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format code properly
match the comment from pullrequest about spacing remains : some hand alignment for comment and wrong /** */ usage. Conflicts: src/board.h src/buzzer.c src/config.c src/drivers/serial_common.h src/drivers/system_common.c src/drv_gpio.h src/drv_pwm.c src/drv_timer.c src/drv_uart.c src/flight_imu.c src/mw.c src/serial_cli.c
This commit is contained in:
treymarc
Dominic Clifton
parent
ab2273f93e
commit
cabc57774c
27 changed files with 141 additions and 135 deletions
59
src/config.c
59
src/config.c
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@ -37,22 +37,21 @@
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#include "config_master.h"
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void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
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void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
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void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
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escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
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airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
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#ifndef FLASH_PAGE_COUNT
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#define FLASH_PAGE_COUNT 128
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#endif
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#define FLASH_PAGE_SIZE ((uint16_t)0x400)
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#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 2)) // use the last 2 KB for storage
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master_t masterConfig; // master config struct with data independent from profiles
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#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 2)) // use the last 2 KB for storage
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master_t masterConfig; // master config struct with data independent from profiles
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profile_t currentProfile; // profile config struct
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static const uint8_t EEPROM_CONF_VERSION = 66;
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static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
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{
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accelerometerTrims->trims.pitch = 0;
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@ -168,10 +167,10 @@ static void resetConf(void)
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featureSet(FEATURE_VBAT);
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// global settings
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masterConfig.current_profile_index = 0; // default profile
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masterConfig.gyro_cmpf_factor = 600; // default MWC
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masterConfig.gyro_cmpfm_factor = 250; // default MWC
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masterConfig.gyro_lpf = 42; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead
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masterConfig.current_profile_index = 0; // default profile
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masterConfig.gyro_cmpf_factor = 600; // default MWC
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masterConfig.gyro_cmpfm_factor = 250; // default MWC
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masterConfig.gyro_lpf = 42; // supported by all gyro drivers now. In case of ST gyro, will default to 32Hz instead
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resetAccelerometerTrims(&masterConfig.accZero);
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@ -195,7 +194,7 @@ static void resetConf(void)
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masterConfig.rxConfig.midrc = 1500;
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masterConfig.rxConfig.mincheck = 1100;
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masterConfig.rxConfig.maxcheck = 1900;
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masterConfig.retarded_arm = 0; // disable arm/disarm on roll left/right
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masterConfig.retarded_arm = 0; // disable arm/disarm on roll left/right
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masterConfig.airplaneConfig.flaps_speed = 0;
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masterConfig.fixedwing_althold_dir = 1;
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@ -250,10 +249,10 @@ static void resetConf(void)
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currentProfile.throttle_correction_angle = 800; // could be 80.0 deg with atlhold or 45.0 for fpv
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// Failsafe Variables
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currentProfile.failsafeConfig.failsafe_delay = 10; // 1sec
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currentProfile.failsafeConfig.failsafe_off_delay = 200; // 20sec
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currentProfile.failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
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currentProfile.failsafeConfig.failsafe_detect_threshold = 985; // any of first 4 channels below this value will trigger failsafe
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currentProfile.failsafeConfig.failsafe_delay = 10; // 1sec
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currentProfile.failsafeConfig.failsafe_off_delay = 200; // 20sec
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currentProfile.failsafeConfig.failsafe_throttle = 1200; // decent default which should always be below hover throttle for people.
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currentProfile.failsafeConfig.failsafe_detect_threshold = 985; // any of first 4 channels below this value will trigger failsafe
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// servos
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for (i = 0; i < 8; i++) {
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@ -293,7 +292,7 @@ static uint8_t calculateChecksum(const uint8_t *data, uint32_t length)
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static bool isEEPROMContentValid(void)
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{
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const master_t *temp = (const master_t *)FLASH_WRITE_ADDR;
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const master_t *temp = (const master_t *) FLASH_WRITE_ADDR;
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uint8_t checksum = 0;
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// check version number
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@ -305,7 +304,7 @@ static bool isEEPROMContentValid(void)
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return false;
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// verify integrity of temporary copy
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checksum = calculateChecksum((const uint8_t *)temp, sizeof(master_t));
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checksum = calculateChecksum((const uint8_t *) temp, sizeof(master_t));
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if (checksum != 0)
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return false;
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@ -326,21 +325,22 @@ void activateConfig(void)
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useFailsafeConfig(¤tProfile.failsafeConfig);
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setAccelerationTrims(&masterConfig.accZero);
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mixerUseConfigs(
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currentProfile.servoConf,
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&masterConfig.flight3DConfig,
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&masterConfig.escAndServoConfig,
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¤tProfile.mixerConfig,
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&masterConfig.airplaneConfig,
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&masterConfig.rxConfig,
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¤tProfile.gimbalConfig
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);
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currentProfile.servoConf,
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&masterConfig.flight3DConfig,
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&masterConfig.escAndServoConfig,
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¤tProfile.mixerConfig,
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&masterConfig.airplaneConfig,
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&masterConfig.rxConfig,
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¤tProfile.gimbalConfig
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);
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#ifdef BARO
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useBarometerConfig(¤tProfile.barometerConfig);
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#endif
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}
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void validateAndFixConfig(void) {
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void validateAndFixConfig(void)
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{
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if (!(feature(FEATURE_PARALLEL_PWM) || feature(FEATURE_PPM) || feature(FEATURE_SERIALRX))) {
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featureSet(FEATURE_PARALLEL_PWM); // Consider changing the default to PPM
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}
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@ -390,7 +390,7 @@ void readEEPROM(void)
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failureMode(10);
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// Read flash
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memcpy(&masterConfig, (char *)FLASH_WRITE_ADDR, sizeof(master_t));
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memcpy(&masterConfig, (char *) FLASH_WRITE_ADDR, sizeof(master_t));
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// Copy current profile
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if (masterConfig.current_profile_index > 2) // sanity check
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masterConfig.current_profile_index = 0;
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@ -425,7 +425,7 @@ void writeEEPROM(void)
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masterConfig.magic_be = 0xBE;
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masterConfig.magic_ef = 0xEF;
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masterConfig.chk = 0; // erase checksum before recalculating
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masterConfig.chk = calculateChecksum((const uint8_t *)&masterConfig, sizeof(master_t));
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masterConfig.chk = calculateChecksum((const uint8_t *) &masterConfig, sizeof(master_t));
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// write it
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FLASH_Unlock();
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@ -438,7 +438,8 @@ void writeEEPROM(void)
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#endif
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status = FLASH_ErasePage(FLASH_WRITE_ADDR);
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for (wordOffset = 0; wordOffset < sizeof(master_t) && status == FLASH_COMPLETE; wordOffset += 4) {
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status = FLASH_ProgramWord(FLASH_WRITE_ADDR + wordOffset, *(uint32_t *) ((char *)&masterConfig + wordOffset));
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status = FLASH_ProgramWord(FLASH_WRITE_ADDR + wordOffset,
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*(uint32_t *) ((char *) &masterConfig + wordOffset));
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}
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if (status == FLASH_COMPLETE) {
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break;
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