From c16d642d66a8a04233f43632aaee57ce303111cb Mon Sep 17 00:00:00 2001 From: blckmn Date: Wed, 15 Jun 2016 22:28:08 +1000 Subject: [PATCH 1/5] Changes to sonar for new IO --- src/main/drivers/pwm_mapping.c | 9 ++- src/main/drivers/pwm_mapping.h | 13 ++-- src/main/drivers/sonar_hcsr04.c | 33 ++++----- src/main/drivers/sonar_hcsr04.h | 4 -- src/main/main.c | 9 ++- src/main/sensors/sonar.c | 75 ++------------------ src/main/target/CC3D/target.h | 3 + src/main/target/EUSTM32F103RC/sonar_config.c | 30 ++++++++ src/main/target/EUSTM32F103RC/target.h | 2 + src/main/target/FURYF3/target.h | 3 + src/main/target/NAZE/sonar_config.c | 30 ++++++++ src/main/target/NAZE/target.h | 1 + src/main/target/OLIMEXINO/target.h | 2 + src/main/target/PORT103R/sonar_config.c | 30 ++++++++ src/main/target/PORT103R/target.h | 2 + src/main/target/RMDO/target.h | 2 + src/main/target/SPARKY/target.h | 3 + src/main/target/SPRACINGF3/target.h | 2 + src/main/target/SPRACINGF3MINI/target.h | 10 +-- 19 files changed, 150 insertions(+), 113 deletions(-) create mode 100644 src/main/target/EUSTM32F103RC/sonar_config.c create mode 100644 src/main/target/NAZE/sonar_config.c create mode 100644 src/main/target/PORT103R/sonar_config.c diff --git a/src/main/drivers/pwm_mapping.c b/src/main/drivers/pwm_mapping.c index e8c6e6b31a..ffba5063b5 100755 --- a/src/main/drivers/pwm_mapping.c +++ b/src/main/drivers/pwm_mapping.c @@ -189,12 +189,11 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init) #endif #ifdef SONAR - if (init->sonarGPIOConfig && + if (init->sonarConfig && ( - CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->triggerPin) || - CheckGPIOPin(timerHardwarePtr->pin, init->sonarGPIOConfig->gpio, init->sonarGPIOConfig->echoPin) - ) - ) { + timerHardwarePtr->pin == init->sonarConfig->triggerPin || + timerHardwarePtr->pin == init->sonarConfig->echoPin + )) { continue; } #endif diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h index 0d70fafc58..4c94681bc3 100644 --- a/src/main/drivers/pwm_mapping.h +++ b/src/main/drivers/pwm_mapping.h @@ -16,7 +16,7 @@ */ #pragma once -#include "gpio.h" + #include "timer.h" #define MAX_PWM_MOTORS 12 @@ -42,11 +42,10 @@ #define ONESHOT42_TIMER_MHZ 24 #define ONESHOT125_TIMER_MHZ 8 -typedef struct sonarGPIOConfig_s { - GPIO_TypeDef *gpio; - uint16_t triggerPin; - uint16_t echoPin; -} sonarGPIOConfig_t; +typedef struct sonarIOConfig_s { + ioTag_t triggerPin; + ioTag_t echoPin; +} sonarIOConfig_t; typedef struct drv_pwm_config_s { bool useParallelPWM; @@ -78,7 +77,7 @@ typedef struct drv_pwm_config_s { uint16_t motorPwmRate; uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm), // some higher value (used by 3d mode), or 0, for brushed pwm drivers. - sonarGPIOConfig_t *sonarGPIOConfig; + sonarIOConfig_t *sonarConfig; } drv_pwm_config_t; enum { diff --git a/src/main/drivers/sonar_hcsr04.c b/src/main/drivers/sonar_hcsr04.c index a835bfa05b..dbe72acd3f 100644 --- a/src/main/drivers/sonar_hcsr04.c +++ b/src/main/drivers/sonar_hcsr04.c @@ -22,7 +22,6 @@ #include "build_config.h" #include "system.h" -#include "gpio.h" #include "nvic.h" #include "io.h" #include "exti.h" @@ -43,8 +42,9 @@ static uint32_t lastMeasurementAt; static sonarHardware_t const *sonarHardware; extiCallbackRec_t hcsr04_extiCallbackRec; + static IO_t echoIO; -//static IO_t triggerIO; +static IO_t triggerIO; void hcsr04_extiHandler(extiCallbackRec_t* cb) { @@ -52,7 +52,7 @@ void hcsr04_extiHandler(extiCallbackRec_t* cb) uint32_t timing_stop; UNUSED(cb); - if (digitalIn(sonarHardware->echo_gpio, sonarHardware->echo_pin) != 0) { + if (IORead(echoIO) != 0) { timing_start = micros(); } else { @@ -71,32 +71,27 @@ void hcsr04_init(const sonarHardware_t *initialSonarHardware, sonarRange_t *sona sonarRange->detectionConeExtendedDeciDegrees = HCSR04_DETECTION_CONE_EXTENDED_DECIDEGREES; #if !defined(UNIT_TEST) - gpio_config_t gpio; #ifdef STM32F10X // enable AFIO for EXTI support RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE); #endif -#ifdef STM32F303xC - RCC_AHBPeriphClockCmd(RCC_AHBPeriph_GPIOB, ENABLE); - +#if defined(STM32F3) || defined(STM32F4) /* Enable SYSCFG clock otherwise the EXTI irq handlers are not called */ RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE); #endif // trigger pin - gpio.pin = sonarHardware->trigger_pin; - gpio.mode = Mode_Out_PP; - gpio.speed = Speed_2MHz; - gpioInit(sonarHardware->trigger_gpio, &gpio); - - // echo pin - gpio.pin = sonarHardware->echo_pin; - gpio.mode = Mode_IN_FLOATING; - gpioInit(sonarHardware->echo_gpio, &gpio); + triggerIO = IOGetByTag(sonarHardware->triggerIO); + IOInit(triggerIO, OWNER_SONAR, RESOURCE_INPUT); + IOConfigGPIO(triggerIO, IOCFG_OUT_PP); - echoIO = IOGetByTag(sonarHardware->echoIO); + // echo pin + echoIO = IOGetByTag(sonarHardware->echoIO); + IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT); + IOConfigGPIO(echoIO, IOCFG_IN_FLOATING); + #ifdef USE_EXTI EXTIHandlerInit(&hcsr04_extiCallbackRec, hcsr04_extiHandler); EXTIConfig(echoIO, &hcsr04_extiCallbackRec, NVIC_PRIO_SONAR_EXTI, EXTI_Trigger_Rising_Falling); // TODO - priority! @@ -123,10 +118,10 @@ void hcsr04_start_reading(void) lastMeasurementAt = now; - digitalHi(sonarHardware->trigger_gpio, sonarHardware->trigger_pin); + IOHi(triggerIO); // The width of trig signal must be greater than 10us delayMicroseconds(11); - digitalLo(sonarHardware->trigger_gpio, sonarHardware->trigger_pin); + IOLo(triggerIO); #endif } diff --git a/src/main/drivers/sonar_hcsr04.h b/src/main/drivers/sonar_hcsr04.h index 99c89a4c8c..311fa233f5 100644 --- a/src/main/drivers/sonar_hcsr04.h +++ b/src/main/drivers/sonar_hcsr04.h @@ -21,10 +21,6 @@ #include "io.h" typedef struct sonarHardware_s { - uint16_t trigger_pin; - GPIO_TypeDef* trigger_gpio; - uint16_t echo_pin; - GPIO_TypeDef* echo_gpio; ioTag_t triggerIO; ioTag_t echoIO; } sonarHardware_t; diff --git a/src/main/main.c b/src/main/main.c index d836deee07..a964b6182f 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -265,12 +265,11 @@ void init(void) if (feature(FEATURE_SONAR)) { sonarHardware = sonarGetHardwareConfiguration(&masterConfig.batteryConfig); - sonarGPIOConfig_t sonarGPIOConfig = { - .gpio = SONAR_GPIO, - .triggerPin = sonarHardware->echo_pin, - .echoPin = sonarHardware->trigger_pin, + sonarIOConfig_t sonarConfig = { + .triggerPin = sonarHardware->triggerIO, + .echoPin = sonarHardware->echoIO }; - pwm_params.sonarGPIOConfig = &sonarGPIOConfig; + pwm_params.sonarConfig = &sonarConfig; } #endif diff --git a/src/main/sensors/sonar.c b/src/main/sensors/sonar.c index 6a55389b8f..5225747f37 100644 --- a/src/main/sensors/sonar.c +++ b/src/main/sensors/sonar.c @@ -26,7 +26,7 @@ #include "common/axis.h" #include "drivers/sonar_hcsr04.h" -#include "drivers/gpio.h" +#include "drivers/io.h" #include "config/runtime_config.h" #include "config/config.h" @@ -48,77 +48,14 @@ float sonarMaxTiltCos; static int32_t calculatedAltitude; +#ifndef SONAR_CUSTOM_CONFIG const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) { -#if defined(NAZE) || defined(EUSTM32F103RC) || defined(PORT103R) - static const sonarHardware_t const sonarPWM56 = { - .trigger_pin = Pin_8, // PWM5 (PB8) - 5v tolerant - .trigger_gpio = GPIOB, - .echo_pin = Pin_9, // PWM6 (PB9) - 5v tolerant - .echo_gpio = GPIOB, - .triggerIO = IO_TAG(PB8), - .echoIO = IO_TAG(PB9), - }; - static const sonarHardware_t sonarRC78 = { - .trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) - .trigger_gpio = GPIOB, - .echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) - .echo_gpio = GPIOB, - .triggerIO = IO_TAG(PB0), - .echoIO = IO_TAG(PB1), - }; - // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8 - if (feature(FEATURE_SOFTSERIAL) - || feature(FEATURE_RX_PARALLEL_PWM ) - || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) { - return &sonarPWM56; - } else { - return &sonarRC78; - } -#elif defined(OLIMEXINO) +#if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN) UNUSED(batteryConfig); static const sonarHardware_t const sonarHardware = { - .trigger_pin = Pin_0, // RX7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) - .trigger_gpio = GPIOB, - .echo_pin = Pin_1, // RX8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) - .echo_gpio = GPIOB, - .triggerIO = IO_TAG(PB0), - .echoIO = IO_TAG(PB1), - }; - return &sonarHardware; -#elif defined(CC3D) - UNUSED(batteryConfig); - static const sonarHardware_t const sonarHardware = { - .trigger_pin = Pin_5, // (PB5) - .trigger_gpio = GPIOB, - .echo_pin = Pin_0, // (PB0) - only 3.3v ( add a 1K Ohms resistor ) - .echo_gpio = GPIOB, - .triggerIO = IO_TAG(PB5), - .echoIO = IO_TAG(PB0), - }; - return &sonarHardware; - -// TODO - move sonar pin selection to CLI -#elif defined(SPRACINGF3) || defined(SPRACINGF3MINI) || defined(FURYF3) || defined(RMDO) - UNUSED(batteryConfig); - static const sonarHardware_t const sonarHardware = { - .trigger_pin = Pin_0, // RC_CH7 (PB0) - only 3.3v ( add a 1K Ohms resistor ) - .trigger_gpio = GPIOB, - .echo_pin = Pin_1, // RC_CH8 (PB1) - only 3.3v ( add a 1K Ohms resistor ) - .echo_gpio = GPIOB, - .triggerIO = IO_TAG(PB0), - .echoIO = IO_TAG(PB1), - }; - return &sonarHardware; -#elif defined(SPARKY) - UNUSED(batteryConfig); - static const sonarHardware_t const sonarHardware = { - .trigger_pin = Pin_2, // PWM6 (PA2) - only 3.3v ( add a 1K Ohms resistor ) - .trigger_gpio = GPIOA, - .echo_pin = Pin_1, // PWM7 (PB1) - only 3.3v ( add a 1K Ohms resistor ) - .echo_gpio = GPIOB, - .triggerIO = IO_TAG(PA2), - .echoIO = IO_TAG(PB1), + .triggerIO = IO_TAG(SONAR_TRIGGER_PIN), + .echoIO = IO_TAG(SONAR_ECHO_PIN), }; return &sonarHardware; #elif defined(UNIT_TEST) @@ -128,7 +65,7 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon #error Sonar not defined for target #endif } - +#endif void sonarInit(const sonarHardware_t *sonarHardware) { sonarRange_t sonarRange; diff --git a/src/main/target/CC3D/target.h b/src/main/target/CC3D/target.h index 708d4547a0..dc39a80c52 100644 --- a/src/main/target/CC3D/target.h +++ b/src/main/target/CC3D/target.h @@ -118,6 +118,9 @@ #define DISPLAY #define SONAR +#define SONAR_ECHO_PIN PB0 +#define SONAR_TRIGGER_PIN PB5 + #undef GPS #undef BARO diff --git a/src/main/target/EUSTM32F103RC/sonar_config.c b/src/main/target/EUSTM32F103RC/sonar_config.c new file mode 100644 index 0000000000..c563fa9f93 --- /dev/null +++ b/src/main/target/EUSTM32F103RC/sonar_config.c @@ -0,0 +1,30 @@ + +#include "drivers/sonar_hcsr04.h" +#include "drivers/io.h" +#include "config/runtime_config.h" +#include "config/config.h" + +#include "sensors/battery.h" +#include "sensors/sonar.h" + +#ifdef SONAR_CUSTOM_CONFIG +const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) +{ + static const sonarHardware_t const sonarPWM56 = { + .triggerIO = IO_TAG(PB8), + .echoIO = IO_TAG(PB9), + }; + static const sonarHardware_t sonarRC78 = { + .triggerIO = IO_TAG(PB0), + .echoIO = IO_TAG(PB1), + }; + // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8 + if (feature(FEATURE_SOFTSERIAL) + || feature(FEATURE_RX_PARALLEL_PWM ) + || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) { + return &sonarPWM56; + } else { + return &sonarRC78; + } +} +#endif \ No newline at end of file diff --git a/src/main/target/EUSTM32F103RC/target.h b/src/main/target/EUSTM32F103RC/target.h index ef7534c663..83fe60e92d 100644 --- a/src/main/target/EUSTM32F103RC/target.h +++ b/src/main/target/EUSTM32F103RC/target.h @@ -69,6 +69,8 @@ #define MAG_AK8975_ALIGN CW180_DEG_FLIP #define SONAR +#define SONAR_CUSTOM_CONFIG + #define DISPLAY #define USE_USART1 diff --git a/src/main/target/FURYF3/target.h b/src/main/target/FURYF3/target.h index fb4b899ea2..c68ce2c085 100644 --- a/src/main/target/FURYF3/target.h +++ b/src/main/target/FURYF3/target.h @@ -184,6 +184,9 @@ #define WS2811_DMA_HANDLER_IDENTIFER DMA1_CH2_HANDLER #define SONAR +#define SONAR_ECHO_PIN PB1 +#define SONAR_TRIGGER_PIN PB0 + #define DEFAULT_RX_FEATURE FEATURE_RX_PPM #define DEFAULT_FEATURES FEATURE_BLACKBOX diff --git a/src/main/target/NAZE/sonar_config.c b/src/main/target/NAZE/sonar_config.c new file mode 100644 index 0000000000..c563fa9f93 --- /dev/null +++ b/src/main/target/NAZE/sonar_config.c @@ -0,0 +1,30 @@ + +#include "drivers/sonar_hcsr04.h" +#include "drivers/io.h" +#include "config/runtime_config.h" +#include "config/config.h" + +#include "sensors/battery.h" +#include "sensors/sonar.h" + +#ifdef SONAR_CUSTOM_CONFIG +const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) +{ + static const sonarHardware_t const sonarPWM56 = { + .triggerIO = IO_TAG(PB8), + .echoIO = IO_TAG(PB9), + }; + static const sonarHardware_t sonarRC78 = { + .triggerIO = IO_TAG(PB0), + .echoIO = IO_TAG(PB1), + }; + // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8 + if (feature(FEATURE_SOFTSERIAL) + || feature(FEATURE_RX_PARALLEL_PWM ) + || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) { + return &sonarPWM56; + } else { + return &sonarRC78; + } +} +#endif \ No newline at end of file diff --git a/src/main/target/NAZE/target.h b/src/main/target/NAZE/target.h index ffabc5e584..d447ffe1f9 100644 --- a/src/main/target/NAZE/target.h +++ b/src/main/target/NAZE/target.h @@ -108,6 +108,7 @@ #define MAG_HMC5883_ALIGN CW180_DEG #define SONAR +#define SONAR_CUSTOM_CONFIG #define DISPLAY #define USE_USART1 diff --git a/src/main/target/OLIMEXINO/target.h b/src/main/target/OLIMEXINO/target.h index 86a4304723..c50c1d51fc 100644 --- a/src/main/target/OLIMEXINO/target.h +++ b/src/main/target/OLIMEXINO/target.h @@ -59,6 +59,8 @@ #define USE_MAG_HMC5883 #define SONAR +#define SONAR_ECHO_PIN PB1 +#define SONAR_TRIGGER_PIN PB0 #define USE_USART1 #define USE_USART2 diff --git a/src/main/target/PORT103R/sonar_config.c b/src/main/target/PORT103R/sonar_config.c new file mode 100644 index 0000000000..c563fa9f93 --- /dev/null +++ b/src/main/target/PORT103R/sonar_config.c @@ -0,0 +1,30 @@ + +#include "drivers/sonar_hcsr04.h" +#include "drivers/io.h" +#include "config/runtime_config.h" +#include "config/config.h" + +#include "sensors/battery.h" +#include "sensors/sonar.h" + +#ifdef SONAR_CUSTOM_CONFIG +const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) +{ + static const sonarHardware_t const sonarPWM56 = { + .triggerIO = IO_TAG(PB8), + .echoIO = IO_TAG(PB9), + }; + static const sonarHardware_t sonarRC78 = { + .triggerIO = IO_TAG(PB0), + .echoIO = IO_TAG(PB1), + }; + // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8 + if (feature(FEATURE_SOFTSERIAL) + || feature(FEATURE_RX_PARALLEL_PWM ) + || (feature(FEATURE_CURRENT_METER) && batteryConfig->currentMeterType == CURRENT_SENSOR_ADC)) { + return &sonarPWM56; + } else { + return &sonarRC78; + } +} +#endif \ No newline at end of file diff --git a/src/main/target/PORT103R/target.h b/src/main/target/PORT103R/target.h index c0dfc4aa33..1cf06398cb 100644 --- a/src/main/target/PORT103R/target.h +++ b/src/main/target/PORT103R/target.h @@ -87,6 +87,8 @@ #define USE_FLASH_M25P16 #define SONAR +#define SONAR_CUSTOM_CONFIG + #define DISPLAY #define USE_USART1 diff --git a/src/main/target/RMDO/target.h b/src/main/target/RMDO/target.h index 09a3497eaa..24234ea27b 100644 --- a/src/main/target/RMDO/target.h +++ b/src/main/target/RMDO/target.h @@ -52,6 +52,8 @@ #define USE_FLASH_M25P16 #define SONAR +#define SONAR_ECHO_PIN PB1 +#define SONAR_TRIGGER_PIN PB0 #define USE_USART1 #define USE_USART2 diff --git a/src/main/target/SPARKY/target.h b/src/main/target/SPARKY/target.h index 7e3e2ed9dd..32b783d64e 100644 --- a/src/main/target/SPARKY/target.h +++ b/src/main/target/SPARKY/target.h @@ -156,6 +156,9 @@ // USART2, PA3 #define BIND_PIN PA3 +//#define SONAR +//#define SONAR_ECHO_PIN PB1 +//#define SONAR_TRIGGER_PIN PA2 // available IO pins (from schematics) //#define TARGET_IO_PORTA (BIT(1)|BIT(2)|BIT(3)|BIT(4)|BIT(6)|BIT(7)|BIT(8)|BIT(9)|BIT(10)|BIT(11)|BIT(12)|BIT(13)|BIT(14)|BIT(15)) diff --git a/src/main/target/SPRACINGF3/target.h b/src/main/target/SPRACINGF3/target.h index c041b54d92..52263deb8b 100644 --- a/src/main/target/SPRACINGF3/target.h +++ b/src/main/target/SPRACINGF3/target.h @@ -61,6 +61,8 @@ #define USE_FLASH_M25P16 #define SONAR +#define SONAR_ECHO_PIN PB1 +#define SONAR_TRIGGER_PIN PB0 #define USE_USART1 #define USE_USART2 diff --git a/src/main/target/SPRACINGF3MINI/target.h b/src/main/target/SPRACINGF3MINI/target.h index 5272a49030..6063abd97d 100644 --- a/src/main/target/SPRACINGF3MINI/target.h +++ b/src/main/target/SPRACINGF3MINI/target.h @@ -24,9 +24,9 @@ // early prototype had slightly different pin mappings. //#define SPRACINGF3MINI_MKII_REVA -#define LED0 PB3 +#define LED0 PB3 -#define BEEPER PC15 +#define BEEPER PC15 #define BEEPER_INVERTED #define USABLE_TIMER_CHANNEL_COUNT 12 // 8 Outputs; PPM; LED Strip; 2 additional PWM pins also on UART3 RX/TX pins. @@ -50,7 +50,7 @@ //#define USE_FAKE_ACC #define USE_ACC_MPU6500 -#define ACC_MPU6500_ALIGN CW180_DEG +#define ACC_MPU6500_ALIGN CW180_DEG #define GYRO_MPU6500_ALIGN CW180_DEG #define BARO @@ -64,11 +64,13 @@ #define MAG_AK8975_ALIGN CW90_DEG_FLIP #define SONAR +#define SONAR_ECHO_PIN PB1 +#define SONAR_TRIGGER_PIN PB0 #define USB_IO #define USB_CABLE_DETECTION -#define USB_DETECT_PIN PB5 +#define USB_DETECT_PIN PB5 #define USE_VCP #define USE_USART1 From e18aeb8dc2771ffd121be405e6dd49215a1aa8ae Mon Sep 17 00:00:00 2001 From: blckmn Date: Wed, 15 Jun 2016 22:29:09 +1000 Subject: [PATCH 2/5] Whitespace --- src/main/main.