fix compilation warnings and errors

paparazzi · Apr 10, 2018 · 3b0aa82 · 3b0aa82
1 parent 191db67
commit 3b0aa82
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Showing 6 changed files with 20 additions and 101 deletions.
diff --git a/conf/modules/radio_control_spektrum.xml b/conf/modules/radio_control_spektrum.xml
@@ -11,18 +11,17 @@
     <configure name="RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT" value="uartX" description="UART for primary spektrum receiver"/>
     <configure name="RADIO_CONTROL_SPEKTRUM_SECONDARY_PORT" value="uartX" description="UART for optional secondary spektrum receiver"/>
     <configure name="USE_SECONDARY_SPEKTRUM_RECEIVER" value="0|1" description="enable secondary receiver (default: disabled)"/>
-    <define name="USE_DSMX" value="FALSE|TRUE" description="Set to true to use DSMX instead of DSM2"/>
   </doc>
   <header>
     <file name="spektrum.h" dir="subsystems/radio_control"/>
   </header>
-  <makefile target="ap|fbw|sim|nps|hitl|test_radio_control">
+  <makefile target="ap|fbw|sim|nps|test_radio_control">
     <configure name="RADIO_CONTROL_LED" default="none"/>
     <define name="RADIO_CONTROL_LED" value="$(RADIO_CONTROL_LED)" cond="ifneq ($(RADIO_CONTROL_LED),none)"/>
-    <define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/spektrum.h" type="string"/>
   </makefile>
   <makefile target="fbw|hitl|test_radio_control">
     <define name="RADIO_CONTROL"/>
+    <define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/spektrum.h" type="string"/>
     <define name="RADIO_CONTROL_BIND_IMPL_FUNC" value="spektrum_try_bind"/>
 
     <configure name="SPEKTRUM_PRIMARY_UART" value="$(RADIO_CONTROL_SPEKTRUM_PRIMARY_PORT)" case="upper|lower"/>
@@ -43,6 +42,9 @@
     <file name="radio_control.c" dir="subsystems"/>
     <file name="spektrum.c" dir="subsystems/radio_control"/>
   </makefile>
+  <makefile target="ap">
+    <define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/spektrum.h" type="string"/>
+  </makefile>
   <makefile target="ap" cond="ifeq (,$(findstring $(SEPARATE_FBW),1 TRUE))">
     <define name="RADIO_CONTROL"/>
     <define name="RADIO_CONTROL_BIND_IMPL_FUNC" value="spektrum_try_bind"/>
@@ -65,8 +67,9 @@
     <file name="radio_control.c" dir="subsystems"/>
     <file name="spektrum.c" dir="subsystems/radio_control"/>
   </makefile>
-  <makefile target="sim|nps">
+  <makefile target="sim|nps|hitl">
     <define name="RADIO_CONTROL"/>
+    <define name="RADIO_CONTROL_TYPE_H" value="subsystems/radio_control/spektrum_arch.h" type="string"/>
     <file name="radio_control.c" dir="subsystems"/>
     <file_arch name="spektrum_arch.c" dir="subsystems/radio_control"/>
   </makefile>

diff --git a/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c b/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.c
@@ -27,7 +27,7 @@
  */
 
 #include "subsystems/radio_control.h"
-#include "subsystems/radio_control/spektrum.h"
+#include "subsystems/radio_control/spektrum_arch.h"
 #include "std.h"
 #include <inttypes.h>
 
@@ -39,8 +39,6 @@
 
 static bool spektrum_available;
 
-void radio_control_spektrum_try_bind(void) {}
-
 void radio_control_impl_init(void)
 {
   spektrum_available = false;
@@ -56,6 +54,8 @@ void spektrum_event(void (*frame_handler)(void))
   spektrum_available = false;
 }
 
+void spektrum_try_bind(void) {}
+
 #if USE_NPS
 #ifdef RADIO_CONTROL
 void radio_control_feed(void)

diff --git a/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.h b/sw/airborne/arch/sim/subsystems/radio_control/spektrum_arch.h
@@ -23,44 +23,11 @@
 #ifndef RADIO_CONTROL_SPEKTRUM_ARCH_H
 #define RADIO_CONTROL_SPEKTRUM_ARCH_H
 
