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atbetaflight
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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];
#ifdef USE_MAG_SPI_HMC5883
bool ack = hmc5883SpiReadCommand(MAG_DATA_REGISTER, 6, buf);
bool ack = hmc5883SpiReadCommand(MAG_DATA_REGISTER, 6, buf);
#else
bool ack = i2cRead(MAG_I2C_INSTANCE, MAG_ADDRESS, MAG_DATA_REGISTER, 6, buf);
#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.
// The new gain setting is effective from the second measurement and on.
#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
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFB, 0x60); // Set the Gain to 2.5Ga (7:5->011)
#endif
@ -211,7 +211,7 @@ static bool hmc5883lInit(void)
for (i = 0; i < 10; i++) { // Collect 10 samples
#ifdef USE_MAG_SPI_HMC5883
hmc5883SpiWriteCommand(HMC58X3_R_MODE, 1);
hmc5883SpiWriteCommand(HMC58X3_R_MODE, 1);
#else
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_MODE, 1);
#endif
@ -233,7 +233,7 @@ static bool hmc5883lInit(void)
// Apply the negative bias. (Same gain)
#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
i2cWrite(MAG_I2C_INSTANCE, MAG_ADDRESS, HMC58X3_R_CONFA, 0x010 + HMC_NEG_BIAS); // Reg A DOR = 0x010 + MS1, MS0 set to negative bias.
#endif

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

@ -151,7 +151,7 @@ static uint8_t loadDmaBufferDshot(motorDmaOutput_t *const motor, uint16_t packet
for (int i = 0; i < 16; i++) {
motor->dmaBuffer[i] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first
packet <<= 1;
}
}
return DSHOT_DMA_BUFFER_SIZE;
}
@ -328,7 +328,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
*/
motors[motorIndex].pulseScale = ((motorConfig->motorPwmProtocol == PWM_TYPE_BRUSHED) ? period : (sLen * hz)) / 1000.0f;
motors[motorIndex].pulseOffset = (sMin * hz) - (motors[motorIndex].pulseScale * 1000);
pwmOutConfig(&motors[motorIndex], timerHardware, hz, period, idlePulse, motorConfig->motorPwmInversion);
bool timerAlreadyUsed = false;

2
src/main/drivers/sdcard.c
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@ -553,7 +553,7 @@ void sdcard_init(bool useDMA)
#ifdef SDCARD_DMA_CHANNEL_TX
useDMAForTx = useDMA;
if (useDMAForTx) {
dmaInit(dmaGetIdentifier(SDCARD_DMA_CHANNEL_TX), OWNER_SDCARD, 0);
dmaInit(dmaGetIdentifier(SDCARD_DMA_CHANNEL_TX), OWNER_SDCARD, 0);
}
#else
// 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 txBuffer[TX_BUFFER_SIZE];
dyad_Stream *serv;
dyad_Stream *conn;
pthread_mutex_t txLock;
pthread_mutex_t rxLock;
bool connected;
uint16_t clientCount;
uint8_t id;
dyad_Stream *serv;
dyad_Stream *conn;
pthread_mutex_t txLock;
pthread_mutex_t rxLock;
bool connected;
uint16_t clientCount;
uint8_t id;
} tcpPort_t;
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 = {
updateTransponderDMABufferArcitimer,
updateTransponderDMABufferArcitimer,
};
#endif

2
src/main/fc/fc_core.c
View File

@ -234,7 +234,7 @@ void tryArm(void)
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
}
}
#endif
ENABLE_ARMING_FLAG(ARMED);

14
src/main/flight/imu.c
View File

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

4
src/main/flight/mixer.c
View File

@ -561,8 +561,8 @@ void mixTable(pidProfile_t *pidProfile)
float motorMixMax = 0, motorMixMin = 0;
const int yawDirection = GET_DIRECTION(mixerConfig()->yaw_motors_reversed);
int motorDirection = GET_DIRECTION(isMotorsReversed());
for (int i = 0; i < motorCount; i++) {
float mix =
scaledAxisPidRoll * currentMixer[i].roll * (motorDirection) +

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++) {
const ledConfig_t *ledConfig = &ledStripConfig()->ledConfigs[ledIndex];
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 previousColor = *getSC(LED_SCOLOR_BACKGROUND); //Previous color to the one selected, modulo color count
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
int fn = ledGetFunction(ledConfig);
int hOffset = HSV_HUE_MAX;
switch (fn) {
case LED_FUNCTION_COLOR:
color = ledStripConfig()->colors[ledGetColor(ledConfig)];
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];
break;
case LED_FUNCTION_COLOR:
color = ledStripConfig()->colors[ledGetColor(ledConfig)];
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];
break;
case LED_FUNCTION_FLIGHT_MODE:
for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
const hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &ledStripConfig()->modeColors[flightModeToLed[i].ledMode]);
if (directionalColor) {
color = *directionalColor;
}
break; // stop on first match
case LED_FUNCTION_FLIGHT_MODE:
for (unsigned i = 0; i < ARRAYLEN(flightModeToLed); i++)
if (!flightModeToLed[i].flightMode || FLIGHT_MODE(flightModeToLed[i].flightMode)) {
const hsvColor_t *directionalColor = getDirectionalModeColor(ledIndex, &ledStripConfig()->modeColors[flightModeToLed[i].ledMode]);
if (directionalColor) {
color = *directionalColor;
}
break;
case LED_FUNCTION_ARM_STATE:
color = ARMING_FLAG(ARMED) ? *getSC(LED_SCOLOR_ARMED) : *getSC(LED_SCOLOR_DISARMED);
break;
break; // stop on first match
}
break;
case LED_FUNCTION_BATTERY:
color = HSV(RED);
hOffset += scaleRange(calculateBatteryPercentageRemaining(), 0, 100, -30, 120);
break;
case LED_FUNCTION_ARM_STATE:
color = ARMING_FLAG(ARMED) ? *getSC(LED_SCOLOR_ARMED) : *getSC(LED_SCOLOR_DISARMED);
break;
case LED_FUNCTION_RSSI:
color = HSV(RED);
hOffset += scaleRange(rssi * 100, 0, 1023, -30, 120);
break;
case LED_FUNCTION_BATTERY:
color = HSV(RED);
hOffset += scaleRange(calculateBatteryPercentageRemaining(), 0, 100, -30, 120);
break;
default:
break;
case LED_FUNCTION_RSSI:
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
{
int centerPWM = (PWM_RANGE_MIN + PWM_RANGE_MAX) / 2;
{
int centerPWM = (PWM_RANGE_MIN + PWM_RANGE_MAX) / 2;
if (auxInput < centerPWM)
{
color.h = scaleRange(auxInput, PWM_RANGE_MIN, centerPWM, previousColor.h, color.h);

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

@ -111,7 +111,7 @@ static void rcSplitProcessMode()
argument = RCSPLIT_CTRL_ARGU_INVALID;
break;
}
if (argument != RCSPLIT_CTRL_ARGU_INVALID) {
sendCtrlCommand(argument);
switchStates[switchIndex].isActivated = true;

4
src/main/sensors/gyroanalyse.c
View File

@ -8,11 +8,11 @@
*
* Cleanflight is distributed in the hope that it will be useful,
* 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.
*
* 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>

18
src/main/target/FRSKYF3/target.c
View File

@ -24,14 +24,14 @@
#include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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(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, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM5
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(TIM3, CH3, PB0, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM8
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(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, CH3, PA2, TIM_USE_MOTOR, TIMER_OUTPUT_STANDARD), // PWM5
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(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
};

6
src/main/target/FURYF3/target.h
View File

@ -93,7 +93,7 @@
#define M25P16_SPI_INSTANCE SPI2
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
#define DEFAULT_FEATURES (FEATURE_OSD)
#define DEFAULT_CURRENT_METER_SOURCE CURRENT_METER_ADC
#else
@ -102,11 +102,11 @@
#define USE_SDCARD_SPI2
#define SDCARD_DETECT_INVERTED
#define SDCARD_DETECT_PIN PB2
#define SDCARD_SPI_INSTANCE SPI2
#define SDCARD_SPI_CS_PIN SPI2_NSS_PIN
// SPI2 is on the APB1 bus whose clock runs at 36MHz. Divide to under 400kHz for init:
#define SDCARD_SPI_INITIALIZATION_CLOCK_DIVIDER 128
// Divide to under 25MHz for normal operation:

6
src/main/target/FURYF4/target.h
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@ -80,9 +80,9 @@
#define MAX7456_RESTORE_CLK (SPI_CLOCK_FAST)
#define ENABLE_BLACKBOX_LOGGING_ON_SPIFLASH_BY_DEFAULT
#define DEFAULT_FEATURES FEATURE_OSD
#define DEFAULT_FEATURES FEATURE_OSD
#else
#define BARO

2
src/main/target/KIWIF4/target.c
View File

@ -30,7 +30,7 @@ const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
DEF_TIM(TIM3, CH4, PB1, TIM_USE_MOTOR, 1, 0),
DEF_TIM(TIM2, CH3, PA2, TIM_USE_MOTOR, 1, 0),
#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
DEF_TIM(TIM4, CH2, PB7, TIM_USE_LED, 0, 0), // LED
#endif

4
src/main/target/KIWIF4/target.h
View File

@ -21,7 +21,7 @@
#define TARGET_BOARD_IDENTIFIER "PLUM"
#define USBD_PRODUCT_STRING "PLUMF4"
#elif defined(KIWIF4V2)
#elif defined(KIWIF4V2)
#define TARGET_BOARD_IDENTIFIER "KIW2"
#define USBD_PRODUCT_STRING "KIWIF4V2"
@ -36,7 +36,7 @@
#else
#define LED0_PIN PB5
#define LED1_PIN PB4
#define LED1_PIN PB4
#endif
#define BEEPER PA8

2
src/main/target/KROOZX/config.c
View File

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

4
src/main/target/KROOZX/initialisation.c
View File

@ -23,9 +23,9 @@
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);
IOConfigGPIO(osdChSwitch, IOCFG_OUT_PP);
IOLo(osdChSwitch);
IOLo(osdChSwitch);
}

2
src/main/target/KROOZX/target.c
View File

@ -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(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(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
};

18
src/main/target/LUMBAF3/target.c
View File

@ -26,14 +26,14 @@
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(TIM3, CH3, PB0, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Rx
DEF_TIM(TIM3, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx
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, CH2, PB5, TIM_USE_PWM, TIMER_OUTPUT_ENABLED), // SS1Tx
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, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3
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(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, CH2, PB7, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED), // S3
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
};

14
src/main/target/LUMBAF3/target.h
View File

@ -15,7 +15,7 @@
* 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 BEEPER PC15
@ -42,11 +42,11 @@
#define GYRO
#define USE_GYRO_SPI_MPU6000
#define GYRO_MPU6000_ALIGN CW90_DEG
#define GYRO_MPU6000_ALIGN CW90_DEG
#define ACC
#define USE_ACC_SPI_MPU6000
#define ACC_MPU6000_ALIGN CW90_DEG
#define ACC_MPU6000_ALIGN CW90_DEG
#define USE_VCP
#define USE_UART1
@ -70,17 +70,17 @@
#define DEFAULT_VOLTAGE_METER_SOURCE VOLTAGE_METER_ADC
#define USE_ADC
#define CURRENT_METER_ADC_PIN PB1
#define VBAT_ADC_PIN PA0
#define VBAT_ADC_PIN PA0
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define LED_STRIP
#define LED_STRIP
#define DEFAULT_RX_FEATURE FEATURE_RX_SERIAL
#define SERIALRX_PROVIDER SERIALRX_SBUS
#define SERIALRX_UART SERIAL_PORT_USART1
#define DEFAULT_FEATURES FEATURE_TELEMETRY
#define DEFAULT_FEATURES FEATURE_TELEMETRY
// IO - from schematics
#define TARGET_IO_PORTA 0xffff
#define TARGET_IO_PORTB 0xffff

18
src/main/target/MATEKF405/target.c
View File

@ -25,16 +25,16 @@
#include "drivers/timer_def.h"
const timerHardware_t timerHardware[USABLE_TIMER_CHANNEL_COUNT] = {
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(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, CH4, PC9, TIM_USE_MOTOR, TIMER_OUTPUT_ENABLED, 0), // S4 DMA2_ST7
DEF_TIM(TIM5, CH4, PA3, TIM_USE_PPM, TIMER_INPUT_ENABLED, 0), // PPM
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(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, 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(TIM4, CH1, PB6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0) // LED DMA1_ST0
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(TIM4, CH1, PB6, TIM_USE_LED, TIMER_OUTPUT_ENABLED, 0) // LED DMA1_ST0
};

20
src/main/target/MATEKF405/target.h
View File

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

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

@ -272,7 +272,7 @@ void failureMode(failureMode_e mode) {
void indicateFailure(failureMode_e mode, int repeatCount)
{
UNUSED(repeatCount);
printf("Failure LED flash for: [failureMode]!!! %d\n", mode);
printf("Failure LED flash for: [failureMode]!!! %d\n", mode);
}
// Time part

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

@ -222,12 +222,12 @@ typedef enum
} FLASH_Status;
typedef struct {
double timestamp; // in seconds
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_orientation_quat[4]; //w, x, y, z
double velocity_xyz[3]; // m/s, earth frame
double position_xyz[3]; // meters, NED from origin
double timestamp; // in seconds
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_orientation_quat[4]; //w, x, y, z
double velocity_xyz[3]; // m/s, earth frame
double position_xyz[3]; // meters, NED from origin
} fdm_packet;
typedef struct {
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"
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) {
return -2;
}
if ((link->fd = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP)) == -1) {
return -2;
}
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
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
link->isServer = isServer;
memset(&link->si, 0, sizeof(link->si));
link->si.sin_family = AF_INET;
link->si.sin_port = htons(port);
link->port = port;
link->isServer = isServer;
memset(&link->si, 0, sizeof(link->si));
link->si.sin_family = AF_INET;
link->si.sin_port = htons(port);
link->port = port;
if (addr == NULL) {
link->si.sin_addr.s_addr = htonl(INADDR_ANY);
}else{
link->si.sin_addr.s_addr = inet_addr(addr);
}
if (addr == NULL) {
link->si.sin_addr.s_addr = htonl(INADDR_ANY);
}else{
link->si.sin_addr.s_addr = inet_addr(addr);
}
if (isServer) {
if (bind(link->fd, (const struct sockaddr *)&link->si, sizeof(link->si)) == -1) {
return -1;
}
}
return 0;
if (isServer) {
if (bind(link->fd, (const struct sockaddr *)&link->si, sizeof(link->si)) == -1) {
return -1;
}
}
return 0;
}
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) {
fd_set fds;
struct timeval tv;
fd_set fds;
struct timeval tv;
FD_ZERO(&fds);
FD_SET(link->fd, &fds);
FD_ZERO(&fds);
FD_SET(link->fd, &fds);
tv.tv_sec = timeout_ms / 1000;
tv.tv_usec = (timeout_ms % 1000) * 1000UL;
tv.tv_sec = timeout_ms / 1000;
tv.tv_usec = (timeout_ms % 1000) * 1000UL;
if (select(link->fd+1, &fds, NULL, NULL, &tv) != 1) {
return -1;
}
if (select(link->fd+1, &fds, NULL, NULL, &tv) != 1) {
return -1;
}
socklen_t len;
int ret;
ret = recvfrom(link->fd, data, size, 0, (struct sockaddr *)&link->recv, &len);
return ret;
socklen_t len;
int ret;
ret = recvfrom(link->fd, data, size, 0, (struct sockaddr *)&link->recv, &len);
return ret;
}

4
src/main/target/stm32f1xx_hal_conf.h
View File

@ -127,8 +127,8 @@
/**
* @brief This is the HAL system configuration section
*/
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0x000F) /*!< tick interrupt priority */
#define VDD_VALUE ((uint32_t)3300) /*!< Value of VDD in mv */
#define TICK_INT_PRIORITY ((uint32_t)0x000F) /*!< tick interrupt priority */
#define USE_RTOS 0
#define PREFETCH_ENABLE 1