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Merge branch 'master' of https://github.com/betaflight/betaflight

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This commit is contained in:
KiteAnton 2016-07-27 21:33:29 +02:00
commit 8d3c90a87f
14 changed files with 79 additions and 53 deletions
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6
src/main/drivers/pwm_mapping.c
View file

@ -92,7 +92,9 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
int i = 0;
const uint16_t *setup;
#ifndef SKIP_RX_PWM_PPM
int channelIndex = 0;
#endif
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
@ -289,15 +291,19 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#endif
if (type == MAP_TO_PPM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
#if defined(SPARKY) || defined(ALIENFLIGHTF3)
if (init->useFastPwm || init->pwmProtocolType == PWM_TYPE_BRUSHED) {
ppmAvoidPWMTimerClash(timerHardwarePtr, TIM2);
}
#endif
ppmInConfig(timerHardwarePtr);
#endif
} else if (type == MAP_TO_PWM_INPUT) {
#ifndef SKIP_RX_PWM_PPM
pwmInConfig(timerHardwarePtr, channelIndex);
channelIndex++;
#endif
} else if (type == MAP_TO_MOTOR_OUTPUT) {
#ifdef CC3D

3
src/main/drivers/pwm_rx.c
View file

@ -20,6 +20,8 @@
#include <platform.h>
#ifndef SKIP_RX_PWM_PPM
#include "build_config.h"
#include "debug.h"
@ -419,3 +421,4 @@ uint16_t pwmRead(uint8_t channel)
{
return captures[channel];
}
#endif

6
src/main/io/rc_controls.c
View file

@ -477,7 +477,7 @@ static const adjustmentConfig_t defaultAdjustmentConfigs[ADJUSTMENT_FUNCTION_COU
adjustmentState_t adjustmentStates[MAX_SIMULTANEOUS_ADJUSTMENT_COUNT];
void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
static void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adjustmentConfig_t *adjustmentConfig) {
adjustmentState_t *adjustmentState = &adjustmentStates[index];
if (adjustmentState->config == adjustmentConfig) {
@ -491,7 +491,7 @@ void configureAdjustment(uint8_t index, uint8_t auxSwitchChannelIndex, const adj
MARK_ADJUSTMENT_FUNCTION_AS_READY(index);
}
void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
static void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustmentFunction, int delta) {
int newValue;
if (delta > 0) {
@ -600,7 +600,7 @@ void applyStepAdjustment(controlRateConfig_t *controlRateConfig, uint8_t adjustm
};
}
void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
static void applySelectAdjustment(uint8_t adjustmentFunction, uint8_t position)
{
bool applied = false;

1
src/main/io/rc_controls.h
View file

@ -249,7 +249,6 @@ typedef struct adjustmentState_s {
bool isAirmodeActive(void);
bool isSuperExpoActive(void);
void resetAdjustmentStates(void);
void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);

49
src/main/io/serial_cli.c
View file

@ -469,6 +469,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
"PIDLOOP",
"NOTCH",
};
#ifdef OSD
static const char * const lookupTableOsdType[] = {
"AUTO",
@ -2964,7 +2965,7 @@ static void cliStatus(char *cmdline)
cliPrintf("CPU Clock=%dMHz", (SystemCoreClock / 1000000));
#ifndef CJMCU
#if (FLASH_SIZE > 64)
uint8_t i;
uint32_t mask;
uint32_t detectedSensorsMask = sensorsMask();
@ -3007,45 +3008,45 @@ static void cliStatus(char *cmdline)
static void cliTasks(char *cmdline)
{
UNUSED(cmdline);
int maxLoadSum = 0;
int averageLoadSum = 0;
cfTaskId_e taskId;
cfTaskInfo_t taskInfo;
cliPrintf("Task list:\r\n");
for (taskId = 0; taskId < TASK_COUNT; taskId++) {
cliPrintf("Task list max/us avg/us rate/hz maxload avgload total/ms\r\n");
for (cfTaskId_e taskId = 0; taskId < TASK_COUNT; taskId++) {
cfTaskInfo_t taskInfo;
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
uint16_t taskFrequency;
uint16_t subTaskFrequency;
uint32_t taskTotalTime = taskInfo.totalExecutionTime / 1000;
int taskFrequency;
int subTaskFrequency;
if (taskId == TASK_GYROPID) {
subTaskFrequency = (uint16_t)(1.0f / ((float)cycleTime * 0.000001f));
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
if (masterConfig.pid_process_denom > 1) {
taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
cliPrintf("%02d - (%s) ", taskId, taskInfo.taskName);
cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
} else {
taskFrequency = subTaskFrequency;
cliPrintf("%02d - (%s/%s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
cliPrintf("%02d - (%8s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
}
} else {
taskFrequency = (uint16_t)(1.0f / ((float)taskInfo.latestDeltaTime * 0.000001f));
cliPrintf("%02d - (%s) ", taskId, taskInfo.taskName);
cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
}
cliPrintf("max: %dus, avg: %dus, rate: %dhz, total: ", taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskFrequency);
if (taskTotalTime >= 1000) {
cliPrintf("%dsec", taskTotalTime / 1000);
} else {
cliPrintf("%dms", taskTotalTime);
const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
if (taskId != TASK_SERIAL) {
maxLoadSum += maxLoad;
averageLoadSum += averageLoad;
}
cliPrintf("%6d %5d %5d %4d.%1d%% %4d.%1d%% %8d\r\n",
taskInfo.maxExecutionTime, taskInfo.averageExecutionTime, taskFrequency,
maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) {
cliPrintf(" - (%12s) rate: %d\r\n", taskInfo.subTaskName, subTaskFrequency);
}
if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) cliPrintf("\r\n - - (%s) rate: %dhz", taskInfo.subTaskName, subTaskFrequency);
cliPrintf("\r\n", taskTotalTime);
}
}
cliPrintf("Total (excluding SERIAL) %22d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
}
#endif

