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Merge branch 'master' into RP2350

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This commit is contained in:
blckmn 2025-01-29 08:19:52 +11:00
commit e98f620687
207 changed files with 559 additions and 513 deletions
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8
mk/config.mk
View file

@ -34,19 +34,17 @@ CONFIG_REVISION := $(shell git -C $(CONFIG_DIR) log -1 --format="%h")
CONFIG_REVISION_DEFINE := -D'__CONFIG_REVISION__="$(CONFIG_REVISION)"'
endif
TARGET := $(shell grep " FC_TARGET_MCU" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
HSE_VALUE_MHZ := $(shell grep " SYSTEM_HSE_MHZ" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
HSE_VALUE_MHZ := $(shell sed -E -n "/^\s*#\s*define\s+SYSTEM_HSE_MHZ\s+([0-9]+).*/s//\1/p" $(CONFIG_HEADER_FILE))
ifneq ($(HSE_VALUE_MHZ),)
HSE_VALUE := $(shell echo $$(( $(HSE_VALUE_MHZ) * 1000000 )) )
endif
GYRO_DEFINE := $(shell grep " USE_GYRO_" $(CONFIG_HEADER_FILE) | awk '{print $$2}' )
TARGET := $(shell sed -E -n "/^\s*#\s*define\s+FC_TARGET_MCU\s+(\w+).*/s//\1/p" $(CONFIG_HEADER_FILE))
ifeq ($(TARGET),)
$(error No TARGET identified. Is the $(CONFIG_HEADER_FILE) valid for $(CONFIG)?)
endif
EXST_ADJUST_VMA := $(shell grep " FC_VMA_ADDRESS" $(CONFIG_HEADER_FILE) | awk '{print $$3}' )
EXST_ADJUST_VMA := $(shell sed -E -n "/^\s*#\s*define\s+FC_VMA_ADDRESS\s+((0[xX])?[[:xdigit:]]+).*/s//\1/p" $(CONFIG_HEADER_FILE))
ifneq ($(EXST_ADJUST_VMA),)
EXST = yes
endif

2
src/config

@ -1 +1 @@
Subproject commit be3155b97a9d33fb34e181c15de891f6f72bef5d
Subproject commit 5e33fe422e2c1fb095db84508a9e3ebb465a80a4

4
src/main/build/debug_pin.c
View file

@ -20,13 +20,13 @@
#include "platform.h"
#include "debug_pin.h"
#ifdef USE_DEBUG_PIN
#include "drivers/io.h"
#include "drivers/io_impl.h"
#include "debug_pin.h"
typedef struct dbgPinState_s {
GPIO_TypeDef *gpio;
uint32_t setBSRR;

30
src/main/cli/cli.c
View file

@ -339,31 +339,37 @@ static void cliWriterFlush(void)
cliWriterFlushInternal(cliWriter);
}
void cliPrint(const char *str)
#ifdef USE_CLI_DEBUG_PRINT
#define CLI_DEBUG_EXPORT /* empty */
#else
#define CLI_DEBUG_EXPORT static
#endif
CLI_DEBUG_EXPORT void cliPrint(const char *str)
{
cliPrintInternal(cliWriter, str);
}
void cliPrintLinefeed(void)
CLI_DEBUG_EXPORT void cliPrintLinefeed(void)
{
cliPrint("\r\n");
}
void cliPrintLine(const char *str)
CLI_DEBUG_EXPORT void cliPrintLine(const char *str)
{
cliPrint(str);
cliPrintLinefeed();
}
#ifdef MINIMAL_CLI
#define cliPrintHashLine(str)
#else
static void cliPrintHashLine(const char *str)
{
#ifndef MINIMAL_CLI
cliPrint("\r\n# ");
cliPrintLine(str);
}
#else
UNUSED(str);
#endif
}
static void cliPutp(void *p, char ch)
{
@ -415,7 +421,7 @@ static bool cliDefaultPrintLinef(dumpFlags_t dumpMask, bool equalsDefault, const
}
}
void cliPrintf(const char *format, ...)
CLI_DEBUG_EXPORT void cliPrintf(const char *format, ...)
{
va_list va;
va_start(va, format);
@ -423,7 +429,7 @@ void cliPrintf(const char *format, ...)
va_end(va);
}
void cliPrintLinef(const char *format, ...)
CLI_DEBUG_EXPORT void cliPrintLinef(const char *format, ...)
{
va_list va;
va_start(va, format);
@ -3228,7 +3234,7 @@ static void cliManufacturerId(const char *cmdName, char *cmdline)
}
#if defined(USE_SIGNATURE)
static void writeSignature(char *signatureStr, uint8_t *signature)
static void writeSignature(char *signatureStr, const uint8_t *signature)
{
for (unsigned i = 0; i < SIGNATURE_LENGTH; i++) {
tfp_sprintf(&signatureStr[2 * i], "%02x", signature[i]);
@ -4269,7 +4275,7 @@ static bool prepareSave(void)
return true;
}
bool tryPrepareSave(const char *cmdName)
static bool tryPrepareSave(const char *cmdName)
{
bool success = prepareSave();
#if defined(USE_CLI_BATCH)
@ -4443,7 +4449,7 @@ static uint8_t getWordLength(const char *bufBegin, const char *bufEnd)
return bufEnd - bufBegin;
}
uint16_t cliGetSettingIndex(const char *name, size_t length)
STATIC_UNIT_TESTED uint16_t cliGetSettingIndex(const char *name, size_t length)
{
for (uint32_t i = 0; i < valueTableEntryCount; i++) {
const char *settingName = valueTable[i].name;

2
src/main/cli/settings.c
View file

@ -1083,7 +1083,7 @@ const clivalue_t valueTable[] = {
{ PARAM_NAME_IMU_SMALL_ANGLE, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 0, 180 }, PG_IMU_CONFIG, offsetof(imuConfig_t, small_angle) },
{ PARAM_NAME_IMU_PROCESS_DENOM, VAR_UINT8 | MASTER_VALUE, .config.minmaxUnsigned = { 1, 4 }, PG_IMU_CONFIG, offsetof(imuConfig_t, imu_process_denom) },
#ifdef USE_MAG
{ PARAM_NAME_IMU_MAG_DECLINATION, VAR_INT16 | MASTER_VALUE, .config.minmaxUnsigned = { -300, 300 }, PG_IMU_CONFIG, offsetof(imuConfig_t, mag_declination) },
{ PARAM_NAME_IMU_MAG_DECLINATION, VAR_INT16 | MASTER_VALUE, .config.minmax = { -300, 300 }, PG_IMU_CONFIG, offsetof(imuConfig_t, mag_declination) },
#endif
// PG_ARMING_CONFIG

2
src/main/cms/cms.c
View file

@ -1375,7 +1375,7 @@ void cmsSetExternKey(cms_key_e extKey)
externKey = extKey;
}
uint16_t cmsHandleKeyWithRepeat(displayPort_t *pDisplay, cms_key_e key, int repeatCount)
static uint16_t cmsHandleKeyWithRepeat(displayPort_t *pDisplay, cms_key_e key, int repeatCount)
{
uint16_t ret = 0;

2
src/main/cms/cms_menu_vtx_msp.c
View file

@ -41,6 +41,8 @@
#include "io/vtx_msp.h"
#include "io/vtx.h"
#include "cms_menu_vtx_msp.h"
char mspCmsStatusString[31] = "- -- ---- ----";
// m bc ffff tppp
// 01234567890123

2
src/main/cms/cms_menu_vtx_smartaudio.h
View file

@ -27,4 +27,4 @@ extern CMS_Menu cmsx_menuVtxSmartAudio;
void saCmsUpdate(void);
void saUpdateStatusString(void);
void saCmsResetOpmodel();
void saCmsResetOpmodel(void);

2
src/main/cms/cms_menu_vtx_tramp.c
View file

@ -41,6 +41,8 @@
#include "io/vtx_tramp.h"
#include "io/vtx.h"
#include "cms_menu_vtx_tramp.h"
char trampCmsStatusString[31] = "- -- ---- ----";
// m bc ffff tppp
// 01234567890123

2
src/main/common/explog_approx.c
View file

@ -32,6 +32,8 @@ Stripped down for BF use
#include "platform.h"
#include "common/maths.h"
/* Workaround a lack of optimization in gcc */
float exp_cst1 = 2139095040.f;
float exp_cst2 = 0.f;

2
src/main/common/gps_conversion.c
View file

@ -25,6 +25,8 @@
#include "platform.h"
#include "gps_conversion.h"
#ifdef USE_GPS
#define DIGIT_TO_VAL(_x) (_x - '0')

4
src/main/common/strtol.c
View file

@ -26,9 +26,11 @@
#include "common/utils.h"
#include "strtol.h"
#define _STRTO_ENDPTR 1
unsigned long _strto_l(const char * str, char ** endptr, int base, int sflag)
static unsigned long _strto_l(const char * str, char ** endptr, int base, int sflag)
{
unsigned long number, cutoff;
#if _STRTO_ENDPTR

6
src/main/common/typeconversion.c
View file

@ -26,7 +26,9 @@
#include "platform.h"
#include "build/build_config.h"
#include "maths.h"
#include "common/maths.h"
#include "typeconversion.h"
#ifdef REQUIRE_PRINTF_LONG_SUPPORT
@ -86,7 +88,7 @@ void i2a(int num, char *bf)
ui2a(num, 10, 0, bf);
}
int a2d(char ch)
static int a2d(char ch)
{
if (ch >= '0' && ch <= '9')
return ch - '0';

3
src/main/common/utils.h
View file

@ -58,6 +58,9 @@
#define UNUSED(x) (void)(x) // Variables and parameters that are not used
#endif
#define MAYBE_UNUSED __attribute__ ((unused))
#define LOCAL_UNUSED_FUNCTION __attribute__ ((unused, deprecated ("function is marked as LOCAL_UNUSED_FUNCTION")))
#define DISCARD(x) (void)(x) // To explicitly ignore result of x (usually an I/O register access).
#ifndef __cplusplus

2
src/main/config/config.c
View file

@ -217,7 +217,7 @@ static void validateAndFixConfig(void)
#endif
if (!isSerialConfigValid(serialConfigMutable())) {
pgResetFn_serialConfig(serialConfigMutable());
PG_RESET(serialConfig);
}
#if defined(USE_GPS)

2
src/main/config/config_eeprom.c
View file

@ -87,7 +87,7 @@ typedef struct {
} PG_PACKED packingTest_t;
#if defined(CONFIG_IN_EXTERNAL_FLASH) || defined(CONFIG_IN_MEMORY_MAPPED_FLASH)
MMFLASH_CODE bool loadEEPROMFromExternalFlash(void)
static MMFLASH_CODE bool loadEEPROMFromExternalFlash(void)
{
const flashPartition_t *flashPartition = flashPartitionFindByType(FLASH_PARTITION_TYPE_CONFIG);
const flashGeometry_t *flashGeometry = flashGetGeometry();

8
src/main/drivers/accgyro/accgyro_spi_bmi160.c
View file

@ -267,7 +267,7 @@ extiCallbackRec_t bmi160IntCallbackRec;
// Called in ISR context
// Gyro read has just completed
busStatus_e bmi160Intcallback(uint32_t arg)
static busStatus_e bmi160Intcallback(uint32_t arg)
{
gyroDev_t *gyro = (gyroDev_t *)arg;
int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
@ -281,7 +281,7 @@ busStatus_e bmi160Intcallback(uint32_t arg)
return BUS_READY;
}
void bmi160ExtiHandler(extiCallbackRec_t *cb)
static void bmi160ExtiHandler(extiCallbackRec_t *cb)
{
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
extDevice_t *dev = &gyro->dev;
@ -440,7 +440,7 @@ static bool bmi160GyroRead(gyroDev_t *gyro)
return true;
}
void bmi160SpiGyroInit(gyroDev_t *gyro)
static void bmi160SpiGyroInit(gyroDev_t *gyro)
{
extDevice_t *dev = &gyro->dev;
@ -450,7 +450,7 @@ void bmi160SpiGyroInit(gyroDev_t *gyro)
spiSetClkDivisor(dev, spiCalculateDivider(BMI160_MAX_SPI_CLK_HZ));
}
void bmi160SpiAccInit(accDev_t *acc)
static void bmi160SpiAccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 8;
}

4
src/main/drivers/accgyro/accgyro_spi_bmi270.c
View file

@ -278,7 +278,7 @@ extiCallbackRec_t bmi270IntCallbackRec;
*/
// Called in ISR context
// Gyro read has just completed
busStatus_e bmi270Intcallback(uint32_t arg)
static busStatus_e bmi270Intcallback(uint32_t arg)
{
gyroDev_t *gyro = (gyroDev_t *)arg;
int32_t gyroDmaDuration = cmpTimeCycles(getCycleCounter(), gyro->gyroLastEXTI);
@ -292,7 +292,7 @@ busStatus_e bmi270Intcallback(uint32_t arg)
return BUS_READY;
}
void bmi270ExtiHandler(extiCallbackRec_t *cb)
static void bmi270ExtiHandler(extiCallbackRec_t *cb)
{
gyroDev_t *gyro = container_of(cb, gyroDev_t, exti);
extDevice_t *dev = &gyro->dev;

1
src/main/drivers/accgyro/accgyro_spi_icm426xx.c
View file

@ -40,6 +40,7 @@
#include "drivers/bus_spi.h"
#include "drivers/exti.h"
#include "drivers/io.h"
#include "drivers/pwm_output.h"
#include "drivers/sensor.h"
#include "drivers/time.h"

6
src/main/drivers/accgyro/accgyro_spi_lsm6dsv16x.c
View file

@ -856,7 +856,7 @@ uint8_t lsm6dsv16xSpiDetect(const extDevice_t *dev)
return LSM6DSV16X_SPI;
}
void lsm6dsv16xAccInit(accDev_t *acc)
static void lsm6dsv16xAccInit(accDev_t *acc)
{
// ±16G mode
acc->acc_1G = 512 * 4;
@ -924,7 +924,7 @@ bool lsm6dsv16xSpiAccDetect(accDev_t *acc)
return true;
}
void lsm6dsv16xGyroInit(gyroDev_t *gyro)
static void lsm6dsv16xGyroInit(gyroDev_t *gyro)
{
const extDevice_t *dev = &gyro->dev;
// Set default LPF1 filter bandwidth to be as close as possible to MPU6000's 250Hz cutoff
@ -1009,7 +1009,7 @@ void lsm6dsv16xGyroInit(gyroDev_t *gyro)
mpuGyroInit(gyro);
}
bool lsm6dsv16xGyroReadSPI(gyroDev_t *gyro)
static bool lsm6dsv16xGyroReadSPI(gyroDev_t *gyro)
{
int16_t *gyroData = (int16_t *)gyro->dev.rxBuf;
switch (gyro->gyroModeSPI) {

4
src/main/drivers/accgyro/accgyro_spi_mpu6000.c
View file

@ -100,7 +100,7 @@ static void mpu6000AccAndGyroInit(gyroDev_t *gyro);
#define MPU6000_REV_D9 0x59
#define MPU6000_REV_D10 0x5A
void mpu6000SpiGyroInit(gyroDev_t *gyro)
static void mpu6000SpiGyroInit(gyroDev_t *gyro)
{
extDevice_t *dev = &gyro->dev;
@ -121,7 +121,7 @@ void mpu6000SpiGyroInit(gyroDev_t *gyro)
}
}
void mpu6000SpiAccInit(accDev_t *acc)
static void mpu6000SpiAccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}

4
src/main/drivers/accgyro/accgyro_spi_mpu9250.c
View file

@ -69,7 +69,7 @@ static bool mpu9250SpiSlowReadRegisterBuffer(const extDevice_t *dev, uint8_t reg
return true;
}
void mpu9250SpiGyroInit(gyroDev_t *gyro)
static void mpu9250SpiGyroInit(gyroDev_t *gyro)
{
extDevice_t *dev = &gyro->dev;
@ -86,7 +86,7 @@ void mpu9250SpiGyroInit(gyroDev_t *gyro)
}
}
void mpu9250SpiAccInit(accDev_t *acc)
static void mpu9250SpiAccInit(accDev_t *acc)
{
acc->acc_1G = 512 * 4;
}

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

@ -73,8 +73,10 @@ typedef struct adcTagMap_s {
#define ADC_DEVICES_345 ((1 << ADCDEV_3)|(1 << ADCDEV_4)|(1 << ADCDEV_5))
typedef struct adcDevice_s {
#if !defined(SIMULATOR_BUILD)
ADC_TypeDef* ADCx;
rccPeriphTag_t rccADC;
#endif
#if !defined(USE_DMA_SPEC)
dmaResource_t* dmaResource;
#if defined(STM32F4) || defined(STM32F7) || defined(STM32H7) || defined(STM32G4) || defined(APM32F4)
@ -104,7 +106,9 @@ extern adcOperatingConfig_t adcOperatingConfig[ADC_CHANNEL_COUNT];
extern volatile uint16_t adcValues[ADC_CHANNEL_COUNT];
uint8_t adcChannelByTag(ioTag_t ioTag);
#if !defined(SIMULATOR_BUILD)
ADCDevice adcDeviceByInstance(const ADC_TypeDef *instance);
#endif
bool adcVerifyPin(ioTag_t tag, ADCDevice device);
// Marshall values in DMA instance/channel based order to adcChannel based order.

4
src/main/drivers/barometer/barometer_bmp280.c
View file

@ -117,7 +117,7 @@ static bool bmp280GetUP(baroDev_t *baro);
STATIC_UNIT_TESTED void bmp280Calculate(int32_t *pressure, int32_t *temperature);
void bmp280BusInit(const extDevice_t *dev)
static void bmp280BusInit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_BMP280
if (dev->bus->busType == BUS_TYPE_SPI) {
@ -131,7 +131,7 @@ void bmp280BusInit(const extDevice_t *dev)
#endif
}
void bmp280BusDeinit(const extDevice_t *dev)
static void bmp280BusDeinit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_BMP280
if (dev->bus->busType == BUS_TYPE_SPI) {

8
src/main/drivers/barometer/barometer_bmp388.c
View file

@ -198,7 +198,7 @@ static bool bmp388ReadRegisterBuffer(const extDevice_t *dev, uint8_t reg, uint8_
}
}
void bmp388_extiHandler(extiCallbackRec_t* cb)
static void bmp388_extiHandler(extiCallbackRec_t* cb)
{
#ifdef DEBUG
static uint32_t bmp388ExtiCallbackCounter = 0;
@ -212,7 +212,7 @@ void bmp388_extiHandler(extiCallbackRec_t* cb)
bmp388ReadRegisterBuffer(&baro->dev, BMP388_INT_STATUS_REG, &intStatus, 1);
}
void bmp388BusInit(const extDevice_t *dev)
static void bmp388BusInit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_BMP388
if (dev->bus->busType == BUS_TYPE_SPI) {
@ -226,7 +226,7 @@ void bmp388BusInit(const extDevice_t *dev)
#endif
}
void bmp388BusDeinit(const extDevice_t *dev)
static void bmp388BusDeinit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_BMP388
if (dev->bus->busType == BUS_TYPE_SPI) {
@ -237,7 +237,7 @@ void bmp388BusDeinit(const extDevice_t *dev)
#endif
}
bool bmp388BeginForcedMeasurement(const extDevice_t *dev)
static bool bmp388BeginForcedMeasurement(const extDevice_t *dev)
{
// enable pressure measurement, temperature measurement, set power mode and start sampling
uint8_t mode = BMP388_MODE_FORCED << 4 | 1 << 1 | 1 << 0;

6
src/main/drivers/barometer/barometer_lps.c
View file

@ -191,17 +191,17 @@
static uint32_t rawP = 0;
static uint16_t rawT = 0;
bool lpsWriteCommand(const extDevice_t *dev, uint8_t cmd, uint8_t byte)
static bool lpsWriteCommand(const extDevice_t *dev, uint8_t cmd, uint8_t byte)
{
return spiWriteRegRB(dev, cmd, byte);
}
bool lpsReadCommand(const extDevice_t *dev, uint8_t cmd, uint8_t *data, uint8_t len)
static bool lpsReadCommand(const extDevice_t *dev, uint8_t cmd, uint8_t *data, uint8_t len)
{
return spiReadRegMskBufRB(dev, cmd | 0x80 | 0x40, data, len);
}
bool lpsWriteVerify(const extDevice_t *dev, uint8_t cmd, uint8_t byte)
static bool lpsWriteVerify(const extDevice_t *dev, uint8_t cmd, uint8_t byte)
{
uint8_t temp = 0xff;
spiWriteReg(dev, cmd, byte);

4
src/main/drivers/barometer/barometer_lps22df.c
View file

@ -227,7 +227,7 @@ static bool lps22dfGetUP(baroDev_t *baro);
STATIC_UNIT_TESTED void lps22dfCalculate(int32_t *pressure, int32_t *temperature);
void lps22dfBusInit(const extDevice_t *dev)
static void lps22dfBusInit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_LPS22DF
if (dev->bus->busType == BUS_TYPE_SPI) {
@ -241,7 +241,7 @@ void lps22dfBusInit(const extDevice_t *dev)
#endif
}
void lps22dfBusDeinit(const extDevice_t *dev)
static void lps22dfBusDeinit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_LPS22DF
if (dev->bus->busType == BUS_TYPE_SPI) {

