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Code Issues Wiki Activity

fixing buzzer related compilation errors on OLIMEXINO target [by Dominic Clifton]

Browse source 
moved alignSensors from drv_system to utils
updating uvproj to keil5

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@431 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop@gmail.com 2013-10-12 02:04:08 +00:00
parent 3bb1063001
commit a9b094dca6
5 changed files with 94 additions and 53 deletions
Download patch file Download diff file Expand all files Collapse all files

35
baseflight.uvproj
View file

@ -30,6 +30,7 @@
<SLE66AMisc></SLE66AMisc> <SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc> <SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile> <SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv> <UseEnv>0</UseEnv>
<BinPath></BinPath> <BinPath></BinPath>
<IncludePath></IncludePath> <IncludePath></IncludePath>
@ -97,6 +98,7 @@
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
<SimDllName>SARMCM3.DLL</SimDllName> <SimDllName>SARMCM3.DLL</SimDllName>
@ -169,6 +171,10 @@
<Flash2>BIN\UL2CM3.DLL</Flash2> <Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4></Flash4> <Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities> </Utilities>
<TargetArmAds> <TargetArmAds>
<ArmAdsMisc> <ArmAdsMisc>
@ -551,6 +557,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -596,6 +603,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -696,6 +704,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg>
</CommonProperty> </CommonProperty>
<GroupArmAds> <GroupArmAds>
<Cads> <Cads>
@ -822,6 +831,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Aads> <Aads>
@ -881,6 +891,7 @@
<SLE66AMisc></SLE66AMisc> <SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc> <SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile> <SFDFile>SFD\ST\STM32F1xx\STM32F103xx.sfr</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv> <UseEnv>0</UseEnv>
<BinPath></BinPath> <BinPath></BinPath>
<IncludePath></IncludePath> <IncludePath></IncludePath>
@ -948,6 +959,7 @@
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
<SimDllName>SARMCM3.DLL</SimDllName> <SimDllName>SARMCM3.DLL</SimDllName>
@ -1020,6 +1032,10 @@
<Flash2>BIN\UL2CM3.DLL</Flash2> <Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4></Flash4> <Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities> </Utilities>
<TargetArmAds> <TargetArmAds>
<ArmAdsMisc> <ArmAdsMisc>
@ -1402,6 +1418,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -1447,6 +1464,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -1617,6 +1635,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Aads> <Aads>
@ -1676,6 +1695,7 @@
<SLE66AMisc></SLE66AMisc> <SLE66AMisc></SLE66AMisc>
<SLE66LinkerMisc></SLE66LinkerMisc> <SLE66LinkerMisc></SLE66LinkerMisc>
<SFDFile>SFD\ST\STM32F10xx\STM32F10xxB.sfr</SFDFile> <SFDFile>SFD\ST\STM32F10xx\STM32F10xxB.sfr</SFDFile>
<bCustSvd>0</bCustSvd>
<UseEnv>0</UseEnv> <UseEnv>0</UseEnv>
<BinPath></BinPath> <BinPath></BinPath>
<IncludePath></IncludePath> <IncludePath></IncludePath>
@ -1743,6 +1763,7 @@
<StopOnExitCode>3</StopOnExitCode> <StopOnExitCode>3</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<DllOption> <DllOption>
<SimDllName>SARMCM3.DLL</SimDllName> <SimDllName>SARMCM3.DLL</SimDllName>
@ -1815,6 +1836,10 @@
<Flash2>BIN\UL2CM3.DLL</Flash2> <Flash2>BIN\UL2CM3.DLL</Flash2>
<Flash3>"" ()</Flash3> <Flash3>"" ()</Flash3>
<Flash4></Flash4> <Flash4></Flash4>
<pFcarmOut></pFcarmOut>
<pFcarmGrp></pFcarmGrp>
<pFcArmRoot></pFcArmRoot>
<FcArmLst>0</FcArmLst>
</Utilities> </Utilities>
<TargetArmAds> <TargetArmAds>
<ArmAdsMisc> <ArmAdsMisc>
@ -2142,6 +2167,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2187,6 +2213,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2232,6 +2259,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2277,6 +2305,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2327,6 +2356,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2372,6 +2402,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2427,6 +2458,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2472,6 +2504,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Cads> <Cads>
@ -2582,6 +2615,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>0</ComprImg>
</CommonProperty> </CommonProperty>
<GroupArmAds> <GroupArmAds>
<Cads> <Cads>
@ -2703,6 +2737,7 @@
<StopOnExitCode>11</StopOnExitCode> <StopOnExitCode>11</StopOnExitCode>
<CustomArgument></CustomArgument> <CustomArgument></CustomArgument>
<IncludeLibraryModules></IncludeLibraryModules> <IncludeLibraryModules></IncludeLibraryModules>
<ComprImg>1</ComprImg>
</CommonProperty> </CommonProperty>
<FileArmAds> <FileArmAds>
<Aads> <Aads>

59
src/drv_system.c
View file

@ -6,10 +6,12 @@ static volatile uint32_t usTicks = 0;
static volatile uint32_t sysTickUptime = 0; static volatile uint32_t sysTickUptime = 0;
// from system_stm32f10x.c // from system_stm32f10x.c
void SetSysClock(void); void SetSysClock(void);
#ifdef BUZZER
void systemBeep(bool onoff); void systemBeep(bool onoff);
static void beepRev4(bool onoff); static void beepRev4(bool onoff);
static void beepRev5(bool onoff); static void beepRev5(bool onoff);
void (* systemBeepPtr)(bool onoff) = NULL; void (* systemBeepPtr)(bool onoff) = NULL;
#endif
static void cycleCounterInit(void) static void cycleCounterInit(void)
{ {
@ -87,16 +89,17 @@ void systemInit(void)
#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24) #define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW; AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
#ifdef BUZZER
// Configure gpio // Configure gpio
// rev5 needs inverted beeper. oops. // rev5 needs inverted beeper. oops.
if (hse_value == 12000000) if (hse_value == 12000000)
systemBeepPtr = beepRev5; systemBeepPtr = beepRev5;
else else
systemBeepPtr = beepRev4; systemBeepPtr = beepRev4;
BEEP_OFF;
#endif
LED0_OFF; LED0_OFF;
LED1_OFF; LED1_OFF;
BEEP_OFF;
for (i = 0; i < gpio_count; i++) { for (i = 0; i < gpio_count; i++) {
if (hse_value == 12000000 && gpio_setup[i].cfg.mode == Mode_Out_OD) if (hse_value == 12000000 && gpio_setup[i].cfg.mode == Mode_Out_OD)
@ -188,6 +191,7 @@ void systemReset(bool toBootloader)
SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04; SCB->AIRCR = AIRCR_VECTKEY_MASK | (uint32_t)0x04;
} }
#ifdef BUZZER
static void beepRev4(bool onoff) static void beepRev4(bool onoff)
{ {
if (onoff) { if (onoff) {
@ -205,56 +209,11 @@ static void beepRev5(bool onoff)
digitalLo(BEEP_GPIO, BEEP_PIN); digitalLo(BEEP_GPIO, BEEP_PIN);
} }
} }
#endif
void systemBeep(bool onoff) void systemBeep(bool onoff)
{ {
#ifdef BUZZER
systemBeepPtr(onoff); systemBeepPtr(onoff);
} #endif
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
{
switch (rotation) {
case CW0_DEG:
dest[X] = src[X];
dest[Y] = src[Y];
dest[Z] = src[Z];
break;
case CW90_DEG:
dest[X] = src[Y];
dest[Y] = -src[X];
dest[Z] = src[Z];
break;
case CW180_DEG:
dest[X] = -src[X];
dest[Y] = -src[Y];
dest[Z] = src[Z];
break;
case CW270_DEG:
dest[X] = -src[Y];
dest[Y] = src[X];
dest[Z] = src[Z];
break;
case CW0_DEG_FLIP:
dest[X] = -src[X];
dest[Y] = src[Y];
dest[Z] = -src[Z];
break;
case CW90_DEG_FLIP:
dest[X] = src[Y];
dest[Y] = src[X];
dest[Z] = -src[Z];
break;
case CW180_DEG_FLIP:
dest[X] = src[X];
dest[Y] = -src[Y];
dest[Z] = -src[Z];
break;
case CW270_DEG_FLIP:
dest[X] = -src[Y];
dest[Y] = -src[X];
dest[Z] = -src[Z];
break;
default:
break;
}
} }

3
src/drv_system.h
View file

@ -15,6 +15,3 @@ void systemReset(bool toBootloader);
// current crystal frequency - 8 or 12MHz // current crystal frequency - 8 or 12MHz
extern uint32_t hse_value; extern uint32_t hse_value;
// sensor orientation
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation);

48
src/utils.c
View file

@ -10,3 +10,51 @@ int constrain(int amt, int low, int high)
else else
return amt; return amt;
} }
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation)
{
switch (rotation) {
case CW0_DEG:
dest[X] = src[X];
dest[Y] = src[Y];
dest[Z] = src[Z];
break;
case CW90_DEG:
dest[X] = src[Y];
dest[Y] = -src[X];
dest[Z] = src[Z];
break;
case CW180_DEG:
dest[X] = -src[X];
dest[Y] = -src[Y];
dest[Z] = src[Z];
break;
case CW270_DEG:
dest[X] = -src[Y];
dest[Y] = src[X];
dest[Z] = src[Z];
break;
case CW0_DEG_FLIP:
dest[X] = -src[X];
dest[Y] = src[Y];
dest[Z] = -src[Z];
break;
case CW90_DEG_FLIP:
dest[X] = src[Y];
dest[Y] = src[X];
dest[Z] = -src[Z];
break;
case CW180_DEG_FLIP:
dest[X] = src[X];
dest[Y] = -src[Y];
dest[Z] = -src[Z];
break;
case CW270_DEG_FLIP:
dest[X] = -src[Y];
dest[Y] = -src[X];
dest[Z] = -src[Z];
break;
default:
break;
}
}

2
src/utils.h
View file

@ -1,3 +1,5 @@
#pragma once #pragma once
int constrain(int amt, int low, int high); int constrain(int amt, int low, int high);
// sensor orientation
void alignSensors(int16_t *src, int16_t *dest, uint8_t rotation);