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atbetaflight
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main uart baud rate commit before tearing stuff up 

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@134 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61
This commit is contained in:
timecop 2012-03-29 06:00:22 +00:00
parent da5ac020e1
commit c98b6b30af
12 changed files with 2584 additions and 2579 deletions
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139
baseflight.uvopt
View File

@ -73,7 +73,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>1</IsCurrentTarget> <IsCurrentTarget>0</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>255</CpuCode> <CpuCode>255</CpuCode>
<Books> <Books>
@ -163,22 +163,7 @@
<Type>0</Type> <Type>0</Type>
<LineNumber>309</LineNumber> <LineNumber>309</LineNumber>
<EnabledFlag>1</EnabledFlag> <EnabledFlag>1</EnabledFlag>
<Address>0</Address> <Address>134244448</Address>
<ByteObject>0</ByteObject>
<ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject>
<BreakByAccess>0</BreakByAccess>
<BreakIfRCount>0</BreakIfRCount>
<Filename>D:\fly_122\projects\baseflight\src\drv_pwm.c</Filename>
<ExecCommand></ExecCommand>
<Expression></Expression>
</Bp>
<Bp>
<Number>1</Number>
<Type>0</Type>
<LineNumber>461</LineNumber>
<EnabledFlag>1</EnabledFlag>
<Address>134248194</Address>
<ByteObject>0</ByteObject> <ByteObject>0</ByteObject>
<ManyObjects>0</ManyObjects> <ManyObjects>0</ManyObjects>
<SizeOfObject>0</SizeOfObject> <SizeOfObject>0</SizeOfObject>
@ -186,7 +171,7 @@
<BreakIfRCount>1</BreakIfRCount> <BreakIfRCount>1</BreakIfRCount>
<Filename></Filename> <Filename></Filename>
<ExecCommand></ExecCommand> <ExecCommand></ExecCommand>
<Expression>\\baseflight\src/drv_mpu6050.c\461</Expression> <Expression>\\baseflight\src/drv_pwm.c\309</Expression>
</Bp> </Bp>
</Breakpoint> </Breakpoint>
<WatchWindow1> <WatchWindow1>
@ -332,7 +317,7 @@
<OPTFL> <OPTFL>
<tvExp>1</tvExp> <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<IsCurrentTarget>0</IsCurrentTarget> <IsCurrentTarget>1</IsCurrentTarget>
</OPTFL> </OPTFL>
<CpuCode>255</CpuCode> <CpuCode>255</CpuCode>
<Books> <Books>
@ -562,10 +547,10 @@
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>22</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>52</TopLine> <TopLine>335</TopLine>
<CurrentLine>52</CurrentLine> <CurrentLine>356</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\cli.c</PathWithFileName> <PathWithFileName>.\src\cli.c</PathWithFileName>
<FilenameWithoutPath>cli.c</FilenameWithoutPath> <FilenameWithoutPath>cli.c</FilenameWithoutPath>
@ -578,8 +563,8 @@
<Focus>0</Focus> <Focus>0</Focus>
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<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
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<CurrentLine>122</CurrentLine> <CurrentLine>153</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\config.c</PathWithFileName> <PathWithFileName>.\src\config.c</PathWithFileName>
<FilenameWithoutPath>config.c</FilenameWithoutPath> <FilenameWithoutPath>config.c</FilenameWithoutPath>
@ -590,10 +575,10 @@
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>35</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine> <TopLine>238</TopLine>
<CurrentLine>0</CurrentLine> <CurrentLine>267</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\imu.c</PathWithFileName> <PathWithFileName>.\src\imu.c</PathWithFileName>
<FilenameWithoutPath>imu.c</FilenameWithoutPath> <FilenameWithoutPath>imu.c</FilenameWithoutPath>
@ -606,8 +591,8 @@
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>40</TopLine> <TopLine>74</TopLine>
<CurrentLine>46</CurrentLine> <CurrentLine>92</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\main.c</PathWithFileName> <PathWithFileName>.\src\main.c</PathWithFileName>
<FilenameWithoutPath>main.c</FilenameWithoutPath> <FilenameWithoutPath>main.c</FilenameWithoutPath>
@ -632,10 +617,10 @@
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
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<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
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<CurrentLine>257</CurrentLine> <CurrentLine>284</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\mw.c</PathWithFileName> <PathWithFileName>.\src\mw.c</PathWithFileName>
<FilenameWithoutPath>mw.c</FilenameWithoutPath> <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@ -648,7 +633,7 @@
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
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<CurrentLine>51</CurrentLine> <CurrentLine>51</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\sensors.c</PathWithFileName> <PathWithFileName>.\src\sensors.c</PathWithFileName>
@ -676,7 +661,7 @@
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\board.h</PathWithFileName> <PathWithFileName>.\src\board.h</PathWithFileName>
@ -688,21 +673,21 @@
<FileType>5</FileType> <FileType>5</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
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<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\mw.h</PathWithFileName> <PathWithFileName>.\src\mw.h</PathWithFileName>
<FilenameWithoutPath>mw.h</FilenameWithoutPath> <FilenameWithoutPath>mw.h</FilenameWithoutPath>
</File> </File>
<File> <File>
<GroupNumber>1</GroupNumber> <GroupNumber>1</GroupNumber>
<FileNumber>0</FileNumber> <FileNumber>11</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>25</ColumnNumber> <ColumnNumber>30</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>7</TopLine> <TopLine>7</TopLine>
<CurrentLine>14</CurrentLine> <CurrentLine>14</CurrentLine>
@ -712,13 +697,13 @@
</File> </File>
<File> <File>
<GroupNumber>1</GroupNumber> <GroupNumber>1</GroupNumber>
<FileNumber>0</FileNumber> <FileNumber>12</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>53</TopLine> <TopLine>73</TopLine>
