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Code Issues Wiki Activity

trailing whitespace removal (#14026)

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trailing space removal

Co-authored-by: Petr Ledvina <ledvinap@gmail.com>
This commit is contained in:
nerdCopter 2024-11-15 15:19:13 -06:00 • committed by GitHub
parent 0de6278433
commit 493b9bf819
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GPG key ID: B5690EEEBB952194
78 changed files with 371 additions and 371 deletions
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6
src/main/blackbox/blackbox.c
View file

@ -732,7 +732,7 @@ static void writeIntraframe(void)
for (unsigned x = 0; x < ARRAYLEN(servo); ++x) { for (unsigned x = 0; x < ARRAYLEN(servo); ++x) {
out[x] = blackboxCurrent->servo[x] - 1500; out[x] = blackboxCurrent->servo[x] - 1500;
} }
blackboxWriteTag8_8SVB(out, ARRAYLEN(out)); blackboxWriteTag8_8SVB(out, ARRAYLEN(out));
} }
#endif #endif
@ -890,12 +890,12 @@ static void writeInterframe(void)
#ifdef USE_SERVOS #ifdef USE_SERVOS
if (testBlackboxCondition(CONDITION(SERVOS))) { if (testBlackboxCondition(CONDITION(SERVOS))) {
STATIC_ASSERT(ARRAYLEN(servo) <= 8, "TAG8_8SVB supports at most 8 values"); STATIC_ASSERT(ARRAYLEN(servo) <= 8, "TAG8_8SVB supports at most 8 values");
int32_t out[ARRAYLEN(servo)]; int32_t out[ARRAYLEN(servo)];
for (unsigned x = 0; x < ARRAYLEN(servo); ++x) { for (unsigned x = 0; x < ARRAYLEN(servo); ++x) {
out[x] = blackboxCurrent->servo[x] - blackboxLast->servo[x]; out[x] = blackboxCurrent->servo[x] - blackboxLast->servo[x];
} }
blackboxWriteTag8_8SVB(out, ARRAYLEN(out)); blackboxWriteTag8_8SVB(out, ARRAYLEN(out));
} }
#endif #endif

6
src/main/blackbox/blackbox_io.c
View file

@ -752,10 +752,10 @@ blackboxBufferReserveStatus_e blackboxDeviceReserveBufferSpace(int32_t bytes)
} }
int8_t blackboxGetLogFileNo(void) int8_t blackboxGetLogFileNo(void)
{ {
#ifdef USE_BLACKBOX #ifdef USE_BLACKBOX
#ifdef USE_SDCARD #ifdef USE_SDCARD
// return current file number or -1 // return current file number or -1
if (blackboxSDCard.state == BLACKBOX_SDCARD_READY_TO_LOG) { if (blackboxSDCard.state == BLACKBOX_SDCARD_READY_TO_LOG) {
return blackboxSDCard.largestLogFileNumber; return blackboxSDCard.largestLogFileNumber;
} else { } else {
@ -765,6 +765,6 @@ int8_t blackboxGetLogFileNo(void)
// will be implemented later for flash based storage // will be implemented later for flash based storage
return -1; return -1;
#endif #endif
#endif #endif
} }
#endif // BLACKBOX #endif // BLACKBOX

2
src/main/cli/cli.c
View file

@ -5019,7 +5019,7 @@ static void cliRcSmoothing(const char *cmdName, char *cmdline)
if (getRxRateValid()) { if (getRxRateValid()) {
cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz)); cliPrintLinef("%dHz", lrintf(rcSmoothingData->smoothedRxRateHz));
} else { } else {
cliPrintLine("NO SIGNAL"); cliPrintLine("NO SIGNAL");
} }
} }
cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency); cliPrintf("# Active setpoint cutoff: %dhz ", rcSmoothingData->setpointCutoffFrequency);

2
src/main/cms/cms.c
View file

@ -692,7 +692,7 @@ static bool rowIsSkippable(const OSD_Entry *row)
if (type == OME_String) { if (type == OME_String) {
return true; return true;
} }
if ((type == OME_UINT8 || type == OME_INT8 || if ((type == OME_UINT8 || type == OME_INT8 ||
type == OME_UINT16 || type == OME_INT16) && type == OME_UINT16 || type == OME_INT16) &&
((row->flags == DYNAMIC) || rowSliderOverride(row->flags))) { ((row->flags == DYNAMIC) || rowSliderOverride(row->flags))) {

4
src/main/common/pwl.c
View file

@ -45,11 +45,11 @@ float pwlInterpolate(const pwl_t *pwl, float x)
if (x <= pwl->xMin) { if (x <= pwl->xMin) {
return pwl->yValues[0]; return pwl->yValues[0];
} }
if (x >= pwl->xMax) { if (x >= pwl->xMax) {
return pwl->yValues[pwl->numPoints - 1]; return pwl->yValues[pwl->numPoints - 1];
} }
const int index = (int)((x - pwl->xMin) / pwl->dx); const int index = (int)((x - pwl->xMin) / pwl->dx);
if (index >= pwl->numPoints - 1) { if (index >= pwl->numPoints - 1) {
return pwl->yValues[pwl->numPoints - 1]; return pwl->yValues[pwl->numPoints - 1];

2
src/main/common/sdft.c
View file

@ -26,7 +26,7 @@
#include "common/maths.h" #include "common/maths.h"
#include "common/sdft.h" #include "common/sdft.h"
#define SDFT_R 0.9999f // damping factor for guaranteed SDFT stability (r < 1.0f) #define SDFT_R 0.9999f // damping factor for guaranteed SDFT stability (r < 1.0f)
static FAST_DATA_ZERO_INIT float rPowerN; // SDFT_R to the power of SDFT_SAMPLE_SIZE static FAST_DATA_ZERO_INIT float rPowerN; // SDFT_R to the power of SDFT_SAMPLE_SIZE
static FAST_DATA_ZERO_INIT bool isInitialized; static FAST_DATA_ZERO_INIT bool isInitialized;

2
src/main/config/config.c
View file

@ -593,7 +593,7 @@ void validateAndFixGyroConfig(void)
*/ */
if (true if (true
#ifdef USE_PID_DENOM_OVERCLOCK_LEVEL #ifdef USE_PID_DENOM_OVERCLOCK_LEVEL
&& (systemConfig()->cpu_overclock < USE_PID_DENOM_OVERCLOCK_LEVEL) && (systemConfig()->cpu_overclock < USE_PID_DENOM_OVERCLOCK_LEVEL)
#endif #endif
&& motorConfig()->dev.useDshotTelemetry && motorConfig()->dev.useDshotTelemetry
) { ) {

4
src/main/config/simplified_tuning.c
View file

@ -52,9 +52,9 @@ static void calculateNewPidValues(pidProfile_t *pidProfile)
pidProfile->pid[axis].I = constrain(pidDefaults[axis].I * masterMultiplier * piGain * iGain * pitchPiGain, 0, PID_GAIN_MAX); pidProfile->pid[axis].I = constrain(pidDefaults[axis].I * masterMultiplier * piGain * iGain * pitchPiGain, 0, PID_GAIN_MAX);
pidProfile->pid[axis].D = constrain(pidDefaults[axis].D * masterMultiplier * dGain * pitchDGain, 0, PID_GAIN_MAX); pidProfile->pid[axis].D = constrain(pidDefaults[axis].D * masterMultiplier * dGain * pitchDGain, 0, PID_GAIN_MAX);
pidProfile->pid[axis].F = constrain(pidDefaults[axis].F * masterMultiplier * pitchPiGain * feedforwardGain, 0, F_GAIN_MAX); pidProfile->pid[axis].F = constrain(pidDefaults[axis].F * masterMultiplier * pitchPiGain * feedforwardGain, 0, F_GAIN_MAX);
#ifdef USE_D_MAX #ifdef USE_D_MAX
const float dMaxGain = (dMaxDefaults[axis] > 0) const float dMaxGain = (dMaxDefaults[axis] > 0)
? pidProfile->simplified_d_max_gain / 100.0f + (1 - pidProfile->simplified_d_max_gain / 100.0f) * pidDefaults[axis].D / dMaxDefaults[axis] ? pidProfile->simplified_d_max_gain / 100.0f + (1 - pidProfile->simplified_d_max_gain / 100.0f) * pidDefaults[axis].D / dMaxDefaults[axis]
: 1.0f; : 1.0f;
pidProfile->d_max[axis] = constrain(dMaxDefaults[axis] * masterMultiplier * dGain * pitchDGain * dMaxGain, 0, PID_GAIN_MAX); pidProfile->d_max[axis] = constrain(dMaxDefaults[axis] * masterMultiplier * dGain * pitchDGain * dMaxGain, 0, PID_GAIN_MAX);

2
src/main/drivers/accgyro/accgyro_spi_bmi270.c
View file

@ -122,7 +122,7 @@ typedef enum {
BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1 BMI270_VAL_INT_MAP_DATA_DRDY_INT1 = 0x04,// enable the data ready interrupt pin 1
BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02, // enable the FIFO watermark interrupt pin 1 BMI270_VAL_INT_MAP_FIFO_WM_INT1 = 0x02, // enable the FIFO watermark interrupt pin 1
BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A, // active high, push-pull, output enabled, input disabled BMI270_VAL_INT1_IO_CTRL_PINMODE = 0x0A, // active high, push-pull, output enabled, input disabled
BMI270_VAL_FIFO_CONFIG_0 = 0x00, // don't stop when full, disable sensortime frame BMI270_VAL_FIFO_CONFIG_0 = 0x00, // don't stop when full, disable sensortime frame
BMI270_VAL_FIFO_CONFIG_1 = 0x80, // only gyro data in FIFO, use headerless mode BMI270_VAL_FIFO_CONFIG_1 = 0x80, // only gyro data in FIFO, use headerless mode
BMI270_VAL_FIFO_DOWNS = 0x00, // select unfiltered gyro data with no downsampling (6.4KHz samples) BMI270_VAL_FIFO_DOWNS = 0x00, // select unfiltered gyro data with no downsampling (6.4KHz samples)

2
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
View file

@ -91,7 +91,7 @@
#define ICM426XX_RA_ACCEL_CONFIG_STATIC4 0x05 // User Bank 2 #define ICM426XX_RA_ACCEL_CONFIG_STATIC4 0x05 // User Bank 2
// --- Register & setting for gyro and acc UI Filter -------- // --- Register & setting for gyro and acc UI Filter --------
#define ICM426XX_RA_GYRO_ACCEL_CONFIG0 0x52 // User Bank 0 #define ICM426XX_RA_GYRO_ACCEL_CONFIG0 0x52 // User Bank 0
#define ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY (15 << 4) #define ICM426XX_ACCEL_UI_FILT_BW_LOW_LATENCY (15 << 4)
#define ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY (15 << 0) #define ICM426XX_GYRO_UI_FILT_BW_LOW_LATENCY (15 << 0)
// ---------------------------------------------------------- // ----------------------------------------------------------

2
src/main/drivers/accgyro/accgyro_spi_l3gd20.c
View file

@ -144,7 +144,7 @@ uint8_t l3gd20Detect(const extDevice_t *dev)
return L3GD20_SPI; // blindly assume it's present, for now. return L3GD20_SPI; // blindly assume it's present, for now.
} }
bool l3gd20GyroDetect(gyroDev_t *gyro) bool l3gd20GyroDetect(gyroDev_t *gyro)
{ {
gyro->initFn = l3gd20GyroInit; gyro->initFn = l3gd20GyroInit;

10
src/main/drivers/adc.c
View file

@ -132,16 +132,16 @@ int32_t adcTSSlopeK;
/** /**
* Use a measurement of the fixed internal vref to calculate the external Vref+ * Use a measurement of the fixed internal vref to calculate the external Vref+
* *
* The ADC full range reading equates to Vref+ on the channel. Vref+ is typically * The ADC full range reading equates to Vref+ on the channel. Vref+ is typically
* fed from Vcc at 3.3V, but since Vcc isn't a critical value it may be off * fed from Vcc at 3.3V, but since Vcc isn't a critical value it may be off
* by a little due to variation in the regulator. Some chips are provided with a * by a little due to variation in the regulator. Some chips are provided with a
* known internal voltage reference, typically around 1.2V. By measuring this * known internal voltage reference, typically around 1.2V. By measuring this
* reference with an internally connected ADC channel we can then calculate a more * reference with an internally connected ADC channel we can then calculate a more
* accurate value for Vref+ instead of assuming that it is 3.3V * accurate value for Vref+ instead of assuming that it is 3.3V
* *
* @param intVRefAdcValue reading from the internal calibration voltage * @param intVRefAdcValue reading from the internal calibration voltage
* *
* @return the calculated value of Vref+ * @return the calculated value of Vref+
*/ */
uint16_t adcInternalCompensateVref(uint16_t intVRefAdcValue) uint16_t adcInternalCompensateVref(uint16_t intVRefAdcValue)

4
src/main/drivers/barometer/barometer_dps310.c
View file

@ -223,7 +223,7 @@ static bool deviceConfigure(const extDevice_t *dev)
baroState.calib.c40 = getTwosComplement((((uint32_t)coef[19] & 0x0F) << 8) | (uint32_t)coef[20], 12); baroState.calib.c40 = getTwosComplement((((uint32_t)coef[19] & 0x0F) << 8) | (uint32_t)coef[20], 12);
} else { } else {
baroState.calib.c31 = 0; baroState.calib.c31 = 0;
baroState.calib.c40 = 0; baroState.calib.c40 = 0;
} }
// PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard) // PRS_CFG: pressure measurement rate (32 Hz) and oversampling (16 time standard)
@ -306,7 +306,7 @@ static bool dps310GetUP(baroDev_t *baro)
static void deviceCalculate(int32_t *pressure, int32_t *temperature) static void deviceCalculate(int32_t *pressure, int32_t *temperature)
{ {
if (pressure) { if (pressure) {
*pressure = baroState.pressure; *pressure = baroState.pressure;
} }
if (temperature) { if (temperature) {

2
src/main/drivers/compass/compass_ist8310.c
View file

@ -124,7 +124,7 @@ static bool ist8310Init(magDev_t *magDev)
bool ack = busWriteRegister(dev, IST8310_REG_AVERAGE, IST8310_AVG_16); bool ack = busWriteRegister(dev, IST8310_REG_AVERAGE, IST8310_AVG_16);
delay(6); delay(6);
ack = ack && busWriteRegister(dev, IST8310_REG_PDCNTL, IST8310_PULSE_DURATION_NORMAL); ack = ack && busWriteRegister(dev, IST8310_REG_PDCNTL, IST8310_PULSE_DURATION_NORMAL);
delay(6); delay(6);
ack = ack && busWriteRegister(dev, IST8310_REG_CNTRL1, IST8310_ODR_SINGLE); ack = ack && busWriteRegister(dev, IST8310_REG_CNTRL1, IST8310_ODR_SINGLE);
magDev->magOdrHz = 100; magDev->magOdrHz = 100;

2
src/main/drivers/dma.h
View file

@ -255,7 +255,7 @@ typedef enum {
// Missing __HAL_DMA_SET_COUNTER in FW library V1.0.0 // Missing __HAL_DMA_SET_COUNTER in FW library V1.0.0
#define __HAL_DMA_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->CNDTR = (uint16_t)(__COUNTER__)) #define __HAL_DMA_SET_COUNTER(__HANDLE__, __COUNTER__) ((__HANDLE__)->Instance->CNDTR = (uint16_t)(__COUNTER__))
#elif defined(AT32F4) #elif defined(AT32F4)
#define DMA_CCR_EN 1 #define DMA_CCR_EN 1
#define IS_DMA_ENABLED(reg) (((DMA_ARCH_TYPE *)(reg))->ctrl_bit.chen & DMA_CCR_EN) #define IS_DMA_ENABLED(reg) (((DMA_ARCH_TYPE *)(reg))->ctrl_bit.chen & DMA_CCR_EN)
#elif defined(APM32F4) #elif defined(APM32F4)
#define IS_DMA_ENABLED(reg) (((DMA_ARCH_TYPE *)(reg))->SCFG & DMA_SCFGx_EN) #define IS_DMA_ENABLED(reg) (((DMA_ARCH_TYPE *)(reg))->SCFG & DMA_SCFGx_EN)

2
src/main/drivers/dshot_dpwm.h
View file

@ -74,7 +74,7 @@ motorDevice_t *dshotPwmDevInit(const struct motorDevConfig_s *motorConfig, uint1
#define DSHOT_DMA_BUFFER_ATTRIBUTE // None #define DSHOT_DMA_BUFFER_ATTRIBUTE // None
#endif #endif
#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F435) || defined(APM32F4) #if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(AT32F435) || defined(APM32F4)
#define DSHOT_DMA_BUFFER_UNIT uint32_t #define DSHOT_DMA_BUFFER_UNIT uint32_t
#else #else
#define DSHOT_DMA_BUFFER_UNIT uint8_t #define DSHOT_DMA_BUFFER_UNIT uint8_t

2
src/main/drivers/flash/flash_w25q128fv.c
View file

@ -358,7 +358,7 @@ MMFLASH_CODE static void w25q128fv_eraseSector(flashDevice_t *fdevice, uint32_t
w25q128fv_writeEnable(fdevice); w25q128fv_writeEnable(fdevice);
w25q128fv_performCommandWithAddress(&fdevice->io, W25Q128FV_INSTRUCTION_BLOCK_ERASE_64KB, address); w25q128fv_performCommandWithAddress(&fdevice->io, W25Q128FV_INSTRUCTION_BLOCK_ERASE_64KB, address);
w25q128fv_setTimeout(fdevice, W25Q128FV_TIMEOUT_BLOCK_ERASE_64KB_MS); w25q128fv_setTimeout(fdevice, W25Q128FV_TIMEOUT_BLOCK_ERASE_64KB_MS);
} }

6
src/main/drivers/pwm_output_dshot_shared.c
View file

@ -82,11 +82,11 @@ uint8_t getTimerIndex(TIM_TypeDef *timer)
/** /**
* Prepare to send dshot data for one motor * Prepare to send dshot data for one motor
* *
* Formats the value into the appropriate dma buffer and enables the dma channel. * Formats the value into the appropriate dma buffer and enables the dma channel.
* The packet won't start transmitting until later since the dma requests from the timer * The packet won't start transmitting until later since the dma requests from the timer
* are disabled when this function is called. * are disabled when this function is called.
* *
* @param index index of the motor that the data is to be sent to * @param index index of the motor that the data is to be sent to
* @param value the dshot value to be sent * @param value the dshot value to be sent
*/ */
@ -197,7 +197,7 @@ static uint32_t decodeTelemetryPacket(const uint32_t buffer[], uint32_t count)
#ifdef USE_DSHOT_TELEMETRY #ifdef USE_DSHOT_TELEMETRY
/** /**
* Process dshot telemetry packets before switching the channels back to outputs * Process dshot telemetry packets before switching the channels back to outputs
* *
*/ */
FAST_CODE_NOINLINE bool pwmTelemetryDecode(void) FAST_CODE_NOINLINE bool pwmTelemetryDecode(void)
{ {

4
src/main/drivers/rangefinder/rangefinder_lidarmt.c
View file

@ -71,7 +71,7 @@ static int32_t mtRangefinderGetDistance(rangefinderDev_t * dev) {
} }
} }
bool mtRangefinderDetect(rangefinderDev_t * dev, rangefinderType_e mtRangefinderToUse) { bool mtRangefinderDetect(rangefinderDev_t * dev, rangefinderType_e mtRangefinderToUse) {
const MTRangefinderConfig* deviceConf = getMTRangefinderDeviceConf(mtRangefinderToUse); const MTRangefinderConfig* deviceConf = getMTRangefinderDeviceConf(mtRangefinderToUse);
if (!deviceConf) { if (!deviceConf) {
return false; return false;
@ -89,7 +89,7 @@ bool mtRangefinderDetect(rangefinderDev_t * dev, rangefinderType_e mtRangefinder
return true; return true;
} }
void mtRangefinderReceiveNewData(const uint8_t * bufferPtr) { void mtRangefinderReceiveNewData(const uint8_t * bufferPtr) {
const mspSensorRangefinderLidarMtDataMessage_t * pkt = (const mspSensorRangefinderLidarMtDataMessage_t *)bufferPtr; const mspSensorRangefinderLidarMtDataMessage_t * pkt = (const mspSensorRangefinderLidarMtDataMessage_t *)bufferPtr;
sensorData = pkt->distanceMm / 10; sensorData = pkt->distanceMm / 10;

