reading
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*/
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uint16_t adcInternalReadTempsensor(void)
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@ -84,7 +84,7 @@ void bbTimerChannelInit(bbPort_t *bbPort)
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TIM_OCInitTypeDef TIM_OCStruct;
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TIM_OCStructInit(&TIM_OCStruct);
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TIM_OCStruct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
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TIM_OCStruct.oc_idle_state = TRUE;
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TIM_OCStruct.oc_output_state = TRUE;
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@ -106,7 +106,7 @@ void bbTimerChannelInit(bbPort_t *bbPort)
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if (timhw->tag) {
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IO_t io = IOGetByTag(timhw->tag);
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IOConfigGPIOAF(io, IOCFG_AF_PP, timhw->alternateFunction);
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IOInit(io, OWNER_DSHOT_BITBANG, 0);
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IOInit(io, OWNER_DSHOT_BITBANG, 0);
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TIM_CtrlPWMOutputs(timhw->tim, TRUE);
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}
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#endif
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@ -45,15 +45,15 @@
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/**
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* Convert from BF channel to AT32 constants for timer output channels
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*
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*
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* The AT and ST apis take a different approach to naming channels, so just passing the bf
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* channel number to the AT calls doesn't work. This function maps between them.
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*
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*
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* @param bfChannel a channel number as used in timerHardware->channel (1 based)
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* @param useNChannel indicates that the desired channel should be the complementary output (only available for 1 through 3)
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* @return an AT32 tmr_channel_select_type constant
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* XXX what to return for invalid inputs? The tmr_channel_select_type enum doesn't have a suitable value
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*
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*
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* @see TIM_CH_TO_SELCHANNEL macro
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*/
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tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNChannel)
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@ -110,7 +110,7 @@ tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNC
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/**
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* Enable the timer channels for all motors
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*
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*
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* Called once for every dshot update if telemetry is being used (not just enabled by #def)
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* Called from pwm_output_dshot_shared.c pwmTelemetryDecode
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*/
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@ -128,7 +128,7 @@ void dshotEnableChannels(uint8_t motorCount)
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/**
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* Set the timer and dma of the specified motor for use as an output
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*
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*
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* Called from pwmDshotMotorHardwareConfig in this file and also from
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* pwmTelemetryDecode in src/main/drivers/pwm_output_dshot_shared.c
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*/
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@ -199,9 +199,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
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tmr_channel_enable(timer, toCHSelectType(channel, useCompOut), TRUE);
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timerOCPreloadConfig(timer, channel, TRUE);
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pDmaInit->direction = DMA_DIR_MEMORY_TO_PERIPHERAL;
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pDmaInit->direction = DMA_DIR_MEMORY_TO_PERIPHERAL;
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xDMA_Init(dmaRef, pDmaInit);
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// Generate an interrupt when the transfer is complete
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xDMA_ITConfig(dmaRef, DMA_FDT_INT, TRUE);
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@ -241,7 +241,7 @@ static void pwmDshotSetDirectionInput(motorDmaOutput_t * const motor)
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/**
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* Start the timers and dma requests to send dshot data to all motors
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*
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*
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* Called after pwm_output_dshot_shared.c has finished setting up the buffers that represent the dshot packets.
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* Iterates over all the timers needed (note that there may be less timers than motors since a single timer can run
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* multiple motors) and enables each one.
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@ -298,8 +298,8 @@ void pwmCompleteDshotMotorUpdate(void)
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/**
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* Interrupt handler called at the end of each packet
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*
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* Responsible for switching the dshot direction after sending a dshot command so that we
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*
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* Responsible for switching the dshot direction after sending a dshot command so that we
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* can receive dshot telemetry. If telemetry is not enabled, disables the dma and request generation.
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*/
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FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
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@ -360,7 +360,7 @@ FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
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} // if DMA_IT_TCIF
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}
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bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex,
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bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex,
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motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
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{
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#ifdef USE_DSHOT_TELEMETRY
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@ -422,7 +422,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
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// Boolean configureTimer is always true when different channels of the same timer are processed in sequence,
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// causing the timer and the associated DMA initialized more than once.
