mirror of
https://github.com/betaflight/betaflight.git
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Normalize all the line endings
This commit is contained in:
Dominic Clifton
parent
4237370b60
commit
d60183d91d
396 changed files with 158300 additions and 158300 deletions
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@ -1,195 +1,195 @@
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "gpio.h"
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#include "light_led.h"
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#include "sound_beeper.h"
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#include "inverter.h"
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#include "bus_i2c.h"
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#include "bus_spi.h"
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#include "system.h"
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// cycles per microsecond
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static volatile uint32_t usTicks = 0;
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// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
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static volatile uint32_t sysTickUptime = 0;
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#ifdef STM32F303xC
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// from system_stm32f30x.c
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void SetSysClock(void);
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#endif
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#ifdef STM32F10X
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// from system_stm32f10x.c
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void SetSysClock(bool overclock);
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#endif
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static void cycleCounterInit(void)
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{
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RCC_ClocksTypeDef clocks;
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RCC_GetClocksFreq(&clocks);
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usTicks = clocks.SYSCLK_Frequency / 1000000;
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}
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// SysTick
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void SysTick_Handler(void)
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{
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sysTickUptime++;
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}
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// Return system uptime in microseconds (rollover in 70minutes)
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uint32_t micros(void)
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{
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register uint32_t ms, cycle_cnt;
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do {
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ms = sysTickUptime;
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cycle_cnt = SysTick->VAL;
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} while (ms != sysTickUptime);
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return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
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}
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// Return system uptime in milliseconds (rollover in 49 days)
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uint32_t millis(void)
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{
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return sysTickUptime;
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}
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void systemInit(bool overclock)
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{
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#ifdef STM32F303
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// start fpu
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SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
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#endif
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#ifdef STM32F303xC
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SetSysClock();
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#endif
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#ifdef STM32F10X
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// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
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// Configure the Flash Latency cycles and enable prefetch buffer
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SetSysClock(overclock);
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#endif
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// Configure NVIC preempt/priority groups
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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#ifdef STM32F10X
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// Turn on clocks for stuff we use
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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#endif
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RCC_ClearFlag();
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enableGPIOPowerUsageAndNoiseReductions();
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#ifdef STM32F10X
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// Turn off JTAG port 'cause we're using the GPIO for leds
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#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
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AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
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#endif
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ledInit();
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beeperInit();
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#ifdef INVERTER
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initInverter();
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#endif
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// Init cycle counter
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cycleCounterInit();
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// SysTick
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SysTick_Config(SystemCoreClock / 1000);
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#ifdef CC3D
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spiInit(SPI1);
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spiInit(SPI2);
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#endif
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#ifndef CC3D
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// Configure the rest of the stuff
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i2cInit(I2C_DEVICE);
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#endif
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// sleep for 100ms
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delay(100);
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}
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#if 1
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void delayMicroseconds(uint32_t us)
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{
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uint32_t now = micros();
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while (micros() - now < us);
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}
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#else
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void delayMicroseconds(uint32_t us)
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{
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uint32_t elapsed = 0;
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uint32_t lastCount = SysTick->VAL;
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for (;;) {
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register uint32_t current_count = SysTick->VAL;
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uint32_t elapsed_us;
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// measure the time elapsed since the last time we checked
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elapsed += current_count - lastCount;
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lastCount = current_count;
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// convert to microseconds
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elapsed_us = elapsed / usTicks;
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if (elapsed_us >= us)
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break;
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// reduce the delay by the elapsed time
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us -= elapsed_us;
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// keep fractional microseconds for the next iteration
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elapsed %= usTicks;
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}
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}
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#endif
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void delay(uint32_t ms)
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{
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while (ms--)
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delayMicroseconds(1000);
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}
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// FIXME replace mode with an enum so usage can be tracked, currently mode is a magic number
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void failureMode(uint8_t mode)
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{
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LED1_ON;
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LED0_OFF;
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while (1) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(475 * mode - 2);
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BEEP_ON
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delay(25);
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BEEP_OFF;
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}
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}
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/*
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* This file is part of Cleanflight.
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*
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* Cleanflight is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* Cleanflight is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <stdbool.h>
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#include <stdint.h>
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#include <stdlib.h>
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#include "platform.h"
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#include "gpio.h"
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#include "light_led.h"
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#include "sound_beeper.h"
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#include "inverter.h"
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#include "bus_i2c.h"
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#include "bus_spi.h"
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#include "system.h"
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// cycles per microsecond
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static volatile uint32_t usTicks = 0;
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// current uptime for 1kHz systick timer. will rollover after 49 days. hopefully we won't care.
