Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-13 11:29:58 +03:00
Code Issues Wiki Activity

added pidalt stuff into cli

Browse source 
added a modifier for set (type "set *") to see min/max values for each parameter. this is for gui stuff
bumped config VERSION
fixed 0xffff - now stuff in drv_pwm, after it was mentioned to me for the  3rd time :p
replaced some uint8_t -> uint32_t for loop counters - saving 4 to 8 bytes of flash each time. thanks goes to thee 35+ years of C experience kicad guy.
turned bitfiends into a regular struct - instant 100byte flash size reduction

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@174 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-07-02 15:47:12 +00:00
parent c998f5ca67
commit 829331c020
12 changed files with 2747 additions and 2756 deletions
Download patch file Download diff file Expand all files Collapse all files

5396
obj/baseflight.hex
View file

File diff suppressed because it is too large Load diff

37
src/cli.c
View file

@ -23,7 +23,7 @@ extern const char rcChannelLetters[];
// buffer
static char cliBuffer[32];
static uint8_t bufferIndex = 0;
static uint32_t bufferIndex = 0;
// sync this with MultiType enum from mw.h
const char *mixerNames[] = {
@ -151,6 +151,9 @@ const clivalue_t valueTable[] = {
{ "p_yaw", VAR_UINT8, &cfg.P8[YAW], 0, 200 },
{ "i_yaw", VAR_UINT8, &cfg.I8[YAW], 0, 200 },
{ "d_yaw", VAR_UINT8, &cfg.D8[YAW], 0, 200 },
{ "p_alt", VAR_UINT8, &cfg.P8[PIDALT], 0, 200 },
{ "i_alt", VAR_UINT8, &cfg.I8[PIDALT], 0, 200 },
{ "d_alt", VAR_UINT8, &cfg.D8[PIDALT], 0, 200 },
{ "p_level", VAR_UINT8, &cfg.P8[PIDLEVEL], 0, 200 },
{ "i_level", VAR_UINT8, &cfg.I8[PIDLEVEL], 0, 200 },
{ "d_level", VAR_UINT8, &cfg.D8[PIDLEVEL], 0, 200 },
@ -159,7 +162,7 @@ const clivalue_t valueTable[] = {
#define VALUE_COUNT (sizeof(valueTable) / sizeof(valueTable[0]))
static void cliSetVar(const clivalue_t *var, const int32_t value);
static void cliPrintVar(const clivalue_t *var);
static void cliPrintVar(const clivalue_t *var, uint32_t full);
#ifndef HAVE_ITOA_FUNCTION
@ -231,8 +234,8 @@ static void cliExit(char *cmdline)
static void cliFeature(char *cmdline)
{
uint8_t i;
uint8_t len;
uint32_t i;
uint32_t len;
uint32_t mask;
len = strlen(cmdline);
@ -290,7 +293,7 @@ static void cliFeature(char *cmdline)
static void cliHelp(char *cmdline)
{
uint8_t i = 0;
uint32_t i = 0;
uartPrint("Available commands:\r\n");
@ -305,8 +308,8 @@ static void cliHelp(char *cmdline)
static void cliMap(char *cmdline)
{
uint8_t len;
uint8_t i;
uint32_t len;
uint32_t i;
char out[9];
len = strlen(cmdline);
@ -379,7 +382,7 @@ static void cliSave(char *cmdline)
systemReset(false);
}
static void cliPrintVar(const clivalue_t *var)
static void cliPrintVar(const clivalue_t *var, uint32_t full)
{
int32_t value = 0;
char buf[16];
@ -407,6 +410,14 @@ static void cliPrintVar(const clivalue_t *var)
}
itoa(value, buf, 10);
uartPrint(buf);
if (full) {
uartPrint(" ");
itoa(var->min, buf, 10);
uartPrint(buf);
uartPrint(" ");
itoa(var->max, buf, 10);
uartPrint(buf);
}
}
static void cliSetVar(const clivalue_t *var, const int32_t value)
@ -430,21 +441,21 @@ static void cliSetVar(const clivalue_t *var, const int32_t value)
static void cliSet(char *cmdline)
{
uint8_t i;
uint8_t len;
uint32_t i;
uint32_t len;
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
len = strlen(cmdline);
if (len == 0) {
if (len == 0 || (len == 1 && cmdline[0] == '*')) {
uartPrint("Current settings: \r\n");
for (i = 0; i < VALUE_COUNT; i++) {
val = &valueTable[i];
uartPrint((char *)valueTable[i].name);
uartPrint(" = ");
cliPrintVar(val);
cliPrintVar(val, len); // when len is 1 (when * is passed as argument), it will print min/max values as well, for gui
uartPrint("\r\n");
while (!uartTransmitEmpty());
}
@ -461,7 +472,7 @@ static void cliSet(char *cmdline)
cliSetVar(val, value);
uartPrint((char *)valueTable[i].name);
uartPrint(" set to ");
cliPrintVar(val);
cliPrintVar(val, 0);
} else {
uartPrint("ERR: Value assignment out of range\r\n");
}