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// To fix this, getTimerIndex must be expanded to return if a new timer has been requested.
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// However, since the initialization is idempotent (can be applied multiple times without changing the outcome),
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// However, since the initialization is idempotent (can be applied multiple times without changing the outcome),
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// it is left as is in a favor of flash space (for now).
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const uint8_t timerIndex = getTimerIndex(timer);
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const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
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@ -571,7 +571,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
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{ // local scope
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const tmr_channel_select_type chSel = toCHSelectType(timerHardware->channel, output & TIMER_OUTPUT_N_CHANNEL);
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tmr_channel_enable(timer, chSel, TRUE);
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tmr_channel_enable(timer, chSel, TRUE);
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}
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if (configureTimer) {
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@ -587,7 +587,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
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*timerChCCR(timerHardware) = 0xffff;
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}
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#endif
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motor->configured = true;
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return true;
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@ -7,11 +7,11 @@
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**************************************************************************
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* Copyright notice & Disclaimer
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*
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* The software Board Support Package (BSP) that is made available to
|
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* download from Artery official website is the copyrighted work of Artery.
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* Artery authorizes customers to use, copy, and distribute the BSP
|
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* software and its related documentation for the purpose of design and
|
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* development in conjunction with Artery microcontrollers. Use of the
|
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* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
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* Artery authorizes customers to use, copy, and distribute the BSP
|
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* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
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*
|
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* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
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@ -43,7 +43,7 @@ extern "C" {
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/** @addtogroup AT32F435_437
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* @{
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*/
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/** @addtogroup Library_configuration_section
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* @{
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*/
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@ -376,7 +376,7 @@ typedef __I uint16_t vuc16; /*!< read only */
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typedef __I uint8_t vuc8; /*!< read only */
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typedef enum {RESET = 0, SET = !RESET} flag_status;
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typedef enum {FALSE = 0, TRUE = !FALSE} confirm_state;
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typedef enum {FALSE = 0, TRUE = !FALSE} confirm_state;
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typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
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/**
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@ -480,7 +480,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
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#define USART1_BASE (APB2PERIPH_BASE + 0x1000)
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#define TMR8_BASE (APB2PERIPH_BASE + 0x0400)
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#define TMR1_BASE (APB2PERIPH_BASE + 0x0000)
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/* ahb bus base address */
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/* ahb bus base address */
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#define OTGFS2_BASE (AHBPERIPH1_BASE + 0x20000)
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#define SDIO1_BASE (AHBPERIPH1_BASE + 0xC400)
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#define GPIOH_BASE (AHBPERIPH1_BASE + 0x1C00)
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@ -640,7 +640,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
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#define USART1_BASE (APB2PERIPH_BASE + 0x1000)
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#define TMR8_BASE (APB2PERIPH_BASE + 0x0400)
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#define TMR1_BASE (APB2PERIPH_BASE + 0x0000)
