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Merge branch 'ledvinap-improvement-local'

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This commit is contained in:
Dominic Clifton 2015-10-12 19:58:22 +01:00
commit 7384e9d4d4
25 changed files with 98 additions and 93 deletions
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14
src/main/blackbox/blackbox.c
View file

@ -111,7 +111,7 @@ static const char* const blackboxFieldHeaderNames[] = {
};
/* All field definition structs should look like this (but with longer arrs): */
typedef struct blackboxFieldDefinition_t {
typedef struct blackboxFieldDefinition_s {
const char *name;
// If the field name has a number to be included in square brackets [1] afterwards, set it here, or -1 for no brackets:
int8_t fieldNameIndex;
@ -124,7 +124,7 @@ typedef struct blackboxFieldDefinition_t {
#define BLACKBOX_SIMPLE_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
#define BLACKBOX_CONDITIONAL_FIELD_HEADER_COUNT (BLACKBOX_DELTA_FIELD_HEADER_COUNT - 2)
typedef struct blackboxSimpleFieldDefinition_t {
typedef struct blackboxSimpleFieldDefinition_s {
const char *name;
int8_t fieldNameIndex;
@ -133,7 +133,7 @@ typedef struct blackboxSimpleFieldDefinition_t {
uint8_t encode;
} blackboxSimpleFieldDefinition_t;
typedef struct blackboxConditionalFieldDefinition_t {
typedef struct blackboxConditionalFieldDefinition_s {
const char *name;
int8_t fieldNameIndex;
@ -143,7 +143,7 @@ typedef struct blackboxConditionalFieldDefinition_t {
uint8_t condition; // Decide whether this field should appear in the log
} blackboxConditionalFieldDefinition_t;
typedef struct blackboxDeltaFieldDefinition_t {
typedef struct blackboxDeltaFieldDefinition_s {
const char *name;
int8_t fieldNameIndex;
@ -264,7 +264,7 @@ typedef enum BlackboxState {
BLACKBOX_STATE_SHUTTING_DOWN
} BlackboxState;
typedef struct blackboxMainState_t {
typedef struct blackboxMainState_s {
uint32_t time;
int32_t axisPID_P[XYZ_AXIS_COUNT], axisPID_I[XYZ_AXIS_COUNT], axisPID_D[XYZ_AXIS_COUNT];
@ -290,13 +290,13 @@ typedef struct blackboxMainState_t {
uint16_t rssi;
} blackboxMainState_t;
typedef struct blackboxGpsState_t {
typedef struct blackboxGpsState_s {
int32_t GPS_home[2], GPS_coord[2];
uint8_t GPS_numSat;
} blackboxGpsState_t;
// This data is updated really infrequently:
typedef struct blackboxSlowState_t {
typedef struct blackboxSlowState_s {
uint16_t flightModeFlags;
uint8_t stateFlags;
uint8_t failsafePhase;

14
src/main/blackbox/blackbox_fielddefs.h
View file

@ -109,40 +109,38 @@ typedef enum FlightLogEvent {
FLIGHT_LOG_EVENT_LOG_END = 255
} FlightLogEvent;
typedef struct flightLogEvent_syncBeep_t {
typedef struct flightLogEvent_syncBeep_s {
uint32_t time;
} flightLogEvent_syncBeep_t;
typedef struct flightLogEvent_inflightAdjustment_t {
typedef struct flightLogEvent_inflightAdjustment_s {
uint8_t adjustmentFunction;
bool floatFlag;
int32_t newValue;
float newFloatValue;
} flightLogEvent_inflightAdjustment_t;
typedef struct flightLogEvent_loggingResume_t {
typedef struct flightLogEvent_loggingResume_s {
uint32_t logIteration;
uint32_t currentTime;
} flightLogEvent_loggingResume_t;
#define FLIGHT_LOG_EVENT_INFLIGHT_ADJUSTMENT_FUNCTION_FLOAT_VALUE_FLAG 128
typedef struct flightLogEvent_gtuneCycleResult_t {
typedef struct flightLogEvent_gtuneCycleResult_s {
uint8_t gtuneAxis;
int32_t gtuneGyroAVG;
int16_t gtuneNewP;
} flightLogEvent_gtuneCycleResult_t;
typedef union flightLogEventData_t
{
typedef union flightLogEventData_u {
flightLogEvent_syncBeep_t syncBeep;
flightLogEvent_inflightAdjustment_t inflightAdjustment;
flightLogEvent_loggingResume_t loggingResume;
flightLogEvent_gtuneCycleResult_t gtuneCycleResult;
} flightLogEventData_t;
typedef struct flightLogEvent_t
{
typedef struct flightLogEvent_s {
FlightLogEvent event;
flightLogEventData_t data;
} flightLogEvent_t;

