From c98b6b30af051ba8ed38d26408e75641f082816b Mon Sep 17 00:00:00 2001
From: timecop <timecop@7c89a4a9-59b9-e629-4cfe-3a2d53b20e61>
Date: Thu, 29 Mar 2012 06:00:22 +0000
Subject: [PATCH] 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
---
 baseflight.uvopt   |  139 +-
 obj/baseflight.hex | 4971 ++++++++++++++++++++++----------------------
 src/cli.c          |   24 +-
 src/config.c       |    5 +-
 src/drv_system.c   |    1 -
 src/drv_uart.c     |    4 +-
 src/drv_uart.h     |    2 +-
 src/gps.c          |    2 +-
 src/imu.c          |    3 +-
 src/main.c         |    2 +
 src/mw.h           |    5 +-
 src/serial.c       |    5 +
 12 files changed, 2584 insertions(+), 2579 deletions(-)

diff --git a/baseflight.uvopt b/baseflight.uvopt
index ab1637602..4d71dc366 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -73,7 +73,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>1</IsCurrentTarget>
+        <IsCurrentTarget>0</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -163,22 +163,7 @@
           <Type>0</Type>
           <LineNumber>309</LineNumber>
           <EnabledFlag>1</EnabledFlag>
-          <Address>0</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>
+          <Address>134244448</Address>
           <ByteObject>0</ByteObject>
           <ManyObjects>0</ManyObjects>
           <SizeOfObject>0</SizeOfObject>
@@ -186,7 +171,7 @@
           <BreakIfRCount>1</BreakIfRCount>
           <Filename></Filename>
           <ExecCommand></ExecCommand>
-          <Expression>\\baseflight\src/drv_mpu6050.c\461</Expression>
+          <Expression>\\baseflight\src/drv_pwm.c\309</Expression>
         </Bp>
       </Breakpoint>
       <WatchWindow1>
@@ -332,7 +317,7 @@
       <OPTFL>
         <tvExp>1</tvExp>
         <tvExpOptDlg>0</tvExpOptDlg>
-        <IsCurrentTarget>0</IsCurrentTarget>
+        <IsCurrentTarget>1</IsCurrentTarget>
       </OPTFL>
       <CpuCode>255</CpuCode>
       <Books>
@@ -562,10 +547,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>22</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>52</TopLine>
-      <CurrentLine>52</CurrentLine>
+      <TopLine>335</TopLine>
+      <CurrentLine>356</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\cli.c</PathWithFileName>
       <FilenameWithoutPath>cli.c</FilenameWithoutPath>
@@ -578,8 +563,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>108</TopLine>
-      <CurrentLine>122</CurrentLine>
+      <TopLine>135</TopLine>
+      <CurrentLine>153</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\config.c</PathWithFileName>
       <FilenameWithoutPath>config.c</FilenameWithoutPath>
@@ -590,10 +575,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>35</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>238</TopLine>
+      <CurrentLine>267</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\imu.c</PathWithFileName>
       <FilenameWithoutPath>imu.c</FilenameWithoutPath>
@@ -606,8 +591,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>40</TopLine>
-      <CurrentLine>46</CurrentLine>
+      <TopLine>74</TopLine>
+      <CurrentLine>92</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -632,10 +617,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>16</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>247</TopLine>
-      <CurrentLine>257</CurrentLine>
+      <TopLine>262</TopLine>
+      <CurrentLine>284</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -648,7 +633,7 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>19</TopLine>
+      <TopLine>33</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\sensors.c</PathWithFileName>
@@ -676,7 +661,7 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>19</TopLine>
+      <TopLine>25</TopLine>
       <CurrentLine>43</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\board.h</PathWithFileName>
@@ -688,21 +673,21 @@
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>21</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>172</TopLine>
-      <CurrentLine>172</CurrentLine>
+      <TopLine>281</TopLine>
+      <CurrentLine>299</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\mw.h</PathWithFileName>
       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
     </File>
     <File>
       <GroupNumber>1</GroupNumber>
-      <FileNumber>0</FileNumber>
+      <FileNumber>11</FileNumber>
       <FileType>1</FileType>
       <tvExp>0</tvExp>
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-      <ColumnNumber>25</ColumnNumber>
+      <ColumnNumber>30</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>7</TopLine>
       <CurrentLine>14</CurrentLine>
@@ -712,13 +697,13 @@
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     <File>
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+      <FileNumber>12</FileNumber>
       <FileType>1</FileType>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>53</TopLine>
+      <TopLine>73</TopLine>
       <CurrentLine>91</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\src\spektrum.c</PathWithFileName>
@@ -733,11 +718,11 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
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@@ -747,7 +732,7 @@
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     <File>
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@@ -761,7 +746,7 @@
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@@ -775,7 +760,7 @@
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@@ -789,23 +774,23 @@
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     <File>
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       <tvExp>0</tvExp>
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-      <ColumnNumber>27</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
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+      <TopLine>163</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
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     <File>
       <GroupNumber>2</GroupNumber>
-      <FileNumber>16</FileNumber>
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@@ -817,21 +802,21 @@
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-      <ColumnNumber>12</ColumnNumber>
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>283</TopLine>
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       <bDave2>0</bDave2>
       <PathWithFileName>.\src\drv_pwm.c</PathWithFileName>
       <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
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@@ -845,13 +830,13 @@
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       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>153</TopLine>
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       <PathWithFileName>.\src\drv_uart.c</PathWithFileName>
@@ -859,11 +844,11 @@
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@@ -908,7 +893,7 @@
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diff --git a/obj/baseflight.hex b/obj/baseflight.hex
index 33c49fc9e..bcfb158bc 100644
--- a/obj/baseflight.hex
+++ b/obj/baseflight.hex
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+:109BD0001A3C0419391944011F3BA24A7D41380C33
+:109BE0000102030406070809020406892910691402
+:049BF0004100000030
 :04000005080000ED02
 :00000001FF
diff --git a/src/cli.c b/src/cli.c
index a28497cc7..7e4e162ef 100644
--- a/src/cli.c
+++ b/src/cli.c
@@ -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;
     }
 }
diff --git a/src/config.c b/src/config.c
index 55c5877e3..eda12782f 100755
--- a/src/config.c
+++ b/src/config.c
@@ -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();
 }
 
