mirror of
https://github.com/betaflight/betaflight.git
synced 2025-07-13 03:20:00 +03:00
9e5504acd8
added float-based acc lpf, acc_lpf_factor values now changed, its 1/factor now, values 60+ and larger filter heavier. playing with release MPU6050 hardware, looks like acc1G is fucked, as predicted bug in serial output (forgot to output armed bit to GUI, estalt is /10) git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@144 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
94 lines
2.8 KiB
C
Executable file
94 lines
2.8 KiB
C
Executable file
#pragma once
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// for roundf()
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#define __USE_C99_MATH
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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_SPEKTRUM = 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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} 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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