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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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@ -1,154 +1,154 @@
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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 <math.h>
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#include "platform.h"
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#include "common/maths.h"
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#include "drivers/barometer.h"
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#include "config/config.h"
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#include "sensors/barometer.h"
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baro_t baro; // barometer access functions
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uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
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int32_t baroPressure = 0;
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int32_t baroTemperature = 0;
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int32_t BaroAlt = 0;
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#ifdef BARO
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static int32_t baroGroundAltitude = 0;
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static int32_t baroGroundPressure = 0;
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static uint32_t baroPressureSum = 0;
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barometerConfig_t *barometerConfig;
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void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
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{
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barometerConfig = barometerConfigToUse;
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}
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bool isBaroCalibrationComplete(void)
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{
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return calibratingB == 0;
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}
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void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
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{
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calibratingB = calibrationCyclesRequired;
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}
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static bool baroReady = false;
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#define PRESSURE_SAMPLE_COUNT (barometerConfig->baro_sample_count - 1)
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static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
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{
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static int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX];
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static int currentSampleIndex = 0;
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int nextSampleIndex;
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// store current pressure in barometerSamples
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nextSampleIndex = (currentSampleIndex + 1);
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if (nextSampleIndex == baroSampleCount) {
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nextSampleIndex = 0;
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baroReady = true;
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}
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barometerSamples[currentSampleIndex] = newPressureReading;
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// recalculate pressure total
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// Note, the pressure total is made up of baroSampleCount - 1 samples - See PRESSURE_SAMPLE_COUNT
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pressureTotal += barometerSamples[currentSampleIndex];
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pressureTotal -= barometerSamples[nextSampleIndex];
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currentSampleIndex = nextSampleIndex;
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return pressureTotal;
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}
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typedef enum {
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BAROMETER_NEEDS_SAMPLES = 0,
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BAROMETER_NEEDS_CALCULATION,
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BAROMETER_NEEDS_PROCESSING
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} barometerState_e;
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bool isBaroReady(void) {
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return baroReady;
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}
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void baroUpdate(uint32_t currentTime)
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{
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static uint32_t baroDeadline = 0;
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static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
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if ((int32_t)(currentTime - baroDeadline) < 0)
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return;
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baroDeadline = currentTime;
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switch (state) {
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case BAROMETER_NEEDS_SAMPLES:
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baro.get_ut();
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baro.start_up();
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state = BAROMETER_NEEDS_CALCULATION;
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baroDeadline += baro.up_delay;
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break;
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case BAROMETER_NEEDS_CALCULATION:
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baro.get_up();
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baro.start_ut();
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baroDeadline += baro.ut_delay;
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baro.calculate(&baroPressure, &baroTemperature);
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state = BAROMETER_NEEDS_PROCESSING;
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break;
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case BAROMETER_NEEDS_PROCESSING:
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state = BAROMETER_NEEDS_SAMPLES;
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baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
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break;
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}
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}
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int32_t baroCalculateAltitude(void)
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{
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int32_t BaroAlt_tmp;
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// calculates height from ground via baro readings
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// see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
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BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
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BaroAlt_tmp -= baroGroundAltitude;
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BaroAlt = lrintf((float)BaroAlt * barometerConfig->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig->baro_noise_lpf)); // additional LPF to reduce baro noise
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return BaroAlt;
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}
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void performBaroCalibrationCycle(void)
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{
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baroGroundPressure -= baroGroundPressure / 8;
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baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
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baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
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calibratingB--;
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}
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#endif /* BARO */
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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 <math.h>
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#include "platform.h"
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#include "common/maths.h"
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#include "drivers/barometer.h"
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#include "config/config.h"
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#include "sensors/barometer.h"
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baro_t baro; // barometer access functions
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uint16_t calibratingB = 0; // baro calibration = get new ground pressure value
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int32_t baroPressure = 0;
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int32_t baroTemperature = 0;
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int32_t BaroAlt = 0;
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#ifdef BARO
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static int32_t baroGroundAltitude = 0;
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static int32_t baroGroundPressure = 0;
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static uint32_t baroPressureSum = 0;
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barometerConfig_t *barometerConfig;
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void useBarometerConfig(barometerConfig_t *barometerConfigToUse)
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{
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barometerConfig = barometerConfigToUse;
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}
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bool isBaroCalibrationComplete(void)
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{
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return calibratingB == 0;
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}
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void baroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
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{
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calibratingB = calibrationCyclesRequired;
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}
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static bool baroReady = false;
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#define PRESSURE_SAMPLE_COUNT (barometerConfig->baro_sample_count - 1)
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static uint32_t recalculateBarometerTotal(uint8_t baroSampleCount, uint32_t pressureTotal, int32_t newPressureReading)
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{
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static int32_t barometerSamples[BARO_SAMPLE_COUNT_MAX];
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static int currentSampleIndex = 0;
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int nextSampleIndex;
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// store current pressure in barometerSamples
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nextSampleIndex = (currentSampleIndex + 1);
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if (nextSampleIndex == baroSampleCount) {
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nextSampleIndex = 0;
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baroReady = true;
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}
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barometerSamples[currentSampleIndex] = newPressureReading;
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// recalculate pressure total
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// Note, the pressure total is made up of baroSampleCount - 1 samples - See PRESSURE_SAMPLE_COUNT
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pressureTotal += barometerSamples[currentSampleIndex];
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pressureTotal -= barometerSamples[nextSampleIndex];
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currentSampleIndex = nextSampleIndex;
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return pressureTotal;
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}
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typedef enum {
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BAROMETER_NEEDS_SAMPLES = 0,
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BAROMETER_NEEDS_CALCULATION,
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BAROMETER_NEEDS_PROCESSING
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} barometerState_e;
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bool isBaroReady(void) {
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return baroReady;
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}
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void baroUpdate(uint32_t currentTime)
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{
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static uint32_t baroDeadline = 0;
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static barometerState_e state = BAROMETER_NEEDS_SAMPLES;
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if ((int32_t)(currentTime - baroDeadline) < 0)
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return;
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baroDeadline = currentTime;
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switch (state) {
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case BAROMETER_NEEDS_SAMPLES:
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baro.get_ut();
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baro.start_up();
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state = BAROMETER_NEEDS_CALCULATION;
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baroDeadline += baro.up_delay;
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break;
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case BAROMETER_NEEDS_CALCULATION:
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baro.get_up();
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baro.start_ut();
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baroDeadline += baro.ut_delay;
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baro.calculate(&baroPressure, &baroTemperature);
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state = BAROMETER_NEEDS_PROCESSING;
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break;
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case BAROMETER_NEEDS_PROCESSING:
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state = BAROMETER_NEEDS_SAMPLES;
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baroPressureSum = recalculateBarometerTotal(barometerConfig->baro_sample_count, baroPressureSum, baroPressure);
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break;
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}
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}
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int32_t baroCalculateAltitude(void)
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{
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int32_t BaroAlt_tmp;
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// calculates height from ground via baro readings
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// see: https://github.com/diydrones/ardupilot/blob/master/libraries/AP_Baro/AP_Baro.cpp#L140
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BaroAlt_tmp = lrintf((1.0f - powf((float)(baroPressureSum / PRESSURE_SAMPLE_COUNT) / 101325.0f, 0.190295f)) * 4433000.0f); // in cm
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BaroAlt_tmp -= baroGroundAltitude;
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BaroAlt = lrintf((float)BaroAlt * barometerConfig->baro_noise_lpf + (float)BaroAlt_tmp * (1.0f - barometerConfig->baro_noise_lpf)); // additional LPF to reduce baro noise
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return BaroAlt;
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}
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void performBaroCalibrationCycle(void)
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{
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baroGroundPressure -= baroGroundPressure / 8;
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baroGroundPressure += baroPressureSum / PRESSURE_SAMPLE_COUNT;
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baroGroundAltitude = (1.0f - powf((baroGroundPressure / 8) / 101325.0f, 0.190295f)) * 4433000.0f;
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calibratingB--;
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}
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#endif /* BARO */
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