diff --git a/src/drv_system.c b/src/drv_system.c
index a6f245241..2b61c154b 100755
--- a/src/drv_system.c
+++ b/src/drv_system.c
@@ -102,7 +102,6 @@ void systemInit(void)
     // Configure the rest of the stuff
     adcInit();
     i2cInit(I2C2);
-    uartInit();
     
     // sleep for 100ms
     delay(100);
diff --git a/src/drv_uart.c b/src/drv_uart.c
index df5e67172..6b9e6245c 100755
--- a/src/drv_uart.c
+++ b/src/drv_uart.c
@@ -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;
diff --git a/src/drv_uart.h b/src/drv_uart.h
index c81550de8..b6610e765 100755
--- a/src/drv_uart.h
+++ b/src/drv_uart.h
@@ -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);
diff --git a/src/gps.c b/src/gps.c
index b26a3b3a1..24bee8a04 100644
--- a/src/gps.c
+++ b/src/gps.c
@@ -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);
 }
 
diff --git a/src/imu.c b/src/imu.c
index 2c5e6598a..bad60633a 100755
--- a/src/imu.c
+++ b/src/imu.c
@@ -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;
diff --git a/src/main.c b/src/main.c
index 64f9bc09e..5779b57ff 100755
--- a/src/main.c
+++ b/src/main.c
@@ -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);
 
diff --git a/src/mw.h b/src/mw.h
index c8919b567..99712d981 100755
--- a/src/mw.h
+++ b/src/mw.h
@@ -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
diff --git a/src/serial.c b/src/serial.c
index 8e7febc56..ade2228d0 100755
--- a/src/serial.c
+++ b/src/serial.c
@@ -15,6 +15,11 @@ void serialize8(uint8_t a)
     uartWrite(a);
 }
 
+void serialInit(uint32_t baudrate)
+{
+    uartInit(baudrate);
+}
+
 void serialCom(void)
 {
     uint8_t i;