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Some more comments and a little formatting clean up

This commit is contained in:
blckmn 2016-08-13 17:03:58 +10:00
parent 9c303d6669
commit 414e02d9fe
4 changed files with 70 additions and 57 deletions
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2
src/main/drivers/serial_usb_vcp.c
View File

@ -69,7 +69,7 @@ static uint32_t usbVcpAvailable(serialPort_t *instance)
{ {
UNUSED(instance); UNUSED(instance);
return CDC_Receive_BytesAvailable(); return CDC_Receive_BytesAvailable();
} }
static uint8_t usbVcpRead(serialPort_t *instance) static uint8_t usbVcpRead(serialPort_t *instance)

99
src/main/io/serial_cli.c
View File

@ -1000,8 +1000,8 @@ static void printRxFail(uint8_t dumpMask, master_t *defaultConfig)
for (uint8_t channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) { for (uint8_t channel = 0; channel < MAX_SUPPORTED_RC_CHANNEL_COUNT; channel++) {
channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel]; channelFailsafeConfiguration = &masterConfig.rxConfig.failsafe_channel_configurations[channel];
channelFailsafeConfigurationDefault = &defaultConfig->rxConfig.failsafe_channel_configurations[channel]; channelFailsafeConfigurationDefault = &defaultConfig->rxConfig.failsafe_channel_configurations[channel];
equalsDefault = channelFailsafeConfiguration->mode == channelFailsafeConfigurationDefault->mode equalsDefault = channelFailsafeConfiguration->mode == channelFailsafeConfigurationDefault->mode
&& channelFailsafeConfiguration->step == channelFailsafeConfigurationDefault->step; && channelFailsafeConfiguration->step == channelFailsafeConfigurationDefault->step;
requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET; requireValue = channelFailsafeConfiguration->mode == RX_FAILSAFE_MODE_SET;
modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfiguration->mode]; modeCharacter = rxFailsafeModeCharacters[channelFailsafeConfiguration->mode];
if (requireValue) { if (requireValue) {
@ -1113,9 +1113,9 @@ static void printAux(uint8_t dumpMask, master_t *defaultConfig)
mac = &masterConfig.modeActivationConditions[i]; mac = &masterConfig.modeActivationConditions[i];
macDefault = &defaultConfig->modeActivationConditions[i]; macDefault = &defaultConfig->modeActivationConditions[i];
equalsDefault = mac->modeId == macDefault->modeId equalsDefault = mac->modeId == macDefault->modeId
&& mac->auxChannelIndex == macDefault->auxChannelIndex && mac->auxChannelIndex == macDefault->auxChannelIndex
&& mac->range.startStep == macDefault->range.startStep && mac->range.startStep == macDefault->range.startStep
&& mac->range.endStep == macDefault->range.endStep; && mac->range.endStep == macDefault->range.endStep;
cliDumpPrintf(dumpMask, equalsDefault, "aux %u %u %u %u %u\r\n", cliDumpPrintf(dumpMask, equalsDefault, "aux %u %u %u %u %u\r\n",
i, i,
mac->modeId, mac->modeId,
@ -1172,17 +1172,17 @@ static void printSerial(uint8_t dumpMask, master_t *defaultConfig)
serialConfig_t *serialConfigDefault; serialConfig_t *serialConfigDefault;
bool equalsDefault; bool equalsDefault;
for (int i = 0; i < SERIAL_PORT_COUNT; i++) { for (int i = 0; i < SERIAL_PORT_COUNT; i++) {
serialConfig = &masterConfig.serialConfig; serialConfig = &masterConfig.serialConfig;
if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) { if (!serialIsPortAvailable(serialConfig->portConfigs[i].identifier)) {
continue; continue;
}; };
serialConfigDefault = &defaultConfig->serialConfig; serialConfigDefault = &defaultConfig->serialConfig;
equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier equalsDefault = serialConfig->portConfigs[i].identifier == serialConfigDefault->portConfigs[i].identifier
