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Whitespace tidy

This commit is contained in:
Martin Budden 2017-07-05 09:34:44 +01:00
parent 5eefa4e73f
commit a86ac89448
27 changed files with 162 additions and 162 deletions
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8
src/main/drivers/compass/compass_hmc5883l.c
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@ -169,7 +169,7 @@ static bool hmc5883lRead(int16_t *magData)
{ {
uint8_t buf[6]; uint8_t buf[6];
#ifdef USE_MAG_SPI_HMC5883 #ifdef USE_MAG_SPI_HMC5883
bool ack = hmc5883SpiReadCommand(MAG_DATA_REGISTER, 6, buf); bool ack = hmc5883SpiReadCommand(MAG_DATA_REGISTER, 6, buf);
#else #else
bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf); bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
#endif #endif
@ -202,7 +202,7 @@ static bool hmc5883lInit(void)
// Note that the very first measurement after a gain change maintains the same gain as the previous setting. // Note that the very first measurement after a gain change maintains the same gain as the previous setting.
// The new gain setting is effective from the second measurement and on. // The new gain setting is effective from the second measurement and on.
#ifdef USE_MAG_SPI_HMC5883 #ifdef USE_MAG_SPI_HMC5883
hmc5883SpiWriteCommand(HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011) hmc5883SpiWriteCommand(HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
#else #else
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011) i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
#endif #endif
@ -211,7 +211,7 @@ static bool hmc5883lInit(void)
for (i = 0; i < 10; i++) { // Collect 10 samples for (i = 0; i < 10; i++) { // Collect 10 samples
#ifdef USE_MAG_SPI_HMC5883 #ifdef USE_MAG_SPI_HMC5883
hmc5883SpiWriteCommand(HMC58X3_R_MODE, 1); hmc5883SpiWriteCommand(HMC58X3_R_MODE, 1);
#else #else
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1); i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
#endif #endif
@ -233,7 +233,7 @@ static bool hmc5883lInit(void)
// Apply the negative bias. (Same gain) // Apply the negative bias. (Same gain)
#ifdef USE_MAG_SPI_HMC5883 #ifdef USE_MAG_SPI_HMC5883
hmc5883SpiWriteCommand(HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias. hmc5883SpiWriteCommand(HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
#else #else
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias. i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
#endif #endif

2
src/main/drivers/pwm_output.c
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@ -151,7 +151,7 @@ static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet
for (int i = 0; i < 16; i++) { for (int i = 0; i < 16; i++) {
motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first
packet <<= 1; packet <<= 1;
} }
return DSHOT_DMA_BUFFER_SIZE; return DSHOT_DMA_BUFFER_SIZE;
} }

2
src/main/drivers/sdcard.c
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@ -553,7 +553,7 @@ void sdcard_init(bool useDMA)
#ifdef SDCARD_DMA_CHANNEL_TX #ifdef SDCARD_DMA_CHANNEL_TX
useDMAForTx = useDMA; useDMAForTx = useDMA;
if (useDMAForTx) { if (useDMAForTx) {
dmaInit(dmaGetIdentifier(SDCARD_DMA_CHANNEL_TX), OWNER_SDCARD, 0); dmaInit(dmaGetIdentifier(SDCARD_DMA_CHANNEL_TX), OWNER_SDCARD, 0);
} }
#else #else
// DMA is not available // DMA is not available

14
src/main/drivers/serial_tcp.h
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@ -29,13 +29,13 @@ typedef struct {
uint8_t rxBuffer[RX_BUFFER_SIZE]; uint8_t rxBuffer[RX_BUFFER_SIZE];
uint8_t txBuffer[TX_BUFFER_SIZE]; uint8_t txBuffer[TX_BUFFER_SIZE];
dyad_Stream *serv; dyad_Stream *serv;
dyad_Stream *conn; dyad_Stream *conn;
pthread_mutex_t txLock; pthread_mutex_t txLock;
pthread_mutex_t rxLock; pthread_mutex_t rxLock;
bool connected; bool connected;
uint16_t clientCount; uint16_t clientCount;
uint8_t id; uint8_t id;
} tcpPort_t; } tcpPort_t;
serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t baudRate, portMode_t mode, portOptions_t options); serialPort_t *serTcpOpen(int id, serialReceiveCallbackPtr rxCallback, uint32_t baudRate, portMode_t mode, portOptions_t options);