<CurrentLine>91</CurrentLine> <CurrentLine>91</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\spektrum.c</PathWithFileName> <PathWithFileName>.\src\spektrum.c</PathWithFileName>
@ -733,11 +718,11 @@
<cbSel>0</cbSel> <cbSel>0</cbSel>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>11</FileNumber> <FileNumber>13</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>22</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine> <TopLine>0</TopLine>
<CurrentLine>0</CurrentLine> <CurrentLine>0</CurrentLine>
@ -747,7 +732,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>12</FileNumber> <FileNumber>14</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -761,7 +746,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>13</FileNumber> <FileNumber>15</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -775,7 +760,7 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>14</FileNumber> <FileNumber>16</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -789,23 +774,23 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>15</FileNumber> <FileNumber>17</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>27</ColumnNumber> <ColumnNumber>25</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine> <TopLine>163</TopLine>
<CurrentLine>0</CurrentLine> <CurrentLine>181</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\drv_i2c.c</PathWithFileName> <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
<FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath> <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>16</FileNumber> <FileNumber>18</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>1</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
@ -817,21 +802,21 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>17</FileNumber> <FileNumber>19</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>12</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>283</TopLine> <TopLine>228</TopLine>
<CurrentLine>309</CurrentLine> <CurrentLine>246</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\drv_pwm.c</PathWithFileName> <PathWithFileName>.\src\drv_pwm.c</PathWithFileName>
<FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath> <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>18</FileNumber> <FileNumber>20</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -845,13 +830,13 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>19</FileNumber> <FileNumber>21</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>0</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>153</TopLine> <TopLine>172</TopLine>
<CurrentLine>190</CurrentLine> <CurrentLine>190</CurrentLine>
<bDave2>0</bDave2> <bDave2>0</bDave2>
<PathWithFileName>.\src\drv_uart.c</PathWithFileName> <PathWithFileName>.\src\drv_uart.c</PathWithFileName>
@ -859,11 +844,11 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>20</FileNumber> <FileNumber>22</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>17</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine> <TopLine>0</TopLine>
<CurrentLine>0</CurrentLine> <CurrentLine>0</CurrentLine>
@ -873,11 +858,11 @@
</File> </File>
<File> <File>
<GroupNumber>2</GroupNumber> <GroupNumber>2</GroupNumber>
<FileNumber>21</FileNumber> <FileNumber>23</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>14</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine> <TopLine>0</TopLine>
<CurrentLine>0</CurrentLine> <CurrentLine>0</CurrentLine>
@ -894,7 +879,7 @@
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<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>22</FileNumber> <FileNumber>24</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -908,7 +893,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>23</FileNumber> <FileNumber>25</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -922,7 +907,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>24</FileNumber> <FileNumber>26</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -936,7 +921,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>25</FileNumber> <FileNumber>27</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -950,7 +935,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>26</FileNumber> <FileNumber>28</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -964,7 +949,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>27</FileNumber> <FileNumber>29</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -978,7 +963,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>28</FileNumber> <FileNumber>30</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -992,7 +977,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>29</FileNumber> <FileNumber>31</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -1006,7 +991,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>30</FileNumber> <FileNumber>32</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -1020,7 +1005,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>31</FileNumber> <FileNumber>33</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -1034,11 +1019,11 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>32</FileNumber> <FileNumber>34</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
<ColumnNumber>32</ColumnNumber> <ColumnNumber>0</ColumnNumber>
<tvExpOptDlg>0</tvExpOptDlg> <tvExpOptDlg>0</tvExpOptDlg>
<TopLine>0</TopLine> <TopLine>0</TopLine>
<CurrentLine>0</CurrentLine> <CurrentLine>0</CurrentLine>
@ -1048,7 +1033,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>33</FileNumber> <FileNumber>35</FileNumber>
<FileType>1</FileType> <FileType>1</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>
@ -1062,7 +1047,7 @@
</File> </File>
<File> <File>
<GroupNumber>3</GroupNumber> <GroupNumber>3</GroupNumber>
<FileNumber>34</FileNumber> <FileNumber>36</FileNumber>
<FileType>2</FileType> <FileType>2</FileType>
<tvExp>0</tvExp> <tvExp>0</tvExp>
<Focus>0</Focus> <Focus>0</Focus>

