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 enables a new feature setting for PARALLEL_PWM which is enabled by
default.
This starts to move much of the feature checking/excluding code that is
littered through into a single place - validateAndFixConfig(). Since
the config is known to be valid after the method is called other code
can just get on with it's job instead of checking for confliciting
features/settings.
Currently port usage is hard-coded to the default port layout, cli
commands are coming in a future commit.
This decouples all code from the global 'serialPorts' structure which
has been removed. Any code that needs to use a serial port can use
findOpenSerialPort() and openSerialPort() and maintain it's own
reference to the port.
Ports can switch between functions. e.g. by default
cli/msp/telemetry/gps
passthrough all use USART1. Each port maintains it's current function.
see begin/endSerialPortFunction.
There are only certain combinations of serial port functions that are
supported, these are listed in serialPortFunctionScenario_e.
This commit also adds a few 'static' keywords to variables that should
have been.
There a a few other minor fixes and tweaks to various bits of code that
this uncovered too.
TIM8 correctly. Software serial conficted with parallel PWM input. Fixed
crash due to incorrect timerConfig index calculation code.
The crash occurred when capture compare interrupt handlers attempted to
call an invalid callback.
Note: the crash does not affect existing baseflight code since the
formula is OK when using a 2 dimensional array with equal dimensions.
Formula details here:
https://docs.google.com/spreadsheets/d/1UuxnC0VKiprvt1wt3KXffefEWJUb_-ILFLQuP377Anw
This is a large commit, from the commit it is clear that the mixer has
many dependencies, this is expected since it is central to the
application.
To achieve the decoupling many master config and profile members had to
be moved into structures.
Relocated throttle/pitch curves into rc_curves.c/h since it has nothing
to with rx code, this fixed the dependencies inside the rx provider
files.
Rename yawdeadband to yaw_deadband to match other variables/cli
commands.
Fix a couple of usages of MAX_MOTORS where MAX_SUPPORTED_MOTORS should
be used instead.
In doing so accelerometer sensor and trim code had to be cleaned.
Added a new method to buzzer.c to avoid exposing toggleBeep.
Renamed current_profile to current_profile_index to avoid confusion.
Moved some GPS code from mw.c into gps_common.c.
Moved pid values into a pidProfile_t structure; this was done so that
gps_common.c does not have a dependency on config_profile.h.
pidProfile_t lives in flight_common.h now.
Moved gps profile settings from profile_t into gpsProfile_t for the same
reason.
Removed gps_common.c's dependency on masterConfig_t by passing needed
variables into gpsInit().
separate concerns and help reduce and clarify dependencies.
cfg and mcfg are too similarly named and are not obvious. Renamed cfg
to currentProfile and mcfg to masterConfig. This will increase source
code line length somewhat but that's ok; lines of code doing too much
are now easier to spot.
each. relocated acc_t/gyro_t from sensors_common.h into
drivers/accgyro_common.h since they define an interface and the
dependency was pointing the wrong way from the drivers.
baro_t/acc_t/gyro_t dependences are all now pointing the right way.
the code is doing. There are now no EEPROM read/write/reset/verify
methods that take any arguments which removes magic boolean variables
from method signatures.
This also removes duplicate code in the cliDefaults and cliSave commands
which results in smaller code also also due to the deduplication of a
reboot message.
only what it's name implies and it's method takes no arguments. This
avoids the 0/1 magic numbers which was a flag to decide whether the user
should be notified after the EEPROM has been read (!).
Introduced a method called readEEPROMAndNotify() which is used in all
cases where writeEEPROM(1) was previously called.
Additionally this avoid re-reading the profile when the reboot command
is issued which speeds up reboots.
Finally this avoid needless comments because the code tells you now what
it is going to do.
serial_common.c/h. decouple runtime_config from serial ports. decouple
buzzer from serial ports. decouple opening of the main serial port from
the msp code. decouple serial rx providers from runtime_config. rename
core_t to serialPorts_t since it only contained serial ports. It's now
clear which files use serial ports based on the header files they
include.
of determining a revision code. Previously there was mpu6050 specific
code in cli.c (the status command).
Finally this commit has removed all non-serial port configuration
settings from core_t so that a future commit can refactor core_t to
reduce dependencies on serial port code.
In doing this I also noted from other source code that the MPU6050
accelerometer trim for some revisions appeared to be incorrectly set to
255 * 8 instead of 256 * 8.
capability flag which is returned by MSP IDENT (CAP_CHANNEL_FORWARDING).
Adds two new MSP commands that are specifically for configuring channel
forwarding (MSP_CHANNEL_FORWARDING/MSP_SET_CHANNEL_FORWARDING). Servo
'middle' and 'forward from channel' are now stored independently, as
they probably should always have been.
code into rx_common.c. Moved some GPS code into gps_common.c. Isolated
some GPS functions into gps_common.c that were called from mw.c/loop().
moved gimbal defines into gimbal.h. Moved sound & light code into
statusindicator.c
remove dependency on board.h and mw.h on a few files.
Moved rx configuration paramaters into rxConfig in order to remove the
dependency on config_t from the sbus rx code - sumd/spektrum to follow.
Avoided use of YAW/PITCH/ROLL in some files since those constants are
from an unrelated enum type.
Replaced some magic numbers with constants to remove comments and
improve code readability.
Note, due to the tight coupling and global variable usage it was
difficult to create a smaller commit.
This fixes a bug where buzzerFreq could be uninitialised before it's
use.
This improves performance by only checking whether to sound the battery
alarm after the battery voltage has been recalculated.
There were unused battery beep codes which have been deleted to save
code size.
Configuration structure extracted from mw.h into config.h.
Moved mixer configuration structures into flight_mixer.h.
Added a build_config.c in order to decouple pwm_common.h from config.h.
Finally, battery configuration values now live in a batteryConfig
structure which means that battery.c does not depend on config.h and all
of it's dependencies.
Fixed the use of plurals on defines that were not collection objects.
PIDITEMS and CHECKBOXITEMS are now PID_ITEM_COUNT and
CHECKBOX_ITEM_COUNT.
comments that duplicated code. Comments are harder to refactor than
code and become stale. Updating default and limit values for some
settings to use enum values.
PWM6+7/TIM3_CH3+4/PB0+PB1
Update software serial to monitor serial pins for signal changes instead
of periodically sampling pin signals.
When reading the data the timer used is syncronized to the falling edge
of the start bit which allows for better syncronisation at higher
speeds. The code has been tested OK from 1200 baud to 19200. 38400
baud was tested and partially usable but has been disabled because there
are too many transmit and receive errors, especially when transmitting
and receiving at the same time.
Due to the way a single timer is used for transmitting and receiving, if
data comes in while transmitting the system may incorrectly transmit a
short or long bit. However at 19200 and below this didn't cause a
problem in the limited testing I performed.