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/* ahb bus base address */
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/* ahb bus base address */
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#define OTGFS2_BASE (AHBPERIPH1_BASE + 0x20000)
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#define SDIO1_BASE (AHBPERIPH1_BASE + 0xC400)
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#define EMAC_BASE (AHBPERIPH1_BASE + 0x8000)
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@ -718,7 +718,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
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#define EDMA_STREAM6_2D_BASE (EDMA_2D_BASE + 0x002C)
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#define EDMA_STREAM7_2D_BASE (EDMA_2D_BASE + 0x0034)
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#define EDMA_STREAM8_2D_BASE (EDMA_2D_BASE + 0x003C)
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#define EDMA_LL_BASE (EDMA_BASE + 0x00D0)
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#define EDMA_STREAM1_LL_BASE (EDMA_LL_BASE + 0x0004)
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#define EDMA_STREAM2_LL_BASE (EDMA_LL_BASE + 0x0008)
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@ -760,7 +760,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
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/**
|
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* @}
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*/
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/**
|
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* @}
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*/
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||||
|
|
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@ -5,11 +5,11 @@
|
|||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
|
|
@ -51,7 +51,7 @@ void system_clock_config(void)
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|
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/* config ldo voltage */
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pwc_ldo_output_voltage_set(PWC_LDO_OUTPUT_1V3);
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/* set the flash clock divider */
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flash_clock_divider_set(FLASH_CLOCK_DIV_3);
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|
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@ -5,11 +5,11 @@
|
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**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
|
|
|
|||
|
|
@ -5,11 +5,11 @@
|
|||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
|
|
@ -38,7 +38,7 @@ extern "C" {
|
|||
#define NULL ((void *) 0)
|
||||
#endif
|
||||
#endif
|
||||
|
||||
|
||||
/**
|
||||
* @brief in the following line adjust the value of high speed exernal crystal (hext)
|
||||
* used in your application
|
||||
|
|
@ -172,7 +172,7 @@ extern "C" {
|
|||
#ifdef USB_MODULE_ENABLED
|
||||
#include "at32f435_437_usb.h"
|
||||
#endif
|
||||
|
||||
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
|
|
@ -7,11 +7,11 @@
|
|||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
|
|
@ -175,7 +175,7 @@ extern void _init(void) {;}
|
|||
/**
|
||||
* @}
|
||||
*/
|
||||
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
|
|
|
|||
|
|
@ -7,11 +7,11 @@
|
|||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
|
|
@ -39,7 +39,7 @@ extern "C" {
|
|||
* @{
|
||||
*/
|
||||
|
||||
/** @defgroup AT32F435_437_system_exported_variables
|
||||
/** @defgroup AT32F435_437_system_exported_variables
|
||||
* @{
|
||||
*/
|
||||
extern unsigned int system_core_clock; /*!< system clock frequency (core clock) */
|
||||
|
|
@ -48,10 +48,10 @@ extern unsigned int system_core_clock; /*!< system clock frequency (core clock)
|
|||
* @}
|
||||
*/
|
||||
|
||||
/** @defgroup AT32F435_437_system_exported_functions
|
||||
/** @defgroup AT32F435_437_system_exported_functions
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
extern void SystemInit(void);
|
||||
extern void system_core_clock_update(void);
|
||||
|
||||
|
|
|
|||
|
|
@ -7,11 +7,11 @@
|
|||
**************************************************************************
|
||||
* Copyright notice & Disclaimer
|
||||
*
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* The software Board Support Package (BSP) that is made available to
|
||||
* download from Artery official website is the copyrighted work of Artery.
|
||||
* Artery authorizes customers to use, copy, and distribute the BSP
|
||||
* software and its related documentation for the purpose of design and
|
||||
* development in conjunction with Artery microcontrollers. Use of the
|
||||
* software is governed by this copyright notice and the following disclaimer.
|
||||
*
|
||||
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
|
||||
|
|
@ -23,7 +23,7 @@
|
|||
*
|
||||
**************************************************************************
|
||||
*/
|
||||
|
||||
|
||||
/* define to prevent recursive inclusion -------------------------------------*/
|
||||
#ifndef __USB_CONF_H
|
||||
#define __USB_CONF_H
|
||||
|
|
@ -31,7 +31,7 @@
|
|||
#ifdef __cplusplus
|
||||
extern "C" {
|
||||
#endif
|
||||
|
||||
|
||||
#include "at32f435_437_usb.h"
|
||||
#include "at32f435_437.h"
|
||||
//#include "stdio.h"
|
||||
|
|
@ -39,7 +39,7 @@ extern "C" {
|
|||
/** @addtogroup AT32F437_periph_examples
|
||||
* @{
|
||||
*/
|
||||
|
||||
|
||||
/** @addtogroup 437_USB_device_vcp_loopback
|
||||
* @{
|
||||
*/
|
||||
|
|
@ -206,11 +206,11 @@ void usb_delay_ms(uint32_t ms);
|
|||
void usb_delay_us(uint32_t us);
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
*/
|
||||
|
||||
/**
|
||||
* @}
|
||||
*/
|
||||
*/
|
||||
#ifdef __cplusplus
|
||||
}
|
||||
#endif
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue