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Merge pull request #131 from ledvinap/bugfix-trivial 

Trivial changes
This commit is contained in:
Dominic Clifton 2014-10-24 08:28:47 +01:00
parent db26c09721 e179218caf
commit afd0d21b68
5 changed files with 20 additions and 20 deletions
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2
src/main/drivers/bus_i2c_stm32f10x.c
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@ -195,6 +195,7 @@ static void i2c_er_handler(void)
I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE); // disable the RXNE/TXE interrupt - prevent the ISR tailchaining onto the ER (hopefully)
if (!(SR1Register & 0x0200) && !(I2Cx->CR1 & 0x0200)) { // if we dont have an ARLO error, ensure sending of a stop
if (I2Cx->CR1 & 0x0100) { // We are currently trying to send a start, this is very bad as start, stop will hang the peripheral
// TODO - busy waiting in highest priority IRQ. Maybe only set flag and handle it from main loop
while (I2Cx->CR1 & 0x0100) { ; } // wait for any start to finish sending
I2C_GenerateSTOP(I2Cx, ENABLE); // send stop to finalise bus transaction
while (I2Cx->CR1 & 0x0200) { ; } // wait for stop to finish sending
@ -281,6 +282,7 @@ void i2c_ev_handler(void)
subaddress_sent = 1; // this is set back to zero upon completion of the current task
}
}
// TODO - busy waiting in ISR
// we must wait for the start to clear, otherwise we get constant BTF
while (I2Cx->CR1 & 0x0100) { ; }
} else if (SReg_1 & 0x0040) { // Byte received - EV7

8
src/main/drivers/gpio.h
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@ -106,10 +106,10 @@ typedef struct
GPIO_Speed speed;
} gpio_config_t;
#define digitalHi(p, i) { p->BSRR = i; }
#define digitalLo(p, i) { p->BRR = i; }
#define digitalToggle(p, i) { p->ODR ^= i; }
#define digitalIn(p, i) (p->IDR & i)
static inline void digitalHi(GPIO_TypeDef *p, uint16_t i) { p->BSRR = i; }
static inline void digitalLo(GPIO_TypeDef *p, uint16_t i) { p->BRR = i; }
static inline void digitalToggle(GPIO_TypeDef *p, uint16_t i) { p->ODR ^= i; }
static inline uint16_t digitalIn(GPIO_TypeDef *p, uint16_t i) {return p->IDR & i; }
void gpioInit(GPIO_TypeDef *gpio, gpio_config_t *config);
void gpioExtiLineConfig(uint8_t portsrc, uint8_t pinsrc);

19
src/main/io/serial.c
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@ -218,19 +218,16 @@ static void sortSerialPortFunctions(serialPortFunction_t *serialPortFunctions, u
{
serialPortFunction_t swap;
int8_t index1;
int8_t index2;
int result;
int index1;
int index2;
// bubble-sort array (TODO - port selection can be implemented as repeated minimum search with bitmask marking used elements)
for (index1 = 0; index1 < (elements - 1); index1++) {
for (index2 = 0; index2 < elements - index1 - 1; index2++) {
result = serialPortFunctionMostSpecificFirstComparator(&serialPortFunctions[index2], &serialPortFunctions[index2 + 1]);
if (result > 0) {
memcpy(&swap, &serialPortFunctions[index1], sizeof(serialPortFunction_t));
memcpy(&serialPortFunctions[index1], &serialPortFunctions[index2 + 1], sizeof(serialPortFunction_t));
memcpy(&serialPortFunctions[index2 + 1], &swap, sizeof(serialPortFunction_t));
if(serialPortFunctionMostSpecificFirstComparator(&serialPortFunctions[index2], &serialPortFunctions[index2 + 1]) > 0) {
swap=serialPortFunctions[index2];
serialPortFunctions[index2] = serialPortFunctions[index2 + 1];
serialPortFunctions[index2 + 1] = swap;
}
}
}
@ -259,7 +256,7 @@ serialPortSearchResult_t *findNextSerialPort(serialPortFunction_e function, cons
}
#if (defined(NAZE) || defined(OLIMEXINO)) && defined(SONAR)
if (!feature(FEATURE_RX_PARALLEL_PWM) && (serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL2)) {
if (feature(FEATURE_SONAR) && !feature(FEATURE_RX_PARALLEL_PWM) && (serialPortConstraint->identifier == SERIAL_PORT_SOFTSERIAL2)) {
continue;
}
#endif

6
src/main/io/serial_msp.c
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@ -1391,19 +1391,21 @@ void mspSetTelemetryPort(serialPort_t *serialPort)
mspPort_t *matchedPort = NULL;
// find existing telemetry port
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT && !matchedPort; portIndex++) {
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
candidatePort = &mspPorts[portIndex];
if (candidatePort->mspPortUsage == FOR_TELEMETRY) {
matchedPort = candidatePort;
break;
}
}
if (!matchedPort) {
// find unused port
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT && !matchedPort; portIndex++) {
for (portIndex = 0; portIndex < MAX_MSP_PORT_COUNT; portIndex++) {
candidatePort = &mspPorts[portIndex];
if (candidatePort->mspPortUsage == UNUSED_PORT) {
matchedPort = candidatePort;
break;
}
}
}

3
src/main/mw.c
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@ -190,8 +190,7 @@ void annexCode(void)
rcCommand[axis] = lookupPitchRollRC[tmp2] + (tmp - tmp2 * 100) * (lookupPitchRollRC[tmp2 + 1] - lookupPitchRollRC[tmp2]) / 100;
prop1 = 100 - (uint16_t)currentProfile->controlRateConfig.rollPitchRate * tmp / 500;
prop1 = (uint16_t)prop1 * prop2 / 100;
}
if (axis == YAW) {
} else if (axis == YAW) {
if (currentProfile->yaw_deadband) {
if (tmp > currentProfile->yaw_deadband) {
tmp -= currentProfile->yaw_deadband;