2
src/main/common/maths.h
View file

@ -34,7 +34,7 @@
#define MAX(a, b) ((a) > (b) ? (a) : (b))
#define ABS(x) ((x) > 0 ? (x) : -(x))
typedef struct stdev_t
typedef struct stdev_s
{
float m_oldM, m_newM, m_oldS, m_newS;
int m_n;

6
src/main/common/utils.h
View file

@ -42,9 +42,11 @@ http://resnet.uoregon.edu/~gurney_j/jmpc/bitwise.html
#else
// non ISO variant from linux kernel; checks ptr type, but triggers 'ISO C forbids braced-groups within expressions [-Wpedantic]'
// __extension__ is here to disable this warning
#define container_of(ptr, type, member) __extension__ ({ \
#define container_of(ptr, type, member) ( __extension__ ({ \
const typeof( ((type *)0)->member ) *__mptr = (ptr); \
(type *)( (char *)__mptr - offsetof(type,member) );})
(type *)( (char *)__mptr - offsetof(type,member) );}))
static inline int16_t cmp16(uint16_t a, uint16_t b) { return a-b; }
static inline int32_t cmp32(uint32_t a, uint32_t b) { return a-b; }
#endif

2
src/main/drivers/accgyro_adxl345.h
View file

@ -17,7 +17,7 @@
#pragma once
typedef struct drv_adxl345_config_t {
typedef struct drv_adxl345_config_s {
bool useFifo;
uint16_t dataRate;
} drv_adxl345_config_t;

4
src/main/drivers/adc.h
View file

@ -27,14 +27,14 @@ typedef enum {
#define ADC_CHANNEL_COUNT (ADC_CHANNEL_MAX + 1)
typedef struct adc_config_t {
typedef struct adc_config_s {
uint8_t adcChannel; // ADC1_INxx channel number
uint8_t dmaIndex; // index into DMA buffer in case of sparse channels
bool enabled;
uint8_t sampleTime;
} adc_config_t;
typedef struct drv_adc_config_t {
typedef struct drv_adc_config_s {
bool enableVBat;
bool enableRSSI;
bool enableCurrentMeter;