2
src/config.c
View file

@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0;
uint8_t checkNewConf = 19;
uint8_t checkNewConf = 22;
void parseRcChannels(const char *input)
{

10
src/drv_pwm.c
View file

@ -79,11 +79,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
TIM_ClearITPendingBit(tim, TIM_IT_CC1);
if (now > last) {
diff = (now - last);
} else {
diff = ((0xFFFF - last) + now);
}
diff = now - last;
if (diff > 2700) { // Per http://www.rcgroups.com/forums/showpost.php?p=21996147&postcount=3960 "So, if you use 2.5ms or higher as being the reset for the PPM stream start, you will be fine. I use 2.7ms just to be safe."
chan = 0;
@ -98,7 +94,7 @@ static void ppmIRQHandler(TIM_TypeDef *tim)
static void pwmIRQHandler(TIM_TypeDef *tim)
{
uint8_t i;
uint32_t i;
uint16_t val = 0;
for (i = 0; i < 8; i++) {
@ -162,7 +158,7 @@ static void pwmInitializeInput(bool usePPM)
GPIO_InitTypeDef GPIO_InitStructure = { 0, };
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure = { 0, };
NVIC_InitTypeDef NVIC_InitStructure = { 0, };
uint8_t i;
uint32_t i;
// Input pins
if (usePPM) {

2
src/drv_system.c
View file

@ -45,7 +45,7 @@ uint32_t millis(void)
void systemInit(void)
{
GPIO_InitTypeDef GPIO_InitStructure;
uint8_t i;
uint32_t i;
gpio_config_t gpio_cfg[] = {
{ LED0_GPIO, LED0_PIN, GPIO_Mode_Out_PP }, // PB3 (LED)

2
src/gps.c
View file

@ -621,7 +621,7 @@ static uint32_t GPS_coord_to_degrees(char *s)
// helper functions
static uint32_t grab_fields(char *src, uint8_t mult)
{ // convert string to uint32
uint8_t i;
uint32_t i;
uint32_t tmp = 0;
for (i = 0; src[i] != 0; i++) {
if (src[i] == '.') {

8
src/imu.c
View file

@ -34,7 +34,7 @@ void imuInit(void)
void computeIMU(void)
{
uint8_t axis;
uint32_t axis;
static int16_t gyroADCprevious[3] = { 0, 0, 0 };
int16_t gyroADCp[3];
int16_t gyroADCinter[3];
@ -180,7 +180,7 @@ static int16_t _atan2f(float y, float x)
static void getEstimatedAttitude(void)
{
uint8_t axis;
uint32_t axis;
int32_t accMag = 0;
static t_fp_vector EstG;
static t_fp_vector EstM;
@ -265,10 +265,10 @@ static void getEstimatedAttitude(void)
void getEstimatedAltitude(void)
{
uint8_t index;
uint32_t index;
static uint32_t deadLine = INIT_DELAY;
static int16_t BaroHistTab[BARO_TAB_SIZE];
static int8_t BaroHistIdx;
static uint32_t BaroHistIdx;
static int32_t BaroHigh = 0;
static int32_t BaroLow = 0;
int32_t temp32;

2
src/mixer.c
View file

@ -97,7 +97,7 @@ void writeAllMotors(int16_t mc)
void mixTable(void)
{
int16_t maxMotor;
uint8_t i;
uint32_t i;
static uint8_t camCycle = 0;
static uint8_t camState = 0;
static uint32_t camTime = 0;

