Merge pull request #454 from rosflight/ptt/cleanup

Ptt/cleanup

Author: avtoku

.clang-format

@@ -42,6 +42,7 @@ IndentCaseLabels: true
 IndentPPDirectives: None
 IndentWidth: 2
 KeepEmptyLinesAtTheStartOfBlocks: true
+LineEnding: LF
 MaxEmptyLinesToKeep: 1
 NamespaceIndentation: None
 ObjCSpaceAfterProperty: false

.gitignore

@@ -19,6 +19,8 @@
 cmake-build*
 *.map
 scripts/parameter-descriptions.md
+CMakeFiles/
+CMakeCache.txt
 
 *.aux
 *.fdb_latexmk

boards/varmint_h7/.clang-format

@@ -16,3 +16,4 @@ cmake_install.cmake
 varmint_11x/
 varmint_11x_test/
 varmint_12x/
+Liv4f.*

boards/varmint_h7/.gitignore

@@ -37,8 +37,8 @@ ENTRY(Reset_Handler)
 /* Highest address of the user mode stack */
 _estack = ORIGIN(RAM_D1) + LENGTH(RAM_D1);    /* end of RAM */
 /* Generate a link error if heap and stack don't fit into RAM */
-_Min_Heap_Size = 0x2000;      /* required amount of heap  */
-_Min_Stack_Size = 0x2000; /* required amount of stack */
+_Min_Heap_Size = 0x10000;      /* required amount of heap note _user_heap_stack is one location */
+_Min_Stack_Size = 0x20000; /* required amount of stack */
 
 /* Specify the memory areas */
 MEMORY

boards/varmint_h7/common/STM32H7LinkerScript.ld

@@ -148,7 +148,7 @@ uint16_t Varmint::sensors_init_message(char * message, uint16_t size, uint16_t i
 bool Varmint::imu_read(rosflight_firmware::ImuStruct * imu)
 {
   ImuPacket p;
-  if (imu0_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (imu0_.read((uint8_t *) &p, sizeof(p))) {
     imu->header = p.header;
     imu->accel[0] = p.accel[0];
     imu->accel[1] = p.accel[1];
@@ -167,7 +167,7 @@ bool Varmint::imu_read(rosflight_firmware::ImuStruct * imu)
 bool Varmint::mag_read(rosflight_firmware::MagStruct * mag)
 {
   MagPacket p;
-  if (mag_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (mag_.read((uint8_t *) &p, sizeof(p))) {
     mag->header = p.header;
     mag->flux[0] = p.flux[0];
     mag->flux[1] = p.flux[1];
@@ -183,7 +183,7 @@ bool Varmint::mag_read(rosflight_firmware::MagStruct * mag)
 bool Varmint::baro_read(rosflight_firmware::PressureStruct * baro)
 {
   PressurePacket p;
-  if (baro_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (baro_.read((uint8_t *) &p, sizeof(p))) {
     baro->header = p.header;
     baro->pressure = p.pressure;
     baro->temperature = p.temperature;
@@ -197,7 +197,7 @@ bool Varmint::baro_read(rosflight_firmware::PressureStruct * baro)
 bool Varmint::diff_pressure_read(rosflight_firmware::PressureStruct * diff_pressure)
 {
   PressurePacket p;
-  if (pitot_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (pitot_.read((uint8_t *) &p, sizeof(p))) {
     diff_pressure->header = p.header;
     diff_pressure->pressure = p.pressure;
     diff_pressure->temperature = p.temperature;
@@ -219,7 +219,7 @@ bool Varmint::sonar_read(rosflight_firmware::RangeStruct * sonar)
 bool Varmint::battery_read(rosflight_firmware::BatteryStruct * batt)
 {
   AdcPacket p;
-  if (adc_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (adc_.read((uint8_t *) &p, sizeof(p))) {
     batt->header = p.header;
     batt->current = p.volts[ADC_BATTERY_CURRENT];
     batt->voltage = p.volts[ADC_BATTERY_VOLTS];
@@ -245,57 +245,24 @@ bool Varmint::gnss_read(rosflight_firmware::GnssStruct * gnss)
 {
   UbxPacket p;
 