2
src/main/drivers/transponder_ir_arcitimer.c
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@ -60,7 +60,7 @@ void updateTransponderDMABufferArcitimer(transponder_t *transponder, const uint8
const struct transponderVTable arcitimerTansponderVTable = { const struct transponderVTable arcitimerTansponderVTable = {
updateTransponderDMABufferArcitimer, updateTransponderDMABufferArcitimer,
}; };
#endif #endif

2
src/main/fc/fc_core.c
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@ -234,7 +234,7 @@ void tryArm(void)
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED); pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
} }
} }
} }
#endif #endif
ENABLE_ARMING_FLAG(ARMED); ENABLE_ARMING_FLAG(ARMED);

14
src/main/flight/imu.c
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@ -427,16 +427,16 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
#endif #endif
#if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC) #if defined(SIMULATOR_BUILD) && defined(SKIP_IMU_CALC)
UNUSED(imuMahonyAHRSupdate); UNUSED(imuMahonyAHRSupdate);
UNUSED(useAcc); UNUSED(useAcc);
UNUSED(useMag); UNUSED(useMag);
UNUSED(useYaw); UNUSED(useYaw);
UNUSED(rawYawError); UNUSED(rawYawError);
#else #else
#if defined(SIMULATOR_BUILD) && defined(SIMULATOR_IMU_SYNC) #if defined(SIMULATOR_BUILD) && defined(SIMULATOR_IMU_SYNC)
// printf("[imu]deltaT = %u, imuDeltaT = %u, currentTimeUs = %u, micros64_real = %lu\n", deltaT, imuDeltaT, currentTimeUs, micros64_real()); // printf("[imu]deltaT = %u, imuDeltaT = %u, currentTimeUs = %u, micros64_real = %lu\n", deltaT, imuDeltaT, currentTimeUs, micros64_real());
deltaT = imuDeltaT; deltaT = imuDeltaT;
#endif #endif
imuMahonyAHRSupdate(deltaT * 1e-6f, imuMahonyAHRSupdate(deltaT * 1e-6f,

64
src/main/io/ledstrip.c
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@ -446,52 +446,52 @@ static void applyLedFixedLayers()
for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) { for (int ledIndex = 0; ledIndex < ledCounts.count; ledIndex++) {
const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[ledIndex]; const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[ledIndex];
hsvColor_t color = *getSC(LED_SCOLOR_BACKGROUND); hsvColor_t color = *getSC(LED_SCOLOR_BACKGROUND);
hsvColor_t nextColor = *getSC(LED_SCOLOR_BACKGROUND); //next color above the one selected, or color 0 if your are at the maximum hsvColor_t nextColor = *getSC(LED_SCOLOR_BACKGROUND); //next color above the one selected, or color 0 if your are at the maximum
hsvColor_t previousColor = *getSC(LED_SCOLOR_BACKGROUND); //Previous color to the one selected, modulo color count hsvColor_t previousColor = *getSC(LED_SCOLOR_BACKGROUND); //Previous color to the one selected, modulo color count
int fn = ledGetFunction(ledConfig); int fn = ledGetFunction(ledConfig);
int hOffset = HSV_HUE_MAX; int hOffset = HSV_HUE_MAX;
switch (fn) { switch (fn) {
case LED_FUNCTION_COLOR: case LED_FUNCTION_COLOR:
color = ledStripConfig()->colors[ledGetColor(ledConfig)]; color = ledStripConfig()->colors[ledGetColor(ledConfig)];
nextColor = ledStripConfig()->colors[(ledGetColor(ledConfig) + 1 + LED_CONFIGURABLE_COLOR_COUNT) % LED_CONFIGURABLE_COLOR_COUNT]; nextColor = ledStripConfig()->colors[(ledGetColor(ledConfig) + 1 + LED_CONFIGURABLE_COLOR_COUNT) % LED_CONFIGURABLE_COLOR_COUNT];
previousColor = ledStripConfig()->colors[(ledGetColor(ledConfig) - 1 + LED_CONFIGURABLE_COLOR_COUNT) % LED_CONFIGURABLE_COLOR_COUNT]; previousColor = ledStripConfig()->colors[(ledGetColor(ledConfig) - 1 + LED_CONFIGURABLE_COLOR_COUNT) % LED_CONFIGURABLE_COLOR_COUNT];
break; break;
case LED_FUNCTION_FLIGHT_MODE: case LED_FUNCTION_FLIGHT_MODE:
for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++) for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) { if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
const hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &ledStripConfig()->modeColors[flightModeToLed[i].ledMode]); const hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &ledStripConfig()->modeColors[flightModeToLed[i].ledMode]);
if (directionalColor) { if (directionalColor) {
color = *directionalColor; color = *directionalColor;
}
break; // stop on first match
} }
break;
case LED_FUNCTION_ARM_STATE: break; // stop on first match
color = ARMING_FLAG(ARMED) ? *getSC(LED_SCOLOR_ARMED) : *getSC(LED_SCOLOR_DISARMED); }
break; break;
case LED_FUNCTION_BATTERY: case LED_FUNCTION_ARM_STATE:
color = HSV(RED); color = ARMING_FLAG(ARMED) ? *getSC(LED_SCOLOR_ARMED) : *getSC(LED_SCOLOR_DISARMED);
hOffset += scaleRange(calculateBatteryPercentageRemaining(), 0, 100, -30, 120); break;
break;
case LED_FUNCTION_RSSI: case LED_FUNCTION_BATTERY:
color = HSV(RED); color = HSV(RED);
hOffset += scaleRange(rssi * 100, 0, 1023, -30, 120); hOffset += scaleRange(calculateBatteryPercentageRemaining(), 0, 100, -30, 120);
break; break;
default: case LED_FUNCTION_RSSI:
break; color = HSV(RED);
hOffset += scaleRange(rssi * 100, 0, 1023, -30, 120);
break;
default:
break;
} }
if (ledGetOverlayBit(ledConfig, LED_OVERLAY_THROTTLE)) //smooth fade with selected Aux channel of all HSV values from previousColor through color to nextColor if (ledGetOverlayBit(ledConfig, LED_OVERLAY_THROTTLE)) //smooth fade with selected Aux channel of all HSV values from previousColor through color to nextColor
{ {
int centerPWM = (PWM_RANGE_MIN + PWM_RANGE_MAX) / 2; int centerPWM = (PWM_RANGE_MIN + PWM_RANGE_MAX) / 2;
if (auxInput < centerPWM) if (auxInput < centerPWM)
{ {
color.h = scaleRange(auxInput, PWM_RANGE_MIN, centerPWM, previousColor.h, color.h); color.h = scaleRange(auxInput, PWM_RANGE_MIN, centerPWM, previousColor.h, color.h);

4
src/main/sensors/gyroanalyse.c
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@ -8,11 +8,11 @@
* *
* Cleanflight is distributed in the hope that it will be useful, * Cleanflight is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of * but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details. * GNU General Public License for more details.
* *
* You should have received a copy of the GNU General Public License * You should have received a copy of the GNU General Public License
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#include <stdint.h> #include <stdint.h>

16
src/main/target/FRSKYF3/target.c
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@ -24,14 +24,14 @@
#include "drivers/timer_def.h" #include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM1 DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM1
DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM2 DEF_TIM(TIM8, CH2, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM2
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM3 DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM3
DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM4 DEF_TIM(TIM2, CH2, PA1, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM4
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM5 DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM5
DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM6 DEF_TIM(TIM2, CH4, PA3, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM6
DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM7 DEF_TIM(TIM2, CH1, PA0, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM7
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM8 DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM8
DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED|TIM_USE_TRANSPONDER, TIMER_OUTPUT_ENABLED), // LED DEF_TIM(TIM1, CH1, PA8, TIM_USE_LED|TIM_USE_TRANSPONDER, TIMER_OUTPUT_ENABLED), // LED
}; };

2
src/main/target/FURYF4/target.h
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@ -81,7 +81,7 @@
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT #define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
#define DEFAULT_FEATURES FEATURE_OSD #define DEFAULT_FEATURES FEATURE_OSD
#else #else

2
src/main/target/KIWIF4/target.c
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@ -30,7 +30,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1, 0), DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1, 0),
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1, 0), DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1, 0),
#if defined(PLUMF4) || defined(KIWIF4V2) #if defined(PLUMF4) || defined(KIWIF4V2)
DEF_TIM(TIM2, CH1, PA0, TIM_USE_LED, 1, 0), //LED DEF_TIM(TIM2, CH1, PA0, TIM_USE_LED, 1, 0), //LED
#else #else
DEF_TIM(TIM4, CH2, PB7, TIM_USE_LED, 0, 0), // LED DEF_TIM(TIM4, CH2, PB7, TIM_USE_LED, 0, 0), // LED
#endif #endif

