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[paparazzi-commits] [6234] more whitespace cleanup
|
From: |
Felix Ruess |
|
Subject: |
[paparazzi-commits] [6234] more whitespace cleanup |
|
Date: |
Mon, 25 Oct 2010 15:21:47 +0000 |
Revision: 6234
http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6234
Author: flixr
Date: 2010-10-25 15:21:46 +0000 (Mon, 25 Oct 2010)
Log Message:
-----------
more whitespace cleanup
Modified Paths:
--------------
paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.c
paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.h
paparazzi3/trunk/sw/airborne/arch/sim/radio_control/ppm_arch.c
paparazzi3/trunk/sw/airborne/arch/sim/radio_control/rc_datalink.c
paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.c
paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.h
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.h
paparazzi3/trunk/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
paparazzi3/trunk/sw/airborne/booz/booz_radio_control.c
paparazzi3/trunk/sw/airborne/booz/booz_radio_control.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.c
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.c
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se_joby.h
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "radio_control.h"
Modified: paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/arch/lpc21/radio_control/ppm_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef PPM_ARCH_H
@@ -28,7 +28,7 @@
#include "LPC21xx.h"
#include BOARD_CONFIG
-/**
+/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
Modified: paparazzi3/trunk/sw/airborne/arch/sim/radio_control/ppm_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/radio_control/ppm_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/arch/sim/radio_control/ppm_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "sys_time.h"
Modified: paparazzi3/trunk/sw/airborne/arch/sim/radio_control/rc_datalink.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/sim/radio_control/rc_datalink.c
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/arch/sim/radio_control/rc_datalink.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "radio_control.h"
@@ -33,4 +33,3 @@
value send_ppm(value unit) {
return unit;
}
-
Modified: paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.c
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "radio_control.h"
@@ -58,18 +58,18 @@
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
-
+
/* Time Base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
- TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
- TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+ TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
+ TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
+ TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
-
+
/* TIM2 configuration: Input Capture mode ---------------------
- The external signal is connected to TIM2 CH2 pin (PA.01)
+ The external signal is connected to TIM2 CH2 pin (PA.01)
The Rising edge is used as active edge,
------------------------------------------------------------ */
TIM_ICInitTypeDef TIM_ICInitStructure;
@@ -87,7 +87,7 @@
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
-
+
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
@@ -102,7 +102,7 @@
void tim2_irq_handler(void) {
-
+
if(TIM_GetITStatus(TIM2, TIM_IT_CC2) == SET) {
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
Modified: paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.h
===================================================================
--- paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/arch/stm32/radio_control/ppm_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
/** \file booz_radio_control_ppm_hw.h
@@ -26,7 +26,7 @@
*
*/
-/**
+/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "booz_radio_control.h"
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_ppm_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_PPM_ARCH_H
@@ -28,7 +28,7 @@
#include "LPC21xx.h"
#include BOARD_CONFIG
-/**
+/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
@@ -44,28 +44,28 @@
#define RADIO_CONTROL_PPM_IT PPM_CRI
#define RADIO_CONTROL_PPM_ISR() { \
- \
+ \
uint32_t now = PPM_CR; \
uint32_t length = now - booz_radio_control_ppm_last_pulse_time; \
booz_radio_control_ppm_last_pulse_time = now; \
- \
+ \
if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
\
if (length > SYS_TICS_OF_USEC(PPM_SYNC_MIN_LEN) && \
- length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) { \
- booz_radio_control_ppm_cur_pulse = 0; \
+ length < SYS_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) { \
+ booz_radio_control_ppm_cur_pulse = 0; \
}
\
} \
else { \
if (length > SYS_TICS_OF_USEC(PPM_DATA_MIN_LEN) && \
- length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) { \
- booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] =
length; \
- booz_radio_control_ppm_cur_pulse++; \
- if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) { \
- booz_radio_control_ppm_frame_available = TRUE; \
- } \
+ length < SYS_TICS_OF_USEC(PPM_DATA_MAX_LEN)) { \
+ booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] = length; \
+ booz_radio_control_ppm_cur_pulse++; \
+ if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) { \
+ booz_radio_control_ppm_frame_available = TRUE; \
+ } \
}
\
else \
- booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL; \
+ booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL; \
} \
}
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "booz_radio_control.h"
@@ -33,7 +33,3 @@
rc_spk_parser_status = RC_SPK_STA_UNINIT;
rc_spk_parser_idx = 0;
}
-
-
-
-
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/lpc21/radio_control/booz_radio_control_spektrum_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id$
- *
+ *
* Copyright (C) 2009-2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -40,7 +40,7 @@
extern uint8_t rc_spk_parser_idx;
extern uint8_t rc_spk_parser_buf[RADIO_CONTROL_NB_CHANNEL*2];
-#define MAX_SPK 344
+#define MAX_SPK 344
extern const int16_t rc_spk_throw[RADIO_CONTROL_NB_CHANNEL];
@@ -76,24 +76,24 @@
radio_control.frame_cpt++; \
radio_control.time_since_last_frame = 0; \
radio_control.status = RADIO_CONTROL_OK; \
- uint8_t i; \
- for (i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) { \
- const int16_t tmp = (rc_spk_parser_buf[2*i]<<8) + \
- rc_spk_parser_buf[2*i+1]; \
- /*const int16_t chan = (tmp&0xFC00) >> 10;*/ \
- const int16_t val = (tmp&0x03FF) - 512; \
- radio_control.values[i] = val; \
- radio_control.values[i] *= rc_spk_throw[i]; \
- if (i==RADIO_CONTROL_THROTTLE) { \
- radio_control.values[i] += MAX_PPRZ; \
- radio_control.values[i] /= 2; \
- } \
- } \
- _received_frame_handler(); \
+ uint8_t i; \
+ for (i=0;i<RADIO_CONTROL_NB_CHANNEL;i++) { \
+ const int16_t tmp = (rc_spk_parser_buf[2*i]<<8) + \
+ rc_spk_parser_buf[2*i+1]; \
+ /*const int16_t chan = (tmp&0xFC00) >> 10;*/ \
+ const int16_t val = (tmp&0x03FF) - 512; \
+ radio_control.values[i] = val; \
+ radio_control.values[i] *= rc_spk_throw[i]; \
+ if (i==RADIO_CONTROL_THROTTLE) { \
+ radio_control.values[i] += MAX_PPRZ; \
+ radio_control.values[i] /= 2; \
+ } \
+ } \
+ _received_frame_handler(); \
} \
break; \
default: \
- rc_spk_parser_status = RC_SPK_STA_UNINIT; \
+ rc_spk_parser_status = RC_SPK_STA_UNINIT; \
} \
} \
}
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/sim/radio_control/booz_radio_control_ppm_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_PPM_ARCH_H
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "booz_radio_control.h"
@@ -56,18 +56,18 @@
/* GPIOA clock enable */
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
-
+
/* Time Base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
- TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
- TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
- TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
+ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+ TIM_TimeBaseStructure.TIM_Period = 0xFFFF;
+ TIM_TimeBaseStructure.TIM_Prescaler = 0x8;
+ TIM_TimeBaseStructure.TIM_ClockDivision = 0x0;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);
-
+
/* TIM2 configuration: Input Capture mode ---------------------
- The external signal is connected to TIM2 CH2 pin (PA.01)
+ The external signal is connected to TIM2 CH2 pin (PA.01)
The Rising edge is used as active edge,
------------------------------------------------------------ */
TIM_ICInitTypeDef TIM_ICInitStructure;
@@ -85,7 +85,7 @@
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
-
+
/* TIM2 enable counter */
TIM_Cmd(TIM2, ENABLE);
@@ -100,33 +100,33 @@
void tim2_irq_handler(void) {
-
+
if(TIM_GetITStatus(TIM2, TIM_IT_CC2) == SET) {
TIM_ClearITPendingBit(TIM2, TIM_IT_CC2);
-
+
uint32_t now = TIM_GetCapture2(TIM2) + timer_rollover_cnt;
uint32_t length = now - booz_radio_control_ppm_last_pulse_time;
- booz_radio_control_ppm_last_pulse_time = now;
-
- if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
- if (length > RC_PPM_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&
- length < RC_PPM_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {
- booz_radio_control_ppm_cur_pulse = 0;
- }
- }
- else {
- if (length > RC_PPM_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&
- length < RC_PPM_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {
- booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] =
length;
- booz_radio_control_ppm_cur_pulse++;
- if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
- booz_radio_control_ppm_frame_available = TRUE;
- }
- }
+ booz_radio_control_ppm_last_pulse_time = now;
+
+ if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
+ if (length > RC_PPM_TICS_OF_USEC(PPM_SYNC_MIN_LEN) &&
+ length < RC_PPM_TICS_OF_USEC(PPM_SYNC_MAX_LEN)) {
+ booz_radio_control_ppm_cur_pulse = 0;
+ }
+ }
+ else {
+ if (length > RC_PPM_TICS_OF_USEC(PPM_DATA_MIN_LEN) &&
+ length < RC_PPM_TICS_OF_USEC(PPM_DATA_MAX_LEN)) {
+ booz_radio_control_ppm_pulses[booz_radio_control_ppm_cur_pulse] = length;
+ booz_radio_control_ppm_cur_pulse++;
+ if (booz_radio_control_ppm_cur_pulse == RADIO_CONTROL_NB_CHANNEL) {
+ booz_radio_control_ppm_frame_available = TRUE;
+ }
+ }
else {
- booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
+ booz_radio_control_ppm_cur_pulse = RADIO_CONTROL_NB_CHANNEL;
}
- }
+ }
}
else if(TIM_GetITStatus(TIM2, TIM_IT_Update) == SET) {
timer_rollover_cnt+=(1<<16);
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_ppm_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 The Paparazzi Team
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
/** \file booz_radio_control_ppm_hw.h
@@ -26,7 +26,7 @@
*
*/
-/**
+/**
* On tiny (and booz) the ppm counter is running at the same speed as
* the systic counter. There is no reason for this to be true.
