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synced code with multiwii 2.0 release

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split uart2 initialization inside drv_uart. added receive data callback to use either with GPS or spektrum satellite
added spektrum satellite support, also freeing up 4 motor outputs for hexa/octo/camstab
configurable acc lpf and gyro lpf via cli
configurable (build-time) temperature lpf on baro. seems mostly useless.
fixed a nice boner bug in mag code which ended up multiplying magADC twice with magCal data.
fixed mpu3050 driver to allow configurable lpf, also broke other stuff in the process. considering moving this sort of stuff to "init" struct for sensor.
pwm driver rewritten to fully disable pwm/ppm inputs (such as using spektrum satellite case)
cleaned up double math in gps.c to use sinf/cosf etc
removed TRUSTED_ACCZ since its useless anyway
whitespace cleanup

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@130 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-26 15:28:36 +00:00
parent fd9d986169
commit 96829b7306
23 changed files with 2884 additions and 2931 deletions
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24
src/cli.c
View file

@ -36,6 +36,7 @@ const char *mixerNames[] = {
const char *featureNames[] = {
"PPM", "VBAT", "INFLIGHT_ACC_CAL", "DIGITAL_SERVO", "MOTOR_STOP",
"SERVO_TILT", "CAMTRIG", "GYRO_SMOOTHING", "LED_RING", "GPS",
"SPEKTRUM",
NULL
};
@ -88,6 +89,7 @@ const clivalue_t valueTable[] = {
{ "mincommand", VAR_UINT16, &cfg.mincommand, 0, 2000 },
{ "mincheck", VAR_UINT16, &cfg.mincheck, 0, 2000 },
{ "maxcheck", VAR_UINT16, &cfg.maxcheck, 0, 2000 },
{ "spektrum_hires", VAR_UINT8, &cfg.spektrum_hires, 0, 1 },
{ "vbatscale", VAR_UINT8, &cfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &cfg.vbatmaxcellvoltage, 10, 50 },
{ "vbatmincellvoltage", VAR_UINT8, &cfg.vbatmincellvoltage, 10, 50 },
@ -99,6 +101,8 @@ const clivalue_t valueTable[] = {
{ "tri_yaw_max", VAR_UINT16, &cfg.tri_yaw_max, 0, 2000 },
{ "tilt_pitch_prop", VAR_INT8, &cfg.tilt_pitch_prop, -100, 100 },
{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 32 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
@ -252,10 +256,10 @@ static void cliHelp(char *cmdline)
uartPrint("Available commands:\r\n");
for (i = 0; i < CMD_COUNT; i++) {
uartPrint(cmdTable[i].name);
uartWrite(' ');
uartPrint(cmdTable[i].param);
uartPrint("\r\n");
uartPrint(cmdTable[i].name);
uartWrite(' ');
uartPrint(cmdTable[i].param);
uartPrint("\r\n");
}
}
@ -344,15 +348,15 @@ static void cliPrintVar(const clivalue_t *var)
case VAR_UINT8:
value = *(uint8_t *)var->ptr;
break;
case VAR_INT8:
value = *(int8_t *)var->ptr;
break;
case VAR_UINT16:
value = *(uint16_t *)var->ptr;
break;
case VAR_INT16:
value = *(int16_t *)var->ptr;
break;
@ -389,7 +393,7 @@ static void cliSet(char *cmdline)
const clivalue_t *val;
char *eqptr = NULL;
int32_t value = 0;
len = strlen(cmdline);
if (len == 0) {
@ -525,7 +529,7 @@ void cliProcess(void)
// enter pressed
clicmd_t *cmd = NULL;
clicmd_t target;
uartPrint("\r\n");
uartPrint("\r\n");
cliBuffer[bufferIndex] = 0; // null terminate
target.name = cliBuffer;
@ -542,7 +546,7 @@ void cliProcess(void)
// 'exit' will reset this flag, so we don't need to print prompt again
if (!cliMode)
return;
return;
cliPrompt();
} else if (c == 127) {
// backspace