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This commit is contained in:
Martin Budden 2016-07-09 14:39:39 +01:00
parent adfa6c4f28
commit ea283ab98c
63 changed files with 297 additions and 297 deletions
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10
src/main/common/printf.c
View file

@ -87,7 +87,7 @@ int tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
putf(putp, ch); written++; putf(putp, ch); written++;
} else { } else {
char lz = 0; char lz = 0;
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
char lng = 0; char lng = 0;
#endif #endif
int w = 0; int w = 0;
@ -99,7 +99,7 @@ int tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
if (ch >= '0' && ch <= '9') { if (ch >= '0' && ch <= '9') {
ch = a2i(ch, &fmt, 10, &w); ch = a2i(ch, &fmt, 10, &w);
} }
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (ch == 'l') { if (ch == 'l') {
ch = *(fmt++); ch = *(fmt++);
lng = 1; lng = 1;
@ -109,7 +109,7 @@ int tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
case 0: case 0:
goto abort; goto abort;
case 'u':{ case 'u':{
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (lng) if (lng)
uli2a(va_arg(va, unsigned long int), 10, 0, bf); uli2a(va_arg(va, unsigned long int), 10, 0, bf);
else else
@ -119,7 +119,7 @@ int tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
break; break;
} }
case 'd':{ case 'd':{
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (lng) if (lng)
li2a(va_arg(va, unsigned long int), bf); li2a(va_arg(va, unsigned long int), bf);
else else
@ -130,7 +130,7 @@ int tfp_format(void *putp, putcf putf, const char *fmt, va_list va)
} }
case 'x': case 'x':
case 'X': case 'X':
#ifdef REQUIRE_PRINTF_LONG_SUPPORT #ifdef REQUIRE_PRINTF_LONG_SUPPORT
if (lng) if (lng)
uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf); uli2a(va_arg(va, unsigned long int), 16, (ch == 'X'), bf);
else else

8
src/main/common/printf.h
View file

@ -66,10 +66,10 @@ To use the printf you need to supply your own character output function,
something like : something like :
void putc ( void* p, char c) void putc ( void* p, char c)
{ {
while (!SERIAL_PORT_EMPTY) ; while (!SERIAL_PORT_EMPTY) ;
SERIAL_PORT_TX_REGISTER = c; SERIAL_PORT_TX_REGISTER = c;
} }
Before you can call printf you need to initialize it to use your Before you can call printf you need to initialize it to use your
character output function with something like: character output function with something like:

2
src/main/drivers/adc_stm32f4xx.c
View file

@ -134,7 +134,7 @@ void adcInit(drv_adc_config_t *init)
if (!adcConfig[i].tag) if (!adcConfig[i].tag)
continue; continue;
IOInit(IOGetByTag(adcConfig[i].tag), OWNER_ADC, RESOURCE_ADC_BATTERY + i, 0); IOInit(IOGetByTag(adcConfig[i].tag), OWNER_ADC, RESOURCE_ADC_BATTERY + i, 0);
IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL)); IOConfigGPIO(IOGetByTag(adcConfig[i].tag), IO_CONFIG(GPIO_Mode_AN, 0, GPIO_OType_OD, GPIO_PuPd_NOPULL));
adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag); adcConfig[i].adcChannel = adcChannelByTag(adcConfig[i].tag);
adcConfig[i].dmaIndex = configuredAdcChannels++; adcConfig[i].dmaIndex = configuredAdcChannels++;

4
src/main/drivers/bus_i2c_stm32f10x.c
View file

@ -385,8 +385,8 @@ void i2cInit(I2CDevice device)
IO_t scl = IOGetByTag(i2c->scl); IO_t scl = IOGetByTag(i2c->scl);
IO_t sda = IOGetByTag(i2c->sda); IO_t sda = IOGetByTag(i2c->sda);
IOInit(scl, OWNER_I2C, RESOURCE_I2C_SCL, RESOURCE_INDEX(device)); IOInit(scl, OWNER_I2C, RESOURCE_I2C_SCL, RESOURCE_INDEX(device));
IOInit(sda, OWNER_I2C, RESOURCE_I2C_SDA, RESOURCE_INDEX(device)); IOInit(sda, OWNER_I2C, RESOURCE_I2C_SDA, RESOURCE_INDEX(device));
// Enable RCC // Enable RCC
RCC_ClockCmd(i2c->rcc, ENABLE); RCC_ClockCmd(i2c->rcc, ENABLE);