4
src/main/drivers/barometer/barometer_ms5611.c
View file

@ -62,7 +62,7 @@ static uint8_t ms5611_osr = CMD_ADC_4096;
#define MS5611_DATA_FRAME_SIZE 3
static DMA_DATA_ZERO_INIT uint8_t sensor_data[MS5611_DATA_FRAME_SIZE];
void ms5611BusInit(const extDevice_t *dev)
static void ms5611BusInit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_MS5611
if (dev->bus->busType == BUS_TYPE_SPI) {
@ -76,7 +76,7 @@ void ms5611BusInit(const extDevice_t *dev)
#endif
}
void ms5611BusDeinit(const extDevice_t *dev)
static void ms5611BusDeinit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_MS5611
if (dev->bus->busType == BUS_TYPE_SPI) {

4
src/main/drivers/barometer/barometer_qmp6988.c
View file

@ -105,7 +105,7 @@ static bool qmp6988GetUP(baroDev_t *baro);
STATIC_UNIT_TESTED void qmp6988Calculate(int32_t *pressure, int32_t *temperature);
void qmp6988BusInit(const extDevice_t *dev)
static void qmp6988BusInit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_QMP6988
if (dev->bus->busType == BUS_TYPE_SPI) {
@ -119,7 +119,7 @@ void qmp6988BusInit(const extDevice_t *dev)
#endif
}
void qmp6988BusDeinit(const extDevice_t *dev)
static void qmp6988BusDeinit(const extDevice_t *dev)
{
#ifdef USE_BARO_SPI_QMP6988
if (dev->bus->busType == BUS_TYPE_SPI) {

1
src/main/drivers/bus_i2c_busdev.c
View file

@ -28,6 +28,7 @@
#include "drivers/bus.h"
#include "drivers/bus_i2c.h"
#include "drivers/bus_i2c_busdev.h"
static uint8_t i2cRegisteredDeviceCount = 0;

2
src/main/drivers/bus_i2c_busdev.h
View file

@ -27,5 +27,5 @@ uint8_t i2cBusReadRegister(const extDevice_t *dev, uint8_t reg);
bool i2cBusReadRegisterBufferStart(const extDevice_t *dev, uint8_t reg, uint8_t *data, uint8_t length);
bool i2cBusBusy(const extDevice_t *dev, bool *error);
// Associate a device with an I2C bus
bool i2cBusSetInstance(const extDevice_t *dev, uint32_t device);
bool i2cBusSetInstance(extDevice_t *dev, uint32_t device);
void i2cBusDeviceRegister(const extDevice_t *dev);

2
src/main/drivers/bus_i2c_timing.c
View file

@ -22,6 +22,8 @@
#include "platform.h"
#include "bus_i2c_timing.h"
/*
* Compute SCLDEL, SDADEL, SCLH and SCLL for TIMINGR register according to reference manuals.
*/

2
src/main/drivers/bus_spi.h
View file

@ -68,7 +68,7 @@ void spiPreinit(void);
bool spiInit(SPIDevice device);
// Called after all devices are initialised to enable SPI DMA where streams are available.
void spiInitBusDMA();
void spiInitBusDMA(void);
SPIDevice spiDeviceByInstance(const SPI_TypeDef *instance);
SPI_TypeDef *spiInstanceByDevice(SPIDevice device);

1
src/main/drivers/bus_spi_config.c
View file

@ -25,6 +25,7 @@
#ifdef USE_SPI
#include "drivers/bus_spi.h"
#include "drivers/io.h"
#include "drivers/resource.h"
#include "drivers/system.h"

4
src/main/drivers/compass/compass_ak8963.c
View file

@ -372,7 +372,7 @@ static bool ak8963Init(magDev_t *mag)
return true;
}
void ak8963BusInit(const extDevice_t *dev)
static void ak8963BusInit(const extDevice_t *dev)
{
switch (dev->bus->busType) {
#ifdef USE_MAG_AK8963
@ -409,7 +409,7 @@ void ak8963BusInit(const extDevice_t *dev)
}
}
void ak8963BusDeInit(const extDevice_t *dev)
static void ak8963BusDeInit(const extDevice_t *dev)
{
switch (dev->bus->busType) {
#ifdef USE_MAG_AK8963

2
src/main/drivers/compass/compass_lis2mdl.c
View file

@ -35,6 +35,8 @@
#include "drivers/time.h"
#include "common/axis.h"
#include "compass_lis2mdl.h"
#define LIS2MDL_MAG_I2C_ADDRESS 0x1E
// LIS2MDL Registers

2
src/main/drivers/compass/compass_lis3mdl.c
View file

@ -31,6 +31,8 @@
#include "drivers/time.h"
#include "common/axis.h"
#include "compass_lis3mdl.h"
#define LIS3MDL_MAG_I2C_ADDRESS 0x1E
#define LIS3MDL_DEVICE_ID 0x3D

4
src/main/drivers/dshot.c
View file

@ -29,6 +29,8 @@
#include "platform.h"
#include "dshot.h"
#ifdef USE_DSHOT
#include "build/debug.h"
@ -50,8 +52,6 @@
#include "rx/rx.h"
#include "dshot.h"
#define ERPM_PER_LSB 100.0f
FAST_DATA_ZERO_INIT uint8_t dshotMotorCount = 0;

2
src/main/drivers/dshot_bitbang.h
View file

@ -39,6 +39,6 @@ typedef enum {
} dshotBitbangStatus_e;
bool dshotBitbangDevInit(motorDevice_t *device, const motorDevConfig_t *motorConfig);
dshotBitbangStatus_e dshotBitbangGetStatus();
dshotBitbangStatus_e dshotBitbangGetStatus(void);
const timerHardware_t *dshotBitbangTimerGetAllocatedByNumberAndChannel(int8_t timerNumber, uint16_t timerChannel);
const resourceOwner_t *dshotBitbangTimerGetOwner(const timerHardware_t *timer);

2
src/main/drivers/flash/flash.c
View file

@ -360,7 +360,7 @@ void flashPreinit(const flashConfig_t *flashConfig)
ioPreinitByTag(flashConfig->csTag, IOCFG_IPU, PREINIT_PIN_STATE_HIGH);
}
bool flashDeviceInit(const flashConfig_t *flashConfig)
static bool flashDeviceInit(const flashConfig_t *flashConfig)
{
bool haveFlash = false;

8
src/main/drivers/flash/flash_m25p16.c
View file

@ -248,7 +248,7 @@ bool m25p16_identify(flashDevice_t *fdevice, uint32_t jedecID)
return true;
}
void m25p16_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
static void m25p16_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
{
if (configurationFlags & FLASH_CF_SYSTEM_IS_MEMORY_MAPPED) {
return;
@ -289,7 +289,7 @@ static void m25p16_setCommandAddress(uint8_t *buf, uint32_t address, bool useLon
// Called in ISR context
// A write enable has just been issued
busStatus_e m25p16_callbackWriteEnable(uint32_t arg)
static busStatus_e m25p16_callbackWriteEnable(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
@ -301,7 +301,7 @@ busStatus_e m25p16_callbackWriteEnable(uint32_t arg)
// Called in ISR context
// Write operation has just completed
busStatus_e m25p16_callbackWriteComplete(uint32_t arg)
static busStatus_e m25p16_callbackWriteComplete(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
@ -317,7 +317,7 @@ busStatus_e m25p16_callbackWriteComplete(uint32_t arg)
// Called in ISR context
// Check if the status was busy and if so repeat the poll
busStatus_e m25p16_callbackReady(uint32_t arg)
static busStatus_e m25p16_callbackReady(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
extDevice_t *dev = fdevice->io.handle.dev;

18
src/main/drivers/flash/flash_w25m.c
View file

@ -171,7 +171,7 @@ bool w25m_identify(flashDevice_t *fdevice, uint32_t jedecID)
return true;
}
void w25m_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
static void w25m_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
{
for (int dieNumber = 0 ; dieNumber < dieCount ; dieNumber++) {
w25m_dieSelect(fdevice->io.handle.dev, dieNumber);
@ -179,7 +179,7 @@ void w25m_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
}
}
void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
static void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
{
int dieNumber = address / dieSize;
@ -188,7 +188,7 @@ void w25m_eraseSector(flashDevice_t *fdevice, uint32_t address)
dieDevice[dieNumber].vTable->eraseSector(&dieDevice[dieNumber], address % dieSize);
}
void w25m_eraseCompletely(flashDevice_t *fdevice)
static void w25m_eraseCompletely(flashDevice_t *fdevice)
{
for (int dieNumber = 0 ; dieNumber < dieCount ; dieNumber++) {
w25m_dieSelect(fdevice->io.handle.dev, dieNumber);
@ -199,7 +199,7 @@ void w25m_eraseCompletely(flashDevice_t *fdevice)
static uint32_t currentWriteAddress;
static int currentWriteDie;
void w25m_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*callback)(uint32_t length))
static void w25m_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*callback)(uint32_t length))
{
currentWriteDie = address / dieSize;
w25m_dieSelect(fdevice->io.handle.dev, currentWriteDie);
@ -207,21 +207,21 @@ void w25m_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*call
dieDevice[currentWriteDie].vTable->pageProgramBegin(&dieDevice[currentWriteDie], address, callback);
}
uint32_t w25m_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffers, const uint32_t *bufferSizes, uint32_t bufferCount)
static uint32_t w25m_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffers, const uint32_t *bufferSizes, uint32_t bufferCount)
{
UNUSED(fdevice);
return dieDevice[currentWriteDie].vTable->pageProgramContinue(&dieDevice[currentWriteDie], buffers, bufferSizes, bufferCount);
}
void w25m_pageProgramFinish(flashDevice_t *fdevice)
static void w25m_pageProgramFinish(flashDevice_t *fdevice)
{
UNUSED(fdevice);
dieDevice[currentWriteDie].vTable->pageProgramFinish(&dieDevice[currentWriteDie]);
}
void w25m_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *data, uint32_t length, void (*callback)(uint32_t length))
static void w25m_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *data, uint32_t length, void (*callback)(uint32_t length))
{
w25m_pageProgramBegin(fdevice, address, callback);
@ -230,7 +230,7 @@ void w25m_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *d
w25m_pageProgramFinish(fdevice);
}
int w25m_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, uint32_t length)
static int w25m_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, uint32_t length)
{
int rlen; // remaining length
int tlen; // transfer length for a round
@ -258,7 +258,7 @@ int w25m_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, ui
return length;
}
const flashGeometry_t* w25m_getGeometry(flashDevice_t *fdevice)
static const flashGeometry_t* w25m_getGeometry(flashDevice_t *fdevice)
{
return &fdevice->geometry;
}

44
src/main/drivers/flash/flash_w25n.c
View file

@ -288,7 +288,7 @@ static void w25n_deviceReset(flashDevice_t *fdevice)
w25n_writeRegister(io, W25N_CONF_REG, W25N_CONFIG_ECC_ENABLE|W25N_CONFIG_BUFFER_READ_MODE);
}
bool w25n_isReady(flashDevice_t *fdevice)
static bool w25n_isReady(flashDevice_t *fdevice)
{
// If we're waiting on DMA completion, then SPI is busy
if (fdevice->io.mode == FLASHIO_SPI) {
@ -372,7 +372,7 @@ bool w25n_identify(flashDevice_t *fdevice, uint32_t jedecID)
static void w25n_deviceInit(flashDevice_t *flashdev);
void w25n_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
static void w25n_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
{
if (configurationFlags & FLASH_CF_SYSTEM_IS_MEMORY_MAPPED) {
return;
@ -404,7 +404,7 @@ void w25n_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
/**
* Erase a sector full of bytes to all 1's at the given byte offset in the flash chip.
*/
void w25n_eraseSector(flashDevice_t *fdevice, uint32_t address)
static void w25n_eraseSector(flashDevice_t *fdevice, uint32_t address)
{
w25n_waitForReady(fdevice);
@ -420,7 +420,7 @@ void w25n_eraseSector(flashDevice_t *fdevice, uint32_t address)
// W25N01G does not support full chip erase.
// Call eraseSector repeatedly.
void w25n_eraseCompletely(flashDevice_t *fdevice)
static void w25n_eraseCompletely(flashDevice_t *fdevice)
{
for (uint32_t block = 0; block < fdevice->geometry.sectors; block++) {
w25n_eraseSector(fdevice, W25N_BLOCK_TO_LINEAR(block));
@ -537,7 +537,7 @@ bool bufferDirty = false;
// Called in ISR context
// Check if the status was busy and if so repeat the poll
busStatus_e w25n_callbackReady(uint32_t arg)
static busStatus_e w25n_callbackReady(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
extDevice_t *dev = fdevice->io.handle.dev;
@ -557,7 +557,7 @@ busStatus_e w25n_callbackReady(uint32_t arg)
#ifdef USE_QUADSPI
bool isProgramming = false;
void w25n_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*callback)(uint32_t length))
static void w25n_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*callback)(uint32_t length))
{
fdevice->callback = callback;
@ -579,7 +579,7 @@ void w25n_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*call
}
}
uint32_t w25n_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffers, const uint32_t *bufferSizes, uint32_t bufferCount)
static uint32_t w25n_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffers, const uint32_t *bufferSizes, uint32_t bufferCount)
{
if (bufferCount < 1) {
fdevice->callback(0);
@ -612,7 +612,7 @@ uint32_t w25n_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffer
static uint32_t currentPage = UINT32_MAX;
void w25n_pageProgramFinish(flashDevice_t *fdevice)
static void w25n_pageProgramFinish(flashDevice_t *fdevice)
{
if (bufferDirty && W25N_LINEAR_TO_COLUMN(programLoadAddress) == 0) {
@ -627,7 +627,7 @@ void w25n_pageProgramFinish(flashDevice_t *fdevice)
}
}
#else
void w25n_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*callback)(uint32_t length))
static void w25n_pageProgramBegin(flashDevice_t *fdevice, uint32_t address, void (*callback)(uint32_t length))
{
fdevice->callback = callback;
fdevice->currentWriteAddress = address;
@ -638,7 +638,7 @@ static uint32_t currentPage = UINT32_MAX;
// Called in ISR context
// A write enable has just been issued
busStatus_e w25n_callbackWriteEnable(uint32_t arg)
static busStatus_e w25n_callbackWriteEnable(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
@ -650,7 +650,7 @@ busStatus_e w25n_callbackWriteEnable(uint32_t arg)
// Called in ISR context
// Write operation has just completed
busStatus_e w25n_callbackWriteComplete(uint32_t arg)
static busStatus_e w25n_callbackWriteComplete(uint32_t arg)
{
flashDevice_t *fdevice = (flashDevice_t *)arg;
@ -663,7 +663,7 @@ busStatus_e w25n_callbackWriteComplete(uint32_t arg)
return BUS_READY;
}
uint32_t w25n_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffers, const uint32_t *bufferSizes, uint32_t bufferCount)
static uint32_t w25n_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffers, const uint32_t *bufferSizes, uint32_t bufferCount)
{
if (bufferCount < 1) {
fdevice->callback(0);
@ -771,7 +771,7 @@ uint32_t w25n_pageProgramContinue(flashDevice_t *fdevice, uint8_t const **buffer
return fdevice->callbackArg;
}
void w25n_pageProgramFinish(flashDevice_t *fdevice)
static void w25n_pageProgramFinish(flashDevice_t *fdevice)
{
UNUSED(fdevice);
}
@ -793,14 +793,14 @@ void w25n_pageProgramFinish(flashDevice_t *fdevice)
* break this operation up into one beginProgram call, one or more continueProgram calls, and one finishProgram call.
*/
void w25n_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *data, uint32_t length, void (*callback)(uint32_t length))
static void w25n_pageProgram(flashDevice_t *fdevice, uint32_t address, const uint8_t *data, uint32_t length, void (*callback)(uint32_t length))
{
w25n_pageProgramBegin(fdevice, address, callback);
w25n_pageProgramContinue(fdevice, &data, &length, 1);
w25n_pageProgramFinish(fdevice);
}
void w25n_flush(flashDevice_t *fdevice)
static void w25n_flush(flashDevice_t *fdevice)
{
if (bufferDirty) {
currentPage = W25N_LINEAR_TO_PAGE(programStartAddress); // reset page to the page being written
@ -811,7 +811,7 @@ void w25n_flush(flashDevice_t *fdevice)
}
}
void w25n_addError(uint32_t address, uint8_t code)
static void w25n_addError(uint32_t address, uint8_t code)
{
UNUSED(address);
UNUSED(code);
@ -837,7 +837,7 @@ void w25n_addError(uint32_t address, uint8_t code)
// (3) Issue READ_DATA on column address.
// (4) Return transferLength.
int w25n_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, uint32_t length)
static int w25n_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, uint32_t length)
{
uint32_t targetPage = W25N_LINEAR_TO_PAGE(address);
@ -928,7 +928,7 @@ int w25n_readBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, ui
return transferLength;
}
int w25n_readExtensionBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, int length)
LOCAL_UNUSED_FUNCTION static int w25n_readExtensionBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *buffer, int length)
{
if (!w25n_waitForReady(fdevice)) {
@ -981,7 +981,7 @@ int w25n_readExtensionBytes(flashDevice_t *fdevice, uint32_t address, uint8_t *b
*
* Can be called before calling w25n_init() (the result would have totalSize = 0).
*/
const flashGeometry_t* w25n_getGeometry(flashDevice_t *fdevice)
static const flashGeometry_t* w25n_getGeometry(flashDevice_t *fdevice)
{
return &fdevice->geometry;
}
@ -1010,7 +1010,7 @@ typedef volatile struct cb_context_s {
// Called in ISR context
// Read of BBLUT entry has just completed
busStatus_e w25n_readBBLUTCallback(uint32_t arg)
static busStatus_e w25n_readBBLUTCallback(uint32_t arg)
{
cb_context_t *cb_context = (cb_context_t *)arg;
flashDevice_t *fdevice = cb_context->fdevice;
@ -1027,7 +1027,7 @@ busStatus_e w25n_readBBLUTCallback(uint32_t arg)
return BUS_READY; // All done
}
void w25n_readBBLUT(flashDevice_t *fdevice, bblut_t *bblut, int lutsize)
LOCAL_UNUSED_FUNCTION static void w25n_readBBLUT(flashDevice_t *fdevice, bblut_t *bblut, int lutsize)
{
cb_context_t cb_context;
uint8_t in[4];
@ -1078,7 +1078,7 @@ void w25n_readBBLUT(flashDevice_t *fdevice, bblut_t *bblut, int lutsize)
#endif
}
void w25n_writeBBLUT(flashDevice_t *fdevice, uint16_t lba, uint16_t pba)
LOCAL_UNUSED_FUNCTION static void w25n_writeBBLUT(flashDevice_t *fdevice, uint16_t lba, uint16_t pba)
{
w25n_waitForReady(fdevice);

10
src/main/drivers/flash/flash_w25q128fv.c
View file

@ -228,7 +228,7 @@ static void w25q128fv_deviceReset(flashDevice_t *fdevice)
#endif
}
MMFLASH_CODE bool w25q128fv_isReady(flashDevice_t *fdevice)
static MMFLASH_CODE bool w25q128fv_isReady(flashDevice_t *fdevice)
{
uint8_t status = w25q128fv_readRegister(&fdevice->io, W25Q128FV_INSTRUCTION_READ_STATUS1_REG);
@ -246,7 +246,7 @@ MMFLASH_CODE static bool w25q128fv_isWritable(flashDevice_t *fdevice)
return writable;
}
MMFLASH_CODE bool w25q128fv_hasTimedOut(flashDevice_t *fdevice)
static MMFLASH_CODE bool w25q128fv_hasTimedOut(flashDevice_t *fdevice)
{
uint32_t nowMs = microsISR() / 1000;
if (cmp32(nowMs, fdevice->timeoutAt) >= 0) {
@ -335,7 +335,7 @@ MMFLASH_CODE_NOINLINE bool w25q128fv_identify(flashDevice_t *fdevice, uint32_t j
return true;
}
void w25q128fv_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
static void w25q128fv_configure(flashDevice_t *fdevice, uint32_t configurationFlags)
{
if (configurationFlags & FLASH_CF_SYSTEM_IS_MEMORY_MAPPED) {
return;
@ -437,7 +437,7 @@ MMFLASH_CODE static void w25q128fv_pageProgram(flashDevice_t *fdevice, uint32_t
w25q128fv_pageProgramFinish(fdevice);
}
MMFLASH_CODE void w25q128fv_flush(flashDevice_t *fdevice)
static MMFLASH_CODE void w25q128fv_flush(flashDevice_t *fdevice)
{
UNUSED(fdevice);
}
@ -473,7 +473,7 @@ MMFLASH_CODE static int w25q128fv_readBytes(flashDevice_t *fdevice, uint32_t add
return length;
}
const flashGeometry_t* w25q128fv_getGeometry(flashDevice_t *fdevice)
static const flashGeometry_t* w25q128fv_getGeometry(flashDevice_t *fdevice)
{
return &fdevice->geometry;
}

8
src/main/drivers/io.c
View file

@ -31,10 +31,6 @@ struct ioPortDef_s {
rccPeriphTag_t rcc;
};
#if defined(SITL)
const struct ioPortDef_s ioPortDefs[] = { 0 };
#endif
ioRec_t* IO_Rec(IO_t io)
{
return io;
@ -52,10 +48,12 @@ uint16_t IO_Pin(IO_t io)
return ioRec->pin;
}
#if defined(STM32F4) || defined(APM32F4)
int IO_EXTI_PortSourceGPIO(IO_t io)
{
return IO_GPIOPortIdx(io);
}
#endif
int IO_GPIO_PortSource(IO_t io)
{
@ -71,10 +69,12 @@ int IO_GPIOPinIdx(IO_t io)
return 31 - __builtin_clz(IO_Pin(io));
}
#if defined(STM32F4) || defined(APM32F4)
int IO_EXTI_PinSource(IO_t io)
{
return IO_GPIOPinIdx(io);
}
#endif
int IO_GPIO_PinSource(IO_t io)
{

