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Moved function declarations out of main. Tidied drivers.

This commit is contained in:
Martin Budden 2016-08-02 15:11:35 +01:00
parent c50efe6352
commit 1c997abaaf
31 changed files with 112 additions and 96 deletions
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2
src/main/common/printf.h
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@ -120,5 +120,7 @@ int tfp_format(void *putp, void (*putf) (void *, char), const char *fmt, va_list
#define sprintf tfp_sprintf
void setPrintfSerialPort(serialPort_t *serialPort);
void printfSupportInit(void);
#endif

5
src/main/drivers/accgyro_lsm303dlhc.c
View File

@ -19,6 +19,9 @@
#include <stdint.h>
#include "platform.h"
#ifdef USE_ACC_LSM303DLHC
#include "debug.h"
#include "common/maths.h"
@ -167,4 +170,4 @@ bool lsm303dlhcAccDetect(acc_t *acc)
acc->read = lsm303dlhcAccRead;
return true;
}
#endif

40
src/main/drivers/bus_i2c_stm32f30x.c
View File

@ -132,10 +132,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_Reload_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
@ -143,10 +143,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
}
}
/* Send Register address */
/* Send Register address */
I2C_SendData(I2Cx, (uint8_t) reg);
/* Wait until TCR flag is set */
/* Wait until TCR flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TCR) == RESET)
{
@ -155,10 +155,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_AutoEnd_Mode, I2C_No_StartStop);
/* Wait until TXIS flag is set */
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
@ -166,10 +166,10 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
}
}
/* Write data to TXDR */
/* Write data to TXDR */
I2C_SendData(I2Cx, data);
/* Wait until STOPF flag is set */
/* Wait until STOPF flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
if ((i2cTimeout--) == 0) {
@ -177,7 +177,7 @@ bool i2cWrite(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t data)
}
}
/* Clear STOPF flag */
/* Clear STOPF flag */
I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
return true;
@ -198,10 +198,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, 1, I2C_SoftEnd_Mode, I2C_Generate_Start_Write);
/* Wait until TXIS flag is set */
/* Wait until TXIS flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TXIS) == RESET) {
if ((i2cTimeout--) == 0) {
@ -209,10 +209,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
}
}
/* Send Register address */
/* Send Register address */
I2C_SendData(I2Cx, (uint8_t) reg);
/* Wait until TC flag is set */
/* Wait until TC flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_TC) == RESET) {
if ((i2cTimeout--) == 0) {
@ -220,10 +220,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
}
}
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
/* Configure slave address, nbytes, reload, end mode and start or stop generation */
I2C_TransferHandling(I2Cx, addr_, len, I2C_AutoEnd_Mode, I2C_Generate_Start_Read);
/* Wait until all data are received */
/* Wait until all data are received */
while (len) {
/* Wait until RXNE flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
@ -233,16 +233,16 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
}
}
/* Read data from RXDR */
/* Read data from RXDR */
*buf = I2C_ReceiveData(I2Cx);
/* Point to the next location where the byte read will be saved */
buf++;
/* Decrement the read bytes counter */
/* Decrement the read bytes counter */
len--;
}
/* Wait until STOPF flag is set */
/* Wait until STOPF flag is set */
i2cTimeout = I2C_LONG_TIMEOUT;
while (I2C_GetFlagStatus(I2Cx, I2C_ISR_STOPF) == RESET) {
if ((i2cTimeout--) == 0) {
@ -250,10 +250,10 @@ bool i2cRead(I2CDevice device, uint8_t addr_, uint8_t reg, uint8_t len, uint8_t*
}
}
/* Clear STOPF flag */
/* Clear STOPF flag */
I2C_ClearFlag(I2Cx, I2C_ICR_STOPCF);
/* If all operations OK */
/* If all operations OK */
return true;
}

10
src/main/drivers/compass_ak8975.c
View File

@ -20,10 +20,12 @@
#include <math.h>
#include "build_config.h"
#include "platform.h"
#ifdef USE_MAG_AK8975
#include "build_config.h"
#include "common/axis.h"
#include "common/maths.h"
@ -31,7 +33,6 @@
#include "gpio.h"
#include "bus_i2c.h"
#include "sensors/boardalignment.h"
#include "sensors/sensors.h"
#include "sensor.h"
@ -59,7 +60,7 @@
#define AK8975_MAG_REG_CNTL 0x0a
#define AK8975_MAG_REG_ASCT 0x0c // self test
bool ak8975detect(mag_t *mag)
bool ak8975Detect(mag_t *mag)
{
bool ack = false;
uint8_t sig = 0;
@ -155,3 +156,4 @@ bool ak8975Read(int16_t *magData)
ack = i2cWrite(MAG_I2C_INSTANCE, AK8975_MAG_I2C_ADDRESS, AK8975_MAG_REG_CNTL, 0x01); // start reading again
return true;
}
#endif

2
src/main/drivers/compass_ak8975.h
View File

@ -17,6 +17,6 @@
#pragma once
bool ak8975detect(mag_t *mag);
bool ak8975Detect(mag_t *mag);
void ak8975Init(void);
bool ak8975Read(int16_t *magData);

4
src/main/drivers/compass_hmc5883l.c
View File

@ -21,6 +21,9 @@
#include <math.h>
#include "platform.h"
#ifdef USE_MAG_HMC5883
#include "debug.h"
#include "common/axis.h"
@ -271,3 +274,4 @@ bool hmc5883lRead(int16_t *magData)
return true;
}
#endif

2
src/main/drivers/inverter.h
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@ -28,5 +28,3 @@ void inverterSet(bool on);
void initInverter(void);

10
src/main/drivers/io.c
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@ -54,14 +54,14 @@ const struct ioPortDef_s ioPortDefs[] = {
# endif
const char * const ownerNames[OWNER_TOTAL_COUNT] = {
"FREE", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
"SONAR", "SYSTEM", "SPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
"BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER"
"FREE", "PWM", "PPM", "MOTOR", "SERVO", "SOFTSERIAL", "ADC", "SERIAL", "DEBUG", "TIMER",
"SONAR", "SYSTEM", "SPI", "I2C", "SDCARD", "FLASH", "USB", "BEEPER", "OSD",
"BARO", "MPU", "INVERTER", "LED STRIP", "LED", "RECEIVER", "TRANSMITTER"
};
const char * const resourceNames[RESOURCE_TOTAL_COUNT] = {
"", // NONE
"IN", "OUT", "IN / OUT", "TIMER","UART TX","UART RX","UART TX/RX","EXTI","SCL",
"", // NONE
"IN", "OUT", "IN / OUT", "TIMER","UART TX","UART RX","UART TX/RX","EXTI","SCL",
"SDA", "SCK","MOSI","MISO","CS","BATTERY","RSSI","EXT","CURRENT"
};

4
src/main/drivers/light_ws2811strip.c
View File

@ -30,6 +30,8 @@
#include <platform.h>
#ifdef LED_STRIP
#include "build_config.h"
#include "common/color.h"
@ -37,8 +39,6 @@
#include "drivers/dma.h"
#include "drivers/light_ws2811strip.h"
#ifdef LED_STRIP
uint8_t ledStripDMABuffer[WS2811_DMA_BUFFER_SIZE];
volatile uint8_t ws2811LedDataTransferInProgress = 0;

4
src/main/drivers/light_ws2811strip_stm32f10x.c
View File

@ -20,6 +20,8 @@
#include <platform.h>
#ifdef LED_STRIP
#include "common/color.h"
#include "drivers/light_ws2811strip.h"
#include "nvic.h"
@ -27,8 +29,6 @@
#include "dma.h"
#include "timer.h"
#ifdef LED_STRIP
static IO_t ws2811IO = IO_NONE;
bool ws2811Initialised = false;

4
src/main/drivers/light_ws2811strip_stm32f30x.c
View File

@ -20,6 +20,8 @@
#include <platform.h>
#ifdef LED_STRIP
#include "io.h"
#include "nvic.h"
@ -29,8 +31,6 @@
#include "rcc.h"
#include "timer.h"
#ifdef LED_STRIP
#ifndef WS2811_PIN
#define WS2811_PIN PB8 // TIM16_CH1
#define WS2811_TIMER TIM16

4
src/main/drivers/light_ws2811strip_stm32f4xx.c
View File

@ -20,6 +20,8 @@
#include "platform.h"
#ifdef LED_STRIP
#include "common/color.h"
#include "light_ws2811strip.h"
#include "nvic.h"
@ -29,8 +31,6 @@
#include "rcc.h"
#include "timer.h"
#ifdef LED_STRIP
#if !defined(WS2811_PIN)
#define WS2811_PIN PA0
#define WS2811_TIMER TIM5