78
src/main/drivers/adc_stm32f10x.c
View file

@ -33,6 +33,13 @@
#include "adc.h"
#include "adc_impl.h"
#ifndef ADC_INSTANCE
#define ADC_INSTANCE ADC1
#define ADC_ABP2_PERIPHERAL RCC_APB2Periph_ADC1
#define ADC_AHB_PERIPHERAL RCC_AHBPeriph_DMA1
#define ADC_DMA_CHANNEL DMA1_Channel1
#endif
// Driver for STM32F103CB onboard ADC
//
// Naze32
@ -50,15 +57,13 @@ void adcInit(drv_adc_config_t *init)
UNUSED(init);
#endif
ADC_InitTypeDef adc;
DMA_InitTypeDef dma;
GPIO_InitTypeDef GPIO_InitStructure;
uint8_t i;
uint8_t configuredAdcChannels = 0;
memset(&adcConfig, 0, sizeof(adcConfig));
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_StructInit(&GPIO_InitStructure);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN;
@ -107,50 +112,53 @@ void adcInit(drv_adc_config_t *init)
#endif
RCC_ADCCLKConfig(RCC_PCLK2_Div8); // 9MHz from 72MHz APB2 clock(HSE), 8MHz from 64MHz (HSI)
RCC_AHBPeriphClockCmd(RCC_AHBPeriph_DMA1, ENABLE);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1, ENABLE);
RCC_AHBPeriphClockCmd(ADC_AHB_PERIPHERAL, ENABLE);
RCC_APB2PeriphClockCmd(ADC_ABP2_PERIPHERAL, ENABLE);
// FIXME ADC driver assumes all the GPIO was already placed in 'AIN' mode
DMA_DeInit(DMA1_Channel1);
dma.DMA_PeripheralBaseAddr = (uint32_t)&ADC1->DR;
dma.DMA_MemoryBaseAddr = (uint32_t)adcValues;
dma.DMA_DIR = DMA_DIR_PeripheralSRC;
dma.DMA_BufferSize = configuredAdcChannels;
dma.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
dma.DMA_MemoryInc = configuredAdcChannels > 1 ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
dma.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
dma.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
dma.DMA_Mode = DMA_Mode_Circular;
dma.DMA_Priority = DMA_Priority_High;
dma.DMA_M2M = DMA_M2M_Disable;
DMA_Init(DMA1_Channel1, &dma);
DMA_Cmd(DMA1_Channel1, ENABLE);
DMA_DeInit(ADC_DMA_CHANNEL);
DMA_InitTypeDef DMA_InitStructure;
DMA_StructInit(&DMA_InitStructure);
DMA_InitStructure.DMA_PeripheralBaseAddr = (uint32_t)&ADC_INSTANCE->DR;
DMA_InitStructure.DMA_MemoryBaseAddr = (uint32_t)adcValues;
DMA_InitStructure.DMA_DIR = DMA_DIR_PeripheralSRC;
DMA_InitStructure.DMA_BufferSize = configuredAdcChannels;
DMA_InitStructure.DMA_PeripheralInc = DMA_PeripheralInc_Disable;
DMA_InitStructure.DMA_MemoryInc = configuredAdcChannels > 1 ? DMA_MemoryInc_Enable : DMA_MemoryInc_Disable;
DMA_InitStructure.DMA_PeripheralDataSize = DMA_PeripheralDataSize_HalfWord;
DMA_InitStructure.DMA_MemoryDataSize = DMA_MemoryDataSize_HalfWord;
DMA_InitStructure.DMA_Mode = DMA_Mode_Circular;
DMA_InitStructure.DMA_Priority = DMA_Priority_High;
DMA_InitStructure.DMA_M2M = DMA_M2M_Disable;
DMA_Init(ADC_DMA_CHANNEL, &DMA_InitStructure);
DMA_Cmd(ADC_DMA_CHANNEL, ENABLE);
adc.ADC_Mode = ADC_Mode_Independent;
adc.ADC_ScanConvMode = configuredAdcChannels > 1 ? ENABLE : DISABLE;
adc.ADC_ContinuousConvMode = ENABLE;
adc.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
adc.ADC_DataAlign = ADC_DataAlign_Right;
adc.ADC_NbrOfChannel = configuredAdcChannels;
ADC_Init(ADC1, &adc);
ADC_InitTypeDef ADC_InitStructure;
ADC_StructInit(&ADC_InitStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = configuredAdcChannels > 1 ? ENABLE : DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = ENABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = configuredAdcChannels;
ADC_Init(ADC_INSTANCE, &ADC_InitStructure);
uint8_t rank = 1;
for (i = 0; i < ADC_CHANNEL_COUNT; i++) {
if (!adcConfig[i].enabled) {
continue;
}
ADC_RegularChannelConfig(ADC1, adcConfig[i].adcChannel, rank++, adcConfig[i].sampleTime);
ADC_RegularChannelConfig(ADC_INSTANCE, adcConfig[i].adcChannel, rank++, adcConfig[i].sampleTime);
}
ADC_DMACmd(ADC1, ENABLE);
ADC_Cmd(ADC1, ENABLE);
ADC_DMACmd(ADC_INSTANCE, ENABLE);
ADC_Cmd(ADC_INSTANCE, ENABLE);
ADC_ResetCalibration(ADC1);
while(ADC_GetResetCalibrationStatus(ADC1));
ADC_StartCalibration(ADC1);
while(ADC_GetCalibrationStatus(ADC1));
ADC_ResetCalibration(ADC_INSTANCE);
while(ADC_GetResetCalibrationStatus(ADC_INSTANCE));
ADC_StartCalibration(ADC_INSTANCE);
while(ADC_GetCalibrationStatus(ADC_INSTANCE));
ADC_SoftwareStartConvCmd(ADC1, ENABLE);
ADC_SoftwareStartConvCmd(ADC_INSTANCE, ENABLE);
}

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

@ -20,7 +20,7 @@
typedef void (*baroOpFuncPtr)(void); // baro start operation
typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef struct baro_t {
typedef struct baro_s {
uint16_t ut_delay;
uint16_t up_delay;
baroOpFuncPtr start_ut;

2
src/main/drivers/barometer_bmp280.c
View file

@ -72,7 +72,7 @@
#define T_SETUP_PRESSURE_MAX (10)
// 10/16 = 0.625 ms
typedef struct bmp280_calib_param_t {
typedef struct bmp280_calib_param_s {
uint16_t dig_T1; /* calibration T1 data */
int16_t dig_T2; /* calibration T2 data */
int16_t dig_T3; /* calibration T3 data */

2
src/main/drivers/bus_i2c_stm32f10x.c
View file

@ -42,7 +42,7 @@ static void i2c_er_handler(void);
static void i2c_ev_handler(void);
static void i2cUnstick(void);
typedef struct i2cDevice_t {
typedef struct i2cDevice_s {
I2C_TypeDef *dev;
GPIO_TypeDef *gpio;
uint16_t scl;

