main uart baud rate commit before tearing stuff up

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@134 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -70,7 +70,8 @@ typedef enum {
     VAR_UINT8,
     VAR_INT8,
     VAR_UINT16,
-    VAR_INT16
+    VAR_INT16,
+    VAR_UINT32
 } vartype_e;
 
 typedef struct {
@@ -104,7 +105,8 @@ const clivalue_t valueTable[] = {
     { "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 },
-    { "gps_baudrate", VAR_UINT16, &cfg.gps_baudrate, 1200, 57600 },
+    { "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
+    { "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
     { "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},
@@ -350,7 +352,7 @@ 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;
@@ -362,6 +364,10 @@ static void cliPrintVar(const clivalue_t *var)
         case VAR_INT16:
             value = *(int16_t *)var->ptr;
             break;
+
+        case VAR_UINT32:
+            value = *(uint32_t *)var->ptr;
+            break;
     }
     itoa(value, buf, 10);
     uartPrint(buf);
@@ -371,19 +377,17 @@ static void cliSetVar(const clivalue_t *var, const int32_t value)
 {
     switch (var->type) {
         case VAR_UINT8:
-            *(uint8_t *)var->ptr = (uint8_t)value;
-            break;
-            
         case VAR_INT8:
-            *(int8_t *)var->ptr = (int8_t)value;
+            *(char *)var->ptr = (char)value;
             break;
             
         case VAR_UINT16:
-            *(uint16_t *)var->ptr = (uint16_t)value;
+        case VAR_INT16:
+            *(short *)var->ptr = (short)value;
             break;
             
-        case VAR_INT16:
-            *(int16_t *)var->ptr = (int16_t)value;
+        case VAR_UINT32:
+            *(int *)var->ptr = (int)value;
             break;
     }
 }

src/config.c

@@ -13,7 +13,7 @@ config_t cfg;
 const char rcChannelLetters[] = "AERT1234";
 
 static uint32_t enabledSensors = 0;
-static uint8_t checkNewConf = 9;
+static uint8_t checkNewConf = 10;
 
 void parseRcChannels(const char *input)
 {
@@ -151,6 +151,9 @@ void checkFirstTime(bool reset)
     // gps baud-rate
     cfg.gps_baudrate = 9600;    
 
+    // serial(uart1) baudrate
+    cfg.serial_baudrate = 115200;
+
     writeParams();
 }
 

src/drv_system.c

@@ -102,7 +102,6 @@ void systemInit(void)
     // Configure the rest of the stuff
     adcInit();
     i2cInit(I2C2);
-    uartInit();
     
     // sleep for 100ms
     delay(100);

src/drv_uart.c

@@ -37,7 +37,7 @@ void DMA1_Channel4_IRQHandler(void)
         uartTxDMA();
 }
 
-void uartInit(void)
+void uartInit(uint32_t speed)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
     USART_InitTypeDef USART_InitStructure;
@@ -63,7 +63,7 @@ void uartInit(void)
     NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
     NVIC_Init(&NVIC_InitStructure);
 
-    USART_InitStructure.USART_BaudRate = 115200;
+    USART_InitStructure.USART_BaudRate = speed;
     USART_InitStructure.USART_WordLength = USART_WordLength_8b;
     USART_InitStructure.USART_StopBits = USART_StopBits_1;
     USART_InitStructure.USART_Parity = USART_Parity_No;

src/drv_uart.h

@@ -1,6 +1,6 @@
 #pragma once
 
-void uartInit(void);
+void uartInit(uint32_t speed);
 uint16_t uartAvailable(void);
 uint8_t uartRead(void);
 uint8_t uartReadPoll(void);

src/gps.c

@@ -11,7 +11,7 @@ static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2,
 
 void gpsInit(uint32_t baudrate)
 {
-    uart2Init(9600, GPS_NewData);
+    uart2Init(cfg.gps_baudrate, GPS_NewData);
     sensorsSet(SENSOR_GPS);
 }
 

src/imu.c

@@ -173,14 +173,13 @@ static void getEstimatedAttitude(void)
     static uint32_t previousT;
     uint32_t currentT = micros();
     float scale, deltaGyroAngle[3];
-    
+
     scale = (currentT - previousT) * GYRO_SCALE;
     previousT = currentT;
 
     // Initialization
     for (axis = 0; axis < 3; axis++) {
         deltaGyroAngle[axis] = gyroADC[axis] * scale;
-        
         if (cfg.acc_lpf_factor > 0) {
             accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
             accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;

src/main.c

@@ -48,6 +48,8 @@ int main(void)
     readEEPROM();
     checkFirstTime(false);
 
+    serialInit(cfg.serial_baudrate);
+
     // We have these sensors
     sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);
 

src/mw.h

@@ -180,8 +180,10 @@ typedef struct config_t {
     int8_t tilt_roll_prop;                  // servo proportional (tied to angle) ; can be negative to invert movement
 
     // gps baud-rate
-    uint16_t gps_baudrate;    
+    uint32_t gps_baudrate;    
 
+   // serial(uart1) baudrate
+    uint32_t serial_baudrate;
 } config_t;
 
 extern int16_t gyroZero[3];
@@ -270,6 +272,7 @@ void writeAllMotors(int16_t mc);
 void mixTable(void);
 
 // Serial
+void serialInit(uint32_t baudrate);
 void serialCom(void);
 
 // Config

src/serial.c

@@ -15,6 +15,11 @@ void serialize8(uint8_t a)
     uartWrite(a);
 }
 
+void serialInit(uint32_t baudrate)
+{
+    uartInit(baudrate);
+}
+
 void serialCom(void)
 {
     uint8_t i;