2
src/main/drivers/rangefinder/rangefinder_lidarmt.h
View file

@ -23,7 +23,7 @@
#include "drivers/rangefinder/rangefinder.h" #include "drivers/rangefinder/rangefinder.h"
#include "sensors/rangefinder.h" #include "sensors/rangefinder.h"
#define RANGEFINDER_MT_DETECTION_CONE_DECIDEGREES 900 #define RANGEFINDER_MT_DETECTION_CONE_DECIDEGREES 900
typedef struct { typedef struct {
rangefinderType_e deviceType; rangefinderType_e deviceType;

2
src/main/drivers/rcc.h
View file

@ -68,7 +68,7 @@ enum rcc_reg {
#define RCC_ENCODE(reg, mask) (((reg) << 5) | LOG2_32BIT(mask)) #define RCC_ENCODE(reg, mask) (((reg) << 5) | LOG2_32BIT(mask))
#if defined(STM32F4) #if defined(STM32F4)
#define RCC_AHB(periph) RCC_ENCODE(RCC_AHB, RCC_AHBENR_ ## periph ## EN) #define RCC_AHB(periph) RCC_ENCODE(RCC_AHB, RCC_AHBENR_ ## periph ## EN)
#define RCC_APB2(periph) RCC_ENCODE(RCC_APB2, RCC_APB2ENR_ ## periph ## EN) #define RCC_APB2(periph) RCC_ENCODE(RCC_APB2, RCC_APB2ENR_ ## periph ## EN)
#define RCC_APB1(periph) RCC_ENCODE(RCC_APB1, RCC_APB1ENR_ ## periph ## EN) #define RCC_APB1(periph) RCC_ENCODE(RCC_APB1, RCC_APB1ENR_ ## periph ## EN)

2
src/main/drivers/rx/expresslrs_driver.c
View file

@ -161,7 +161,7 @@ static void expressLrsOnTimerUpdate(timerOvrHandlerRec_t *cbRec, captureCompare_
#endif #endif
timerState.phaseShiftUs = 0; timerState.phaseShiftUs = 0;
expressLrsOnTimerTockISR(); expressLrsOnTimerTockISR();
timerState.tickTock = TICK; timerState.tickTock = TICK;

2
src/main/drivers/rx/rx_sx127x.c
View file

@ -106,7 +106,7 @@ bool sx127xInit(IO_t resetPin, IO_t busyPin)
IOLo(resetPin); IOLo(resetPin);
delay(50); delay(50);
IOConfigGPIO(resetPin, IOCFG_IN_FLOATING); // leave floating IOConfigGPIO(resetPin, IOCFG_IN_FLOATING); // leave floating
return sx127xDetectChip(); return sx127xDetectChip();
} }

2
src/main/drivers/rx/rx_sx127x.h
View file

@ -294,7 +294,7 @@ typedef enum {
#define SX127x_FREQ_STEP 61.03515625 #define SX127x_FREQ_STEP 61.03515625
#define SX127x_FREQ_CORRECTION_MAX ((int32_t)(100000 / SX127x_FREQ_STEP)) #define SX127x_FREQ_CORRECTION_MAX ((int32_t)(100000 / SX127x_FREQ_STEP))
#define SX127x_FREQ_CORRECTION_MIN ((int32_t)(-100000 / SX127x_FREQ_STEP)) #define SX127x_FREQ_CORRECTION_MIN ((int32_t)(-100000 / SX127x_FREQ_STEP))
bool sx127xInit(IO_t resetPin, IO_t busyPin); bool sx127xInit(IO_t resetPin, IO_t busyPin);

8
src/main/drivers/rx/rx_sx1280.c
View file

@ -186,7 +186,7 @@ bool sx1280HandleFromTick(void)
return true; return true;
} }
} }
return false; return false;
} }
@ -822,7 +822,7 @@ static void sx1280GetPacketStats(extiCallbackRec_t *cb)
spiSequence(dev, segments); spiSequence(dev, segments);
} }
// Process and decode the RF packet // Process and decode the RF packet
static busStatus_e sx1280GetStatsCmdComplete(uint32_t arg) static busStatus_e sx1280GetStatsCmdComplete(uint32_t arg)
{ {
extDevice_t *dev = (extDevice_t *)arg; extDevice_t *dev = (extDevice_t *)arg;
@ -856,7 +856,7 @@ static busStatus_e sx1280IsFhssReq(uint32_t arg)
UNUSED(arg); UNUSED(arg);
if (expressLrsIsFhssReq()) { if (expressLrsIsFhssReq()) {
sx1280SetBusyFn(sx1280SetFrequency); sx1280SetBusyFn(sx1280SetFrequency);
} else { } else {
sx1280SetFreqComplete(arg); sx1280SetFreqComplete(arg);
} }
@ -941,7 +941,7 @@ static busStatus_e sx1280EnableIRQs(uint32_t arg)
} }
// Send telemetry response // Send telemetry response
static void sx1280SendTelemetryBuffer(extiCallbackRec_t *cb) static void sx1280SendTelemetryBuffer(extiCallbackRec_t *cb)
{ {
UNUSED(cb); UNUSED(cb);

10
src/main/fc/core.c
View file

@ -333,7 +333,7 @@ void updateArmingStatus(void)
// if, while the arm switch is enabled: // if, while the arm switch is enabled:
// - the user switches off crashflip, // - the user switches off crashflip,
// - and it was active, // - and it was active,
// - and the quad did not flip successfully, or we don't have that information // - and the quad did not flip successfully, or we don't have that information
// require an arm-disarm cycle by blocking tryArm() // require an arm-disarm cycle by blocking tryArm()
if (crashFlipModeActive && !IS_RC_MODE_ACTIVE(BOXCRASHFLIP) && !crashFlipSuccessful()) { if (crashFlipModeActive && !IS_RC_MODE_ACTIVE(BOXCRASHFLIP) && !crashFlipSuccessful()) {
@ -552,7 +552,7 @@ void tryArm(void)
if (crashFlipModeActive) { if (crashFlipModeActive) {
// flip was successful, continue into normal flight without need to disarm/rearm // flip was successful, continue into normal flight without need to disarm/rearm
// note: preceding disarm will have set motors to normal rotation direction // note: preceding disarm will have set motors to normal rotation direction
crashFlipModeActive = false; crashFlipModeActive = false;
} else { } else {
// when arming and not in crashflip mode, block entry to crashflip if delayed by the dshot beeper, // when arming and not in crashflip mode, block entry to crashflip if delayed by the dshot beeper,
// otherwise consider only the switch position // otherwise consider only the switch position
@ -993,7 +993,7 @@ void processRxModes(timeUs_t currentTimeUs)
beeper(BEEPER_CRASHFLIP_MODE); beeper(BEEPER_CRASHFLIP_MODE);
if (!IS_RC_MODE_ACTIVE(BOXCRASHFLIP)) { if (!IS_RC_MODE_ACTIVE(BOXCRASHFLIP)) {
// permit the option of staying disarmed if the crashflip switch is set to off while armed // permit the option of staying disarmed if the crashflip switch is set to off while armed
disarm(DISARM_REASON_SWITCH); disarm(DISARM_REASON_SWITCH);
} }
} }
#endif #endif
@ -1004,7 +1004,7 @@ void processRxModes(timeUs_t currentTimeUs)
bool canUseHorizonMode = true; bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) if ((IS_RC_MODE_ACTIVE(BOXANGLE)
|| failsafeIsActive() || failsafeIsActive()
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALT_HOLD_MODE
|| FLIGHT_MODE(ALT_HOLD_MODE) || FLIGHT_MODE(ALT_HOLD_MODE)
#endif #endif
@ -1021,7 +1021,7 @@ void processRxModes(timeUs_t currentTimeUs)
#ifdef USE_ALT_HOLD_MODE #ifdef USE_ALT_HOLD_MODE
// only if armed // only if armed
if (ARMING_FLAG(ARMED) if (ARMING_FLAG(ARMED)
// and either the alt_hold switch is activated, or are in failsafe // and either the alt_hold switch is activated, or are in failsafe
&& (IS_RC_MODE_ACTIVE(BOXALTHOLD) || failsafeIsActive()) && (IS_RC_MODE_ACTIVE(BOXALTHOLD) || failsafeIsActive())
// but not in GPS_RESCUE_MODE, ie if failsafe is active, must be in Landing Mode // but not in GPS_RESCUE_MODE, ie if failsafe is active, must be in Landing Mode

6
src/main/fc/rc.c
View file

@ -89,7 +89,7 @@ enum {
#ifdef USE_FEEDFORWARD #ifdef USE_FEEDFORWARD
static float feedforwardSmoothed[3]; static float feedforwardSmoothed[3];
static float feedforwardRaw[3]; static float feedforwardRaw[3];
static uint16_t feedforwardAveraging; static uint16_t feedforwardAveraging;
typedef struct laggedMovingAverageCombined_s { typedef struct laggedMovingAverageCombined_s {
laggedMovingAverage_t filter; laggedMovingAverage_t filter;
float buf[4]; float buf[4];
@ -526,7 +526,7 @@ FAST_CODE_NOINLINE void calculateFeedforward(const pidRuntime_t *pid, flight_dyn
float rxRate = currentRxRateHz; // 1e6f / currentRxIntervalUs; float rxRate = currentRxRateHz; // 1e6f / currentRxIntervalUs;
static float prevRcCommand[3]; // for rcCommandDelta test static float prevRcCommand[3]; // for rcCommandDelta test
static float prevRcCommandDeltaAbs[3]; // for duplicate interpolation static float prevRcCommandDeltaAbs[3]; // for duplicate interpolation
static float prevSetpoint[3]; // equals raw unless extrapolated forward static float prevSetpoint[3]; // equals raw unless extrapolated forward
static float prevSetpointSpeed[3]; // for setpointDelta calculation static float prevSetpointSpeed[3]; // for setpointDelta calculation
static float prevSetpointSpeedDelta[3]; // for duplicate extrapolation static float prevSetpointSpeedDelta[3]; // for duplicate extrapolation
static bool isPrevPacketDuplicate[3]; // to identify multiple identical packets static bool isPrevPacketDuplicate[3]; // to identify multiple identical packets
@ -698,7 +698,7 @@ FAST_CODE void processRcCommand(void)
for (int axis = FD_ROLL; axis <= FD_YAW; axis++) { for (int axis = FD_ROLL; axis <= FD_YAW; axis++) {
float angleRate; float angleRate;
#ifdef USE_GPS_RESCUE #ifdef USE_GPS_RESCUE
if ((axis == FD_YAW) && FLIGHT_MODE(GPS_RESCUE_MODE)) { if ((axis == FD_YAW) && FLIGHT_MODE(GPS_RESCUE_MODE)) {
// If GPS Rescue is active then override the setpointRate used in the // If GPS Rescue is active then override the setpointRate used in the

4
src/main/flight/alt_hold.c
View file

@ -107,7 +107,7 @@ void altHoldUpdateTargetAltitude(void)
const float lowThreshold = 0.5f * (autopilotConfig()->hover_throttle + PWM_RANGE_MIN); // halfway between hover and MIN, e.g. 1150 if hover is 1300 const float lowThreshold = 0.5f * (autopilotConfig()->hover_throttle + PWM_RANGE_MIN); // halfway between hover and MIN, e.g. 1150 if hover is 1300
const float highThreshold = 0.5f * (autopilotConfig()->hover_throttle + PWM_RANGE_MAX); // halfway between hover and MAX, e.g. 1650 if hover is 1300 const float highThreshold = 0.5f * (autopilotConfig()->hover_throttle + PWM_RANGE_MAX); // halfway between hover and MAX, e.g. 1650 if hover is 1300
float throttleAdjustmentFactor = 0.0f; float throttleAdjustmentFactor = 0.0f;
if (rcThrottle < lowThreshold) { if (rcThrottle < lowThreshold) {
throttleAdjustmentFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f); throttleAdjustmentFactor = scaleRangef(rcThrottle, PWM_RANGE_MIN, lowThreshold, -1.0f, 0.0f);
@ -142,7 +142,7 @@ void altHoldUpdate(void)
} }
void updateAltHoldState(timeUs_t currentTimeUs) { void updateAltHoldState(timeUs_t currentTimeUs) {
UNUSED(currentTimeUs); UNUSED(currentTimeUs);
// check for enabling Alt Hold, otherwise do as little as possible while inactive // check for enabling Alt Hold, otherwise do as little as possible while inactive
altHoldProcessTransitions(); altHoldProcessTransitions();

2
src/main/flight/autopilot.c
View file

@ -61,7 +61,7 @@ void altitudeControl(float targetAltitudeCm, float taskIntervalS, float vertical
const float itermRelax = (fabsf(altitudeErrorCm) < 200.0f) ? 1.0f : 0.1f; const float itermRelax = (fabsf(altitudeErrorCm) < 200.0f) ? 1.0f : 0.1f;
altitudeI += altitudeErrorCm * altitudePidCoeffs.Ki * itermRelax * taskIntervalS; altitudeI += altitudeErrorCm * altitudePidCoeffs.Ki * itermRelax * taskIntervalS;
// limit iTerm to not more than 200 throttle units // limit iTerm to not more than 200 throttle units
altitudeI = constrainf(altitudeI, -200.0f, 200.0f); altitudeI = constrainf(altitudeI, -200.0f, 200.0f);
const float altitudeD = verticalVelocity * altitudePidCoeffs.Kd; const float altitudeD = verticalVelocity * altitudePidCoeffs.Kd;

4
src/main/flight/failsafe.c
View file

@ -232,7 +232,7 @@ FAST_CODE_NOINLINE void failsafeUpdateState(void)
} }
bool receivingRxData = failsafeIsReceivingRxData(); bool receivingRxData = failsafeIsReceivingRxData();
// returns state of FAILSAFE_RXLINK_UP, which // returns state of FAILSAFE_RXLINK_UP, which
// goes false after the stage 1 delay, whether from signal loss or BOXFAILSAFE switch activation // goes false after the stage 1 delay, whether from signal loss or BOXFAILSAFE switch activation
// goes true immediately BOXFAILSAFE switch is reverted, or after recovery delay once signal recovers // goes true immediately BOXFAILSAFE switch is reverted, or after recovery delay once signal recovers
// essentially means 'should be in failsafe stage 2' // essentially means 'should be in failsafe stage 2'
@ -367,7 +367,7 @@ FAST_CODE_NOINLINE void failsafeUpdateState(void)
case FAILSAFE_GPS_RESCUE: case FAILSAFE_GPS_RESCUE:
if (receivingRxData) { if (receivingRxData) {
if (areSticksActive(failsafeConfig()->failsafe_stick_threshold) || failsafeState.boxFailsafeSwitchWasOn) { if (areSticksActive(failsafeConfig()->failsafe_stick_threshold) || failsafeState.boxFailsafeSwitchWasOn) {
// exits the rescue immediately if failsafe was initiated by switch, otherwise // exits the rescue immediately if failsafe was initiated by switch, otherwise
// requires stick input to exit the rescue after a true Rx loss failsafe // requires stick input to exit the rescue after a true Rx loss failsafe
// NB this test requires stick inputs to be received during GPS Rescue see PR #7936 for rationale // NB this test requires stick inputs to be received during GPS Rescue see PR #7936 for rationale
failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED; failsafeState.phase = FAILSAFE_RX_LOSS_RECOVERED;

14
src/main/flight/gps_rescue.c
View file

@ -140,7 +140,7 @@ void gpsRescueInit(void)
gain = pt1FilterGain(cutoffHz, 1.0f); gain = pt1FilterGain(cutoffHz, 1.0f);
pt1FilterInit(&velocityDLpf, gain); pt1FilterInit(&velocityDLpf, gain);
cutoffHz *= 4.0f; cutoffHz *= 4.0f;
gain = pt3FilterGain(cutoffHz, taskIntervalSeconds); gain = pt3FilterGain(cutoffHz, taskIntervalSeconds);
pt3FilterInit(&velocityUpsampleLpf, gain); pt3FilterInit(&velocityUpsampleLpf, gain);
} }
@ -509,7 +509,7 @@ static void sensorUpdate(void)
rescueState.sensor.errorAngle -= 360; rescueState.sensor.errorAngle -= 360;
} }
rescueState.sensor.absErrorAngle = fabsf(rescueState.sensor.errorAngle); rescueState.sensor.absErrorAngle = fabsf(rescueState.sensor.errorAngle);
DEBUG_SET(DEBUG_GPS_RESCUE_TRACKING, 4, lrintf(attitude.values.yaw)); // estimated heading of the quad (direction nose is pointing in) DEBUG_SET(DEBUG_GPS_RESCUE_TRACKING, 4, lrintf(attitude.values.yaw)); // estimated heading of the quad (direction nose is pointing in)
DEBUG_SET(DEBUG_GPS_RESCUE_TRACKING, 5, lrintf(rescueState.sensor.directionToHome)); // angle to home derived from GPS location and home position DEBUG_SET(DEBUG_GPS_RESCUE_TRACKING, 5, lrintf(rescueState.sensor.directionToHome)); // angle to home derived from GPS location and home position
@ -645,7 +645,7 @@ void descend(void)
// consider landing area to be a circle half landing height around home, to avoid overshooting home point // consider landing area to be a circle half landing height around home, to avoid overshooting home point
const float distanceToLandingAreaM = rescueState.sensor.distanceToHomeM - (0.5f * autopilotConfig()->landing_altitude_m); const float distanceToLandingAreaM = rescueState.sensor.distanceToHomeM - (0.5f * autopilotConfig()->landing_altitude_m);
const float proximityToLandingArea = constrainf(distanceToLandingAreaM / rescueState.intent.descentDistanceM, 0.0f, 1.0f); const float proximityToLandingArea = constrainf(distanceToLandingAreaM / rescueState.intent.descentDistanceM, 0.0f, 1.0f);
// increase the velocity lowpass filter cutoff for more aggressive responses when descending, especially close to home // increase the velocity lowpass filter cutoff for more aggressive responses when descending, especially close to home
// 1.5x when starting descent, 2.5x (smoother) when almost landed // 1.5x when starting descent, 2.5x (smoother) when almost landed
rescueState.intent.velocityPidCutoffModifier = 2.5f - proximityToLandingArea; rescueState.intent.velocityPidCutoffModifier = 2.5f - proximityToLandingArea;
@ -686,7 +686,7 @@ void descend(void)
// descend faster while the quad is at higher altitudes // descend faster while the quad is at higher altitudes
const float descentRateMultiplier = constrainf(rescueState.intent.targetAltitudeCm / 5000.0f, 0.0f, 1.0f); const float descentRateMultiplier = constrainf(rescueState.intent.targetAltitudeCm / 5000.0f, 0.0f, 1.0f);
altitudeStepCm *= 1.0f + (2.0f * descentRateMultiplier); altitudeStepCm *= 1.0f + (2.0f * descentRateMultiplier);
// maximum descent rate increase is 3x default above 50m, 2x above 25m, 1.2x at 5m, default by ground level // maximum descent rate increase is 3x default above 50m, 2x above 25m, 1.2x at 5m, default by ground level
// also increase throttle D up to 2x in the descent phase when altitude descent rate is faster, for better control // also increase throttle D up to 2x in the descent phase when altitude descent rate is faster, for better control
@ -821,14 +821,14 @@ void gpsRescueUpdate(void)
rescueState.intent.velocityItermRelax += 0.5f * taskIntervalSeconds * (1.0f - rescueState.intent.velocityItermRelax); rescueState.intent.velocityItermRelax += 0.5f * taskIntervalSeconds * (1.0f - rescueState.intent.velocityItermRelax);
// there is always a lot of lag at the start, this gradual start avoids excess iTerm accumulation // there is always a lot of lag at the start, this gradual start avoids excess iTerm accumulation
rescueState.intent.velocityPidCutoffModifier = 2.0f - rescueState.intent.velocityItermRelax; rescueState.intent.velocityPidCutoffModifier = 2.0f - rescueState.intent.velocityItermRelax;
// higher velocity filter cutoff for initial few seconds to improve accuracy; can be smoother later // higher velocity filter cutoff for initial few seconds to improve accuracy; can be smoother later
if (newGPSData) { if (newGPSData) {
// cut back on allowed angle if there is a high groundspeed error // cut back on allowed angle if there is a high groundspeed error
rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->maxRescueAngle; rescueState.intent.pitchAngleLimitDeg = gpsRescueConfig()->maxRescueAngle;
// introduce roll slowly and limit to half the max pitch angle; earth referenced yaw may add more roll via angle code // introduce roll slowly and limit to half the max pitch angle; earth referenced yaw may add more roll via angle code
rescueState.intent.rollAngleLimitDeg = 0.5f * rescueState.intent.pitchAngleLimitDeg * rescueState.intent.velocityItermRelax; rescueState.intent.rollAngleLimitDeg = 0.5f * rescueState.intent.pitchAngleLimitDeg * rescueState.intent.velocityItermRelax;
if (rescueState.sensor.distanceToHomeM <= rescueState.intent.descentDistanceM) { if (rescueState.sensor.distanceToHomeM <= rescueState.intent.descentDistanceM) {
rescueState.phase = RESCUE_DESCENT; rescueState.phase = RESCUE_DESCENT;
rescueState.intent.secondsFailing = 0; // reset sanity timer for descent rescueState.intent.secondsFailing = 0; // reset sanity timer for descent
@ -907,7 +907,7 @@ bool gpsRescueIsDisabled(void)
#ifdef USE_MAG #ifdef USE_MAG
bool gpsRescueDisableMag(void) bool gpsRescueDisableMag(void)
{ {
// Enable mag on user request, but don't use it during fly home or if force disabled // Enable mag on user request, but don't use it during fly home or if force disabled
// Note that while flying home the course over ground from GPS provides a heading that is less affected by wind // Note that while flying home the course over ground from GPS provides a heading that is less affected by wind
return !(gpsRescueConfig()->useMag && rescueState.phase != RESCUE_FLY_HOME && !magForceDisable); return !(gpsRescueConfig()->useMag && rescueState.phase != RESCUE_FLY_HOME && !magForceDisable);
} }

