fixed bug in soft_i2c driver (doesnt affect anyone except testing)

added VAR_FLOAT to cli - now allows setting/printing float vars
fixed newlines in pwm driver
exported new althold tunables to cli (some are floats) - still not enabled by default until I know it works

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@219 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -82,7 +82,8 @@ typedef enum {
     VAR_INT8,
     VAR_UINT16,
     VAR_INT16,
-    VAR_UINT32
+    VAR_UINT32,
+    VAR_FLOAT
 } vartype_e;
 
 typedef struct {
@@ -143,6 +144,9 @@ const clivalue_t valueTable[] = {
     { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
     { "gyro_cmpf_factor", VAR_UINT16, &cfg.gyro_cmpf_factor, 100, 1000 },
     { "mpu6050_scale", VAR_UINT8, &cfg.mpu6050_scale, 0, 1 },
+    { "baro_tab_size", VAR_UINT8, &cfg.baro_tab_size, 0, BARO_TAB_SIZE_MAX },
+    { "baro_noise_lpf", VAR_FLOAT, &cfg.baro_noise_lpf, 0, 1 },
+    { "baro_cf", VAR_FLOAT, &cfg.baro_cf, 0, 1 },
     { "mag_declination", VAR_INT16, &cfg.mag_declination, -18000, 18000 },
     { "gps_type", VAR_UINT8, &cfg.gps_type, 0, 3 },
     { "gps_pos_p", VAR_UINT8, &cfg.P8[PIDPOS], 0, 200 },
@@ -613,12 +617,13 @@ static void cliSave(char *cmdline)
 static void cliPrintVar(const clivalue_t *var, uint32_t full)
 {
     int32_t value = 0;
+    char buf[8];
 
     switch (var->type) {
         case VAR_UINT8:
             value = *(uint8_t *)var->ptr;
             break;
-        
+
         case VAR_INT8:
             value = *(int8_t *)var->ptr;
             break;
@@ -634,6 +639,14 @@ static void cliPrintVar(const clivalue_t *var, uint32_t full)
         case VAR_UINT32:
             value = *(uint32_t *)var->ptr;
             break;
+
+        case VAR_FLOAT:
+            printf("%s", ftoa(*(float *)var->ptr, buf));
+            if (full) {
+                printf(" %s", ftoa((float)var->min, buf));
+                printf(" %s", ftoa((float)var->max, buf));
+            }
+            return; // return from case for float only
     }
     printf("%d", value);
     if (full)
@@ -647,15 +660,19 @@ static void cliSetVar(const clivalue_t *var, const int32_t value)
         case VAR_INT8:
             *(char *)var->ptr = (char)value;
             break;
-            
+
         case VAR_UINT16:
         case VAR_INT16:
             *(short *)var->ptr = (short)value;
             break;
-            
+
         case VAR_UINT32:
             *(int *)var->ptr = (int)value;
             break;
+
+        case VAR_FLOAT:
+            *(float *)var->ptr = *(float *)&value;
+            break;
     }
 }
 
@@ -666,6 +683,7 @@ static void cliSet(char *cmdline)
     const clivalue_t *val;
     char *eqptr = NULL;
     int32_t value = 0;
+    float valuef = 0;
 
     len = strlen(cmdline);
 
@@ -682,12 +700,12 @@ static void cliSet(char *cmdline)
         eqptr++;
         len--;
         value = atoi(eqptr);
+        valuef = _atof(eqptr);
         for (i = 0; i < VALUE_COUNT; i++) {
             val = &valueTable[i];
             if (strncasecmp(cmdline, valueTable[i].name, strlen(valueTable[i].name)) == 0) {
-                // found
-                if (value >= valueTable[i].min && value <= valueTable[i].max) {
-                    cliSetVar(val, value);
+                if (valuef >= valueTable[i].min && valuef <= valueTable[i].max) { // here we compare the float value since... it should work, RIGHT?
+                    cliSetVar(val, valueTable[i].type == VAR_FLOAT ? *(uint32_t *)&valuef : value); // this is a silly dirty hack. please fix me later.
                     printf("%s set to ", valueTable[i].name);
                     cliPrintVar(val, 0);
                 } else {

src/drv_i2c_soft.c

@@ -13,8 +13,8 @@
 #define SDA_H         GPIOB->BSRR = GPIO_Pin_11 /* GPIO_SetBits(GPIOB , GPIO_Pin_11)   */
 #define SDA_L         GPIOB->BRR  = GPIO_Pin_11 /* GPIO_ResetBits(GPIOB , GPIO_Pin_11) */
 
-#define SCL_read      GPIOB->IDR  & GPIO_Pin_10 /* GPIO_ReadInputDataBit(GPIOB , GPIO_Pin_10) */
-#define SDA_read      GPIOB->IDR  & GPIO_Pin_11 /* GPIO_ReadInputDataBit(GPIOB , GPIO_Pin_11) */
+#define SCL_read      (GPIOB->IDR & GPIO_Pin_10) /* GPIO_ReadInputDataBit(GPIOB , GPIO_Pin_10) */
+#define SDA_read      (GPIOB->IDR & GPIO_Pin_11) /* GPIO_ReadInputDataBit(GPIOB , GPIO_Pin_11) */
 
 static void I2C_delay(void)
 {

src/drv_pwm.c

@@ -493,7 +493,7 @@ bool pwmInit(drv_pwm_config_t *init)
 
         if (init->extraServos) {
             // remap PWM5..8 as servos when used in extended servo mode
-            if (port >= PWM5 && port <= PWM8)
+            if (port >= PWM5 && port <= PWM8)
                 mask = TYPE_S;
         }
 

src/imu.c

@@ -262,7 +262,6 @@ static void getEstimatedAttitude(void)
 #define UPDATE_INTERVAL 25000   // 40hz update rate (20hz LPF on acc)
 #define INIT_DELAY      4000000 // 4 sec initialization delay
 #define BARO_TAB_SIZE   40
-#define BARO_TAB_SIZE_MAX   48
 #define ACC_Z_DEADBAND (acc_1G / 50)
 
 #ifdef NEW_ACCZ_HOLD

src/mw.h

@@ -3,6 +3,8 @@
 /* for VBAT monitoring frequency */
 #define VBATFREQ 6        // to read battery voltage - nth number of loop iterations
 
+#define BARO_TAB_SIZE_MAX   48
+
 #define  VERSION  211
 
 #define LAT  0