* Let's add a pair of macros to make it possible for them to be different.
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,8 +1,8 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2010 Eric Parsonage <address@hidden>
- *
+ *
* This file is part of paparazzi.
*
* paparazzi is free software; you can redistribute it and/or modify
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include <stdint.h>
@@ -40,14 +40,14 @@
#define MAX_DELAY INT16_MAX
/* the frequency of the delay timer */
#define DELAY_TIM_FREQUENCY 1000000
-/* Number of low pulses sent to satellite receivers */
-#define MASTER_RECEIVER_PULSES 5
+/* Number of low pulses sent to satellite receivers */
+#define MASTER_RECEIVER_PULSES 5
#define SLAVE_RECEIVER_PULSES 6
-/* The line that is pulled low at power up to initiate the bind process */
+/* The line that is pulled low at power up to initiate the bind process */
#define BIND_PIN GPIO_Pin_3
#define BIND_PIN_PORT GPIOC
-#define BIND_PIN_PERIPH RCC_APB2Periph_GPIOC
+#define BIND_PIN_PERIPH RCC_APB2Periph_GPIOC
#define TIM_FREQ_1000000 1000000
#define TIM_TICS_FOR_100us 100
@@ -56,11 +56,11 @@
/*
* in the makefile we set RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT to be Uartx
- * but in uart_hw.c the initialisation functions are
- * defined as uartx these macros give us the glue
- * that allows static calls at compile time
+ * but in uart_hw.c the initialisation functions are
+ * defined as uartx these macros give us the glue
+ * that allows static calls at compile time
*/
-
+
#define __PrimaryUart(dev, _x) dev##_x
#define _PrimaryUart(dev, _x) __PrimaryUart(dev, _x)
#define PrimaryUart(_x) _PrimaryUart(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT, _x)
@@ -79,13 +79,13 @@
uint8_t SecondFrame;
uint16_t LostFrameCnt;
uint8_t RcAvailable;
- int16_t values[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];
+ int16_t values[SPEKTRUM_CHANNELS_PER_FRAME*MAX_SPEKTRUM_FRAMES];
};
typedef struct SpektrumStateStruct SpektrumStateType;
SpektrumStateType PrimarySpektrumState = {1,0,0,0,0,0,0,0,0};
-#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
SpektrumStateType SecondarySpektrumState = {1,0,0,0,0,0,0,0,0};
#endif
@@ -98,19 +98,19 @@
* Rudder 3
* Gear 4
* Flap/Aux1 5
- * Aux2 6
+ * Aux2 6
* Aux3 7
* Aux4 8
* Aux5 9
* Aux6 10
- * Aux7 11
+ * Aux7 11
*/
-
+
/* reverse some channels to suit Paparazzi conventions */
/* the maximum number of channels a Spektrum can transmit is 12 */
int8_t SpektrumSigns[] = RADIO_CONTROL_SPEKTRUM_SIGNS;
-/* Parser state variables */
+/* Parser state variables */
static uint8_t EncodingType = 0;
static uint8_t ExpectedFrames = 0;
/* initialise the uarts used by the parser */
@@ -123,7 +123,7 @@
/* wait busy loop, microseconds */
static void DelayUs( uint16_t uSecs );
/* wait busy loop, milliseconds */
-static void DelayMs( uint16_t mSecs );
+static void DelayMs( uint16_t mSecs );
/* setup timer 1 for busy wait delays */
static void SpektrumDelayInit( void );
@@ -135,16 +135,16 @@
*****************************************************************************/
void radio_control_impl_init(void) {
SpektrumTimerInit();
- // DebugInit();
- SpektrumUartInit();
+ // DebugInit();
+ SpektrumUartInit();
}
/*****************************************************************************
- * The bind function means that the satellite receivers believe they are
- * connected to a 9 channel JR-R921 24 receiver thus during the bind process
- * they try to get the transmitter to transmit at the highest resolution that
- * it can manage. The data is contained in 16 byte packets transmitted at
- * 115200 baud. Depending on the transmitter either 1 or 2 frames are required
+ * The bind function means that the satellite receivers believe they are
+ * connected to a 9 channel JR-R921 24 receiver thus during the bind process
+ * they try to get the transmitter to transmit at the highest resolution that
+ * it can manage. The data is contained in 16 byte packets transmitted at
+ * 115200 baud. Depending on the transmitter either 1 or 2 frames are required
* to contain the data for all channels. These frames are either 11ms or 22ms
* apart.