8
src/main/flight/imu.c
View file

@ -439,7 +439,7 @@ static float imuCalcGroundspeedGain(float dt)
} }
// NOTE : these suppressions make sense with normal pilot inputs and normal flight // NOTE : these suppressions make sense with normal pilot inputs and normal flight
// They are not used in GPS Rescue, and probably should be bypassed in position hold, etc, // They are not used in GPS Rescue, and probably should be bypassed in position hold, etc,
return speedBasedGain * stickSuppression * rollSuppression * pitchSuppression; return speedBasedGain * stickSuppression * rollSuppression * pitchSuppression;
} }
@ -488,7 +488,7 @@ static void imuDebug_GPS_RESCUE_HEADING(void)
// Encapsulate additional operations in a block so that it is only executed when the according debug mode is used // Encapsulate additional operations in a block so that it is only executed when the according debug mode is used
// Only re-calculate magYaw when there is a new Mag data reading, to avoid spikes // Only re-calculate magYaw when there is a new Mag data reading, to avoid spikes
if (debugMode == DEBUG_GPS_RESCUE_HEADING && mag.isNewMagADCFlag) { if (debugMode == DEBUG_GPS_RESCUE_HEADING && mag.isNewMagADCFlag) {
vector3_t mag_bf = mag.magADC; vector3_t mag_bf = mag.magADC;
vector3_t mag_ef; vector3_t mag_ef;
matrixVectorMul(&mag_ef, &rMat, &mag_bf); // BF->EF true north matrixVectorMul(&mag_ef, &rMat, &mag_bf); // BF->EF true north
@ -498,7 +498,7 @@ static void imuDebug_GPS_RESCUE_HEADING(void)
vector3_t mag_ef_yawed; vector3_t mag_ef_yawed;
matrixVectorMul(&mag_ef_yawed, &rMatZTrans, &mag_ef); // EF->EF yawed matrixVectorMul(&mag_ef_yawed, &rMatZTrans, &mag_ef); // EF->EF yawed
// Magnetic yaw is the angle between true north and the X axis of the body frame // Magnetic yaw is the angle between true north and the X axis of the body frame
int16_t magYaw = lrintf((atan2_approx(mag_ef_yawed.y, mag_ef_yawed.x) * (1800.0f / M_PIf))); int16_t magYaw = lrintf((atan2_approx(mag_ef_yawed.y, mag_ef_yawed.x) * (1800.0f / M_PIf)));
if (magYaw < 0) { if (magYaw < 0) {
@ -724,7 +724,7 @@ void imuUpdateAttitude(timeUs_t currentTimeUs)
// Update the throttle correction for angle and supply it to the mixer // Update the throttle correction for angle and supply it to the mixer
int throttleAngleCorrection = 0; int throttleAngleCorrection = 0;
if (throttleAngleValue if (throttleAngleValue
&& (FLIGHT_MODE(ANGLE_MODE | HORIZON_MODE)) && (FLIGHT_MODE(ANGLE_MODE | HORIZON_MODE))
&& ARMING_FLAG(ARMED)) { && ARMING_FLAG(ARMED)) {
throttleAngleCorrection = calculateThrottleAngleCorrection(); throttleAngleCorrection = calculateThrottleAngleCorrection();
} }

2
src/main/flight/mixer.c
View file

@ -388,7 +388,7 @@ static bool applyCrashFlipModeToMotors(void)
// set motors to disarm value when intended increase is less than deadband value // set motors to disarm value when intended increase is less than deadband value
motorOutput = (motorOutputNormalised < CRASHFLIP_MOTOR_DEADBAND) ? mixerRuntime.disarmMotorOutput : motorOutput; motorOutput = (motorOutputNormalised < CRASHFLIP_MOTOR_DEADBAND) ? mixerRuntime.disarmMotorOutput : motorOutput;
motor[i] = motorOutput; motor[i] = motorOutput;
} }

6
src/main/flight/pid.c
View file

@ -389,7 +389,7 @@ void pidUpdateTpaFactor(float throttle)
DEBUG_SET(DEBUG_TPA, 0, lrintf(tpaFactor * 1000)); DEBUG_SET(DEBUG_TPA, 0, lrintf(tpaFactor * 1000));
pidRuntime.tpaFactor = tpaFactor; pidRuntime.tpaFactor = tpaFactor;
#ifdef USE_WING #ifdef USE_WING
switch (currentPidProfile->yaw_type) { switch (currentPidProfile->yaw_type) {
case YAW_TYPE_DIFF_THRUST: case YAW_TYPE_DIFF_THRUST:
@ -499,7 +499,7 @@ STATIC_UNIT_TESTED FAST_CODE_NOINLINE float pidLevel(int axis, const pidProfile_
#ifdef USE_WING #ifdef USE_WING
if (axis == FD_PITCH) { if (axis == FD_PITCH) {
angleTarget += (float)pidProfile->angle_pitch_offset / 10.0f; angleTarget += (float)pidProfile->angle_pitch_offset / 10.0f;
} }
#endif // USE_WING #endif // USE_WING
@ -997,7 +997,7 @@ NOINLINE static void applySpa(int axis, const pidProfile_t *pidProfile)
static float getTpaFactor(const pidProfile_t *pidProfile, int axis, term_e term) static float getTpaFactor(const pidProfile_t *pidProfile, int axis, term_e term)
{ {
float tpaFactor = pidRuntime.tpaFactor; float tpaFactor = pidRuntime.tpaFactor;
#ifdef USE_WING #ifdef USE_WING
if (axis == FD_YAW) { if (axis == FD_YAW) {
tpaFactor = pidRuntime.tpaFactorYaw; tpaFactor = pidRuntime.tpaFactorYaw;

8
src/main/flight/position.c
View file

@ -165,14 +165,14 @@ void calculateEstimatedAltitude(void)
} }
} else { } else {
gpsTrust = 0.0f; gpsTrust = 0.0f;
// TO DO - smoothly reduce GPS trust, rather than immediately dropping to zero for what could be only a very brief loss of 3D fix // TO DO - smoothly reduce GPS trust, rather than immediately dropping to zero for what could be only a very brief loss of 3D fix
} }
DEBUG_SET(DEBUG_ALTITUDE, 2, lrintf(zeroedAltitudeCm / 10.0f)); // Relative altitude above takeoff, to 0.1m, rolls over at 3,276.7m DEBUG_SET(DEBUG_ALTITUDE, 2, lrintf(zeroedAltitudeCm / 10.0f)); // Relative altitude above takeoff, to 0.1m, rolls over at 3,276.7m
// Empirical mixing of GPS and Baro altitudes // Empirical mixing of GPS and Baro altitudes
if (useZeroedGpsAltitude && (positionConfig()->altitude_source == DEFAULT || positionConfig()->altitude_source == GPS_ONLY)) { if (useZeroedGpsAltitude && (positionConfig()->altitude_source == DEFAULT || positionConfig()->altitude_source == GPS_ONLY)) {
if (haveBaroAlt && positionConfig()->altitude_source == DEFAULT) { if (haveBaroAlt && positionConfig()->altitude_source == DEFAULT) {
// mix zeroed GPS with Baro altitude data, if Baro data exists if are in default altitude control mode // mix zeroed GPS with Baro altitude data, if Baro data exists if are in default altitude control mode
const float absDifferenceM = fabsf(zeroedAltitudeCm - baroAltCm) / 100.0f * positionConfig()->altitude_prefer_baro / 100.0f; const float absDifferenceM = fabsf(zeroedAltitudeCm - baroAltCm) / 100.0f * positionConfig()->altitude_prefer_baro / 100.0f;
if (absDifferenceM > 1.0f) { // when there is a large difference, favour Baro if (absDifferenceM > 1.0f) { // when there is a large difference, favour Baro
gpsTrust /= absDifferenceM; gpsTrust /= absDifferenceM;
@ -202,7 +202,7 @@ void calculateEstimatedAltitude(void)
estimatedVario = lrintf(zeroedAltitudeDerivative); estimatedVario = lrintf(zeroedAltitudeDerivative);
estimatedVario = applyDeadband(estimatedVario, 10); // ignore climb rates less than 0.1 m/s estimatedVario = applyDeadband(estimatedVario, 10); // ignore climb rates less than 0.1 m/s
#endif #endif
// *** set debugs // *** set debugs
DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust)); DEBUG_SET(DEBUG_ALTITUDE, 0, (int32_t)(100 * gpsTrust));
DEBUG_SET(DEBUG_ALTITUDE, 1, lrintf(baroAltCm / 10.0f)); // Relative altitude above takeoff, to 0.1m, rolls over at 3,276.7m DEBUG_SET(DEBUG_ALTITUDE, 1, lrintf(baroAltCm / 10.0f)); // Relative altitude above takeoff, to 0.1m, rolls over at 3,276.7m

36
src/main/io/gps.c
View file

@ -314,7 +314,7 @@ typedef struct ubxMessage_s {
typedef enum { typedef enum {
UBLOX_DETECT_UNIT, // 0 UBLOX_DETECT_UNIT, // 0
UBLOX_SLOW_NAV_RATE, // 1. UBLOX_SLOW_NAV_RATE, // 1.
UBLOX_MSG_DISABLE_NMEA, // 2. Disable NMEA, config message UBLOX_MSG_DISABLE_NMEA, // 2. Disable NMEA, config message
UBLOX_MSG_VGS, // 3. VGS: Course over ground and Ground speed UBLOX_MSG_VGS, // 3. VGS: Course over ground and Ground speed
UBLOX_MSG_GSV, // 4. GSV: GNSS Satellites in View UBLOX_MSG_GSV, // 4. GSV: GNSS Satellites in View
@ -627,35 +627,35 @@ static void ubloxSendNAV5Message(uint8_t model) {
// payload[2] = (uint8_t)(0 >> (8 * 2)); // payload[2] = (uint8_t)(0 >> (8 * 2));
// payload[3] = (uint8_t)(0 >> (8 * 3)); // all payloads are zero, the default MSL for 2D fix // payload[3] = (uint8_t)(0 >> (8 * 3)); // all payloads are zero, the default MSL for 2D fix
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_CONSTR_ALT, payload, offset); // 23 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_CONSTR_ALT, payload, offset); // 23
// //
// payload[0] = (uint8_t)(10000 >> (8 * 0)); // payload[0] = (uint8_t)(10000 >> (8 * 0));
// payload[1] = (uint8_t)(10000 >> (8 * 1)); // payload[1] = (uint8_t)(10000 >> (8 * 1));
// payload[2] = (uint8_t)(10000 >> (8 * 2)); // payload[2] = (uint8_t)(10000 >> (8 * 2));
// payload[3] = (uint8_t)(10000 >> (8 * 3)); // // all payloads are 1000, the default 2D variance factor // payload[3] = (uint8_t)(10000 >> (8 * 3)); // // all payloads are 1000, the default 2D variance factor
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_CONSTR_ALTVAR, payload, offset); // 31 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_CONSTR_ALTVAR, payload, offset); // 31
// //
// payload[0] = 5; // sets the default minimum elevation in degrees to the default of 5 // payload[0] = 5; // sets the default minimum elevation in degrees to the default of 5
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_INFIL_MINELEV, payload, offset); // 36 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_INFIL_MINELEV, payload, offset); // 36
// //
// payload[0] = (uint8_t)(250 >> (8 * 0)); // payload[0] = (uint8_t)(250 >> (8 * 0));
// payload[1] = (uint8_t)(250 >> (8 * 1)); // sets the output filter PDOP mask to default of 250 // payload[1] = (uint8_t)(250 >> (8 * 1)); // sets the output filter PDOP mask to default of 250
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_PDOP, payload, offset); // 42 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_PDOP, payload, offset); // 42
// //
// payload[0] = (uint8_t)(250 >> (8 * 0)); // payload[0] = (uint8_t)(250 >> (8 * 0));
// payload[1] = (uint8_t)(250 >> (8 * 1)); // payload[1] = (uint8_t)(250 >> (8 * 1));
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_TDOP, payload, offset); // 48 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_TDOP, payload, offset); // 48
// //
// payload[0] = (uint8_t)(100 >> (8 * 0)); // payload[0] = (uint8_t)(100 >> (8 * 0));
// payload[1] = (uint8_t)(100 >> (8 * 1)); // payload[1] = (uint8_t)(100 >> (8 * 1));
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_PACC, payload, offset); // 54 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_PACC, payload, offset); // 54
// //
// payload[0] = (uint8_t)(300 >> (8 * 0)); // payload[0] = (uint8_t)(300 >> (8 * 0));
// payload[1] = (uint8_t)(300 >> (8 * 1)); // payload[1] = (uint8_t)(300 >> (8 * 1));
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_TACC, payload, offset); // 60 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_OUTFIL_TACC, payload, offset); // 60
// //
// payload[0] = 0; // payload[0] = 0;
// offset += ubloxAddValSet(&tx_buffer, CFG_MOT_GNSSSPEED_THRS, payload, offset); // 65 // offset += ubloxAddValSet(&tx_buffer, CFG_MOT_GNSSSPEED_THRS, payload, offset); // 65
// //
// payload[0] = (uint8_t)(200 >> (8 * 0)); // payload[0] = (uint8_t)(200 >> (8 * 0));
// payload[1] = (uint8_t)(200 >> (8 * 1)); // payload[1] = (uint8_t)(200 >> (8 * 1));
// offset += ubloxAddValSet(&tx_buffer, CFG_MOT_GNSSDIST_THRS, payload, offset); // 71 // offset += ubloxAddValSet(&tx_buffer, CFG_MOT_GNSSDIST_THRS, payload, offset); // 71
@ -665,7 +665,7 @@ static void ubloxSendNAV5Message(uint8_t model) {
// payload[0] = 0; // payload[0] = 0;
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_INFIL_NCNOTHRS, payload, offset); // 81 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_INFIL_NCNOTHRS, payload, offset); // 81
// //
// payload[0] = 0; // payload[0] = 0;
// offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_INFIL_CNOTHRS, payload, offset); // 86 // offset += ubloxAddValSet(&tx_buffer, CFG_NAVSPG_INFIL_CNOTHRS, payload, offset); // 86
@ -697,18 +697,18 @@ static void ubloxSendNAV5Message(uint8_t model) {
// *** Assist Now Autonomous temporarily disabled until a subsequent PR either includes, or removes it *** // *** Assist Now Autonomous temporarily disabled until a subsequent PR either includes, or removes it ***
// static void ubloxSendNavX5Message(void) { // static void ubloxSendNavX5Message(void) {
// ubxMessage_t tx_buffer; // ubxMessage_t tx_buffer;
// //
// if (gpsData.ubloxM9orAbove) { // if (gpsData.ubloxM9orAbove) {
// uint8_t payload[1]; // uint8_t payload[1];
// payload[0] = 1; // payload[0] = 1;
// size_t offset = ubloxValSet(&tx_buffer, CFG_ANA_USE_ANA, payload, UBX_VAL_LAYER_RAM); // 5 // size_t offset = ubloxValSet(&tx_buffer, CFG_ANA_USE_ANA, payload, UBX_VAL_LAYER_RAM); // 5
// //
// ubloxSendConfigMessage(&tx_buffer, MSG_CFG_VALSET, offsetof(ubxCfgValSet_t, cfgData) + offset, true); // ubloxSendConfigMessage(&tx_buffer, MSG_CFG_VALSET, offsetof(ubxCfgValSet_t, cfgData) + offset, true);
// } else { // } else {
// memset(&tx_buffer, 0, sizeof(ubxMessage_t)); // memset(&tx_buffer, 0, sizeof(ubxMessage_t));
// //
// tx_buffer.payload.cfg_nav5x.version = 0x0002; // tx_buffer.payload.cfg_nav5x.version = 0x0002;
// //
// tx_buffer.payload.cfg_nav5x.mask1 = 0x4000; // tx_buffer.payload.cfg_nav5x.mask1 = 0x4000;
// tx_buffer.payload.cfg_nav5x.mask2 = 0x0; // tx_buffer.payload.cfg_nav5x.mask2 = 0x0;
// tx_buffer.payload.cfg_nav5x.minSVs = 0; // tx_buffer.payload.cfg_nav5x.minSVs = 0;
@ -720,11 +720,11 @@ static void ubloxSendNAV5Message(uint8_t model) {
// tx_buffer.payload.cfg_nav5x.wknRollover = 0; // tx_buffer.payload.cfg_nav5x.wknRollover = 0;
// tx_buffer.payload.cfg_nav5x.sigAttenCompMode = 0; // tx_buffer.payload.cfg_nav5x.sigAttenCompMode = 0;
// tx_buffer.payload.cfg_nav5x.usePPP = 0; // tx_buffer.payload.cfg_nav5x.usePPP = 0;
// //
// tx_buffer.payload.cfg_nav5x.aopCfg = 0x1; //bit 0 = useAOP // tx_buffer.payload.cfg_nav5x.aopCfg = 0x1; //bit 0 = useAOP
// //
// tx_buffer.payload.cfg_nav5x.useAdr = 0; // tx_buffer.payload.cfg_nav5x.useAdr = 0;
// //
// ubloxSendConfigMessage(&tx_buffer, MSG_CFG_NAVX_SETTINGS, sizeof(ubxCfgNav5x_t), false); // ubloxSendConfigMessage(&tx_buffer, MSG_CFG_NAVX_SETTINGS, sizeof(ubxCfgNav5x_t), false);
// } // }
// } // }
@ -952,7 +952,7 @@ static void setSatInfoMessageRate(uint8_t divisor)
void gpsConfigureNmea(void) void gpsConfigureNmea(void)
{ {
// minimal support for NMEA, we only: // minimal support for NMEA, we only:
// - set the FC's GPS port to the user's configured rate, and // - set the FC's GPS port to the user's configured rate, and
// - send any NMEA custom commands to the GPS Module // - send any NMEA custom commands to the GPS Module
// the user must configure the power-up baud rate of the module to be fast enough for their data rate // the user must configure the power-up baud rate of the module to be fast enough for their data rate
// Note: we always parse all incoming NMEA messages // Note: we always parse all incoming NMEA messages

4
src/main/io/ledstrip.c
View file

@ -356,7 +356,7 @@ static const char directionCodes[LED_DIRECTION_COUNT] = {
[LED_DIRECTION_DOWN] = 'D' [LED_DIRECTION_DOWN] = 'D'
}; };
static const char baseFunctionCodes[LED_BASEFUNCTION_COUNT] = { static const char baseFunctionCodes[LED_BASEFUNCTION_COUNT] = {
[LED_FUNCTION_COLOR] = 'C', [LED_FUNCTION_COLOR] = 'C',
[LED_FUNCTION_FLIGHT_MODE] = 'F', [LED_FUNCTION_FLIGHT_MODE] = 'F',
[LED_FUNCTION_ARM_STATE] = 'A', [LED_FUNCTION_ARM_STATE] = 'A',
[LED_FUNCTION_BATTERY] = 'L', [LED_FUNCTION_BATTERY] = 'L',
@ -622,7 +622,7 @@ static void applyLedFixedLayers(void)
} else { } else {
color = HSV(RED); color = HSV(RED);
hOffset += MAX(scaleRange(gpsSol.numSat, 0, minSats, -30, 120), 0); hOffset += MAX(scaleRange(gpsSol.numSat, 0, minSats, -30, 120), 0);
} }
} }
break; break;
} }