-  if (gps_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (gps_.read((uint8_t *) &p, sizeof(p))) {
     gnss->header = p.header;
     gnss->pps = p.pps;
     gnss->unix_seconds = p.unix_seconds; // Unix time
-    gnss->t_acc = p.pvt.tAcc;
-    gnss->time_of_week = p.pvt.iTOW;
-    gnss->year = p.pvt.year;
-    gnss->month = p.pvt.month;
-    gnss->day = p.pvt.day;
-    gnss->hour = p.pvt.hour;
-    gnss->min = p.pvt.min;
-    gnss->sec = p.pvt.sec;
-    gnss->nano = p.pvt.nano;
-    gnss->lon = p.pvt.lon;
-    gnss->lat = p.pvt.lat;
-    gnss->height_ellipsoid = p.pvt.height;
-    gnss->height_msl = p.pvt.hMSL;
-    gnss->h_acc = p.pvt.hAcc;
-    gnss->v_acc = p.pvt.vAcc;
-    gnss->vel_n = p.pvt.velN;
-    gnss->vel_e = p.pvt.velE;
-    gnss->vel_d = p.pvt.velD;
-    gnss->mag_var = p.pvt.magDec;
-    gnss->ground_speed = p.pvt.gSpeed;
-    gnss->course = p.pvt.headMot;
-    gnss->course_accy = p.pvt.headAcc;
-    gnss->vel_n = p.pvt.velN;
-    gnss->vel_e = p.pvt.velE;
-    gnss->vel_d = p.pvt.velD;
-    gnss->speed_accy = p.pvt.sAcc;
-    gnss->mag_var = p.pvt.magDec;
-    gnss->valid = ((p.pvt.flags & 0x01) != 0);
-    gnss->num_sat = p.pvt.numSV;
-    gnss->dop = p.pvt.pDOP;
+    gnss->unix_nanos = p.unix_nanos;
     gnss->fix_type = p.pvt.fixType;
-
-    // These are not available from standard NMEA messages
-    // from ublox Class 0x01, ID 0x20
-    gnss->ecef.x = p.ecefp.ecefX;
-    gnss->ecef.y = p.ecefp.ecefY;
-    gnss->ecef.z = p.ecefp.ecefZ;
-    gnss->ecef.p_acc = p.ecefp.pAcc;
-    // from ublox Class 0x01, ID 0x11
-    gnss->ecef.vx = p.ecefv.ecefVX;
-    gnss->ecef.vy = p.ecefv.ecefVY;
-    gnss->ecef.vz = p.ecefv.ecefVZ;
-    gnss->ecef.s_acc = p.ecefv.sAcc;
-
+    gnss->num_sat = p.pvt.numSV;
+    gnss->lon = (double)p.pvt.lon* 1e-7; // Convert 100's of nanodegs into deg (DDS format)
+    gnss->lat = (double)p.pvt.lat* 1e-7; // Convert 100's of nanodegs into deg (DDS format)
+    gnss->height_msl = (float)p.pvt.hMSL* 1e-3; //mm to m
+    gnss->vel_n = (float)p.pvt.velN* 1e-3; // mm/s to m/s
+    gnss->vel_e = (float)p.pvt.velE* 1e-3; // mm/s to m/s
+    gnss->vel_d = (float)p.pvt.velD* 1e-3; // mm/s to m/s
+    gnss->h_acc = (float)p.pvt.hAcc* 1e-3; //mm to m
+    gnss->v_acc = (float)p.pvt.vAcc* 1e-3; //mm to m
+    gnss->speed_accy = (float)p.pvt.sAcc* 1e-3; // mm/s to m/s
     return true;
   }
-
   return false;
 }
 
@@ -306,7 +273,7 @@ bool Varmint::rc_read(rosflight_firmware::RcStruct * rc_struct)
 {
   RcPacket p;
 
-  if (rc_.rxFifoReadMostRecent((uint8_t *) &p, sizeof(p))) {
+  if (rc_.read((uint8_t *) &p, sizeof(p))) {
     rc_struct->header = p.header;
     uint16_t len = RC_STRUCT_CHANNELS < RC_PACKET_CHANNELS ? RC_STRUCT_CHANNELS : RC_PACKET_CHANNELS;
     for (uint16_t i = 0; i < len; i++) { rc_struct->chan[i] = p.chan[i]; }

boards/varmint_h7/common/Varmint.cpp

@@ -49,7 +49,8 @@ extern Time64 time64;
 #define ADC_DMA_BUF_SIZE_EXT (ADC_CHANNELS_EXT * sizeof(uint32_t))
 #define ADC_DMA_BUF_SIZE_MAX (16 * sizeof(uint32_t)) // 16 channels is max for the ADC sequencer
 
-DTCM_RAM uint8_t adc_fifo_rx_buffer[ADC_FIFO_BUFFERS * sizeof(AdcPacket)];
+DTCM_RAM uint8_t adc_double_buffer[2 * sizeof(AdcPacket)];
+
 DTCM_RAM uint32_t adc_counts[ADC_CHANNELS];
 