6
src/main/drivers/pwm_mapping.c
View File

@ -89,7 +89,6 @@ pwmOutputConfiguration_t *pwmGetOutputConfiguration(void)
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
{
int i = 0;
const uint16_t *setup;
#ifndef SKIP_RX_PWM_PPM
@ -99,6 +98,7 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
memset(&pwmOutputConfiguration, 0, sizeof(pwmOutputConfiguration));
// this is pretty hacky shit, but it will do for now. array of 4 config maps, [ multiPWM multiPPM airPWM airPPM ]
int i = 0;
if (init->airplane)
i = 2; // switch to air hardware config
if (init->usePPM || init->useSerialRx)
@ -177,8 +177,8 @@ pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init)
#ifdef SONAR
if (init->useSonar &&
(
timerHardwarePtr->tag == init->sonarConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarConfig.echoTag
timerHardwarePtr->tag == init->sonarIOConfig.triggerTag ||
timerHardwarePtr->tag == init->sonarIOConfig.echoTag
)) {
continue;
}

4
src/main/drivers/pwm_mapping.h
View File

@ -68,9 +68,10 @@ typedef struct drv_pwm_config_s {
uint16_t motorPwmRate;
uint16_t idlePulse; // PWM value to use when initializing the driver. set this to either PULSE_1MS (regular pwm),
// some higher value (used by 3d mode), or 0, for brushed pwm drivers.
sonarIOConfig_t sonarConfig;
sonarIOConfig_t sonarIOConfig;
} drv_pwm_config_t;
enum {
MAP_TO_PPM_INPUT = 1,
MAP_TO_PWM_INPUT,
@ -136,4 +137,5 @@ extern const uint16_t airPPM_BP6[];
extern const uint16_t airPWM_BP6[];
#endif
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
pwmOutputConfiguration_t *pwmGetOutputConfiguration(void);

23
src/main/drivers/pwm_output.c
View File

@ -71,12 +71,11 @@ static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8
TIM_OCStructInit(&TIM_OCInitStructure);
TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM2;
if (output & TIMER_OUTPUT_N_CHANNEL) {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
}
else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Disable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Enable;
} else {
TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
TIM_OCInitStructure.TIM_OutputNState = TIM_OutputNState_Disable;
}
TIM_OCInitStructure.TIM_Pulse = value;
TIM_OCInitStructure.TIM_OCPolarity = (output & TIMER_OUTPUT_INVERTED) ? TIM_OCPolarity_High : TIM_OCPolarity_Low;
@ -175,7 +174,7 @@ void pwmWriteMotor(uint8_t index, uint16_t value)
void pwmShutdownPulsesForAllMotors(uint8_t motorCount)
{
for(int index = 0; index < motorCount; index++){
for (int index = 0; index < motorCount; index++) {
// Set the compare register to 0, which stops the output pulsing if the timer overflows
*motors[index]->ccr = 0;
}
@ -197,13 +196,13 @@ void pwmCompleteOneshotMotorUpdate(uint8_t motorCount)
bool overflowed = false;
// If we have not already overflowed this timer
for (int j = 0; j < index; j++) {
if (motors[j]->tim == motors[index]->tim) {
overflowed = true;
break;
}
if (motors[j]->tim == motors[index]->tim) {
overflowed = true;
break;
}
}
if (!overflowed) {
timerForceOverflow(motors[index]->tim);
timerForceOverflow(motors[index]->tim);
}
// Set the compare register to 0, which stops the output pulsing if the timer overflows before the main loop completes again.
// This compare register will be set to the output value on the next main loop.

16
src/main/drivers/serial_softserial.c
View File

@ -470,14 +470,16 @@ bool isSoftSerialTransmitBufferEmpty(serialPort_t *instance)
const struct serialPortVTable softSerialVTable[] = {
{
softSerialWriteByte,
softSerialRxBytesWaiting,
softSerialTxBytesFree,
softSerialReadByte,
softSerialSetBaudRate,
isSoftSerialTransmitBufferEmpty,
softSerialSetMode,
.serialWrite = softSerialWriteByte,
.serialTotalRxWaiting = softSerialRxBytesWaiting,
.serialTotalTxFree = softSerialTxBytesFree,
.serialRead = softSerialReadByte,
.serialSetBaudRate = softSerialSetBaudRate,
.isSerialTransmitBufferEmpty = isSoftSerialTransmitBufferEmpty,
.setMode = softSerialSetMode,
.writeBuf = NULL,
.beginWrite = NULL,
.endWrite = NULL
}
};

2
src/main/drivers/system.h
View File

@ -67,5 +67,3 @@ void unregisterExtiCallbackHandler(IRQn_Type irqn, extiCallbackHandlerFunc *fn);
extern uint32_t cachedRccCsrValue;

2
src/main/flight/failsafe.h
View File

@ -70,6 +70,8 @@ typedef struct failsafeState_s {
failsafeRxLinkState_e rxLinkState;
} failsafeState_t;
struct rxConfig_s;
void failsafeInit(struct rxConfig_s *intialRxConfig, uint16_t deadband3d_throttle);
void useFailsafeConfig(failsafeConfig_t *failsafeConfigToUse);
void failsafeStartMonitoring(void);

1
src/main/flight/imu.h
View File

@ -88,3 +88,4 @@ int16_t imuCalculateHeading(t_fp_vector *vec);
void imuResetAccelerationSum(void);
void imuUpdateAcc(rollAndPitchTrims_t *accelerometerTrims);
void imuInit(void);

5
src/main/flight/mixer.h
View File

@ -206,10 +206,15 @@ void mixerUseConfigs(
void writeAllMotors(int16_t mc);
void mixerLoadMix(int index, motorMixer_t *customMixers);
#ifdef USE_SERVOS
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
void servoMixerLoadMix(int index, servoMixer_t *customServoMixers);
void loadCustomServoMixer(void);
int servoDirection(int servoIndex, int fromChannel);
#else
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
#endif
struct pwmOutputConfiguration_s;
void mixerUsePWMOutputConfiguration(struct pwmOutputConfiguration_s *pwmOutputConfiguration, bool use_unsyncedPwm);
void mixerResetDisarmedMotors(void);
void mixTable(void *pidProfilePtr);
void syncMotors(bool enabled);

2
src/main/flight/navigation.h
View File

@ -46,6 +46,8 @@ extern int16_t GPS_directionToHome; // direction to home or hol point in
extern navigationMode_e nav_mode; // Navigation mode
struct pidProfile_s;
void navigationInit(gpsProfile_t *initialGpsProfile, struct pidProfile_s *pidProfile);
void GPS_reset_home_position(void);
void GPS_reset_nav(void);
void GPS_set_next_wp(int32_t* lat, int32_t* lon);

2
src/main/io/display.h
View File

@ -35,6 +35,8 @@ typedef enum {
#endif
} pageId_e;
struct rxConfig_s;
void displayInit(struct rxConfig_s *intialRxConfig);
void updateDisplay(void);
void displayShowFixedPage(pageId_e pageId);

3
src/main/io/gps.h
View File

@ -117,7 +117,8 @@ extern uint8_t GPS_svinfo_cno[16]; // Carrier to Noise Ratio (Signal Str
#define GPS_DBHZ_MIN 0
#define GPS_DBHZ_MAX 55
struct serialConfig_s;
void gpsInit(struct serialConfig_s *serialConfig, gpsConfig_t *initialGpsConfig);
void gpsThread(void);
bool gpsNewFrame(uint8_t c);
void updateGpsIndicator(uint32_t currentTime);

2
src/main/io/serial_cli.h
View File

@ -20,6 +20,8 @@
extern uint8_t cliMode;
struct serialConfig_s;
void cliInit(struct serialConfig_s *serialConfig);
void cliProcess(void);
bool cliIsActiveOnPort(serialPort_t *serialPort);

