Merge pull request stylesuxx#56 from giacomo892/giacomo892_clean

Cleanup
gipsa-lab-uav · Aug 7, 2021 · be28260 · be28260
2 parents e1a9f82 + 8bfb754
commit be28260
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Showing 11 changed files with 26 additions and 93 deletions.
diff --git a/Inc/signal.h b/Inc/signal.h
@@ -14,7 +14,6 @@ extern int adjusted_input;
 extern int newinput;
 extern char inputSet;
 extern char dshot;
-extern char oneshot125;
 extern char servoPwm;
 extern uint32_t gcr[];
 extern int armed_count_threshold;

diff --git a/Mcu/f051/Inc/IO.h b/Mcu/f051/Inc/IO.h
@@ -26,7 +26,6 @@ extern int adjusted_input;
 extern int newinput;
 extern char inputSet;
 extern char dshot;
-extern char oneshot125;
 extern char servoPwm;
 extern uint32_t gcr[];
 extern int armed_count_threshold;

diff --git a/Mcu/f051/Src/IO.c b/Mcu/f051/Src/IO.c
@@ -152,10 +152,6 @@ void detectInput(){
 	smallestnumber = 20000;
 	average_signal_pulse = 0;
 	dshot = 0;
-//	proshot = 0;
-//	multishot = 0;
-//	oneshot42 = 0;
-	oneshot125 = 0;
 	servoPwm = 0;
 	int lastnumber = dma_buffer[0];
 

diff --git a/Mcu/f350/Inc/IO.h b/Mcu/f350/Inc/IO.h
@@ -24,7 +24,6 @@ extern int input;
 extern int newinput;
 extern char inputSet;
 extern char dshot;
-extern char oneshot125;
 extern char servoPwm;
 extern uint32_t gcr[];
 extern int armed_count_threshold;

diff --git a/Mcu/f350/Src/IO.c b/Mcu/f350/Src/IO.c
@@ -155,10 +155,6 @@ void sendDshotDma(){
 void detectInput(){
 	smallestnumber = 20000;
 	dshot = 0;
-//	proshot = 0;
-//	multishot = 0;
-//	oneshot42 = 0;
-//	oneshot125 = 0;
 	servoPwm = 0;
 	int lastnumber = dma_buffer[0];
 	for ( int j = 1 ; j < 31; j++){

diff --git a/Mcu/g071/Src/IO.c b/Mcu/g071/Src/IO.c
@@ -103,10 +103,6 @@ void sendDshotDma(){
 void detectInput(){
 	smallestnumber = 20000;
 	dshot = 0;
-//	proshot = 0;
-//	multishot = 0;
-//	oneshot42 = 0;
-//	oneshot125 = 0;
 	servoPwm = 0;
 	int lastnumber = dma_buffer[0];
 	for ( int j = 1 ; j < 31; j++){
@@ -138,16 +134,9 @@ void detectInput(){
 		buffersize = 32;
 	}
 	if ((smallestnumber > 100 )&&(smallestnumber < 400)){
-	//	multishot = 1;
 		armed_count_threshold = 1000;
 		buffersize = 4;
 	}
-//	if ((smallestnumber > 2000 )&&(smallestnumber < 3000)){
-//		oneshot42 = 1;
-//	}
-////	if ((smallestnumber > 3000 )&&(smallestnumber < 7000)){
-////		oneshot125 = 1;
-////	}
 	if (smallestnumber > 1500){
 		servoPwm = 1;
 		ic_timer_prescaler=63;

diff --git a/Src/dshot.c b/Src/dshot.c
@@ -239,6 +239,3 @@ for (int i = 15; i >= 9 ; i--){
 