*
@@ -182,19 +182,19 @@
* 0x01 From a Spektrum DX7eu which transmits a single frame containing all
* channel data every 22ms with 10bit resolution.
*
- * 0x02 From a Spektrum DM9 module which transmits two frames to carry the
+ * 0x02 From a Spektrum DM9 module which transmits two frames to carry the
* data for all channels 11ms apart with 10bit resolution.
*
- * 0x12 From a Spektrum DX7se which transmits two frames to carry the
- * data for all channels 11ms apart with 11bit resolution.
+ * 0x12 From a Spektrum DX7se which transmits two frames to carry the
+ * data for all channels 11ms apart with 11bit resolution.
*
- * 0x12 From a JR X9503 which transmits two frames to carry the
+ * 0x12 From a JR X9503 which transmits two frames to carry the
* data for all channels 11ms apart with 11bit resolution.
*
* 0x01 From a Spektrum DX7 which transmits a single frame containing all
* channel data every 22ms with 10bit resolution.
*
- * 0x12 From a JR DSX12 which transmits two frames to carry the
+ * 0x12 From a JR DSX12 which transmits two frames to carry the
* data for all channels 11ms apart with 11bit resolution.
*
* 0x1 From a Spektru DX5e which transmits a single frame containing all
@@ -208,38 +208,38 @@
* [0 0 0 R 0 0 N1 N0]
*
* where :
- *
+ *
* 0 means a '0' bit
* R: 0 for 10 bit resolution 1 for 11 bit resolution channel data
* N1 to N0 is the number of frames required to receive all channel
- * data.
+ * data.
*
* Channels can have either 10bit or 11bit resolution. Data from a tranmitter
* with 10 bit resolution has the form:
*
* [F 0 C3 C2 C1 C0 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
- *
+ *
* Data from a tranmitter with 11 bit resolution has the form
*
* [F C3 C2 C1 C0 D10 D9 D8 D7 D6 D5 D4 D3 D2 D1 D0]
*
* where :
- *
+ *
* 0 means a '0' bit
- * F: Normally 0 but set to 1 for the first channel of the 2nd frame if a
- * second frame is transmitted.
+ * F: Normally 0 but set to 1 for the first channel of the 2nd frame if a
+ * second frame is transmitted.
*
- * C3 to C0 is the channel number, 4 bit, matching the numbers allocated in
+ * C3 to C0 is the channel number, 4 bit, matching the numbers allocated in
* the transmitter.
*
- * D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for
+ * D9 to D0 is the channel data (10 bit) 0xaa..0x200..0x356 for
* 100% transmitter-travel
*
*
* D10 to D0 is the channel data (11 bit) 0x154..0x400..0x6AC for
* 100% transmitter-travel
*****************************************************************************/
-
+
/*****************************************************************************
*
* Spektrum Parser captures frame data by using time between frames to sync on
@@ -358,27 +358,27 @@
/*****************************************************************************
*
- * RadioControlEventImp decodes channel data stored by uart irq handlers
+ * RadioControlEventImp decodes channel data stored by uart irq handlers
* and calls callback funtion
*
*****************************************************************************/
-void RadioControlEventImp(void (*frame_handler)(void)) {
+void RadioControlEventImp(void (*frame_handler)(void)) {
uint8_t ChannelCnt;
uint8_t ChannelNum;
uint16_t ChannelData;
uint8_t MaxChannelNum = 0;
-
-#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
- /* If we have two receivers and at least one of them has new data */
+
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ /* If we have two receivers and at least one of them has new data */
uint8_t BestReceiver;
- if ((PrimarySpektrumState.RcAvailable) ||
+ if ((PrimarySpektrumState.RcAvailable) ||
(SecondarySpektrumState.RcAvailable)) {
/* if both receivers have new data select the one */
/* that has had the least number of frames lost */
- if ((PrimarySpektrumState.RcAvailable) &&
+ if ((PrimarySpektrumState.RcAvailable) &&
(SecondarySpektrumState.RcAvailable)) {
- BestReceiver = (PrimarySpektrumState.LostFrameCnt
+ BestReceiver = (PrimarySpektrumState.LostFrameCnt
<= SecondarySpektrumState.LostFrameCnt) ? 0 : 1;
} else {
/* if only one of the receivers have new data use it */
@@ -386,59 +386,59 @@
}
/* clear the data ready flags */
PrimarySpektrumState.RcAvailable = 0;
- SecondarySpektrumState.RcAvailable = 0;
+ SecondarySpektrumState.RcAvailable = 0;
-#else
- /* if we have one receiver and it has new data */
