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Merge pull request #2849 from martinbudden/bf_fake_accgyro_locks 

Added locking to fake gyro and acc
This commit is contained in:
Martin Budden 2017-04-11 19:05:00 +01:00 committed by GitHub
parent d4167a03df 0219d6adc7
commit 3a672c82e8
15 changed files with 132 additions and 122 deletions
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3
src/main/common/printf.h
View File

@ -113,9 +113,6 @@ int tfp_sprintf(char *s, const char *fmt, ...);
int tfp_format(void *putp, void (*putf) (void *, char), const char *fmt, va_list va);
#define printf tfp_printf
#define sprintf tfp_sprintf
struct serialPort_s;
void setPrintfSerialPort(struct serialPort_s *serialPort);
void printfSupportInit(void);

49
src/main/drivers/accgyro.h
View File

@ -17,10 +17,14 @@
#pragma once
#include "platform.h"
#include "common/axis.h"
#include "drivers/exti.h"
#include "drivers/sensor.h"
#include "drivers/accgyro_mpu.h"
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
#include <pthread.h>
#endif
#ifndef MPU_I2C_INSTANCE
#define MPU_I2C_INSTANCE I2C_DEVICE
@ -57,7 +61,10 @@ typedef struct gyroDev_s {
uint8_t lpf;
gyroRateKHz_e gyroRateKHz;
uint8_t mpuDividerDrops;
volatile bool dataReady;
bool dataReady;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
pthread_mutex_t lock;
#endif
sensor_align_e gyroAlign;
mpuDetectionResult_t mpuDetectionResult;
const extiConfig_t *mpuIntExtiConfig;
@ -71,7 +78,47 @@ typedef struct accDev_s {
uint16_t acc_1G;
int16_t ADCRaw[XYZ_AXIS_COUNT];
char revisionCode; // a revision code for the sensor, if known
bool dataReady;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
pthread_mutex_t lock;
#endif
sensor_align_e accAlign;
mpuDetectionResult_t mpuDetectionResult;
mpuConfiguration_t mpuConfiguration;
} accDev_t;
static inline void accDevLock(accDev_t *acc)
{
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
pthread_mutex_lock(&acc->lock);
#else
(void)acc;
#endif
}
static inline void accDevUnLock(accDev_t *acc)
{
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
pthread_mutex_unlock(&acc->lock);
#else
(void)acc;
#endif
}
static inline void gyroDevLock(gyroDev_t *gyro)
{
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
pthread_mutex_lock(&gyro->lock);
#else
(void)gyro;
#endif
}
static inline void gyroDevUnLock(gyroDev_t *gyro)
{
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
pthread_mutex_unlock(&gyro->lock);
#else
(void)gyro;
#endif
}