4971
obj/baseflight.hex
View File

File diff suppressed because it is too large Load Diff

22
src/cli.c
View File

@ -70,7 +70,8 @@ typedef enum {
VAR_UINT8, VAR_UINT8,
VAR_INT8, VAR_INT8,
VAR_UINT16, VAR_UINT16,
VAR_INT16 VAR_INT16,
VAR_UINT32
} vartype_e; } vartype_e;
typedef struct { typedef struct {
@ -104,7 +105,8 @@ const clivalue_t valueTable[] = {
{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 }, { "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 32 }, { "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 32 },
{ "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 }, { "gyro_lpf", VAR_UINT16, &cfg.gyro_lpf, 0, 256 },
{ "gps_baudrate", VAR_UINT16, &cfg.gps_baudrate, 1200, 57600 }, { "gps_baudrate", VAR_UINT32, &cfg.gps_baudrate, 1200, 115200 },
{ "serial_baudrate", VAR_UINT32, &cfg.serial_baudrate, 1200, 115200 },
{ "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200}, { "p_pitch", VAR_UINT8, &cfg.P8[PITCH], 0, 200},
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200}, { "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200}, { "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
@ -362,6 +364,10 @@ static void cliPrintVar(const clivalue_t *var)
case VAR_INT16: case VAR_INT16:
value = *(int16_t *)var->ptr; value = *(int16_t *)var->ptr;
break; break;
case VAR_UINT32:
value = *(uint32_t *)var->ptr;
break;
} }
itoa(value, buf, 10); itoa(value, buf, 10);
uartPrint(buf); uartPrint(buf);
@ -371,19 +377,17 @@ static void cliSetVar(const clivalue_t *var, const int32_t value)
{ {
switch (var->type) { switch (var->type) {
case VAR_UINT8: case VAR_UINT8:
*(uint8_t *)var->ptr = (uint8_t)value;
break;
case VAR_INT8: case VAR_INT8:
*(int8_t *)var->ptr = (int8_t)value; *(char *)var->ptr = (char)value;
break; break;
case VAR_UINT16: case VAR_UINT16:
*(uint16_t *)var->ptr = (uint16_t)value; case VAR_INT16:
*(short *)var->ptr = (short)value;
break; break;
case VAR_INT16: case VAR_UINT32:
*(int16_t *)var->ptr = (int16_t)value; *(int *)var->ptr = (int)value;
break; break;
} }
} }

5
src/config.c
View File

@ -13,7 +13,7 @@ config_t cfg;
const char rcChannelLetters[] = "AERT1234"; const char rcChannelLetters[] = "AERT1234";
static uint32_t enabledSensors = 0; static uint32_t enabledSensors = 0;
static uint8_t checkNewConf = 9; static uint8_t checkNewConf = 10;
void parseRcChannels(const char *input) void parseRcChannels(const char *input)
{ {
@ -151,6 +151,9 @@ void checkFirstTime(bool reset)
// gps baud-rate // gps baud-rate
cfg.gps_baudrate = 9600; cfg.gps_baudrate = 9600;
// serial(uart1) baudrate
cfg.serial_baudrate = 115200;
writeParams(); writeParams();
} }