 
 }
-
-
-
diff --git a/Src/functions.c b/Src/functions.c
@@ -46,4 +46,4 @@ void delayMillis(uint32_t millis){
 	}
 	UTILITY_TIMER->PSC = CPU_FREQUENCY_MHZ;      // back to micros
 	LL_TIM_GenerateEvent_UPDATE(UTILITY_TIMER);
-}
+}
diff --git a/Src/main.c b/Src/main.c
@@ -64,7 +64,7 @@
  *-- increase max change a low rpm x10
  *-- set low limit of throttle ramp to a lower point and increase upper range
  *-- change desync event from full restart to just lower throttle.
- 
+
  *1.64
  * --added startup check for continuous high signal, reboot to enter bootloader.
  *-- added brake on stop from eeprom
@@ -152,13 +152,11 @@ uint16_t desired_angle = 90;
 uint32_t MCU_Id = 0;
 uint32_t REV_Id = 0;
 
-uint16_t loop_time = 0;
-uint16_t last_loop_time = 0;
 uint16_t armed_timeout_count;
 
 uint8_t desync_happened = 0;
 char maximum_throttle_change_ramp = 1;
-char sine_mode_changeover_thottle_level = 5; 
+char sine_mode_changeover_thottle_level = 5;
 char drag_brake_strength = 10;
 
 char crawler_mode = 0;  // no longer used //
@@ -209,7 +207,6 @@ char startup_boost = 35;
 char stall_protection = 0;
 char reversing_dead_band = 1;
 
-uint16_t oneKhz_timer = 0;
 int checkcount = 0;
 uint16_t low_pin_count = 0;
 
@@ -299,9 +296,7 @@ int filter_level = 5;
 int running = 0;
 int advance = 0;
 int advancedivisor = 6;
-//int START_ARR=800;
 char rising = 1;
-int count = 0;
 
 ////Space Vector PWM ////////////////
 //const int pwmSin[] ={128, 132, 136, 140, 143, 147, 151, 155, 159, 162, 166, 170, 174, 178, 181, 185, 189, 192, 196, 200, 203, 207, 211, 214, 218, 221, 225, 228, 232, 235, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 248, 249, 250, 250, 251, 252, 252, 253, 253, 253, 254, 254, 254, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 255, 254, 254, 254, 253, 253, 253, 252, 252, 251, 250, 250, 249, 248, 248, 247, 246, 245, 244, 243, 242, 241, 240, 239, 238, 235, 232, 228, 225, 221, 218, 214, 211, 207, 203, 200, 196, 192, 189, 185, 181, 178, 174, 170, 166, 162, 159, 155, 151, 147, 143, 140, 136, 132, 128, 124, 120, 116, 113, 109, 105, 101, 97, 94, 90, 86, 82, 78, 75, 71, 67, 64, 60, 56, 53, 49, 45, 42, 38, 35, 31, 28, 24, 21, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 17, 16, 15, 14, 13, 12, 11, 10, 9, 8, 8, 7, 6, 6, 5, 4, 4, 3, 3, 3, 2, 2, 2, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 2, 2, 2, 3, 3, 3, 4, 4, 5, 6, 6, 7, 8, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 21, 24, 28, 31, 35, 38, 42, 45, 49, 53, 56, 60, 64, 67, 71, 75, 78, 82, 86, 90, 94, 97, 101, 105, 109, 113, 116, 120, 124};
@@ -381,10 +376,6 @@ int input = 0;
 int newinput =0;
 char inputSet = 0;
 char dshot = 0;
-char proshot = 0;
-char multishot = 0;
-char oneshot42 = 0;
-char oneshot125 = 0;
 char servoPwm = 0;
 int zero_crosses;
 
