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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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@ -1,121 +1,121 @@
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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 "platform.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "drivers/accgyro.h"
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#include "flight/flight.h"
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#include "sensors/sensors.h"
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#include "io/statusindicator.h"
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#include "sensors/boardalignment.h"
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#include "sensors/gyro.h"
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uint16_t calibratingG = 0;
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static gyroConfig_t *gyroConfig;
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gyro_t gyro; // gyro access functions
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sensor_align_e gyroAlign = 0;
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void useGyroConfig(gyroConfig_t *gyroConfigToUse)
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{
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gyroConfig = gyroConfigToUse;
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}
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void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
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{
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calibratingG = calibrationCyclesRequired;
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}
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bool isGyroCalibrationComplete(void)
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{
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return calibratingG == 0;
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}
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bool isOnFinalGyroCalibrationCycle(void)
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{
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return calibratingG == 1;
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}
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bool isOnFirstGyroCalibrationCycle(void)
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{
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return calibratingG == CALIBRATING_GYRO_CYCLES;
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}
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static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
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{
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int8_t axis;
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static int32_t g[3];
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static stdev_t var[3];
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for (axis = 0; axis < 3; axis++) {
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// Reset g[axis] at start of calibration
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if (isOnFirstGyroCalibrationCycle()) {
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g[axis] = 0;
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devClear(&var[axis]);
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}
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// Sum up CALIBRATING_GYRO_CYCLES readings
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g[axis] += gyroADC[axis];
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devPush(&var[axis], gyroADC[axis]);
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// Reset global variables to prevent other code from using un-calibrated data
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gyroADC[axis] = 0;
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gyroZero[axis] = 0;
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if (isOnFinalGyroCalibrationCycle()) {
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float dev = devStandardDeviation(&var[axis]);
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// check deviation and startover if idiot was moving the model
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if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
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gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
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return;
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}
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gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
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blinkLedAndSoundBeeper(10, 15, 1);
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}
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}
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calibratingG--;
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}
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static void applyGyroZero(void)
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{
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int8_t axis;
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for (axis = 0; axis < 3; axis++) {
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gyroADC[axis] -= gyroZero[axis];
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}
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}
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void gyroGetADC(void)
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{
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// range: +/- 8192; +/- 2000 deg/sec
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gyro.read(gyroADC);
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alignSensors(gyroADC, gyroADC, gyroAlign);
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if (!isGyroCalibrationComplete()) {
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performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
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}
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applyGyroZero();
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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 "platform.h"
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#include "common/axis.h"
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#include "common/maths.h"
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#include "drivers/accgyro.h"
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#include "flight/flight.h"
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#include "sensors/sensors.h"
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#include "io/statusindicator.h"
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#include "sensors/boardalignment.h"
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#include "sensors/gyro.h"
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uint16_t calibratingG = 0;
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static gyroConfig_t *gyroConfig;
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gyro_t gyro; // gyro access functions
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sensor_align_e gyroAlign = 0;
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void useGyroConfig(gyroConfig_t *gyroConfigToUse)
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{
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gyroConfig = gyroConfigToUse;
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}
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void gyroSetCalibrationCycles(uint16_t calibrationCyclesRequired)
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{
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calibratingG = calibrationCyclesRequired;
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}
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bool isGyroCalibrationComplete(void)
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{
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return calibratingG == 0;
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}
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bool isOnFinalGyroCalibrationCycle(void)
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{
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return calibratingG == 1;
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}
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bool isOnFirstGyroCalibrationCycle(void)
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{
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return calibratingG == CALIBRATING_GYRO_CYCLES;
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}
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static void performAcclerationCalibration(uint8_t gyroMovementCalibrationThreshold)
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{
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int8_t axis;
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static int32_t g[3];
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static stdev_t var[3];
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for (axis = 0; axis < 3; axis++) {
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// Reset g[axis] at start of calibration
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if (isOnFirstGyroCalibrationCycle()) {
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g[axis] = 0;
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devClear(&var[axis]);
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}
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// Sum up CALIBRATING_GYRO_CYCLES readings
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g[axis] += gyroADC[axis];
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devPush(&var[axis], gyroADC[axis]);
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// Reset global variables to prevent other code from using un-calibrated data
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gyroADC[axis] = 0;
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gyroZero[axis] = 0;
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if (isOnFinalGyroCalibrationCycle()) {
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float dev = devStandardDeviation(&var[axis]);
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// check deviation and startover if idiot was moving the model
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if (gyroMovementCalibrationThreshold && dev > gyroMovementCalibrationThreshold) {
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gyroSetCalibrationCycles(CALIBRATING_GYRO_CYCLES);
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return;
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}
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gyroZero[axis] = (g[axis] + (CALIBRATING_GYRO_CYCLES / 2)) / CALIBRATING_GYRO_CYCLES;
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blinkLedAndSoundBeeper(10, 15, 1);
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}
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}
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calibratingG--;
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}
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static void applyGyroZero(void)
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{
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int8_t axis;
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for (axis = 0; axis < 3; axis++) {
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gyroADC[axis] -= gyroZero[axis];
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}
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}
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void gyroGetADC(void)
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{
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// range: +/- 8192; +/- 2000 deg/sec
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gyro.read(gyroADC);
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alignSensors(gyroADC, gyroADC, gyroAlign);
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if (!isGyroCalibrationComplete()) {
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performAcclerationCalibration(gyroConfig->gyroMovementCalibrationThreshold);
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}
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applyGyroZero();
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}
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