30
src/main/main.c
View File

@ -25,6 +25,7 @@
#include "common/axis.h"
#include "common/color.h"
#include "common/maths.h"
#include "common/printf.h"
#include "drivers/nvic.h"
@ -61,6 +62,7 @@
#endif
#include "rx/rx.h"
#include "rx/spektrum.h"
#include "io/beeper.h"
#include "io/serial.h"
@ -72,6 +74,8 @@
#include "io/ledstrip.h"
#include "io/display.h"
#include "io/asyncfatfs/asyncfatfs.h"
#include "io/serial_cli.h"
#include "io/serial_msp.h"
#include "io/transponder_ir.h"
#include "io/osd.h"
#include "io/vtx.h"
@ -115,28 +119,6 @@ extern uint8_t motorControlEnable;
serialPort_t *loopbackPort;
#endif
void printfSupportInit(void);
void timerInit(void);
void telemetryInit(void);
void mspInit(serialConfig_t *serialConfig);
void cliInit(serialConfig_t *serialConfig);
void failsafeInit(rxConfig_t *intialRxConfig, uint16_t deadband3d_throttle);
pwmOutputConfiguration_t *pwmInit(drv_pwm_config_t *init);
#ifdef USE_SERVOS
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers, servoMixer_t *customServoMixers);
#else
void mixerInit(mixerMode_e mixerMode, motorMixer_t *customMotorMixers);
#endif
void mixerUsePWMOutputConfiguration(pwmOutputConfiguration_t *pwmOutputConfiguration, bool use_unsyncedPwm);
void rxInit(rxConfig_t *rxConfig, modeActivationCondition_t *modeActivationConditions);
void gpsInit(serialConfig_t *serialConfig, gpsConfig_t *initialGpsConfig);
void navigationInit(gpsProfile_t *initialGpsProfile, pidProfile_t *pidProfile);
void imuInit(void);
void displayInit(rxConfig_t *intialRxConfig);
void ledStripInit(ledConfig_t *ledConfigsToUse, hsvColor_t *colorsToUse, modeColorIndexes_t *modeColorsToUse, specialColorIndexes_t *specialColorsToUse);
void spektrumBind(rxConfig_t *rxConfig);
const sonarHardware_t *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
void osdInit(void);
typedef enum {
SYSTEM_STATE_INITIALISING = 0,
@ -270,8 +252,8 @@ void init(void)
const sonarHardware_t *sonarHardware = sonarGetHardwareConfiguration(masterConfig.batteryConfig.currentMeterType);
if (sonarHardware) {
pwm_params.useSonar = true;
pwm_params.sonarConfig.triggerTag = sonarHardware->triggerTag;
pwm_params.sonarConfig.echoTag = sonarHardware->echoTag;
pwm_params.sonarIOConfig.triggerTag = sonarHardware->triggerTag;
pwm_params.sonarIOConfig.echoTag = sonarHardware->echoTag;
}
}
#endif

5
src/main/rx/rx.h
View File

@ -143,10 +143,11 @@ typedef struct rxRuntimeConfig_s {
extern rxRuntimeConfig_t rxRuntimeConfig;
void useRxConfig(rxConfig_t *rxConfigToUse);
typedef uint16_t (*rcReadRawDataPtr)(rxRuntimeConfig_t *rxRuntimeConfig, uint8_t chan); // used by receiver driver to return channel data
struct modeActivationCondition_s;
void rxInit(rxConfig_t *rxConfig, struct modeActivationCondition_s *modeActivationConditions);
void useRxConfig(rxConfig_t *rxConfigToUse);
void updateRx(uint32_t currentTime);
bool rxIsReceivingSignal(void);
bool rxAreFlightChannelsValid(void);

3
src/main/rx/spektrum.h
View File

@ -21,3 +21,6 @@
#define SPEKTRUM_SAT_BIND_MAX 10
uint8_t spektrumFrameStatus(void);
struct rxConfig_s;
void spektrumBind(struct rxConfig_s *rxConfig);

4
src/main/sensors/battery.h
View File

@ -17,7 +17,6 @@
#pragma once
#include "rx/rx.h"
#include "common/maths.h"
#ifndef VBAT_SCALE_DEFAULT
@ -75,7 +74,8 @@ void updateBattery(void);
void batteryInit(batteryConfig_t *initialBatteryConfig);
batteryConfig_t *batteryConfig;
void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
struct rxConfig_s;
void updateCurrentMeter(int32_t lastUpdateAt, struct rxConfig_s *rxConfig, uint16_t deadband3d_throttle);
int32_t currentMeterToCentiamps(uint16_t src);
fix12_t calculateVbatPidCompensation(void);

2
src/main/sensors/initialisation.c
View File

@ -537,7 +537,7 @@ retry:
case MAG_AK8975:
#ifdef USE_MAG_AK8975
if (ak8975detect(&mag)) {
if (ak8975Detect(&mag)) {
#ifdef MAG_AK8975_ALIGN
magAlign = MAG_AK8975_ALIGN;
#endif

4
src/main/sensors/sonar.h
View File

@ -17,12 +17,16 @@
#pragma once
#include "sensors/battery.h"
#define SONAR_OUT_OF_RANGE (-1)
extern int16_t sonarMaxRangeCm;
extern int16_t sonarCfAltCm;
extern int16_t sonarMaxAltWithTiltCm;
struct sonarHardware_s;
const struct sonarHardware_s *sonarGetHardwareConfiguration(currentSensor_e currentSensor);
void sonarInit(void);
void sonarUpdate(void);
int32_t sonarRead(void);

1
src/main/telemetry/telemetry.h
View File

@ -46,6 +46,7 @@ typedef struct telemetryConfig_s {
uint8_t hottAlarmSoundInterval;
} telemetryConfig_t;
void telemetryInit(void);
bool telemetryCheckRxPortShared(serialPortConfig_t *portConfig);
extern serialPort_t *telemetrySharedPort;