@@ -489,7 +480,7 @@ void loadEEpromSettings(){
 
        motor_kv = (eepromBuffer[26] * 40) + 20;
        motor_poles = eepromBuffer[27];
-       
+
 	   if(eepromBuffer[28] == 0x01){
 		   brake_on_stop = 1;
 	    }else{
@@ -531,7 +522,7 @@ void loadEEpromSettings(){
 			   RC_CAR_REVERSE = 0;
 		   }
 		   if(eepromBuffer[39] == 0x01){
-#ifdef HAS_HALL_SENSORS              
+#ifdef HAS_HALL_SENSORS
 			   USE_HALL_SENSOR = 1;
 #else
 			   USE_HALL_SENSOR = 0;
@@ -553,7 +544,7 @@ void loadEEpromSettings(){
 	   }
 	   low_rpm_level  = motor_kv / 200 / (16 / motor_poles);
 	   high_rpm_level = (40 + (motor_kv / 100)) / (16/motor_poles);
-	   
+
 	if(!comp_pwm){
 		bi_direction = 0;
 	}
@@ -852,10 +843,10 @@ if(!armed){
 				  }
 			}
 			if (RC_CAR_REVERSE && prop_brake_active) {
-#ifndef PWM_ENABLE_BRIDGE						
+#ifndef PWM_ENABLE_BRIDGE
 					duty_cycle = getAbsDif(1000, newinput) + 1000;
 				    proportionalBrake();
-#endif					
+#endif
 			}
 
 
@@ -866,8 +857,8 @@ if(!armed){
 		  zero_crosses = 0;
 		  bad_count = 0;
 		  if(brake_on_stop){
-			if(!use_sin_start){ 
-			duty_cycle = 1980 + drag_brake_strength*2;  
+			if(!use_sin_start){
+			duty_cycle = 1980 + drag_brake_strength*2;
 			proportionalBrake();
 	        prop_brake_active = 1;
 			}
@@ -986,7 +977,7 @@ if(desync_check && zero_crosses > 10){
 	last_average_interval = average_interval;
 	}
 	if(send_telemetry){
-#ifdef	USE_SERIAL_TELEMETRY 	
+#ifdef	USE_SERIAL_TELEMETRY
 	  makeTelemPackage(degrees_celsius,
 			           battery_voltage,
 					   actual_current,
@@ -1122,8 +1113,6 @@ int main(void)
 
  initCorePeripherals();
 
-//
-
   LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH1);
   LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH2);
   LL_TIM_CC_EnableChannel(TIM1, LL_TIM_CHANNEL_CH3);
@@ -1140,7 +1129,7 @@ int main(void)
 #ifdef USE_ADC_INPUT
 
 #else
-//  
+//
   LL_TIM_CC_EnableChannel(IC_TIMER_REGISTER, IC_TIMER_CHANNEL);  // input capture and output compare
   LL_TIM_EnableCounter(IC_TIMER_REGISTER);
 #endif
@@ -1177,7 +1166,7 @@ int main(void)
 
    __IO uint32_t wait_loop_index = 0;
     /* Enable comparator */
-  
+
    LL_COMP_Enable(MAIN_COMP);
 
    wait_loop_index = ((LL_COMP_DELAY_STARTUP_US * (SystemCoreClock / (100000 * 2))) / 10);
@@ -1256,11 +1245,11 @@ if (GIMBAL_MODE){
  checkForHighSignal();     // will reboot if signal line is high for 10ms
  receiveDshotDma();
 #endif
- 
+
 #ifdef MCU_F051
  MCU_Id = DBGMCU->IDCODE &= 0xFFF;
  REV_Id = DBGMCU->IDCODE >> 16;
- 
+
  if(REV_Id >= 4096){
 	 temperature_offset = 0;
  }else{
@@ -1271,17 +1260,7 @@ if (GIMBAL_MODE){
   {
 
 LL_IWDG_ReloadCounter(IWDG);
-	count++;
 
-//	if(count>10){
-//
-//
-//		if(loop_time>=last_loop_time){
-//	loop_time = (10*loop_time + (UTILITY_TIMER->CNT - last_loop_time))/11;
-//		}
-//    last_loop_time = UTILITY_TIMER->CNT;
-//    count = 0;
-//	}
 	  adc_counter++;
 	  if(adc_counter>100){   // for testing adc and telemetry
 		  ADC_raw_temp = ADC_raw_temp - (temperature_offset);
@@ -1318,8 +1297,8 @@ LL_IWDG_ReloadCounter(IWDG);
 		  }
 #endif
 	  }
-  
-	  
+
+
 #ifdef USE_ADC_INPUT
 