1
src/mw.c
View file

@ -43,7 +43,6 @@ uint8_t GPS_update = 0; // it's a binary toogle to distinct a GPS positi
int16_t GPS_angle[2] = { 0, 0 }; // it's the angles that must be applied for GPS correction
uint16_t GPS_ground_course = 0; // degrees*10
uint8_t GPS_Present = 0; // Checksum from Gps serial
uint8_t GPS_Enable = 0;
int16_t nav[2];
int8_t nav_mode = NAV_MODE_NONE; // Navigation mode

31
src/mw.h
View file

@ -198,21 +198,21 @@ typedef struct config_t {
} config_t;
typedef struct flags_t {
uint8_t OK_TO_ARM :1;
uint8_t ARMED :1;
uint8_t I2C_INIT_DONE :1; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
uint8_t ACC_CALIBRATED :1;
uint8_t ACC_MODE :1;
uint8_t MAG_MODE :1;
uint8_t BARO_MODE :1;
uint8_t GPS_HOME_MODE :1;
uint8_t GPS_HOLD_MODE :1;
uint8_t HEADFREE_MODE :1;
uint8_t PASSTHRU_MODE :1;
uint8_t GPS_FIX :1;
uint8_t GPS_FIX_HOME :1;
uint8_t SMALL_ANGLES_25 :1;
uint8_t CALIBRATE_MAG :1;
uint8_t OK_TO_ARM;
uint8_t ARMED;
uint8_t I2C_INIT_DONE; // For i2c gps we have to now when i2c init is done, so we can update parameters to the i2cgps from eeprom (at startup it is done in setup())
uint8_t ACC_CALIBRATED;
uint8_t ACC_MODE;
uint8_t MAG_MODE;
uint8_t BARO_MODE;
uint8_t GPS_HOME_MODE;
uint8_t GPS_HOLD_MODE;
uint8_t HEADFREE_MODE;
uint8_t PASSTHRU_MODE;
uint8_t GPS_FIX;
uint8_t GPS_FIX_HOME;
uint8_t SMALL_ANGLES_25;
uint8_t CALIBRATE_MAG;
} flags_t;
extern int16_t gyroZero[3];
@ -264,7 +264,6 @@ extern uint8_t GPS_update; // it's a binary to
extern int16_t GPS_angle[2]; // it's the angles that must be applied for GPS correction
extern uint16_t GPS_ground_course; // degrees*10
extern uint8_t GPS_Present; // Checksum from Gps serial
extern uint8_t GPS_Enable;
extern int16_t nav[2];
extern int8_t nav_mode; // Navigation mode

10
src/sensors.c
View file

@ -115,7 +115,7 @@ uint16_t batteryAdcToVoltage(uint16_t src)
void batteryInit(void)
{
uint8_t i;
uint32_t i;
uint32_t voltage = 0;
// average up some voltage readings
@ -138,7 +138,7 @@ void batteryInit(void)
static void ACC_Common(void)
{
static int32_t a[3];
uint8_t axis;
uint32_t axis;
if (calibratingA > 0) {
for (axis = 0; axis < 3; axis++) {
@ -272,7 +272,7 @@ static void GYRO_Common(void)
{
static int16_t previousGyroADC[3] = { 0, 0, 0 };
static int32_t g[3];
uint8_t axis;
uint32_t axis;
if (calibratingG > 0) {
for (axis = 0; axis < 3; axis++) {
@ -328,7 +328,7 @@ void Mag_init(void)
{
uint8_t calibration_gain = 0x60; // HMC5883
#if 1
uint8_t numAttempts = 0, good_count = 0;
uint32_t numAttempts = 0, good_count = 0;
bool success = false;
uint16_t expected_x = 766; // default values for HMC5883
uint16_t expected_yz = 713;
@ -405,7 +405,7 @@ void Mag_getADC(void)
static uint32_t t, tCal = 0;
static int16_t magZeroTempMin[3];
static int16_t magZeroTempMax[3];
uint8_t axis;
uint32_t axis;
if (currentTime < t)
return; //each read is spaced by 100ms

2
src/serial.c
View file

@ -169,7 +169,7 @@ void serialInit(uint32_t baudrate)
static void evaluateCommand(void)
{
uint8_t i;
uint32_t i;
switch (cmdMSP) {
case MSP_SET_RAW_RC: