Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

global reformatting of C code #138

Open
wants to merge 3 commits into
base: main
Choose a base branch
from
Open

global reformatting of C code #138

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
001a32f
tools: added reformatting style and script
tridge Dec 1, 2024
4ae63f4
global reformatting
tridge Dec 1, 2024
efdff76
added a .git-blame-ignore-revs
tridge Dec 1, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
7 changes: 7 additions & 0 deletions .git-blame-ignore-revs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,7 @@
# This file allows ignoring commits in git blame view on Github.
# For more info, see here:
# https://docs.github.com/en/repositories/working-with-files/using-files/viewing-a-file#ignore-commits-in-the-blame-view

# global reformat
4ae63f4c9807a508e02c67d955d3fe86852e10b7

32 changes: 16 additions & 16 deletions Inc/common.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -67,26 +67,26 @@ extern uint16_t send_extended_dshot;
// }PID;

typedef struct fastPID {
int32_t error;
uint32_t Kp;
uint32_t Ki;
uint32_t Kd;
int32_t integral;
int32_t derivative;
int32_t last_error;
int32_t pid_output;
int32_t integral_limit;
int32_t output_limit;
int32_t error;
uint32_t Kp;
uint32_t Ki;
uint32_t Kd;
int32_t integral;
int32_t derivative;
int32_t last_error;
int32_t pid_output;
int32_t integral_limit;
int32_t output_limit;
} fastPID;

/*
input signal types
*/
enum inputType {
AUTO_IN = 0,
DSHOT_IN = 1,
SERVO_IN = 2,
SERIAL_IN = 3,
EDTARM_IN = 4,
DRONECAN_IN = 5,
AUTO_IN = 0,
DSHOT_IN = 1,
SERVO_IN = 2,
SERIAL_IN = 3,
EDTARM_IN = 4,
DRONECAN_IN = 5,
};
116 changes: 58 additions & 58 deletions Inc/eeprom.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,65 +3,65 @@
#pragma once

