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atbetaflight
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Improving code readability by aligning comments with code and removing 

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.
This commit is contained in:
Dominic Clifton 2014-04-07 01:04:40 +01:00
parent f7c937a323
commit 3007d3cbdc
7 changed files with 42 additions and 29 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

21
src/board.h
View File

@ -90,19 +90,30 @@ typedef enum {
GPS_MTK_NMEA,
GPS_MTK_BINARY,
GPS_MAG_BINARY,
GPS_HARDWARE_MAX = GPS_MAG_BINARY,
} GPSHardware;
typedef enum {
GPS_BAUD_115200 = 0,
GPS_BAUD_57600,
GPS_BAUD_38400,
GPS_BAUD_19200,
GPS_BAUD_9600,
GPS_BAUD_MAX = GPS_BAUD_9600
} GPSBaudRates;
typedef enum {
TELEMETRY_PROVIDER_FRSKY = 0,
TELEMETRY_PROVIDER_HOTT
TELEMETRY_PROVIDER_HOTT,
TELEMETRY_PROVIDER_MAX = TELEMETRY_PROVIDER_HOTT
} TelemetryProvider;
typedef enum {
TELEMETRY_UART = 0,
TELEMETRY_SOFTSERIAL_1,
TELEMETRY_SOFTSERIAL_2,
} TelemetrySerial;
TELEMETRY_PORT_UART = 0,
TELEMETRY_PORT_SOFTSERIAL_1, // Requires FEATURE_SOFTSERIAL
TELEMETRY_PORT_SOFTSERIAL_2, // Requires FEATURE_SOFTSERIAL
TELEMETRY_PORT_MAX = TELEMETRY_PORT_SOFTSERIAL_2
} TelemetryPort;
typedef enum {
X = 0,

8
src/cli.c
View File

@ -133,11 +133,11 @@ const clivalue_t valueTable[] = {
{ "softserial_baudrate", VAR_UINT32, &mcfg.softserial_baudrate, 1200, 19200 },
{ "softserial_1_inverted", VAR_UINT8, &mcfg.softserial_1_inverted, 0, 1 },
{ "softserial_2_inverted", VAR_UINT8, &mcfg.softserial_2_inverted, 0, 1 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, 3 },
{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, 4 },
{ "gps_type", VAR_UINT8, &mcfg.gps_type, 0, GPS_HARDWARE_MAX },
{ "gps_baudrate", VAR_INT8, &mcfg.gps_baudrate, 0, GPS_BAUD_MAX },
{ "serialrx_type", VAR_UINT8, &mcfg.serialrx_type, 0, 3 },
{ "telemetry_provider", VAR_UINT8, &mcfg.telemetry_provider, 0, 1 },
{ "telemetry_softserial", VAR_UINT8, &mcfg.telemetry_softserial, 0, 2 },
{ "telemetry_provider", VAR_UINT8, &mcfg.telemetry_provider, 0, TELEMETRY_PROVIDER_MAX },
{ "telemetry_port", VAR_UINT8, &mcfg.telemetry_port, 0, TELEMETRY_PORT_MAX },
{ "telemetry_switch", VAR_UINT8, &mcfg.telemetry_switch, 0, 1 },
{ "vbatscale", VAR_UINT8, &mcfg.vbatscale, 10, 200 },
{ "vbatmaxcellvoltage", VAR_UINT8, &mcfg.vbatmaxcellvoltage, 10, 50 },

4
src/config.c
View File

@ -193,7 +193,7 @@ static void resetConf(void)
mcfg.power_adc_channel = 0;
mcfg.serialrx_type = 0;
mcfg.telemetry_provider = TELEMETRY_PROVIDER_FRSKY;
mcfg.telemetry_softserial = TELEMETRY_UART;
mcfg.telemetry_port = TELEMETRY_PORT_UART;
mcfg.telemetry_switch = 0;
mcfg.midrc = 1500;
mcfg.mincheck = 1100;
@ -213,7 +213,7 @@ static void resetConf(void)
mcfg.servo_pwm_rate = 50;
// gps/nav stuff
mcfg.gps_type = GPS_NMEA;
mcfg.gps_baudrate = 0;
mcfg.gps_baudrate = GPS_BAUD_115200;
// serial (USART1) baudrate
mcfg.serial_baudrate = 115200;
mcfg.softserial_baudrate = 9600;