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

@ -19,7 +19,7 @@
#include <stdint.h>
typedef struct flashGeometry_t {
typedef struct flashGeometry_s {
uint16_t sectors; // Count of the number of erasable blocks on the device
uint16_t pagesPerSector;

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

@ -44,7 +44,7 @@ typedef struct sonarGPIOConfig_s {
uint16_t echoPin;
} sonarGPIOConfig_t;
typedef struct drv_pwm_config_t {
typedef struct drv_pwm_config_s {
bool useParallelPWM;
bool usePPM;
bool useSerialRx;

2
src/main/drivers/pwm_rx.c
View file

@ -83,7 +83,7 @@ static uint8_t ppmFrameCount = 0;
static uint8_t lastPPMFrameCount = 0;
static uint8_t ppmCountShift = 0;
typedef struct ppmDevice {
typedef struct ppmDevice_s {
uint8_t pulseIndex;
uint32_t previousTime;
uint32_t currentTime;

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

@ -36,7 +36,7 @@ typedef enum portOptions_t {
typedef void (*serialReceiveCallbackPtr)(uint16_t data); // used by serial drivers to return frames to app
typedef struct serialPort {
typedef struct serialPort_s {
const struct serialPortVTable *vTable;

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

@ -270,7 +270,7 @@ void calculateEstimatedAltitude(uint32_t currentTime)
BaroAlt = sonarAlt;
} else {
BaroAlt -= baroAlt_offset;
if (sonarAlt > 0) {
if (sonarAlt > 0 && sonarAlt <= 300) {
sonarTransition = (300 - sonarAlt) / 100.0f;
BaroAlt = sonarAlt * sonarTransition + BaroAlt * (1.0f - sonarTransition);
}

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

@ -84,7 +84,7 @@ void imuConfigure(
throttleAngleScale = calculateThrottleAngleScale(throttle_correction_angle);
}
void imuInit()
void imuInit(void)
{
smallAngle = lrintf(acc_1G * cos_approx(degreesToRadians(imuRuntimeConfig->small_angle)));
accVelScale = 9.80665f / acc_1G / 10000.0f;

2
src/main/flight/lowpass.h
View file

@ -21,7 +21,7 @@
#define LOWPASS_NUM_COEF 3
#define LPF_ROUND(x) (x < 0 ? (x - 0.5f) : (x + 0.5f))
typedef struct lowpass_t {
typedef struct lowpass_s {
bool init;
int16_t freq; // Normalized freq in 1/1000ths
float bf[LOWPASS_NUM_COEF];

12
src/main/flight/mixer.h
View file

@ -54,7 +54,7 @@ typedef enum mixerMode
} mixerMode_e;
// Custom mixer data per motor
typedef struct motorMixer_t {
typedef struct motorMixer_s {
float throttle;
float roll;
float pitch;
@ -62,7 +62,7 @@ typedef struct motorMixer_t {
} motorMixer_t;
// Custom mixer configuration
typedef struct mixer_t {
typedef struct mixer_s {
uint8_t motorCount;
uint8_t useServo;
const motorMixer_t *motor;
@ -86,7 +86,7 @@ typedef struct flight3DConfig_s {
uint16_t deadband3d_throttle; // default throttle deadband from MIDRC
} flight3DConfig_t;
typedef struct airplaneConfig_t {
typedef struct airplaneConfig_s {
int8_t fixedwing_althold_dir; // +1 or -1 for pitch/althold gain. later check if need more than just sign
} airplaneConfig_t;
@ -150,7 +150,7 @@ typedef enum {
#define SERVO_FLAPPERONS_MIN SERVO_FLAPPERON_1
#define SERVO_FLAPPERONS_MAX SERVO_FLAPPERON_2
typedef struct servoMixer_t {
typedef struct servoMixer_s {
uint8_t targetChannel; // servo that receives the output of the rule
uint8_t inputSource; // input channel for this rule
int8_t rate; // range [-125;+125] ; can be used to adjust a rate 0-125% and a direction
@ -165,12 +165,12 @@ typedef struct servoMixer_t {
#define MAX_SERVO_BOXES 3
// Custom mixer configuration
typedef struct mixerRules_t {
typedef struct mixerRules_s {
uint8_t servoRuleCount;
const servoMixer_t *rule;
} mixerRules_t;
typedef struct servoParam_t {
typedef struct servoParam_s {
int16_t min; // servo min
int16_t max; // servo max
int16_t middle; // servo middle

