Merge remote-tracking branch 'upstream/master' into cc3d

runkelz · Feb 27, 2015 · af68517 · af68517
2 parents 57fcde0 + ed434dd
commit af68517
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Showing 20 changed files with 265 additions and 73 deletions.
diff --git a/Makefile b/Makefile
@@ -199,6 +199,7 @@ COMMON_SRC	 = build_config.c \
 		   common/maths.c \
 		   common/printf.c \
 		   common/typeconversion.c \
+		   common/encoding.c \
 		   main.c \
 		   mw.c \
 		   flight/altitudehold.c \

diff --git a/docs/Cli.md b/docs/Cli.md
@@ -201,7 +201,7 @@ Re-apply any new defaults as desired.
 | failsafe_min_usec             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 100    | 2000   | 985           | Profile      | UINT16   |
 | failsafe_max_usec             |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 100    | 3000   | 2115          | Profile      | UINT16   |
 | gimbal_flags                  | When feature SERVO_TILT is enabled, this can be a combination of the following numbers: 1=normal gimbal (default), 2=tiltmix gimbal, 4=in PPM (or SERIALRX) input mode, this will forward AUX1..4 RC inputs to PWM5..8 pins                                                                                                                                                                                                                                                                                                                                                                                                                            | 0      | 255    | 1             | Profile      | UINT8    |
-| acc_hardware                  | This is used to suggest which accelerometer driver should load, or to force no accelerometer in case gyro-only flight is needed. Default (0) will attempt to auto-detect among enabled drivers. Otherwise, to force a particular device, set it to 1 for ADXL345, 2 for MPU6050 integrated accelerometer, 3 for MMA8452, 4 for BMA280, or 5 to disable accelerometer alltogether - resulting in gyro-only operation.                                                                                                                                                                                                                                   | 0      | 9      | 0             | Master       | UINT8    |
+| acc_hardware                  | This is used to suggest which accelerometer driver should load, or to force no accelerometer in case gyro-only flight is needed. Default (0) will attempt to auto-detect among enabled drivers. Otherwise, to force a particular device, set it to 2 for ADXL345, 3 for MPU6050 integrated accelerometer, 4 for MMA8452, 5 for BMA280, 6 for LSM303DLHC, 7 for SPI_MPU6000, 8 for SPI_MPU6500 or 1 to disable accelerometer alltogether - resulting in gyro-only operation.                                                                                                                                                                                                                                   | 0      | 9      | 0             | Master       | UINT8    |
 | acc_lpf_factor                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 250    | 4             | Profile      | UINT8    |
 | accxy_deadband                |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 40            | Profile      | UINT8    |
 | accz_deadband                 |                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                        | 0      | 100    | 40            | Profile      | UINT8    |

diff --git a/docs/LedStrip.md b/docs/LedStrip.md
@@ -406,7 +406,7 @@ led 27 2,9:S:FWT:0
 ```
        16-18  9-11
 19-21 \           / 6-8
-       \  13-16  / 
+       \  12-15  / 
         \ FRONT /
         /  BACK \
        /         \

diff --git a/src/main/blackbox/blackbox.c b/src/main/blackbox/blackbox.c
@@ -26,6 +26,7 @@
 #include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"
+#include "common/encoding.h"
 
 #include "drivers/gpio.h"
 #include "drivers/sensor.h"
@@ -878,11 +879,6 @@ static bool sendFieldDefinition(const char * const *headerNames, unsigned int he
  */
 static bool blackboxWriteSysinfo()
 {
-    union floatConvert_t {
-        float f;
-        uint32_t u;
-    } floatConvert;
-
     if (xmitState.headerIndex == 0) {
         xmitState.u.serialBudget = 0;
         xmitState.headerIndex = 1;
@@ -937,8 +933,7 @@ static bool blackboxWriteSysinfo()
             xmitState.u.serialBudget -= strlen("H maxthrottle:%d\n");
         break;
         case 8:
-            floatConvert.f = gyro.scale;
-            blackboxPrintf("H gyro.scale:0x%x\n", floatConvert.u);
+            blackboxPrintf("H gyro.scale:0x%x\n", castFloatBytesToInt(gyro.scale));
 
             xmitState.u.serialBudget -= strlen("H gyro.scale:0x\n") + 6;
         break;

diff --git a/src/main/blackbox/blackbox_io.c b/src/main/blackbox/blackbox_io.c
@@ -4,12 +4,13 @@
 
 #include "blackbox_io.h"
 
-#include "platform.h"
 #include "version.h"
+#include "build_config.h"
 
 #include "common/maths.h"
 #include "common/axis.h"
 #include "common/color.h"
+#include "common/encoding.h"
 
 #include "drivers/gpio.h"
 #include "drivers/sensor.h"
@@ -144,18 +145,6 @@ void blackboxWriteUnsignedVB(uint32_t value)
     blackboxWrite(value);
 }
 
-/**
- * ZigZag encoding maps all values of a signed integer into those of an unsigned integer in such
- * a way that numbers of small absolute value correspond to small integers in the result.