+#else
+ /* if we have one receiver and it has new data */
if(PrimarySpektrumState.RcAvailable) {
PrimarySpektrumState.RcAvailable = 0;
-#endif
+#endif
ChannelCnt = 0;
/* for every piece of channel data we have received */
for(int i = 0; (i < SPEKTRUM_CHANNELS_PER_FRAME * ExpectedFrames); i++) {
-#ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+#ifndef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
ChannelData = PrimarySpektrumState.values[i];
-#else
+#else
ChannelData = (!BestReceiver) ? PrimarySpektrumState.values[i] :
SecondarySpektrumState.values[i];
-#endif
+#endif
/* find out the channel number and its value by */
/* using the EncodingType which is only received */
- /* from the main receiver */
+ /* from the main receiver */
switch(EncodingType) {
case(0) : /* 10 bit */
- ChannelNum = (ChannelData >> 10) & 0x0f;
+ ChannelNum = (ChannelData >> 10) & 0x0f;
/* don't bother decoding unused channels */
if (ChannelNum < RADIO_CONTROL_NB_CHANNEL) {
- SpektrumBuf[ChannelNum] = ChannelData & 0x3ff;
- SpektrumBuf[ChannelNum] -= 0x200;
+ SpektrumBuf[ChannelNum] = ChannelData & 0x3ff;
+ SpektrumBuf[ChannelNum] -= 0x200;
SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x156;
ChannelCnt++;
- }
+ }
break;
-
+
case(1) : /* 11 bit */
ChannelNum = (ChannelData >> 11) & 0x0f;
/* don't bother decoding unused channels */
if (ChannelNum < RADIO_CONTROL_NB_CHANNEL) {
SpektrumBuf[ChannelNum] = ChannelData & 0x7ff;
- SpektrumBuf[ChannelNum] -= 0x400;
- SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x2AC;
- ChannelCnt++;
- }
+ SpektrumBuf[ChannelNum] -= 0x400;
+ SpektrumBuf[ChannelNum] *= MAX_PPRZ/0x2AC;
+ ChannelCnt++;
+ }
break;
-
+
default : ChannelNum = 0x0F; break; /* never going to get here */
}
/* store the value of the highest valid channel */
if ((ChannelNum != 0x0F) && (ChannelNum > MaxChannelNum))
- MaxChannelNum = ChannelNum;
-
+ MaxChannelNum = ChannelNum;
+
}
-
- /* if we have a valid frame the pass it to the frame handler */
+
+ /* if we have a valid frame the pass it to the frame handler */
if (ChannelCnt >= (MaxChannelNum + 1)) {
- radio_control.frame_cpt++;
+ radio_control.frame_cpt++;
radio_control.time_since_last_frame = 0;
radio_control.status = RADIO_CONTROL_OK;
for (int i = 0; i < (MaxChannelNum + 1); i++) {
@@ -449,47 +449,47 @@
}
radio_control.values[i] *= SpektrumSigns[i];
}
- (*frame_handler)();
- }
+ (*frame_handler)();
+ }
}
}
-
+
/*****************************************************************************
*
* Initialise TIM6 to fire an interrupt every 100 microseconds to provide
* timebase for SpektrumParser
*
-
*****************************************************************************/
+ *****************************************************************************/
void SpektrumTimerInit( void ) {
/* enable TIM6 clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
-
+
/* TIM6 configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
/* 100 microseconds ie 0.1 millisecond */
- TIM_TimeBaseStructure.TIM_Period = TIM_TICS_FOR_100us-1;
+ TIM_TimeBaseStructure.TIM_Period = TIM_TICS_FOR_100us-1;
TIM_TimeBaseStructure.TIM_Prescaler = ((AHB_CLK / TIM_FREQ_1000000) - 1);
- TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
- TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
+ TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
+ TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Down;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
-
+
/* Enable TIM6 interrupts */
NVIC_InitTypeDef NVIC_InitStructure;
-
+
/* Enable and configure TIM6 IRQ channel */
NVIC_InitStructure.NVIC_IRQChannel = TIM6_IRQn;
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
NVIC_Init(&NVIC_InitStructure);
-
+
/* Enable TIM6 Update interrupt */
TIM_ITConfig(TIM6, TIM_IT_Update, ENABLE);
- TIM_ClearFlag(TIM6, TIM_FLAG_Update);
-
+ TIM_ClearFlag(TIM6, TIM_FLAG_Update);
+
/* TIM6 enable counter */
TIM_Cmd(TIM6, ENABLE);
}
@@ -500,20 +500,20 @@
*
*****************************************************************************/
void tim6_irq_handler( void ) {
-
+
TIM_ClearITPendingBit(TIM6, TIM_IT_Update);
-
- if (PrimarySpektrumState.SpektrumTimer)
- --PrimarySpektrumState.SpektrumTimer;
-#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
- if (SecondarySpektrumState.SpektrumTimer)
+
+ if (PrimarySpektrumState.SpektrumTimer)