4
src/main/drivers/bus_i2c_stm32f30x.c
View file

@ -92,10 +92,10 @@ void i2cInit(I2CDevice device)
RCC_ClockCmd(i2c->rcc, ENABLE); RCC_ClockCmd(i2c->rcc, ENABLE);
RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK); RCC_I2CCLKConfig(I2Cx == I2C2 ? RCC_I2C2CLK_SYSCLK : RCC_I2C1CLK_SYSCLK);
IOInit(scl, OWNER_I2C, RESOURCE_I2C_SCL, RESOURCE_INDEX(device)); IOInit(scl, OWNER_I2C, RESOURCE_I2C_SCL, RESOURCE_INDEX(device));
IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_4); IOConfigGPIOAF(scl, IOCFG_I2C, GPIO_AF_4);
IOInit(sda, OWNER_I2C, RESOURCE_I2C_SDA, RESOURCE_INDEX(device)); IOInit(sda, OWNER_I2C, RESOURCE_I2C_SDA, RESOURCE_INDEX(device));
IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_4); IOConfigGPIOAF(sda, IOCFG_I2C, GPIO_AF_4);
I2C_InitTypeDef i2cInit = { I2C_InitTypeDef i2cInit = {

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

@ -114,8 +114,8 @@ void spiInitDevice(SPIDevice device)
RCC_ResetCmd(spi->rcc, ENABLE); RCC_ResetCmd(spi->rcc, ENABLE);
IOInit(IOGetByTag(spi->sck), OWNER_SPI, RESOURCE_SPI_SCK, device + 1); IOInit(IOGetByTag(spi->sck), OWNER_SPI, RESOURCE_SPI_SCK, device + 1);
IOInit(IOGetByTag(spi->miso), OWNER_SPI, RESOURCE_SPI_MISO, device + 1); IOInit(IOGetByTag(spi->miso), OWNER_SPI, RESOURCE_SPI_MISO, device + 1);
IOInit(IOGetByTag(spi->mosi), OWNER_SPI, RESOURCE_SPI_MOSI, device + 1); IOInit(IOGetByTag(spi->mosi), OWNER_SPI, RESOURCE_SPI_MOSI, device + 1);
#if defined(STM32F3) || defined(STM32F4) #if defined(STM32F3) || defined(STM32F4)
IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_CFG, spi->af); IOConfigGPIOAF(IOGetByTag(spi->sck), SPI_IO_AF_CFG, spi->af);

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

@ -13,7 +13,7 @@ typedef struct ioRec_s {
uint16_t pin; uint16_t pin;
resourceOwner_t owner; resourceOwner_t owner;
resourceType_t resource; resourceType_t resource;
uint8_t index; uint8_t index;
} ioRec_t; } ioRec_t;
extern ioRec_t ioRecs[DEFIO_IO_USED_COUNT]; extern ioRec_t ioRecs[DEFIO_IO_USED_COUNT];

