rusefi
/
atbetaflight
mirror of https://github.com/rusefi/atbetaflight.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

format code properly 

match the comment from pullrequest about spacing
remains : some hand alignment for comment and wrong /** */ usage.
Conflicts:

	src/board.h
	src/buzzer.c
	src/config.c
	src/drivers/serial_common.h
	src/drivers/system_common.c
	src/drv_gpio.h
	src/drv_pwm.c
	src/drv_timer.c
	src/drv_uart.c
	src/flight_imu.c
	src/mw.c
	src/serial_cli.c
This commit is contained in:
treymarc 2014-05-08 00:36:19 +00:00 committed by Dominic Clifton
parent ab2273f93e
commit cabc57774c
27 changed files with 141 additions and 135 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/common/typeconversion.c
View File

@ -176,7 +176,6 @@ char *ftoa(float x, char *floatString)
return floatString;
}
// Simple and fast atof (ascii to float) function.
//
// - Executes about 5x faster than standard MSCRT library atof().
@ -254,8 +253,14 @@ float fastA2F(const char *p)
// Calculate scaling factor.
// while (expon >= 50) { scale *= 1E50f; expon -= 50; }
while (expon >= 8) { scale *= 1E8f; expon -= 8; }
while (expon > 0) { scale *= 10.0f; expon -= 1; }
while (expon >= 8) {
scale *= 1E8f;
expon -= 8;
}
while (expon > 0) {
scale *= 10.0f;
expon -= 1;
}
}
// Return signed and scaled floating point result.

13
src/config.c
View File

@ -37,8 +37,9 @@
#include "config_master.h"
void setPIDController(int type); // FIXME PID code needs to be in flight_pid.c/h
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse, escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse, airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DConfigToUse,
escAndServoConfig_t *escAndServoConfigToUse, mixerConfig_t *mixerConfigToUse,
airplaneConfig_t *airplaneConfigToUse, rxConfig_t *rxConfig, gimbalConfig_t *gimbalConfigToUse);
#ifndef FLASH_PAGE_COUNT
#define FLASH_PAGE_COUNT 128
@ -46,13 +47,11 @@ void mixerUseConfigs(servoParam_t *servoConfToUse, flight3DConfig_t *flight3DCon
#define FLASH_PAGE_SIZE ((uint16_t)0x400)
#define FLASH_WRITE_ADDR (0x08000000 + (uint32_t)FLASH_PAGE_SIZE * (FLASH_PAGE_COUNT - 2)) // use the last 2 KB for storage
master_t masterConfig; // master config struct with data independent from profiles
profile_t currentProfile; // profile config struct
static const uint8_t EEPROM_CONF_VERSION = 66;
static void resetAccelerometerTrims(int16_flightDynamicsTrims_t *accelerometerTrims)
{
accelerometerTrims->trims.pitch = 0;
@ -340,7 +339,8 @@ void activateConfig(void)
#endif
}
void validateAndFixConfig(void) {
void validateAndFixConfig(void)
{
if (!(feature(FEATURE_PARALLEL_PWM) || feature(FEATURE_PPM) || feature(FEATURE_SERIALRX))) {
featureSet(FEATURE_PARALLEL_PWM); // Consider changing the default to PPM
}
@ -438,7 +438,8 @@ void writeEEPROM(void)
#endif
status = FLASH_ErasePage(FLASH_WRITE_ADDR);
for (wordOffset = 0; wordOffset < sizeof(master_t) && status == FLASH_COMPLETE; wordOffset += 4) {
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + wordOffset, *(uint32_t *) ((char *)&masterConfig + wordOffset));
status = FLASH_ProgramWord(FLASH_WRITE_ADDR + wordOffset,
*(uint32_t *) ((char *) &masterConfig + wordOffset));
}
if (status == FLASH_COMPLETE) {
break;

6
src/drivers/accgyro_common.h
View File

@ -5,16 +5,14 @@ extern uint16_t acc_1G;
typedef void (*sensorInitFuncPtr)(void); // sensor init prototype
typedef void (*sensorReadFuncPtr)(int16_t *data); // sensor read and align prototype
typedef struct gyro_s
{
typedef struct gyro_s {
sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
sensorReadFuncPtr temperature; // read temperature if available
float scale; // scalefactor
} gyro_t;
typedef struct acc_s
{
typedef struct acc_s {
sensorInitFuncPtr init; // initialize function
sensorReadFuncPtr read; // read 3 axis data function
char revisionCode; // a revision code for the sensor, if known

3
src/drivers/barometer_common.h
View File

@ -3,8 +3,7 @@
typedef void (*baroOpFuncPtr)(void); // baro start operation
typedef void (*baroCalculateFuncPtr)(int32_t *pressure, int32_t *temperature); // baro calculation (filled params are pressure and temperature)
typedef struct baro_t
{
typedef struct baro_t {
uint16_t ut_delay;
uint16_t up_delay;
baroOpFuncPtr start_ut;