+ --PrimarySpektrumState.SpektrumTimer;
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+ if (SecondarySpektrumState.SpektrumTimer)
--SecondarySpektrumState.SpektrumTimer;
-#endif
+#endif
}
/*****************************************************************************
*
- * Initialise the uarts for the spektrum satellite receivers
+ * Initialise the uarts for the spektrum satellite receivers
*
*****************************************************************************/
void SpektrumUartInit(void) {
@@ -521,7 +521,7 @@
PrimaryUart(_remap);
PrimaryUart(_clk)(PrimaryUart(_UartPeriph), ENABLE);;
//RCC_APB1PeriphClockCmd(PrimaryUart(_UartPeriph), ENABLE);
-
+
/* Enable USART interrupts */
NVIC_InitTypeDef nvic;
nvic.NVIC_IRQChannel = PrimaryUart(_IRQn);
@@ -533,7 +533,7 @@
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* Primary UART Rx pin as floating input */
- GPIO_InitStructure.GPIO_Pin = PrimaryUart(_RxPin);
+ GPIO_InitStructure.GPIO_Pin = PrimaryUart(_RxPin);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(PrimaryUart(_RxPort), &GPIO_InitStructure);
/* Configure Primary UART */
@@ -549,9 +549,9 @@
USART_ITConfig(PrimaryUart(_reg), USART_IT_RXNE, ENABLE);
/* Enable the Primary UART */
USART_Cmd(PrimaryUart(_reg), ENABLE);
-
-
-#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
+
+
+#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
/* init RCC */
SecondaryUart(_remap);
SecondaryUart(_clk)(SecondaryUart(_UartPeriph), ENABLE);
@@ -565,10 +565,10 @@
/* Init GPIOS */;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
/* Secondary UART Rx pin as floating input */
- GPIO_InitStructure.GPIO_Pin = SecondaryUart(_RxPin);
+ GPIO_InitStructure.GPIO_Pin = SecondaryUart(_RxPin);
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IN_FLOATING;
GPIO_Init(SecondaryUart(_RxPort), &GPIO_InitStructure);
- /* Configure secondary UART */
+ /* Configure secondary UART */
usart.USART_BaudRate = B115200;
usart.USART_WordLength = USART_WordLength_8b;
usart.USART_StopBits = USART_StopBits_1;
@@ -580,44 +580,44 @@
USART_ITConfig(SecondaryUart(_reg), USART_IT_RXNE, ENABLE);
/* Enable the Primary UART */
USART_Cmd(SecondaryUart(_reg), ENABLE);
-#endif
-
+#endif
+
}
/*****************************************************************************
*
- * The primary receiver UART interrupt request handler which passes the
+ * The primary receiver UART interrupt request handler which passes the
* received character to Spektrum Parser.
*
*****************************************************************************/
void PrimaryUart(_irq_handler)(void) {
-
+
if(USART_GetITStatus(PrimaryUart(_reg), USART_IT_TXE) != RESET) {
USART_ITConfig(PrimaryUart(_reg), USART_IT_TXE, DISABLE);
}
-
+
if(USART_GetITStatus(PrimaryUart(_reg), USART_IT_RXNE) != RESET) {
uint8_t b = USART_ReceiveData(PrimaryUart(_reg));
- SpektrumParser(b, PrimarySpektrumState, 0);
+ SpektrumParser(b, PrimarySpektrumState, 0);
}
}
/*****************************************************************************
*
- * The secondary receiver UART interrupt request handler which passes the
+ * The secondary receiver UART interrupt request handler which passes the
* received character to Spektrum Parser.
*
*****************************************************************************/
#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
void SecondaryUart(_irq_handler)(void) {
-
+
if(USART_GetITStatus(SecondaryUart(_reg), USART_IT_TXE) != RESET) {
USART_ITConfig(SecondaryUart(_reg), USART_IT_TXE, DISABLE);
}
-
+
if(USART_GetITStatus(SecondaryUart(_reg), USART_IT_RXNE) != RESET) {
uint8_t b = USART_ReceiveData(SecondaryUart(_reg));
- SpektrumParser(b, SecondarySpektrumState, 1);
+ SpektrumParser(b, SecondarySpektrumState, 1);
}
}
#endif
@@ -633,39 +633,39 @@
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
- GPIO_Init(GPIOC, &GPIO_InitStructure);
- GPIO_WriteBit(GPIOC, GPIO_Pin_5 , Bit_RESET );
+ GPIO_Init(GPIOC, &GPIO_InitStructure);
+ GPIO_WriteBit(GPIOC, GPIO_Pin_5 , Bit_RESET );
}
/*****************************************************************************
*
- * The following functions provide functionality to allow binding of
+ * The following functions provide functionality to allow binding of
* spektrum satellite receivers. The pulse train sent to them means
* that Lisa is emulating a 9 channel JR-R921 24.