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/main/main.c b/src/main/main.c index a964b6182f..0df3685bac 100644 --- a/src/main/main.c +++ b/src/main/main.c @@ -269,7 +269,7 @@ void init(void) .triggerPin = sonarHardware->triggerIO, .echoPin = sonarHardware->echoIO }; - pwm_params.sonarConfig = &sonarConfig; + pwm_params.sonarConfig = &sonarConfig; } #endif From cd25f0fa968daa4969df7173381cce7308f8ef4b Mon Sep 17 00:00:00 2001 From: blckmn Date: Thu, 16 Jun 2016 16:35:00 +1000 Subject: [PATCH 3/5] Updated as per code review from @martinbudden --- src/main/sensors/sonar.c | 9 +++++++-- src/main/target/EUSTM32F103RC/sonar_config.c | 14 ++++++-------- src/main/target/NAZE/sonar_config.c | 4 +--- src/main/target/PORT103R/sonar_config.c | 14 ++++++-------- 4 files changed, 20 insertions(+), 21 deletions(-) diff --git a/src/main/sensors/sonar.c b/src/main/sensors/sonar.c index 5225747f37..73859f3917 100644 --- a/src/main/sensors/sonar.c +++ b/src/main/sensors/sonar.c @@ -48,7 +48,10 @@ float sonarMaxTiltCos; static int32_t calculatedAltitude; -#ifndef SONAR_CUSTOM_CONFIG +#ifdef SONAR_CUSTOM_CONFIG +const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig); +#endif + const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) { #if defined(SONAR_TRIGGER_PIN) && defined(SONAR_ECHO_PIN) @@ -58,6 +61,8 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon .echoIO = IO_TAG(SONAR_ECHO_PIN), }; return &sonarHardware; +#elif defined(SONAR_CUSTOM_CONFIG) + return sonarGetTargetHardwareConfiguration(batteryConfig); #elif defined(UNIT_TEST) UNUSED(batteryConfig); return 0; @@ -65,7 +70,7 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon #error Sonar not defined for target #endif } -#endif + void sonarInit(const sonarHardware_t *sonarHardware) { sonarRange_t sonarRange; diff --git a/src/main/target/EUSTM32F103RC/sonar_config.c b/src/main/target/EUSTM32F103RC/sonar_config.c index c563fa9f93..e2f4fb7b19 100644 --- a/src/main/target/EUSTM32F103RC/sonar_config.c +++ b/src/main/target/EUSTM32F103RC/sonar_config.c @@ -7,16 +7,15 @@ #include "sensors/battery.h" #include "sensors/sonar.h" -#ifdef SONAR_CUSTOM_CONFIG -const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) +const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig) { static const sonarHardware_t const sonarPWM56 = { - .triggerIO = IO_TAG(PB8), - .echoIO = IO_TAG(PB9), + .triggerIO = IO_TAG(PB8), + .echoIO = IO_TAG(PB9), }; static const sonarHardware_t sonarRC78 = { - .triggerIO = IO_TAG(PB0), - .echoIO = IO_TAG(PB1), + .triggerIO = IO_TAG(PB0), + .echoIO = IO_TAG(PB1), }; // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8 if (feature(FEATURE_SOFTSERIAL) @@ -26,5 +25,4 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon } else { return &sonarRC78; } -} -#endif \ No newline at end of file +} \ No newline at end of file diff --git a/src/main/target/NAZE/sonar_config.c b/src/main/target/NAZE/sonar_config.c index c563fa9f93..3362146c0d 100644 --- a/src/main/target/NAZE/sonar_config.c +++ b/src/main/target/NAZE/sonar_config.c @@ -7,8 +7,7 @@ #include "sensors/battery.h" #include "sensors/sonar.h" -#ifdef SONAR_CUSTOM_CONFIG -const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) +const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig) { static const sonarHardware_t const sonarPWM56 = { .triggerIO = IO_TAG(PB8), @@ -27,4 +26,3 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon return &sonarRC78; } } -#endif \ No newline at end of file diff --git a/src/main/target/PORT103R/sonar_config.c b/src/main/target/PORT103R/sonar_config.c index c563fa9f93..e2f4fb7b19 100644 --- a/src/main/target/PORT103R/sonar_config.c +++ b/src/main/target/PORT103R/sonar_config.c @@ -7,16 +7,15 @@ #include "sensors/battery.h" #include "sensors/sonar.h" -#ifdef SONAR_CUSTOM_CONFIG -const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryConfig) +const sonarHardware_t *sonarGetTargetHardwareConfiguration(batteryConfig_t *batteryConfig) { static const sonarHardware_t const sonarPWM56 = { - .triggerIO = IO_TAG(PB8), - .echoIO = IO_TAG(PB9), + .triggerIO = IO_TAG(PB8), + .echoIO = IO_TAG(PB9), }; static const sonarHardware_t sonarRC78 = { - .triggerIO = IO_TAG(PB0), - .echoIO = IO_TAG(PB1), + .triggerIO = IO_TAG(PB0), + .echoIO = IO_TAG(PB1), }; // If we are using softserial, parallel PWM or ADC current sensor, then use motor pins 5 and 6 for sonar, otherwise use rc pins 7 and 8 if (feature(FEATURE_SOFTSERIAL) @@ -26,5 +25,4 @@ const sonarHardware_t *sonarGetHardwareConfiguration(batteryConfig_t *batteryCon } else { return &sonarRC78; } -} -#endif \ No newline at end of file +} \ No newline at end of file From ca2ec58dd4403d4a6247083c6536627a3d04b095 Mon Sep 17 00:00:00 2001 From: J Blackman Date: Thu, 16 Jun 2016 17:30:19 +1000 Subject: [PATCH 4/5] Delete q --- q | 59 ----------------------------------------------------------- 1 file changed, 59 deletions(-) delete mode 100644 q diff --git a/q b/q deleted file mode 100644 