32
src/main/drivers/light_led.c
View file

@ -82,25 +82,25 @@ uint8_t ledOffset = 0;
void ledInit(bool alternative_led) void ledInit(bool alternative_led)
{ {
uint32_t i; uint32_t i;
#if defined(LED0_A) || defined(LED1_A) || defined(LED2_A) #if defined(LED0_A) || defined(LED1_A) || defined(LED2_A)
if (alternative_led) if (alternative_led)
ledOffset = LED_NUMBER; ledOffset = LED_NUMBER;
#else #else
UNUSED(alternative_led); UNUSED(alternative_led);
#endif #endif
LED0_OFF; LED0_OFF;
LED1_OFF; LED1_OFF;
LED2_OFF; LED2_OFF;
for (i = 0; i < LED_NUMBER; i++) { for (i = 0; i < LED_NUMBER; i++) {
if (leds[i + ledOffset]) { if (leds[i + ledOffset]) {
IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_OUTPUT, RESOURCE_INDEX(i)); IOInit(leds[i + ledOffset], OWNER_LED, RESOURCE_OUTPUT, RESOURCE_INDEX(i));
IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP); IOConfigGPIO(leds[i + ledOffset], IOCFG_OUT_PP);
} }
} }
LED0_OFF; LED0_OFF;
LED1_OFF; LED1_OFF;
@ -109,11 +109,11 @@ void ledInit(bool alternative_led)
void ledToggle(int led) void ledToggle(int led)
{ {
IOToggle(leds[led + ledOffset]); IOToggle(leds[led + ledOffset]);
} }
void ledSet(int led, bool on) void ledSet(int led, bool on)
{ {
bool inverted = (1 << (led + ledOffset)) & ledPolarity; bool inverted = (1 << (led + ledOffset)) & ledPolarity;
IOWrite(leds[led + ledOffset], on ? inverted : !inverted); IOWrite(leds[led + ledOffset], on ? inverted : !inverted);
} }

2
src/main/drivers/light_ws2811strip_stm32f4xx.c
View file

@ -69,7 +69,7 @@ void ws2811LedStripHardwareInit(void)
ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN)); ws2811IO = IOGetByTag(IO_TAG(WS2811_PIN));
/* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */ /* GPIOA Configuration: TIM5 Channel 1 as alternate function push-pull */
IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0); IOInit(ws2811IO, OWNER_LED_STRIP, RESOURCE_OUTPUT, 0);
IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(WS2811_TIMER)); IOConfigGPIOAF(ws2811IO, IO_CONFIG(GPIO_Mode_AF, GPIO_Speed_50MHz, GPIO_OType_PP, GPIO_PuPd_UP), timerGPIOAF(WS2811_TIMER));
// Stop timer // Stop timer

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

@ -90,9 +90,9 @@ static pwmOutputPort_t *pwmOutConfig(const timerHardware_t *timerHardware, uint8
configTimeBase(timerHardware->tim, period, mhz); configTimeBase(timerHardware->tim, period, mhz);
IO_t io = IOGetByTag(timerHardware->tag); IO_t io = IOGetByTag(timerHardware->tag);
IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount); IOInit(io, OWNER_MOTOR, RESOURCE_OUTPUT, allocatedOutputPortCount);
IOConfigGPIO(io, IOCFG_AF_PP); IOConfigGPIO(io, IOCFG_AF_PP);
pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED); pwmOCConfig(timerHardware->tim, timerHardware->channel, value, timerHardware->output & TIMER_OUTPUT_INVERTED);

12
src/main/drivers/pwm_rx.c
View file

@ -366,9 +366,9 @@ void pwmInConfig(const timerHardware_t *timerHardwarePtr, uint8_t channel)
self->mode = INPUT_MODE_PWM; self->mode = INPUT_MODE_PWM;
self->timerHardware = timerHardwarePtr; self->timerHardware = timerHardwarePtr;
IO_t io = IOGetByTag(timerHardwarePtr->tag); IO_t io = IOGetByTag(timerHardwarePtr->tag);
IOInit(io, OWNER_PWMINPUT, RESOURCE_INPUT, RESOURCE_INDEX(channel)); IOInit(io, OWNER_PWMINPUT, RESOURCE_INPUT, RESOURCE_INDEX(channel));
IOConfigGPIO(io, timerHardwarePtr->ioMode); IOConfigGPIO(io, timerHardwarePtr->ioMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising); pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);
@ -398,9 +398,9 @@ void ppmInConfig(const timerHardware_t *timerHardwarePtr)
self->mode = INPUT_MODE_PPM; self->mode = INPUT_MODE_PPM;
self->timerHardware = timerHardwarePtr; self->timerHardware = timerHardwarePtr;
IO_t io = IOGetByTag(timerHardwarePtr->tag); IO_t io = IOGetByTag(timerHardwarePtr->tag);
IOInit(io, OWNER_PPMINPUT, RESOURCE_INPUT, 0); IOInit(io, OWNER_PPMINPUT, RESOURCE_INPUT, 0);
IOConfigGPIO(io, timerHardwarePtr->ioMode); IOConfigGPIO(io, timerHardwarePtr->ioMode);
pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising); pwmICConfig(timerHardwarePtr->tim, timerHardwarePtr->channel, TIM_ICPolarity_Rising);

12
src/main/drivers/serial_softserial.c
View file

@ -102,18 +102,18 @@ void setTxSignal(softSerial_t *softSerial, uint8_t state)
void serialInputPortConfig(ioTag_t pin, uint8_t portIndex) void serialInputPortConfig(ioTag_t pin, uint8_t portIndex)
{ {
IOInit(IOGetByTag(pin), OWNER_SOFTSERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(portIndex)); IOInit(IOGetByTag(pin), OWNER_SOFTSERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(portIndex));
#ifdef STM32F1 #ifdef STM32F1
IOConfigGPIO(IOGetByTag(pin), IOCFG_IPU); IOConfigGPIO(IOGetByTag(pin), IOCFG_IPU);
#else #else
IOConfigGPIO(IOGetByTag(pin), IOCFG_AF_PP_UP); IOConfigGPIO(IOGetByTag(pin), IOCFG_AF_PP_UP);
#endif #endif
} }
static void serialOutputPortConfig(ioTag_t pin, uint8_t portIndex) static void serialOutputPortConfig(ioTag_t pin, uint8_t portIndex)
{ {
IOInit(IOGetByTag(pin), OWNER_SOFTSERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(portIndex)); IOInit(IOGetByTag(pin), OWNER_SOFTSERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(portIndex));
IOConfigGPIO(IOGetByTag(pin), IOCFG_OUT_PP); IOConfigGPIO(IOGetByTag(pin), IOCFG_OUT_PP);
} }
static bool isTimerPeriodTooLarge(uint32_t timerPeriod) static bool isTimerPeriodTooLarge(uint32_t timerPeriod)
@ -218,7 +218,7 @@ serialPort_t *openSoftSerial(softSerialPortIndex_e portIndex, serialReceiveCallb
serialOutputPortConfig(softSerial->txTimerHardware->tag, portIndex); serialOutputPortConfig(softSerial->txTimerHardware->tag, portIndex);
softSerial->rxIO = IOGetByTag(softSerial->rxTimerHardware->tag); softSerial->rxIO = IOGetByTag(softSerial->rxTimerHardware->tag);
serialInputPortConfig(softSerial->rxTimerHardware->tag, portIndex); serialInputPortConfig(softSerial->rxTimerHardware->tag, portIndex);
setTxSignal(softSerial, ENABLE); setTxSignal(softSerial, ENABLE);
delay(50); delay(50);

8
src/main/drivers/serial_uart_stm32f10x.c
View file

@ -207,7 +207,7 @@ uartPort_t *serialUART2(uint32_t baudRate, portMode_t mode, portOptions_t option
} }
if (mode & MODE_RX) { if (mode & MODE_RX) {
IOInit(IOGetByTag(IO_TAG(PA3)), OWNER_SERIAL, RESOURCE_UART_RX, 2); IOInit(IOGetByTag(IO_TAG(PA3)), OWNER_SERIAL, RESOURCE_UART_RX, 2);
IOConfigGPIO(IOGetByTag(IO_TAG(PA3)), IOCFG_IPU); IOConfigGPIO(IOGetByTag(IO_TAG(PA3)), IOCFG_IPU);
} }
} }
@ -260,16 +260,16 @@ uartPort_t *serialUART3(uint32_t baudRate, portMode_t mode, portOptions_t option
RCC_ClockCmd(RCC_APB1(USART3), ENABLE); RCC_ClockCmd(RCC_APB1(USART3), ENABLE);
if (options & SERIAL_BIDIR) { if (options & SERIAL_BIDIR) {
IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TXRX, 3); IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TXRX, 3);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_OD); IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_OD);
} else { } else {
if (mode & MODE_TX) { if (mode & MODE_TX) {
IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TX, 3); IOInit(IOGetByTag(IO_TAG(UART3_TX_PIN)), OWNER_SERIAL, RESOURCE_UART_TX, 3);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_PP); IOConfigGPIO(IOGetByTag(IO_TAG(UART3_TX_PIN)), IOCFG_AF_PP);
} }
if (mode & MODE_RX) { if (mode & MODE_RX) {
IOInit(IOGetByTag(IO_TAG(UART3_RX_PIN)), OWNER_SERIAL, RESOURCE_UART_RX, 3); IOInit(IOGetByTag(IO_TAG(UART3_RX_PIN)), OWNER_SERIAL, RESOURCE_UART_RX, 3);
IOConfigGPIO(IOGetByTag(IO_TAG(UART3_RX_PIN)), IOCFG_IPU); IOConfigGPIO(IOGetByTag(IO_TAG(UART3_RX_PIN)), IOCFG_IPU);
} }
} }

2
src/main/drivers/serial_uart_stm32f30x.c
View file

@ -120,7 +120,7 @@ void serialUARTInit(IO_t tx, IO_t rx, portMode_t mode, portOptions_t options, ui
} }
if (mode & MODE_RX) { if (mode & MODE_RX) {
IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, index); IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, index);
IOConfigGPIOAF(rx, ioCfg, af); IOConfigGPIOAF(rx, ioCfg, af);
} }
} }

6
src/main/drivers/serial_uart_stm32f4xx.c
View file

@ -312,17 +312,17 @@ uartPort_t *serialUART(UARTDevice device, uint32_t baudRate, portMode_t mode, po
RCC_AHB1PeriphClockCmd(uart->rcc_ahb1, ENABLE); RCC_AHB1PeriphClockCmd(uart->rcc_ahb1, ENABLE);
if (options & SERIAL_BIDIR) { if (options & SERIAL_BIDIR) {
IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, RESOURCE_INDEX(device)); IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TXRX, RESOURCE_INDEX(device));
IOConfigGPIOAF(tx, IOCFG_AF_OD, uart->af); IOConfigGPIOAF(tx, IOCFG_AF_OD, uart->af);
} }
else { else {
if (mode & MODE_TX) { if (mode & MODE_TX) {
IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(device)); IOInit(tx, OWNER_SERIAL, RESOURCE_UART_TX, RESOURCE_INDEX(device));
IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af); IOConfigGPIOAF(tx, IOCFG_AF_PP, uart->af);
} }
if (mode & MODE_RX) { if (mode & MODE_RX) {
IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device)); IOInit(rx, OWNER_SERIAL, RESOURCE_UART_RX, RESOURCE_INDEX(device));
IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af); IOConfigGPIOAF(rx, IOCFG_AF_PP, uart->af);
} }
} }

2
src/main/drivers/sonar_hcsr04.c
View file

@ -88,7 +88,7 @@ void hcsr04_init(sonarRange_t *sonarRange)
// echo pin // echo pin
echoIO = IOGetByTag(sonarHardwareHCSR04.echoTag); echoIO = IOGetByTag(sonarHardwareHCSR04.echoTag);
IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT, 0); IOInit(echoIO, OWNER_SONAR, RESOURCE_INPUT, 0);
IOConfigGPIO(echoIO, IOCFG_IN_FLOATING); IOConfigGPIO(echoIO, IOCFG_IN_FLOATING);
#ifdef USE_EXTI #ifdef USE_EXTI

2
src/main/drivers/system_stm32f10x.c
View file

@ -69,7 +69,7 @@ bool isMPUSoftReset(void)
void systemInit(void) void systemInit(void)
{ {
checkForBootLoaderRequest(); checkForBootLoaderRequest();
SetSysClock(false); SetSysClock(false);