typedef union EEprom_u {
struct {
uint8_t reserved_0; //0
uint8_t eeprom_version; //1
uint8_t reserved_1; //2
struct {
uint8_t reserved_0; //0
uint8_t eeprom_version; //1
uint8_t reserved_1; //2
struct {
uint8_t major; //3
uint8_t minor; //4
} version;
char firmware_name[12]; //5-16
uint8_t dir_reversed; // 17
uint8_t bi_direction; // 18
uint8_t use_sine_start; // 19
uint8_t comp_pwm; // 20
uint8_t variable_pwm; // 21
uint8_t stuck_rotor_protection; // 22
uint8_t advance_level; // 23
uint8_t pwm_frequency; // 24
uint8_t startup_power; // 25
uint8_t motor_kv; // 26
uint8_t motor_poles; // 27
uint8_t brake_on_stop; // 28
uint8_t stall_protection; // 29
uint8_t beep_volume; // 30
uint8_t telementry_on_interval; // 31
struct {
uint8_t low_threshold; // 32
uint8_t high_threshold; // 33
uint8_t neutral; // 34
uint8_t dead_band; // 35
} servo;
uint8_t low_voltage_cut_off; // 36
uint8_t low_cell_volt_cutoff; // 37
uint8_t rc_car_reverse; // 38
uint8_t use_hall_sensors; // 39
uint8_t sine_mode_changeover_thottle_level; // 40
uint8_t drag_brake_strength; // 41
uint8_t driving_brake_strength; // 42
struct {
uint8_t temperature; // 43
uint8_t current; // 44
} limits;
uint8_t sine_mode_power; // 45
uint8_t input_type; // 46
uint8_t auto_advance; // 47
uint8_t reserved_2[4]; //48-51
uint8_t tune[124]; // 52-175
struct {
uint8_t can_node; // 176
uint8_t esc_index; // 177
uint8_t require_arming; // 178
uint8_t telem_rate; // 179
uint8_t require_zero_throttle; // 180
uint8_t filter_hz; // 181
uint8_t debug_rate; // 182
uint8_t term_enable; // 183
uint8_t reserved[8]; // 184-191
} can;
};
uint8_t buffer[192];
uint8_t major; //3
uint8_t minor; //4
} version;
char firmware_name[12]; //5-16
uint8_t dir_reversed; // 17
uint8_t bi_direction; // 18
uint8_t use_sine_start; // 19
uint8_t comp_pwm; // 20
uint8_t variable_pwm; // 21
uint8_t stuck_rotor_protection; // 22
uint8_t advance_level; // 23
uint8_t pwm_frequency; // 24
uint8_t startup_power; // 25
uint8_t motor_kv; // 26
uint8_t motor_poles; // 27
uint8_t brake_on_stop; // 28
uint8_t stall_protection; // 29
uint8_t beep_volume; // 30
uint8_t telementry_on_interval; // 31
struct {
uint8_t low_threshold; // 32
uint8_t high_threshold; // 33
uint8_t neutral; // 34
uint8_t dead_band; // 35
} servo;
uint8_t low_voltage_cut_off; // 36
uint8_t low_cell_volt_cutoff; // 37
uint8_t rc_car_reverse; // 38
uint8_t use_hall_sensors; // 39
uint8_t sine_mode_changeover_thottle_level; // 40
uint8_t drag_brake_strength; // 41
uint8_t driving_brake_strength; // 42
struct {
uint8_t temperature; // 43
uint8_t current; // 44
} limits;
uint8_t sine_mode_power; // 45
uint8_t input_type; // 46
uint8_t auto_advance; // 47
uint8_t reserved_2[4]; //48-51
uint8_t tune[124]; // 52-175
struct {
uint8_t can_node; // 176
uint8_t esc_index; // 177
uint8_t require_arming; // 178
uint8_t telem_rate; // 179
uint8_t require_zero_throttle; // 180
uint8_t filter_hz; // 181
uint8_t debug_rate; // 182
uint8_t term_enable; // 183
uint8_t reserved[8]; // 184-191
} can;
};
uint8_t buffer[192];
} EEprom_t;

extern EEprom_t eepromBuffer;
Expand Down
4 changes: 2 additions & 2 deletions Inc/functions.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -17,8 +17,8 @@ void delayMillis(uint32_t millis);
long map(long x, long in_min, long in_max, long out_min, long out_max);
#ifdef ARTERY
void gpio_mode_QUICK(gpio_type* gpio_periph, uint32_t mode,
uint32_t pull_up_down, uint32_t pin);
uint32_t pull_up_down, uint32_t pin);
void gpio_mode_set(gpio_type* gpio_periph, uint32_t mode, uint32_t pull_up_down,
uint32_t pin);
uint32_t pin);
#endif
#endif /* FUNCTIONS_H_ */
2 changes: 1 addition & 1 deletion Inc/signal.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -18,7 +18,7 @@ extern char crawler_mode;
extern uint16_t ADC_raw_volts;
extern uint16_t servo_low_threshold; // anything below this point considered 0
extern uint16_t
servo_high_threshold; // anything above this point considered 2000 (max)
servo_high_threshold; // anything above this point considered 2000 (max)
extern uint16_t servo_neutral;
extern uint8_t servo_dead_band;
extern char inputSet;
Expand Down
6 changes: 3 additions & 3 deletions Inc/targets.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -2147,12 +2147,12 @@

#endif

#ifdef HARDWARE_GROUP_F0_045
#ifdef HARDWARE_GROUP_F0_045
#define PHASE_A_COMP COMP_PA0 // pa0
#define PHASE_B_COMP COMP_PA4 // pa4
#define PHASE_C_COMP COMP_PA5 // pa5
#endif
#ifdef HARDWARE_GROUP_F0_504
#ifdef HARDWARE_GROUP_F0_504
#define PHASE_A_COMP COMP_PA5 // pa5
#define PHASE_B_COMP COMP_PA0 // pa0
#define PHASE_C_COMP COMP_PA4 // pa4
Expand All @@ -2172,7 +2172,7 @@
#define PHASE_B_COMP COMP_PA0 // pa0
#define PHASE_C_COMP COMP_PA5 // pa5
#endif
#ifdef HARDWARE_GROUP_F0_540
#ifdef HARDWARE_GROUP_F0_540
#define PHASE_A_COMP COMP_PA5 // pa5
#define PHASE_B_COMP COMP_PA4 // pa4
#define PHASE_C_COMP COMP_PA0 // pa0
Expand Down
2 changes: 1 addition & 1 deletion Mcu/e230/Inc/IO.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -33,6 +33,6 @@ extern uint8_t degrees_celsius;
extern uint16_t ADC_raw_volts;
extern uint16_t servo_low_threshold; // anything below this point considered 0
extern uint16_t
servo_high_threshold; // anything above this point considered 2000 (max)
servo_high_threshold; // anything above this point considered 2000 (max)
extern uint16_t servo_neutral;
extern uint8_t servo_dead_band;
2 changes: 1 addition & 1 deletion Mcu/e230/Inc/serial_telemetry.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -11,7 +11,7 @@
#define SERIAL_TELEMETRY_H_

void makeTelemPackage(uint8_t temp, uint16_t voltage, uint16_t current,
uint16_t consumption, uint16_t e_rpm);
uint16_t consumption, uint16_t e_rpm);

void telem_UART_Init(void);
void send_telem_DMA();
Expand Down
143 changes: 72 additions & 71 deletions Mcu/e230/Src/ADC.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,87 +20,88 @@ extern uint16_t ADC_raw_current;
extern uint16_t ADC_raw_input;

void ADC_DMA_Callback()
{ // read dma buffer and set extern variables
{
// read dma buffer and set extern variables

#ifdef USE_ADC_INPUT
ADC_raw_temp = ADCDataDMA[3];
ADC_raw_volts = ADCDataDMA[1] / 2;
ADC_raw_current = ADCDataDMA[2];
ADC_raw_input = ADCDataDMA[0];
ADC_raw_temp = ADCDataDMA[3];
ADC_raw_volts = ADCDataDMA[1] / 2;
ADC_raw_current = ADCDataDMA[2];
ADC_raw_input = ADCDataDMA[0];

#else
ADC_raw_temp = ADCDataDMA[2];
ADC_raw_temp = ADCDataDMA[2];
#ifdef PA6_VOLTAGE
ADC_raw_volts = ADCDataDMA[1];
ADC_raw_current = ADCDataDMA[0];
ADC_raw_volts = ADCDataDMA[1];
ADC_raw_current = ADCDataDMA[0];
#else
ADC_raw_volts = ADCDataDMA[0];
ADC_raw_current = ADCDataDMA[1];
ADC_raw_volts = ADCDataDMA[0];
ADC_raw_current = ADCDataDMA[1];
#endif
#endif
}

void ADC_Init(void)
{
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_ADC);
rcu_periph_clock_enable(RCU_DMA);
rcu_adc_clock_config(RCU_ADCCK_APB2_DIV6);

/* config the GPIO as analog mode */
gpio_mode_set(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE,
GPIO_PIN_3 | GPIO_PIN_6);

dma_parameter_struct dma_data_parameter;

/* ADC DMA_channel configuration */
dma_deinit(DMA_CH0);

/* initialize DMA single data mode */
dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA);
dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
dma_data_parameter.memory_addr = (uint32_t)(&ADCDataDMA);
dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
dma_data_parameter.number = 3U;
dma_data_parameter.priority = DMA_PRIORITY_LOW;
dma_init(DMA_CH0, &dma_data_parameter);

dma_circulation_enable(DMA_CH0);

/* enable DMA channel */
dma_channel_enable(DMA_CH0);

adc_special_function_config(ADC_CONTINUOUS_MODE, DISABLE);
/* ADC scan function enable */
adc_special_function_config(ADC_SCAN_MODE, ENABLE);
/* ADC data alignment config */
adc_data_alignment_config(ADC_DATAALIGN_RIGHT);
/* ADC channel length config */
adc_channel_length_config(ADC_REGULAR_CHANNEL, 3U);

adc_tempsensor_vrefint_enable(); // enable the temp sensor

/* ADC regular channel config */
adc_regular_channel_config(0, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(1, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(2, ADC_CHANNEL_16, ADC_SAMPLETIME_55POINT5);

/* ADC trigger config */
adc_external_trigger_source_config(ADC_REGULAR_CHANNEL,
ADC_EXTTRIG_REGULAR_NONE);
adc_external_trigger_config(ADC_REGULAR_CHANNEL, ENABLE);

/* enable ADC interface */
adc_enable();
delayMicros(1000);
/* ADC calibration and reset calibration */
adc_calibration_enable();

/* ADC DMA function enable */
adc_dma_mode_enable();
/* ADC software trigger enable */
adc_software_trigger_enable(ADC_REGULAR_CHANNEL);
rcu_periph_clock_enable(RCU_GPIOA);
rcu_periph_clock_enable(RCU_ADC);
rcu_periph_clock_enable(RCU_DMA);
rcu_adc_clock_config(RCU_ADCCK_APB2_DIV6);

/* config the GPIO as analog mode */
gpio_mode_set(GPIOA, GPIO_MODE_ANALOG, GPIO_PUPD_NONE,
GPIO_PIN_3 | GPIO_PIN_6);

dma_parameter_struct dma_data_parameter;

/* ADC DMA_channel configuration */
dma_deinit(DMA_CH0);

/* initialize DMA single data mode */
dma_data_parameter.periph_addr = (uint32_t)(&ADC_RDATA);
dma_data_parameter.periph_inc = DMA_PERIPH_INCREASE_DISABLE;
dma_data_parameter.memory_addr = (uint32_t)(&ADCDataDMA);
dma_data_parameter.memory_inc = DMA_MEMORY_INCREASE_ENABLE;
dma_data_parameter.periph_width = DMA_PERIPHERAL_WIDTH_16BIT;
dma_data_parameter.memory_width = DMA_MEMORY_WIDTH_16BIT;
dma_data_parameter.direction = DMA_PERIPHERAL_TO_MEMORY;
dma_data_parameter.number = 3U;
dma_data_parameter.priority = DMA_PRIORITY_LOW;
dma_init(DMA_CH0, &dma_data_parameter);

dma_circulation_enable(DMA_CH0);

/* enable DMA channel */
dma_channel_enable(DMA_CH0);

adc_special_function_config(ADC_CONTINUOUS_MODE, DISABLE);
/* ADC scan function enable */
adc_special_function_config(ADC_SCAN_MODE, ENABLE);
/* ADC data alignment config */
adc_data_alignment_config(ADC_DATAALIGN_RIGHT);
/* ADC channel length config */
adc_channel_length_config(ADC_REGULAR_CHANNEL, 3U);

adc_tempsensor_vrefint_enable(); // enable the temp sensor

/* ADC regular channel config */
adc_regular_channel_config(0, ADC_CHANNEL_3, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(1, ADC_CHANNEL_6, ADC_SAMPLETIME_55POINT5);
adc_regular_channel_config(2, ADC_CHANNEL_16, ADC_SAMPLETIME_55POINT5);

/* ADC trigger config */
adc_external_trigger_source_config(ADC_REGULAR_CHANNEL,
ADC_EXTTRIG_REGULAR_NONE);
adc_external_trigger_config(ADC_REGULAR_CHANNEL, ENABLE);

/* enable ADC interface */
adc_enable();
delayMicros(1000);
/* ADC calibration and reset calibration */
adc_calibration_enable();

/* ADC DMA function enable */
adc_dma_mode_enable();
/* ADC software trigger enable */
adc_software_trigger_enable(ADC_REGULAR_CHANNEL);
}
Loading