6
src/main/msc/emfat.h
View file

@ -8,17 +8,17 @@
* The MIT License (MIT) * The MIT License (MIT)
* *
* Copyright (c) 2015 by Sergey Fetisov <fsenok@gmail.com> * Copyright (c) 2015 by Sergey Fetisov <fsenok@gmail.com>
* *
* Permission is hereby granted, free of charge, to any person obtaining a copy * Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal * of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights * in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is * copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions: * furnished to do so, subject to the following conditions:
* *
* The above copyright notice and this permission notice shall be included in all * The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software. * copies or substantial portions of the Software.
* *
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE

2
src/main/msp/msp_build_info.c
View file

@ -35,7 +35,7 @@
#include "msp/msp_build_info.h" #include "msp/msp_build_info.h"
void sbufWriteBuildInfoFlags(sbuf_t *dst) void sbufWriteBuildInfoFlags(sbuf_t *dst)
{ {
static const uint16_t options[] = { static const uint16_t options[] = {
#ifdef USE_SERIALRX_CRSF #ifdef USE_SERIALRX_CRSF

2
src/main/osd/osd.c
View file

@ -361,7 +361,7 @@ void pgResetFn_osdConfig(osdConfig_t *osdConfig)
#ifdef USE_RC_STATS #ifdef USE_RC_STATS
osdStatSetState(OSD_STAT_FULL_THROTTLE_TIME, true); osdStatSetState(OSD_STAT_FULL_THROTTLE_TIME, true);
osdStatSetState(OSD_STAT_FULL_THROTTLE_COUNTER, true); osdStatSetState(OSD_STAT_FULL_THROTTLE_COUNTER, true);
osdStatSetState(OSD_STAT_AVG_THROTTLE, true); osdStatSetState(OSD_STAT_AVG_THROTTLE, true);
#endif #endif
osdConfig->timers[OSD_TIMER_1] = osdTimerDefault[OSD_TIMER_1]; osdConfig->timers[OSD_TIMER_1] = osdTimerDefault[OSD_TIMER_1];

2
src/main/osd/osd_elements.c
View file

@ -323,7 +323,7 @@ int osdConvertTemperatureToSelectedUnit(int tempInDegreesCelcius)
static void osdFormatAltitudeString(char * buff, int32_t altitudeCm, osdElementType_e variantType) static void osdFormatAltitudeString(char * buff, int32_t altitudeCm, osdElementType_e variantType)
{ {
static const struct { static const struct {
uint8_t decimals; uint8_t decimals;
bool asl; bool asl;
} variantMap[] = { } variantMap[] = {
[OSD_ELEMENT_TYPE_1] = { 1, false }, [OSD_ELEMENT_TYPE_1] = { 1, false },

2
src/main/rx/cc2500_frsky_x.c
View file

@ -311,7 +311,7 @@ bool isValidPacket(const uint8_t *packet)
} }
} }
uint16_t lcrc = calculateCrc(&packet[3], (packetLength - 7)); uint16_t lcrc = calculateCrc(&packet[3], (packetLength - 7));
if ((lcrc >> 8) == packet[packetLength - 4] && (lcrc & 0x00FF) == packet[packetLength - 3] && if ((lcrc >> 8) == packet[packetLength - 4] && (lcrc & 0x00FF) == packet[packetLength - 3] &&
(packet[0] == packetLength - 3) && (packet[0] == packetLength - 3) &&

14
src/main/rx/expresslrs.c
View file

@ -201,7 +201,7 @@ static uint8_t mspBuffer[ELRS_MSP_BUFFER_SIZE];
static void setRssiChannelData(uint16_t *rcData) static void setRssiChannelData(uint16_t *rcData)
{ {
rcData[ELRS_LQ_CHANNEL] = scaleRange(receiver.uplinkLQ, 0, 100, 988, 2011); rcData[ELRS_LQ_CHANNEL] = scaleRange(receiver.uplinkLQ, 0, 100, 988, 2011);
rcData[ELRS_RSSI_CHANNEL] = scaleRange(constrain(receiver.rssiFiltered, receiver.rfPerfParams->sensitivity, -50), receiver.rfPerfParams->sensitivity, -50, 988, 2011); rcData[ELRS_RSSI_CHANNEL] = scaleRange(constrain(receiver.rssiFiltered, receiver.rfPerfParams->sensitivity, -50), receiver.rfPerfParams->sensitivity, -50, 988, 2011);
} }
static void unpackAnalogChannelData(uint16_t *rcData, volatile elrsOtaPacket_t const * const otaPktPtr) static void unpackAnalogChannelData(uint16_t *rcData, volatile elrsOtaPacket_t const * const otaPktPtr)
@ -233,7 +233,7 @@ static void unpackAnalogChannelData(uint16_t *rcData, volatile elrsOtaPacket_t c
* 2 bits for the low latency switch[0] * 2 bits for the low latency switch[0]
* 3 bits for the round-robin switch index and 2 bits for the value * 3 bits for the round-robin switch index and 2 bits for the value
* 4 analog channels, 1 low latency switch and round robin switch data = 47 bits (1 free) * 4 analog channels, 1 low latency switch and round robin switch data = 47 bits (1 free)
* *
* sets telemetry status bit * sets telemetry status bit
*/ */
static void unpackChannelDataHybridSwitch8(uint16_t *rcData, volatile elrsOtaPacket_t const * const otaPktPtr) static void unpackChannelDataHybridSwitch8(uint16_t *rcData, volatile elrsOtaPacket_t const * const otaPktPtr)
@ -242,7 +242,7 @@ static void unpackChannelDataHybridSwitch8(uint16_t *rcData, volatile elrsOtaPac
const uint8_t switchByte = otaPktPtr->rc.switches; const uint8_t switchByte = otaPktPtr->rc.switches;
// The round-robin switch, switchIndex is actually index-1 // The round-robin switch, switchIndex is actually index-1
// to leave the low bit open for switch 7 (sent as 0b11x) // to leave the low bit open for switch 7 (sent as 0b11x)
// where x is the high bit of switch 7 // where x is the high bit of switch 7
uint8_t switchIndex = (switchByte & 0x38) >> 3; uint8_t switchIndex = (switchByte & 0x38) >> 3;
@ -316,7 +316,7 @@ static bool domainIsTeam24(void)
#ifdef USE_RX_SX1280 #ifdef USE_RX_SX1280
const elrsFreqDomain_e domain = rxExpressLrsSpiConfig()->domain; const elrsFreqDomain_e domain = rxExpressLrsSpiConfig()->domain;
return (domain == ISM2400) || (domain == CE2400); return (domain == ISM2400) || (domain == CE2400);
#else #else
return false; return false;
#endif #endif
} }
@ -420,7 +420,7 @@ static void expressLrsSendTelemResp(void)
if (nextTelemetryType == ELRS_TELEMETRY_TYPE_LINK || !isTelemetrySenderActive()) { if (nextTelemetryType == ELRS_TELEMETRY_TYPE_LINK || !isTelemetrySenderActive()) {
otaPkt.tlm_dl.type = ELRS_TELEMETRY_TYPE_LINK; otaPkt.tlm_dl.type = ELRS_TELEMETRY_TYPE_LINK;
otaPkt.tlm_dl.ul_link_stats.uplink_RSSI_1 = receiver.rssiFiltered > 0 ? 0 : -receiver.rssiFiltered; otaPkt.tlm_dl.ul_link_stats.uplink_RSSI_1 = receiver.rssiFiltered > 0 ? 0 : -receiver.rssiFiltered;
otaPkt.tlm_dl.ul_link_stats.uplink_RSSI_2 = 0; //diversity not supported otaPkt.tlm_dl.ul_link_stats.uplink_RSSI_2 = 0; //diversity not supported
otaPkt.tlm_dl.ul_link_stats.antenna = 0; otaPkt.tlm_dl.ul_link_stats.antenna = 0;
otaPkt.tlm_dl.ul_link_stats.modelMatch = connectionHasModelMatch; otaPkt.tlm_dl.ul_link_stats.modelMatch = connectionHasModelMatch;
@ -1097,7 +1097,7 @@ static void enterBindingMode(void)
receiver.UID = BindingUID; receiver.UID = BindingUID;
crcInitializer = 0; crcInitializer = 0;
receiver.inBindingMode = true; receiver.inBindingMode = true;
setRfLinkRate(bindingRateIndex); setRfLinkRate(bindingRateIndex);
receiver.startReceiving(); receiver.startReceiving();
} }
@ -1106,7 +1106,7 @@ void expressLrsDoTelem(void)
{ {
expressLrsHandleTelemetryUpdate(); expressLrsHandleTelemetryUpdate();
expressLrsSendTelemResp(); expressLrsSendTelemResp();
if (!expressLrsTelemRespReq() && lqPeriodIsSet()) { if (!expressLrsTelemRespReq() && lqPeriodIsSet()) {
// TODO No need to handle this on SX1280, but will on SX127x // TODO No need to handle this on SX1280, but will on SX127x
// TODO this needs to be DMA aswell, SX127x unlikely to work right now // TODO this needs to be DMA aswell, SX127x unlikely to work right now

2
src/main/rx/expresslrs_common.c
View file

@ -335,7 +335,7 @@ uint16_t convertSwitch1b(const uint16_t val)
} }
// 3b to decode 7 pos switches // 3b to decode 7 pos switches
uint16_t convertSwitch3b(const uint16_t val) uint16_t convertSwitch3b(const uint16_t val)
{ {
switch (val) { switch (val) {
case 0: return 1000; case 0: return 1000;

10
src/main/rx/nrf24_kn.c
View file

@ -95,21 +95,21 @@ static void decode_bind_packet(uint8_t *packet)
txid[2] = packet[6]; txid[2] = packet[6];
txid[3] = packet[7]; txid[3] = packet[7];
txid[4] = 0x4b; txid[4] = 0x4b;
kn_freq_hopping[0] = packet[8]; kn_freq_hopping[0] = packet[8];
kn_freq_hopping[1] = packet[9]; kn_freq_hopping[1] = packet[9];
kn_freq_hopping[2] = packet[10]; kn_freq_hopping[2] = packet[10];
kn_freq_hopping[3] = packet[11]; kn_freq_hopping[3] = packet[11];
if (packet[15]==0x01) { if (packet[15]==0x01) {
NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_1Mbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm); NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_1Mbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
} else { } else {
NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_250Kbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm); NRF24L01_WriteReg(NRF24L01_06_RF_SETUP, NRF24L01_06_RF_SETUP_RF_DR_250Kbps | NRF24L01_06_RF_SETUP_RF_PWR_n12dbm);
} }
NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, txid, RX_TX_ADDR_LEN); NRF24L01_WriteRegisterMulti(NRF24L01_0A_RX_ADDR_P0, txid, RX_TX_ADDR_LEN);
NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, txid, RX_TX_ADDR_LEN); NRF24L01_WriteRegisterMulti(NRF24L01_10_TX_ADDR, txid, RX_TX_ADDR_LEN);
bind_phase = PHASE_BOUND; bind_phase = PHASE_BOUND;
rx_timeout = 1000L; // find the channel as fast as possible rx_timeout = 1000L; // find the channel as fast as possible
} }
@ -126,7 +126,7 @@ static rx_spi_received_e decode_packet(uint8_t *packet)
// Restore regular interval // Restore regular interval
rx_timeout = 13000L; // 13ms if data received rx_timeout = 13000L; // 13ms if data received
bind_phase = PHASE_RECEIVED; bind_phase = PHASE_RECEIVED;
for (int i = 0; i < 4; ++i) { for (int i = 0; i < 4; ++i) {
uint16_t a = packet[i*2]; uint16_t a = packet[i*2];
uint16_t b = packet[(i*2)+1]; uint16_t b = packet[(i*2)+1];

2
src/main/rx/rx.c
View file

@ -578,7 +578,7 @@ FAST_CODE_NOINLINE void rxFrameCheck(timeUs_t currentTimeUs, timeDelta_t current
} }
} }
#endif #endif
DEBUG_SET(DEBUG_FAILSAFE, 1, rxSignalReceived); DEBUG_SET(DEBUG_FAILSAFE, 1, rxSignalReceived);
DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 0, rxSignalReceived); DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 0, rxSignalReceived);
} }

8
src/main/sensors/compass.c
View file

@ -96,7 +96,7 @@ PG_REGISTER_WITH_RESET_FN(compassConfig_t, compassConfig, PG_COMPASS_CONFIG, 4);
#define COMPASS_BUS_BUSY_INTERVAL_US 500 #define COMPASS_BUS_BUSY_INTERVAL_US 500
// If we check for new mag data, and there is none, try again in 1000us // If we check for new mag data, and there is none, try again in 1000us
#define COMPASS_RECHECK_INTERVAL_US 1000 #define COMPASS_RECHECK_INTERVAL_US 1000
// default compass read interval, for those with no specified ODR, will be TASK_COMPASS_RATE_HZ // default compass read interval, for those with no specified ODR, will be TASK_COMPASS_RATE_HZ
static uint32_t compassReadIntervalUs = TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ); static uint32_t compassReadIntervalUs = TASK_PERIOD_HZ(TASK_COMPASS_RATE_HZ);
void pgResetFn_compassConfig(compassConfig_t *compassConfig) void pgResetFn_compassConfig(compassConfig_t *compassConfig)
@ -502,7 +502,7 @@ uint32_t compassUpdate(timeUs_t currentTimeUs)
// there was no movement, and no new calibration values were saved // there was no movement, and no new calibration values were saved
beeper(BEEPER_ACC_CALIBRATION_FAIL); // calibration fail beep beeper(BEEPER_ACC_CALIBRATION_FAIL); // calibration fail beep
} }
// didMovementStart remains true until next run // didMovementStart remains true until next run
// signal that the calibration process is finalised, whether successful or not, by setting end time to zero // signal that the calibration process is finalised, whether successful or not, by setting end time to zero
magCalProcessActive = false; magCalProcessActive = false;
} }
@ -561,7 +561,7 @@ void compassBiasEstimatorInit(compassBiasEstimator_t *cBE, const float lambda_mi
cBE->U[i][i] = 1.0f; cBE->U[i][i] = 1.0f;
} }
compassBiasEstimatorUpdate(cBE, lambda_min, p0); compassBiasEstimatorUpdate(cBE, lambda_min, p0);
cBE->lambda = lambda_min; cBE->lambda = lambda_min;
} }
@ -574,7 +574,7 @@ void compassBiasEstimatorUpdate(compassBiasEstimator_t *cBE, const float lambda_
// update diagonal entries for faster convergence // update diagonal entries for faster convergence
for (unsigned i = 0; i < 4; i++) { for (unsigned i = 0; i < 4; i++) {
cBE->D[i] = p0; cBE->D[i] = p0;
} }
} }
// apply one estimation step of the compass bias estimator // apply one estimation step of the compass bias estimator

2
src/main/sensors/esc_sensor.h
View file

@ -33,7 +33,7 @@ PG_DECLARE(escSensorConfig_t, escSensorConfig);
typedef struct { typedef struct {
uint8_t dataAge; uint8_t dataAge;
int8_t temperature; // C degrees int8_t temperature; // C degrees
uint16_t voltage; // 0.01V uint16_t voltage; // 0.01V
int32_t current; // 0.01A int32_t current; // 0.01A
int32_t consumption; // mAh int32_t consumption; // mAh
int16_t rpm; // 0.01erpm int16_t rpm; // 0.01erpm

2
src/main/sensors/rangefinder.c
View file

@ -126,7 +126,7 @@ static bool rangefinderDetect(rangefinderDev_t * dev, uint8_t rangefinderHardwar
} }
#endif #endif
break; break;
#if defined(USE_RANGEFINDER_MT) #if defined(USE_RANGEFINDER_MT)
case RANGEFINDER_MTF01: case RANGEFINDER_MTF01:
case RANGEFINDER_MTF02: case RANGEFINDER_MTF02:

2
src/main/target/config_helper.h
View file

@ -24,7 +24,7 @@
typedef struct targetSerialPortFunction_s { typedef struct targetSerialPortFunction_s {
serialPortIdentifier_e identifier; serialPortIdentifier_e identifier;
serialPortFunction_e function; serialPortFunction_e function;
} targetSerialPortFunction_t; } targetSerialPortFunction_t;
void targetSerialPortFunctionConfig(targetSerialPortFunction_t *config, size_t count); void targetSerialPortFunctionConfig(targetSerialPortFunction_t *config, size_t count);

4
src/main/telemetry/crsf.c
View file

@ -304,7 +304,7 @@ void crsfFrameBatterySensor(sbuf_t *dst)
#if defined(USE_BARO) && defined(USE_VARIO) #if defined(USE_BARO) && defined(USE_VARIO)
// pack altitude in decimeters into a 16-bit value. // pack altitude in decimeters into a 16-bit value.
// Due to strange OpenTX behavior of count any 0xFFFF value as incorrect, the maximum sending value is limited to 0xFFFE (32766 meters) // Due to strange OpenTX behavior of count any 0xFFFF value as incorrect, the maximum sending value is limited to 0xFFFE (32766 meters)
// in order to have both precision and range in 16-bit // in order to have both precision and range in 16-bit
// value of altitude is packed with different precision depending on highest-bit value. // value of altitude is packed with different precision depending on highest-bit value.
// on receiving side: // on receiving side:
// if MSB==0, altitude is sent in decimeters as uint16 with -1000m base. So, range is -1000..2276m. // if MSB==0, altitude is sent in decimeters as uint16 with -1000m base. So, range is -1000..2276m.
@ -312,7 +312,7 @@ void crsfFrameBatterySensor(sbuf_t *dst)
// altitude lower than -1000m is sent as zero (should be displayed as "<-1000m" or something). // altitude lower than -1000m is sent as zero (should be displayed as "<-1000m" or something).
// altitude higher than 32767m is sent as 0xfffe (should be displayed as ">32766m" or something). // altitude higher than 32767m is sent as 0xfffe (should be displayed as ">32766m" or something).
// range from 0 to 2276m might be sent with dm- or m-precision. But this function always use dm-precision. // range from 0 to 2276m might be sent with dm- or m-precision. But this function always use dm-precision.
static inline uint16_t calcAltitudePacked(int32_t altitude_dm) static inline uint16_t calcAltitudePacked(int32_t altitude_dm)
{ {
static const int ALT_DM_OFFSET = 10000; static const int ALT_DM_OFFSET = 10000;
int valDm = altitude_dm + ALT_DM_OFFSET; int valDm = altitude_dm + ALT_DM_OFFSET;

4
src/main/telemetry/ghst.c
View file

@ -314,8 +314,8 @@ void initGhstTelemetry(void)
#endif #endif
#if defined(USE_BARO) || defined(USE_MAG) || defined(USE_VARIO) #if defined(USE_BARO) || defined(USE_MAG) || defined(USE_VARIO)
if ((sensors(SENSOR_BARO) && telemetryIsSensorEnabled(SENSOR_ALTITUDE)) if ((sensors(SENSOR_BARO) && telemetryIsSensorEnabled(SENSOR_ALTITUDE))
|| (sensors(SENSOR_MAG) && telemetryIsSensorEnabled(SENSOR_HEADING)) || (sensors(SENSOR_MAG) && telemetryIsSensorEnabled(SENSOR_HEADING))
|| (sensors(SENSOR_VARIO) && telemetryIsSensorEnabled(SENSOR_VARIO))) { || (sensors(SENSOR_VARIO) && telemetryIsSensorEnabled(SENSOR_VARIO))) {
ghstSchedule[index++] = BIT(GHST_FRAME_MAGBARO_INDEX); ghstSchedule[index++] = BIT(GHST_FRAME_MAGBARO_INDEX);
} }