2
src/main/drivers/system_stm32f30x.c
View file

@ -83,7 +83,7 @@ bool isMPUSoftReset(void)
void systemInit(void) void systemInit(void)
{ {
checkForBootLoaderRequest(); checkForBootLoaderRequest();
// Enable FPU // Enable FPU
SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2)); SCB->CPACR = (0x3 << (10 * 2)) | (0x3 << (11 * 2));

18
src/main/drivers/system_stm32f4xx.c
View file

@ -169,7 +169,7 @@ bool isMPUSoftReset(void)
void systemInit(void) void systemInit(void)
{ {
checkForBootLoaderRequest(); checkForBootLoaderRequest();
SetSysClock(); SetSysClock();
@ -199,15 +199,15 @@ void systemInit(void)
void(*bootJump)(void); void(*bootJump)(void);
void checkForBootLoaderRequest(void) void checkForBootLoaderRequest(void)
{ {
if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) { if (*((uint32_t *)0x2001FFFC) == 0xDEADBEEF) {
*((uint32_t *)0x2001FFFC) = 0x0; *((uint32_t *)0x2001FFFC) = 0x0;
__enable_irq(); __enable_irq();
__set_MSP(0x20001000); __set_MSP(0x20001000);
bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004)); bootJump = (void(*)(void))(*((uint32_t *) 0x1fff0004));
bootJump(); bootJump();
while (1); while (1);
} }
} }

24
src/main/flight/gtune.c
View file

@ -52,12 +52,12 @@ extern uint8_t motorCount;
**************************************************************************** ****************************************************************************
*** G_Tune *** *** G_Tune ***
**************************************************************************** ****************************************************************************
G_Tune Mode G_Tune Mode
This is the multiwii implementation of ZERO-PID Algorithm This is the multiwii implementation of ZERO-PID Algorithm
http://technicaladventure.blogspot.com/2014/06/zero-pids-tuner-for-multirotors.html http://technicaladventure.blogspot.com/2014/06/zero-pids-tuner-for-multirotors.html
The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gmail.com) The algorithm has been originally developed by Mohammad Hefny (mohammad.hefny@gmail.com)
You may use/modify this algorithm on your own risk, kindly refer to above link in any future distribution. You may use/modify this algorithm on your own risk, kindly refer to above link in any future distribution.
*/ */
/* /*
@ -107,13 +107,13 @@ void init_Gtune(pidProfile_t *pidProfileToTune)
uint8_t i; uint8_t i;
pidProfile = pidProfileToTune; pidProfile = pidProfileToTune;
if (pidProfile->pidController == 2) { if (pidProfile->pidController == 2) {
floatPID = true; // LuxFloat is using float values for PID settings floatPID = true; // LuxFloat is using float values for PID settings
} else { } else {
floatPID = false; floatPID = false;
} }
updateDelayCycles(); updateDelayCycles();
for (i = 0; i < 3; i++) { for (i = 0; i < 3; i++) {
if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning if ((pidProfile->gtune_hilimP[i] && pidProfile->gtune_lolimP[i] > pidProfile->gtune_hilimP[i]) || (motorCount < 4 && i == FD_YAW)) { // User config error disable axisis for tuning
pidProfile->gtune_hilimP[i] = 0; // Disable YAW tuning for everything below a quadcopter pidProfile->gtune_hilimP[i] = 0; // Disable YAW tuning for everything below a quadcopter
} }

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

@ -901,7 +901,7 @@ void mixTable(void)
/* /*
case MIXER_GIMBAL: case MIXER_GIMBAL:
servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH); servo[SERVO_GIMBAL_PITCH] = (((int32_t)servoConf[SERVO_GIMBAL_PITCH].rate * attitude.values.pitch) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_PITCH);
servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL); servo[SERVO_GIMBAL_ROLL] = (((int32_t)servoConf[SERVO_GIMBAL_ROLL].rate * attitude.values.roll) / 50) + determineServoMiddleOrForwardFromChannel(SERVO_GIMBAL_ROLL);
break; break;
*/ */