&& serialConfig->portConfigs[i].functionMask == serialConfigDefault->portConfigs[i].functionMask && serialConfig->portConfigs[i].functionMask == serialConfigDefault->portConfigs[i].functionMask
&& serialConfig->portConfigs[i].msp_baudrateIndex == serialConfigDefault->portConfigs[i].msp_baudrateIndex && serialConfig->portConfigs[i].msp_baudrateIndex == serialConfigDefault->portConfigs[i].msp_baudrateIndex
&& serialConfig->portConfigs[i].gps_baudrateIndex == serialConfigDefault->portConfigs[i].gps_baudrateIndex && serialConfig->portConfigs[i].gps_baudrateIndex == serialConfigDefault->portConfigs[i].gps_baudrateIndex
&& serialConfig->portConfigs[i].telemetry_baudrateIndex == serialConfigDefault->portConfigs[i].telemetry_baudrateIndex && serialConfig->portConfigs[i].telemetry_baudrateIndex == serialConfigDefault->portConfigs[i].telemetry_baudrateIndex
&& serialConfig->portConfigs[i].blackbox_baudrateIndex == serialConfigDefault->portConfigs[i].blackbox_baudrateIndex; && serialConfig->portConfigs[i].blackbox_baudrateIndex == serialConfigDefault->portConfigs[i].blackbox_baudrateIndex;
cliDumpPrintf(dumpMask, equalsDefault, "serial %d %d %ld %ld %ld %ld\r\n" , cliDumpPrintf(dumpMask, equalsDefault, "serial %d %d %ld %ld %ld %ld\r\n" ,
serialConfig->portConfigs[i].identifier, serialConfig->portConfigs[i].identifier,
serialConfig->portConfigs[i].functionMask, serialConfig->portConfigs[i].functionMask,
@ -1190,7 +1190,7 @@ static void printSerial(uint8_t dumpMask, master_t *defaultConfig)
baudRates[serialConfig->portConfigs[i].gps_baudrateIndex], baudRates[serialConfig->portConfigs[i].gps_baudrateIndex],
baudRates[serialConfig->portConfigs[i].telemetry_baudrateIndex], baudRates[serialConfig->portConfigs[i].telemetry_baudrateIndex],
baudRates[serialConfig->portConfigs[i].blackbox_baudrateIndex] baudRates[serialConfig->portConfigs[i].blackbox_baudrateIndex]
); );
} }
} }
@ -1202,7 +1202,7 @@ static void cliSerial(char *cmdline)
if (isEmpty(cmdline)) { if (isEmpty(cmdline)) {
printSerial(DUMP_MASTER, &masterConfig); printSerial(DUMP_MASTER, &masterConfig);
return; return;
} }
serialPortConfig_t portConfig; serialPortConfig_t portConfig;
memset(&portConfig, 0 , sizeof(portConfig)); memset(&portConfig, 0 , sizeof(portConfig));
@ -1358,11 +1358,11 @@ static void printAdjustmentRange(uint8_t dumpMask, master_t *defaultConfig)
for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) { for (int i = 0; i < MAX_ADJUSTMENT_RANGE_COUNT; i++) {
ar = &masterConfig.adjustmentRanges[i]; ar = &masterConfig.adjustmentRanges[i];
arDefault = &defaultConfig->adjustmentRanges[i]; arDefault = &defaultConfig->adjustmentRanges[i];
equalsDefault = ar->auxChannelIndex == arDefault->auxChannelIndex equalsDefault = ar->auxChannelIndex == arDefault->auxChannelIndex
&& ar->range.startStep == arDefault->range.startStep && ar->range.startStep == arDefault->range.startStep
&& ar->range.endStep == arDefault->range.endStep && ar->range.endStep == arDefault->range.endStep
&& ar->adjustmentFunction == arDefault->adjustmentFunction && ar->adjustmentFunction == arDefault->adjustmentFunction
&& ar->auxSwitchChannelIndex == arDefault->auxSwitchChannelIndex && ar->auxSwitchChannelIndex == arDefault->auxSwitchChannelIndex
&& ar->adjustmentIndex == arDefault->adjustmentIndex; && ar->adjustmentIndex == arDefault->adjustmentIndex;
cliDumpPrintf(dumpMask, equalsDefault, "adjrange %u %u %u %u %u %u %u\r\n", cliDumpPrintf(dumpMask, equalsDefault, "adjrange %u %u %u %u %u %u %u\r\n",
i, i,
@ -1525,8 +1525,8 @@ static void printRxRange(uint8_t dumpMask, master_t *defaultConfig)
for (int i = 0; i < NON_AUX_CHANNEL_COUNT; i++) { for (int i = 0; i < NON_AUX_CHANNEL_COUNT; i++) {
channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i]; channelRangeConfiguration = &masterConfig.rxConfig.channelRanges[i];
channelRangeConfigurationDefault = &defaultConfig->rxConfig.channelRanges[i]; channelRangeConfigurationDefault = &defaultConfig->rxConfig.channelRanges[i];
equalsDefault = channelRangeConfiguration->min == channelRangeConfigurationDefault->min equalsDefault = channelRangeConfiguration->min == channelRangeConfigurationDefault->min
&& channelRangeConfiguration->max == channelRangeConfigurationDefault->max; && channelRangeConfiguration->max == channelRangeConfigurationDefault->max;
cliDumpPrintf(dumpMask, equalsDefault, "rxrange %u %u %u\r\n", i, channelRangeConfiguration->min, channelRangeConfiguration->max); cliDumpPrintf(dumpMask, equalsDefault, "rxrange %u %u %u\r\n", i, channelRangeConfiguration->min, channelRangeConfiguration->max);
} }
} }
@ -1619,8 +1619,8 @@ static void printColor(uint8_t dumpMask, master_t *defaultConfig)
color = &masterConfig.colors[i]; color = &masterConfig.colors[i];
colorDefault = &defaultConfig->colors[i]; colorDefault = &defaultConfig->colors[i];
equalsDefault = color->h == colorDefault->h equalsDefault = color->h == colorDefault->h
&& color->s == colorDefault->s && color->s == colorDefault->s
&& color->v == colorDefault->v; && color->v == colorDefault->v;
cliDumpPrintf(dumpMask, equalsDefault, "color %u %d,%u,%u\r\n", cliDumpPrintf(dumpMask, equalsDefault, "color %u %d,%u,%u\r\n",
i, i,
color->h, color->h,
@ -2121,11 +2121,11 @@ static void printVtx(uint8_t dumpMask, master_t *defaultConfig)
for (int i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) { for (int i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) {
cac = &masterConfig.vtxChannelActivationConditions[i]; cac = &masterConfig.vtxChannelActivationConditions[i];
cacDefault = &defaultConfig->vtxChannelActivationConditions[i]; cacDefault = &defaultConfig->vtxChannelActivationConditions[i];
equalsDefault = cac->auxChannelIndex == cacDefault->auxChannelIndex equalsDefault = cac->auxChannelIndex == cacDefault->auxChannelIndex
&& cac->band == cacDefault->band && cac->band == cacDefault->band
&& cac->channel == cacDefault->channel && cac->channel == cacDefault->channel
&& cac->range.startStep == cacDefault->range.startStep && cac->range.startStep == cacDefault->range.startStep
&& cac->range.endStep == cacDefault->range.endStep; && cac->range.endStep == cacDefault->range.endStep;
cliDumpPrintf(dumpMask, equalsDefault, "vtx %u %u %u %u %u %u\r\n", cliDumpPrintf(dumpMask, equalsDefault, "vtx %u %u %u %u %u %u\r\n",
i, i,
cac->auxChannelIndex, cac->auxChannelIndex,
@ -2246,7 +2246,7 @@ static bool valueEqualsDefault(const clivalue_t *value, master_t *defaultConfig)
case VAR_FLOAT: case VAR_FLOAT:
result = *(float *)ptr == *(float *)ptrDefault; result = *(float *)ptr == *(float *)ptrDefault;
break; break;
} }
return result; return result;
} }
@ -2378,11 +2378,11 @@ static void printConfig(char *cmdline, bool doDiff)
equalsDefault = masterConfig.customServoMixer[i].targetChannel == defaultConfig.customServoMixer[i].targetChannel equalsDefault = masterConfig.customServoMixer[i].targetChannel == defaultConfig.customServoMixer[i].targetChannel
&& masterConfig.customServoMixer[i].inputSource == defaultConfig.customServoMixer[i].inputSource && masterConfig.customServoMixer[i].inputSource == defaultConfig.customServoMixer[i].inputSource
&& masterConfig.customServoMixer[i].rate == defaultConfig.customServoMixer[i].rate && masterConfig.customServoMixer[i].rate == defaultConfig.customServoMixer[i].rate
&& masterConfig.customServoMixer[i].speed == defaultConfig.customServoMixer[i].speed && masterConfig.customServoMixer[i].speed == defaultConfig.customServoMixer[i].speed
&& masterConfig.customServoMixer[i].min == defaultConfig.customServoMixer[i].min && masterConfig.customServoMixer[i].min == defaultConfig.customServoMixer[i].min
&& masterConfig.customServoMixer[i].max == defaultConfig.customServoMixer[i].max && masterConfig.customServoMixer[i].max == defaultConfig.customServoMixer[i].max
&& masterConfig.customServoMixer[i].box == masterConfig.customServoMixer[i].box; && masterConfig.customServoMixer[i].box == masterConfig.customServoMixer[i].box;
cliDumpPrintf(dumpMask, equalsDefault,"smix %d %d %d %d %d %d %d %d\r\n", cliDumpPrintf(dumpMask, equalsDefault,"smix %d %d %d %d %d %d %d %d\r\n",
i, i,
@ -2431,7 +2431,7 @@ static void printConfig(char *cmdline, bool doDiff)
equalsDefault = true; equalsDefault = true;
for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) { for (i = 0; i < MAX_MAPPABLE_RX_INPUTS; i++) {
buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i]; buf[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
equalsDefault = equalsDefault && (masterConfig.rxConfig.rcmap[i] == defaultConfig.rxConfig.rcmap[i]); equalsDefault = equalsDefault && (masterConfig.rxConfig.rcmap[i] == defaultConfig.rxConfig.rcmap[i]);
} }
buf[i] = '\0'; buf[i] = '\0';
cliDumpPrintf(dumpMask, equalsDefault, "map %s\r\n", buf); cliDumpPrintf(dumpMask, equalsDefault, "map %s\r\n", buf);
@ -2483,8 +2483,9 @@ static void printConfig(char *cmdline, bool doDiff)
uint8_t currentRateIndex = currentProfile->activeRateProfile; uint8_t currentRateIndex = currentProfile->activeRateProfile;
uint8_t rateCount; uint8_t rateCount;
for (rateCount=0; rateCount<MAX_RATEPROFILES; rateCount++) for (rateCount = 0; rateCount < MAX_RATEPROFILES; rateCount++) {
cliDumpRateProfile(rateCount, dumpMask, &defaultConfig); cliDumpRateProfile(rateCount, dumpMask, &defaultConfig);
}
cliPrint("\r\n# restore original rateprofile selection\r\n"); cliPrint("\r\n# restore original rateprofile selection\r\n");
changeControlRateProfile(currentRateIndex); changeControlRateProfile(currentRateIndex);
@ -2513,8 +2514,10 @@ static void printConfig(char *cmdline, bool doDiff)
static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *defaultConfig) static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *defaultConfig)
{ {
if (profileIndex >= MAX_PROFILE_COUNT) // Faulty values if (profileIndex >= MAX_PROFILE_COUNT) {
// Faulty values
return; return;
}
changeProfile(profileIndex); changeProfile(profileIndex);
cliPrint("\r\n# profile\r\n"); cliPrint("\r\n# profile\r\n");
cliProfile(""); cliProfile("");
@ -2523,8 +2526,10 @@ static void cliDumpProfile(uint8_t profileIndex, uint8_t dumpMask, master_t *def
static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig) static void cliDumpRateProfile(uint8_t rateProfileIndex, uint8_t dumpMask, master_t *defaultConfig)
{ {
if (rateProfileIndex >= MAX_RATEPROFILES) // Faulty values if (rateProfileIndex >= MAX_RATEPROFILES) {
// Faulty values
return; return;
}
changeControlRateProfile(rateProfileIndex); changeControlRateProfile(rateProfileIndex);
cliPrint("\r\n# rateprofile\r\n"); cliPrint("\r\n# rateprofile\r\n");
cliRateProfile(""); cliRateProfile("");
@ -2744,8 +2749,9 @@ static void cliMap(char *cmdline)
if (len == 8) { if (len == 8) {
// uppercase it // uppercase it
for (i = 0; i < 8; i++) for (i = 0; i < 8; i++) {
cmdline[i] = toupper((unsigned char)cmdline[i]); cmdline[i] = toupper((unsigned char)cmdline[i]);
}
for (i = 0; i < 8; i++) { for (i = 0; i < 8; i++) {
if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i])) if (strchr(rcChannelLetters, cmdline[i]) && !strchr(cmdline + i + 1, cmdline[i]))
continue; continue;
@ -2755,8 +2761,9 @@ static void cliMap(char *cmdline)
parseRcChannels(cmdline, &masterConfig.rxConfig); parseRcChannels(cmdline, &masterConfig.rxConfig);
} }
cliPrint("Map: "); cliPrint("Map: ");
for (i = 0; i < 8; i++) for (i = 0; i < 8; i++) {
out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i]; out[masterConfig.rxConfig.rcmap[i]] = rcChannelLetters[i];
}
out[i] = '\0'; out[i] = '\0';
cliPrintf("%s\r\n", out); cliPrintf("%s\r\n", out);
} }
@ -2952,9 +2959,9 @@ static void cliDefaults(char *cmdline)
static void cliPrint(const char *str) static void cliPrint(const char *str)
{ {
while (*str) { while (*str) {
bufWriterAppend(cliWriter, *str++); bufWriterAppend(cliWriter, *str++);
} }
} }
static void cliPutp(void *p, char ch) static void cliPutp(void *p, char ch)
@ -2976,7 +2983,7 @@ static bool cliDumpPrintf(uint8_t dumpMask, bool equalsDefault, const char *form
tfp_format(cliWriter, cliPutp, format, va); tfp_format(cliWriter, cliPutp, format, va);
va_end(va); va_end(va);
return true; return true;
} }
return false; return false;
@ -3404,11 +3411,11 @@ void cliProcess(void)
cliBuffer[bufferIndex] = 0; // null terminate cliBuffer[bufferIndex] = 0; // null terminate
const clicmd_t *cmd; const clicmd_t *cmd;
char *options; char *options;
for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) { for (cmd = cmdTable; cmd < cmdTable + CMD_COUNT; cmd++) {
if ((options = checkCommand(cliBuffer, cmd->name))) { if ((options = checkCommand(cliBuffer, cmd->name))) {
break; break;
} }
} }
if(cmd < cmdTable + CMD_COUNT) if(cmd < cmdTable + CMD_COUNT)
cmd->func(options); cmd->func(options);

14
src/main/target/common.h
View File

@ -24,16 +24,16 @@
/* STM32F4 specific settings that apply to all F4 targets */ /* STM32F4 specific settings that apply to all F4 targets */
#ifdef STM32F4 #ifdef STM32F4
#define MAX_AUX_CHANNELS 99 #define MAX_AUX_CHANNELS 99
#define TASK_GYROPID_DESIRED_PERIOD 125 #define TASK_GYROPID_DESIRED_PERIOD 125
#define SCHEDULER_DELAY_LIMIT 10 #define SCHEDULER_DELAY_LIMIT 10
#define I2C3_OVERCLOCK true #define I2C3_OVERCLOCK true
#else /* when not an F4 */ #else /* when not an F4 */
#define MAX_AUX_CHANNELS 6 #define MAX_AUX_CHANNELS 6
#define TASK_GYROPID_DESIRED_PERIOD 1000 #define TASK_GYROPID_DESIRED_PERIOD 1000
#define SCHEDULER_DELAY_LIMIT 100 #define SCHEDULER_DELAY_LIMIT 100
#endif #endif

12
src/main/vcpf4/usbd_cdc_vcp.c
View File

@ -165,7 +165,13 @@ uint32_t CDC_Send_DATA(uint8_t *ptrBuffer, uint8_t sendLength)
uint32_t CDC_Send_FreeBytes(void) uint32_t CDC_Send_FreeBytes(void)
{ {
/* return the bytes free in the circular buffer */ /*
return the bytes free in the circular buffer
functionally equivalent to:
(APP_Rx_ptr_out > APP_Rx_ptr_in ? APP_Rx_ptr_out - APP_Rx_ptr_in : APP_RX_DATA_SIZE - APP_Rx_ptr_in + APP_Rx_ptr_in)
but without the impact of the condition check.
*/
return ((APP_Rx_ptr_out - APP_Rx_ptr_in) + (-((int)(APP_Rx_ptr_out <= APP_Rx_ptr_in)) & APP_RX_DATA_SIZE)) - 1; return ((APP_Rx_ptr_out - APP_Rx_ptr_in) + (-((int)(APP_Rx_ptr_out <= APP_Rx_ptr_in)) & APP_RX_DATA_SIZE)) - 1;
} }
@ -183,13 +189,13 @@ static uint16_t VCP_DataTx(uint8_t* Buf, uint32_t Len)
could just check for: USB_CDC_ZLP, but better to be safe could just check for: USB_CDC_ZLP, but better to be safe
and wait for any existing transmission to complete. and wait for any existing transmission to complete.
*/ */
while (USB_Tx_State); while (USB_Tx_State != 0);
for (uint32_t i = 0; i < Len; i++) { for (uint32_t i = 0; i < Len; i++) {
APP_Rx_Buffer[APP_Rx_ptr_in] = Buf[i]; APP_Rx_Buffer[APP_Rx_ptr_in] = Buf[i];
APP_Rx_ptr_in = (APP_Rx_ptr_in + 1) % APP_RX_DATA_SIZE; APP_Rx_ptr_in = (APP_Rx_ptr_in + 1) % APP_RX_DATA_SIZE;
while (!CDC_Send_FreeBytes()); while (CDC_Send_FreeBytes() <= 0);
} }
return USBD_OK; return USBD_OK;