8
src/main/io/display.h
View file

@ -23,14 +23,12 @@ typedef enum {
PAGE_BATTERY,
PAGE_SENSORS,
PAGE_RX,
PAGE_PROFILE
PAGE_PROFILE,
#ifdef GPS
,
PAGE_GPS
PAGE_GPS,
#endif
#ifdef ENABLE_DEBUG_OLED_PAGE
,
PAGE_DEBUG
PAGE_DEBUG,
#endif
} pageId_e;

2
src/main/io/gps.c
View file

@ -99,7 +99,7 @@ static gpsConfig_t *gpsConfig;
static serialConfig_t *serialConfig;
static serialPort_t *gpsPort;
typedef struct gpsInitData_t {
typedef struct gpsInitData_s {
uint8_t index;
uint8_t baudrateIndex; // see baudRate_e
const char *ubx;

2
src/main/io/gps.h
View file

@ -81,7 +81,7 @@ typedef enum {
#define GPS_MESSAGE_STATE_ENTRY_COUNT (GPS_MESSAGE_STATE_MAX + 1)
typedef struct gpsData_t {
typedef struct gpsData_s {
uint8_t state; // GPS thread state. Used for detecting cable disconnects and configuring attached devices
uint8_t baudrateIndex; // index into auto-detecting or current baudrate
uint32_t errors; // gps error counter - crc error/lost of data/sync etc..

19
src/main/mw.c
View file

@ -25,6 +25,7 @@
#include "common/maths.h"
#include "common/axis.h"
#include "common/color.h"
#include "common/utils.h"
#include "drivers/sensor.h"
#include "drivers/accgyro.h"
@ -236,14 +237,14 @@ void annexCode(void)
}
if (feature(FEATURE_VBAT)) {
if ((int32_t)(currentTime - vbatLastServiced) >= VBATINTERVAL) {
if (cmp32(currentTime, vbatLastServiced) >= VBATINTERVAL) {
vbatLastServiced = currentTime;
updateBattery();
}
}
if (feature(FEATURE_CURRENT_METER)) {
int32_t ibatTimeSinceLastServiced = (int32_t) (currentTime - ibatLastServiced);
int32_t ibatTimeSinceLastServiced = cmp32(currentTime, ibatLastServiced);
if (ibatTimeSinceLastServiced >= IBATINTERVAL) {
ibatLastServiced = currentTime;
@ -459,16 +460,14 @@ void executePeriodicTasks(void)
#if defined(BARO) || defined(SONAR)
case CALCULATE_ALTITUDE_TASK:
#if defined(BARO) && !defined(SONAR)
if (sensors(SENSOR_BARO) && isBaroReady()) {
if (false
#if defined(BARO)
|| (sensors(SENSOR_BARO) && isBaroReady())
#endif
#if defined(BARO) && defined(SONAR)
if ((sensors(SENSOR_BARO) && isBaroReady()) || sensors(SENSOR_SONAR)) {
#endif
#if !defined(BARO) && defined(SONAR)
if (sensors(SENSOR_SONAR)) {
#if defined(SONAR)
|| sensors(SENSOR_SONAR)
#endif
) {
calculateEstimatedAltitude(currentTime);
}
break;

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

@ -82,7 +82,7 @@ bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
{
int b;
for (b = 0; b < SBUS_MAX_CHANNEL; b++)
sbusChannelData[b] = (1.6f * rxConfig->midrc) - 1408;
sbusChannelData[b] = (16 * rxConfig->midrc) / 10 - 1408;
if (callback)
*callback = sbusReadRawRC;
rxRuntimeConfig->channelCount = SBUS_MAX_CHANNEL;

2
src/test/unit/baro_bmp280_unittest.cc
View file

@ -22,7 +22,7 @@ extern "C" {
extern uint32_t bmp280_up;
extern uint32_t bmp280_ut;
typedef struct bmp280_calib_param_t {
typedef struct bmp280_calib_param_s {
uint16_t dig_T1; /* calibration T1 data */
int16_t dig_T2; /* calibration T2 data */
int16_t dig_T3; /* calibration T3 data */

4
src/test/unit/encoding_unittest.cc
View file

@ -23,12 +23,12 @@ extern "C" {
#include "unittest_macros.h"
#include "gtest/gtest.h"
typedef struct zigzagEncodingExpectation_t {
typedef struct zigzagEncodingExpectation_s {
int32_t input;
uint32_t expected;
} zigzagEncodingExpectation_t;
typedef struct floatToIntEncodingExpectation_t {
typedef struct floatToIntEncodingExpectation_s {
float input;
uint32_t expected;
} floatToIntEncodingExpectation_t;