index 04586033b6..0000000000 --- a/q +++ /dev/null @@ -1,59 +0,0 @@ -diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c -index fdde2cf..53464ef 100644 ---- a/src/main/io/rc_controls.c -+++ b/src/main/io/rc_controls.c -@@ -67,6 +67,7 @@ static pidProfile_t *pidProfile; - static bool isUsingSticksToArm = true; -  - int16_t rcCommand[4]; // interval [1000;2000] for THROTTLE and [-500;+500] for ROLL/PITCH/YAW -+int16_t rcCommandSmooth[4]; // Smoothed RcCommand -  - uint32_t rcModeActivationMask; // one bit per mode defined in boxId_e -  -diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h -index eaec277..dd8afaf 100644 ---- a/src/main/io/rc_controls.h -+++ b/src/main/io/rc_controls.h -@@ -147,6 +147,7 @@ typedef struct controlRateConfig_s { - } controlRateConfig_t; -  - extern int16_t rcCommand[4]; -+extern int16_t rcCommandSmooth[4]; // Smoothed RcCommand -  - typedef struct rcControlsConfig_s { - uint8_t deadband; // introduce a deadband around the stick center for pitch and roll axis. Must be greater than zero. -diff --git a/src/main/mw.c b/src/main/mw.c -index 125674c..5da79cf 100644 ---- a/src/main/mw.c -+++ b/src/main/mw.c -@@ -181,7 +181,7 @@ void filterRc(void) -  - if (isRXDataNew) { - for (int channel=0; channel < 4; channel++) { -- deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor); -+ deltaRC[channel] = rcCommand[channel] - (lastCommand[channel] - deltaRC[channel] * factor / rcInterpolationFactor); - lastCommand[channel] = rcCommand[channel]; - } -  -@@ -194,7 +194,7 @@ void filterRc(void) - // Interpolate steps of rcCommand - if (factor > 0) { - for (int channel=0; channel < 4; channel++) { -- rcCommand[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor; -+ rcCommandSmooth[channel] = lastCommand[channel] - deltaRC[channel] * factor/rcInterpolationFactor; - } - } else { - factor = 0; -@@ -649,8 +649,11 @@ void subTaskMainSubprocesses(void) { -  - const uint32_t startTime = micros(); -  -+ filterRc(); -+ - if (masterConfig.rxConfig.rcSmoothing || flightModeFlags) { -- filterRc(); -+ int axis; -+ for (axis = 0; axis <= 4; axis++) rcCommand[axis] = rcCommandSmooth[axis]; - } -  - // Read out gyro temperature. can use it for something somewhere. maybe get MCU temperature instead? lots of fun possibilities. From db07217afd777a9730a05047b627e33c21ea8632 Mon Sep 17 00:00:00 2001 From: Martin Budden Date: Thu, 16 Jun 2016 09:10:40 +0100 Subject: [PATCH 5/5] Changed tabs to spaces. --- src/main/drivers/io.c | 286 ++++++++++++++++++------------------- src/main/drivers/io_impl.h | 10 +- 2 files changed, 148 insertions(+), 148 deletions(-) diff --git a/src/main/drivers/io.c b/src/main/drivers/io.c index 57bbecdc44..11562cfc98 100644 --- a/src/main/drivers/io.c +++ b/src/main/drivers/io.c @@ -8,115 +8,115 @@ // io ports defs are stored in array by index now struct ioPortDef_s { - rccPeriphTag_t rcc; + rccPeriphTag_t rcc; }; #if defined(STM32F1) const struct ioPortDef_s ioPortDefs[] = { - { RCC_APB2(IOPA) }, - { RCC_APB2(IOPB) }, - { RCC_APB2(IOPC) }, - { RCC_APB2(IOPD) }, - { RCC_APB2(IOPE) }, + { RCC_APB2(IOPA) }, + { RCC_APB2(IOPB) }, + { RCC_APB2(IOPC) }, + { RCC_APB2(IOPD) }, + { RCC_APB2(IOPE) }, { #if defined (STM32F10X_HD) || defined (STM32F10X_XL) || defined (STM32F10X_HD_VL) - RCC_APB2(IOPF), + RCC_APB2(IOPF), #else - 0, + 0, #endif }, { #if defined (STM32F10X_HD) || defined (STM32F10X_XL) || defined (STM32F10X_HD_VL) - RCC_APB2(IOPG), + RCC_APB2(IOPG), #else - 0, + 0, #endif }, }; #elif defined(STM32F3) const struct ioPortDef_s ioPortDefs[] = { - { RCC_AHB(GPIOA) }, - { RCC_AHB(GPIOB) }, - { RCC_AHB(GPIOC) }, - { RCC_AHB(GPIOD) }, - { RCC_AHB(GPIOE) }, - { RCC_AHB(GPIOF) }, + { RCC_AHB(GPIOA) }, + { RCC_AHB(GPIOB) }, + { RCC_AHB(GPIOC) }, + { RCC_AHB(GPIOD) }, + { RCC_AHB(GPIOE) }, + { RCC_AHB(GPIOF) }, }; #elif defined(STM32F4) const struct ioPortDef_s ioPortDefs[] = { - { RCC_AHB1(GPIOA) }, - { RCC_AHB1(GPIOB) }, - { RCC_AHB1(GPIOC) }, - { RCC_AHB1(GPIOD) }, - { RCC_AHB1(GPIOE) }, - { RCC_AHB1(GPIOF) }, + { RCC_AHB1(GPIOA) }, + { RCC_AHB1(GPIOB) }, + { RCC_AHB1(GPIOC) }, + { RCC_AHB1(GPIOD) }, + { RCC_AHB1(GPIOE) }, + { RCC_AHB1(GPIOF) }, }; # endif ioRec_t* IO_Rec(IO_t io) { - return io; + return io; } GPIO_TypeDef* IO_GPIO(IO_t io) { - ioRec_t *ioRec = IO_Rec(io); - return ioRec->gpio; + ioRec_t *ioRec = IO_Rec(io); + return ioRec->gpio; } uint16_t IO_Pin(IO_t io) { - ioRec_t *ioRec = IO_Rec(io); - return ioRec->pin; + ioRec_t *ioRec = IO_Rec(io); + return ioRec->pin; } // port index, GPIOA == 0 int IO_GPIOPortIdx(IO_t io) { - if (!io) - return -1; - return (((size_t)IO_GPIO(io) - GPIOA_BASE) >> 10); // ports are 0x400 apart + if (!io) + return -1; + return (((size_t)IO_GPIO(io) - GPIOA_BASE) >> 10); // ports are 0x400 apart } int IO_EXTI_PortSourceGPIO(IO_t io) { - return IO_GPIOPortIdx(io); + return IO_GPIOPortIdx(io); } int IO_GPIO_PortSource(IO_t io) { - return IO_GPIOPortIdx(io); + return IO_GPIOPortIdx(io); } // zero based pin index int IO_GPIOPinIdx(IO_t io) { - if (!io) - return -1; - return 31 - __builtin_clz(IO_Pin(io)); // CLZ is a bit faster than FFS + if (!io) + return -1; + return 31 - __builtin_clz(IO_Pin(io)); // CLZ is a bit faster than FFS } int IO_EXTI_PinSource(IO_t io) { - return IO_GPIOPinIdx(io); + return IO_GPIOPinIdx(io); } int IO_GPIO_PinSource(IO_t io) { - return IO_GPIOPinIdx(io); + return IO_GPIOPinIdx(io); } // mask on stm32f103, bit index on stm32f303 uint32_t IO_EXTI_Line(IO_t io) { - if (!io) - return 0; + if (!io) + return 0; #if defined(STM32F1) - return 1 << IO_GPIOPinIdx(io); + return 1 << IO_GPIOPinIdx(io); #elif defined(STM32F3) - return IO_GPIOPinIdx(io); + return IO_GPIOPinIdx(io); #elif defined(STM32F4) - return 1 << IO_GPIOPinIdx(io); + return 1 << IO_GPIOPinIdx(io); #else # error "Unknown target type" #endif @@ -124,151 +124,151 @@ uint32_t IO_EXTI_Line(IO_t io) bool IORead(IO_t io) { - if (!io) - return false; - return !! (IO_GPIO(io)->IDR & IO_Pin(io)); + if (!io) + return false; + return !! (IO_GPIO(io)->IDR & IO_Pin(io)); } void IOWrite(IO_t io, bool hi) { - if (!io) - return; + if (!io) + return; #ifdef STM32F4 - if (hi) { - IO_GPIO(io)->BSRRL = IO_Pin(io); - } - else { - IO_GPIO(io)->BSRRH = IO_Pin(io); - } + if (hi) { + IO_GPIO(io)->BSRRL = IO_Pin(io); + } + else { + IO_GPIO(io)->BSRRH = IO_Pin(io); + } #else - IO_GPIO(io)->BSRR = IO_Pin(io) << (hi ? 0 : 16); + IO_GPIO(io)->BSRR = IO_Pin(io) << (hi ? 0 : 16); #endif } void IOHi(IO_t io) { - if (!io) - return; + if (!io) + return; #ifdef STM32F4 - IO_GPIO(io)->BSRRL = IO_Pin(io); + IO_GPIO(io)->BSRRL = IO_Pin(io); #else - IO_GPIO(io)->BSRR = IO_Pin(io); + IO_GPIO(io)->BSRR = IO_Pin(io); #endif } void IOLo(IO_t io) { - if (!io) - return; + if (!io) + return; #ifdef STM32F4 - IO_GPIO(io)->BSRRH = IO_Pin(io); + IO_GPIO(io)->BSRRH = IO_Pin(io); #else - IO_GPIO(io)->BRR = IO_Pin(io); + IO_GPIO(io)->BRR = IO_Pin(io); #endif } void IOToggle(IO_t io) { - if (!io) - return; - uint32_t mask = IO_Pin(io); - // Read pin state from ODR but write to BSRR because it only changes the pins - // high in the mask value rather than all pins. XORing ODR directly risks - // setting other pins incorrectly because it change all pins' state. + if (!io) + return; + uint32_t mask = IO_Pin(io); + // Read pin state from ODR but write to BSRR because it only changes the pins + // high in the mask value rather than all pins. XORing ODR directly risks + // setting other pins incorrectly because it change all pins' state. #ifdef STM32F4 - if (IO_GPIO(io)->ODR & mask) { - IO_GPIO(io)->BSRRH = mask; - } else { - IO_GPIO(io)->BSRRL = mask; - } + if (IO_GPIO(io)->ODR & mask) { + IO_GPIO(io)->BSRRH = mask; + } else { + IO_GPIO(io)->BSRRL = mask; + } #else - if (IO_GPIO(io)->ODR & mask) - mask <<= 16; // bit is set, shift mask to reset half + if (IO_GPIO(io)->ODR & mask) + mask <<= 16; // bit is set, shift mask to reset half - IO_GPIO(io)->BSRR = mask; + IO_GPIO(io)->BSRR = mask; #endif } // claim IO pin, set owner and resources void IOInit(IO_t io, resourceOwner_t owner, resourceType_t resources) { - ioRec_t *ioRec = IO_Rec(io); - if (owner != OWNER_FREE) // pass OWNER_FREE to keep old owner - ioRec->owner = owner; - ioRec->resourcesUsed |= resources; + ioRec_t *ioRec = IO_Rec(io); + if (owner != OWNER_FREE) // pass OWNER_FREE to keep old owner + ioRec->owner = owner; + ioRec->resourcesUsed |= resources; } void IORelease(IO_t io) { - ioRec_t *ioRec = IO_Rec(io); - ioRec->owner = OWNER_FREE; + ioRec_t *ioRec = IO_Rec(io); + ioRec->owner = OWNER_FREE; } resourceOwner_t IOGetOwner(IO_t io) { - ioRec_t *ioRec = IO_Rec(io); - return ioRec->owner; + ioRec_t *ioRec = IO_Rec(io); + return ioRec->owner; } resourceType_t IOGetResources(IO_t io) { - ioRec_t *ioRec = IO_Rec(io); - return ioRec->resourcesUsed; + ioRec_t *ioRec = IO_Rec(io); + return ioRec->resourcesUsed; } #if defined(STM32F1) void IOConfigGPIO(IO_t io, ioConfig_t cfg) { - if (!io) - return; - rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc; - RCC_ClockCmd(rcc, ENABLE); + if (!io) + return; + rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc; + RCC_ClockCmd(rcc, ENABLE); - GPIO_InitTypeDef init = { - .GPIO_Pin = IO_Pin(io), - .GPIO_Speed = cfg & 0x03, - .GPIO_Mode = cfg & 0x7c, - }; - GPIO_Init(IO_GPIO(io), &init); + GPIO_InitTypeDef init = { + .GPIO_Pin = IO_Pin(io), + .GPIO_Speed = cfg & 0x03, + .GPIO_Mode = cfg & 0x7c, + }; + GPIO_Init(IO_GPIO(io), &init); } #elif defined(STM32F3) || defined(STM32F4) void IOConfigGPIO(IO_t io, ioConfig_t cfg) { - if (!io) - return; - rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc; - RCC_ClockCmd(rcc, ENABLE); + if (!io) + return; + rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc; + RCC_ClockCmd(rcc, ENABLE); - GPIO_InitTypeDef init = { - .GPIO_Pin = IO_Pin(io), - .GPIO_Mode = (cfg >> 0) & 0x03, - .GPIO_Speed = (cfg >> 2) & 0x03, - .GPIO_OType = (cfg >> 4) & 0x01, - .GPIO_PuPd = (cfg >> 5) & 0x03, - }; - GPIO_Init(IO_GPIO(io), &init); + GPIO_InitTypeDef init = { + .GPIO_Pin = IO_Pin(io), + .GPIO_Mode = (cfg >> 0) & 0x03, + .GPIO_Speed = (cfg >> 2) & 0x03, + .GPIO_OType = (cfg >> 4) & 0x01, + .GPIO_PuPd = (cfg >> 5) & 0x03, + }; + GPIO_Init(IO_GPIO(io), &init); } void IOConfigGPIOAF(IO_t io, ioConfig_t cfg, uint8_t af) { - if (!io) - return; + if (!io) + return; - rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc; - RCC_ClockCmd(rcc, ENABLE); - GPIO_PinAFConfig(IO_GPIO(io), IO_GPIO_PinSource(io), af); + rccPeriphTag_t rcc = ioPortDefs[IO_GPIOPortIdx(io)].rcc; + RCC_ClockCmd(rcc, ENABLE); + GPIO_PinAFConfig(IO_GPIO(io), IO_GPIO_PinSource(io), af); - GPIO_InitTypeDef init = { - .GPIO_Pin = IO_Pin(io), - .GPIO_Mode = (cfg >> 0) & 0x03, - .GPIO_Speed = (cfg >> 2) & 0x03, - .GPIO_OType = (cfg >> 4) & 0x01, - .GPIO_PuPd = (cfg >> 5) & 0x03, - }; - GPIO_Init(IO_GPIO(io), &init); + GPIO_InitTypeDef init = { + .GPIO_Pin = IO_Pin(io), + .GPIO_Mode = (cfg >> 0) & 0x03, + .GPIO_Speed = (cfg >> 2) & 0x03, + .GPIO_OType = (cfg >> 4) & 0x01, + .GPIO_PuPd = (cfg >> 5) & 0x03, + }; + GPIO_Init(IO_GPIO(io), &init); } #endif @@ -279,32 +279,32 @@ ioRec_t ioRecs[DEFIO_IO_USED_COUNT]; // initialize all ioRec_t structures from ROM // currently only bitmask is used, this may change in future void IOInitGlobal(void) { - ioRec_t *ioRec = ioRecs; + ioRec_t *ioRec = ioRecs; - for (unsigned port = 0; port < ARRAYLEN(ioDefUsedMask); port++) { - for (unsigned pin = 0; pin < sizeof(ioDefUsedMask[0]) * 8; pin++) { - if (ioDefUsedMask[port] & (1 << pin)) { - ioRec->gpio = (GPIO_TypeDef *)(GPIOA_BASE + (port << 10)); // ports are 0x400 apart - ioRec->pin = 1 << pin; - ioRec++; - } - } - } + for (unsigned port = 0; port < ARRAYLEN(ioDefUsedMask); port++) { + for (unsigned pin = 0; pin < sizeof(ioDefUsedMask[0]) * 8; pin++) { + if (ioDefUsedMask[port] & (1 << pin)) { + ioRec->gpio = (GPIO_TypeDef *)(GPIOA_BASE + (port << 10)); // ports are 0x400 apart + ioRec->pin = 1 << pin; + ioRec++; + } + } + } } IO_t IOGetByTag(ioTag_t tag) { - int portIdx = DEFIO_TAG_GPIOID(tag); - int pinIdx = DEFIO_TAG_PIN(tag); + int portIdx = DEFIO_TAG_GPIOID(tag); + int pinIdx = DEFIO_TAG_PIN(tag); - if (portIdx >= DEFIO_PORT_USED_COUNT) - return NULL; - // check if pin exists - if (!(ioDefUsedMask[portIdx] & (1 << pinIdx))) - return NULL; - // count bits before this pin on single port - int offset = __builtin_popcount(((1 << pinIdx) - 1) & ioDefUsedMask[portIdx]); - // and add port offset - offset += ioDefUsedOffset[portIdx]; - return ioRecs + offset; + if (portIdx >= DEFIO_PORT_USED_COUNT) + return NULL; + // check if pin exists + if (!(ioDefUsedMask[portIdx] & (1 << pinIdx))) + return NULL; + // count bits before this pin on single port + int offset = __builtin_popcount(((1 << pinIdx) - 1) & ioDefUsedMask[portIdx]); + // and add port offset + offset += ioDefUsedOffset[portIdx]; + return ioRecs + offset; } diff --git a/src/main/drivers/io_impl.h b/src/main/drivers/io_impl.h index b7bbcec7f3..3a084949fe 100644 --- a/src/main/drivers/io_impl.h +++ b/src/main/drivers/io_impl.h @@ -5,14 +5,14 @@ #include "platform.h" typedef struct ioDef_s { - ioTag_t tag; + ioTag_t tag; } ioDef_t; typedef struct ioRec_s { - GPIO_TypeDef *gpio; - uint16_t pin; - resourceOwner_t owner; - resourceType_t resourcesUsed; // TODO! + GPIO_TypeDef *gpio; + uint16_t pin; + resourceOwner_t owner; + resourceType_t resourcesUsed; // TODO! } ioRec_t; extern ioRec_t ioRecs[DEFIO_IO_USED_COUNT];