1
src/drv_system.c
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@ -102,7 +102,6 @@ void systemInit(void)
// Configure the rest of the stuff // Configure the rest of the stuff
adcInit(); adcInit();
i2cInit(I2C2); i2cInit(I2C2);
uartInit();
// sleep for 100ms // sleep for 100ms
delay(100); delay(100);

4
src/drv_uart.c
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@ -37,7 +37,7 @@ void DMA1_Channel4_IRQHandler(void)
uartTxDMA(); uartTxDMA();
} }
void uartInit(void) void uartInit(uint32_t speed)
{ {
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitTypeDef GPIO_InitStructure;
USART_InitTypeDef USART_InitStructure; USART_InitTypeDef USART_InitStructure;
@ -63,7 +63,7 @@ void uartInit(void)
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure); NVIC_Init(&NVIC_InitStructure);
USART_InitStructure.USART_BaudRate = 115200; USART_InitStructure.USART_BaudRate = speed;
USART_InitStructure.USART_WordLength = USART_WordLength_8b; USART_InitStructure.USART_WordLength = USART_WordLength_8b;
USART_InitStructure.USART_StopBits = USART_StopBits_1; USART_InitStructure.USART_StopBits = USART_StopBits_1;
USART_InitStructure.USART_Parity = USART_Parity_No; USART_InitStructure.USART_Parity = USART_Parity_No;

2
src/drv_uart.h
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@ -1,6 +1,6 @@
#pragma once #pragma once
void uartInit(void); void uartInit(uint32_t speed);
uint16_t uartAvailable(void); uint16_t uartAvailable(void);
uint8_t uartRead(void); uint8_t uartRead(void);
uint8_t uartReadPoll(void); uint8_t uartReadPoll(void);

2
src/gps.c
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@ -11,7 +11,7 @@ static void GPS_distance(int32_t lat1, int32_t lon1, int32_t lat2, int32_t lon2,
void gpsInit(uint32_t baudrate) void gpsInit(uint32_t baudrate)
{ {
uart2Init(9600, GPS_NewData); uart2Init(cfg.gps_baudrate, GPS_NewData);
sensorsSet(SENSOR_GPS); sensorsSet(SENSOR_GPS);
} }

1
src/imu.c
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@ -180,7 +180,6 @@ static void getEstimatedAttitude(void)
// Initialization // Initialization
for (axis = 0; axis < 3; axis++) { for (axis = 0; axis < 3; axis++) {
deltaGyroAngle[axis] = gyroADC[axis] * scale; deltaGyroAngle[axis] = gyroADC[axis] * scale;
if (cfg.acc_lpf_factor > 0) { if (cfg.acc_lpf_factor > 0) {
accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis]; accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor; accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;

2
src/main.c
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@ -48,6 +48,8 @@ int main(void)
readEEPROM(); readEEPROM();
checkFirstTime(false); checkFirstTime(false);
serialInit(cfg.serial_baudrate);
// We have these sensors // We have these sensors
sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG); sensorsSet(SENSOR_ACC | SENSOR_BARO | SENSOR_MAG);

5
src/mw.h
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@ -180,8 +180,10 @@ typedef struct config_t {
int8_t tilt_roll_prop; // servo proportional (tied to angle) ; can be negative to invert movement int8_t tilt_roll_prop; // servo proportional (tied to angle) ; can be negative to invert movement
// gps baud-rate // gps baud-rate
uint16_t gps_baudrate; uint32_t gps_baudrate;
// serial(uart1) baudrate
uint32_t serial_baudrate;
} config_t; } config_t;
extern int16_t gyroZero[3]; extern int16_t gyroZero[3];
@ -270,6 +272,7 @@ void writeAllMotors(int16_t mc);
void mixTable(void); void mixTable(void);
// Serial // Serial
void serialInit(uint32_t baudrate);
void serialCom(void); void serialCom(void);
// Config // Config

5
src/serial.c
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@ -15,6 +15,11 @@ void serialize8(uint8_t a)
uartWrite(a); uartWrite(a);
} }
void serialInit(uint32_t baudrate)
{
uartInit(baudrate);
}
void serialCom(void) void serialCom(void)
{ {
uint8_t i; uint8_t i;