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static volatile uint32_t sysTickUptime = 0;
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#ifdef STM32F303xC
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// from system_stm32f30x.c
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void SetSysClock(void);
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#endif
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#ifdef STM32F10X
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// from system_stm32f10x.c
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void SetSysClock(bool overclock);
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#endif
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static void cycleCounterInit(void)
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{
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RCC_ClocksTypeDef clocks;
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RCC_GetClocksFreq(&clocks);
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usTicks = clocks.SYSCLK_Frequency / 1000000;
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}
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// SysTick
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void SysTick_Handler(void)
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{
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sysTickUptime++;
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}
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// Return system uptime in microseconds (rollover in 70minutes)
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uint32_t micros(void)
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{
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register uint32_t ms, cycle_cnt;
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do {
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ms = sysTickUptime;
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cycle_cnt = SysTick->VAL;
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} while (ms != sysTickUptime);
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return (ms * 1000) + (usTicks * 1000 - cycle_cnt) / usTicks;
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}
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// Return system uptime in milliseconds (rollover in 49 days)
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uint32_t millis(void)
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{
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return sysTickUptime;
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}
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void systemInit(bool overclock)
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{
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#ifdef STM32F303
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// start fpu
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SCB->CPACR = (0x3 << (10*2)) | (0x3 << (11*2));
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#endif
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#ifdef STM32F303xC
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SetSysClock();
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#endif
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#ifdef STM32F10X
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// Configure the System clock frequency, HCLK, PCLK2 and PCLK1 prescalers
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// Configure the Flash Latency cycles and enable prefetch buffer
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SetSysClock(overclock);
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#endif
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// Configure NVIC preempt/priority groups
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NVIC_PriorityGroupConfig(NVIC_PriorityGroup_2);
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#ifdef STM32F10X
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// Turn on clocks for stuff we use
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RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO, ENABLE);
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#endif
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RCC_ClearFlag();
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enableGPIOPowerUsageAndNoiseReductions();
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#ifdef STM32F10X
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// Turn off JTAG port 'cause we're using the GPIO for leds
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#define AFIO_MAPR_SWJ_CFG_NO_JTAG_SW (0x2 << 24)
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AFIO->MAPR |= AFIO_MAPR_SWJ_CFG_NO_JTAG_SW;
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#endif
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ledInit();
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beeperInit();
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#ifdef INVERTER
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initInverter();
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#endif
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// Init cycle counter
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cycleCounterInit();
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// SysTick
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SysTick_Config(SystemCoreClock / 1000);
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#ifdef CC3D
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spiInit(SPI1);
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spiInit(SPI2);
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#endif
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#ifndef CC3D
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// Configure the rest of the stuff
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i2cInit(I2C_DEVICE);
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#endif
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// sleep for 100ms
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delay(100);
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}
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#if 1
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void delayMicroseconds(uint32_t us)
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{
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uint32_t now = micros();
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while (micros() - now < us);
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}
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#else
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void delayMicroseconds(uint32_t us)
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{
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uint32_t elapsed = 0;
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uint32_t lastCount = SysTick->VAL;
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for (;;) {
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register uint32_t current_count = SysTick->VAL;
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uint32_t elapsed_us;
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// measure the time elapsed since the last time we checked
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elapsed += current_count - lastCount;
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lastCount = current_count;
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// convert to microseconds
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elapsed_us = elapsed / usTicks;
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if (elapsed_us >= us)
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break;
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// reduce the delay by the elapsed time
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us -= elapsed_us;
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// keep fractional microseconds for the next iteration
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elapsed %= usTicks;
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}
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}
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#endif
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void delay(uint32_t ms)
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{
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while (ms--)
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delayMicroseconds(1000);
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}
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// FIXME replace mode with an enum so usage can be tracked, currently mode is a magic number
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void failureMode(uint8_t mode)
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{
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LED1_ON;
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LED0_OFF;
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while (1) {
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LED1_TOGGLE;
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LED0_TOGGLE;
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delay(475 * mode - 2);
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BEEP_ON
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delay(25);
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BEEP_OFF;
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}
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}
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