5
src/main/drivers/light_led.c
View file

@ -23,10 +23,12 @@
#include "pg/pg_ids.h"
#include "drivers/io.h"
#include "io_impl.h"
#include "drivers/io_impl.h"
#include "light_led.h"
#if !(defined(UNIT_TEST) || defined(USE_VIRTUAL_LED))
PG_REGISTER_WITH_RESET_FN(statusLedConfig_t, statusLedConfig, PG_STATUS_LED_CONFIG, 0);
static IO_t leds[STATUS_LED_NUMBER];
@ -91,3 +93,4 @@ void ledSet(int led, bool on)
const bool inverted = (1 << (led)) & ledInversion;
IOWrite(leds[led], on ? inverted : !inverted);
}
#endif

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

@ -31,8 +31,6 @@ typedef struct statusLedConfig_s {
uint8_t inversion;
} statusLedConfig_t;
PG_DECLARE(statusLedConfig_t, statusLedConfig);
// Helpful macros
#if defined(UNIT_TEST) || defined(USE_VIRTUAL_LED)
@ -50,6 +48,8 @@ PG_DECLARE(statusLedConfig_t, statusLedConfig);
#else
PG_DECLARE(statusLedConfig_t, statusLedConfig);
#define LED0_TOGGLE ledToggle(0)
#define LED0_OFF ledSet(0, false)
#define LED0_ON ledSet(0, true)

4
src/main/drivers/max7456.c
View file

@ -281,7 +281,7 @@ static void max7456ClearLayer(displayPortLayer_e layer)
memset(getLayerBuffer(layer), 0x20, VIDEO_BUFFER_CHARS_PAL);
}
void max7456ReInit(void)
static void max7456ReInit(void)
{
uint8_t srdata = 0;
@ -612,7 +612,7 @@ bool max7456ReInitIfRequired(bool forceStallCheck)
}
// Called in ISR context
busStatus_e max7456_callbackReady(uint32_t arg)
static busStatus_e max7456_callbackReady(uint32_t arg)
{
UNUSED(arg);

2
src/main/drivers/pin_pull_up_down.h
View file

@ -28,4 +28,4 @@
struct pinPullUpDownConfig_s;
void pinPullupPulldownInit();
void pinPullupPulldownInit(void);

10
src/main/drivers/rangefinder/rangefinder_hcsr04.c
View file

@ -61,7 +61,7 @@ static IO_t echoIO;
static IO_t triggerIO;
#if !defined(UNIT_TEST)
void hcsr04_extiHandler(extiCallbackRec_t* cb)
static void hcsr04_extiHandler(extiCallbackRec_t* cb)
{
UNUSED(cb);
@ -81,7 +81,7 @@ void hcsr04_extiHandler(extiCallbackRec_t* cb)
}
#endif
void hcsr04_init(rangefinderDev_t *dev)
static void hcsr04_init(rangefinderDev_t *dev)
{
UNUSED(dev);
}
@ -93,7 +93,7 @@ void hcsr04_init(rangefinderDev_t *dev)
* Called periodically by the scheduler
* Measurement reading is done asynchronously, using interrupt
*/
void hcsr04_start_reading(void)
static void hcsr04_start_reading(void)
{
#if !defined(UNIT_TEST)
IOHi(triggerIO);
@ -102,7 +102,7 @@ void hcsr04_start_reading(void)
#endif
}
void hcsr04_update(rangefinderDev_t *dev)
static void hcsr04_update(rangefinderDev_t *dev)
{
UNUSED(dev);
@ -136,7 +136,7 @@ void hcsr04_update(rangefinderDev_t *dev)
/**
* Get the distance that was measured by the last pulse, in centimeters.
*/
int32_t hcsr04_get_distance(rangefinderDev_t *dev)
static int32_t hcsr04_get_distance(rangefinderDev_t *dev)
{
UNUSED(dev);

2
src/main/drivers/rangefinder/rangefinder_lidarmt.c
View file

@ -115,7 +115,7 @@ const MTRangefinderConfig* getMTRangefinderDeviceConf(rangefinderType_e mtRangef
return NULL;
}
const mtRangefinderData_t * getMTRangefinderData(void) {
static const mtRangefinderData_t * getMTRangefinderData(void) {
return &rfSensorData;
}

6
src/main/drivers/rangefinder/rangefinder_lidartf.c
View file

@ -128,7 +128,7 @@ static void lidarTFSendCommand(void)
}
}
void lidarTFInit(rangefinderDev_t *dev)
static void lidarTFInit(rangefinderDev_t *dev)
{
UNUSED(dev);
@ -136,7 +136,7 @@ void lidarTFInit(rangefinderDev_t *dev)
tfReceivePosition = 0;
}
void lidarTFUpdate(rangefinderDev_t *dev)
static void lidarTFUpdate(rangefinderDev_t *dev)
{
UNUSED(dev);
static timeMs_t lastFrameReceivedMs = 0;
@ -232,7 +232,7 @@ void lidarTFUpdate(rangefinderDev_t *dev)
// Return most recent device output in cm
int32_t lidarTFGetDistance(rangefinderDev_t *dev)
static int32_t lidarTFGetDistance(rangefinderDev_t *dev)
{
UNUSED(dev);

4
src/main/drivers/rx/rx_cc2500.c
View file

@ -48,12 +48,12 @@ void cc2500ReadFifo(uint8_t *dpbuffer, uint8_t len)
rxSpiReadCommandMulti(CC2500_3F_RXFIFO | CC2500_READ_BURST, NOP, dpbuffer, len);
}
void cc2500WriteCommand(uint8_t command, uint8_t data)
static void cc2500WriteCommand(uint8_t command, uint8_t data)
{
rxSpiWriteCommand(command, data);
}
void cc2500WriteCommandMulti(uint8_t command, const uint8_t *data, uint8_t length)
static void cc2500WriteCommandMulti(uint8_t command, const uint8_t *data, uint8_t length)
{
rxSpiWriteCommandMulti(command, data, length);
}

11
src/main/drivers/rx/rx_pwm.c
View file

@ -125,12 +125,15 @@ void resetPPMDataReceivedState(void)
#define MIN_CHANNELS_BEFORE_PPM_FRAME_CONSIDERED_VALID 4
#ifdef DEBUG_PPM_ISR
typedef enum {
SOURCE_OVERFLOW = 0,
SOURCE_EDGE = 1
} eventSource_e;
static void ppmISREvent(eventSource_e source, uint32_t capture);
#ifdef DEBUG_PPM_ISR
typedef struct ppmISREvent_s {
uint32_t capture;
eventSource_e source;
@ -139,7 +142,7 @@ typedef struct ppmISREvent_s {
static ppmISREvent_t ppmEvents[20];
static uint8_t ppmEventIndex = 0;
void ppmISREvent(eventSource_e source, uint32_t capture)
static void ppmISREvent(eventSource_e source, uint32_t capture)
{
ppmEventIndex = (ppmEventIndex + 1) % ARRAYLEN(ppmEvents);
@ -147,7 +150,7 @@ void ppmISREvent(eventSource_e source, uint32_t capture)
ppmEvents[ppmEventIndex].capture = capture;
}
#else
void ppmISREvent(eventSource_e source, uint32_t capture) {}
static void ppmISREvent(eventSource_e source, uint32_t capture) {}
#endif
static void ppmResetDevice(void)
@ -403,7 +406,7 @@ void pwmRxInit(const pwmConfig_t *pwmConfig)
#define FIRST_PWM_PORT 0
#ifdef USE_PWM_OUTPUT
void ppmAvoidPWMTimerClash(TIM_TypeDef *pwmTimer)
static void ppmAvoidPWMTimerClash(TIM_TypeDef *pwmTimer)
{
pwmOutputPort_t *motors = pwmGetMotors();
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS; motorIndex++) {

2
src/main/drivers/rx/rx_spi.c
View file

@ -75,7 +75,7 @@ void rxSpiDevicePreinit(const rxSpiConfig_t *rxSpiConfig)
ioPreinitByTag(rxSpiConfig->csnTag, IOCFG_IPU, PREINIT_PIN_STATE_HIGH);
}
void rxSpiExtiHandler(extiCallbackRec_t* callback)
static void rxSpiExtiHandler(extiCallbackRec_t* callback)
{
UNUSED(callback);

4
src/main/drivers/rx/rx_spi.h
View file

@ -35,8 +35,8 @@ extDevice_t *rxSpiGetDevice(void);
void rxSpiDevicePreinit(const struct rxSpiConfig_s *rxSpiConfig);
bool rxSpiDeviceInit(const struct rxSpiConfig_s *rxSpiConfig);
void rxSpiSetNormalSpeedMhz(uint32_t mhz);
void rxSpiNormalSpeed();
void rxSpiStartupSpeed();
void rxSpiNormalSpeed(void);
void rxSpiStartupSpeed(void);
void rxSpiDmaEnable(bool enable);
uint8_t rxSpiTransferByte(uint8_t data);
void rxSpiWriteByte(uint8_t data);

2
src/main/drivers/rx/rx_sx1280.c
View file

@ -591,7 +591,7 @@ void sx1280GetLastPacketStats(int8_t *rssi, int8_t *snr)
}
}
void sx1280DoFHSS(void)
LOCAL_UNUSED_FUNCTION static void sx1280DoFHSS(void)
{
return;
}

2
src/main/drivers/rx/rx_sx1280.h
View file

@ -353,7 +353,7 @@ void sx1280SetDioIrqParams(const uint16_t irqMask, const uint16_t dio1Mask, cons
void sx1280ClearIrqStatus(const uint16_t irqMask);
void sx1280GetIrqReason(void);
void sx1280HandleFromTock();
void sx1280HandleFromTock(void);
void sx1280TransmitData(const uint8_t *data, const uint8_t length);
void sx1280ReceiveData(uint8_t *data, const uint8_t length);

6
src/main/drivers/sdcard_sdio_baremetal.c
View file

@ -48,7 +48,7 @@
uint8_t writeCache[512 * FATFS_BLOCK_CACHE_SIZE] __attribute__ ((aligned (4)));
uint32_t cacheCount = 0;
void cache_write(uint8_t *buffer)
static void cache_write(uint8_t *buffer)
{
if (cacheCount == sizeof(writeCache)) {
// Prevents overflow
@ -58,12 +58,12 @@ void cache_write(uint8_t *buffer)
cacheCount += 512;
}
uint16_t cache_getCount(void)
static uint16_t cache_getCount(void)
{
return (cacheCount / 512);
}
void cache_reset(void)
static void cache_reset(void)
{
cacheCount = 0;
}

