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Cleanup line endings.

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This commit is contained in:
Dominic Clifton 2014-07-31 23:53:34 +01:00
parent 2238f535be
commit 9f1a0fcb4c
47 changed files with 6212 additions and 6191 deletions
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3
src/main/common/maths.h
View file

@ -25,7 +25,8 @@
#define M_PI 3.14159265358979323846f
#endif /* M_PI */
#define RADX10 (M_PI / 1800.0f) // 0.001745329252f #define RAD (M_PI / 180.0f)
#define RADX10 (M_PI / 1800.0f) // 0.001745329252f
#define RAD (M_PI / 180.0f)
#define DEG2RAD(degrees) (degrees * RAD)

3
src/main/config/config.c
View file

@ -76,6 +76,7 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
// use the last flash pages for storage
static uint32_t flashWriteAddress = (0x08000000 + (uint32_t)((FLASH_PAGE_SIZE * FLASH_PAGE_COUNT) - FLASH_TO_RESERVE_FOR_CONFIG));
master_t masterConfig; // master config struct with data independent from profiles
profile_t currentProfile; // profile config struct
@ -404,7 +405,7 @@ void activateConfig(void)
imuRuntimeConfig.gyro_cmpfm_factor = masterConfig.gyro_cmpfm_factor;
imuRuntimeConfig.acc_lpf_factor = currentProfile.acc_lpf_factor;
imuRuntimeConfig.acc_unarmedcal = currentProfile.acc_unarmedcal;;
imuRuntimeConfig.small_angle = masterConfig.small_angle;
configureImu(&imuRuntimeConfig, &currentProfile.pidProfile, &currentProfile.barometerConfig, &currentProfile.accDeadband);

26
src/main/drivers/accgyro_mpu6050.c
View file

@ -36,12 +36,25 @@
#define DMP_MEM_START_ADDR 0x6E
#define DMP_MEM_R_W 0x6F
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD #define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD #define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD #define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN #define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN #define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN #define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS #define MPU_RA_XA_OFFS_L_TC 0x07
#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS #define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS #define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register #define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR #define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR #define MPU_RA_YG_OFFS_USRL 0x16
#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR #define MPU_RA_ZG_OFFS_USRL 0x18
#define MPU_RA_XG_OFFS_TC 0x00 //[7] PWR_MODE, [6:1] XG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_YG_OFFS_TC 0x01 //[7] PWR_MODE, [6:1] YG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_ZG_OFFS_TC 0x02 //[7] PWR_MODE, [6:1] ZG_OFFS_TC, [0] OTP_BNK_VLD
#define MPU_RA_X_FINE_GAIN 0x03 //[7:0] X_FINE_GAIN
#define MPU_RA_Y_FINE_GAIN 0x04 //[7:0] Y_FINE_GAIN
#define MPU_RA_Z_FINE_GAIN 0x05 //[7:0] Z_FINE_GAIN
#define MPU_RA_XA_OFFS_H 0x06 //[15:0] XA_OFFS
#define MPU_RA_XA_OFFS_L_TC 0x07
#define MPU_RA_YA_OFFS_H 0x08 //[15:0] YA_OFFS
#define MPU_RA_YA_OFFS_L_TC 0x09
#define MPU_RA_ZA_OFFS_H 0x0A //[15:0] ZA_OFFS
#define MPU_RA_ZA_OFFS_L_TC 0x0B
#define MPU_RA_PRODUCT_ID 0x0C // Product ID Register
#define MPU_RA_XG_OFFS_USRH 0x13 //[15:0] XG_OFFS_USR
#define MPU_RA_XG_OFFS_USRL 0x14
#define MPU_RA_YG_OFFS_USRH 0x15 //[15:0] YG_OFFS_USR
#define MPU_RA_YG_OFFS_USRL 0x16
#define MPU_RA_ZG_OFFS_USRH 0x17 //[15:0] ZG_OFFS_USR
#define MPU_RA_ZG_OFFS_USRL 0x18
#define MPU_RA_SMPLRT_DIV 0x19
#define MPU_RA_CONFIG 0x1A
#define MPU_RA_GYRO_CONFIG 0x1B
@ -113,6 +126,7 @@
#define MPU_RA_WHO_AM_I 0x75
#define MPU6050_SMPLRT_DIV 0 // 8000Hz
#define MPU6050_LPF_256HZ 0
#define MPU6050_LPF_188HZ 1
#define MPU6050_LPF_98HZ 2

9
src/main/drivers/barometer_bmp085.c
View file

@ -75,7 +75,9 @@ typedef struct {
#define E_SENSOR_NOT_DETECTED (char) 0
#define BMP085_PROM_START__ADDR 0xaa
#define BMP085_PROM_DATA__LEN 22
#define BMP085_T_MEASURE 0x2E // temperature measurent #define BMP085_P_MEASURE 0x34 // pressure measurement #define BMP085_CTRL_MEAS_REG 0xF4
#define BMP085_T_MEASURE 0x2E // temperature measurent
#define BMP085_P_MEASURE 0x34 // pressure measurement
#define BMP085_CTRL_MEAS_REG 0xF4
#define BMP085_ADC_OUT_MSB_REG 0xF6
#define BMP085_ADC_OUT_LSB_REG 0xF7
#define BMP085_CHIP_ID__POS 0
@ -96,7 +98,10 @@ typedef struct {
#define BMP085_GET_BITSLICE(regvar, bitname) (regvar & bitname##__MSK) >> bitname##__POS
#define BMP085_SET_BITSLICE(regvar, bitname, val) (regvar & ~bitname##__MSK) | ((val<<bitname##__POS)&bitname##__MSK)
#define SMD500_PARAM_MG 3038 //calibration parameter #define SMD500_PARAM_MH -7357 //calibration parameter #define SMD500_PARAM_MI 3791 //calibration parameter
#define SMD500_PARAM_MG 3038 //calibration parameter
#define SMD500_PARAM_MH -7357 //calibration parameter
#define SMD500_PARAM_MI 3791 //calibration parameter
static bmp085_t bmp085 = { { 0, } };
static bool bmp085InitDone = false;
static uint16_t bmp085_ut; // static result of temperature measurement

16
src/main/flight/imu.c
View file

@ -83,6 +83,14 @@ pidProfile_t *pidProfile;
barometerConfig_t *barometerConfig;
accDeadband_t *accDeadband;
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband)
{
imuRuntimeConfig = initialImuRuntimeConfig;
pidProfile = initialPidProfile;
barometerConfig = intialBarometerConfig;
accDeadband = initialAccDeadband;
}
void imuInit()
{
smallAngle = lrintf(acc_1G * cosf(RAD * imuRuntimeConfig->small_angle));
@ -95,14 +103,6 @@ void calculateThrottleAngleScale(uint16_t throttle_correction_angle)
throttleAngleScale = (1800.0f / M_PI) * (900.0f / throttle_correction_angle);
}
void configureImu(imuRuntimeConfig_t *initialImuRuntimeConfig, pidProfile_t *initialPidProfile, barometerConfig_t *intialBarometerConfig, accDeadband_t *initialAccDeadband)
{
imuRuntimeConfig = initialImuRuntimeConfig;
pidProfile = initialPidProfile;
barometerConfig = intialBarometerConfig;
accDeadband = initialAccDeadband;
}
void computeIMU(rollAndPitchTrims_t *accelerometerTrims, uint8_t mixerConfiguration)
{
static int16_t gyroYawSmooth = 0;