7
src/main/io/serial_msp.c
View file

@ -517,12 +517,15 @@ void mspInit(serialConfig_t *serialConfig)
activeBoxIds[activeBoxIdCount++] = BOXOSD;
#ifdef TELEMETRY
if (feature(FEATURE_TELEMETRY) && masterConfig.telemetryConfig.telemetry_switch)
activeBoxIds[activeBoxIdCount++] = BOXTELEMETRY;
#endif
#ifdef SONAR
if (feature(FEATURE_SONAR)){
activeBoxIds[activeBoxIdCount++] = BOXSONAR;
}
#endif
#ifdef USE_SERVOS
if (masterConfig.mixerMode == MIXER_CUSTOM_AIRPLANE) {
@ -1296,6 +1299,7 @@ static bool processInCommand(void)
magHold = read16();
break;
case MSP_SET_RAW_RC:
#ifndef SKIP_RX_MSP
{
uint8_t channelCount = currentPort->dataSize / sizeof(uint16_t);
if (channelCount > MAX_SUPPORTED_RC_CHANNEL_COUNT) {
@ -1310,6 +1314,7 @@ static bool processInCommand(void)
rxMspFrameReceive(frame, channelCount);
}
}
#endif
break;
case MSP_SET_ACC_TRIM:
masterConfig.accelerometerTrims.values.pitch = read16();

26
src/main/main.c
View file

@ -327,7 +327,9 @@ void init(void)
#ifdef CC3D
pwm_params.useBuzzerP6 = masterConfig.use_buzzer_p6 ? true : false;
#endif
#ifndef SKIP_RX_PWM_PPM
pwmRxInit(masterConfig.inputFilteringMode);
#endif
// pwmInit() needs to be called as soon as possible for ESC compatibility reasons
pwmOutputConfiguration_t *pwmOutputConfiguration = pwmInit(&pwm_params);
@ -688,21 +690,21 @@ void main_init(void)
rescheduleTask(TASK_GYROPID, gyro.targetLooptime);
setTaskEnabled(TASK_GYROPID, true);
if(sensors(SENSOR_ACC)) {
if (sensors(SENSOR_ACC)) {
setTaskEnabled(TASK_ACCEL, true);
switch(gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case(500):
case(375):
case(250):
case(125):
accTargetLooptime = 1000;
break;
default:
case(1000):
switch (gyro.targetLooptime) { // Switch statement kept in place to change acc rates in the future
case 500:
case 375:
case 250:
case 125:
accTargetLooptime = 1000;
break;
default:
case 1000:
#ifdef STM32F10X
accTargetLooptime = 3000;
accTargetLooptime = 1000;
#else
accTargetLooptime = 1000;
accTargetLooptime = 1000;
#endif
}
rescheduleTask(TASK_ACCEL, accTargetLooptime);

2
src/main/mw.c
View file

@ -451,7 +451,7 @@ void handleInflightCalibrationStickPosition(void)
}
}
void updateInflightCalibrationState(void)
static void updateInflightCalibrationState(void)
{
if (AccInflightCalibrationArmed && ARMING_FLAG(ARMED) && rcData[THROTTLE] > masterConfig.rxConfig.mincheck && !IS_RC_MODE_ACTIVE(BOXARM)) { // Copter is airborne and you are turning it off via boxarm : start measurement
InflightcalibratingA = 50;