8
src/main/drivers/sdcard_spi.c
View file

@ -112,7 +112,7 @@ static void sdcard_reset(void)
// Called in ISR context
// Wait until idle indicated by a read value of SDCARD_IDLE_TOKEN
busStatus_e sdcard_callbackIdle(uint32_t arg)
static busStatus_e sdcard_callbackIdle(uint32_t arg)
{
sdcard_t *sdcard = (sdcard_t *)arg;
extDevice_t *dev = &sdcard->dev;
@ -135,7 +135,7 @@ busStatus_e sdcard_callbackIdle(uint32_t arg)
// Called in ISR context
// Wait until idle is no longer indicated by a read value of SDCARD_IDLE_TOKEN
busStatus_e sdcard_callbackNotIdle(uint32_t arg)
static busStatus_e sdcard_callbackNotIdle(uint32_t arg)
{
sdcard_t *sdcard = (sdcard_t *)arg;
extDevice_t *dev = &sdcard->dev;
@ -340,7 +340,7 @@ typedef enum {
/// Called in ISR context
// Wait until the arrival of the SDCARD_SINGLE_BLOCK_READ_START_TOKEN token
busStatus_e sdcard_callbackNotIdleDataBlock(uint32_t arg)
static busStatus_e sdcard_callbackNotIdleDataBlock(uint32_t arg)
{
sdcard_t *sdcard = (sdcard_t *)arg;
extDevice_t *dev = &sdcard->dev;
@ -536,7 +536,7 @@ static bool sdcard_checkInitDone(void)
return status == 0x00;
}
void sdcardSpi_preinit(const sdcardConfig_t *config)
static void sdcardSpi_preinit(const sdcardConfig_t *config)
{
ioPreinitByTag(config->chipSelectTag, IOCFG_IPU, PREINIT_PIN_STATE_HIGH);
}

2
src/main/drivers/sdio.h
View file

@ -30,6 +30,6 @@ typedef enum {
#define SDIODEV_COUNT 2
#if defined(STM32H7)
void sdioPinConfigure();
void sdioPinConfigure(void);
void SDIO_GPIO_Init(void);
#endif

2
src/main/drivers/serial.h
View file

@ -73,7 +73,7 @@ typedef enum {
#define CTRL_LINE_STATE_RTS (1 << 1)
typedef void (*serialReceiveCallbackPtr)(uint16_t data, void *rxCallbackData); // used by serial drivers to return frames to app
typedef void (*serialIdleCallbackPtr)();
typedef void (*serialIdleCallbackPtr)(void);
typedef struct serialPort_s {

3
src/main/drivers/serial_impl.h
View file

@ -23,6 +23,9 @@
#include <stdbool.h>
#include "drivers/resource.h"
#include "io/serial.h"
/*
* common functions related to serial port implementation
*/

2
src/main/drivers/serial_pinconfig.c
View file

@ -24,7 +24,7 @@
#include "platform.h"
#if defined(USE_UART) || defined(USE_LPUART) || defined(USE_SOFTSERIAL)
#if SERIAL_TRAIT_PIN_CONFIG
#include "build/build_config.h"

14
src/main/drivers/serial_softserial.c
View file

@ -195,7 +195,7 @@ static void resetBuffers(softSerial_t *softSerial)
softSerial->port.txBufferHead = 0;
}
softSerial_t* softSerialFromIdentifier(serialPortIdentifier_e identifier)
static softSerial_t* softSerialFromIdentifier(serialPortIdentifier_e identifier)
{
if (identifier >= SERIAL_PORT_SOFTSERIAL_FIRST && identifier < SERIAL_PORT_SOFTSERIAL_FIRST + SERIAL_SOFTSERIAL_COUNT) {
return &softSerialPorts[identifier - SERIAL_PORT_SOFTSERIAL_FIRST];
@ -330,7 +330,7 @@ serialPort_t *softSerialOpen(serialPortIdentifier_e identifier, serialReceiveCal
* Serial Engine
*/
void processTxState(softSerial_t *softSerial)
static void processTxState(softSerial_t *softSerial)
{
if (!softSerial->isTransmittingData) {
if (isSoftSerialTransmitBufferEmpty((serialPort_t *)softSerial)) {
@ -387,7 +387,7 @@ enum {
LEADING
};
void applyChangedBits(softSerial_t *softSerial)
static void applyChangedBits(softSerial_t *softSerial)
{
if (softSerial->rxEdge == TRAILING) {
for (unsigned bitToSet = softSerial->rxLastLeadingEdgeAtBitIndex; bitToSet < softSerial->rxBitIndex; bitToSet++) {
@ -396,7 +396,7 @@ void applyChangedBits(softSerial_t *softSerial)
}
}
void prepareForNextRxByte(softSerial_t *softSerial)
static void prepareForNextRxByte(softSerial_t *softSerial)
{
// prepare for next byte
softSerial->rxBitIndex = 0;
@ -411,7 +411,7 @@ void prepareForNextRxByte(softSerial_t *softSerial)
#define STOP_BIT_MASK (1 << 0)
#define START_BIT_MASK (1 << (RX_TOTAL_BITS - 1))
void extractAndStoreRxByte(softSerial_t *softSerial)
static void extractAndStoreRxByte(softSerial_t *softSerial)
{
if ((softSerial->port.mode & MODE_RX) == 0) {
return;
@ -435,7 +435,7 @@ void extractAndStoreRxByte(softSerial_t *softSerial)
}
}
void processRxState(softSerial_t *softSerial)
static void processRxState(softSerial_t *softSerial)
{
if (softSerial->isSearchingForStartBit) {
return;
@ -597,7 +597,7 @@ void softSerialSetBaudRate(serialPort_t *s, uint32_t baudRate)
serialTimerConfigureTimebase(softSerial->timerHardware, baudRate);
}
void softSerialSetMode(serialPort_t *instance, portMode_e mode)
static void softSerialSetMode(serialPort_t *instance, portMode_e mode)
{
instance->mode = mode;
}

10
src/main/drivers/serial_tcp.c
View file

@ -158,7 +158,7 @@ serialPort_t *serTcpOpen(serialPortIdentifier_e identifier, serialReceiveCallbac
return (serialPort_t *)s;
}
uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
static uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
{
tcpPort_t *s = (tcpPort_t*)instance;
uint32_t count;
@ -173,7 +173,7 @@ uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
return count;
}
uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
static uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
{
tcpPort_t *s = (tcpPort_t*)instance;
uint32_t bytesUsed;
@ -190,7 +190,7 @@ uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
return bytesFree;
}
bool isTcpTransmitBufferEmpty(const serialPort_t *instance)
static bool isTcpTransmitBufferEmpty(const serialPort_t *instance)
{
tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->txLock);
@ -199,7 +199,7 @@ bool isTcpTransmitBufferEmpty(const serialPort_t *instance)
return isEmpty;
}
uint8_t tcpRead(serialPort_t *instance)
static uint8_t tcpRead(serialPort_t *instance)
{
uint8_t ch;
tcpPort_t *s = (tcpPort_t *)instance;
@ -216,7 +216,7 @@ uint8_t tcpRead(serialPort_t *instance)
return ch;
}
void tcpWrite(serialPort_t *instance, uint8_t ch)
static void tcpWrite(serialPort_t *instance, uint8_t ch)
{
tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->txLock);

2
src/main/drivers/vtx_rtc6705_soft_spi.c
View file

@ -31,6 +31,8 @@
#include "drivers/time.h"
#include "drivers/vtx_rtc6705.h"
#include "vtx_rtc6705_soft_spi.h"
#define DP_5G_MASK 0x7000
#define PA5G_BS_MASK 0x0E00
#define PA5G_PW_MASK 0x0180

2
src/main/drivers/vtx_table.c
View file

@ -159,7 +159,7 @@ void vtxTableConfigClearChannels(vtxTableConfig_t *config, int band, int channel
}
// Clear a channel name for "channel"
void vtxTableConfigClearChannelNames(vtxTableConfig_t *config, int channel)
static void vtxTableConfigClearChannelNames(vtxTableConfig_t *config, int channel)
{
tfp_sprintf(config->channelNames[channel], "%d", channel + 1);
}

1
src/main/fc/board_info.c
View file

@ -25,6 +25,7 @@
#if defined(USE_BOARD_INFO)
#include "pg/board.h"
#include "board_info.h"
#if !defined(BOARD_NAME)
static bool boardInformationSet = false;

12
src/main/fc/board_info.h
View file

@ -22,16 +22,16 @@
void initBoardInformation(void);
char *getBoardName(void);
char *getManufacturerId(void);
const char *getBoardName(void);
const char *getManufacturerId(void);
bool boardInformationIsSet(void);
bool setBoardName(char *newBoardName);
bool setManufacturerId(char *newManufacturerId);
bool setBoardName(const char *newBoardName);
bool setManufacturerId(const char *newManufacturerId);
bool persistBoardInformation(void);
uint8_t * getSignature(void);
const uint8_t * getSignature(void);
bool signatureIsSet(void);
bool setSignature(uint8_t *newSignature);
bool setSignature(const uint8_t *newSignature);
bool persistSignature(void);

4
src/main/fc/core.c
View file

@ -197,7 +197,7 @@ static bool isCalibrating(void)
}
#ifdef USE_LAUNCH_CONTROL
bool canUseLaunchControl(void)
static bool canUseLaunchControl(void)
{
if (!isFixedWing()
&& !isUsingSticksForArming() // require switch arming for safety
@ -212,7 +212,7 @@ bool canUseLaunchControl(void)
#endif
#ifdef USE_DSHOT
void setMotorSpinDirection(uint8_t spinDirection)
static void setMotorSpinDirection(uint8_t spinDirection)
{
if (isMotorProtocolDshot() && !featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), spinDirection, DSHOT_CMD_TYPE_INLINE);

6
src/main/fc/core.h
View file

@ -91,10 +91,10 @@ int8_t calculateThrottlePercent(void);
uint8_t calculateThrottlePercentAbs(void);
bool areSticksActive(uint8_t stickPercentLimit);
void runawayTakeoffTemporaryDisable(uint8_t disableFlag);
bool wasThrottleRaised();
bool wasThrottleRaised(void);
timeUs_t getLastDisarmTimeUs(void);
bool isTryingToArm();
void resetTryingToArm();
bool isTryingToArm(void);
void resetTryingToArm(void);
void subTaskTelemetryPollSensors(timeUs_t currentTimeUs);

2
src/main/fc/gps_lap_timer.c
View file

@ -69,7 +69,7 @@ void gpsLapTimerStartSetGate(void)
gpsLapTimerData.numberOfSetReadings = 0;
}
void gpsLapTimerProcessSettingGate(void)
static void gpsLapTimerProcessSettingGate(void)
{
if (gpsLapTimerData.numberOfSetReadings < MAX_GATE_SET_READINGS){
gateSetLatReadings += gpsSol.llh.lat;

