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

11
src/main/drivers/pwm_output.c
View file

@ -173,10 +173,11 @@ 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;
pwmWriteFuncPtr pwmWritePtr;
bool useUnsyncedPwm = motorConfig->useUnsyncedPwm;
switch (motorConfig->motorPwmProtocol) {
default:
@ -195,13 +196,13 @@ void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCoun
case (PWM_TYPE_BRUSHED):
timerMhzCounter = PWM_BRUSHED_TIMER_MHZ;
pwmWritePtr = pwmWriteBrushed;
motorConfig->useUnsyncedPwm = true;
useUnsyncedPwm = true;
idlePulse = 0;
break;
case (PWM_TYPE_STANDARD):
timerMhzCounter = PWM_TIMER_MHZ;
pwmWritePtr = pwmWriteStandard;
motorConfig->useUnsyncedPwm = true;
useUnsyncedPwm = true;
idlePulse = 0;
break;
}
@ -226,7 +227,7 @@ void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCoun
}
motors[motorIndex].pwmWritePtr = pwmWritePtr;
if (motorConfig->useUnsyncedPwm) {
if (useUnsyncedPwm) {
const uint32_t hz = timerMhzCounter * 1000000;
pwmOutConfig(&motors[motorIndex], timer, timerMhzCounter, hz / motorConfig->motorPwmProtocol, idlePulse);
} 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++) {
ioTag_t tag = servoConfig->ioTags[servoIndex];

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

@ -55,8 +55,8 @@ typedef struct {
IO_t io;
} pwmOutputPort_t;
void motorInit(motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount);
void servoInit(servoConfig_t *servoConfig);
void motorInit(const motorConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount);
void servoInit(const servoConfig_t *servoConfig);
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
*/
bool isBeeperOn(void) {
bool isBeeperOn(void)
{
return beeperIsOn;
}

5
src/main/main.c
View file

@ -280,7 +280,10 @@ void init(void)
pwmRxSetInputFilteringMode(masterConfig.inputFilteringMode);
#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;

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

@ -50,7 +50,7 @@ float sonarMaxTiltCos;
static int32_t calculatedAltitude;
void sonarInit(sonarConfig_t *sonarConfig)
void sonarInit(const sonarConfig_t *sonarConfig)
{
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 sonarMaxAltWithTiltCm;
struct sonarHardware_s;
const struct sonarHardware_s *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
void sonarInit(sonarConfig_t *sonarConfig);
void sonarInit(const sonarConfig_t *sonarConfig);
void sonarUpdate(void);
int32_t sonarRead(void);
int32_t sonarCalculateAltitude(int32_t sonarDistance, float cosTiltAngle);