mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
96829b7306
split uart2 initialization inside drv_uart. added receive data callback to use either with GPS or spektrum satellite added spektrum satellite support, also freeing up 4 motor outputs for hexa/octo/camstab configurable acc lpf and gyro lpf via cli configurable (build-time) temperature lpf on baro. seems mostly useless. fixed a nice boner bug in mag code which ended up multiplying magADC twice with magCal data. fixed mpu3050 driver to allow configurable lpf, also broke other stuff in the process. considering moving this sort of stuff to "init" struct for sensor. pwm driver rewritten to fully disable pwm/ppm inputs (such as using spektrum satellite case) cleaned up double math in gps.c to use sinf/cosf etc removed TRUSTED_ACCZ since its useless anyway whitespace cleanup git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@130 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
92 lines
2.8 KiB
C
Executable file
92 lines
2.8 KiB
C
Executable file
#pragma once
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#include <stdbool.h>
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#include <stdlib.h>
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#include <stdint.h>
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#include <math.h>
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#include <ctype.h>
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#include <string.h>
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#include <stdio.h>
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#include "stm32f10x_conf.h"
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#include "core_cm3.h"
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif /* M_PI */
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typedef enum {
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SENSOR_ACC = 1 << 0,
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SENSOR_BARO = 1 << 1,
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SENSOR_MAG = 1 << 2,
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SENSOR_SONAR = 1 << 3,
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SENSOR_GPS = 1 << 4,
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} AvailableSensors;
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typedef enum {
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FEATURE_PPM = 1 << 0,
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FEATURE_VBAT = 1 << 1,
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FEATURE_INFLIGHT_ACC_CAL = 1 << 2,
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FEATURE_DIGITAL_SERVO = 1 << 3,
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FEATURE_MOTOR_STOP = 1 << 4,
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FEATURE_SERVO_TILT = 1 << 5,
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FEATURE_CAMTRIG = 1 << 6,
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FEATURE_GYRO_SMOOTHING = 1 << 7,
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FEATURE_LED_RING = 1 << 8,
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FEATURE_GPS = 1 << 9,
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FEATURE_SPEKTRUM = 1 << 10,
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} AvailableFeatures;
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typedef void (* sensorInitFuncPtr)(void); // sensor init prototype
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typedef void (* sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
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typedef void (* uartReceiveCallbackPtr)(uint16_t data); // used by uart2 driver to return frames to app
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typedef uint16_t (* rcReadRawDataPtr)(uint8_t chan); // used by receiver driver to return channel data
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typedef struct sensor_t
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{
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sensorInitFuncPtr init;
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sensorReadFuncPtr read;
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sensorReadFuncPtr align;
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} sensor_t;
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#define digitalHi(p, i) { p->BSRR = i; }
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#define digitalLo(p, i) { p->BRR = i; }
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#define digitalToggle(p, i) { p->ODR ^= i; }
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// Hardware GPIO
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#define LED0_GPIO GPIOB
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#define LED0_PIN GPIO_Pin_3
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#define LED1_GPIO GPIOB
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#define LED1_PIN GPIO_Pin_4
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#define BEEP_GPIO GPIOA
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#define BEEP_PIN GPIO_Pin_12
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#define BARO_GPIO GPIOC
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#define BARO_PIN GPIO_Pin_13
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// Helpful macros
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#define LED0_TOGGLE digitalToggle(LED0_GPIO, LED0_PIN);
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#define LED0_OFF digitalHi(LED0_GPIO, LED0_PIN);
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#define LED0_ON digitalLo(LED0_GPIO, LED0_PIN);
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#define LED1_TOGGLE digitalToggle(LED1_GPIO, LED1_PIN);
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#define LED1_OFF digitalHi(LED1_GPIO, LED1_PIN);
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#define LED1_ON digitalLo(LED1_GPIO, LED1_PIN);
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#define BEEP_TOGGLE digitalToggle(BEEP_GPIO, BEEP_PIN);
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#define BEEP_OFF digitalHi(BEEP_GPIO, BEEP_PIN);
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#define BEEP_ON digitalLo(BEEP_GPIO, BEEP_PIN);
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#define BARO_OFF digitalLo(BARO_GPIO, BARO_PIN);
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#define BARO_ON digitalHi(BARO_GPIO, BARO_PIN);
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#include "drv_system.h" // timers, delays, etc
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#include "drv_adc.h"
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#include "drv_adxl345.h"
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#include "drv_bmp085.h"
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#include "drv_hmc5883l.h"
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#include "drv_i2c.h"
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#include "drv_ledring.h"
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#include "drv_mpu3050.h"
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#include "drv_mpu6050.h"
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#include "drv_pwm.h"
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#include "drv_uart.h"
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