- *
- * (Compared to just casting a signed to an unsigned which creates huge resulting numbers for
- * small negative integers).
- */
-static uint32_t zigzagEncode(int32_t value)
-{
-    return (uint32_t)((value << 1) ^ (value >> 31));
-}
-
 /**
  * Write a signed integer to the blackbox serial port using ZigZig and variable byte encoding.
  */

diff --git a/src/main/blackbox/blackbox_io.h b/src/main/blackbox/blackbox_io.h
@@ -20,7 +20,7 @@
 #include <stdint.h>
 #include <stdbool.h>
 
-#include "target.h"
+#include "platform.h"
 
 typedef enum BlackboxDevice {
     BLACKBOX_DEVICE_SERIAL = 0,

diff --git a/src/main/common/encoding.c b/src/main/common/encoding.c
@@ -0,0 +1,31 @@
+#include "encoding.h"
+
+/**
+ * Cast the in-memory representation of the given float directly to an int.
+ *
+ * This is useful for printing the hex representation of a float number (which is considerably cheaper
+ * than a full decimal float formatter, in both code size and output length).
+ */
+uint32_t castFloatBytesToInt(float f)
+{
+    union floatConvert_t {
+        float f;
+        uint32_t u;
+    } floatConvert;
+
+    floatConvert.f = f;
+
+    return floatConvert.u;
+}
+
+/**
+ * ZigZag encoding maps all values of a signed integer into those of an unsigned integer in such
+ * a way that numbers of small absolute value correspond to small integers in the result.
+ *
+ * (Compared to just casting a signed to an unsigned which creates huge resulting numbers for
+ * small negative integers).
+ */
+uint32_t zigzagEncode(int32_t value)
+{
+    return (uint32_t)((value << 1) ^ (value >> 31));
+}
diff --git a/src/main/common/encoding.h b/src/main/common/encoding.h
@@ -0,0 +1,23 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+uint32_t castFloatBytesToInt(float f);
+uint32_t zigzagEncode(int32_t value);
diff --git a/src/main/config/config.c b/src/main/config/config.c
@@ -119,7 +119,7 @@ profile_t *currentProfile;
 static uint8_t currentControlRateProfileIndex = 0;
 controlRateConfig_t *currentControlRateProfile;
 
-static const uint8_t EEPROM_CONF_VERSION = 92;
+static const uint8_t EEPROM_CONF_VERSION = 93;
 
 static void resetAccelerometerTrims(flightDynamicsTrims_t *accelerometerTrims)
 {
@@ -620,6 +620,8 @@ void activateConfig(void)
 
     activateControlRateConfig();
 
+    resetAdjustmentStates();
+
     useRcControlsConfig(
         currentProfile->modeActivationConditions,
         &masterConfig.escAndServoConfig,

diff --git a/src/main/flight/mixer.c b/src/main/flight/mixer.c
@@ -26,6 +26,7 @@
 #include "common/axis.h"
 #include "common/maths.h"
 
+#include "drivers/system.h"
 #include "drivers/gpio.h"
 #include "drivers/timer.h"
 #include "drivers/pwm_output.h"
@@ -487,6 +488,13 @@ void writeAllMotors(int16_t mc)
     writeMotors();
 }
 
+void stopMotors(void)
+{
+    writeAllMotors(escAndServoConfig->mincommand);
+
+    delay(50); // give the timers and ESCs a chance to react.
+}
+
 #ifndef USE_QUAD_MIXER_ONLY
 static void airplaneMixer(void)
 {
@@ -537,7 +545,6 @@ static void airplaneMixer(void)
 
 void mixTable(void)
 {
-    int16_t maxMotor;
     uint32_t i;
 
     if (motorCount > 3) {
@@ -655,29 +662,40 @@ void mixTable(void)
     }
 #endif
 
-    maxMotor = motor[0];
-    for (i = 1; i < motorCount; i++)
-        if (motor[i] > maxMotor)
-            maxMotor = motor[i];
-    for (i = 0; i < motorCount; i++) {
-        if (maxMotor > escAndServoConfig->maxthrottle)     // this is a way to still have good gyro corrections if at least one motor reaches its max.