2
src/main/target/KROOZX/config.c
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@ -33,7 +33,7 @@
#ifdef TARGET_CONFIG #ifdef TARGET_CONFIG
void targetConfiguration(void) void targetConfiguration(void)
{ {
voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = VBAT_SCALE; voltageSensorADCConfigMutable(VOLTAGE_SENSOR_ADC_VBAT)->vbatscale = VBAT_SCALE;
barometerConfigMutable()->baro_hardware = 0; barometerConfigMutable()->baro_hardware = 0;
compassConfigMutable()->mag_hardware = 0; compassConfigMutable()->mag_hardware = 0;
osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | VISIBLE_FLAG; osdConfigMutable()->item_pos[OSD_MAIN_BATT_VOLTAGE] = OSD_POS(12, 1) | VISIBLE_FLAG;

4
src/main/target/KROOZX/initialisation.c
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@ -23,9 +23,9 @@
void targetPreInit(void) void targetPreInit(void)
{ {
IO_t osdChSwitch = IOGetByTag(IO_TAG(OSD_CH_SWITCH)); IO_t osdChSwitch = IOGetByTag(IO_TAG(OSD_CH_SWITCH));
IOInit(osdChSwitch, OWNER_SYSTEM, 0); IOInit(osdChSwitch, OWNER_SYSTEM, 0);
IOConfigGPIO(osdChSwitch, IOCFG_OUT_PP); IOConfigGPIO(osdChSwitch, IOCFG_OUT_PP);
IOLo(osdChSwitch); IOLo(osdChSwitch);
} }

2
src/main/target/KROOZX/target.c
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@ -34,5 +34,5 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM6 DEF_TIM(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM6
DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM7 DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM7
DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM8 DEF_TIM(TIM4, CH4, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // PWM8
DEF_TIM(TIM8, CH1, PC6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0), // LED_STRIP DEF_TIM(TIM8, CH1, PC6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0), // LED_STRIP
}; };

16
src/main/target/LUMBAF3/target.c
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@ -26,14 +26,14 @@
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM2, CH2, PA1, TIM_USE_PPM | TIM_USE_TRANSPONDER, TIMER_INPUT_ENABLED), // PPM IN DEF_TIM(TIM2, CH2, PA1, TIM_USE_PPM | TIM_USE_TRANSPONDER, TIMER_INPUT_ENABLED), // PPM IN
DEF_TIM(TIM3, CH3, PB0, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Rx DEF_TIM(TIM3, CH3, PB0, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Rx
DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx
DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S1 DEF_TIM(TIM8, CH3, PB9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S1
DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S2 DEF_TIM(TIM4, CH3, PB8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S2
DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3 DEF_TIM(TIM4, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S4 DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S4
DEF_TIM(TIM15, CH1, PA2, TIM_USE_LED, 1), // GPIO TIMER - LED_STRIP DEF_TIM(TIM15, CH1, PA2, TIM_USE_LED, 1), // GPIO TIMER - LED_STRIP
}; };

8
src/main/target/LUMBAF3/target.h
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@ -15,7 +15,7 @@
* along with Cleanflight. If not, see <http://www.gnu.org/licenses/>. * along with Cleanflight. If not, see <http://www.gnu.org/licenses/>.
*/ */
#define TARGET_BOARD_IDENTIFIER "MCF3" // LumbaF3 Flight Controller by mC #define TARGET_BOARD_IDENTIFIER "MCF3" // LumbaF3 Flight Controller by mC
#define LED0_PIN PB3 #define LED0_PIN PB3
#define BEEPER PC15 #define BEEPER PC15
@ -42,11 +42,11 @@
#define GYRO #define GYRO
#define USE_GYRO_SPI_MPU6000 #define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG #define GYRO_MPU6000_ALIGN CW90_DEG
#define ACC #define ACC
#define USE_ACC_SPI_MPU6000 #define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG #define ACC_MPU6000_ALIGN CW90_DEG
#define USE_VCP #define USE_VCP
#define USE_UART1 #define USE_UART1
@ -79,7 +79,7 @@
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL #define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS #define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART1 #define SERIALRX_UART SERIAL_PORT_USART1
#define DEFAULT_FEATURES FEATURE_TELEMETRY #define DEFAULT_FEATURES FEATURE_TELEMETRY
// IO - from schematics // IO - from schematics
#define TARGET_IO_PORTA 0xffff #define TARGET_IO_PORTA 0xffff

16
src/main/target/MATEKF405/target.c
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@ -25,16 +25,16 @@
#include "drivers/timer_def.h" #include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = { const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0), // PPM DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0), // PPM
DEF_TIM(TIM3, CH1, PC6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S1 DMA1_ST4 DEF_TIM(TIM3, CH1, PC6, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S1 DMA1_ST4
DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1), // S2 DMA2_ST2 DEF_TIM(TIM8, CH2, PC7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1), // S2 DMA2_ST2
DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1), // S3 DMA2_ST4 DEF_TIM(TIM8, CH3, PC8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 1), // S3 DMA2_ST4
DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S4 DMA2_ST7 DEF_TIM(TIM8, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S4 DMA2_ST7
DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S5 DMA1_ST5 DEF_TIM(TIM2, CH1, PA15, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S5 DMA1_ST5
DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S6 DMA2_ST6 DEF_TIM(TIM1, CH1, PA8, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S6 DMA2_ST6
DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0) // LED DMA1_ST0 DEF_TIM(TIM4, CH1, PB6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0) // LED DMA1_ST0
}; };

20
src/main/target/MATEKF405/target.h
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@ -33,8 +33,8 @@
#define USE_SPI_DEVICE_1 #define USE_SPI_DEVICE_1
#define SPI1_SCK_PIN PA5 #define SPI1_SCK_PIN PA5
#define SPI1_MISO_PIN PA6 #define SPI1_MISO_PIN PA6
#define SPI1_MOSI_PIN PA7 #define SPI1_MOSI_PIN PA7
#define MPU6500_CS_PIN PC2 #define MPU6500_CS_PIN PC2
#define MPU6500_SPI_INSTANCE SPI1 #define MPU6500_SPI_INSTANCE SPI1
@ -57,8 +57,8 @@
#define USE_SPI_DEVICE_3 #define USE_SPI_DEVICE_3
#define SPI3_SCK_PIN PB3 #define SPI3_SCK_PIN PB3
#define SPI3_MISO_PIN PB4 #define SPI3_MISO_PIN PB4
#define SPI3_MOSI_PIN PB5 #define SPI3_MOSI_PIN PB5
#define SDCARD_SPI_INSTANCE SPI3 #define SDCARD_SPI_INSTANCE SPI3
#define SDCARD_SPI_CS_PIN PC1 #define SDCARD_SPI_CS_PIN PC1
@ -68,16 +68,16 @@
// Divide to under 25MHz for normal operation: // Divide to under 25MHz for normal operation:
#define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz #define SDCARD_SPI_FULL_SPEED_CLOCK_DIVIDER 4 // 21MHz
#define SDCARD_DMA_CHANNEL_TX DMA1_Stream7 #define SDCARD_DMA_CHANNEL_TX DMA1_Stream7
#define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF7 #define SDCARD_DMA_CHANNEL_TX_COMPLETE_FLAG DMA_FLAG_TCIF7
#define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1 #define SDCARD_DMA_CLK RCC_AHB1Periph_DMA1
#define SDCARD_DMA_CHANNEL DMA_Channel_0 #define SDCARD_DMA_CHANNEL DMA_Channel_0
// *************** OSD ***************************** // *************** OSD *****************************
#define USE_SPI_DEVICE_2 #define USE_SPI_DEVICE_2
#define SPI2_SCK_PIN PB13 #define SPI2_SCK_PIN PB13
#define SPI2_MISO_PIN PB14 #define SPI2_MISO_PIN PB14
#define SPI2_MOSI_PIN PB15 #define SPI2_MOSI_PIN PB15
#define OSD #define OSD
#define USE_MAX7456 #define USE_MAX7456