35
src/main/fc/init.c
View file

@ -521,22 +521,7 @@ void init(void)
uartPinConfigure(serialPinConfig());
#endif
#if defined(AVOID_UART1_FOR_PWM_PPM)
# define SERIALPORT_TO_AVOID SERIAL_PORT_USART1
#elif defined(AVOID_UART2_FOR_PWM_PPM)
# define SERIALPORT_TO_AVOID SERIAL_PORT_USART2
#elif defined(AVOID_UART3_FOR_PWM_PPM)
# define SERIALPORT_TO_AVOID SERIAL_PORT_USART3
#endif
{
serialPortIdentifier_e serialPortToAvoid = SERIAL_PORT_NONE;
#if defined(SERIALPORT_TO_AVOID)
if (featureIsEnabled(FEATURE_RX_PPM) || featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
serialPortToAvoid = SERIALPORT_TO_AVOID;
}
#endif
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL), serialPortToAvoid);
}
serialInit(featureIsEnabled(FEATURE_SOFTSERIAL));
mixerInit(mixerConfig()->mixerMode);
@ -545,20 +530,24 @@ void init(void)
* may send spurious pulses to esc's causing their early initialization. Also ppm
* receiver may share timer with motors so motors MUST be initialized here. */
motorDevInit(getMotorCount());
// TODO: add check here that motors actually initialised correctly
systemState |= SYSTEM_STATE_MOTORS_READY;
#endif
if (0) {}
do {
#if defined(USE_RX_PPM)
else if (featureIsEnabled(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
}
if (featureIsEnabled(FEATURE_RX_PPM)) {
ppmRxInit(ppmConfig());
break;
}
#endif
#if defined(USE_RX_PWM)
else if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
}
if (featureIsEnabled(FEATURE_RX_PARALLEL_PWM)) {
pwmRxInit(pwmConfig());
break;
}
#endif
} while (false);
#ifdef USE_BEEPER
beeperInit(beeperDevConfig());

14
src/main/fc/rc.c
View file

@ -166,7 +166,7 @@ STATIC_ASSERT(CONTROL_RATE_CONFIG_RATE_LIMIT_MAX <= (uint16_t)SETPOINT_RATE_LIMI
#define RC_RATE_INCREMENTAL 14.54f
float applyBetaflightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
static float applyBetaflightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
if (currentControlRateProfile->rcExpo[axis]) {
const float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
@ -186,7 +186,7 @@ float applyBetaflightRates(const int axis, float rcCommandf, const float rcComma
return angleRate;
}
float applyRaceFlightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
static float applyRaceFlightRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
// -1.0 to 1.0 ranged and curved
rcCommandf = ((1.0f + 0.01f * currentControlRateProfile->rcExpo[axis] * (rcCommandf * rcCommandf - 1.0f)) * rcCommandf);
@ -197,7 +197,7 @@ float applyRaceFlightRates(const int axis, float rcCommandf, const float rcComma
return angleRate;
}
float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs)
static float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
const float rcCurvef = currentControlRateProfile->rcExpo[axis] / 100.0f;
@ -208,7 +208,7 @@ float applyKissRates(const int axis, float rcCommandf, const float rcCommandfAbs
return kissAngle;
}
float applyActualRates(const int axis, float rcCommandf, const float rcCommandfAbs)
static float applyActualRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
float expof = currentControlRateProfile->rcExpo[axis] / 100.0f;
expof = rcCommandfAbs * (power5(rcCommandf) * expof + rcCommandf * (1 - expof));
@ -220,7 +220,7 @@ float applyActualRates(const int axis, float rcCommandf, const float rcCommandfA
return angleRate;
}
float applyQuickRates(const int axis, float rcCommandf, const float rcCommandfAbs)
static float applyQuickRates(const int axis, float rcCommandf, const float rcCommandfAbs)
{
const uint16_t rcRate = currentControlRateProfile->rcRates[axis] * 2;
const uint16_t maxDPS = MAX(currentControlRateProfile->rates[axis] * 10, rcRate);
@ -322,7 +322,7 @@ bool getRxRateValid(void)
// Initialize or update the filters base on either the manually selected cutoff, or
// the auto-calculated cutoff frequency based on detected rx frame rate.
FAST_CODE_NOINLINE void rcSmoothingSetFilterCutoffs(rcSmoothingFilter_t *smoothingData)
static FAST_CODE_NOINLINE void rcSmoothingSetFilterCutoffs(rcSmoothingFilter_t *smoothingData)
{
// in auto mode, calculate the RC smoothing cutoff from the smoothed Rx link frequency
const uint16_t oldSetpointCutoff = smoothingData->setpointCutoffFrequency;
@ -518,7 +518,7 @@ static FAST_CODE void processRcSmoothingFilter(void)
#endif // USE_RC_SMOOTHING_FILTER
#ifdef USE_FEEDFORWARD
FAST_CODE_NOINLINE void calculateFeedforward(const pidRuntime_t *pid, flight_dynamics_index_t axis)
static FAST_CODE_NOINLINE void calculateFeedforward(const pidRuntime_t *pid, flight_dynamics_index_t axis)
{
const float rxInterval = currentRxIntervalUs * 1e-6f; // seconds
float rxRate = currentRxRateHz; // 1e6f / currentRxIntervalUs;

2
src/main/fc/rc_controls.h
View file

@ -139,7 +139,7 @@ PG_DECLARE(armingConfig_t, armingConfig);
bool areUsingSticksToArm(void);
throttleStatus_e calculateThrottleStatus(void);
void processRcStickPositions();
void processRcStickPositions(void);
bool isUsingSticksForArming(void);

4
src/main/fc/rc_modes.c
View file

@ -99,7 +99,7 @@ bool isRangeActive(uint8_t auxChannelIndex, const channelRange_t *range)
* T F - all previous AND macs active, no previous active OR macs
* T T - at least 1 previous inactive AND mac, no previous active OR macs
*/
void updateMasksForMac(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask, bool bActive)
static void updateMasksForMac(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask, bool bActive)
{
if (bitArrayGet(andMask, mac->modeId) || !bitArrayGet(newMask, mac->modeId)) {
bool bAnd = mac->modeLogic == MODELOGIC_AND;
@ -118,7 +118,7 @@ void updateMasksForMac(const modeActivationCondition_t *mac, boxBitmask_t *andMa
}
}
void updateMasksForStickyModes(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask)
static void updateMasksForStickyModes(const modeActivationCondition_t *mac, boxBitmask_t *andMask, boxBitmask_t *newMask)
{
if (IS_RC_MODE_ACTIVE(mac->modeId)) {
bitArrayClr(andMask, mac->modeId);

4
src/main/fc/tasks.c
View file

@ -289,7 +289,7 @@ static void taskCalculateAltitude(timeUs_t currentTimeUs)
#endif // USE_BARO || USE_GPS
#if defined(USE_RANGEFINDER)
void taskUpdateRangefinder(timeUs_t currentTimeUs)
static void taskUpdateRangefinder(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);
@ -304,7 +304,7 @@ void taskUpdateRangefinder(timeUs_t currentTimeUs)
#endif
#ifdef USE_OPTICALFLOW
void taskUpdateOpticalflow(timeUs_t currentTimeUs)
static void taskUpdateOpticalflow(timeUs_t currentTimeUs)
{
UNUSED(currentTimeUs);

2
src/main/fc/tasks.h
View file

@ -26,5 +26,5 @@ void tasksInitData(void);
void tasksInit(void);
task_t *getTask(unsigned taskId);
bool taskUpdateRxMainInProgress();
bool taskUpdateRxMainInProgress(void);

8
src/main/flight/alt_hold_multirotor.c
View file

@ -52,7 +52,7 @@ typedef struct {
altHoldState_t altHold;
void altHoldReset(void)
static void altHoldReset(void)
{
resetAltitudeControl();
altHold.targetAltitudeCm = getAltitudeCm();
@ -68,7 +68,7 @@ void altHoldInit(void)
altHoldReset();
}
void altHoldProcessTransitions(void) {
static void altHoldProcessTransitions(void) {
if (FLIGHT_MODE(ALT_HOLD_MODE)) {
if (!altHold.isActive) {
@ -90,7 +90,7 @@ void altHoldProcessTransitions(void) {
// user throttle must be not more than half way out from hover for a stable hold
}
void altHoldUpdateTargetAltitude(void)
static void altHoldUpdateTargetAltitude(void)
{
// User can adjust the target altitude with throttle, but only when
// - throttle is outside deadband, and
@ -133,7 +133,7 @@ void altHoldUpdateTargetAltitude(void)
}
}
void altHoldUpdate(void)
static void altHoldUpdate(void)
{
// check if the user has changed the target altitude using sticks
if (altHoldConfig()->alt_hold_adjust_rate) {

2
src/main/flight/alt_hold_wing.c
View file

@ -39,7 +39,7 @@
#include "alt_hold.h"
void altHoldReset(void)
LOCAL_UNUSED_FUNCTION static void altHoldReset(void)
{
}

4
src/main/flight/autopilot_multirotor.c
View file

@ -98,7 +98,7 @@ static void resetEFAxisFilters(efPidAxis_t* efAxis, const float vaGain)
pt1FilterInit(&efAxis->accelerationLpf, vaGain);
}
void resetEFAxisParams(efPidAxis_t *efAxis, const float vaGain)
static void resetEFAxisParams(efPidAxis_t *efAxis, const float vaGain)
{
// at start only
resetEFAxisFilters(efAxis, vaGain);
@ -223,7 +223,7 @@ void setSticksActiveStatus(bool areSticksActive)
ap.sticksActive = areSticksActive;
}
void setTargetLocationByAxis(const gpsLocation_t* newTargetLocation, axisEF_e efAxisIdx)
static void setTargetLocationByAxis(const gpsLocation_t* newTargetLocation, axisEF_e efAxisIdx)
// not used at present but needed by upcoming GPS code
{
if (efAxisIdx == LON) {

2
src/main/flight/failsafe.c
View file

@ -219,7 +219,7 @@ void failsafeCheckDataFailurePeriod(void)
}
}
uint32_t failsafeFailurePeriodMs(void)
LOCAL_UNUSED_FUNCTION static uint32_t failsafeFailurePeriodMs(void)
{
return failsafeState.rxDataFailurePeriod;
}

6
src/main/flight/gps_rescue_multirotor.c
View file

@ -617,7 +617,7 @@ static bool checkGPSRescueIsAvailable(void)
return result;
}
void disarmOnImpact(void)
static void disarmOnImpact(void)
{
if (acc.accMagnitude > rescueState.intent.disarmThreshold) {
setArmingDisabled(ARMING_DISABLED_ARM_SWITCH);
@ -626,7 +626,7 @@ void disarmOnImpact(void)
}
}
void descend(bool newGpsData)
static void descend(bool newGpsData)
{
if (newGpsData) {
// consider landing area to be a circle half landing height around home, to avoid overshooting home point
@ -672,7 +672,7 @@ void descend(bool newGpsData)
rescueState.intent.targetAltitudeCm -= altitudeStepCm;
}
void initialiseRescueValues (void)
static void initialiseRescueValues (void)
{
rescueState.intent.secondsFailing = 0; // reset the sanity check timer
rescueState.intent.yawAttenuator = 0.0f; // no yaw in the climb