20
src/main/telemetry/msp_shared.c
View file

@ -59,14 +59,14 @@ MSP might be MSPv1 or MSPv2 or MSPv1_Jumbo.
MSP_body might be sent in chunks. MSP_body might be sent in chunks.
First (or only) chunk must always set start bit (#4) of status byte. First (or only) chunk must always set start bit (#4) of status byte.
Each next chunk must have increased sequence number in status byte. Each next chunk must have increased sequence number in status byte.
Size of chunk is recovered from size of CRSF frame. Size of chunk is recovered from size of CRSF frame.
Although last / only CRSF frame might have size bigger than needed for MSP-body. Although last / only CRSF frame might have size bigger than needed for MSP-body.
Extra bytes must be ignored. So, the real size of MSP-body must be parsed from the MSP-body itself. Extra bytes must be ignored. So, the real size of MSP-body must be parsed from the MSP-body itself.
CRSF frames might be any size until maximum of 64 bytes for a CRSF frame. CRSF frames might be any size until maximum of 64 bytes for a CRSF frame.
So, maximum chunk size is 57 bytes. Although, MSP-body might be sent in shorter chunks. So, maximum chunk size is 57 bytes. Although, MSP-body might be sent in shorter chunks.
Although, first chunk must consist full size any type of the MSP frame. Although, first chunk must consist full size any type of the MSP frame.
MSP-CRC is not sent over CRSF due to ther is already CRC of CRSF frame. MSP-CRC is not sent over CRSF due to ther is already CRC of CRSF frame.
So, it must be recalculated of needed for MSP-receiver. So, it must be recalculated of needed for MSP-receiver.
MSP frame must be returned to the origin address of the request MSP frame must be returned to the origin address of the request
@ -95,9 +95,9 @@ enum { // error codes (they are not sent anywhere)
enum { // minimum length for a frame. enum { // minimum length for a frame.
MIN_LENGTH_CHUNK = 2, // status + at_least_one_byte MIN_LENGTH_CHUNK = 2, // status + at_least_one_byte
MIN_LENGTH_REQUEST_V1 = 3, // status + length + ID MIN_LENGTH_REQUEST_V1 = 3, // status + length + ID
MIN_LENGTH_REQUEST_JUMBO = 5, // status + length=FF + ID + length_lo + length_hi MIN_LENGTH_REQUEST_JUMBO = 5, // status + length=FF + ID + length_lo + length_hi
MIN_LENGTH_REQUEST_V2 = 6, // status + flag + ID_lo + ID_hi + size_lo + size_hi MIN_LENGTH_REQUEST_V2 = 6, // status + flag + ID_lo + ID_hi + size_lo + size_hi
}; };
enum { // byte position(index) in msp-over-telemetry request payload enum { // byte position(index) in msp-over-telemetry request payload
@ -251,7 +251,7 @@ bool handleMspFrame(uint8_t *const payload, uint8_t const payloadLength, uint8_t
sbufWriteData(&requestPacket.buf, sbufInput.ptr, payloadIncoming); sbufWriteData(&requestPacket.buf, sbufInput.ptr, payloadIncoming);
sbufAdvance(&sbufInput, payloadIncoming); sbufAdvance(&sbufInput, payloadIncoming);
return false; return false;
} else { // this is the last/only chunk } else { // this is the last/only chunk
if (payloadExpecting) { if (payloadExpecting) {
sbufWriteData(&requestPacket.buf, sbufInput.ptr, payloadExpecting); sbufWriteData(&requestPacket.buf, sbufInput.ptr, payloadExpecting);
sbufAdvance(&sbufInput, payloadExpecting); sbufAdvance(&sbufInput, payloadExpecting);
@ -292,11 +292,11 @@ bool sendMspReply(const uint8_t payloadSizeMax, mspResponseFnPtr responseFn)
if (size >= 0xff) { if (size >= 0xff) {
// Sending Jumbo-frame // Sending Jumbo-frame
sbufWriteU8(payloadBuf, 0xff); sbufWriteU8(payloadBuf, 0xff);
sbufWriteU8(payloadBuf, responsePacket.cmd); sbufWriteU8(payloadBuf, responsePacket.cmd);
sbufWriteU16(payloadBuf, (uint16_t)size); sbufWriteU16(payloadBuf, (uint16_t)size);
} else { } else {
sbufWriteU8(payloadBuf, size); sbufWriteU8(payloadBuf, size);
sbufWriteU8(payloadBuf, responsePacket.cmd); sbufWriteU8(payloadBuf, responsePacket.cmd);
} }
} else { // MSPv2 } else { // MSPv2
sbufWriteU8 (payloadBuf, responsePacket.flags); // MSPv2 flags sbufWriteU8 (payloadBuf, responsePacket.flags); // MSPv2 flags

2
src/platform/APM32/adc_apm32f4xx.c
View file

@ -99,7 +99,7 @@ const adcTagMap_t adcTagMap[] = {
void adcInitDevice(adcDevice_t *adcdev, int channelCount) void adcInitDevice(adcDevice_t *adcdev, int channelCount)
{ {
ADC_HandleTypeDef *hadc = &adcdev->ADCHandle; ADC_HandleTypeDef *hadc = &adcdev->ADCHandle;
hadc->Instance = adcdev->ADCx; hadc->Instance = adcdev->ADCx;
hadc->Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8; hadc->Init.ClockPrescaler = ADC_CLOCK_SYNC_PCLK_DIV8;

6
src/platform/APM32/startup/apm32f4xx_dal_cfg.h
View file

@ -81,7 +81,7 @@
// #define DAL_MMC_MODULE_ENABLED // #define DAL_MMC_MODULE_ENABLED
/* Value of the external high speed oscillator in Hz */ /* Value of the external high speed oscillator in Hz */
#if !defined (HSE_VALUE) #if !defined (HSE_VALUE)
#define HSE_VALUE 8000000U #define HSE_VALUE 8000000U
#endif /* HSE_VALUE */ #endif /* HSE_VALUE */
@ -96,7 +96,7 @@
#endif /* HSI_VALUE */ #endif /* HSI_VALUE */
/* Value of the internal low speed oscillator in Hz */ /* Value of the internal low speed oscillator in Hz */
#if !defined (LSI_VALUE) #if !defined (LSI_VALUE)
#define LSI_VALUE 32000U #define LSI_VALUE 32000U
#endif /* LSI_VALUE */ #endif /* LSI_VALUE */
@ -178,7 +178,7 @@
#define EXT_PHY_CONFIG_MAX_DELAY 0x00000FFFU #define EXT_PHY_CONFIG_MAX_DELAY 0x00000FFFU
#define EXT_PHY_READ_TIMEOUT 0x0000FFFFU #define EXT_PHY_READ_TIMEOUT 0x0000FFFFU
#define EXT_PHY_WRITE_TIMEOUT 0x0000FFFFU #define EXT_PHY_WRITE_TIMEOUT 0x0000FFFFU
/* SPI peripheral configuration */ /* SPI peripheral configuration */

44
src/platform/APM32/startup/system_apm32f4xx.c
View file

@ -30,8 +30,8 @@
/** @addtogroup apm32f4xx_system /** @addtogroup apm32f4xx_system
* @{ * @{
*/ */
/** @addtogroup APM32F4xx_System_Private_Includes /** @addtogroup APM32F4xx_System_Private_Includes
* @{ * @{
*/ */
@ -45,7 +45,7 @@
#include <string.h> #include <string.h>
/* Value of the external oscillator in Hz */ /* Value of the external oscillator in Hz */
#if !defined (HSE_VALUE) #if !defined (HSE_VALUE)
#define HSE_VALUE ((uint32_t)8000000U) #define HSE_VALUE ((uint32_t)8000000U)
#endif /* HSE_VALUE */ #endif /* HSE_VALUE */
@ -185,7 +185,7 @@ void SystemInit(void)
/** /**
* @brief Update SystemCoreClock variable according to clock register values * @brief Update SystemCoreClock variable according to clock register values
* The SystemCoreClock variable contains the core clock (HCLK) * The SystemCoreClock variable contains the core clock (HCLK)
* *
* @param None * @param None
* @retval None * @retval None
*/ */
@ -211,7 +211,7 @@ void SystemCoreClockUpdate(void)
case 0x08: /* PLL used as system clock source */ case 0x08: /* PLL used as system clock source */
pllClock = (RCM->PLL1CFG & RCM_PLL1CFG_PLL1CLKS) >> 22; pllClock = (RCM->PLL1CFG & RCM_PLL1CFG_PLL1CLKS) >> 22;
pllb = RCM->PLL1CFG & RCM_PLL1CFG_PLLB; pllb = RCM->PLL1CFG & RCM_PLL1CFG_PLLB;
if (pllClock != 0) if (pllClock != 0)
{ {
/* HSE used as PLL clock source */ /* HSE used as PLL clock source */
@ -265,7 +265,7 @@ void DAL_SysClkConfig(void)
else { else {
// HSE frequency is given // HSE frequency is given
pll_src = RCM_PLLSOURCE_HSE; pll_src = RCM_PLLSOURCE_HSE;
pll_m = hse_mhz / 2; pll_m = hse_mhz / 2;
if (pll_m * 2 != hse_mhz) { if (pll_m * 2 != hse_mhz) {
pll_m = hse_mhz; pll_m = hse_mhz;
@ -302,8 +302,8 @@ void DAL_SysClkConfig(void)
RCM_ClkInitStruct.ClockType = (RCM_CLOCKTYPE_SYSCLK | RCM_CLOCKTYPE_HCLK | RCM_CLOCKTYPE_PCLK1 | RCM_CLOCKTYPE_PCLK2); RCM_ClkInitStruct.ClockType = (RCM_CLOCKTYPE_SYSCLK | RCM_CLOCKTYPE_HCLK | RCM_CLOCKTYPE_PCLK1 | RCM_CLOCKTYPE_PCLK2);
RCM_ClkInitStruct.SYSCLKSource = RCM_SYSCLKSOURCE_PLLCLK; RCM_ClkInitStruct.SYSCLKSource = RCM_SYSCLKSOURCE_PLLCLK;
RCM_ClkInitStruct.AHBCLKDivider = RCM_SYSCLK_DIV1; RCM_ClkInitStruct.AHBCLKDivider = RCM_SYSCLK_DIV1;
RCM_ClkInitStruct.APB1CLKDivider = RCM_HCLK_DIV4; RCM_ClkInitStruct.APB1CLKDivider = RCM_HCLK_DIV4;
RCM_ClkInitStruct.APB2CLKDivider = RCM_HCLK_DIV2; RCM_ClkInitStruct.APB2CLKDivider = RCM_HCLK_DIV2;
if(DAL_RCM_ClockConfig(&RCM_ClkInitStruct, FLASH_LATENCY_5) != DAL_OK) if(DAL_RCM_ClockConfig(&RCM_ClkInitStruct, FLASH_LATENCY_5) != DAL_OK)
{ {
DAL_ErrorHandler(); DAL_ErrorHandler();
@ -335,7 +335,7 @@ void DAL_SysClkConfig(void)
*/ */
void DAL_ErrorHandler(void) void DAL_ErrorHandler(void)
{ {
/* When the function is needed, this function /* When the function is needed, this function
could be implemented in the user file could be implemented in the user file
*/ */
while(1) while(1)
@ -344,8 +344,8 @@ void DAL_ErrorHandler(void)
} }
void AssertFailedHandler(uint8_t *file, uint32_t line) void AssertFailedHandler(uint8_t *file, uint32_t line)
{ {
/* When the function is needed, this function /* When the function is needed, this function
could be implemented in the user file could be implemented in the user file
*/ */
UNUSED(file); UNUSED(file);
@ -386,9 +386,9 @@ int SystemPLLSource(void)
/** /**
* @brief Reboot the system if necessary after changing the overclock level * @brief Reboot the system if necessary after changing the overclock level
* *
* @param overclockLevel * @param overclockLevel
* *
* @retval None * @retval None
*/ */
void OverclockRebootIfNecessary(uint32_t overclockLevel) void OverclockRebootIfNecessary(uint32_t overclockLevel)
@ -409,9 +409,9 @@ void OverclockRebootIfNecessary(uint32_t overclockLevel)
/** /**
* @brief Set the HSE value * @brief Set the HSE value
* *
* @param frequency * @param frequency
* *
* @retval None * @retval None
*/ */
void systemClockSetHSEValue(uint32_t frequency) void systemClockSetHSEValue(uint32_t frequency)
@ -427,11 +427,11 @@ void systemClockSetHSEValue(uint32_t frequency)
/** /**
* @brief Initialize the PLL parameters * @brief Initialize the PLL parameters
* *
* @param None * @param None
* *
* @retval None * @retval None
* *
*/ */
static void SystemInitPLLParameters(void) static void SystemInitPLLParameters(void)
{ {
@ -457,7 +457,7 @@ static void SystemInitPLLParameters(void)
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */

16
src/platform/APM32/startup/system_apm32f4xx.h
View file

@ -2,7 +2,7 @@
* *
* @file system_apm32f4xx.h * @file system_apm32f4xx.h
* *
* @brief CMSIS Cortex-M4 Device System Source File for APM32F4xx devices. * @brief CMSIS Cortex-M4 Device System Source File for APM32F4xx devices.
* *
* @version V1.0.0 * @version V1.0.0
* *
@ -23,7 +23,7 @@
* See the GEEHY SOFTWARE PACKAGE LICENSE for the governing permissions * See the GEEHY SOFTWARE PACKAGE LICENSE for the governing permissions
* and limitations under the License. * and limitations under the License.
* *
*/ */
/** @addtogroup CMSIS /** @addtogroup CMSIS
* @{ * @{
@ -31,8 +31,8 @@
/** @addtogroup apm32f4xx_system /** @addtogroup apm32f4xx_system
* @{ * @{
*/ */
/** /**
* @brief Define to prevent recursive inclusion * @brief Define to prevent recursive inclusion
*/ */
@ -41,7 +41,7 @@
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
/** @addtogroup APM32F4xx_System_Includes /** @addtogroup APM32F4xx_System_Includes
* @{ * @{
@ -83,7 +83,7 @@ extern const uint8_t APBPrescTable[8]; /*!< APB prescalers table values */
/** @addtogroup APM32F4xx_System_Exported_Functions /** @addtogroup APM32F4xx_System_Exported_Functions
* @{ * @{
*/ */
extern void SystemInit(void); extern void SystemInit(void);
extern void SystemCoreClockUpdate(void); extern void SystemCoreClockUpdate(void);
extern void OverclockRebootIfNecessary(uint32_t overclockLevel); extern void OverclockRebootIfNecessary(uint32_t overclockLevel);
@ -106,7 +106,7 @@ extern void DAL_SysClkConfig(void);
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */

2
src/platform/APM32/timer_apm32.c
View file

@ -366,7 +366,7 @@ void configTimeBase(TMR_TypeDef *tim, uint16_t period, uint32_t hz)
handle->Init.RepetitionCounter = 0x0000; handle->Init.RepetitionCounter = 0x0000;
DAL_TMR_Base_Init(handle); DAL_TMR_Base_Init(handle);
if (tim == TMR1 || tim == TMR2 || tim == TMR3 || tim == TMR4 || tim == TMR5 || tim == TMR8 || tim == TMR9) if (tim == TMR1 || tim == TMR2 || tim == TMR3 || tim == TMR4 || tim == TMR5 || tim == TMR8 || tim == TMR9)
{ {
TMR_ClockConfigTypeDef sClockSourceConfig; TMR_ClockConfigTypeDef sClockSourceConfig;
memset(&sClockSourceConfig, 0, sizeof(sClockSourceConfig)); memset(&sClockSourceConfig, 0, sizeof(sClockSourceConfig));

32
src/platform/APM32/usb/usbd_board_apm32f4.c
View file

@ -67,39 +67,39 @@ void OTG_HS1_IRQHandler(void)
#ifdef USE_USB_FS #ifdef USE_USB_FS
void OTG_FS_WKUP_IRQHandler(void) void OTG_FS_WKUP_IRQHandler(void)
#else #else
void OTG_HS1_WKUP_IRQHandler(void) void OTG_HS1_WKUP_IRQHandler(void)
#endif /* USE_USB_FS */ #endif /* USE_USB_FS */
{ {
if((&husbDevice)->Init.low_power_enable) if((&husbDevice)->Init.low_power_enable)
{ {
/* Reset SLEEPDEEP bit of Cortex System Control Register */ /* Reset SLEEPDEEP bit of Cortex System Control Register */
SCB->SCR &= (uint32_t)~((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk)); SCB->SCR &= (uint32_t)~((uint32_t)(SCB_SCR_SLEEPDEEP_Msk | SCB_SCR_SLEEPONEXIT_Msk));
/* Configures system clock after wake-up from STOP: enable HSE, PLL and select /* Configures system clock after wake-up from STOP: enable HSE, PLL and select
PLL as system clock source (HSE and PLL are disabled in STOP mode) */ PLL as system clock source (HSE and PLL are disabled in STOP mode) */
__DAL_RCM_HSE_CONFIG(RCM_HSE_ON); __DAL_RCM_HSE_CONFIG(RCM_HSE_ON);
/* Wait till HSE is ready */ /* Wait till HSE is ready */
while(__DAL_RCM_GET_FLAG(RCM_FLAG_HSERDY) == RESET) while(__DAL_RCM_GET_FLAG(RCM_FLAG_HSERDY) == RESET)
{} {}
/* Enable the main PLL. */ /* Enable the main PLL. */
__DAL_RCM_PLL_ENABLE(); __DAL_RCM_PLL_ENABLE();
/* Wait till PLL is ready */ /* Wait till PLL is ready */
while(__DAL_RCM_GET_FLAG(RCM_FLAG_PLLRDY) == RESET) while(__DAL_RCM_GET_FLAG(RCM_FLAG_PLLRDY) == RESET)
{} {}
/* Select PLL as SYSCLK */ /* Select PLL as SYSCLK */
MODIFY_REG(RCM->CFG, RCM_CFG_SCLKSEL, RCM_SYSCLKSOURCE_PLLCLK); MODIFY_REG(RCM->CFG, RCM_CFG_SCLKSEL, RCM_SYSCLKSOURCE_PLLCLK);
while (__DAL_RCM_GET_SYSCLK_SOURCE() != RCM_CFG_SCLKSEL_PLL) while (__DAL_RCM_GET_SYSCLK_SOURCE() != RCM_CFG_SCLKSEL_PLL)
{} {}
/* ungate PHY clock */ /* ungate PHY clock */
__DAL_PCD_UNGATE_PHYCLOCK((&husbDevice)); __DAL_PCD_UNGATE_PHYCLOCK((&husbDevice));
} }
#ifdef USE_USB_FS #ifdef USE_USB_FS
/* Clear EINT pending Bit*/ /* Clear EINT pending Bit*/
@ -108,7 +108,7 @@ void OTG_HS1_WKUP_IRQHandler(void)
/* Clear EINT pending Bit*/ /* Clear EINT pending Bit*/
__DAL_USB_OTG_HS_WAKEUP_EINT_CLEAR_FLAG(); __DAL_USB_OTG_HS_WAKEUP_EINT_CLEAR_FLAG();
#endif #endif
} }
@ -450,7 +450,7 @@ void USBD_HardwareInit(USBD_INFO_T* usbInfo)
{ {
DAL_ErrorHandler(); DAL_ErrorHandler();
} }
#if (USE_DAL_PCD_REGISTER_CALLBACKS == 1U) #if (USE_DAL_PCD_REGISTER_CALLBACKS == 1U)
/* Register USB PCD CallBacks */ /* Register USB PCD CallBacks */
DAL_PCD_RegisterCallback(&husbDevice, DAL_PCD_SOF_CB_ID, PCD_SOFCallback); DAL_PCD_RegisterCallback(&husbDevice, DAL_PCD_SOF_CB_ID, PCD_SOFCallback);