91
src/main/drivers/accgyro_fake.c
View File

@ -23,23 +23,6 @@
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
#include <stdio.h>
#include <pthread.h>
#define printf printf
#define sprintf sprintf
#define ACC_LOCK pthread_mutex_unlock(&accUpdateLock)
#define ACC_UNLOCK pthread_mutex_unlock(&accUpdateLock)
#define GYRO_LOCK pthread_mutex_unlock(&gyroUpdateLock)
#define GYRO_UNLOCK pthread_mutex_unlock(&gyroUpdateLock)
#else
#define ACC_LOCK
#define ACC_UNLOCK
#define GYRO_LOCK
#define GYRO_UNLOCK
#endif
#ifdef USE_FAKE_GYRO
@ -51,54 +34,45 @@
#include "accgyro_fake.h"
static int16_t fakeGyroADC[XYZ_AXIS_COUNT];
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
static pthread_mutex_t gyroUpdateLock;
#endif
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYRO_SYNC)
static bool gyroUpdated = false;
#endif
gyroDev_t *fakeGyroDev;
static void fakeGyroInit(gyroDev_t *gyro)
{
UNUSED(gyro);
fakeGyroDev = gyro;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
if (pthread_mutex_init(&gyroUpdateLock, NULL) != 0) {
printf("Create gyroUpdateLock error!\n");
if (pthread_mutex_init(&gyro->lock, NULL) != 0) {
printf("Create gyro lock error!\n");
}
#endif
}
void fakeGyroSet(int16_t x, int16_t y, int16_t z)
void fakeGyroSet(gyroDev_t *gyro, int16_t x, int16_t y, int16_t z)
{
GYRO_LOCK;
gyroDevLock(gyro);
fakeGyroADC[X] = x;
fakeGyroADC[Y] = y;
fakeGyroADC[Z] = z;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_GYRO_SYNC)
gyroUpdated = true;
#endif
GYRO_UNLOCK;
gyro->dataReady = true;
gyroDevUnLock(gyro);
}
static bool fakeGyroRead(gyroDev_t *gyro)
{
GYRO_LOCK;
#if defined(SIMULATOR_GYRO_SYNC)
if(gyroUpdated == false) {
GYRO_UNLOCK;
gyroDevLock(gyro);
if (gyro->dataReady == false) {
gyroDevUnLock(gyro);
return false;
}
gyroUpdated = false;
#endif
gyro->dataReady = false;
gyro->gyroADCRaw[X] = fakeGyroADC[X];
gyro->gyroADCRaw[Y] = fakeGyroADC[Y];
gyro->gyroADCRaw[Z] = fakeGyroADC[Z];
GYRO_UNLOCK;
gyroDevUnLock(gyro);
return true;
}
@ -134,54 +108,45 @@ bool fakeGyroDetect(gyroDev_t *gyro)
#ifdef USE_FAKE_ACC
static int16_t fakeAccData[XYZ_AXIS_COUNT];
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
static pthread_mutex_t accUpdateLock;
#endif
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_ACC_SYNC)
static bool accUpdated = false;
#endif
accDev_t *fakeAccDev;
static void fakeAccInit(accDev_t *acc)
{
UNUSED(acc);
fakeAccDev = acc;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
if (pthread_mutex_init(&accUpdateLock, NULL) != 0) {
printf("Create accUpdateLock error!\n");
if (pthread_mutex_init(&acc->lock, NULL) != 0) {
printf("Create acc lock error!\n");
}
#endif
}
void fakeAccSet(int16_t x, int16_t y, int16_t z)
void fakeAccSet(accDev_t *acc, int16_t x, int16_t y, int16_t z)
{
ACC_LOCK;
accDevLock(acc);
fakeAccData[X] = x;
fakeAccData[Y] = y;
fakeAccData[Z] = z;
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_ACC_SYNC)
accUpdated = true;
#endif
ACC_LOCK;
acc->dataReady = true;
accDevUnLock(acc);
}
static bool fakeAccRead(accDev_t *acc)
{
ACC_LOCK;
#if defined(SIMULATOR_ACC_SYNC)
if(accUpdated == false) {
ACC_UNLOCK;
accDevLock(acc);
if (acc->dataReady == false) {
accDevUnLock(acc);
return false;
}
accUpdated = false;
#endif
acc->dataReady = false;
acc->ADCRaw[X] = fakeAccData[X];
acc->ADCRaw[Y] = fakeAccData[Y];
acc->ADCRaw[Z] = fakeAccData[Z];
ACC_UNLOCK;
accDevUnLock(acc);
return true;
}

6
src/main/drivers/accgyro_fake.h
View File

@ -18,9 +18,11 @@
#pragma once
struct accDev_s;
extern struct accDev_s *fakeAccDev;
bool fakeAccDetect(struct accDev_s *acc);
void fakeAccSet(int16_t x, int16_t y, int16_t z);
void fakeAccSet(struct accDev_s *acc, int16_t x, int16_t y, int16_t z);
struct gyroDev_s;
extern struct gyroDev_s *fakeGyroDev;
bool fakeGyroDetect(struct gyroDev_s *gyro);
void fakeGyroSet(int16_t x, int16_t y, int16_t z);
void fakeGyroSet(struct gyroDev_s *gyro, int16_t x, int16_t y, int16_t z);

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

@ -15,14 +15,14 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/
#include "platform.h"
#include "io.h"
#include "io_impl.h"
#include "rcc.h"
#include "common/utils.h"
#include "target.h"
// io ports defs are stored in array by index now
struct ioPortDef_s {
rccPeriphTag_t rcc;

1
src/main/drivers/io.h
View File

@ -21,6 +21,7 @@
#include <stdint.h>
#include <platform.h>
#include "resource.h"
#include "io_types.h"

3
src/main/drivers/io_impl.h
View File

@ -18,9 +18,10 @@
#pragma once
// TODO - GPIO_TypeDef include
#include "io.h"
#include "platform.h"
#include "io.h"
typedef struct ioDef_s {
ioTag_t tag;
} ioDef_t;

26
src/main/fc/cli.c
View File

@ -1883,12 +1883,12 @@ static void cliSerialPassthrough(char *cmdline)
tok = strtok_r(NULL, " ", &saveptr);
}
printf("Port %d ", id);
tfp_printf("Port %d ", id);
serialPort_t *passThroughPort;
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) {
printf("closed, specify baud.\r\n");
tfp_printf("closed, specify baud.\r\n");
return;
}
if (!mode)
@ -1898,17 +1898,17 @@ static void cliSerialPassthrough(char *cmdline)
baud, mode,
SERIAL_NOT_INVERTED);
if (!passThroughPort) {
printf("could not be opened.\r\n");
tfp_printf("could not be opened.\r\n");
return;
}
printf("opened, baud = %d.\r\n", baud);
tfp_printf("opened, baud = %d.\r\n", baud);
} else {
passThroughPort = passThroughPortUsage->serialPort;
// If the user supplied a mode, override the port's mode, otherwise
// leave the mode unchanged. serialPassthrough() handles one-way ports.
printf("already open.\r\n");
tfp_printf("already open.\r\n");
if (mode && passThroughPort->mode != mode) {
printf("mode changed from %d to %d.\r\n",
tfp_printf("mode changed from %d to %d.\r\n",
passThroughPort->mode, mode);
serialSetMode(passThroughPort, mode);
}
@ -1919,7 +1919,7 @@ static void cliSerialPassthrough(char *cmdline)
}
}
printf("forwarding, power cycle to exit.\r\n");
tfp_printf("forwarding, power cycle to exit.\r\n");
serialPassthrough(cliPort, passThroughPort, NULL, NULL);
}
@ -3202,11 +3202,11 @@ static void cliGpsPassthrough(char *cmdline)
static int parseEscNumber(char *pch, bool allowAllEscs) {
int escNumber = atoi(pch);
if ((escNumber >= 0) && (escNumber < getMotorCount())) {
printf("Programming on ESC %d.\r\n", escNumber);
tfp_printf("Programming on ESC %d.\r\n", escNumber);
} else if (allowAllEscs && escNumber == ALL_ESCS) {
printf("Programming on all ESCs.\r\n");
tfp_printf("Programming on all ESCs.\r\n");
} else {
printf("Invalid ESC number, range: 0 to %d.\r\n", getMotorCount() - 1);
tfp_printf("Invalid ESC number, range: 0 to %d.\r\n", getMotorCount() - 1);
return -1;
}
@ -3254,9 +3254,9 @@ static void cliDshotProg(char *cmdline)
delay(10); // wait for sound output to finish
}
printf("Command %d written.\r\n", command);
tfp_printf("Command %d written.\r\n", command);
} else {
printf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
tfp_printf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
}
break;
@ -3691,7 +3691,7 @@ static void cliTasks(char *cmdline)
getTaskInfo(taskId, &taskInfo);
if (taskInfo.isEnabled) {
int taskFrequency;
int subTaskFrequency;
int subTaskFrequency = 0;
if (taskId == TASK_GYROPID) {
subTaskFrequency = taskInfo.latestDeltaTime == 0 ? 0 : (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
taskFrequency = subTaskFrequency / pidConfig()->pid_process_denom;

8
src/main/fc/fc_core.c
View File

@ -477,7 +477,7 @@ void processRx(timeUs_t currentTimeUs)
static void subTaskPidController(void)
{
uint32_t startTime;
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
// PID - note this is function pointer set by setPIDController()
pidController(currentPidProfile, &accelerometerConfig()->accelerometerTrims);
@ -486,7 +486,7 @@ static void subTaskPidController(void)
static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
{
uint32_t startTime;
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
// Read out gyro temperature if used for telemmetry
@ -560,7 +560,7 @@ static void subTaskMainSubprocesses(timeUs_t currentTimeUs)
static void subTaskMotorUpdate(void)
{
uint32_t startTime;
uint32_t startTime = 0;
if (debugMode == DEBUG_CYCLETIME) {
startTime = micros();
static uint32_t previousMotorUpdateTime;
@ -621,7 +621,7 @@ void taskMainPidLoop(timeUs_t currentTimeUs)
// 1 - pidController()
// 2 - subTaskMainSubprocesses()
// 3 - subTaskMotorUpdate()
uint32_t startTime;
uint32_t startTime = 0;
if (debugMode == DEBUG_PIDLOOP) {startTime = micros();}
gyroUpdate();
DEBUG_SET(DEBUG_PIDLOOP, 0, micros() - startTime);

2
src/main/flight/imu.c
View File

@ -52,8 +52,6 @@
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_MULTITHREAD)
#include <stdio.h>
#include <pthread.h>
#define printf printf
#define sprintf sprintf
static pthread_mutex_t imuUpdateLock;

2
src/main/io/ledstrip.c
View File

@ -377,7 +377,7 @@ void generateLedConfig(ledConfig_t *ledConfig, char *ledConfigBuffer, size_t buf
*fptr = 0;
// TODO - check buffer length
sprintf(ledConfigBuffer, "%u,%u:%s:%s:%u", ledGetX(ledConfig), ledGetY(ledConfig), directions, baseFunctionOverlays, ledGetColor(ledConfig));
tfp_sprintf(ledConfigBuffer, "%u,%u:%s:%s:%u", ledGetX(ledConfig), ledGetY(ledConfig), directions, baseFunctionOverlays, ledGetColor(ledConfig));
}
typedef enum {

47
src/main/io/osd.c
View File

@ -74,6 +74,7 @@
#include "fc/rc_controls.h"
#include "fc/runtime_config.h"
#include "flight/altitude.h"
#include "flight/imu.h"
#include "flight/altitude.h"
@ -189,14 +190,14 @@ static void osdDrawSingleElement(uint8_t item)
osdRssi = 99;
buff[0] = SYM_RSSI;
sprintf(buff + 1, "%d", osdRssi);
tfp_sprintf(buff + 1, "%d", osdRssi);
break;
}
case OSD_MAIN_BATT_VOLTAGE:
{
buff[0] = SYM_BATT_5;
sprintf(buff + 1, "%d.%1dV", getBatteryVoltage() / 10, getBatteryVoltage() % 10);
tfp_sprintf(buff + 1, "%d.%1dV", getBatteryVoltage() / 10, getBatteryVoltage() % 10);
break;
}
@ -204,14 +205,14 @@ static void osdDrawSingleElement(uint8_t item)
{
int32_t amperage = getAmperage();
buff[0] = SYM_AMP;
sprintf(buff + 1, "%d.%02d", abs(amperage) / 100, abs(amperage) % 100);
tfp_sprintf(buff + 1, "%d.%02d", abs(amperage) / 100, abs(amperage) % 100);
break;
}
case OSD_MAH_DRAWN:
{
buff[0] = SYM_MAH;
sprintf(buff + 1, "%d", getMAhDrawn());
tfp_sprintf(buff + 1, "%d", getMAhDrawn());
break;
}
@ -219,14 +220,14 @@ static void osdDrawSingleElement(uint8_t item)
case OSD_GPS_SATS:
{
buff[0] = 0x1f;
sprintf(buff + 1, "%d", GPS_numSat);
tfp_sprintf(buff + 1, "%d", GPS_numSat);
break;
}
case OSD_GPS_SPEED:
{
// FIXME ideally we want to use SYM_KMH symbol but it's not in the font any more, so we use K.
sprintf(buff, "%dK", CM_S_TO_KM_H(GPS_speed) * 10);
tfp_sprintf(buff, "%dK", CM_S_TO_KM_H(GPS_speed) * 10);
break;
}
@ -258,7 +259,7 @@ static void osdDrawSingleElement(uint8_t item)
case OSD_ALTITUDE:
{
int32_t alt = osdGetAltitude(getEstimatedAltitude());
sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
tfp_sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
break;
}
@ -266,14 +267,14 @@ static void osdDrawSingleElement(uint8_t item)
{
uint32_t seconds = micros() / 1000000;
buff[0] = SYM_ON_M;
sprintf(buff + 1, "%02d:%02d", seconds / 60, seconds % 60);
tfp_sprintf(buff + 1, "%02d:%02d", seconds / 60, seconds % 60);
break;
}
case OSD_FLYTIME:
{
buff[0] = SYM_FLY_M;
sprintf(buff + 1, "%02d:%02d", flyTime / 60, flyTime % 60);
tfp_sprintf(buff + 1, "%02d:%02d", flyTime / 60, flyTime % 60);
break;
}
@ -314,7 +315,7 @@ static void osdDrawSingleElement(uint8_t item)
{
buff[0] = SYM_THR;
buff[1] = SYM_THR1;
sprintf(buff + 2, "%d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
tfp_sprintf(buff + 2, "%d", (constrain(rcData[THROTTLE], PWM_RANGE_MIN, PWM_RANGE_MAX) - PWM_RANGE_MIN) * 100 / (PWM_RANGE_MAX - PWM_RANGE_MIN));
break;
}
@ -325,9 +326,9 @@ static void osdDrawSingleElement(uint8_t item)
#if defined(VTX)
const char vtxBandLetter = vtx58BandLetter[vtxConfig()->vtx_band + 1];
const char *vtxChannelName = vtx58ChannelNames[vtxConfig()->vtx_channel + 1];
sprintf(buff, "%c:%s", vtxBandLetter, vtxChannelName);
tfp_sprintf(buff, "%c:%s", vtxBandLetter, vtxChannelName);
#elif defined(USE_RTC6705)
sprintf(buff, "CH:%d", current_vtx_channel % CHANNELS_PER_BAND + 1);
tfp_sprintf(buff, "CH:%d", current_vtx_channel % CHANNELS_PER_BAND + 1);
#endif
break;
}
@ -410,27 +411,27 @@ static void osdDrawSingleElement(uint8_t item)
case OSD_ROLL_PIDS:
{
const pidProfile_t *pidProfile = currentPidProfile;
sprintf(buff, "ROL %3d %3d %3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
tfp_sprintf(buff, "ROL %3d %3d %3d", pidProfile->P8[PIDROLL], pidProfile->I8[PIDROLL], pidProfile->D8[PIDROLL]);
break;
}
case OSD_PITCH_PIDS:
{
const pidProfile_t *pidProfile = currentPidProfile;
sprintf(buff, "PIT %3d %3d %3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
tfp_sprintf(buff, "PIT %3d %3d %3d", pidProfile->P8[PIDPITCH], pidProfile->I8[PIDPITCH], pidProfile->D8[PIDPITCH]);
break;
}
case OSD_YAW_PIDS:
{
const pidProfile_t *pidProfile = currentPidProfile;
sprintf(buff, "YAW %3d %3d %3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
tfp_sprintf(buff, "YAW %3d %3d %3d", pidProfile->P8[PIDYAW], pidProfile->I8[PIDYAW], pidProfile->D8[PIDYAW]);
break;
}
case OSD_POWER:
{
sprintf(buff, "%dW", getAmperage() * getBatteryVoltage() / 1000);
tfp_sprintf(buff, "%dW", getAmperage() * getBatteryVoltage() / 1000);
break;
}
@ -438,7 +439,7 @@ static void osdDrawSingleElement(uint8_t item)
{
const uint8_t pidProfileIndex = getCurrentPidProfileIndex();
const uint8_t rateProfileIndex = getCurrentControlRateProfileIndex();
sprintf(buff, "%d-%d", pidProfileIndex + 1, rateProfileIndex + 1);
tfp_sprintf(buff, "%d-%d", pidProfileIndex + 1, rateProfileIndex + 1);
break;
}
@ -446,11 +447,11 @@ static void osdDrawSingleElement(uint8_t item)
{
switch(getBatteryState()) {
case BATTERY_WARNING:
sprintf(buff, "LOW BATTERY");
tfp_sprintf(buff, "LOW BATTERY");
break;
case BATTERY_CRITICAL:
sprintf(buff, "LAND NOW");
tfp_sprintf(buff, "LAND NOW");
elemOffsetX += 1;
break;
@ -464,7 +465,7 @@ static void osdDrawSingleElement(uint8_t item)
{
uint16_t cellV = getBatteryVoltage() * 10 / getBatteryCellCount();
buff[0] = SYM_BATT_5;
sprintf(buff + 1, "%d.%dV", cellV / 100, cellV % 100);
tfp_sprintf(buff + 1, "%d.%dV", cellV / 100, cellV % 100);
break;
}
@ -603,7 +604,7 @@ void osdInit(displayPort_t *osdDisplayPortToUse)
osdDrawLogo(3, 1);
char string_buffer[30];
sprintf(string_buffer, "V%s", FC_VERSION_STRING);
tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
displayWrite(osdDisplayPort, 20, 6, string_buffer);
#ifdef CMS
displayWrite(osdDisplayPort, 7, 8, CMS_STARTUP_HELP_TEXT1);
@ -763,7 +764,7 @@ static void osdShowStats(void)
}
displayWrite(osdDisplayPort, 2, top, "MIN BATTERY :");
sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
tfp_sprintf(buff, "%d.%1dV", stats.min_voltage / 10, stats.min_voltage % 10);
displayWrite(osdDisplayPort, 22, top++, buff);
displayWrite(osdDisplayPort, 2, top, "MIN RSSI :");
@ -785,7 +786,7 @@ static void osdShowStats(void)
displayWrite(osdDisplayPort, 2, top, "MAX ALTITUDE :");
int32_t alt = osdGetAltitude(stats.max_altitude);
sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
tfp_sprintf(buff, "%c%d.%01d%c", alt < 0 ? '-' : ' ', abs(alt / 100), abs((alt % 100) / 10), osdGetAltitudeSymbol());
displayWrite(osdDisplayPort, 22, top++, buff);
#ifdef BLACKBOX

4
src/main/io/osd_slave.c
View File

@ -98,7 +98,7 @@ void osdSlaveInit(displayPort_t *osdDisplayPortToUse)
osdDrawLogo(3, 1);
char string_buffer[30];
sprintf(string_buffer, "V%s", FC_VERSION_STRING);
tfp_sprintf(string_buffer, "V%s", FC_VERSION_STRING);
displayWrite(osdDisplayPort, 20, 6, string_buffer);
displayWrite(osdDisplayPort, 13, 6, "OSD");
@ -139,7 +139,7 @@ void osdSlaveUpdate(timeUs_t currentTimeUs)
#ifdef OSD_SLAVE_DEBUG
char buff[32];
for (int i = 0; i < 4; i ++) {
sprintf(buff, "%5d", debug[i]);
tfp_sprintf(buff, "%5d", debug[i]);
displayWrite(osdDisplayPort, i * 8, 0, buff);
}
#endif

6
src/main/target/SITL/target.c
View File

@ -19,8 +19,6 @@
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#define printf printf
#define sprintf sprintf
#include <errno.h>
#include <time.h>
@ -96,13 +94,13 @@ void updateState(const fdm_packet* pkt) {
x = -pkt->imu_linear_acceleration_xyz[0] * ACC_SCALE;
y = -pkt->imu_linear_acceleration_xyz[1] * ACC_SCALE;
z = -pkt->imu_linear_acceleration_xyz[2] * ACC_SCALE;
fakeAccSet(x, y, z);
fakeAccSet(fakeAccDev, x, y, z);
// printf("[acc]%lf,%lf,%lf\n", pkt->imu_linear_acceleration_xyz[0], pkt->imu_linear_acceleration_xyz[1], pkt->imu_linear_acceleration_xyz[2]);
x = pkt->imu_angular_velocity_rpy[0] * GYRO_SCALE * RAD2DEG;
y = -pkt->imu_angular_velocity_rpy[1] * GYRO_SCALE * RAD2DEG;
z = -pkt->imu_angular_velocity_rpy[2] * GYRO_SCALE * RAD2DEG;
fakeGyroSet(x, y, z);
fakeGyroSet(fakeGyroDev, x, y, z);
// printf("[gyr]%lf,%lf,%lf\n", pkt->imu_angular_velocity_rpy[0], pkt->imu_angular_velocity_rpy[1], pkt->imu_angular_velocity_rpy[2]);
#if defined(SKIP_IMU_CALC)

2
src/main/target/SITL/target.h
View File

@ -162,7 +162,7 @@ typedef struct
uint32_t BRR;
} GPIO_TypeDef;
#define GPIOA_BASE (0x0000)
#define GPIOA_BASE (0x0001)
typedef struct
{