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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@ -1,185 +1,185 @@
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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 "common/axis.h"
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#include "rx/rx.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "config/runtime_config.h"
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#include "flight/failsafe.h"
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/*
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* Usage:
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*
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* failsafeInit() and useFailsafeConfig() must be called before the other methods are used.
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*
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* failsafeInit() and useFailsafeConfig() can be called in any order.
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* failsafeInit() should only be called once.
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*
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* enable() should be called after system initialisation.
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*/
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static failsafe_t failsafe;
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static failsafeConfig_t *failsafeConfig;
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static rxConfig_t *rxConfig;
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const failsafeVTable_t failsafeVTable[];
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void reset(void)
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{
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failsafe.counter = 0;
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}
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/*
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* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
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*/
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void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse)
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{
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failsafeConfig = failsafeConfigToUse;
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reset();
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}
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failsafe_t* failsafeInit(rxConfig_t *intialRxConfig)
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{
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rxConfig = intialRxConfig;
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failsafe.vTable = failsafeVTable;
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failsafe.events = 0;
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failsafe.enabled = false;
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return &failsafe;
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}
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bool isIdle(void)
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{
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return failsafe.counter == 0;
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}
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bool isEnabled(void)
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{
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return failsafe.enabled;
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}
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void enable(void)
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{
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failsafe.enabled = true;
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}
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bool hasTimerElapsed(void)
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{
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return failsafe.counter > (5 * failsafeConfig->failsafe_delay);
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}
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bool shouldForceLanding(bool armed)
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{
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return hasTimerElapsed() && armed;
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}
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bool shouldHaveCausedLandingByNow(void)
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{
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return failsafe.counter > 5 * (failsafeConfig->failsafe_delay + failsafeConfig->failsafe_off_delay);
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}
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void failsafeAvoidRearm(void)
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{
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// This will prevent the automatic rearm if failsafe shuts it down and prevents
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// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
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ENABLE_ARMING_FLAG(PREVENT_ARMING);
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}
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void onValidDataReceived(void)
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{
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if (failsafe.counter > 20)
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failsafe.counter -= 20;
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else
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failsafe.counter = 0;
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}
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void updateState(void)
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{
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uint8_t i;
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if (!hasTimerElapsed()) {
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return;
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}
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if (!isEnabled()) {
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reset();
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return;
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}
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if (shouldForceLanding(ARMING_FLAG(ARMED))) { // Stabilize, and set Throttle to specified level
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failsafeAvoidRearm();
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for (i = 0; i < 3; i++) {
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rcData[i] = rxConfig->midrc; // after specified guard time after RC signal is lost (in 0.1sec)
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}
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rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
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failsafe.events++;
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}
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if (shouldHaveCausedLandingByNow() || !ARMING_FLAG(ARMED)) {
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mwDisarm();
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}
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}
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void incrementCounter(void)
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{
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failsafe.counter++;
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}
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// pulse duration is in micro secons (usec)
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void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration)
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{
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static uint8_t goodChannelMask;
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if (channel < 4 &&
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pulseDuration > failsafeConfig->failsafe_min_usec &&
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pulseDuration < failsafeConfig->failsafe_max_usec
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)
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goodChannelMask |= (1 << channel); // if signal is valid - mark channel as OK
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if (goodChannelMask == 0x0F) { // If first four channels have good pulses, clear FailSafe counter
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goodChannelMask = 0;
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onValidDataReceived();
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}
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}
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const failsafeVTable_t failsafeVTable[] = {
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{
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reset,
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shouldForceLanding,
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hasTimerElapsed,
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shouldHaveCausedLandingByNow,
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incrementCounter,
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updateState,
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isIdle,
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failsafeCheckPulse,
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isEnabled,
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enable
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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 "common/axis.h"
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#include "rx/rx.h"
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#include "io/escservo.h"
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#include "io/rc_controls.h"
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#include "config/runtime_config.h"
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#include "flight/failsafe.h"
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/*
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* Usage:
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*
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* failsafeInit() and useFailsafeConfig() must be called before the other methods are used.