1
src/drivers/serial_common.h
View File

@ -18,6 +18,7 @@ typedef void (* serialReceiveCallbackPtr)(uint16_t data); // used by serial dr
typedef struct serialPort {
const struct serialPortVTable *vTable;
uint8_t identifier;
portMode_t mode;
serialInversion_e inversion;

20
src/flight_common.c
View File

@ -17,17 +17,17 @@ int16_t heading, magHold;
int16_t axisPID[3];
uint8_t dynP8[3], dynI8[3], dynD8[3];
static int32_t errorGyroI[3] = { 0, 0, 0 };
static int32_t errorAngleI[2] = { 0, 0 };
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim);
typedef void (* pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
typedef void (*pidControllerFuncPtr)(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim); // pid controller function prototype
pidControllerFuncPtr pid_controller = pidMultiWii; // which pid controller are we using, defaultMultiWii
void mwDisarm(void)
{
if (f.ARMED)
@ -53,7 +53,8 @@ void resetErrorGyro(void)
errorGyroI[YAW] = 0;
}
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig,
uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
{
int axis, prop;
int32_t error, errorAngle;
@ -68,7 +69,8 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
for (axis = 0; axis < 3; axis++) {
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_ROLL || axis == FD_PITCH)) { // MODE relying on ACC
// 50 degrees max inclination
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int)max_angle_inclination), +max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
errorAngle = constrain(2 * rcCommand[axis] + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis];
PTermACC = errorAngle * pidProfile->P8[PIDLEVEL] / 100; // 32 bits is needed for calculation: errorAngle*P8[PIDLEVEL] could exceed 32768 16 bits is ok for result
PTermACC = constrain(PTermACC, -pidProfile->D8[PIDLEVEL] * 5, +pidProfile->D8[PIDLEVEL] * 5);
@ -112,7 +114,8 @@ static void pidMultiWii(pidProfile_t *pidProfile, controlRateConfig_t *controlRa
#define GYRO_I_MAX 256
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination, rollAndPitchTrims_t *angleTrim)
static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRateConfig, uint16_t max_angle_inclination,
rollAndPitchTrims_t *angleTrim)
{
int32_t errorAngle = 0;
int axis;
@ -127,7 +130,8 @@ static void pidRewrite(pidProfile_t *pidProfile, controlRateConfig_t *controlRat
// -----Get the desired angle rate depending on flight mode
if ((f.ANGLE_MODE || f.HORIZON_MODE) && (axis == FD_PITCH || axis == FD_ROLL)) { // MODE relying on ACC
// calculate error and limit the angle to max configured inclination
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int)max_angle_inclination), +max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
errorAngle = constrain((rcCommand[axis] << 1) + GPS_angle[axis], -((int) max_angle_inclination),
+max_angle_inclination) - inclination.rawAngles[axis] + angleTrim->raw[axis]; // 16 bits is ok here
}
if (axis == FD_YAW) { // YAW is always gyro-controlled (MAG correction is applied to rcCommand)
AngleRateTmp = (((int32_t)(controlRateConfig->yawRate + 27) * rcCommand[2]) >> 5);

1
src/flight_imu.c
View File

@ -458,6 +458,7 @@ int getEstimatedAltitude(void)
vario = applyDeadband(vel_tmp, 5);
BaroPID = calculateBaroPid(vel_tmp, accZ_tmp, accZ_old);
accZ_old = accZ_tmp;
return 1;

6
src/gps_common.c
View File

@ -1128,8 +1128,7 @@ typedef struct {
uint32_t heading_accuracy;
} ubx_nav_velned;
typedef struct
{
typedef struct {
uint8_t chn; // Channel number, 255 for SVx not assigned to channel
uint8_t svid; // Satellite ID
uint8_t flags; // Bitmask
@ -1140,8 +1139,7 @@ typedef struct
int32_t prRes; // Pseudo range residual in centimetres
} ubx_nav_svinfo_channel;
typedef struct
{
typedef struct {
uint32_t time; // GPS Millisecond time of week
uint8_t numCh; // Number of channels
uint8_t globalFlags; // Bitmask, Chip hardware generation 0:Antaris, 1:u-blox 5, 2:u-blox 6

6
src/rx_sbus.c
View File

@ -43,8 +43,7 @@ bool sbusInit(rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, rcReadRa
return sBusPort != NULL;
}
struct sbus_dat
{
struct sbus_dat {
unsigned int chan0 : 11;
unsigned int chan1 : 11;
unsigned int chan2 : 11;
@ -59,8 +58,7 @@ struct sbus_dat
unsigned int chan11 : 11;
} __attribute__ ((__packed__));
typedef union
{
typedef union {
uint8_t in[SBUS_FRAME_SIZE];
struct sbus_dat msg;
} sbus_msg;

3
src/telemetry_hott.c
View File

@ -312,7 +312,8 @@ void handleHoTTTelemetry(void)
switch (c) {
case 0x8A:
if (sensors(SENSOR_GPS)) hottV4FormatAndSendGPSResponse();
if (sensors(SENSOR_GPS))
hottV4FormatAndSendGPSResponse();
break;
case 0x8E:
hottV4FormatAndSendEAMResponse();