*
*****************************************************************************/
/*****************************************************************************
*
- * radio_control_spektrum_try_bind(void) must called on powerup as spektrum
- * satellites can only bind immediately after power up also it must be called
- * before the call to SpektrumUartInit as we leave them with their Rx pins set
+ * radio_control_spektrum_try_bind(void) must called on powerup as spektrum
+ * satellites can only bind immediately after power up also it must be called
+ * before the call to SpektrumUartInit as we leave them with their Rx pins set
* as outputs.
*
-
*****************************************************************************/
+ *****************************************************************************/
void radio_control_spektrum_try_bind(void) {
-
+
/* init RCC */
RCC_APB2PeriphClockCmd(BIND_PIN_PERIPH , ENABLE);
-
+
/* Init GPIO for the bind pin */
GPIO_InitTypeDef GPIO_InitStructure;
GPIO_InitStructure.GPIO_Pin = BIND_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_IPU;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_2MHz;
GPIO_Init(BIND_PIN_PORT, &GPIO_InitStructure);
- /* exit if the BIND_PIN is high, it needs to
+ /* exit if the BIND_PIN is high, it needs to
be pulled low at startup to initiate bind */
- if (GPIO_ReadInputDataBit(BIND_PIN_PORT, BIND_PIN))
+ if (GPIO_ReadInputDataBit(BIND_PIN_PORT, BIND_PIN))
return;
/* bind initiated, initialise the delay timer */
@@ -692,20 +692,20 @@
GPIO_WriteBit(SecondaryUart(_RxPort), SecondaryUart(_RxPin) , Bit_SET );
#endif
- /* We have no idea how long the window for allowing binding after
- power up is .This works for the moment but will need revisiting */
+ /* We have no idea how long the window for allowing binding after
+ power up is .This works for the moment but will need revisiting */
DelayMs(61);
- for (int i = 0; i < MASTER_RECEIVER_PULSES ; i++)
+ for (int i = 0; i < MASTER_RECEIVER_PULSES ; i++)
{
GPIO_WriteBit(PrimaryUart(_RxPort), PrimaryUart(_RxPin), Bit_RESET );
DelayUs(118);
GPIO_WriteBit(PrimaryUart(_RxPort), PrimaryUart(_RxPin), Bit_SET );
DelayUs(122);
}
-
+
#ifdef RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT
- for (int i = 0; i < SLAVE_RECEIVER_PULSES; i++)
+ for (int i = 0; i < SLAVE_RECEIVER_PULSES; i++)
{
GPIO_WriteBit(SecondaryUart(_RxPort), SecondaryUart(_RxPin), Bit_RESET );
DelayUs(120);
@@ -720,20 +720,20 @@
* Functions to implement busy wait loops with micro second granularity
*
*****************************************************************************/
-
-/* set TIM6 to run at DELAY_TIM_FREQUENCY */
+
+/* set TIM6 to run at DELAY_TIM_FREQUENCY */
static void SpektrumDelayInit( void ) {
/* Enable timer clock */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM6, ENABLE);
/* Time base configuration */
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
- TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
+ TIM_TimeBaseStructInit(&TIM_TimeBaseStructure);
TIM_TimeBaseStructure.TIM_Prescaler = (AHB_CLK / DELAY_TIM_FREQUENCY) - 1;
- TIM_TimeBaseStructure.TIM_Period = UINT16_MAX;
+ TIM_TimeBaseStructure.TIM_Period = UINT16_MAX;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM6, &TIM_TimeBaseStructure);
-
+
/* Enable counter */
TIM_Cmd(TIM6, ENABLE);
}
Modified:
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/arch/stm32/radio_control/booz_radio_control_spektrum_arch.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
- * Paparazzi $Id$
- *
+ * Paparazzi $Id$
+ *
* Copyright (C) 2010 Eric Parsonage <address@hidden>
*
* This file is part of paparazzi.
@@ -26,15 +26,15 @@
#define BOOZ_RADIO_CONTROL_SPEKTRUM_ARCH_H
-/*
+/*
* All Spektrum and JR 2.4 GHz transmitters
* have the same channel assignments.
