Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-23 16:25:31 +03:00
Code Issues Wiki Activity

Adding some const qualifiers

Browse source
This commit is contained in:
blckmn 2016-10-03 19:51:07 +11:00 • committed by blckmn
parent 806f43cdbf
commit d48496c988
6 changed files with 19 additions and 16 deletions
Download patch file Download diff file Expand all files Collapse all files

15
src/main/drivers/pwm_output.c
View file

@ -173,11 +173,12 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
} }
} }
void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount) void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
{ {
uint32_t timerMhzCounter; uint32_t timerMhzCounter;
pwmWriteFuncPtr pwmWritePtr; pwmWriteFuncPtr pwmWritePtr;
bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
switch (motorConfig->motorPwmProtocol) { switch (motorConfig->motorPwmProtocol) {
default: default:
case (PWM_TYPE_ONESHOT125): case (PWM_TYPE_ONESHOT125):
@ -195,17 +196,17 @@ void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCoun
case (PWM_TYPE_BRUSHED): case (PWM_TYPE_BRUSHED):
timerMhzCounter = PWM_BRUSHED_TIMER_MHZ; timerMhzCounter = PWM_BRUSHED_TIMER_MHZ;
pwmWritePtr = pwmWriteBrushed; pwmWritePtr = pwmWriteBrushed;
motorConfig->useUnsyncedPwm = true; useUnsyncedPwm = true;
idlePulse = 0; idlePulse = 0;
break; break;
case (PWM_TYPE_STANDARD): case (PWM_TYPE_STANDARD):
timerMhzCounter = PWM_TIMER_MHZ; timerMhzCounter = PWM_TIMER_MHZ;
pwmWritePtr = pwmWriteStandard; pwmWritePtr = pwmWriteStandard;
motorConfig->useUnsyncedPwm = true; useUnsyncedPwm = true;
idlePulse = 0; idlePulse = 0;
break; break;
} }
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) { for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
ioTag_t tag = motorConfig->ioTags[motorIndex]; ioTag_t tag = motorConfig->ioTags[motorIndex];
@ -226,7 +227,7 @@ void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCoun
} }
motors[motorIndex].pwmWritePtr = pwmWritePtr; motors[motorIndex].pwmWritePtr = pwmWritePtr;
if (motorConfig->useUnsyncedPwm) { if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000; const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timer, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse); pwmOutConfig(&motors[motorIndex], timer, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse);
} else { } else {
@ -249,7 +250,7 @@ void pwmWriteServo(uint8_t index, uint16_t value)
} }
} }
void servoInit(servoConfig_t *servoConfig) void servoInit(const servoConfig_t *servoConfig)
{ {
for (uint8_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) { for (uint8_t servoIndex = 0; servoIndex < MAX_SUPPORTED_SERVOS; servoIndex++) {
ioTag_t tag = servoConfig->ioTags[servoIndex]; ioTag_t tag = servoConfig->ioTags[servoIndex];

4
src/main/drivers/pwm_output.h
View file

@ -55,8 +55,8 @@ typedef struct {
IO_t io; IO_t io;
} pwmOutputPort_t; } pwmOutputPort_t;
void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount); void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount);
void servoInit(servoConfig_t *servoConfig); void servoInit(const servoConfig_t *servoConfig);
void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse); void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIndex, uint16_t servoPwmRate, uint16_t servoCenterPulse);

3
src/main/io/beeper.c
View file

@ -392,7 +392,8 @@ int beeperTableEntryCount(void)
/* /*
* Returns true if the beeper is on, false otherwise * Returns true if the beeper is on, false otherwise
*/ */
bool isBeeperOn(void) { bool isBeeperOn(void)
{
return beeperIsOn; return beeperIsOn;
} }

7
src/main/main.c
View file

@ -280,8 +280,11 @@ void init(void)
pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode); pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
#endif #endif
mixerUsePWMOutputConfiguration(masterConfig.motorConfig.useUnsyncedPwm); bool usingUnsyncedOutput = (masterConfig.motorConfig.useUnsyncedPwm
|| masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_BRUSHED
|| masterConfig.motorConfig.motorPwmProtocol == PWM_TYPE_STANDARD);
mixerUsePWMOutputConfiguration(usingUnsyncedOutput);
systemState |= SYSTEM_STATE_MOTORS_READY; systemState |= SYSTEM_STATE_MOTORS_READY;
#ifdef BEEPER #ifdef BEEPER

2
src/main/sensors/sonar.c
View file

@ -50,7 +50,7 @@ float sonarMaxTiltCos;
static int32_t calculatedAltitude; static int32_t calculatedAltitude;
void sonarInit(sonarConfig_t *sonarConfig) void sonarInit(const sonarConfig_t *sonarConfig)
{ {
sonarRange_t sonarRange; sonarRange_t sonarRange;

4
src/main/sensors/sonar.h
View file

@ -26,9 +26,7 @@ extern int16_t sonarMaxRangeCm;
extern int16_t sonarCfAltCm; extern int16_t sonarCfAltCm;
extern int16_t sonarMaxAltWithTiltCm; extern int16_t sonarMaxAltWithTiltCm;
struct sonarHardware_s; void sonarInit(const sonarConfig_t *sonarConfig);
const struct sonarHardware_s *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
void sonarInit(sonarConfig_t *sonarConfig);
void sonarUpdate(void); void sonarUpdate(void);
int32_t sonarRead(void); int32_t sonarRead(void);
int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle); int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle);