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Code Issues Wiki Activity

Merge remote-tracking branch 'upstream/master' into blackbox-flash

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This commit is contained in:
Nicholas Sherlock 2015-02-21 12:52:26 +13:00
commit f6c9f7cc4a
16 changed files with 457 additions and 115 deletions
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163
src/main/io/serial_cli.c
View file

@ -98,6 +98,7 @@ static void cliProfile(char *cmdline);
static void cliRateProfile(char *cmdline);
static void cliReboot(void);
static void cliSave(char *cmdline);
static void cliServo(char *cmdline);
static void cliSet(char *cmdline);
static void cliGet(char *cmdline);
static void cliStatus(char *cmdline);
@ -212,6 +213,9 @@ const clicmd_t cmdTable[] = {
{ "profile", "index (0 to 2)", cliProfile },
{ "rateprofile", "index (0 to 2)", cliRateProfile },
{ "save", "save and reboot", cliSave },
#ifndef CJMCU
{ "servo", "servo config", cliServo },
#endif
{ "set", "name=value or blank or * for list", cliSet },
{ "status", "show system status", cliStatus },
{ "version", "", cliVersion },
@ -492,14 +496,18 @@ static char *processChannelRangeArgs(char *ptr, channelRange_t *range, uint8_t *
return ptr;
}
// Check if a string's length is zero
static bool isEmpty(const char *string)
{
return *string == '\0';
}
static void cliAux(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
// print out aux channel settings
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
modeActivationCondition_t *mac = &currentProfile->modeActivationConditions[i];
@ -548,11 +556,9 @@ static void cliAux(char *cmdline)
static void cliAdjustmentRange(char *cmdline)
{
int i, val = 0;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
// print out adjustment ranges channel settings
for (i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
adjustmentRange_t *ar = &currentProfile->adjustmentRanges[i];
@ -627,9 +633,7 @@ static void cliCMix(char *cmdline)
float mixsum[3];
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
cliPrint("Custom mixer: \r\nMotor\tThr\tRoll\tPitch\tYaw\r\n");
for (i = 0; i < MAX_SUPPORTED_MOTORS; i++) {
if (masterConfig.customMixer[i].throttle == 0.0f)
@ -713,12 +717,10 @@ static void cliCMix(char *cmdline)
static void cliLed(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
char ledConfigBuffer[20];
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
for (i = 0; i < MAX_LED_STRIP_LENGTH; i++) {
generateLedConfig(i, ledConfigBuffer, sizeof(ledConfigBuffer));
printf("led %u %s\r\n", i, ledConfigBuffer);
@ -729,7 +731,7 @@ static void cliLed(char *cmdline)
if (i < MAX_LED_STRIP_LENGTH) {
ptr = strchr(cmdline, ' ');
if (!parseLedStripConfig(i, ++ptr)) {
printf("Parse error\r\n", MAX_LED_STRIP_LENGTH);
cliPrint("Parse error\r\n");
}
} else {
printf("Invalid led index: must be < %u\r\n", MAX_LED_STRIP_LENGTH);
@ -740,11 +742,9 @@ static void cliLed(char *cmdline)
static void cliColor(char *cmdline)
{
int i;
uint8_t len;
char *ptr;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
for (i = 0; i < CONFIGURABLE_COLOR_COUNT; i++) {
printf("color %u %d,%u,%u\r\n", i, masterConfig.colors[i].h, masterConfig.colors[i].s, masterConfig.colors[i].v);
}
@ -754,7 +754,7 @@ static void cliColor(char *cmdline)
if (i < CONFIGURABLE_COLOR_COUNT) {
ptr = strchr(cmdline, ' ');
if (!parseColor(i, ++ptr)) {
printf("Parse error\r\n", CONFIGURABLE_COLOR_COUNT);
cliPrint("Parse error\r\n");
}
} else {
printf("Invalid color index: must be < %u\r\n", CONFIGURABLE_COLOR_COUNT);
@ -763,6 +763,78 @@ static void cliColor(char *cmdline)
}
#endif
static void cliServo(char *cmdline)
{
#ifdef CJMCU
UNUSED(cmdline);
#else
enum { SERVO_ARGUMENT_COUNT = 6 };
int16_t arguments[SERVO_ARGUMENT_COUNT];
servoParam_t *servo;
int i;
char *ptr;
if (isEmpty(cmdline)) {
// print out servo settings
for (i = 0; i < MAX_SUPPORTED_SERVOS; i++) {
servo = &currentProfile->servoConf[i];
printf("servo %u %d %d %d %d %d\r\n",
i,
servo->min,
servo->max,
servo->middle,
servo->rate,
servo->forwardFromChannel
);
}
} else {
int validArgumentCount = 0;
ptr = cmdline;
// Command line is integers (possibly negative) separated by spaces, no other characters allowed.
// If command line doesn't fit the format, don't modify the config
while (*ptr) {
if (*ptr == '-' || (*ptr >= '0' && *ptr <= '9')) {
if (validArgumentCount >= SERVO_ARGUMENT_COUNT) {
cliPrint("Parse error\r\n");
return;
}
arguments[validArgumentCount++] = atoi(ptr);
do {
ptr++;
} while (*ptr >= '0' && *ptr <= '9');
} else if (*ptr == ' ') {
ptr++;
} else {
cliPrint("Parse error\r\n");
return;
}
}
// Check we got the right number of args and the servo index is correct (don't validate the other values)
if (validArgumentCount != SERVO_ARGUMENT_COUNT || arguments[0] < 0 || arguments[0] >= MAX_SUPPORTED_SERVOS) {
cliPrint("Parse error\r\n");
return;
}
servo = &currentProfile->servoConf[arguments[0]];
servo->min = arguments[1];
servo->max = arguments[2];
servo->middle = arguments[3];
servo->rate = arguments[4];
servo->forwardFromChannel = arguments[5];
}
#endif
}
#ifdef USE_FLASHFS
static void cliFlashInfo(char *cmdline)
@ -898,11 +970,11 @@ static void cliDump(char *cmdline)
if (dumpMask & DUMP_MASTER) {
printf("\r\n# version\r\n");
cliPrint("\r\n# version\r\n");
cliVersion(NULL);
printf("\r\n# dump master\r\n");
printf("\r\n# mixer\r\n");
cliPrint("\r\n# dump master\r\n");
cliPrint("\r\n# mixer\r\n");
#ifndef USE_QUAD_MIXER_ONLY
printf("mixer %s\r\n", mixerNames[masterConfig.mixerMode - 1]);
@ -917,23 +989,23 @@ static void cliDump(char *cmdline)
yaw = masterConfig.customMixer[i].yaw;
printf("cmix %d", i + 1);
if (thr < 0)
printf(" ");
cliWrite(' ');
printf("%s", ftoa(thr, buf));
if (roll < 0)
printf(" ");
cliWrite(' ');
printf("%s", ftoa(roll, buf));
if (pitch < 0)
printf(" ");
cliWrite(' ');
printf("%s", ftoa(pitch, buf));
if (yaw < 0)
printf(" ");
cliWrite(' ');
printf("%s\r\n", ftoa(yaw, buf));
}
printf("cmix %d 0 0 0 0\r\n", i + 1);
}
#endif
printf("\r\n\r\n# feature\r\n");
cliPrint("\r\n\r\n# feature\r\n");
mask = featureMask();
for (i = 0; ; i++) { // disable all feature first
@ -948,7 +1020,7 @@ static void cliDump(char *cmdline)
printf("feature %s\r\n", featureNames[i]);
}
printf("\r\n\r\n# map\r\n");
cliPrint("\r\n\r\n# map\r\n");
for (i = 0; i < 8; i++)
buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
@ -956,10 +1028,10 @@ static void cliDump(char *cmdline)
printf("map %s\r\n", buf);
#ifdef LED_STRIP
printf("\r\n\r\n# led\r\n");
cliPrint("\r\n\r\n# led\r\n");
cliLed("");
printf("\r\n\r\n# color\r\n");
cliPrint("\r\n\r\n# color\r\n");
cliColor("");
#endif
printSectionBreak();
@ -967,28 +1039,32 @@ static void cliDump(char *cmdline)
}
if (dumpMask & DUMP_PROFILE) {
printf("\r\n# dump profile\r\n");
cliPrint("\r\n# dump profile\r\n");
printf("\r\n# profile\r\n");
cliPrint("\r\n# profile\r\n");
cliProfile("");
printf("\r\n# aux\r\n");
cliPrint("\r\n# aux\r\n");
cliAux("");
printf("\r\n# adjrange\r\n");
cliPrint("\r\n# adjrange\r\n");
cliAdjustmentRange("");
cliPrint("\r\n# servo\r\n");
cliServo("");
printSectionBreak();
dumpValues(PROFILE_VALUE);
}
if (dumpMask & DUMP_CONTROL_RATE_PROFILE) {
printf("\r\n# dump rates\r\n");
cliPrint("\r\n# dump rates\r\n");
printf("\r\n# rateprofile\r\n");
cliPrint("\r\n# rateprofile\r\n");
cliRateProfile("");
printSectionBreak();
@ -1185,12 +1261,11 @@ static void cliMotor(char *cmdline)
{
int motor_index = 0;
int motor_value = 0;
int len, index = 0;
int index = 0;
char *pch = NULL;
len = strlen(cmdline);
if (len == 0) {
printf("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
if (isEmpty(cmdline)) {
cliPrint("Usage:\r\nmotor index [value] - show [or set] motor value\r\n");
return;
}
@ -1219,7 +1294,7 @@ static void cliMotor(char *cmdline)
}
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
printf("Invalid motor value, 1000..2000\r\n");
cliPrint("Invalid motor value, 1000..2000\r\n");
return;
}
@ -1229,11 +1304,9 @@ static void cliMotor(char *cmdline)
static void cliProfile(char *cmdline)
{
uint8_t len;
int i;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
printf("profile %d\r\n", getCurrentProfile());
return;
} else {
@ -1249,11 +1322,9 @@ static void cliProfile(char *cmdline)
static void cliRateProfile(char *cmdline)
{
uint8_t len;
int i;
len = strlen(cmdline);
if (len == 0) {
if (isEmpty(cmdline)) {
printf("rateprofile %d\r\n", getCurrentControlRateProfile());
return;
} else {
@ -1447,7 +1518,7 @@ static void cliGet(char *cmdline)
val = &valueTable[i];
printf("%s = ", valueTable[i].name);
cliPrintVar(val, 0);
printf("\r\n");
cliPrint("\r\n");
matchedCommands++;
}

66
src/main/target/ALIENWIIF3/target.h
View file

@ -28,7 +28,7 @@
#define USABLE_TIMER_CHANNEL_COUNT 11
// MPU 9150 INT connected to PA15, pulled up to VCC by 10K Resistor, contains MPU6050 and AK8975 in single component.
// Using MPU6050 for the moment.
#define GYRO
#define USE_GYRO_MPU6050
@ -39,11 +39,13 @@
#define ACC_MPU6050_ALIGN CW270_DEG
// No baro support.
//#define BARO
//#define USE_BARO_MS5611
#define MAG
#define USE_MAG_AK8975
// No mag support for now (option to use MPU9150 in the future).
//#define MAG
//#define USE_MAG_AK8975
#define MAG_AK8975_ALIGN CW0_DEG_FLIP
@ -51,9 +53,9 @@
#define LED1
#define USE_VCP
#define USE_USART1 // Conn 1 - TX (PB6) RX PB7 (AF7)
#define USE_USART2 // Input - RX (PA3)
#define USE_USART3 // Servo out - 10/RX (PB11) 11/TX (PB10)
#define USE_USART1 // Not connected - TX (PB6) RX PB7 (AF7)
#define USE_USART2 // Receiver - RX (PA3)
#define USE_USART3 // Not connected - 10/RX (PB11) 11/TX (PB10)
#define SERIAL_PORT_COUNT 4
#define UART1_TX_PIN GPIO_Pin_6 // PB6
@ -63,14 +65,13 @@
#define UART1_TX_PINSOURCE GPIO_PinSource6
#define UART1_RX_PINSOURCE GPIO_PinSource7
#define UART2_TX_PIN GPIO_Pin_2 // PA2 - Clashes with PWM6 input.
#define UART2_TX_PIN GPIO_Pin_2 // PA2
#define UART2_RX_PIN GPIO_Pin_3 // PA3
#define UART2_GPIO GPIOA
#define UART2_GPIO_AF GPIO_AF_7
#define UART2_TX_PINSOURCE GPIO_PinSource2
#define UART2_RX_PINSOURCE GPIO_PinSource3
// Note: PA5 and PA0 are N/C on the sparky - potentially use for ADC or LED STRIP?
#define USE_I2C
#define I2C_DEVICE (I2CDEV_2) // SDA (PA10/AF4), SCL (PA9/AF4)
@ -89,53 +90,20 @@
#define BLACKBOX
#define SERIAL_RX
#define GPS
#define DISPLAY
#define LED_STRIP
#if 1
// LED strip configuration using PWM motor output pin 5.
#define LED_STRIP_TIMER TIM16
#define USE_LED_STRIP_ON_DMA1_CHANNEL3
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_6 // TIM16_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource6
#define WS2811_TIMER TIM16
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM16
#define WS2811_DMA_CHANNEL DMA1_Channel3
#define WS2811_IRQ DMA1_Channel3_IRQn
#endif
#if 0
// Alternate LED strip pin
// FIXME DMA IRQ Transfer Complete is never called because the TIM17_DMA_RMP needs to be set in SYSCFG_CFGR1
#define LED_STRIP_TIMER TIM17
#define USE_LED_STRIP_ON_DMA1_CHANNEL7
#define WS2811_GPIO GPIOA
#define WS2811_GPIO_AHB_PERIPHERAL RCC_AHBPeriph_GPIOA
#define WS2811_GPIO_AF GPIO_AF_1
#define WS2811_PIN GPIO_Pin_7 // TIM17_CH1
#define WS2811_PIN_SOURCE GPIO_PinSource7
#define WS2811_TIMER TIM17
#define WS2811_TIMER_APB2_PERIPHERAL RCC_APB2Periph_TIM17
#define WS2811_DMA_CHANNEL DMA1_Channel7
#define WS2811_IRQ DMA1_Channel7_IRQn
#endif
//#define DISPLAY
#define AUTOTUNE
#define SPEKTRUM_BIND
// USART2, PA3
#define BIND_PORT GPIOA
#define BIND_PIN Pin_3
#define BIND_PORT GPIOA
#define BIND_PIN Pin_3
// alternative defaults for AlienWii32 F3 target
#define ALIENWII32
#define HARDWARE_BIND_PLUG
// Hardware bind plug at PB12 (Pin 25)
#define BINDPLUG_PORT GPIOB
#define BINDPLUG_PIN Pin_12
// alternative defaults for AlienWii32 F3 target
#define ALIENWII32
#define BRUSHED_MOTORS
#define HARDWARE_BIND_PLUG

2
src/main/target/NAZE/target.h
View file

@ -163,8 +163,8 @@
#ifdef ALIENWII32
#undef TARGET_BOARD_IDENTIFIER
#define TARGET_BOARD_IDENTIFIER "AWF1" // AlienWii32 F1.
#define BRUSHED_MOTORS
#define HARDWARE_BIND_PLUG
// Hardware bind plug at PB5 (Pin 41)
#define BINDPLUG_PORT GPIOB
#define BINDPLUG_PIN Pin_5

8
src/test/unit/battery_unittest.cc
View file

@ -39,6 +39,14 @@ TEST(BatteryTest, BatteryADCToVoltage)
batteryConfig_t batteryConfig;
// batteryInit() reads a bunch of fields including vbatscale, so set up the config with useful initial values:
memset(&batteryConfig, 0, sizeof(batteryConfig));
batteryConfig.vbatmaxcellvoltage = 43;
batteryConfig.vbatmincellvoltage = 33;
batteryConfig.vbatwarningcellvoltage = 35;
batteryConfig.vbatscale = VBAT_SCALE_DEFAULT;
batteryInit(&batteryConfig);
batteryAdcToVoltageExpectation_t batteryAdcToVoltageExpectations[] = {