 signaltimeout = 0;
@@ -1330,8 +1309,8 @@ if(newinput > 2000){
 }
 #endif
 	  stuckcounter = 0;
-	  
-  		  if (bi_direction == 1 && proshot == 0 && dshot == 0){
+
+  		  if (bi_direction == 1 && dshot == 0){
   			  if(RC_CAR_REVERSE){
   				  if (newinput > (1000 + (servo_dead_band<<1))) {
   					  if (forward == dir_reversed) {
@@ -1402,7 +1381,7 @@ if(newinput > 2000){
   					brushed_direction_set = 0;
   				  }
   			  }
- 		  }else if ((proshot || dshot) && bi_direction) {
+ 		  }else if (dshot && bi_direction) {
   			  if (newinput > 1047) {
 
   				  if (forward == dir_reversed) {
@@ -1631,7 +1610,7 @@ if (old_routine && running){
 if(input > 48 && armed){
 
 	 		  if (input > 48 && input < 137){// sine wave stepper
-	 			
+
 	 			 maskPhaseInterrupts();
 	 			 allpwm();
 	 		 advanceincrement();
@@ -1652,7 +1631,7 @@ if(input > 48 && armed){
 				  old_routine = 1;
 		 		  commutation_interval = 9000;
 		 		  average_interval = 9000;
-				  last_average_interval = average_interval; 
+				  last_average_interval = average_interval;
 		 		//  minimum_duty_cycle = ;
 		 		  INTERVAL_TIMER->CNT = 9000;
 				  zero_crosses = 0;
@@ -1666,7 +1645,7 @@ if(input > 48 && armed){
 
 }else{
 	if(brake_on_stop){
-	duty_cycle = 1980 + drag_brake_strength*2;   
+	duty_cycle = 1980 + drag_brake_strength*2;
 	adjusted_duty_cycle = TIMER1_MAX_ARR - ((duty_cycle * tim1_arr)/TIMER1_MAX_ARR)+1;
 	TIM1->ARR = tim1_arr;
 	TIM1->CCR1 = adjusted_duty_cycle;
@@ -1706,7 +1685,7 @@ void Error_Handler(void)
   * @retval None
   */
 void assert_failed(uint8_t *file, uint32_t line)
-{ 
+{
   /* USER CODE BEGIN 6 */
   /* User can add his own implementation to report the file name and line number,
      tex: printf("Wrong parameters value: file %s on line %d\r\n", file, line) */

diff --git a/Src/signal.c b/Src/signal.c
@@ -126,24 +126,3 @@ if(!armed){
 	}
 	}
 }
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/f051makefile.mk b/f051makefile.mk
@@ -2,7 +2,7 @@ CC = $(ARM_SDK_PREFIX)gcc
 CP = $(ARM_SDK_PREFIX)objcopy
 MCU := -mcpu=cortex-m0 -mthumb
 LDSCRIPT := Mcu/f051/STM32F051K6TX_FLASH.ld
-LIBS := -lc -lm -lnosys 
+LIBS := -lc -lm -lnosys
 LDFLAGS := -specs=nano.specs -T$(LDSCRIPT) $(LIBS) -Wl,--gc-sections -Wl,--print-memory-usage
 MAIN_SRC_DIR := Src
 SRC_DIR := Mcu/f051/Startup \
@@ -15,7 +15,7 @@ INCLUDES :=  \
 	-IMcu/f051/Inc \
 	-IMcu/f051/Drivers/STM32F0xx_HAL_Driver/Inc \
 	-IMcu/f051/Drivers/CMSIS/Include \
-	-IMcu/f051/Drivers/CMSIS/Device/ST/STM32F0xx/Include 
+	-IMcu/f051/Drivers/CMSIS/Device/ST/STM32F0xx/Include
 VALUES :=  \
 	-DUSE_MAKE \
 	-DHSE_VALUE=8000000 \