2
src/main/flight/imu.c
View file

@ -854,7 +854,7 @@ bool imuQuaternionHeadfreeOffsetSet(void)
}
}
void imuQuaternionMultiplication(quaternion_t *q1, quaternion_t *q2, quaternion_t *result)
static void imuQuaternionMultiplication(quaternion_t *q1, quaternion_t *q2, quaternion_t *result)
{
const float A = (q1->w + q1->x) * (q2->w + q2->x);
const float B = (q1->z - q1->y) * (q2->y - q2->z);

2
src/main/flight/mixer_init.c
View file

@ -396,7 +396,7 @@ void mixerResetRpmLimiter(void)
// Create a custom mixer for launch control based on the current settings
// but disable the front motors. We don't care about roll or yaw because they
// are limited in the PID controller.
void loadLaunchControlMixer(void)
static void loadLaunchControlMixer(void)
{
for (int i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
mixerRuntime.launchControlMixer[i] = mixerRuntime.currentMixer[i];

2
src/main/flight/pid.c
View file

@ -416,7 +416,7 @@ static float wingAdjustSetpoint(float currentPidSetpoint, int axis)
#endif // USE_WING
}
float getTpaFactorClassic(float tpaArgument)
static float getTpaFactorClassic(float tpaArgument)
{
static bool isTpaLowFaded = false;
bool isThrottlePastTpaLowBreakpoint = (tpaArgument >= pidRuntime.tpaLowBreakpoint || pidRuntime.tpaLowBreakpoint <= 0.01f);

6
src/main/flight/pid.h
View file

@ -584,7 +584,7 @@ float pidCompensateThrustLinearization(float throttle);
#ifdef USE_AIRMODE_LPF
void pidUpdateAirmodeLpf(float currentOffset);
float pidGetAirmodeThrottleOffset();
float pidGetAirmodeThrottleOffset(void);
#endif
#ifdef UNIT_TEST
@ -602,8 +602,8 @@ float calcHorizonLevelStrength(void);
void dynLpfDTermUpdate(float throttle);
void pidSetItermReset(bool enabled);
float pidGetPreviousSetpoint(int axis);
float pidGetDT();
float pidGetPidFrequency();
float pidGetDT(void);
float pidGetPidFrequency(void);
float dynLpfCutoffFreq(float throttle, uint16_t dynLpfMin, uint16_t dynLpfMax, uint8_t expo);
#ifdef USE_CHIRP

12
src/main/flight/pid_init.c
View file

@ -69,7 +69,7 @@ static void pidSetTargetLooptime(uint32_t pidLooptime)
}
#ifdef USE_WING
void tpaSpeedBasicInit(const pidProfile_t *pidProfile)
static void tpaSpeedBasicInit(const pidProfile_t *pidProfile)
{
// basic model assumes prop pitch speed is inf
const float gravityFactor = pidProfile->tpa_speed_basic_gravity / 100.0f;
@ -82,7 +82,7 @@ void tpaSpeedBasicInit(const pidProfile_t *pidProfile)
pidRuntime.tpaSpeed.inversePropMaxSpeed = 0.0f;
}
void tpaSpeedAdvancedInit(const pidProfile_t *pidProfile)
static void tpaSpeedAdvancedInit(const pidProfile_t *pidProfile)
{
// Advanced model uses prop pitch speed, and is quite limited when craft speed is far above prop pitch speed.
pidRuntime.tpaSpeed.twr = (float)pidProfile->tpa_speed_adv_thrust / (float)pidProfile->tpa_speed_adv_mass;
@ -109,7 +109,7 @@ void tpaSpeedAdvancedInit(const pidProfile_t *pidProfile)
UNUSED(pidProfile);
}
void tpaSpeedInit(const pidProfile_t *pidProfile)
static void tpaSpeedInit(const pidProfile_t *pidProfile)
{
pidRuntime.tpaSpeed.speed = 0.0f;
pidRuntime.tpaSpeed.maxVoltage = pidProfile->tpa_speed_max_voltage / 100.0f;
@ -334,7 +334,7 @@ void pidInitFilters(const pidProfile_t *pidProfile)
}
#ifdef USE_ADVANCED_TPA
float tpaCurveHyperbolicFunction(float x, void *args)
static float tpaCurveHyperbolicFunction(float x, void *args)
{
const pidProfile_t *pidProfile = (const pidProfile_t*)args;
@ -356,13 +356,13 @@ float tpaCurveHyperbolicFunction(float x, void *args)
return pidThr0 / divisor;
}
void tpaCurveHyperbolicInit(const pidProfile_t *pidProfile)
static void tpaCurveHyperbolicInit(const pidProfile_t *pidProfile)
{
pwlInitialize(&pidRuntime.tpaCurvePwl, pidRuntime.tpaCurvePwl_yValues, TPA_CURVE_PWL_SIZE, 0.0f, 1.0f);
pwlFill(&pidRuntime.tpaCurvePwl, tpaCurveHyperbolicFunction, (void*)pidProfile);
}
void tpaCurveInit(const pidProfile_t *pidProfile)
static void tpaCurveInit(const pidProfile_t *pidProfile)
{
pidRuntime.tpaCurveType = pidProfile->tpa_curve_type;
switch (pidRuntime.tpaCurveType) {

4
src/main/flight/pos_hold_multirotor.c
View file

@ -55,7 +55,7 @@ void posHoldInit(void)
posHold.useStickAdjustment = posHoldConfig()->pos_hold_deadband;
}
void posHoldCheckSticks(void)
static void posHoldCheckSticks(void)
{
// if failsafe is active, eg landing mode, don't update the original start point
if (!failsafeIsActive() && posHold.useStickAdjustment) {
@ -64,7 +64,7 @@ void posHoldCheckSticks(void)
}
}
bool sensorsOk(void)
static bool sensorsOk(void)
{
if (!STATE(GPS_FIX)) {
return false;

2
src/main/flight/servos.c
View file

@ -204,7 +204,7 @@ const mixerRules_t servoMixers[] = {
{ 0, NULL },
};
int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
static int16_t determineServoMiddleOrForwardFromChannel(servoIndex_e servoIndex)
{
const uint8_t channelToForwardFrom = servoParams(servoIndex)->forwardFromChannel;

4
src/main/io/dashboard.c
View file

@ -131,7 +131,7 @@ static void resetDisplay(void)
dashboardPresent = ug2864hsweg01InitI2C(dev);
}
void LCDprint(uint8_t i)
static void LCDprint(uint8_t i)
{
i2c_OLED_send_char(dev, i);
}
@ -628,7 +628,7 @@ static const pageEntry_t pages[PAGE_COUNT] = {
#endif
};
void dashboardSetPage(pageId_e pageId)
static void dashboardSetPage(pageId_e pageId)
{
for (int i = 0; i < PAGE_COUNT; i++) {
const pageEntry_t *candidatePage = &pages[i];

2
src/main/io/displayport_hott.c
View file

@ -30,6 +30,8 @@
#include "cms/cms.h"
#include "telemetry/hott.h"
#include "displayport_hott.h"
displayPort_t hottDisplayPort;
static bool hottDrawScreen(displayPort_t *displayPort)

4
src/main/io/displayport_hott.h
View file

@ -21,6 +21,6 @@
#pragma once
#include "drivers/display.h"
void hottDisplayportRegister();
void hottCmsOpen();
void hottDisplayportRegister(void);
void hottCmsOpen(void);
void hottSetCmsKey(uint8_t hottKey, bool esc);

2
src/main/io/displayport_max7456.c
View file

@ -185,7 +185,7 @@ static bool checkReady(displayPort_t *displayPort, bool rescan)
return true;
}
void setBackgroundType(displayPort_t *displayPort, displayPortBackground_e backgroundType)
static void setBackgroundType(displayPort_t *displayPort, displayPortBackground_e backgroundType)
{
UNUSED(displayPort);
max7456SetBackgroundType(backgroundType);

2
src/main/io/displayport_oled.c
View file

@ -28,6 +28,8 @@
#include "drivers/display.h"
#include "drivers/display_ug2864hsweg01.h"
#include "displayport_oled.h"
static displayPort_t oledDisplayPort;
static int oledGrab(displayPort_t *displayPort)

2
src/main/io/flashfs.c
View file

@ -282,7 +282,7 @@ static void flashfsAdvanceTailInBuffer(uint32_t delta)
*
* Returns the number of bytes written
*/
void flashfsWriteCallback(uint32_t arg)
static void flashfsWriteCallback(uint32_t arg)
{
// Advance the cursor in the file system to match the bytes we wrote
flashfsSetTailAddress(tailAddress + arg);

8
src/main/io/gps.c
View file

@ -958,7 +958,7 @@ static void setSatInfoMessageRate(uint8_t divisor)
#endif // USE_GPS_UBLOX
#ifdef USE_GPS_NMEA
void gpsConfigureNmea(void)
static void gpsConfigureNmea(void)
{
// minimal support for NMEA, we only:
// - set the FC's GPS port to the user's configured rate, and
@ -1031,7 +1031,7 @@ void gpsConfigureNmea(void)
#ifdef USE_GPS_UBLOX
void gpsConfigureUblox(void)
static void gpsConfigureUblox(void)
{
// Wait until GPS transmit buffer is empty
@ -1302,7 +1302,7 @@ void gpsConfigureUblox(void)
}
#endif // USE_GPS_UBLOX
void gpsConfigureHardware(void)
static void gpsConfigureHardware(void)
{
switch (gpsConfig()->provider) {
case GPS_NMEA:
@ -2628,7 +2628,7 @@ void GPS_distance_cm_bearing(const gpsLocation_t *from, const gpsLocation_t* to,
}
}
void GPS_calculateDistanceAndDirectionToHome(void)
static void GPS_calculateDistanceAndDirectionToHome(void)
{
if (STATE(GPS_FIX_HOME)) {
uint32_t dist;

4
src/main/io/ledstrip.c
View file

@ -286,7 +286,7 @@ enum ledBarIds {
};
static uint8_t ledBarStates[LED_BAR_COUNT] = {0};
void updateLedBars(void)
static void updateLedBars(void)
{
memset(ledBarStates, 0, sizeof(ledBarStates));
for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
@ -1193,7 +1193,7 @@ static applyLayerFn_timed* layerTable[] = {
[timRing] = &applyLedThrustRingLayer
};
bool isOverlayTypeUsed(ledOverlayId_e overlayType)
static bool isOverlayTypeUsed(ledOverlayId_e overlayType)
{
for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
const ledConfig_t *ledConfig = &ledStripStatusModeConfig()->ledConfigs[ledIndex];

4
src/main/io/pidaudio.c
View file

@ -44,12 +44,12 @@ void pidAudioInit(void)
audioSetupIO();
}
void pidAudioStart(void)
static void pidAudioStart(void)
{
audioGenerateWhiteNoise();
}
void pidAudioStop(void)
static void pidAudioStop(void)
{
audioSilence();
}

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