4
src/main/main.c
View file

@ -166,7 +166,7 @@ void init(void)
//i2cSetOverclock(masterConfig.i2c_overclock); //i2cSetOverclock(masterConfig.i2c_overclock);
// initialize IO (needed for all IO operations) // initialize IO (needed for all IO operations)
IOInitGlobal(); IOInitGlobal();
debugMode = masterConfig.debug_mode; debugMode = masterConfig.debug_mode;
@ -363,7 +363,7 @@ void init(void)
#endif #endif
#ifdef CC3D #ifdef CC3D
if (masterConfig.use_buzzer_p6 == 1) if (masterConfig.use_buzzer_p6 == 1)
beeperConfig.ioTag = IO_TAG(BEEPER_OPT); beeperConfig.ioTag = IO_TAG(BEEPER_OPT);
#endif #endif
beeperInit(&beeperConfig); beeperInit(&beeperConfig);

8
src/main/rx/rx.c
View file

@ -591,10 +591,10 @@ void updateRSSIPWM(void)
// Read value of AUX channel as rssi // Read value of AUX channel as rssi
pwmRssi = rcData[rxConfig->rssi_channel - 1]; pwmRssi = rcData[rxConfig->rssi_channel - 1];
// RSSI_Invert option // RSSI_Invert option
if (rxConfig->rssi_ppm_invert) { if (rxConfig->rssi_ppm_invert) {
pwmRssi = ((2000 - pwmRssi) + 1000); pwmRssi = ((2000 - pwmRssi) + 1000);
} }
// Range of rawPwmRssi is [1000;2000]. rssi should be in [0;1023]; // Range of rawPwmRssi is [1000;2000]. rssi should be in [0;1023];
rssi = (uint16_t)((constrain(pwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f); rssi = (uint16_t)((constrain(pwmRssi - 1000, 0, 1000) / 1000.0f) * 1023.0f);

2
src/main/rx/spektrum.c
View file

@ -245,7 +245,7 @@ void spektrumBind(rxConfig_t *rxConfig)
#ifndef HARDWARE_BIND_PLUG #ifndef HARDWARE_BIND_PLUG
// If we came here as a result of hard reset (power up, with spektrum_sat_bind set), then reset it back to zero and write config // If we came here as a result of hard reset (power up, with spektrum_sat_bind set), then reset it back to zero and write config
// Don't reset if hardware bind plug is present // Don't reset if hardware bind plug is present
// Reset only when autoreset is enabled // Reset only when autoreset is enabled
if (rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) { if (rxConfig->spektrum_sat_bind_autoreset == 1 && !isMPUSoftReset()) {
rxConfig->spektrum_sat_bind = 0; rxConfig->spektrum_sat_bind = 0;
saveConfigAndNotify(); saveConfigAndNotify();

2
src/main/rx/xbus.c
View file

@ -71,7 +71,7 @@
// 2200µs -> 0xFFF // 2200µs -> 0xFFF
// Total range is: 2200 - 800 = 1400 <==> 4095 // Total range is: 2200 - 800 = 1400 <==> 4095
// Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12) // Use formula: 800 + value * 1400 / 4096 (i.e. a shift by 12)
#define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12)) #define XBUS_CONVERT_TO_USEC(V) (800 + ((V * 1400) >> 12))
static bool xBusFrameReceived = false; static bool xBusFrameReceived = false;
static bool xBusDataIncoming = false; static bool xBusDataIncoming = false;

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

@ -139,7 +139,7 @@ void rescheduleTask(cfTaskId_e taskId, uint32_t newPeriodMicros)
{ {
if (taskId == TASK_SELF || taskId < TASK_COUNT) { if (taskId == TASK_SELF || taskId < TASK_COUNT) {
cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId]; cfTask_t *task = taskId == TASK_SELF ? currentTask : &cfTasks[taskId];
task->desiredPeriod = MAX(SCHEDULER_DELAY_LIMIT, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging task->desiredPeriod = MAX(SCHEDULER_DELAY_LIMIT, newPeriodMicros); // Limit delay to 100us (10 kHz) to prevent scheduler clogging
} }
} }