24
src/platform/APM32/usb/vcp/usbd_cdc_descriptor.c
View file

@ -190,7 +190,7 @@ static uint8_t USBD_ConfigDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x00, 0x00,
/* bcdCDC: spec release number */ /* bcdCDC: spec release number */
0x10, 0x01, 0x10, 0x01,
/* CDC Call Management Function Descriptor */ /* CDC Call Management Function Descriptor */
/* bFunctionLength */ /* bFunctionLength */
0x05, 0x05,
@ -212,7 +212,7 @@ static uint8_t USBD_ConfigDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x02, 0x02,
/* bmCapabilities */ /* bmCapabilities */
0x02, 0x02,
/* CDC Union Function Descriptor */ /* CDC Union Function Descriptor */
/* bFunctionLength */ /* bFunctionLength */
0x05, 0x05,
@ -224,7 +224,7 @@ static uint8_t USBD_ConfigDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x00, 0x00,
/* bSlaveInterface0: Data Class Interface */ /* bSlaveInterface0: Data Class Interface */
0x01, 0x01,
/* Endpoint 2 */ /* Endpoint 2 */
/* bLength */ /* bLength */
0x07, 0x07,
@ -239,7 +239,7 @@ static uint8_t USBD_ConfigDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
USBD_CDC_CMD_MP_SIZE >> 8, USBD_CDC_CMD_MP_SIZE >> 8,
/* bInterval: */ /* bInterval: */
USBD_CDC_FS_INTERVAL, USBD_CDC_FS_INTERVAL,
/* CDC Data Interface */ /* CDC Data Interface */
/* bLength */ /* bLength */
0x09, 0x09,
@ -259,7 +259,7 @@ static uint8_t USBD_ConfigDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x00, 0x00,
/* iInterface */ /* iInterface */
0x00, 0x00,
/* Endpoint OUT */ /* Endpoint OUT */
/* bLength */ /* bLength */
0x07, 0x07,
@ -274,7 +274,7 @@ static uint8_t USBD_ConfigDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
USBD_CDC_FS_MP_SIZE >> 8, USBD_CDC_FS_MP_SIZE >> 8,
/* bInterval: */ /* bInterval: */
0x00, 0x00,
/* Endpoint IN */ /* Endpoint IN */
/* bLength */ /* bLength */
0x07, 0x07,
@ -348,7 +348,7 @@ static uint8_t USBD_OtherSpeedCfgDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x00, 0x00,
/* bcdCDC: spec release number */ /* bcdCDC: spec release number */
0x10, 0x01, 0x10, 0x01,
/* CDC Call Management Function Descriptor */ /* CDC Call Management Function Descriptor */
/* bFunctionLength */ /* bFunctionLength */
0x05, 0x05,
@ -370,7 +370,7 @@ static uint8_t USBD_OtherSpeedCfgDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x02, 0x02,
/* bmCapabilities */ /* bmCapabilities */
0x02, 0x02,
/* CDC Union Function Descriptor */ /* CDC Union Function Descriptor */
/* bFunctionLength */ /* bFunctionLength */
0x05, 0x05,
@ -382,7 +382,7 @@ static uint8_t USBD_OtherSpeedCfgDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x00, 0x00,
/* bSlaveInterface0: Data Class Interface */ /* bSlaveInterface0: Data Class Interface */
0x01, 0x01,
/* Endpoint 2 */ /* Endpoint 2 */
/* bLength */ /* bLength */
0x07, 0x07,
@ -397,7 +397,7 @@ static uint8_t USBD_OtherSpeedCfgDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
USBD_CDC_CMD_MP_SIZE >> 8, USBD_CDC_CMD_MP_SIZE >> 8,
/* bInterval: */ /* bInterval: */
USBD_CDC_FS_INTERVAL, USBD_CDC_FS_INTERVAL,
/* CDC Data Interface */ /* CDC Data Interface */
/* bLength */ /* bLength */
0x09, 0x09,
@ -417,7 +417,7 @@ static uint8_t USBD_OtherSpeedCfgDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
0x00, 0x00,
/* iInterface */ /* iInterface */
0x00, 0x00,
/* Endpoint OUT */ /* Endpoint OUT */
/* bLength */ /* bLength */
0x07, 0x07,
@ -432,7 +432,7 @@ static uint8_t USBD_OtherSpeedCfgDesc[USBD_CONFIG_DESCRIPTOR_SIZE] =
USBD_CDC_FS_MP_SIZE >> 8, USBD_CDC_FS_MP_SIZE >> 8,
/* bInterval: */ /* bInterval: */
0x00, 0x00,
/* Endpoint IN */ /* Endpoint IN */
/* bLength */ /* bLength */
0x07, 0x07,

14
src/platform/APM32/usb/vcp/usbd_cdc_vcp.c
View file

@ -162,7 +162,7 @@ static USBD_STA_T USBD_CDC_ItfCtrl(uint8_t command, uint8_t *buffer, uint16_t le
case USBD_CDC_CLEAR_COMM_FEATURE: case USBD_CDC_CLEAR_COMM_FEATURE:
break; break;
/* Line Coding Data Structure /* Line Coding Data Structure
* | Offset(Byte) | Field | Length | Desc | * | Offset(Byte) | Field | Length | Desc |
* | 0 | dwDTERate | 4 | Data Terminal rate | * | 0 | dwDTERate | 4 | Data Terminal rate |
* | 4 | bCharFormat | 1 | Stop bits | * | 4 | bCharFormat | 1 | Stop bits |
@ -238,16 +238,16 @@ static USBD_STA_T USBD_CDC_ItfSend(uint8_t *buffer, uint16_t length)
USBD_STA_T usbStatus = USBD_OK; USBD_STA_T usbStatus = USBD_OK;
USBD_CDC_INFO_T *usbDevCDC = (USBD_CDC_INFO_T*)gUsbDevice.devClass[gUsbDevice.classID]->classData; USBD_CDC_INFO_T *usbDevCDC = (USBD_CDC_INFO_T*)gUsbDevice.devClass[gUsbDevice.classID]->classData;
if(usbDevCDC->cdcTx.state != USBD_CDC_XFER_IDLE) if(usbDevCDC->cdcTx.state != USBD_CDC_XFER_IDLE)
{ {
return USBD_BUSY; return USBD_BUSY;
} }
USBD_CDC_ConfigTxBuffer(&gUsbDevice, buffer, length); USBD_CDC_ConfigTxBuffer(&gUsbDevice, buffer, length);
usbStatus = USBD_CDC_TxPacket(&gUsbDevice); usbStatus = USBD_CDC_TxPacket(&gUsbDevice);
return usbStatus; return usbStatus;
} }
@ -285,7 +285,7 @@ static USBD_STA_T USBD_CDC_ItfSendEnd(uint8_t epNum, uint8_t *buffer, uint32_t *
static USBD_STA_T USBD_CDC_ItfReceive(uint8_t *buffer, uint32_t *length) static USBD_STA_T USBD_CDC_ItfReceive(uint8_t *buffer, uint32_t *length)
{ {
USBD_STA_T usbStatus = USBD_OK; USBD_STA_T usbStatus = USBD_OK;
// USBD_CDC_ConfigRxBuffer(&gUsbDevice, &buffer[0]); // USBD_CDC_ConfigRxBuffer(&gUsbDevice, &buffer[0]);
rxAvailable = *length; rxAvailable = *length;
rxBuffPtr = buffer; rxBuffPtr = buffer;
@ -295,7 +295,7 @@ static USBD_STA_T USBD_CDC_ItfReceive(uint8_t *buffer, uint32_t *length)
// The USB protocol requires that an empty (0 byte) packet immediately follow. // The USB protocol requires that an empty (0 byte) packet immediately follow.
USBD_CDC_RxPacket(&gUsbDevice); USBD_CDC_RxPacket(&gUsbDevice);
} }
return usbStatus; return usbStatus;
} }

62
src/platform/AT32/adc_at32f43x.c
View file

@ -20,21 +20,21 @@
/** /**
* Read internal and external analog channels * Read internal and external analog channels
* *
* Internal channels provide temperature and the internal voltage reference * Internal channels provide temperature and the internal voltage reference
* External channels are for vbat, rssi, current and a generic 'external' inputs * External channels are for vbat, rssi, current and a generic 'external' inputs
* *
* The ADC is free running and so doesn't require a timer. Samples are moved from * The ADC is free running and so doesn't require a timer. Samples are moved from
* the ADC output register to a buffer by DMA * the ADC output register to a buffer by DMA
* *
* The sample rate is kept low to reduce impact on the DMA controller, and the lowest * The sample rate is kept low to reduce impact on the DMA controller, and the lowest
* priority is set for the DMA transfer. It's also recommended to use the highest numbered * priority is set for the DMA transfer. It's also recommended to use the highest numbered
* DMA channel on the dma controller for ADC, since that is the lowest priority channel * DMA channel on the dma controller for ADC, since that is the lowest priority channel
* for transfers at the same DMA priority. * for transfers at the same DMA priority.
* *
* Sample rate is set between 1 and 2kHz by using a long input sampling time and reasonably * Sample rate is set between 1 and 2kHz by using a long input sampling time and reasonably
* high hardware oversampling. * high hardware oversampling.
* *
* Note that only ADC1 is used, although the code contains remnants of support for all * Note that only ADC1 is used, although the code contains remnants of support for all
* three ADC. * three ADC.
*/ */
@ -123,12 +123,12 @@ static volatile DMA_DATA uint32_t adcConversionBuffer[ADC_CHANNEL_COUNT];
/** /**
* Initialise the specified ADC to read multiple channels in repeat mode * Initialise the specified ADC to read multiple channels in repeat mode
* *
* Sets 12 bit resolution, right aligned * Sets 12 bit resolution, right aligned
* *
* @param dev Specifies the ADC device to use * @param dev Specifies the ADC device to use
* @param channelCount how many channels to repeat over * @param channelCount how many channels to repeat over
* *
*/ */
void adcInitDevice(const adc_type *dev, const int channelCount) void adcInitDevice(const adc_type *dev, const int channelCount)
{ {
@ -146,7 +146,7 @@ void adcInitDevice(const adc_type *dev, const int channelCount)
/** /**
* Find a given pin (defined by ioTag) in the map * Find a given pin (defined by ioTag) in the map
* *
* @param tag the ioTag to search for * @param tag the ioTag to search for
* @return the index in adcTagMap corresponding to the given ioTag or -1 if not found * @return the index in adcTagMap corresponding to the given ioTag or -1 if not found
*/ */
@ -164,12 +164,12 @@ int adcFindTagMapEntry(const ioTag_t tag)
* Setup the scaling offsets and factors used in adc.c * Setup the scaling offsets and factors used in adc.c
* @see src/main/drivers/adc.c * @see src/main/drivers/adc.c
* @see src/main/drivers/adc_impl.h * @see src/main/drivers/adc_impl.h
* *
* There are a number of global calibration/scaling factors used in src/main/drivers/adc.c that need to * There are a number of global calibration/scaling factors used in src/main/drivers/adc.c that need to
* be set to appropriate values if we want to re-use existing code, e.g. adcInternalComputeTemperature * be set to appropriate values if we want to re-use existing code, e.g. adcInternalComputeTemperature
* (the alternative would be to duplicate the code into ST and AT specific versions). * (the alternative would be to duplicate the code into ST and AT specific versions).
* This is made a little confusing since the implementation based on ST datasheets approaches the calculation with * This is made a little confusing since the implementation based on ST datasheets approaches the calculation with
* different formula and express the scaling factors in different units compared to the AT datasheets. * different formula and express the scaling factors in different units compared to the AT datasheets.
* The constants are defined in src/main/drivers/adc_impl.h. It seems clearest to use the units from * The constants are defined in src/main/drivers/adc_impl.h. It seems clearest to use the units from
* the datasheet when defining those values, so here we have to convert to what's expected in * the datasheet when defining those values, so here we have to convert to what's expected in
* adcInternalComputeTemperature. * adcInternalComputeTemperature.
@ -196,36 +196,36 @@ void setScalingFactors(void)
/** /**
* Setup the ADC so that it's running in the background and ready to * Setup the ADC so that it's running in the background and ready to
* provide channel data * provide channel data
* *
* Notes: * Notes:
* This code only uses ADC1 despite appearances to the contrary, and has not been tested with the other ADCs * This code only uses ADC1 despite appearances to the contrary, and has not been tested with the other ADCs
* *
* From the RM: * From the RM:
* ADCCLK must be less than 80 MHz, while the ADCCLK frequency must be lower than PCLK2 * ADCCLK must be less than 80 MHz, while the ADCCLK frequency must be lower than PCLK2
* *
* PCLK2 looks like it's running at 144Mhz, but should be confirmed * PCLK2 looks like it's running at 144Mhz, but should be confirmed
* *
* With HCLK of 288, a divider of 4 gives an ADCCLK of 72MHz * With HCLK of 288, a divider of 4 gives an ADCCLK of 72MHz
* *
* sample time is * sample time is
* ADC_SAMPLE + nbits + 0.5 ADCCLK periods * ADC_SAMPLE + nbits + 0.5 ADCCLK periods
* *
* So with 12bit samples and ADC_SAMPLE_92_5 that's 105 clks. * So with 12bit samples and ADC_SAMPLE_92_5 that's 105 clks.
* *
* We're using HCLK/4, so 288/4 = 72MHz, each tick is 14ns. Add 5 clks for the interval between conversions, * We're using HCLK/4, so 288/4 = 72MHz, each tick is 14ns. Add 5 clks for the interval between conversions,
* 110 clks total is 1.54us per channel. * 110 clks total is 1.54us per channel.
* *
* Max 6 channels is a total of 9.24us, or a basic sample rate of 108kHz per channel * Max 6 channels is a total of 9.24us, or a basic sample rate of 108kHz per channel
* *
* If we use 64x oversampling we'll get an effective rate of 1.7kHz per channel which should still be plenty. * If we use 64x oversampling we'll get an effective rate of 1.7kHz per channel which should still be plenty.
* *
* (RM and DS mention fast and slow channels, but don't give details on how this affects the above. * (RM and DS mention fast and slow channels, but don't give details on how this affects the above.
* It's not relevant to our use case, so ignore the difference for now) * It's not relevant to our use case, so ignore the difference for now)
* *
* Called from fc/init.c * Called from fc/init.c
* *
* @param config - defines the channels to use for each external input (vbat, rssi, current, external) and also has calibration values for the temperature sensor * @param config - defines the channels to use for each external input (vbat, rssi, current, external) and also has calibration values for the temperature sensor
* *
*/ */
void adcInit(const adcConfig_t *config) void adcInit(const adcConfig_t *config)
{ {
@ -276,7 +276,7 @@ void adcInit(const adcConfig_t *config)
// Since ADC1 can do all channels this will only ever return adc1 and is unnecessary // Since ADC1 can do all channels this will only ever return adc1 and is unnecessary
// Find an ADC instance that can be used for the given TagMap index. // Find an ADC instance that can be used for the given TagMap index.
// for (dev = 0; dev < ADCDEV_COUNT; dev++) { // for (dev = 0; dev < ADCDEV_COUNT; dev++) {
// #ifndef USE_DMA_SPEC // #ifndef USE_DMA_SPEC
// if (!adcDevice[dev].ADCx || !adcDevice[dev].dmaResource) { // if (!adcDevice[dev].ADCx || !adcDevice[dev].dmaResource) {
@ -459,13 +459,13 @@ uint16_t adcInternalRead(int channel)
/** /**
* Read the internal Vref and return raw value * Read the internal Vref and return raw value
* *
* The internal Vref is 1.2V and can be used to calculate the external Vref+ * The internal Vref is 1.2V and can be used to calculate the external Vref+
* External Vref+ determines the scale for the raw ADC readings but since it * External Vref+ determines the scale for the raw ADC readings but since it
* is often directly connected to Vdd (approx 3.3V) it isn't accurately controlled. * is often directly connected to Vdd (approx 3.3V) it isn't accurately controlled.
* Calculating the actual value of Vref+ by using measurements of the known 1.2V * Calculating the actual value of Vref+ by using measurements of the known 1.2V
* internal reference can improve overall accuracy. * internal reference can improve overall accuracy.
* *
* @return the raw ADC reading for the internal voltage reference * @return the raw ADC reading for the internal voltage reference
* @see adcInternalCompensateVref in src/main/drivers/adc.c * @see adcInternalCompensateVref in src/main/drivers/adc.c
*/ */
@ -478,7 +478,7 @@ uint16_t adcInternalReadVrefint(void)
/** /**
* Read the internal temperature sensor * Read the internal temperature sensor
* *
* @return the raw ADC reading * @return the raw ADC reading
*/ */
uint16_t adcInternalReadTempsensor(void) uint16_t adcInternalReadTempsensor(void)

4
src/platform/AT32/dshot_bitbang_stdperiph.c
View file

@ -84,7 +84,7 @@ void bbTimerChannelInit(bbPort_t *bbPort)
TIM_OCInitTypeDef TIM_OCStruct; TIM_OCInitTypeDef TIM_OCStruct;
TIM_OCStructInit(&TIM_OCStruct); TIM_OCStructInit(&TIM_OCStruct);
TIM_OCStruct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A; TIM_OCStruct.oc_mode = TMR_OUTPUT_CONTROL_PWM_MODE_A;
TIM_OCStruct.oc_idle_state = TRUE; TIM_OCStruct.oc_idle_state = TRUE;
TIM_OCStruct.oc_output_state = TRUE; TIM_OCStruct.oc_output_state = TRUE;
@ -106,7 +106,7 @@ void bbTimerChannelInit(bbPort_t *bbPort)
if (timhw->tag) { if (timhw->tag) {
IO_t io = IOGetByTag(timhw->tag); IO_t io = IOGetByTag(timhw->tag);
IOConfigGPIOAF(io, IOCFG_AF_PP, timhw->alternateFunction); IOConfigGPIOAF(io, IOCFG_AF_PP, timhw->alternateFunction);
IOInit(io, OWNER_DSHOT_BITBANG, 0); IOInit(io, OWNER_DSHOT_BITBANG, 0);
TIM_CtrlPWMOutputs(timhw->tim, TRUE); TIM_CtrlPWMOutputs(timhw->tim, TRUE);
} }
#endif #endif

28
src/platform/AT32/pwm_output_dshot.c
View file

@ -45,15 +45,15 @@
/** /**
* Convert from BF channel to AT32 constants for timer output channels * Convert from BF channel to AT32 constants for timer output channels
* *
* The AT and ST apis take a different approach to naming channels, so just passing the bf * The AT and ST apis take a different approach to naming channels, so just passing the bf
* channel number to the AT calls doesn't work. This function maps between them. * channel number to the AT calls doesn't work. This function maps between them.
* *
* @param bfChannel a channel number as used in timerHardware->channel (1 based) * @param bfChannel a channel number as used in timerHardware->channel (1 based)
* @param useNChannel indicates that the desired channel should be the complementary output (only available for 1 through 3) * @param useNChannel indicates that the desired channel should be the complementary output (only available for 1 through 3)
* @return an AT32 tmr_channel_select_type constant * @return an AT32 tmr_channel_select_type constant
* XXX what to return for invalid inputs? The tmr_channel_select_type enum doesn't have a suitable value * XXX what to return for invalid inputs? The tmr_channel_select_type enum doesn't have a suitable value
* *
* @see TIM_CH_TO_SELCHANNEL macro * @see TIM_CH_TO_SELCHANNEL macro
*/ */
tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNChannel) tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNChannel)
@ -110,7 +110,7 @@ tmr_channel_select_type toCHSelectType(const uint8_t bfChannel, const bool useNC
/** /**
* Enable the timer channels for all motors * Enable the timer channels for all motors
* *
* Called once for every dshot update if telemetry is being used (not just enabled by #def) * Called once for every dshot update if telemetry is being used (not just enabled by #def)
* Called from pwm_output_dshot_shared.c pwmTelemetryDecode * Called from pwm_output_dshot_shared.c pwmTelemetryDecode
*/ */
@ -128,7 +128,7 @@ void dshotEnableChannels(uint8_t motorCount)
/** /**
* Set the timer and dma of the specified motor for use as an output * Set the timer and dma of the specified motor for use as an output
* *
* Called from pwmDshotMotorHardwareConfig in this file and also from * Called from pwmDshotMotorHardwareConfig in this file and also from
* pwmTelemetryDecode in src/main/drivers/pwm_output_dshot_shared.c * pwmTelemetryDecode in src/main/drivers/pwm_output_dshot_shared.c
*/ */
@ -199,9 +199,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
tmr_channel_enable(timer, toCHSelectType(channel, useCompOut), TRUE); tmr_channel_enable(timer, toCHSelectType(channel, useCompOut), TRUE);
timerOCPreloadConfig(timer, channel, TRUE); timerOCPreloadConfig(timer, channel, TRUE);
pDmaInit->direction = DMA_DIR_MEMORY_TO_PERIPHERAL; pDmaInit->direction = DMA_DIR_MEMORY_TO_PERIPHERAL;
xDMA_Init(dmaRef, pDmaInit); xDMA_Init(dmaRef, pDmaInit);
// Generate an interrupt when the transfer is complete // Generate an interrupt when the transfer is complete
xDMA_ITConfig(dmaRef, DMA_FDT_INT, TRUE); xDMA_ITConfig(dmaRef, DMA_FDT_INT, TRUE);
@ -241,7 +241,7 @@ static void pwmDshotSetDirectionInput(motorDmaOutput_t * const motor)
/** /**
* Start the timers and dma requests to send dshot data to all motors * Start the timers and dma requests to send dshot data to all motors
* *
* Called after pwm_output_dshot_shared.c has finished setting up the buffers that represent the dshot packets. * Called after pwm_output_dshot_shared.c has finished setting up the buffers that represent the dshot packets.
* Iterates over all the timers needed (note that there may be less timers than motors since a single timer can run * Iterates over all the timers needed (note that there may be less timers than motors since a single timer can run
* multiple motors) and enables each one. * multiple motors) and enables each one.
@ -298,8 +298,8 @@ void pwmCompleteDshotMotorUpdate(void)
/** /**
* Interrupt handler called at the end of each packet * Interrupt handler called at the end of each packet
* *
* Responsible for switching the dshot direction after sending a dshot command so that we * Responsible for switching the dshot direction after sending a dshot command so that we
* can receive dshot telemetry. If telemetry is not enabled, disables the dma and request generation. * can receive dshot telemetry. If telemetry is not enabled, disables the dma and request generation.
*/ */
FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor) FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
@ -360,7 +360,7 @@ FAST_CODE static void motor_DMA_IRQHandler(dmaChannelDescriptor_t *descriptor)
} // if DMA_IT_TCIF } // if DMA_IT_TCIF
} }
bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex, bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, uint8_t reorderedMotorIndex,
motorPwmProtocolTypes_e pwmProtocolType, uint8_t output) motorPwmProtocolTypes_e pwmProtocolType, uint8_t output)
{ {
#ifdef USE_DSHOT_TELEMETRY #ifdef USE_DSHOT_TELEMETRY
@ -422,7 +422,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
// Boolean configureTimer is always true when different channels of the same timer are processed in sequence, // Boolean configureTimer is always true when different channels of the same timer are processed in sequence,
// causing the timer and the associated DMA initialized more than once. // causing the timer and the associated DMA initialized more than once.
// To fix this, getTimerIndex must be expanded to return if a new timer has been requested. // To fix this, getTimerIndex must be expanded to return if a new timer has been requested.
// However, since the initialization is idempotent (can be applied multiple times without changing the outcome), // However, since the initialization is idempotent (can be applied multiple times without changing the outcome),
// it is left as is in a favor of flash space (for now). // it is left as is in a favor of flash space (for now).
const uint8_t timerIndex = getTimerIndex(timer); const uint8_t timerIndex = getTimerIndex(timer);
const bool configureTimer = (timerIndex == dmaMotorTimerCount-1); const bool configureTimer = (timerIndex == dmaMotorTimerCount-1);
@ -571,7 +571,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
{ // local scope { // local scope
const tmr_channel_select_type chSel = toCHSelectType(timerHardware->channel, output & TIMER_OUTPUT_N_CHANNEL); const tmr_channel_select_type chSel = toCHSelectType(timerHardware->channel, output & TIMER_OUTPUT_N_CHANNEL);
tmr_channel_enable(timer, chSel, TRUE); tmr_channel_enable(timer, chSel, TRUE);
} }
if (configureTimer) { if (configureTimer) {
@ -587,7 +587,7 @@ bool pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
*timerChCCR(timerHardware) = 0xffff; *timerChCCR(timerHardware) = 0xffff;
} }
#endif #endif
motor->configured = true; motor->configured = true;
return true; return true;