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*
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* failsafeInit() and useFailsafeConfig() can be called in any order.
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* failsafeInit() should only be called once.
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*
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* enable() should be called after system initialisation.
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*/
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static failsafe_t failsafe;
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static failsafeConfig_t *failsafeConfig;
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static rxConfig_t *rxConfig;
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const failsafeVTable_t failsafeVTable[];
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void reset(void)
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{
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failsafe.counter = 0;
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}
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/*
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* Should called when the failsafe config needs to be changed - e.g. a different profile has been selected.
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*/
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void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse)
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{
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failsafeConfig = failsafeConfigToUse;
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reset();
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}
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failsafe_t* failsafeInit(rxConfig_t *intialRxConfig)
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{
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rxConfig = intialRxConfig;
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failsafe.vTable = failsafeVTable;
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failsafe.events = 0;
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failsafe.enabled = false;
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return &failsafe;
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}
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bool isIdle(void)
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{
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return failsafe.counter == 0;
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}
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bool isEnabled(void)
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{
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return failsafe.enabled;
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}
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void enable(void)
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{
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failsafe.enabled = true;
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}
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bool hasTimerElapsed(void)
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{
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return failsafe.counter > (5 * failsafeConfig->failsafe_delay);
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}
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bool shouldForceLanding(bool armed)
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{
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return hasTimerElapsed() && armed;
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}
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bool shouldHaveCausedLandingByNow(void)
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{
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return failsafe.counter > 5 * (failsafeConfig->failsafe_delay + failsafeConfig->failsafe_off_delay);
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}
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void failsafeAvoidRearm(void)
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{
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// This will prevent the automatic rearm if failsafe shuts it down and prevents
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// to restart accidently by just reconnect to the tx - you will have to switch off first to rearm
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ENABLE_ARMING_FLAG(PREVENT_ARMING);
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}
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void onValidDataReceived(void)
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{
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if (failsafe.counter > 20)
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failsafe.counter -= 20;
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else
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failsafe.counter = 0;
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}
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void updateState(void)
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{
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uint8_t i;
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if (!hasTimerElapsed()) {
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return;
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}
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if (!isEnabled()) {
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reset();
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return;
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}
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if (shouldForceLanding(ARMING_FLAG(ARMED))) { // Stabilize, and set Throttle to specified level
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failsafeAvoidRearm();
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for (i = 0; i < 3; i++) {
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rcData[i] = rxConfig->midrc; // after specified guard time after RC signal is lost (in 0.1sec)
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}
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rcData[THROTTLE] = failsafeConfig->failsafe_throttle;
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failsafe.events++;
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}
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if (shouldHaveCausedLandingByNow() || !ARMING_FLAG(ARMED)) {
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mwDisarm();
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}
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}
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void incrementCounter(void)
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{
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failsafe.counter++;
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}
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// pulse duration is in micro secons (usec)
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void failsafeCheckPulse(uint8_t channel, uint16_t pulseDuration)
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{
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static uint8_t goodChannelMask;
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if (channel < 4 &&
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pulseDuration > failsafeConfig->failsafe_min_usec &&
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pulseDuration < failsafeConfig->failsafe_max_usec
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)
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goodChannelMask |= (1 << channel); // if signal is valid - mark channel as OK
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if (goodChannelMask == 0x0F) { // If first four channels have good pulses, clear FailSafe counter
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goodChannelMask = 0;
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onValidDataReceived();
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}
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}
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const failsafeVTable_t failsafeVTable[] = {
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{
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reset,
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shouldForceLanding,
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hasTimerElapsed,
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shouldHaveCausedLandingByNow,
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incrementCounter,
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updateState,
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isIdle,
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failsafeCheckPulse,
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isEnabled,
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enable
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}
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};
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