12
src/main/target/SITL/target.h
View File

@ -222,12 +222,12 @@ typedef enum
} FLASH_Status; } FLASH_Status;
typedef struct { typedef struct {
double timestamp; // in seconds double timestamp; // in seconds
double imu_angular_velocity_rpy[3]; // rad/s -> range: +/- 8192; +/- 2000 deg/se double imu_angular_velocity_rpy[3]; // rad/s -> range: +/- 8192; +/- 2000 deg/se
double imu_linear_acceleration_xyz[3]; // m/s/s NED, body frame -> sim 1G = 9.80665, FC 1G = 256 double imu_linear_acceleration_xyz[3]; // m/s/s NED, body frame -> sim 1G = 9.80665, FC 1G = 256
double imu_orientation_quat[4]; //w, x, y, z double imu_orientation_quat[4]; //w, x, y, z
double velocity_xyz[3]; // m/s, earth frame double velocity_xyz[3]; // m/s, earth frame
double position_xyz[3]; // meters, NED from origin double position_xyz[3]; // meters, NED from origin
} fdm_packet; } fdm_packet;
typedef struct { typedef struct {
float motor_speed[4]; // normal: [0.0, 1.0], 3D: [-1.0, 1.0] float motor_speed[4]; // normal: [0.0, 1.0], 3D: [-1.0, 1.0]

72
src/main/target/SITL/udplink.c
View File

@ -13,56 +13,56 @@
#include "udplink.h" #include "udplink.h"
int udpInit(udpLink_t* link, const char* addr, int port, bool isServer) { int udpInit(udpLink_t* link, const char* addr, int port, bool isServer) {
int one = 1; int one = 1;
if ((link->fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) { if ((link->fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
return -2; return -2;
} }
setsockopt(link->fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)); // can multi-bind setsockopt(link->fd, SOL_SOCKET, SO_REUSEADDR, &one, sizeof(one)); // can multi-bind
fcntl(link->fd, F_SETFL, fcntl(link->fd, F_GETFL, 0) | O_NONBLOCK); // nonblock fcntl(link->fd, F_SETFL, fcntl(link->fd, F_GETFL, 0) | O_NONBLOCK); // nonblock
link->isServer = isServer; link->isServer = isServer;
memset(&link->si, 0, sizeof(link->si)); memset(&link->si, 0, sizeof(link->si));
link->si.sin_family = AF_INET; link->si.sin_family = AF_INET;
link->si.sin_port = htons(port); link->si.sin_port = htons(port);
link->port = port; link->port = port;
if (addr == NULL) { if (addr == NULL) {
link->si.sin_addr.s_addr = htonl(INADDR_ANY); link->si.sin_addr.s_addr = htonl(INADDR_ANY);
}else{ }else{
link->si.sin_addr.s_addr = inet_addr(addr); link->si.sin_addr.s_addr = inet_addr(addr);
} }
if (isServer) { if (isServer) {
if (bind(link->fd, (const struct sockaddr *)&link->si, sizeof(link->si)) == -1) { if (bind(link->fd, (const struct sockaddr *)&link->si, sizeof(link->si)) == -1) {
return -1; return -1;
} }
} }
return 0; return 0;
} }
int udpSend(udpLink_t* link, const void* data, size_t size) { int udpSend(udpLink_t* link, const void* data, size_t size) {
return sendto(link->fd, data, size, 0, (struct sockaddr *)&link->si, sizeof(link->si)); return sendto(link->fd, data, size, 0, (struct sockaddr *)&link->si, sizeof(link->si));
} }
int udpRecv(udpLink_t* link, void* data, size_t size, uint32_t timeout_ms) { int udpRecv(udpLink_t* link, void* data, size_t size, uint32_t timeout_ms) {
fd_set fds; fd_set fds;
struct timeval tv; struct timeval tv;
FD_ZERO(&fds); FD_ZERO(&fds);
FD_SET(link->fd, &fds); FD_SET(link->fd, &fds);
tv.tv_sec = timeout_ms / 1000; tv.tv_sec = timeout_ms / 1000;
tv.tv_usec = (timeout_ms % 1000) * 1000UL; tv.tv_usec = (timeout_ms % 1000) * 1000UL;
if (select(link->fd+1, &fds, NULL, NULL, &tv) != 1) { if (select(link->fd+1, &fds, NULL, NULL, &tv) != 1) {
return -1; return -1;
} }
socklen_t len; socklen_t len;
int ret; int ret;
ret = recvfrom(link->fd, data, size, 0, (struct sockaddr *)&link->recv, &len); ret = recvfrom(link->fd, data, size, 0, (struct sockaddr *)&link->recv, &len);
return ret; return ret;
} }