22
src/platform/AT32/startup/at32f435_437.h
View file

@ -7,11 +7,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
@ -43,7 +43,7 @@ extern "C" {
/** @addtogroup AT32F435_437 /** @addtogroup AT32F435_437
* @{ * @{
*/ */
/** @addtogroup Library_configuration_section /** @addtogroup Library_configuration_section
* @{ * @{
*/ */
@ -376,7 +376,7 @@ typedef __I uint16_t vuc16; /*!< read only */
typedef __I uint8_t vuc8; /*!< read only */ typedef __I uint8_t vuc8; /*!< read only */
typedef enum {RESET = 0, SET = !RESET} flag_status; typedef enum {RESET = 0, SET = !RESET} flag_status;
typedef enum {FALSE = 0, TRUE = !FALSE} confirm_state; typedef enum {FALSE = 0, TRUE = !FALSE} confirm_state;
typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status; typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
/** /**
@ -480,7 +480,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
#define USART1_BASE (APB2PERIPH_BASE + 0x1000) #define USART1_BASE (APB2PERIPH_BASE + 0x1000)
#define TMR8_BASE (APB2PERIPH_BASE + 0x0400) #define TMR8_BASE (APB2PERIPH_BASE + 0x0400)
#define TMR1_BASE (APB2PERIPH_BASE + 0x0000) #define TMR1_BASE (APB2PERIPH_BASE + 0x0000)
/* ahb bus base address */ /* ahb bus base address */
#define OTGFS2_BASE (AHBPERIPH1_BASE + 0x20000) #define OTGFS2_BASE (AHBPERIPH1_BASE + 0x20000)
#define SDIO1_BASE (AHBPERIPH1_BASE + 0xC400) #define SDIO1_BASE (AHBPERIPH1_BASE + 0xC400)
#define GPIOH_BASE (AHBPERIPH1_BASE + 0x1C00) #define GPIOH_BASE (AHBPERIPH1_BASE + 0x1C00)
@ -640,7 +640,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
#define USART1_BASE (APB2PERIPH_BASE + 0x1000) #define USART1_BASE (APB2PERIPH_BASE + 0x1000)
#define TMR8_BASE (APB2PERIPH_BASE + 0x0400) #define TMR8_BASE (APB2PERIPH_BASE + 0x0400)
#define TMR1_BASE (APB2PERIPH_BASE + 0x0000) #define TMR1_BASE (APB2PERIPH_BASE + 0x0000)
/* ahb bus base address */ /* ahb bus base address */
#define OTGFS2_BASE (AHBPERIPH1_BASE + 0x20000) #define OTGFS2_BASE (AHBPERIPH1_BASE + 0x20000)
#define SDIO1_BASE (AHBPERIPH1_BASE + 0xC400) #define SDIO1_BASE (AHBPERIPH1_BASE + 0xC400)
#define EMAC_BASE (AHBPERIPH1_BASE + 0x8000) #define EMAC_BASE (AHBPERIPH1_BASE + 0x8000)
@ -718,7 +718,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
#define EDMA_STREAM6_2D_BASE (EDMA_2D_BASE + 0x002C) #define EDMA_STREAM6_2D_BASE (EDMA_2D_BASE + 0x002C)
#define EDMA_STREAM7_2D_BASE (EDMA_2D_BASE + 0x0034) #define EDMA_STREAM7_2D_BASE (EDMA_2D_BASE + 0x0034)
#define EDMA_STREAM8_2D_BASE (EDMA_2D_BASE + 0x003C) #define EDMA_STREAM8_2D_BASE (EDMA_2D_BASE + 0x003C)
#define EDMA_LL_BASE (EDMA_BASE + 0x00D0) #define EDMA_LL_BASE (EDMA_BASE + 0x00D0)
#define EDMA_STREAM1_LL_BASE (EDMA_LL_BASE + 0x0004) #define EDMA_STREAM1_LL_BASE (EDMA_LL_BASE + 0x0004)
#define EDMA_STREAM2_LL_BASE (EDMA_LL_BASE + 0x0008) #define EDMA_STREAM2_LL_BASE (EDMA_LL_BASE + 0x0008)
@ -760,7 +760,7 @@ typedef enum {ERROR = 0, SUCCESS = !ERROR} error_status;
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */

12
src/platform/AT32/startup/at32f435_437_clock.c
View file

@ -5,11 +5,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
@ -51,7 +51,7 @@ void system_clock_config(void)
/* config ldo voltage */ /* config ldo voltage */
pwc_ldo_output_voltage_set(PWC_LDO_OUTPUT_1V3); pwc_ldo_output_voltage_set(PWC_LDO_OUTPUT_1V3);
/* set the flash clock divider */ /* set the flash clock divider */
flash_clock_divider_set(FLASH_CLOCK_DIV_3); flash_clock_divider_set(FLASH_CLOCK_DIV_3);

10
src/platform/AT32/startup/at32f435_437_clock.h
View file

@ -5,11 +5,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,

14
src/platform/AT32/startup/at32f435_437_conf.h
View file

@ -5,11 +5,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
@ -38,7 +38,7 @@ extern "C" {
#define NULL ((void *) 0) #define NULL ((void *) 0)
#endif #endif
#endif #endif
/** /**
* @brief in the following line adjust the value of high speed exernal crystal (hext) * @brief in the following line adjust the value of high speed exernal crystal (hext)
* used in your application * used in your application
@ -172,7 +172,7 @@ extern "C" {
#ifdef USB_MODULE_ENABLED #ifdef USB_MODULE_ENABLED
#include "at32f435_437_usb.h" #include "at32f435_437_usb.h"
#endif #endif
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

12
src/platform/AT32/startup/system_at32f435_437.c
View file

@ -7,11 +7,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
@ -175,7 +175,7 @@ extern void _init(void) {;}
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */

16
src/platform/AT32/startup/system_at32f435_437.h
View file

@ -7,11 +7,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * 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) */ 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 SystemInit(void);
extern void system_core_clock_update(void); extern void system_core_clock_update(void);

20
src/platform/AT32/usb_conf.h
View file

@ -7,11 +7,11 @@
************************************************************************** **************************************************************************
* Copyright notice & Disclaimer * Copyright notice & Disclaimer
* *
* The software Board Support Package (BSP) that is made available to * The software Board Support Package (BSP) that is made available to
* download from Artery official website is the copyrighted work of Artery. * download from Artery official website is the copyrighted work of Artery.
* Artery authorizes customers to use, copy, and distribute the BSP * Artery authorizes customers to use, copy, and distribute the BSP
* software and its related documentation for the purpose of design and * software and its related documentation for the purpose of design and
* development in conjunction with Artery microcontrollers. Use of the * development in conjunction with Artery microcontrollers. Use of the
* software is governed by this copyright notice and the following disclaimer. * software is governed by this copyright notice and the following disclaimer.
* *
* THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES, * THIS SOFTWARE IS PROVIDED ON "AS IS" BASIS WITHOUT WARRANTIES,
@ -23,7 +23,7 @@
* *
************************************************************************** **************************************************************************
*/ */
/* define to prevent recursive inclusion -------------------------------------*/ /* define to prevent recursive inclusion -------------------------------------*/
#ifndef __USB_CONF_H #ifndef __USB_CONF_H
#define __USB_CONF_H #define __USB_CONF_H
@ -31,7 +31,7 @@
#ifdef __cplusplus #ifdef __cplusplus
extern "C" { extern "C" {
#endif #endif
#include "at32f435_437_usb.h" #include "at32f435_437_usb.h"
#include "at32f435_437.h" #include "at32f435_437.h"
//#include "stdio.h" //#include "stdio.h"
@ -39,7 +39,7 @@ extern "C" {
/** @addtogroup AT32F437_periph_examples /** @addtogroup AT32F437_periph_examples
* @{ * @{
*/ */
/** @addtogroup 437_USB_device_vcp_loopback /** @addtogroup 437_USB_device_vcp_loopback
* @{ * @{
*/ */
@ -206,11 +206,11 @@ void usb_delay_ms(uint32_t ms);
void usb_delay_us(uint32_t us); void usb_delay_us(uint32_t us);
/** /**
* @} * @}
*/ */
/** /**
* @} * @}
*/ */
#ifdef __cplusplus #ifdef __cplusplus
} }
#endif #endif

2
src/platform/STM32/adc_stm32g4xx.c
View file

@ -353,7 +353,7 @@ void adcInit(const adcConfig_t *config)
adc->ADCHandle.Instance = adc->ADCx; adc->ADCHandle.Instance = adc->ADCx;
if (HAL_ADC_DeInit(&adc->ADCHandle) != HAL_OK) { if (HAL_ADC_DeInit(&adc->ADCHandle) != HAL_OK) {
// ADC de-initialization Error // ADC de-initialization Error
handleError(); handleError();
} }

2
src/platform/STM32/adc_stm32h7xx.c
View file

@ -395,7 +395,7 @@ void adcInit(const adcConfig_t *config)
adc->ADCHandle.Instance = adc->ADCx; adc->ADCHandle.Instance = adc->ADCx;
if (HAL_ADC_DeInit(&adc->ADCHandle) != HAL_OK) { if (HAL_ADC_DeInit(&adc->ADCHandle) != HAL_OK) {
// ADC de-initialization Error // ADC de-initialization Error
errorHandler(); errorHandler();
} }

10
src/platform/STM32/bus_spi_ll.c
View file

@ -310,7 +310,7 @@ void spiInternalInitStream(const extDevice_t *dev, bool preInit)
} }
initTx->NbData = len; initTx->NbData = len;
#if !defined(STM32G4) && !defined(STM32H7) #if !defined(STM32G4) && !defined(STM32H7)
if (dev->bus->dmaRx) { if (dev->bus->dmaRx) {
#endif #endif
uint8_t *rxData = segment->u.buffers.rxData; uint8_t *rxData = segment->u.buffers.rxData;
@ -341,7 +341,7 @@ void spiInternalInitStream(const extDevice_t *dev, bool preInit)
initRx->MemoryOrM2MDstIncMode = LL_DMA_MEMORY_NOINCREMENT; initRx->MemoryOrM2MDstIncMode = LL_DMA_MEMORY_NOINCREMENT;
} }
initRx->NbData = len; initRx->NbData = len;
#if !defined(STM32G4) && !defined(STM32H7) #if !defined(STM32G4) && !defined(STM32H7)
} }
#endif #endif
} }
@ -353,7 +353,7 @@ void spiInternalStartDMA(const extDevice_t *dev)
dmaChannelDescriptor_t *dmaTx = bus->dmaTx; dmaChannelDescriptor_t *dmaTx = bus->dmaTx;
dmaChannelDescriptor_t *dmaRx = bus->dmaRx; dmaChannelDescriptor_t *dmaRx = bus->dmaRx;
#if !defined(STM32G4) && !defined(STM32H7) #if !defined(STM32G4) && !defined(STM32H7)
if (dmaRx) { if (dmaRx) {
#endif #endif
// Use the correct callback argument // Use the correct callback argument
@ -421,7 +421,7 @@ void spiInternalStartDMA(const extDevice_t *dev)
SET_BIT(dev->bus->busType_u.spi.instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN); SET_BIT(dev->bus->busType_u.spi.instance->CR2, SPI_CR2_TXDMAEN | SPI_CR2_RXDMAEN);
#endif #endif
#if !defined(STM32G4) && !defined(STM32H7) #if !defined(STM32G4) && !defined(STM32H7)
} else { } else {
DMA_Stream_TypeDef *streamRegsTx = (DMA_Stream_TypeDef *)dmaTx->ref; DMA_Stream_TypeDef *streamRegsTx = (DMA_Stream_TypeDef *)dmaTx->ref;
@ -485,7 +485,7 @@ void spiInternalStopDMA (const extDevice_t *dev)
LL_SPI_ClearFlag_TXTF(dev->bus->busType_u.spi.instance); LL_SPI_ClearFlag_TXTF(dev->bus->busType_u.spi.instance);
LL_SPI_Disable(dev->bus->busType_u.spi.instance); LL_SPI_Disable(dev->bus->busType_u.spi.instance);
#endif #endif
#if !defined(STM32G4) && !defined(STM32H7) #if !defined(STM32G4) && !defined(STM32H7)
} else { } else {
SPI_TypeDef *instance = bus->busType_u.spi.instance; SPI_TypeDef *instance = bus->busType_u.spi.instance;