- */
-
+ */
-#ifndef RADIO_CONTROL_NB_CHANNEL
+
+#ifndef RADIO_CONTROL_NB_CHANNEL
#define RADIO_CONTROL_NB_CHANNEL 12
-#endif
+#endif
#define RADIO_CONTROL_THROTTLE 0
@@ -53,14 +53,14 @@
/* reverse some channels to suit Paparazzi conventions */
/* the maximum number of channels a Spektrum can transmit is 12 */
-#ifndef RADIO_CONTROL_SPEKTRUM_SIGNS
+#ifndef RADIO_CONTROL_SPEKTRUM_SIGNS
#define RADIO_CONTROL_SPEKTRUM_SIGNS {1,1,-1,1,1,-1,1,1,1,1,1,1}
#endif
-/* really for a 9 channel transmitter
+/* really for a 9 channel transmitter
we would swap the order of these */
#ifndef RADIO_CONTROL_MODE
-#define RADIO_CONTROL_MODE RADIO_CONTROL_GEAR
+#define RADIO_CONTROL_MODE RADIO_CONTROL_GEAR
#endif
extern void RadioControlEventImp(void (*_received_frame_handler)(void));
Modified: paparazzi3/trunk/sw/airborne/booz/booz_radio_control.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_radio_control.c 2010-10-25
15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/booz_radio_control.c 2010-10-25
15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "booz_radio_control.h"
@@ -41,17 +41,17 @@
void radio_control_periodic(void) {
-
+
/* compute frame rate */
RunOnceEvery(60, {
radio_control.frame_rate = radio_control.frame_cpt;
radio_control.frame_cpt = 0;
});
-
+
/* check for timeouts */
if (radio_control.time_since_last_frame >= RADIO_CONTROL_REALLY_LOST_TIME) {
radio_control.status = RADIO_CONTROL_REALLY_LOST;
- }
+ }
else {
if (radio_control.time_since_last_frame >= RADIO_CONTROL_LOST_TIME) {
radio_control.status = RADIO_CONTROL_LOST;
Modified: paparazzi3/trunk/sw/airborne/booz/booz_radio_control.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/booz_radio_control.h 2010-10-25
15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/booz_radio_control.h 2010-10-25
15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_H
@@ -59,4 +59,3 @@
#endif /* BOOZ_RADIO_CONTROL_H */
-
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.c
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "booz_radio_control.h"
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.h
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_dummy.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,7 +1,7 @@
/*
* Paparazzi $Id$
- *
- * Copyright (C) 2009 Pascal Brisset <address@hidden>,
+ *
+ * Copyright (C) 2009 Pascal Brisset <address@hidden>,
* Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -19,7 +19,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_NULL_H
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "stdio.h"
@@ -48,7 +48,7 @@
radio_control.status = RADIO_CONTROL_OK;
radio_control.time_since_last_frame = 0;
if (callback != NULL)
- callback();
+ callback();
}
}
}
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.h
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_joby.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,7 +1,7 @@
/*
* Paparazzi $Id$
- *
- * Copyright (C) 2009 Pascal Brisset <address@hidden>,
+ *
+ * Copyright (C) 2009 Pascal Brisset <address@hidden>,
* Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -19,7 +19,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_JOBY_H
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
===================================================================
--- paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
2010-10-25 15:01:42 UTC (rev 6233)
+++ paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_ppm.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,25 +18,25 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_PPM_H
#define BOOZ_RADIO_CONTROL_PPM_H
-/**
- * Architecture dependant code
+/**
+ * Architecture dependant code
*/
#include "radio_control/booz_radio_control_ppm_arch.h"
/* must be implemented by arch dependant code */
extern void booz_radio_control_ppm_arch_init ( void );
/**
- * Generated code holding the description of a given
- * transmitter
+ * Generated code holding the description of a given
+ * transmitter
*/
-#include "conf_radio_control_ppm.h"
-
+#include "conf_radio_control_ppm.h"
+
/**
* ppm pulse type : futaba is falling edge clocked whereas JR is rising edge
*/
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.c
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.c
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.c
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,14 +18,14 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#include "booz_radio_control_spektrum.h"
-/* Currently the functionality has been pushed into the arch directories
+/* Currently the functionality has been pushed into the arch directories
* both arch directories contain essentially the original parser.
* The next step is to implement a new parser for lisa. Once this is complete
* hardware dependent functions will be written for booz then the lisa parser
- * will end up in here
+ * will end up in here
*/
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* Paparazzi $Id$
- *
+ *
* Copyright (C) 2009-2010 The Paparazzi Team
*
* This file is part of paparazzi.
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H
Modified:
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se_joby.h
===================================================================
---
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se_joby.h
2010-10-25 15:01:42 UTC (rev 6233)
+++
paparazzi3/trunk/sw/airborne/booz/radio_control/booz_radio_control_spektrum_dx7se_joby.h
2010-10-25 15:21:46 UTC (rev 6234)
@@ -1,6 +1,6 @@
/*
* $Id$
- *
+ *
* Copyright (C) 2008-2009 Antoine Drouin <address@hidden>
*
* This file is part of paparazzi.
@@ -18,7 +18,7 @@
* You should have received a copy of the GNU General Public License
* along with paparazzi; see the file COPYING. If not, write to
* the Free Software Foundation, 59 Temple Place - Suite 330,
- * Boston, MA 02111-1307, USA.
+ * Boston, MA 02111-1307, USA.
*/
#ifndef BOOZ_RADIO_CONTROL_SPEKTRUM_DX7SE_H
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