20
src/gps.c
View File

@ -8,22 +8,24 @@
// GPS timeout for wrong baud rate/disconnection/etc in milliseconds (default 2.5second)
#define GPS_TIMEOUT (2500)
// How many entries in gpsInitData array below
#define GPS_INIT_ENTRIES (5)
#define GPS_INIT_ENTRIES (GPS_BAUD_MAX + 1)
#define GPS_BAUD_DELAY (100)
typedef struct gpsInitData_t {
uint8_t index;
uint32_t baudrate;
const char *ubx;
const char *mtk;
} gpsInitData_t;
// NMEA will cycle through these until valid data is received
static const gpsInitData_t gpsInitData[] = {
{ 115200, "$PUBX,41,1,0003,0001,115200,0*1E\r\n", "$PMTK251,115200*1F\r\n" },
{ 57600, "$PUBX,41,1,0003,0001,57600,0*2D\r\n", "$PMTK251,57600*2C\r\n" },
{ 38400, "$PUBX,41,1,0003,0001,38400,0*26\r\n", "$PMTK251,38400*27\r\n" },
{ 19200, "$PUBX,41,1,0003,0001,19200,0*23\r\n", "$PMTK251,19200*22\r\n" },
{ GPS_BAUD_115200, 115200, "$PUBX,41,1,0003,0001,115200,0*1E\r\n", "$PMTK251,115200*1F\r\n" },
{ GPS_BAUD_57600, 57600, "$PUBX,41,1,0003,0001,57600,0*2D\r\n", "$PMTK251,57600*2C\r\n" },
{ GPS_BAUD_38400, 38400, "$PUBX,41,1,0003,0001,38400,0*26\r\n", "$PMTK251,38400*27\r\n" },
{ GPS_BAUD_19200, 19200, "$PUBX,41,1,0003,0001,19200,0*23\r\n", "$PMTK251,19200*22\r\n" },
// 9600 is not enough for 5Hz updates - leave for compatibility to dumb NMEA that only runs at this speed
{ 9600, "", "" }
{ GPS_BAUD_9600, 9600, "", "" }
};
static const uint8_t ubloxInit[] = {
@ -74,7 +76,7 @@ static void gpsSetState(uint8_t state)
gpsData.state_ts = millis();
}
void gpsInit(uint8_t baudrate)
void gpsInit(uint8_t baudrateIndex)
{
portMode_t mode = MODE_RXTX;
@ -83,7 +85,7 @@ void gpsInit(uint8_t baudrate)
if (!feature(FEATURE_GPS))
return;
gpsData.baudrateIndex = baudrate;
gpsData.baudrateIndex = baudrateIndex;
gpsData.lastMessage = millis();
gpsData.errors = 0;
// only RX is needed for NMEA-style GPS
@ -91,7 +93,7 @@ void gpsInit(uint8_t baudrate)
mode = MODE_RX;
gpsSetPIDs();
core.gpsport = uartOpen(USART2, gpsNewData, gpsInitData[baudrate].baudrate, mode);
core.gpsport = uartOpen(USART2, gpsNewData, gpsInitData[baudrateIndex].baudrate, mode);
// signal GPS "thread" to initialize when it gets to it
gpsSetState(GPS_INITIALIZING);
}

8
src/mw.h
View File

@ -271,8 +271,8 @@ typedef struct master_t {
uint8_t rssi_aux_channel; // Read rssi from channel. 1+ = AUX1+, 0 to disable.
// gps-related stuff
uint8_t gps_type; // Type of GPS hardware. 0: NMEA 1: UBX 2: MTK NMEA 3: MTK Binary
int8_t gps_baudrate; // GPS baudrate, 0: 115200, 1: 57600, 2: 38400, 3: 19200, 4: 9600. NMEA will cycle through these until valid data is received
uint8_t gps_type; // See GPSHardware enum.
int8_t gps_baudrate; // See GPSBaudRates enum.
uint32_t serial_baudrate;
@ -280,8 +280,8 @@ typedef struct master_t {
uint8_t softserial_1_inverted; // use inverted softserial input and output signals on port 1
uint8_t softserial_2_inverted; // use inverted softserial input and output signals on port 2
uint8_t telemetry_provider; // Telemetry provider. 0:FRSKY
uint8_t telemetry_softserial; // Serial to use for Telemetry. 0:USART1, 1:SoftSerial1 (Enable FEATURE_SOFTSERIAL first)
uint8_t telemetry_provider; // See TelemetryProvider enum.
uint8_t telemetry_port; // See TelemetryPort enum.
uint8_t telemetry_switch; // Use aux channel to change serial output & baudrate( MSP / Telemetry ). It disables automatic switching to Telemetry when armed.
config_t profile[3]; // 3 separate profiles
uint8_t current_profile; // currently loaded profile

8
src/telemetry_common.c
View File

@ -8,11 +8,11 @@ void initTelemetry(void)
{
// Sanity check for softserial vs. telemetry port
if (!feature(FEATURE_SOFTSERIAL))
mcfg.telemetry_softserial = TELEMETRY_UART;
mcfg.telemetry_port = TELEMETRY_PORT_UART;
if (mcfg.telemetry_softserial == TELEMETRY_SOFTSERIAL_1)
if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_1)
core.telemport = &(softSerialPorts[0].port);
else if (mcfg.telemetry_softserial == TELEMETRY_SOFTSERIAL_2)
else if (mcfg.telemetry_port == TELEMETRY_PORT_SOFTSERIAL_2)
core.telemport = &(softSerialPorts[1].port);
else
core.telemport = core.mainport;
@ -26,7 +26,7 @@ bool isTelemetryEnabled(void)
{
bool telemetryCurrentlyEnabled = true;
if (mcfg.telemetry_softserial == TELEMETRY_UART) {
if (mcfg.telemetry_port == TELEMETRY_PORT_UART) {
if (!mcfg.telemetry_switch)
telemetryCurrentlyEnabled = f.ARMED;
else

2
src/telemetry_frsky.c
View File

@ -230,7 +230,7 @@ void updateFrSkyTelemetryState(void)
return;
}
if (mcfg.telemetry_softserial == TELEMETRY_UART && mcfg.telemetry_provider == TELEMETRY_PROVIDER_FRSKY) {
if (mcfg.telemetry_port == TELEMETRY_PORT_UART && mcfg.telemetry_provider == TELEMETRY_PROVIDER_FRSKY) {
if (frSkyTelemetryCurrentlyEnabled)
serialInit(9600);
else