 ADC_EXT_DMA_RAM uint32_t adc_dma_buf_ext[ADC_DMA_BUF_SIZE_MAX / 4];
@@ -70,9 +71,7 @@ uint32_t Adc::init(uint16_t sample_rate_hz, ADC_HandleTypeDef * hadc_ext,
   hadcInt_ = hadc_int;
   cfg_ = adc_cfg;
 
-  groupDelay_ = 1000000 / sampleRateHz_;
-
-  rxFifo_.init(ADC_FIFO_BUFFERS, sizeof(AdcPacket), adc_fifo_rx_buffer);
+  double_buffer_.init(adc_double_buffer, sizeof(adc_double_buffer));
 
   if (DRIVER_OK != configAdc(hadcExt_, adc_instance_ext, cfg_, ADC_CHANNELS_EXT)) {
     initializationStatus_ = DRIVER_HAL_ERROR;
@@ -189,14 +188,12 @@ void Adc::endDma(ADC_HandleTypeDef * hadc)
     double vcc = p.vRef;
 #endif
     for (int i = 0; i < ADC_CHANNELS; i++) {
-      //    	p.volts[i] = ((double)(adc_counts[i]&0xFFFF)/65535.0 - cfg_[i].offset) * p.vRef * cfg_[i].scaleFactor;
-      p.volts[i] = ((double) (adc_counts[i] & 0xFFFF) / 65535.0 * p.vRef - vcc * cfg_[i].offset) * cfg_[i].scaleFactor;
+      p.volts[i] = ((double) (adc_counts[i] & 0xFFFF) / 65535.0 * vcc - cfg_[i].offset) * cfg_[i].scaleFactor;
     }
 
-    p.header.timestamp = time64.Us();
-    p.drdy = drdy_;
-    p.groupDelay = groupDelay_;
-    rxFifo_.write((uint8_t *) &p, sizeof(p));
+    p.header.complete = time64.Us();
+    p.header.timestamp = (drdy_+p.header.complete)/2;
+    write((uint8_t *) &p, sizeof(p));
     ext_read = 0;
     int_read = 0;
   }
@@ -207,8 +204,8 @@ bool Adc::display(void)
   AdcPacket p;
   char name[] = "Adc (adc)";
 
-  if (rxFifo_.readMostRecent((uint8_t *) &p, sizeof(p))) {
-    misc_header(name, p.drdy, p.header.timestamp, p.groupDelay);
+  if (read((uint8_t *) &p, sizeof(p))) {
+    misc_header(name, p.header);
     misc_printf("\n");
 
     misc_printf("  %-8s : ", "STM");

boards/varmint_h7/common/drivers/Adc.cpp

@@ -38,8 +38,9 @@
 #ifndef ADC_H_
 #define ADC_H_
 
+#include "DoubleBuffer.h"
 #include "BoardConfig.h"
-#include "Driver.h"
+
 
 typedef struct __attribute__((__packed__))
 {
@@ -52,7 +53,7 @@ typedef struct __attribute__((__packed__))
 /*
  *
  */
-class Adc : public Driver
+class Adc : public Status
 {
 public:
   uint32_t init(uint16_t sample_rate_hz, ADC_HandleTypeDef * hadc_ext,
@@ -64,11 +65,19 @@ class Adc : public Driver
   bool poll(uint64_t poll_offset);
   void endDma(ADC_HandleTypeDef * hadc);
 
-  bool display(void) override;
+  bool display(void);
   bool isMy(ADC_HandleTypeDef * hadc) { return (hadcExt_ == hadc) || (hadcInt_ == hadc); }
   void setScaleFactor(uint16_t n, float scale_factor);
 
+  bool read(uint8_t * data, uint16_t size) { return double_buffer_.read(data, size)==DoubleBufferStatus::OK; }
+
 private:
+  bool write(uint8_t * data, uint16_t size) { return double_buffer_.write(data, size)==DoubleBufferStatus::OK; }
+  DoubleBuffer double_buffer_;
+  uint16_t sampleRateHz_;
+  uint64_t drdy_;
+
+
   uint32_t configChan(ADC_HandleTypeDef * hadc, ADC_ChannelConfTypeDef * sConfig, AdcChannelCfg * cfg);
   uint32_t configAdc(ADC_HandleTypeDef * hadc, ADC_TypeDef * adc_instance, AdcChannelCfg * cfg, uint16_t cfg_channels);
   ADC_HandleTypeDef *hadcExt_, *hadcInt_; // The shared SPI handle