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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
master
timecop 13 years ago
parent
da5ac020e1
commit
c98b6b30af
12 changed files with 2584 additions and 2579 deletions
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  1. 139
      baseflight.uvopt
  2. 4971
      obj/baseflight.hex
  3. 24
      src/cli.c
  4. 5
      src/config.c
  5. 1
      src/drv_system.c
  6. 4
      src/drv_uart.c
  7. 2
      src/drv_uart.h
  8. 2
      src/gps.c
  9. 3
      src/imu.c
  10. 2
      src/main.c
  11. 5
      src/mw.h
  12. 5
      src/serial.c

139
baseflight.uvopt
View File

@ -73,7 +73,7 @@
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4971
obj/baseflight.hex
File diff suppressed because it is too large
View File

24
src/cli.c
View File

@ -70,7 +70,8 @@ typedef enum {
VAR_UINT8,
VAR_INT8,
VAR_UINT16,
VAR_INT16
VAR_INT16,
VAR_UINT32
} vartype_e;
typedef struct {
@ -104,7 +105,8 @@ const clivalue_t valueTable[] = {
{ "tilt_roll_prop", VAR_INT8, &cfg.tilt_roll_prop, -100, 100 },
{ "acc_lpf_factor", VAR_UINT8, &cfg.acc_lpf_factor, 0, 32 },
{ "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},
{ "i_pitch", VAR_UINT8, &cfg.I8[PITCH], 0, 200},
{ "d_pitch", VAR_UINT8, &cfg.D8[PITCH], 0, 200},
@ -350,7 +352,7 @@ static void cliPrintVar(const clivalue_t *var)
case VAR_UINT8:
value = *(uint8_t *)var->ptr;
break;
case VAR_INT8:
value = *(int8_t *)var->ptr;
break;
@ -362,6 +364,10 @@ static void cliPrintVar(const clivalue_t *var)
case VAR_INT16:
value = *(int16_t *)var->ptr;
break;
case VAR_UINT32:
value = *(uint32_t *)var->ptr;
break;
}
itoa(value, buf, 10);
uartPrint(buf);
@ -371,19 +377,17 @@ static void cliSetVar(const clivalue_t *var, const int32_t value)
{
switch (var->type) {
case VAR_UINT8:
*(uint8_t *)var->ptr = (uint8_t)value;
break;
case VAR_INT8:
*(int8_t *)var->ptr = (int8_t)value;
*(char *)var->ptr = (char)value;
break;
case VAR_UINT16:
*(uint16_t *)var->ptr = (uint16_t)value;
case VAR_INT16:
*(short *)var->ptr = (short)value;
break;
case VAR_INT16:
*(int16_t *)var->ptr = (int16_t)value;
case VAR_UINT32:
*(int *)var->ptr = (int)value;
break;
}
}

5
src/config.c
View File

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

1
src/drv_system.c
View File

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

4
src/drv_uart.c
View File

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

2
src/drv_uart.h
View File

@ -1,6 +1,6 @@
#pragma once
void uartInit(void);
void uartInit(uint32_t speed);
uint16_t uartAvailable(void);
uint8_t uartRead(void);
uint8_t uartReadPoll(void);

2
src/gps.c
View File

@ -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)
{
uart2Init(9600, GPS_NewData);
uart2Init(cfg.gps_baudrate, GPS_NewData);
sensorsSet(SENSOR_GPS);
}

3
src/imu.c
View File

@ -173,14 +173,13 @@ static void getEstimatedAttitude(void)
static uint32_t previousT;
uint32_t currentT = micros();
float scale, deltaGyroAngle[3];
scale = (currentT - previousT) * GYRO_SCALE;
previousT = currentT;
// Initialization
for (axis = 0; axis < 3; axis++) {
deltaGyroAngle[axis] = gyroADC[axis] * scale;
if (cfg.acc_lpf_factor > 0) {
accTemp[axis] = (accTemp[axis] - (accTemp[axis] >> cfg.acc_lpf_factor)) + accADC[axis];
accSmooth[axis] = accTemp[axis] >> cfg.acc_lpf_factor;

2
src/main.c
View File

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

5
src/mw.h
View File

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

5
src/serial.c
View File

@ -15,6 +15,11 @@ void serialize8(uint8_t a)
uartWrite(a);
}
void serialInit(uint32_t baudrate)
{
uartInit(baudrate);
}
void serialCom(void)
{
uint8_t i;

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