-            motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
-        if (feature(FEATURE_3D)) {
-            if ((rcData[THROTTLE]) > rxConfig->midrc) {
-                motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
-            } else {
-                motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
+    if (ARMING_FLAG(ARMED)) {
+
+        int16_t maxMotor = motor[0];
+        for (i = 1; i < motorCount; i++) {
+            if (motor[i] > maxMotor) {
+                maxMotor = motor[i];
             }
-        } else {
-            motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
-            if ((rcData[THROTTLE]) < rxConfig->mincheck) {
-                if (!feature(FEATURE_MOTOR_STOP))
-                    motor[i] = escAndServoConfig->minthrottle;
-                else
-                    motor[i] = escAndServoConfig->mincommand;
+        }
+
+        for (i = 0; i < motorCount; i++) {
+            if (maxMotor > escAndServoConfig->maxthrottle) {
+                // this is a way to still have good gyro corrections if at least one motor reaches its max.
+                motor[i] -= maxMotor - escAndServoConfig->maxthrottle;
+            }
+
+            if (feature(FEATURE_3D)) {
+                if ((rcData[THROTTLE]) > rxConfig->midrc) {
+                    motor[i] = constrain(motor[i], flight3DConfig->deadband3d_high, escAndServoConfig->maxthrottle);
+                } else {
+                    motor[i] = constrain(motor[i], escAndServoConfig->mincommand, flight3DConfig->deadband3d_low);
+                }
+            } else {
+                motor[i] = constrain(motor[i], escAndServoConfig->minthrottle, escAndServoConfig->maxthrottle);
+                if ((rcData[THROTTLE]) < rxConfig->mincheck) {
+                    if (!feature(FEATURE_MOTOR_STOP))
+                        motor[i] = escAndServoConfig->minthrottle;
+                    else
+                        motor[i] = escAndServoConfig->mincommand;
+                }
             }
         }
-        if (!ARMING_FLAG(ARMED)) {
+
+    } else {
+        for (i = 0; i < motorCount; i++) {
             motor[i] = motor_disarmed[i];
         }
     }

diff --git a/src/main/flight/mixer.h b/src/main/flight/mixer.h
@@ -109,3 +109,4 @@ void mixerLoadMix(int index, motorMixer_t *customMixers);
 void mixerResetMotors(void);
 void mixTable(void);
 void writeMotors(void);
+void stopMotors(void);
diff --git a/src/main/io/rc_controls.c b/src/main/io/rc_controls.c
@@ -593,3 +593,9 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
         }
     }
 }
+
+void resetAdjustmentStates(void)
+{
+    memset(adjustmentStates, 0, sizeof(adjustmentStates));
+}
+
diff --git a/src/main/io/rc_controls.h b/src/main/io/rc_controls.h
@@ -214,6 +214,7 @@ typedef struct adjustmentState_s {
 
 #define MAX_ADJUSTMENT_RANGE_COUNT 12 // enough for 2 * 6pos switches.
 
+void resetAdjustmentStates(void);
 void configureAdjustment(uint8_t index, uint8_t auxChannelIndex, const adjustmentConfig_t *adjustmentConfig);
 void updateAdjustmentStates(adjustmentRange_t *adjustmentRanges);
 void processRcAdjustments(controlRateConfig_t *controlRateConfig, rxConfig_t *rxConfig);

diff --git a/src/main/io/serial_cli.c b/src/main/io/serial_cli.c
@@ -161,13 +161,11 @@ static const char * const sensorTypeNames[] = {
     "GYRO", "ACC", "BARO", "MAG", "SONAR", "GPS", "GPS+MAG", NULL
 };
 
-// FIXME the next time the EEPROM is bumped change the order of acc and gyro names so that "None" is second.
-
 #define SENSOR_NAMES_MASK (SENSOR_GYRO | SENSOR_ACC | SENSOR_BARO | SENSOR_MAG)
 
 static const char * const sensorHardwareNames[4][11] = {
     { "", "None", "MPU6050", "L3G4200D", "MPU3050", "L3GD20", "MPU6000", "MPU6500", "FAKE", NULL },
-    { "", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", "None", NULL },
+    { "", "None", "ADXL345", "MPU6050", "MMA845x", "BMA280", "LSM303DLHC", "MPU6000", "MPU6500", "FAKE", NULL },
     { "", "None", "BMP085", "MS5611", NULL },
     { "", "None", "HMC5883", "AK8975", NULL }
 };
@@ -1344,6 +1342,7 @@ static void cliRateProfile(char *cmdline)
 static void cliReboot(void) {
     cliPrint("\r\nRebooting");
     waitForSerialPortToFinishTransmitting(cliPort);
+    stopMotors();
     systemReset();
 }
 

diff --git a/src/main/io/serial_msp.c b/src/main/io/serial_msp.c
@@ -1688,6 +1688,7 @@ void mspProcess(void)
             while (!isSerialTransmitBufferEmpty(candidatePort->port)) {
                 delay(50);
             }
+            stopMotors();
             systemReset();
         }
     }