88
src/platform/STM32/startup/stm32h7xx_hal_conf.h
View file

@ -2,7 +2,7 @@
****************************************************************************** ******************************************************************************
* @file stm32h7xx_hal_conf_template.h * @file stm32h7xx_hal_conf_template.h
* @author MCD Application Team * @author MCD Application Team
* @brief HAL configuration template file. * @brief HAL configuration template file.
* This file should be copied to the application folder and renamed * This file should be copied to the application folder and renamed
* to stm32h7xx_hal_conf.h. * to stm32h7xx_hal_conf.h.
****************************************************************************** ******************************************************************************
@ -33,7 +33,7 @@
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
* *
****************************************************************************** ******************************************************************************
*/ */
/* Define to prevent recursive inclusion -------------------------------------*/ /* Define to prevent recursive inclusion -------------------------------------*/
#ifndef __STM32H7xx_HAL_CONF_H #ifndef __STM32H7xx_HAL_CONF_H
@ -48,15 +48,15 @@
/* ########################## Module Selection ############################## */ /* ########################## Module Selection ############################## */
/** /**
* @brief This is the list of modules to be used in the HAL driver * @brief This is the list of modules to be used in the HAL driver
*/ */
#define HAL_MODULE_ENABLED #define HAL_MODULE_ENABLED
#define HAL_ADC_MODULE_ENABLED #define HAL_ADC_MODULE_ENABLED
//#define HAL_CEC_MODULE_ENABLED //#define HAL_CEC_MODULE_ENABLED
//#define HAL_COMP_MODULE_ENABLED //#define HAL_COMP_MODULE_ENABLED
//#define HAL_CORDIC_MODULE_ENABLED //#define HAL_CORDIC_MODULE_ENABLED
#define HAL_CORTEX_MODULE_ENABLED #define HAL_CORTEX_MODULE_ENABLED
//#define HAL_CRC_MODULE_ENABLED //#define HAL_CRC_MODULE_ENABLED
//#define HAL_CRYP_MODULE_ENABLED //#define HAL_CRYP_MODULE_ENABLED
#define HAL_DAC_MODULE_ENABLED #define HAL_DAC_MODULE_ENABLED
//#define HAL_DCMI_MODULE_ENABLED //#define HAL_DCMI_MODULE_ENABLED
@ -68,7 +68,7 @@
//#define HAL_ETH_MODULE_ENABLED //#define HAL_ETH_MODULE_ENABLED
//#define HAL_EXTI_MODULE_ENABLED //#define HAL_EXTI_MODULE_ENABLED
//#define HAL_FDCAN_MODULE_ENABLED //#define HAL_FDCAN_MODULE_ENABLED
#define HAL_FLASH_MODULE_ENABLED #define HAL_FLASH_MODULE_ENABLED
//#define HAL_GFXMMU_MODULE_ENABLED //#define HAL_GFXMMU_MODULE_ENABLED
//#define HAL_FMAC_MODULE_ENABLED //#define HAL_FMAC_MODULE_ENABLED
#define HAL_GPIO_MODULE_ENABLED #define HAL_GPIO_MODULE_ENABLED
@ -78,14 +78,14 @@
//#define HAL_HSEM_MODULE_ENABLED //#define HAL_HSEM_MODULE_ENABLED
#define HAL_I2C_MODULE_ENABLED #define HAL_I2C_MODULE_ENABLED
//#define HAL_I2S_MODULE_ENABLED //#define HAL_I2S_MODULE_ENABLED
//#define HAL_IRDA_MODULE_ENABLED //#define HAL_IRDA_MODULE_ENABLED
//#define HAL_IWDG_MODULE_ENABLED //#define HAL_IWDG_MODULE_ENABLED
//#define HAL_JPEG_MODULE_ENABLED //#define HAL_JPEG_MODULE_ENABLED
//#define HAL_LPTIM_MODULE_ENABLED //#define HAL_LPTIM_MODULE_ENABLED
//#define HAL_LTDC_MODULE_ENABLED //#define HAL_LTDC_MODULE_ENABLED
//#define HAL_MDIOS_MODULE_ENABLED //#define HAL_MDIOS_MODULE_ENABLED
#define HAL_MDMA_MODULE_ENABLED #define HAL_MDMA_MODULE_ENABLED
//#define HAL_MMC_MODULE_ENABLED //#define HAL_MMC_MODULE_ENABLED
//#define HAL_NAND_MODULE_ENABLED //#define HAL_NAND_MODULE_ENABLED
//#define HAL_NOR_MODULE_ENABLED //#define HAL_NOR_MODULE_ENABLED
//#define HAL_OPAMP_MODULE_ENABLED //#define HAL_OPAMP_MODULE_ENABLED
@ -96,30 +96,30 @@
//#define HAL_PSSI_MODULE_ENABLED //#define HAL_PSSI_MODULE_ENABLED
#define HAL_QSPI_MODULE_ENABLED #define HAL_QSPI_MODULE_ENABLED
//#define HAL_RAMECC_MODULE_ENABLED //#define HAL_RAMECC_MODULE_ENABLED
#define HAL_RCC_MODULE_ENABLED #define HAL_RCC_MODULE_ENABLED
//#define HAL_RNG_MODULE_ENABLED //#define HAL_RNG_MODULE_ENABLED
#define HAL_RTC_MODULE_ENABLED #define HAL_RTC_MODULE_ENABLED
//#define HAL_SAI_MODULE_ENABLED //#define HAL_SAI_MODULE_ENABLED
#define HAL_SD_MODULE_ENABLED #define HAL_SD_MODULE_ENABLED
//#define HAL_SDRAM_MODULE_ENABLED //#define HAL_SDRAM_MODULE_ENABLED
//#define HAL_SMARTCARD_MODULE_ENABLED //#define HAL_SMARTCARD_MODULE_ENABLED
//#define HAL_SMBUS_MODULE_ENABLED //#define HAL_SMBUS_MODULE_ENABLED
//#define HAL_SPDIFRX_MODULE_ENABLED //#define HAL_SPDIFRX_MODULE_ENABLED
//#define HAL_SPI_MODULE_ENABLED //#define HAL_SPI_MODULE_ENABLED
//#define HAL_SRAM_MODULE_ENABLED //#define HAL_SRAM_MODULE_ENABLED
//#define HAL_SWPMI_MODULE_ENABLED //#define HAL_SWPMI_MODULE_ENABLED
#define HAL_TIM_MODULE_ENABLED #define HAL_TIM_MODULE_ENABLED
#define HAL_UART_MODULE_ENABLED #define HAL_UART_MODULE_ENABLED
#define HAL_USART_MODULE_ENABLED #define HAL_USART_MODULE_ENABLED
//#define HAL_WWDG_MODULE_ENABLED //#define HAL_WWDG_MODULE_ENABLED
/* ########################## Oscillator Values adaptation ####################*/ /* ########################## Oscillator Values adaptation ####################*/
/** /**
* @brief Adjust the value of External High Speed oscillator (HSE) used in your application. * @brief Adjust the value of External High Speed oscillator (HSE) used in your application.
* This value is used by the RCC HAL module to compute the system frequency * This value is used by the RCC HAL module to compute the system frequency
* (when HSE is used as system clock source, directly or through the PLL). * (when HSE is used as system clock source, directly or through the PLL).
*/ */
#if !defined (HSE_VALUE) #if !defined (HSE_VALUE)
#define HSE_VALUE (25000000UL) /*!< Value of the External oscillator in Hz */ #define HSE_VALUE (25000000UL) /*!< Value of the External oscillator in Hz */
#endif /* HSE_VALUE */ #endif /* HSE_VALUE */
@ -134,11 +134,11 @@
#if !defined (CSI_VALUE) #if !defined (CSI_VALUE)
#define CSI_VALUE (4000000UL) /*!< Value of the Internal oscillator in Hz*/ #define CSI_VALUE (4000000UL) /*!< Value of the Internal oscillator in Hz*/
#endif /* CSI_VALUE */ #endif /* CSI_VALUE */
/** /**
* @brief Internal High Speed oscillator (HSI) value. * @brief Internal High Speed oscillator (HSI) value.
* This value is used by the RCC HAL module to compute the system frequency * This value is used by the RCC HAL module to compute the system frequency
* (when HSI is used as system clock source, directly or through the PLL). * (when HSI is used as system clock source, directly or through the PLL).
*/ */
#if !defined (HSI_VALUE) #if !defined (HSI_VALUE)
#define HSI_VALUE (64000000UL) /*!< Value of the Internal oscillator in Hz*/ #define HSI_VALUE (64000000UL) /*!< Value of the Internal oscillator in Hz*/
@ -152,7 +152,7 @@
#define LSE_VALUE (32768UL) /*!< Value of the External oscillator in Hz*/ #define LSE_VALUE (32768UL) /*!< Value of the External oscillator in Hz*/
#endif /* LSE_VALUE */ #endif /* LSE_VALUE */
#if !defined (LSE_STARTUP_TIMEOUT) #if !defined (LSE_STARTUP_TIMEOUT)
#define LSE_STARTUP_TIMEOUT (5000UL) /*!< Time out for LSE start up, in ms */ #define LSE_STARTUP_TIMEOUT (5000UL) /*!< Time out for LSE start up, in ms */
#endif /* LSE_STARTUP_TIMEOUT */ #endif /* LSE_STARTUP_TIMEOUT */
@ -165,8 +165,8 @@
/** /**
* @brief External clock source for I2S peripheral * @brief External clock source for I2S peripheral
* This value is used by the I2S HAL module to compute the I2S clock source * This value is used by the I2S HAL module to compute the I2S clock source
* frequency, this source is inserted directly through I2S_CKIN pad. * frequency, this source is inserted directly through I2S_CKIN pad.
*/ */
#if !defined (EXTERNAL_CLOCK_VALUE) #if !defined (EXTERNAL_CLOCK_VALUE)
#define EXTERNAL_CLOCK_VALUE 12288000UL /*!< Value of the External clock in Hz*/ #define EXTERNAL_CLOCK_VALUE 12288000UL /*!< Value of the External clock in Hz*/
@ -178,7 +178,7 @@
/* ########################### System Configuration ######################### */ /* ########################### System Configuration ######################### */
/** /**
* @brief This is the HAL system configuration section * @brief This is the HAL system configuration section
*/ */
#define VDD_VALUE (3300UL) /*!< Value of VDD in mv */ #define VDD_VALUE (3300UL) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY (0x0FUL) /*!< tick interrupt priority */ #define TICK_INT_PRIORITY (0x0FUL) /*!< tick interrupt priority */
#define USE_RTOS 0 #define USE_RTOS 0
@ -188,7 +188,7 @@
#define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */ #define USE_HAL_ADC_REGISTER_CALLBACKS 0U /* ADC register callback disabled */
#define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */ #define USE_HAL_CEC_REGISTER_CALLBACKS 0U /* CEC register callback disabled */
#define USE_HAL_COMP_REGISTER_CALLBACKS 0U /* COMP register callback disabled */ #define USE_HAL_COMP_REGISTER_CALLBACKS 0U /* COMP register callback disabled */
#define USE_HAL_CORDIC_REGISTER_CALLBACKS 0U /* CORDIC register callback disabled */ #define USE_HAL_CORDIC_REGISTER_CALLBACKS 0U /* CORDIC register callback disabled */
#define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */ #define USE_HAL_CRYP_REGISTER_CALLBACKS 0U /* CRYP register callback disabled */
#define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */ #define USE_HAL_DAC_REGISTER_CALLBACKS 0U /* DAC register callback disabled */
#define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */ #define USE_HAL_DCMI_REGISTER_CALLBACKS 0U /* DCMI register callback disabled */
@ -198,7 +198,7 @@
#define USE_HAL_DTS_REGISTER_CALLBACKS 0U /* DTS register callback disabled */ #define USE_HAL_DTS_REGISTER_CALLBACKS 0U /* DTS register callback disabled */
#define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */ #define USE_HAL_ETH_REGISTER_CALLBACKS 0U /* ETH register callback disabled */
#define USE_HAL_FDCAN_REGISTER_CALLBACKS 0U /* FDCAN register callback disabled */ #define USE_HAL_FDCAN_REGISTER_CALLBACKS 0U /* FDCAN register callback disabled */
#define USE_HAL_FMAC_REGISTER_CALLBACKS 0U /* FMAC register callback disabled */ #define USE_HAL_FMAC_REGISTER_CALLBACKS 0U /* FMAC register callback disabled */
#define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */ #define USE_HAL_NAND_REGISTER_CALLBACKS 0U /* NAND register callback disabled */
#define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */ #define USE_HAL_NOR_REGISTER_CALLBACKS 0U /* NOR register callback disabled */
#define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */ #define USE_HAL_SDRAM_REGISTER_CALLBACKS 0U /* SDRAM register callback disabled */
@ -247,7 +247,7 @@
/* ########################## Assert Selection ############################## */ /* ########################## Assert Selection ############################## */
/** /**
* @brief Uncomment the line below to expanse the "assert_param" macro in the * @brief Uncomment the line below to expanse the "assert_param" macro in the
* HAL drivers code * HAL drivers code
*/ */
/* #define USE_FULL_ASSERT 1 */ /* #define USE_FULL_ASSERT 1 */
@ -256,7 +256,7 @@
/* Includes ------------------------------------------------------------------*/ /* Includes ------------------------------------------------------------------*/
/** /**
* @brief Include module's header file * @brief Include module's header file
*/ */
#ifdef HAL_RCC_MODULE_ENABLED #ifdef HAL_RCC_MODULE_ENABLED
@ -336,7 +336,7 @@
#endif /* HAL_CRC_MODULE_ENABLED */ #endif /* HAL_CRC_MODULE_ENABLED */
#ifdef HAL_CRYP_MODULE_ENABLED #ifdef HAL_CRYP_MODULE_ENABLED
#include "stm32h7xx_hal_cryp.h" #include "stm32h7xx_hal_cryp.h"
#endif /* HAL_CRYP_MODULE_ENABLED */ #endif /* HAL_CRYP_MODULE_ENABLED */
#ifdef HAL_DAC_MODULE_ENABLED #ifdef HAL_DAC_MODULE_ENABLED
@ -374,7 +374,7 @@
#ifdef HAL_NAND_MODULE_ENABLED #ifdef HAL_NAND_MODULE_ENABLED
#include "stm32h7xx_hal_nand.h" #include "stm32h7xx_hal_nand.h"
#endif /* HAL_NAND_MODULE_ENABLED */ #endif /* HAL_NAND_MODULE_ENABLED */
#ifdef HAL_I2C_MODULE_ENABLED #ifdef HAL_I2C_MODULE_ENABLED
#include "stm32h7xx_hal_i2c.h" #include "stm32h7xx_hal_i2c.h"
#endif /* HAL_I2C_MODULE_ENABLED */ #endif /* HAL_I2C_MODULE_ENABLED */
@ -398,7 +398,7 @@
#ifdef HAL_MMC_MODULE_ENABLED #ifdef HAL_MMC_MODULE_ENABLED
#include "stm32h7xx_hal_mmc.h" #include "stm32h7xx_hal_mmc.h"
#endif /* HAL_MMC_MODULE_ENABLED */ #endif /* HAL_MMC_MODULE_ENABLED */
#ifdef HAL_LPTIM_MODULE_ENABLED #ifdef HAL_LPTIM_MODULE_ENABLED
#include "stm32h7xx_hal_lptim.h" #include "stm32h7xx_hal_lptim.h"
#endif /* HAL_LPTIM_MODULE_ENABLED */ #endif /* HAL_LPTIM_MODULE_ENABLED */
@ -410,7 +410,7 @@
#ifdef HAL_OPAMP_MODULE_ENABLED #ifdef HAL_OPAMP_MODULE_ENABLED
#include "stm32h7xx_hal_opamp.h" #include "stm32h7xx_hal_opamp.h"
#endif /* HAL_OPAMP_MODULE_ENABLED */ #endif /* HAL_OPAMP_MODULE_ENABLED */
#ifdef HAL_OSPI_MODULE_ENABLED #ifdef HAL_OSPI_MODULE_ENABLED
#include "stm32h7xx_hal_ospi.h" #include "stm32h7xx_hal_ospi.h"
#endif /* HAL_OSPI_MODULE_ENABLED */ #endif /* HAL_OSPI_MODULE_ENABLED */
@ -430,7 +430,7 @@
#ifdef HAL_QSPI_MODULE_ENABLED #ifdef HAL_QSPI_MODULE_ENABLED
#include "stm32h7xx_hal_qspi.h" #include "stm32h7xx_hal_qspi.h"
#endif /* HAL_QSPI_MODULE_ENABLED */ #endif /* HAL_QSPI_MODULE_ENABLED */
#ifdef HAL_RAMECC_MODULE_ENABLED #ifdef HAL_RAMECC_MODULE_ENABLED
#include "stm32h7xx_hal_ramecc.h" #include "stm32h7xx_hal_ramecc.h"
#endif /* HAL_RAMECC_MODULE_ENABLED */ #endif /* HAL_RAMECC_MODULE_ENABLED */
@ -454,7 +454,7 @@
#ifdef HAL_SDRAM_MODULE_ENABLED #ifdef HAL_SDRAM_MODULE_ENABLED
#include "stm32h7xx_hal_sdram.h" #include "stm32h7xx_hal_sdram.h"
#endif /* HAL_SDRAM_MODULE_ENABLED */ #endif /* HAL_SDRAM_MODULE_ENABLED */
#ifdef HAL_SPI_MODULE_ENABLED #ifdef HAL_SPI_MODULE_ENABLED
#include "stm32h7xx_hal_spi.h" #include "stm32h7xx_hal_spi.h"
#endif /* HAL_SPI_MODULE_ENABLED */ #endif /* HAL_SPI_MODULE_ENABLED */
@ -494,7 +494,7 @@
#ifdef HAL_WWDG_MODULE_ENABLED #ifdef HAL_WWDG_MODULE_ENABLED
#include "stm32h7xx_hal_wwdg.h" #include "stm32h7xx_hal_wwdg.h"
#endif /* HAL_WWDG_MODULE_ENABLED */ #endif /* HAL_WWDG_MODULE_ENABLED */
#ifdef HAL_PCD_MODULE_ENABLED #ifdef HAL_PCD_MODULE_ENABLED
#include "stm32h7xx_hal_pcd.h" #include "stm32h7xx_hal_pcd.h"
#endif /* HAL_PCD_MODULE_ENABLED */ #endif /* HAL_PCD_MODULE_ENABLED */
@ -502,14 +502,14 @@
#ifdef HAL_HCD_MODULE_ENABLED #ifdef HAL_HCD_MODULE_ENABLED
#include "stm32h7xx_hal_hcd.h" #include "stm32h7xx_hal_hcd.h"
#endif /* HAL_HCD_MODULE_ENABLED */ #endif /* HAL_HCD_MODULE_ENABLED */
/* Exported macro ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/
#ifdef USE_FULL_ASSERT #ifdef USE_FULL_ASSERT
/** /**
* @brief The assert_param macro is used for function's parameters check. * @brief The assert_param macro is used for function's parameters check.
* @param expr: If expr is false, it calls assert_failed function * @param expr: If expr is false, it calls assert_failed function
* which reports the name of the source file and the source * which reports the name of the source file and the source
* line number of the call that failed. * line number of the call that failed.
* If expr is true, it returns no value. * If expr is true, it returns no value.
* @retval None * @retval None
*/ */
@ -525,6 +525,6 @@
#endif #endif
#endif /* __STM32H7xx_HAL_CONF_H */ #endif /* __STM32H7xx_HAL_CONF_H */
/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/ /************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/

18
src/platform/STM32/startup/system_stm32g4xx.c
View file

@ -176,7 +176,7 @@ int SystemSYSCLKSource(void)
case 0: // can't happen, fall through case 0: // can't happen, fall through
FALLTHROUGH; FALLTHROUGH;
case 1: case 1:
src = 0; // HSI src = 0; // HSI
break; break;
case 2: case 2:
@ -218,7 +218,7 @@ void Error_Handler(void)
* *
* If mhz == 27 then scale it down to 9 with PLL=19 for base 171MHz with PLLN increment of 3 (9 * 3 = 27MHz a part) * If mhz == 27 then scale it down to 9 with PLL=19 for base 171MHz with PLLN increment of 3 (9 * 3 = 27MHz a part)
* *
* We don't prepare a separate frequency selection for 27MHz series in CLI, so what is set with "cpu_overclock" * We don't prepare a separate frequency selection for 27MHz series in CLI, so what is set with "cpu_overclock"
* will result in slightly higher clock when examined with "status" command. * will result in slightly higher clock when examined with "status" command.
*/ */
@ -307,7 +307,7 @@ void systemClockSetHSEValue(uint32_t frequency)
if (freqMhz != 27 && (freqMhz / 8) * 8 != freqMhz) { if (freqMhz != 27 && (freqMhz / 8) * 8 != freqMhz) {
return; return;
} }
uint32_t hse_value = persistentObjectRead(PERSISTENT_OBJECT_HSE_VALUE); uint32_t hse_value = persistentObjectRead(PERSISTENT_OBJECT_HSE_VALUE);
@ -354,7 +354,7 @@ void OverclockRebootIfNecessary(unsigned requestedOverclockLevel)
* @brief System Clock Configuration * @brief System Clock Configuration
* @retval None * @retval None
*/ */
// Extracted from MX generated main.c // Extracted from MX generated main.c
void SystemClock_Config(void) void SystemClock_Config(void)
{ {
@ -365,11 +365,11 @@ void SystemClock_Config(void)
systemClock_PLLConfig(persistentObjectRead(PERSISTENT_OBJECT_OVERCLOCK_LEVEL)); systemClock_PLLConfig(persistentObjectRead(PERSISTENT_OBJECT_OVERCLOCK_LEVEL));
// Configure the main internal regulator output voltage // Configure the main internal regulator output voltage
HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST); HAL_PWREx_ControlVoltageScaling(PWR_REGULATOR_VOLTAGE_SCALE1_BOOST);
// Initializes the CPU, AHB and APB busses clocks // Initializes the CPU, AHB and APB busses clocks
RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI48 RCC_OscInitStruct.OscillatorType = RCC_OSCILLATORTYPE_HSI|RCC_OSCILLATORTYPE_HSI48
|RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE; |RCC_OSCILLATORTYPE_LSI|RCC_OSCILLATORTYPE_HSE;
@ -393,7 +393,7 @@ void SystemClock_Config(void)
Error_Handler(); Error_Handler();
} }
// Initializes the CPU, AHB and APB busses clocks // Initializes the CPU, AHB and APB busses clocks
RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK RCC_ClkInitStruct.ClockType = RCC_CLOCKTYPE_HCLK|RCC_CLOCKTYPE_SYSCLK
|RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2; |RCC_CLOCKTYPE_PCLK1|RCC_CLOCKTYPE_PCLK2;
@ -407,7 +407,7 @@ void SystemClock_Config(void)
Error_Handler(); Error_Handler();
} }
// Initializes the peripherals clocks // Initializes the peripherals clocks
PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2 PeriphClkInit.PeriphClockSelection = RCC_PERIPHCLK_USART1|RCC_PERIPHCLK_USART2
|RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_UART4 |RCC_PERIPHCLK_USART3|RCC_PERIPHCLK_UART4
@ -440,7 +440,7 @@ void SystemClock_Config(void)
Error_Handler(); Error_Handler();
} }
// Configures CRS // Configures CRS
pInit.Prescaler = RCC_CRS_SYNC_DIV1; pInit.Prescaler = RCC_CRS_SYNC_DIV1;
pInit.Source = RCC_CRS_SYNC_SOURCE_USB; pInit.Source = RCC_CRS_SYNC_SOURCE_USB;

6
src/platform/STM32/startup/system_stm32h7xx.c
View file

@ -1,5 +1,5 @@
// This module contains initialization code specific to STM32H7 MCUs. // This module contains initialization code specific to STM32H7 MCUs.
// It configures the RCC peripheral (system clocks) including scalars, and // It configures the RCC peripheral (system clocks) including scalars, and
// enables RCC clocks for peripherals. // enables RCC clocks for peripherals.
/** /**
@ -270,7 +270,7 @@ pllConfig_t pll1ConfigRevV = {
// Nominal max 280MHz with 8MHz HSE // Nominal max 280MHz with 8MHz HSE
// (340 is okay, 360 doesn't work.) // (340 is okay, 360 doesn't work.)
// //
pllConfig_t pll1Config7A3 = { pllConfig_t pll1Config7A3 = {
.clockMhz = 280, .clockMhz = 280,
@ -322,7 +322,7 @@ pllConfig_t pll1Config72x73x = {
#define MCU_HCLK_DIVIDER RCC_HCLK_DIV2 #define MCU_HCLK_DIVIDER RCC_HCLK_DIV2
// RM0468 (Rev.2) Table 16. // RM0468 (Rev.2) Table 16.
// 520MHz (AXI Interface clock) at VOS0 is 3WS // 520MHz (AXI Interface clock) at VOS0 is 3WS
#define MCU_FLASH_LATENCY FLASH_LATENCY_3 #define MCU_FLASH_LATENCY FLASH_LATENCY_3

4
src/platform/STM32/timer_stm32g4xx.c
View file

@ -75,7 +75,7 @@ const timerHardware_t fullTimerHardware[FULL_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH1N, PA7, 0, 0, 0), DEF_TIM(TIM8, CH1N, PA7, 0, 0, 0),
DEF_TIM(TIM8, CH2, PA14, 0, 0, 0), DEF_TIM(TIM8, CH2, PA14, 0, 0, 0),
DEF_TIM(TIM1, CH1N, PA7, 0, 0, 0), DEF_TIM(TIM1, CH1N, PA7, 0, 0, 0),
DEF_TIM(TIM1, CH1, PA8, 0, 0, 0), DEF_TIM(TIM1, CH1, PA8, 0, 0, 0),
DEF_TIM(TIM1, CH2, PA9, 0, 0, 0), DEF_TIM(TIM1, CH2, PA9, 0, 0, 0),
@ -126,7 +126,7 @@ const timerHardware_t fullTimerHardware[FULL_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH1N, PB3, 0, 0, 0), DEF_TIM(TIM8, CH1N, PB3, 0, 0, 0),
DEF_TIM(TIM8, CH2N, PB4, 0, 0, 0), DEF_TIM(TIM8, CH2N, PB4, 0, 0, 0),
DEF_TIM(TIM1, CH3N, PB15, 0, 0, 0), DEF_TIM(TIM1, CH3N, PB15, 0, 0, 0),
DEF_TIM(TIM8, CH1, PB6, 0, 0, 0), DEF_TIM(TIM8, CH1, PB6, 0, 0, 0),
DEF_TIM(TIM1, CH2N, PB0, 0, 0, 0), DEF_TIM(TIM1, CH2N, PB0, 0, 0, 0),