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Code Issues Wiki Activity

some fix & should be usable

Browse source 
use quaternion directly & we can fly in 3D mode now

rename uartPort_t to tcpPort_t

fix race on ACC, GYRO, IMU

fix gyro scale & disable SystemLoad calculate

update README.md

remove some unused

fix scale on 3D mode
This commit is contained in:
cs8425 2017-04-06 00:41:40 +08:00
parent 9053feb418
commit efbb7520a8
10 changed files with 350 additions and 70 deletions
Download patch file Download diff file Expand all files Collapse all files

30
src/main/drivers/serial_tcp.c
View file

@ -38,18 +38,18 @@
#define BASE_PORT 5760
const struct serialPortVTable uartVTable[]; // Forward
static uartPort_t tcpSerialPorts[SERIAL_PORT_COUNT];
static tcpPort_t tcpSerialPorts[SERIAL_PORT_COUNT];
static bool portInited[SERIAL_PORT_COUNT];
static bool tcpStart = false;
bool tcpIsStart(void) {
return tcpStart;
}
static void onData(dyad_Event *e) {
uartPort_t* s = (uartPort_t*)(e->udata);
tcpPort_t* s = (tcpPort_t*)(e->udata);
tcpDataIn(s, (uint8_t*)e->data, e->size);
}
static void onClose(dyad_Event *e) {
uartPort_t* s = (uartPort_t*)(e->udata);
tcpPort_t* s = (tcpPort_t*)(e->udata);
s->clientCount--;
s->conn = NULL;
fprintf(stderr, "[CLS]UART%u: %d,%d\n", s->id + 1, s->connected, s->clientCount);
@ -58,7 +58,7 @@ static void onClose(dyad_Event *e) {
}
}
static void onAccept(dyad_Event *e) {
uartPort_t* s = (uartPort_t*)(e->udata);
tcpPort_t* s = (tcpPort_t*)(e->udata);
fprintf(stderr, "New connection on UART%u, %d\n", s->id + 1, s->clientCount);
s->connected = true;
@ -74,7 +74,7 @@ static void onAccept(dyad_Event *e) {
dyad_addListener(e->remote, DYAD_EVENT_DATA, onData, e->udata);
dyad_addListener(e->remote, DYAD_EVENT_CLOSE, onClose, e->udata);
}
static uartPort_t* tcpReconfigure(uartPort_t *s, int id)
static tcpPort_t* tcpReconfigure(tcpPort_t *s, int id)
{
if(portInited[id]) {
fprintf(stderr, "port had initialed!!\n");
@ -113,7 +113,7 @@ static uartPort_t* tcpReconfigure(uartPort_t *s, int id)
serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr rxCallback, uint32_t baudRate, portMode_t mode, portOptions_t options)
{
uartPort_t *s = NULL;
tcpPort_t *s = NULL;
#if defined(USE_UART1) || defined(USE_UART2) || defined(USE_UART3) || defined(USE_UART4) || defined(USE_UART5) || defined(USE_UART6) || defined(USE_UART7) || defined(USE_UART8)
uintptr_t id = ((uintptr_t)USARTx - 1);
@ -143,7 +143,7 @@ serialPort_t *uartOpen(USART_TypeDef *USARTx, serialReceiveCallbackPtr rxCallbac
uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
{
uartPort_t *s = (uartPort_t*)instance;
tcpPort_t *s = (tcpPort_t*)instance;
uint32_t count;
pthread_mutex_lock(&s->rxLock);
if (s->port.rxBufferHead >= s->port.rxBufferTail) {
@ -158,7 +158,7 @@ uint32_t tcpTotalRxBytesWaiting(const serialPort_t *instance)
uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
{
uartPort_t *s = (uartPort_t*)instance;
tcpPort_t *s = (tcpPort_t*)instance;
uint32_t bytesUsed;
pthread_mutex_lock(&s->txLock);
@ -175,7 +175,7 @@ uint32_t tcpTotalTxBytesFree(const serialPort_t *instance)
bool isTcpTransmitBufferEmpty(const serialPort_t *instance)
{
uartPort_t *s = (uartPort_t *)instance;
tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->txLock);
bool isEmpty = s->port.txBufferTail == s->port.txBufferHead;
pthread_mutex_unlock(&s->txLock);
@ -185,7 +185,7 @@ bool isTcpTransmitBufferEmpty(const serialPort_t *instance)
uint8_t tcpRead(serialPort_t *instance)
{
uint8_t ch;
uartPort_t *s = (uartPort_t *)instance;
tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->rxLock);
ch = s->port.rxBuffer[s->port.rxBufferTail];
@ -201,7 +201,7 @@ uint8_t tcpRead(serialPort_t *instance)
void tcpWrite(serialPort_t *instance, uint8_t ch)
{
uartPort_t *s = (uartPort_t *)instance;
tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->txLock);
s->port.txBuffer[s->port.txBufferHead] = ch;
@ -215,10 +215,10 @@ void tcpWrite(serialPort_t *instance, uint8_t ch)
tcpDataOut(s);
}
void tcpDataOut(uartPort_t *instance)
void tcpDataOut(tcpPort_t *instance)
{
uint32_t bytesUsed;
uartPort_t *s = (uartPort_t *)instance;
tcpPort_t *s = (tcpPort_t *)instance;
if(s->conn == NULL) return;
pthread_mutex_lock(&s->txLock);
@ -234,9 +234,9 @@ void tcpDataOut(uartPort_t *instance)
pthread_mutex_unlock(&s->txLock);
}
void tcpDataIn(uartPort_t *instance, uint8_t* ch, int size)
void tcpDataIn(tcpPort_t *instance, uint8_t* ch, int size)
{
uartPort_t *s = (uartPort_t *)instance;
tcpPort_t *s = (tcpPort_t *)instance;
pthread_mutex_lock(&s->rxLock);
while(size--) {