3
src/main/rx/msp.c
View file

@ -20,6 +20,8 @@
#include "platform.h"
#ifndef SKIP_RX_MSP
#include "build_config.h"
#include "drivers/system.h"
@ -71,3 +73,4 @@ void rxMspInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadR
if (callback)
*callback = rxMspReadRawRC;
}
#endif

7
src/main/rx/pwm.c
View file

@ -21,10 +21,12 @@
#include <string.h>
#include "build_config.h"
#include "platform.h"
#ifndef SKIP_RX_PWM_PPM
#include "build_config.h"
#include "drivers/gpio.h"
#include "drivers/timer.h"
#include "drivers/pwm_rx.h"
@ -59,4 +61,5 @@ void rxPwmInit(rxRuntimeConfig_t *rxRuntimeConfigPtr, rcReadRawDataPtr *callback
*callback = ppmReadRawRC;
}
}
#endif // SKIP_RX_PWM_PPM

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

@ -189,14 +189,18 @@ void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationCondi
}
#endif
#ifndef SKIP_RX_MSP
if (feature(FEATURE_RX_MSP)) {
rxMspInit(rxConfig, &rxRuntimeConfig, &rcReadRawFunc);
}
#endif
#ifndef SKIP_RX_PWM_PPM
if (feature(FEATURE_RX_PPM) || feature(FEATURE_RX_PARALLEL_PWM)) {
rxRefreshRate = 20000;
rxPwmInit(&rxRuntimeConfig, &rcReadRawFunc);
}
#endif
rxRuntimeConfig.auxChannelCount = rxRuntimeConfig.channelCount - STICK_CHANNEL_COUNT;
}
@ -349,16 +353,18 @@ void updateRx(uint32_t currentTime)
}
#endif
#ifndef SKIP_RX_MSP
if (feature(FEATURE_RX_MSP)) {
rxDataReceived = rxMspFrameComplete();
if (rxDataReceived) {
rxSignalReceived = true;
rxIsInFailsafeMode = false;
needRxSignalBefore = currentTime + DELAY_5_HZ;
}
}
#endif
#ifndef SKIP_RX_PWM_PPM
if (feature(FEATURE_RX_PPM)) {
if (isPPMDataBeingReceived()) {
rxSignalReceivedNotDataDriven = true;
@ -375,7 +381,7 @@ void updateRx(uint32_t currentTime)
needRxSignalBefore = currentTime + DELAY_10_HZ;
}
}
#endif
}
bool shouldProcessRx(uint32_t currentTime)

2
src/main/scheduler/scheduler_tasks.c
View file

@ -43,7 +43,7 @@ cfTask_t cfTasks[TASK_COUNT] = {
[TASK_ACCEL] = {
.taskName = "ACCEL",
.taskFunc = taskUpdateAccelerometer,
.desiredPeriod = 1000000 / 100, // every 10ms
.desiredPeriod = 1000000 / 1000, // every 1ms
.staticPriority = TASK_PRIORITY_MEDIUM,
},

5
src/main/target/CC3D/target.h
View file

@ -72,12 +72,8 @@
#define USE_VCP
#define USE_UART1
#define USE_UART3
#ifdef CC3D_OPBL
#define SERIAL_PORT_COUNT 3
#else
#define USE_SOFTSERIAL1
#define SERIAL_PORT_COUNT 4
#endif
#ifdef USE_UART1_RX_DMA
#undef USE_UART1_RX_DMA
@ -116,6 +112,7 @@
#ifdef CC3D_OPBL
//#undef LED_STRIP
#define SKIP_CLI_COMMAND_HELP
#define SKIP_PID_FLOAT
#undef BARO
#undef MAG
#undef SONAR

5
src/main/target/KISSFC/target.c
View file

@ -22,7 +22,7 @@
#include "drivers/pwm_mapping.h"
const uint16_t multiPPM[] = {
PWM12 | (MAP_TO_PPM_INPUT << 8),
PWM7 | (MAP_TO_PPM_INPUT << 8),
PWM3 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM2 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM4 | (MAP_TO_MOTOR_OUTPUT << 8),
@ -30,8 +30,10 @@ const uint16_t multiPPM[] = {
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM8 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM9 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM10 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM11 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM12 | (MAP_TO_MOTOR_OUTPUT << 8),
0xFFFF
};
@ -42,7 +44,6 @@ const uint16_t multiPWM[] = {
PWM1 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM5 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM6 | (MAP_TO_MOTOR_OUTPUT << 8),
PWM7 | (MAP_TO_PWM_INPUT << 8),
PWM8 | (MAP_TO_PWM_INPUT << 8),
PWM9 | (MAP_TO_PWM_INPUT << 8),