-
-/*
- * All Spektrum and JR 2.4 GHz transmitters
- * have the same channel assignments.
- */
-
-
-#ifndef RADIO_CONTROL_NB_CHANNEL
-#define RADIO_CONTROL_NB_CHANNEL 12
-#endif
-
-#if RADIO_CONTROL_NB_CHANNEL > 12
-#error "RADIO_CONTROL_NB_CHANNEL mustn't be higher than 12."
-#endif
-
-/* channel assignments */
-#define RADIO_THROTTLE   0
-#define RADIO_ROLL       1
-#define RADIO_PITCH      2
-#define RADIO_YAW        3
-#define RADIO_GEAR       4
-#define RADIO_FLAP       5
-#define RADIO_AUX1       5
-#define RADIO_AUX2       6
-#define RADIO_AUX3       7
-#define RADIO_AUX4       8
-#define RADIO_AUX5       9
-#define RADIO_AUX6       10
-#define RADIO_AUX7       11
-
-/* really for a 9 channel transmitter
-   we would swap the order of these */
-#ifndef RADIO_MODE
-#define RADIO_MODE       RADIO_GEAR
-#endif
+#include "subsystems/radio_control/spektrum_radio.h"
 
 extern void spektrum_event(void (*_received_frame_handler)(void));
 #define RadioControlEventImp spektrum_event
+extern void spektrum_try_bind(void);
 
 #if USE_NPS
 extern void radio_control_feed(void);

diff --git a/sw/airborne/subsystems/radio_control/joby_9ch.h b/sw/airborne/subsystems/radio_control/joby_9ch.h
diff --git a/sw/airborne/subsystems/radio_control/spektrum.c b/sw/airborne/subsystems/radio_control/spektrum.c
@@ -44,14 +44,6 @@
 /* Changed radio control order Notice */
 INFO("Radio-Control now follows PPRZ sign convention: this means you might need to reverese some channels in your transmitter: RollRight / PitchUp / YawRight / FullThrottle / Auto2 are positive deflections")
 
-/* Print maximum frame time for debugging */
-PRINT_CONFIG_VAR(SPEKTRUM_MAX_FRAME_TIME)
-
-/* Check if sys time is fast enough */
-#if (2000 / SPEKTRUM_MAX_FRAME_TIME) > SYS_TIME_FREQUENCY
-#error "The system timer frequency is too low for Spektrum, please define a higher SYS_TIME_FREQUENCY"
-#endif
-
 /* Number of low pulses sent during binding to the satellite receivers
  * As recommended, master and slave receivers are in DSMX 11ms mode,
  * other modes (DSM2, 22ms) will be automatically supported
@@ -71,10 +63,12 @@ PRINT_CONFIG_VAR(SPEKTRUM_MAX_FRAME_TIME)
 #define SPEKTRUM_BIND_WAIT 60000
 #endif
 
+// in case the number of channel is less than maximum
+const int8_t spektrum_signs[] = RADIO_CONTROL_SPEKTRUM_SIGNS;
+
 /* Default spektrum values */
 static struct spektrum_t spektrum = {
   .valid = false,
-  .signs = RADIO_CONTROL_SPEKTRUM_SIGNS,
   .tx_type = 0, // unknown type
 };
 
@@ -153,6 +147,11 @@ void spektrum_try_bind(void)
 /** Main Radio initialization */
 void radio_control_impl_init(void)
 {
+
+  for (uint8_t i = 0; i < RADIO_CONTROL_NB_CHANNEL; i++) {
+    spektrum.signs[i] = spektrum_signs[i];
+  }
+
   // Set polarity to normal on boards that can change this
 #ifdef RC_POLARITY_GPIO_PORT
   gpio_setup_output(RC_POLARITY_GPIO_PORT, RC_POLARITY_GPIO_PIN);

diff --git a/sw/airborne/subsystems/radio_control/spektrum.h b/sw/airborne/subsystems/radio_control/spektrum.h
@@ -43,7 +43,6 @@
 #define SPEKTRUM_MAX_FRAMES 2             ///< Maximum amount of RC frames containing different channels
 #define SPEKTRUM_MAX_CHANNELS (SPEKTRUM_CHANNELS_PER_FRAME * SPEKTRUM_MAX_FRAMES)
 #define SPEKTRUM_MIN_FRAME_SPACE  7       ///< Minum amount of time between frames (7ms), in fact either 11 or 22 ms
-#define SPEKTRUM_MAX_FRAME_TIME  4        ///< Maximum amount a frame takes to receive (4ms)
 
 /* Set the event function to the correct */
 #define RadioControlEvent(_received_frame_handler) spektrum_event(_received_frame_handler)